uORB generation move to msg/

.gitignore

@@ -1,8 +1,3 @@
-*.d
-!ROMFS/*/*.d
-!ROMFS/*/*/*.d
-!ROMFS/*/*/*/*.d
-*.px4log
 *.dSYM
 *.o
 *.gch
@@ -17,8 +12,6 @@
 .settings
 .swp
 .~lock.*
-Archives/*
-Build/*
 Testing/
 Packages/*
 s3deploy-branch/
@@ -62,13 +55,6 @@ GTAGS
 *.creator.user
 *.files
 *.includes
-src/modules/micrortps_bridge/micrortps_agent/
-src/modules/micrortps_bridge/micrortps_listener/
-
-# uavcan firmware
-ROMFS/px4fmu_common/uavcan/
-vectorcontrol/
-
 
 # CLion ignores
 .idea

.gitmodules

@@ -8,10 +8,10 @@
 	path = src/modules/uavcan/libuavcan
 	url = https://github.com/UAVCAN/libuavcan.git
 [submodule "Tools/genmsg"]
-	path = Tools/genmsg
+	path = msg/tools/genmsg
 	url = https://github.com/ros/genmsg.git
 [submodule "Tools/gencpp"]
-	path = Tools/gencpp
+	path = msg/tools/gencpp
 	url = https://github.com/ros/gencpp.git
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim

CMakeLists.txt

@@ -192,8 +192,6 @@ px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
 px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
 px4_add_git_submodule(TARGET git_gazebo_flow PATH "Tools/sitl_gazebo/external/OpticalFlow")
 px4_add_git_submodule(TARGET git_gazebo_klt PATH "Tools/sitl_gazebo/external/OpticalFlow/external/klt_feature_tracker")
-px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
-px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
 px4_add_git_submodule(TARGET git_gps_devices PATH "src/drivers/gps/devices")
 px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
 px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
@@ -361,16 +359,9 @@ add_definitions(${definitions})
 #=============================================================================
 # message, and airframe generation
 #
-
 include(common/px4_metadata)
 
 add_subdirectory(msg)
-px4_generate_messages(TARGET msg_gen
-	MSG_FILES ${msg_files}
-	OS ${OS}
-	INCLUDES ${msg_include_paths}
-	DEPENDS prebuild_targets
-	)
 
 px4_generate_airframes_xml(BOARD ${BOARD})
 

cmake/common/px4_metadata.cmake

@@ -37,135 +37,9 @@
 #
 # 	utility functions
 #
-#		* px4_generate_messages
 #		* px4_generate_airframes_xml
 #
 
