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px4-firmware/platforms/posix/CMakeLists.txt

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CMake
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cmake organize code coverage handling and base
2017-06-01 09:47:33 -03:00
move posix, nuttx, qurt components into platforms
2018-01-15 16:34:18 -04:00
add_subdirectory(src)
Work on posix.
2015-09-08 21:50:18 -03:00
include_directories(${CMAKE_CURRENT_BINARY_DIR})
cmake remove circular linking and reorganize - px4_add_module now requires MAIN - px4_add_library doesn't automatically link
2018-04-11 16:10:51 -03:00
get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
NuttX upgrade cmake wrapper (#7873) * NuttX cmake * px4_macros:Pass the stringified predicate as second arg to static assert CC_ASSERT mapes to the c++ static_assert or provides the same funtionality for c via the other macros. The c++ static assert takes 2 argumants the prdicate and a message. This fixes the lacking second argument. * Updated nuttx and apps submodule to upstream nuttx 7.21+==master This is the latest uptake of upstream nuttx and apps. * ROMFS generate with xxd instead of objcopy * delete nuttx-patches * NuttX update submodules to latest px4_nuttx-master * fix nuttx apps and board dependency * docker_run update to latest container 2017-08-29 * cmake ROMFS portable sed usage * NuttX update submodules to latest px4_nuttx-master
2017-08-29 18:22:05 -03:00
Hack to get posix build partially working Created a dummy build_git_version.h so I did not have to figure out how to generate it. Commented out topic_listener.cpp from src/systemcmds/CMakeLists.txt because it depends on a generated cpp file. Link doesn't work mut many modules build Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-09-08 19:39:13 -03:00
px4_posix_generate_builtin_commands(
Clean up of app.h app.h, generated from app.h_in, has unnecessary code duplication and isn't a header file (it defines globals, static functions and doesn't have a header guard, moreover, it has a 'using namespace std;'). Because of this, a real headerfile that declares the stuff defined in apps.h was missing leading to even more code duplication: scattered forward declarations in .cpp files and an often repeated type of std::map<std::string, px4_main_t>. This patch moves cmake/qurt/apps.h_in to src/platforms/apps.cpp.in (with some changes) and removes cmake/posix/apps.h_in. Then src/platforms/apps.cpp.in is split into src/platforms/apps.cpp.in and src/platforms/apps.h.in, splitting declarations from definitions. A typedef is defined for the map (apps_map_type). The main difference between cmake/posix/apps.h_in and cmake/qurt/apps.h_in was that the first defined a global 'apps', while qurt stores the apps in QShell. I opted to get rid of the global variable (which are in general evil for various reasons) and used the API of cmake/qurt/apps.h_in where a provided 'apps' map is initialized with a call to init_app_map. Thus removing the existing code duplication.
2016-10-21 10:54:48 -03:00
OUT apps
Cleanup of module building.
2015-09-10 00:00:58 -03:00
MODULE_LIST ${module_libraries})
Hack to get posix build partially working Created a dummy build_git_version.h so I did not have to figure out how to generate it. Commented out topic_listener.cpp from src/systemcmds/CMakeLists.txt because it depends on a generated cpp file. Link doesn't work mut many modules build Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2015-09-08 19:39:13 -03:00
cmake consolidate px4 executable builds and upload
2018-01-31 19:49:09 -04:00
if (("${BOARD}" STREQUAL "eagle") OR ("${BOARD}" STREQUAL "excelsior"))
Restructure posix cmake configuration We check if the target is SITL and do not build it with all other posix targets.
2016-12-13 07:20:39 -04:00
include(fastrpc)
include(linux_app)
Updated cmake_hexagon and all the associated files that use it Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2016-04-15 18:42:47 -03:00
Restructure posix cmake configuration We check if the target is SITL and do not build it with all other posix targets.
2016-12-13 07:20:39 -04:00
FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
Work on posix.
2015-09-08 21:50:18 -03:00
Restructure posix cmake configuration We check if the target is SITL and do not build it with all other posix targets.
2016-12-13 07:20:39 -04:00
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes -Wno-missing-declarations")
LINUX_APP(
cmake consolidate px4 executable builds and upload
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APP_NAME px4
Restructure posix cmake configuration We check if the target is SITL and do not build it with all other posix targets.
