496 lines
17 KiB
CMake
496 lines
17 KiB
CMake
############################################################################
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#
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# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#=============================================================================
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# CMAKE CODING STANDARD FOR PX4
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#
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# Structure
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# ---------------------------------------------------------------------------
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#
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# * Common functions should be included in px_base.cmake.
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#
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# * OS/ board specific fucntions should be include in
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# px_impl_${PX4_PLATFORM}.cmake
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#
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# Formatting
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# ---------------------------------------------------------------------------
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#
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# * Use hard indents to match the px4 source code.
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#
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# * All function and script arguments are upper case.
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#
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# * All local variables are lower case.
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#
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# * All cmake functions are lowercase.
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#
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# * For else, endif, endfunction, etc, never put the name of the statement
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#
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# Functions/Macros
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# ---------------------------------------------------------------------------
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#
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# * Use px4_parse_function_args to parse functions and check for required
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# arguments. Unless there is only one argument in the function and it is clear.
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#
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# * Never use macros. They allow overwriting global variables and this
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# makes variable declarations hard to locate.
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#
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# * If a target from add_custom_* is set in a function, explicitly pass it
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# as an output argument so that the target name is clear to the user.
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#
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# * Avoid use of global variables in functions. Functions in a nested
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# scope may use global variables, but this makes it difficult to
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# reuse functions.
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#
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# Included CMake Files
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# ---------------------------------------------------------------------------
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#
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# * All variables in config files must have the prefix "config_".
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#
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# * Never set global variables in an included cmake file,
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# you may only define functions. This excludes config and Toolchain files.
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# This makes it clear to the user when variables are being set or targets
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# are being created.
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#
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# * Setting a global variable in a CMakeLists.txt file is ok, because
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# each CMakeLists.txt file has scope in the current directory and all
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# subdirectories, so it is not truly global.
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#
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# * All toolchain files should be included in the cmake
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# directory and named Toolchain-"name".cmake.
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#
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# Misc
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# ---------------------------------------------------------------------------
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#
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# * If referencing a string variable, don't put it in quotes.
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# Don't do "${PX4_PLATFORM}" STREQUAL "posix",
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# instead type ${PX4_PLATFORM} STREQUAL "posix". This will throw an
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# error when ${PX4_PLATFORM} is not defined instead of silently
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# evaluating to false.
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#
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#=============================================================================
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cmake_minimum_required(VERSION 3.9 FATAL_ERROR)
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set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
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set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
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list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
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include(px4_parse_function_args)
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#=============================================================================
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# git
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#
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include(px4_git)
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execute_process(
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COMMAND git describe --exclude ext/* --always --tags
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OUTPUT_VARIABLE PX4_GIT_TAG
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OUTPUT_STRIP_TRAILING_WHITESPACE
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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)
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# git describe to X.Y.Z version
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string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})
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# major version
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list(GET VERSION_LIST 0 PX4_VERSION_MAJOR)
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string(REPLACE "v" "" PX4_VERSION_MAJOR ${PX4_VERSION_MAJOR})
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# minor version
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list(GET VERSION_LIST 1 PX4_VERSION_MINOR)
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# patch version
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list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
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string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
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list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
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message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")
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define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
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BRIEF_DOCS "PX4 module libs"
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FULL_DOCS "List of all PX4 module libraries"
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)
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define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
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BRIEF_DOCS "PX4 kernel side module libs"
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FULL_DOCS "List of all PX4 kernel module libraries"
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)
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define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
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BRIEF_DOCS "PX4 module paths"
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FULL_DOCS "List of paths to all PX4 modules"
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)
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define_property(GLOBAL PROPERTY PX4_SRC_FILES
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BRIEF_DOCS "src files from all PX4 modules & libs"
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FULL_DOCS "SRC files from px4_add_{module,library}"
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)
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#=============================================================================
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# configuration
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#
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include(px4_add_module)
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set(config_module_list)
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set(config_kernel_list)
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# Find Python
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find_package(PythonInterp 3)
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# We have a custom error message to tell users how to install python3.