-#=============================================================================
-#
-#	px4_generate_messages
-#
-#	This function generates source code from ROS msg definitions.
-#
-#	Usage:
-#		px4_generate_messages(TARGET <target> MSGS <msg-files>)
-#
-#	Input:
-#		MSG_FILES	: the ROS msgs to generate files from
-#		OS			: the operating system selected
-#		DEPENDS		: dependencies
-#
-#	Output:
-#		TARGET		: the message generation target
-#
-#	Example:
-#		px4_generate_messages(TARGET <target>
-#			MSG_FILES <files> OS <operating-system>
-#			[ DEPENDS <dependencies> ]
-#			)
-#
-function(px4_generate_messages)
-	px4_parse_function_args(
-		NAME px4_generate_messages
-		OPTIONS VERBOSE
-		ONE_VALUE OS TARGET
-		MULTI_VALUE MSG_FILES DEPENDS INCLUDES
-		REQUIRED MSG_FILES OS TARGET
-		ARGN ${ARGN})
-
-	set(QUIET)
-	if (NOT VERBOSE)
-		set(QUIET "-q")
-	endif()
-
-	# headers
-	set(msg_out_path ${PX4_BINARY_DIR}/src/modules/uORB/topics)
-	set(msg_list)
-	foreach(msg_file ${MSG_FILES})
-		get_filename_component(msg ${msg_file} NAME_WE)
-		list(APPEND msg_list ${msg})
-	endforeach()
-
-	set(msg_files_out)
-	foreach(msg ${msg_list})
-		list(APPEND msg_files_out ${msg_out_path}/${msg}.h)
-	endforeach()
-
-	add_custom_command(OUTPUT ${msg_files_out}
-		COMMAND ${PYTHON_EXECUTABLE}
-			Tools/px_generate_uorb_topic_files.py
-			--headers
-			${QUIET}
-			-f ${MSG_FILES}
-			-i ${INCLUDES}
-			-o ${msg_out_path}
-			-e msg/templates/uorb
-			-t ${PX4_BINARY_DIR}/topics_temporary_header
-		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-		COMMENT "Generating uORB topic headers"
-		VERBATIM
-		)
-
-	# !sources
-	set(msg_source_out_path	${PX4_BINARY_DIR}/topics_sources)
-	set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
-	foreach(msg ${msg_list})
-		list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
-	endforeach()
-	add_custom_command(OUTPUT ${msg_source_files_out}
-		COMMAND ${PYTHON_EXECUTABLE}
-			Tools/px_generate_uorb_topic_files.py
-			--sources
-			${QUIET}
-			-f ${MSG_FILES}
-			-i ${INCLUDES}
-			-o ${msg_source_out_path}
-			-e msg/templates/uorb
-			-t ${PX4_BINARY_DIR}/topics_temporary_sources
-		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-		COMMENT "Generating uORB topic sources"
-		VERBATIM
-		)
-	set_source_files_properties(${msg_source_files_out} PROPERTIES GENERATED TRUE)
-
-	# multi messages for target OS
-	set(msg_multi_out_path ${PX4_BINARY_DIR}/src/platforms/${OS}/px4_messages)
-	set(msg_multi_files_out)
-	foreach(msg ${msg_list})
-		list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
-	endforeach()
-	add_custom_command(OUTPUT ${msg_multi_files_out}
-		COMMAND ${PYTHON_EXECUTABLE}
-			Tools/px_generate_uorb_topic_files.py
-			--headers
-			${QUIET}
-			-f ${MSG_FILES}
-			-i ${INCLUDES}
-			-o ${msg_multi_out_path}
-			-e msg/templates/px4/uorb
-			-t ${PX4_BINARY_DIR}/multi_topics_temporary/${OS}
-			-p "px4_"
-		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-		COMMENT "Generating uORB topic multi headers for ${OS}"
-		VERBATIM
-		)
-
-	px4_add_library(${TARGET}
-		${msg_source_files_out}
-		${msg_multi_files_out}
-		${msg_files_out}
-		)
-
-	target_include_directories(${TARGET}
-		PRIVATE ${PX4_SOURCE_DIR}/src/lib/micro-CDR/include
-		PRIVATE ${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr
-		)
-	target_link_libraries(${TARGET} PRIVATE lib__micro-CDR)
-endfunction()
-
 #=============================================================================
 #
 #	px4_generate_airframes_xml

cmake/configs/posix_sitl_default.cmake

@@ -114,8 +114,8 @@ set(config_module_list
 	modules/systemlib/mixer
 	modules/uORB
 
-        # micro RTPS
+	# micro RTPS
-        modules/micrortps_bridge/micrortps_client
+	modules/micrortps_bridge/micrortps_client
 
 	#
 	# Libraries
@@ -231,4 +231,3 @@ if(REPLAY_FILE)
 	message("Building with uorb publisher rules support")
 	add_definitions(-DORB_USE_PUBLISHER_RULES)
 endif()
-

eclipse.cproject

@@ -32,7 +32,6 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/geo}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/platforms}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/uORB}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
@@ -54,7 +53,6 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/geo}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/platforms}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/uORB}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
@@ -83,7 +81,6 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/systemlib}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/geo}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/platforms}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/uORB}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>

eclipse.project

@@ -59,11 +59,11 @@
 	<variableList>
 		<variable>
 			<name>uORB_LOC</name>
-			<value>$%7BPROJECT_LOC%7D/build/posix_sitl_default/src/modules/uORB</value>
+			<value>$%7BPROJECT_LOC%7D/build/posix_sitl_default/uORB</value>
 		</variable>
 		<variable>
 			<name>uORB_SRC</name>
-			<value>$%7BPROJECT_LOC%7D/build/posix_sitl_default/topics_sources</value>
+			<value>$%7BPROJECT_LOC%7D/build/posix_sitl_default/msg/topics_sources</value>
 		</variable>
 	</variableList>
 </projectDescription>

msg/CMakeLists.txt

@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-set(msg_file_names
+set(msg_files
 	actuator_armed.msg
 	actuator_controls.msg
 	actuator_direct.msg
@@ -127,17 +127,63 @@ set(msg_file_names
 	wind_estimate.msg
 	)
 
-# Get absolute paths
+px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
-set(msg_files)
+px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
-set(msg_include_paths)
 
-foreach(msg_file ${msg_file_names})
+# headers
-	list(APPEND msg_files ${CMAKE_CURRENT_SOURCE_DIR}/${msg_file})
+set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
+set(msg_source_out_path	${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
+#set(msg_source_files_out ${CMAKE_CURRENT_BINARY_DIR}/uORBTopics.cpp)
+
+set(msg_list)
+set(uorb_headers)
+set(uorb_sources ${msg_source_out_path}/uORBTopics.cpp)
+foreach(msg_file ${msg_files})
+	get_filename_component(msg ${msg_file} NAME_WE)
+	list(APPEND msg_list ${msg})
+	list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
+	list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
 endforeach()
 