2016-12-13 07:20:39 -04:00
IDL_NAME px4muorb
APPS_DEST "/home/linaro"
SOURCES
px4muorb_stub.c
cmake consolidate px4 executable builds and upload
2018-01-31 19:49:09 -04:00
src/main.cpp
Clean up of app.h app.h, generated from app.h_in, has unnecessary code duplication and isn't a header file (it defines globals, static functions and doesn't have a header guard, moreover, it has a 'using namespace std;'). Because of this, a real headerfile that declares the stuff defined in apps.h was missing leading to even more code duplication: scattered forward declarations in .cpp files and an often repeated type of std::map<std::string, px4_main_t>. This patch moves cmake/qurt/apps.h_in to src/platforms/apps.cpp.in (with some changes) and removes cmake/posix/apps.h_in. Then src/platforms/apps.cpp.in is split into src/platforms/apps.cpp.in and src/platforms/apps.h.in, splitting declarations from definitions. A typedef is defined for the map (apps_map_type). The main difference between cmake/posix/apps.h_in and cmake/qurt/apps.h_in was that the first defined a global 'apps', while qurt stores the apps in QShell. I opted to get rid of the global variable (which are in general evil for various reasons) and used the API of cmake/qurt/apps.h_in where a provided 'apps' map is initialized with a call to init_app_map. Thus removing the existing code duplication.
2016-10-21 10:54:48 -03:00
apps.cpp
Restructure posix cmake configuration We check if the target is SITL and do not build it with all other posix targets.
2016-12-13 07:20:39 -04:00
LINK_LIBS
Use DriverFramework as a PX4 module (#4415) * Use DriverFramework as a PX4 module Targets wanting to use DriverFramework must add lib/DriverFramework/framework to their config file. Signed-off-by: Mark Charlebois <charlebm@gmail.com> * Removed spurious code No need to add if check before for loop Signed-off-by: Mark Charlebois <charlebm@gmail.com> * Added DriverFramework to NuttX configs Added lib/DriverFramework/firmware to nuttx configs Signed-off-by: Mark Charlebois <charlebm@gmail.com> * Updated src/lib/DriverFramework * Removed DF_TARGET and __DF_${OS} defines These are now handled inside DriverFramework Signed-off-by: Mark Charlebois <charlebm@gmail.com> * Updated DriverFramework Signed-off-by: Mark Charlebois <charlebm@gmail.com> * Restored __DF_${OS} The include files in DriverFramwork need to know the target OS. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2016-05-03 05:03:28 -03:00
-Wl,--start-group
cmake consolidate px4 executable builds and upload
2018-01-31 19:49:09 -04:00
${module_libraries}
${df_driver_libs}
${FASTRPC_ARM_LIBS}
pthread m rt
Use DriverFramework as a PX4 module (#4415) * Use DriverFramework as a PX4 module Targets wanting to use DriverFramework must add lib/DriverFramework/framework to their config file. Signed-off-by: Mark Charlebois <charlebm@gmail.com> * Removed spurious code No need to add if check before for loop Signed-off-by: Mark Charlebois <charlebm@gmail.com> * Added DriverFramework to NuttX configs Added lib/DriverFramework/firmware to nuttx configs Signed-off-by: Mark Charlebois <charlebm@gmail.com> * Updated src/lib/DriverFramework * Removed DF_TARGET and __DF_${OS} defines These are now handled inside DriverFramework Signed-off-by: Mark Charlebois <charlebm@gmail.com> * Updated DriverFramework Signed-off-by: Mark Charlebois <charlebm@gmail.com> * Restored __DF_${OS} The include files in DriverFramwork need to know the target OS. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2016-05-03 05:03:28 -03:00
-Wl,--end-group
Restructure posix cmake configuration We check if the target is SITL and do not build it with all other posix targets.
2016-12-13 07:20:39 -04:00
)
Fix RPi2 build system
2016-04-29 01:09:23 -03:00
cmake consolidate px4 executable builds and upload
2018-01-31 19:49:09 -04:00
add_custom_target(upload
COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload.sh $<TARGET_FILE:px4> ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config /home/linaro
DEPENDS px4
COMMENT "uploading px4"
USES_TERMINAL
Restructure posix cmake configuration We check if the target is SITL and do not build it with all other posix targets.