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if(NOT PYTHONINTERP_FOUND)
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message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
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" Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
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" macOS: brew install python")
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endif()
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option(PYTHON_COVERAGE "Python code coverage" OFF)
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if(PYTHON_COVERAGE)
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message(STATUS "python coverage enabled")
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set(PYTHON_EXECUTABLE coverage run -p)
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endif()
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include(px4_config)
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include(kconfig)
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message(STATUS "PX4 config: ${PX4_CONFIG}")
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message(STATUS "PX4 platform: ${PX4_PLATFORM}")
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if($ENV{CLION_IDE})
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# CLion automatically executes some compiler commands after configuring the
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# project. This would fail on NuttX, as visibility.h tries to (indirectly)
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# include nuttx/config.h, which at that point does not exist yet
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add_definitions(-DPX4_DISABLE_GCC_POISON)
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endif()
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if(${PX4_PLATFORM} STREQUAL "posix")
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if(ENABLE_LOCKSTEP_SCHEDULER)
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add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
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message(STATUS "PX4 lockstep: enabled")
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else()
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message(STATUS "PX4 lockstep: disabled")
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endif()
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endif()
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# external modules
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set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
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if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
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get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
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endif()
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set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
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include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
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list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
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if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
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include(init)
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endif()
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#=============================================================================
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# project definition
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#
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project(px4 CXX C ASM)
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# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
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if(NOT CMAKE_BUILD_TYPE)
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if(${PX4_PLATFORM} STREQUAL "nuttx")
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set(PX4_BUILD_TYPE "MinSizeRel")
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else()
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set(PX4_BUILD_TYPE "RelWithDebInfo")
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endif()
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set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
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endif()
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if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
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set(MAX_CUSTOM_OPT_LEVEL -O0)
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elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
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set(MAX_CUSTOM_OPT_LEVEL -O1)
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elseif(CMAKE_BUILD_TYPE MATCHES "Release")
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set(MAX_CUSTOM_OPT_LEVEL -O3)
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else()
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if(px4_constrained_flash_build)
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set(MAX_CUSTOM_OPT_LEVEL -Os)
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else()
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set(MAX_CUSTOM_OPT_LEVEL -O2)
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endif()
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endif()
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set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
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message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
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# Check if LTO option and check if toolchain supports it
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if(LTO)
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include(CheckIPOSupported)
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check_ipo_supported()
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message(AUTHOR_WARNING "LTO enabled: LTO is highly experimental and should not be used in production")
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set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE)
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endif()
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set(package-contact "px4users@googlegroups.com")
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_C_STANDARD 11)
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set(CMAKE_C_STANDARD_REQUIRED ON)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
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#=============================================================================
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# gold linker - use if available (posix only for now)
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if(${PX4_PLATFORM} STREQUAL "posix")
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include(CMakeDependentOption)
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CMAKE_DEPENDENT_OPTION(USE_LD_GOLD
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"Use GNU gold linker" ON
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"NOT WIN32;NOT APPLE" OFF
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)
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if(USE_LD_GOLD)
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execute_process(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version ERROR_QUIET OUTPUT_VARIABLE LD_VERSION)
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if("${LD_VERSION}" MATCHES "GNU gold")
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set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold")
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set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold")
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else()
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set(USE_LD_GOLD OFF)
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endif()
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endif()
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endif()
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#=============================================================================
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# Setup install paths
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if(${PX4_PLATFORM} STREQUAL "posix")
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# This makes it possible to dynamically load code which depends on symbols
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# inside the px4 executable.