-list(APPEND msg_include_paths ${CMAKE_CURRENT_SOURCE_DIR})
+# Generate uORB headers
-set(msg_include_paths ${msg_include_paths} PARENT_SCOPE)
+add_custom_command(OUTPUT ${uorb_headers}
+	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+		--headers
+		-f ${msg_files}
+		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-o ${msg_out_path}
+		-e templates/uorb
+		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers
+		-q
+	DEPENDS ${msg_files}
+	COMMENT "Generating uORB topic headers"
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+	VERBATIM
+	)
+add_custom_target(uorb_headers DEPENDS ${uorb_headers})
 
-set(msg_files ${msg_files} PARENT_SCOPE)
+# Generate uORB sources
+add_custom_command(OUTPUT ${uorb_sources}
+	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+		--sources
+		-f ${msg_files}
+		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-o ${msg_source_out_path}
+		-e templates/uorb
+		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources
+		-q
+	DEPENDS ${msg_files}
+	COMMENT "Generating uORB topic sources"
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+	VERBATIM
+	)
 
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+add_library(uorb_msgs STATIC EXCLUDE_FROM_ALL ${uorb_sources})
+add_dependencies(uorb_msgs uorb_headers prebuild_targets)
+
+# microCDR now part of uORB
+target_include_directories(uorb_msgs
+	PRIVATE ${PX4_SOURCE_DIR}/src/lib/micro-CDR/include
+	PRIVATE ${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr
+	)
+target_link_libraries(uorb_msgs PRIVATE lib__micro-CDR)

msg/templates/uorb/msg.cpp.template

@@ -74,8 +74,7 @@ topic_fields = ["uint64_t timestamp"]+["%s %s" % (convert_type(field.type), fiel
 constexpr char __orb_@(topic_name)_fields[] = "@( ";".join(topic_fields) );";
 
 @[for multi_topic in topics]@
-ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size),
+ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_fields);
-    __orb_@(topic_name)_fields);
 @[end for]
 
 @#################################################

msg/tools/generate_microRTPS_bridge.py

@@ -40,7 +40,7 @@
 import sys, os, argparse, shutil
 import px_generate_uorb_topic_files
 import subprocess, glob
-import errno    
+import errno
 
 def get_absolute_path(arg_parse_dir):
     root_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))

msg/tools/px_generate_uorb_topic_files.py

@@ -47,7 +47,7 @@ import sys
 px4_tools_dir = os.path.dirname(os.path.abspath(__file__))
 sys.path.append(px4_tools_dir + "/genmsg/src")
 sys.path.append(px4_tools_dir + "/gencpp/src")
-px4_msg_dir = os.path.join(px4_tools_dir,"../msg")
+px4_msg_dir = os.path.join(px4_tools_dir, "..")
 
 try:
         import em

src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt

@@ -47,73 +47,77 @@ if(NOT GENERATE_RTPS_BRIDGE MATCHES "off")
 		return()
 	endif()
 
-	include_directories(.)
-	include_directories(${CMAKE_CURRENT_BINARY_DIR})
-	include_directories(${PX4_SOURCE_DIR}/src/lib/micro-CDR/include)
-	include_directories(${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr)
-
 	# Do not delete everything in the current dir
 	set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
-	set(topic_msg_path ${PX4_SOURCE_DIR}/msg)
 
-	set(send_topic_files)
+	if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
-	foreach(topic ${config_rtps_send_topics})
-		list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
-	endforeach()
 
-	set(receive_topic_files)
+		set(send_topic_files)
-	foreach(topic ${config_rtps_receive_topics})
+		foreach(topic ${config_rtps_send_topics})
-		list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
+			list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
-	endforeach()
+		endforeach()
 
-	foreach(topic ${config_rtps_send_topics})
+		set(receive_topic_files)
-		list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.cpp)
+		foreach(topic ${config_rtps_receive_topics})
-		list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.h)
+			list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
-	endforeach()
+		endforeach()
 
-	foreach(topic ${config_rtps_receive_topics})
+		foreach(topic ${config_rtps_send_topics})
-		list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.cpp)
+			list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.cpp)
-		list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.h)
+			list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.h)
-	endforeach()
+		endforeach()
 
-    if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
+		foreach(topic ${config_rtps_receive_topics})
-	set(topic_bridge_files_out microRTPS_client.cpp microRTPS_transport.cpp microRTPS_transport.h)
+			list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.cpp)
+			list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.h)
+		endforeach()
 