2016-12-13 07:20:39 -04:00
)
Add Parrot Bebop as build target (#4698) * Add parrot bebop build structure * Add upload functionality to bebop build * Add modules and commands to bebop build
2016-05-31 08:04:22 -03:00
cmake consolidate px4 executable builds and upload
2018-01-31 19:49:09 -04:00
else()
px4_add_executable(px4
src/main.cpp
Restructure posix cmake configuration We check if the target is SITL and do not build it with all other posix targets.
2016-12-13 07:20:39 -04:00
apps.cpp
)
Revert "Implement the way to run posix simulator directly from IDE without the need to reconfigure command lines, but use runner created via CMake" This reverts commit fff493474356f34c32075cc4f67e50d787efa7a2.
2016-12-12 17:32:34 -04:00
cmake remove circular linking and reorganize - px4_add_module now requires MAIN - px4_add_library doesn't automatically link
2018-04-11 16:10:51 -03:00
target_link_libraries(px4
PRIVATE
Restructure posix cmake configuration We check if the target is SITL and do not build it with all other posix targets.
2016-12-13 07:20:39 -04:00
${module_libraries}
cmake consolidate px4 executable builds and upload
2018-01-31 19:49:09 -04:00
df_driver_framework
Restructure posix cmake configuration We check if the target is SITL and do not build it with all other posix targets.
2016-12-13 07:20:39 -04:00
${df_driver_libs}
pthread m
cmake remove circular linking and reorganize - px4_add_module now requires MAIN - px4_add_library doesn't automatically link
2018-04-11 16:10:51 -03:00
)
if (NOT APPLE)
target_link_libraries(px4 PRIVATE rt)
Implement the way to run posix simulator directly from IDE without the need to reconfigure command lines, but use runner created via CMake Steps to debug: * Run gazebo (or any other sim) server and client viewers via the terminal: `make posix_sitl_default gazebo_none_ide` * In your IDE select `px4_<mode>` target you want to debug (e.g. `px4_iris`) * Start debug session directly from IDE This approach significantly reduces the debug cycle time because simulator (e.g. gazebo) is always running in background and you only re-run px4 process which is very light.
2016-12-08 00:41:46 -04:00
endif()
cmake remove circular linking and reorganize - px4_add_module now requires MAIN - px4_add_library doesn't automatically link
2018-04-11 16:10:51 -03:00
target_link_libraries(px4 PRIVATE modules__uORB)
cmake consolidate px4 executable builds and upload
2018-01-31 19:49:09 -04:00
endif()
if ("${BOARD}" STREQUAL "rpi")
add_custom_target(upload
COMMAND scp -r $<TARGET_FILE:px4> ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_SOURCE_DIR}/ROMFS pi@navio:/home/pi
DEPENDS px4
COMMENT "uploading px4"
USES_TERMINAL
)
Revert "Implement the way to run posix simulator directly from IDE without the need to reconfigure command lines, but use runner created via CMake" This reverts commit fff493474356f34c32075cc4f67e50d787efa7a2.
2016-12-12 17:32:34 -04:00
cmake consolidate px4 executable builds and upload
2018-01-31 19:49:09 -04:00
elseif ("${BOARD}" STREQUAL "bebop")
add_custom_target(upload
COMMAND ${CMAKE_STRIP} -R .comment -R .gnu.version -o $<TARGET_FILE:px4>.stripped $<TARGET_FILE:px4>
COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh $<TARGET_FILE:px4>.stripped /usr/bin
DEPENDS px4
COMMENT "uploading px4"
USES_TERMINAL
)
Target specific optimization control. This allows one to set a semi-colon separated list of regular expressions in the environment variable PX4_NO_OPTIMIZATION to control which (cmake generated) targets should be compiled without optimization. Suppressing optimization can be necessary for debugging in a debugger, especially when trying to step through the code or needing to print variables that otherwise are optimized out. EXAMPLE export PX4_NO_OPTIMIZATION="px4;^modules__uORB;^modules__systemlib$" will result in the following messages during cmake configuration: [...] -- Disabling optimization for target 'platforms__posix__px4_layer' because it matches the regexp 'px4' in env var PX4_NO_OPTIMIZATION -- Disabling optimization for target 'modules__systemlib' because it matches the regexp '^modules__systemlib$' in env var PX4_NO_OPTIMIZATION -- Disabling optimization for target 'modules__uORB' because it matches the regexp '^modules__uORB' in env var PX4_NO_OPTIMIZATION -- Disabling optimization for target 'examples__px4_simple_app' because it matches the regexp 'px4' in env var PX4_NO_OPTIMIZATION -- Disabling optimization for target 'modules__uORB__uORB_tests' because it matches the regexp '^modules__uORB' in env var PX4_NO_OPTIMIZATION -- Disabling optimization for target 'px4' because it matches the regexp 'px4' in env var PX4_NO_OPTIMIZATION Note that a list of all (currently used) target names can be printed with the following command line from within the required build directory: find . -wholename '*/CMakeFiles/*.dir/flags.make' | xargs dirname | xargs basename -a | sort -u | sed -e 's/.dir$//'
2016-09-01 20:12:05 -03:00
Restructure posix cmake configuration We check if the target is SITL and do not build it with all other posix targets.