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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set(CMAKE_ENABLE_EXPORTS ON)
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if(CMAKE_BUILD_TYPE MATCHES "Coverage")
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include(coverage)
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endif()
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include(sanitizers)
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# Define GNU standard installation directories
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include(GNUInstallDirs)
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if (NOT CMAKE_INSTALL_PREFIX)
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set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
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endif()
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endif()
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include(ccache)
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#=============================================================================
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# get chip and chip manufacturer
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#
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px4_os_determine_build_chip()
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if(NOT PX4_CHIP_MANUFACTURER)
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message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP_MANUFACTURER")
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endif()
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if(NOT PX4_CHIP)
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message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
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endif()
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#=============================================================================
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# build flags
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#
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include(px4_add_common_flags)
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px4_add_common_flags()
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px4_os_add_flags()
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#=============================================================================
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# board cmake init (optional)
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#
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if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
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include(${PX4_BOARD_DIR}/cmake/init.cmake)
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endif()
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#=============================================================================
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# message, and airframe generation
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#
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include(px4_metadata)
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add_subdirectory(msg EXCLUDE_FROM_ALL)
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px4_generate_airframes_xml(BOARD ${PX4_BOARD})
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#=============================================================================
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# external projects
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#
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set(ep_base ${PX4_BINARY_DIR}/external)
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set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
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# add external project install folders to build
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# add the directories so cmake won't warn
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execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base})
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execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install)
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execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/lib)
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link_directories(${ep_base}/Install/lib)
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execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/include)
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include_directories(${ep_base}/Install/include)
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#=============================================================================
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# external modules
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#
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set(external_module_paths)
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if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
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message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}")
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add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules)
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foreach(external_module ${config_module_list_external})
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add_subdirectory(${EXTERNAL_MODULES_LOCATION}/src/${external_module} external_modules/${external_module})
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list(APPEND external_module_paths ${EXTERNAL_MODULES_LOCATION}/src/${external_module})
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endforeach()
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endif()
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#=============================================================================
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# Testing - Automatic unit and integration testing with CTest
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#
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# optionally enable cmake testing (supported only on posix)
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option(CMAKE_TESTING "Configure test targets" OFF)
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if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
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set(CMAKE_TESTING ON)
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endif()
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if(CMAKE_TESTING)
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include(CTest) # sets BUILD_TESTING variable
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endif()
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# enable test filtering to run only specific tests with the ctest -R regex functionality
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set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
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# if testing is enabled download and configure gtest
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list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
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include(px4_add_gtest)
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if(BUILD_TESTING)
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include(gtest)
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add_custom_target(test_results
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COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
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DEPENDS
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px4
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examples__dyn_hello
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USES_TERMINAL
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COMMENT "Running tests"
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WORKING_DIRECTORY ${PX4_BINARY_DIR})
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set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
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endif()
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#=============================================================================
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# subdirectories
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#
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add_library(parameters_interface INTERFACE)
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add_library(kernel_parameters_interface INTERFACE)
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add_library(events_interface INTERFACE)
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add_library(kernel_events_interface INTERFACE)
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include(px4_add_library)
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add_subdirectory(src/lib EXCLUDE_FROM_ALL)
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add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
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add_subdirectory(platforms EXCLUDE_FROM_ALL)
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if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
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add_subdirectory(${PX4_BOARD_DIR})
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endif()
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foreach(module ${config_module_list})
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add_subdirectory(src/${module})
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endforeach()
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# add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
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add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
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# metadata needs PX4_MODULE_CONFIG_FILES
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add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
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# must be the last module before firmware
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add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
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if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
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target_link_libraries(parameters_interface INTERFACE usr_parameters)
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target_link_libraries(kernel_parameters_interface INTERFACE parameters)
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target_link_libraries(events_interface INTERFACE usr_events)
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target_link_libraries(kernel_events_interface INTERFACE events)
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else()
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target_link_libraries(parameters_interface INTERFACE parameters)
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target_link_libraries(events_interface INTERFACE events)
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endif()
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# firmware added last to generate the builtin for included modules
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add_subdirectory(platforms/${PX4_PLATFORM})
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#=============================================================================
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# uORB graph generation: add a custom target 'uorb_graph'
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#
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set(uorb_graph_config ${PX4_BOARD})
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set(graph_module_list "")
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foreach(module ${config_module_list})
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set(graph_module_list "${graph_module_list}" "--src-path" "src/${module}")
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endforeach()
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add_custom_command(OUTPUT ${uorb_graph_config}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
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${graph_module_list} --src-path src/lib
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--merge-depends
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--exclude-path src/examples
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--exclude-path src/lib/parameters # FIXME: enable & fix
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--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
|
COMMENT "Generating uORB graph"
|
|
)
|
|
add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
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|
|
|
|
|
include(bloaty)
|
|
|
|
|
|
include(doxygen)
|
|
include(metadata)
|
|
include(package)
|
|
|
|
# install python requirements using configured python
|
|
add_custom_target(install_python_requirements
|
|
COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
|
DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
|
|
USES_TERMINAL
|
|
)
|
|
|
|
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
|
|
include(finalize)
|
|
endif()
|