-	set(send_topic_files_opt)
+		set(send_topic_files_opt)
-	if (NOT "${send_topic_files}" STREQUAL "")
+		if (NOT "${send_topic_files}" STREQUAL "")
-		set(send_topic_opt "-s")
+			set(send_topic_opt "--send")
-	endif()
+		endif()
 
-	set(receive_topic_files_opt)
+		set(receive_topic_files_opt)
-	if (NOT "${receive_topic_files}" STREQUAL "")
+		if (NOT "${receive_topic_files}" STREQUAL "")
-		set(receive_topic_opt "-r")
+			set(receive_topic_opt "--receive")
-	endif()
+		endif()
 
-	add_custom_command(OUTPUT ${topic_bridge_files_out}
+		list(APPEND topic_bridge_files_out
-		COMMAND ${PYTHON_EXECUTABLE}
+			${msg_out_path}/micrortps_client/microRTPS_client.cpp
-			${PX4_SOURCE_DIR}/Tools/generate_microRTPS_bridge.py
+			${msg_out_path}/micrortps_client/microRTPS_transport.cpp
-			-f $ENV{FASTRTPSGEN_DIR}
+			${msg_out_path}/micrortps_client/microRTPS_transport.h
-			${send_topic_opt} ${send_topic_files}
+			)
-			${receive_topic_opt} ${receive_topic_files}
-			-t ${topic_msg_path}
-			-u ${msg_out_path}
-		DEPENDS ${DEPENDS} ${send_topic_files} ${receive_topic_files}
-		COMMENT "Generating RTPS topic bridge"
-		VERBATIM
-	    )
-	add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out})
 
-	px4_add_module(
+		add_custom_command(OUTPUT ${topic_bridge_files_out}
-		MODULE modules__micrortps_bridge__micrortps_client
+			COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/generate_microRTPS_bridge.py
-		MAIN micrortps_client
+				--fastrtpsgen-dir $ENV{FASTRTPSGEN_DIR}
-		STACK_MAIN 4096
+				${send_topic_opt} ${send_topic_files}
-		SRCS
+				${receive_topic_opt} ${receive_topic_files}
-			${msg_out_path}/microRTPS_transport.cpp
+				--topic-msg-dir ${PX4_SOURCE_DIR}/msg
-			${msg_out_path}/microRTPS_client.cpp
+				--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
-			microRTPS_client_main.cpp
+				--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
-		DEPENDS
+			DEPENDS ${send_topic_files} ${receive_topic_files}
-			platforms__common
+			COMMENT "Generating RTPS topic bridge"
-			topic_bridge_files
+			VERBATIM
 		)
-    endif()
+		add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out})
+
+		include_directories(${CMAKE_CURRENT_SOURCE_DIR})
+		include_directories(${CMAKE_CURRENT_BINARY_DIR}/micrortps_client)
+
+		px4_add_module(
+			MODULE modules__micrortps_bridge__micrortps_client
+			MAIN micrortps_client
+			STACK_MAIN 4096
+			SRCS
+				${CMAKE_CURRENT_BINARY_DIR}/micrortps_client/microRTPS_transport.cpp
+				${CMAKE_CURRENT_BINARY_DIR}/micrortps_client/microRTPS_client.cpp
+				microRTPS_client_main.cpp
+			DEPENDS
+				platforms__common
+				topic_bridge_files
+				uorb_headers
+		)
+		target_link_libraries(modules__micrortps_bridge__micrortps_client PRIVATE lib__micro-CDR)
+	endif()
 endif()

src/modules/uORB/CMakeLists.txt

@@ -49,3 +49,4 @@ px4_add_module(
 	DEPENDS
 		platforms__common
 	)
+target_link_libraries(modules__uORB uorb_msgs)

src/platforms/common/CMakeLists.txt

@@ -30,10 +30,6 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-set(depends
-	msg_gen
-	prebuild_targets
-	)
 
 px4_add_module(
 	MODULE platforms__common
@@ -42,6 +38,7 @@ px4_add_module(
 		px4_getopt.c
 		shutdown.cpp
 	DEPENDS
-		${depends}
+		prebuild_targets
+		uorb_headers
 	)
 # vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/systemcmds/topic_listener/CMakeLists.txt

@@ -33,11 +33,12 @@
 
 add_custom_command(OUTPUT topic_listener.cpp
                 COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_listener.py ${PX4_SOURCE_DIR} > topic_listener.cpp
-                DEPENDS generate_listener.py msg_gen
+                DEPENDS generate_listener.py uorb_headers
                 )
 
 add_custom_target(generate_topic_listener
-	DEPENDS topic_listener.cpp generate_listener.py)
+	DEPENDS topic_listener.cpp generate_listener.py
+	)
 
 px4_add_module(
 	MODULE systemcmds__topic_listener