2016-12-13 07:20:39 -04:00
elseif ("${BOARD}" STREQUAL "sitl")
move src/firmware/ to platforms
2018-01-04 23:12:03 -04:00
include(sitl_target)
cmake handle git submodule depdencies
2017-11-21 21:22:48 -04:00
if(BUILD_TESTING)
move src/firmware/ to platforms
2018-01-04 23:12:03 -04:00
include(sitl_tests)
cmake handle git submodule depdencies
2017-11-21 21:22:48 -04:00
endif()
Restructure posix cmake configuration We check if the target is SITL and do not build it with all other posix targets.
2016-12-13 07:20:39 -04:00
endif()
list_vmd_make_targets and list_cmake_targets * This allows one to run 'make posix list_vmd_make_targets' and get output like >make posix list_vmd_make_targets [...] -- Build files have been written to: /usr/src/debian/px4/Firmware/Firmware.git/build_posix_sitl_default PX4 CONFIG: /usr/src/debian/px4/Firmware/Firmware.git/build_posix_sitl_default Scanning dependencies of target list_vmd_make_targets [100%] List of acceptable 'posix_sitl_default' <viewer_model_debugger> targets: none none_iris none_iris_opt_flow none_tailsitter [...] replay_solo_valgrind replay_typhoon_h480_valgrind [100%] Built target list_vmd_make_targets Or, run 'make list_vmd_make_targets' from the build_posix_* directory. * This adds the list_cmake_targets make target to print all cmake targets that one can match with PX4_NO_OPTIMIZATION. PX4_NO_OPTIMIZATION is ignored (do optimization as normal) when the CONFIG isn't posix_sitl_*. * Add comment in Makefile on how/where to find all targets.
2016-09-02 19:45:15 -03:00
Optical flow simulator and install cleanup. (#5132) sitl CI is having some issue cloning, but I have verified it locally for various configs
2016-07-24 14:07:14 -03:00
#=============================================================================
# install
#
cmake: package px4 with sitl_gazebo plugins for jenkins ROS tests
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# px4 app
install(
TARGETS
px4
DESTINATION
${CMAKE_INSTALL_BINDIR}
)
# px4 dirs
install(
DIRECTORY
${PROJECT_SOURCE_DIR}/integrationtests
${PROJECT_SOURCE_DIR}/launch
${PROJECT_SOURCE_DIR}/posix-configs
${PROJECT_SOURCE_DIR}/ROMFS
${PROJECT_SOURCE_DIR}/test
DESTINATION
${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}
)
# px4 files
install(
FILES
${PROJECT_SOURCE_DIR}/CMakeLists.txt
${PROJECT_SOURCE_DIR}/package.xml
DESTINATION
${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}
)
# px4 Tools dirs
install(
DIRECTORY
${PROJECT_SOURCE_DIR}/Tools/ecl_ekf
DESTINATION
${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/Tools
)
# px4 Tools files
install(
FILES
${PROJECT_SOURCE_DIR}/Tools/setup_gazebo.bash
${PROJECT_SOURCE_DIR}/Tools/upload_log.py
DESTINATION
${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/Tools
)
# sitl_gazebo built plugins
install(
DIRECTORY
${PROJECT_SOURCE_DIR}/build/posix_sitl_default/build_gazebo
DESTINATION
${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/build/posix_sitl_default
FILES_MATCHING
PATTERN "CMakeFiles" EXCLUDE
PATTERN "*.so"
)
# sitl_gazebo dirs
install(
DIRECTORY
${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/models
${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/worlds
DESTINATION
${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/Tools/sitl_gazebo
)
# sitl_gazebo files
install(
FILES
${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/CMakeLists.txt
${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/package.xml
DESTINATION
${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}/Tools/sitl_gazebo
)