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cmake only include mavlink where used

This commit is contained in:
Daniel Agar 2017-06-14 10:02:34 -04:00 committed by Lorenz Meier
parent 5984e3d330
commit 6a443765a5
14 changed files with 146 additions and 122 deletions
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1
cmake/common/px4_base.cmake
View File

@ -458,7 +458,6 @@ function(px4_add_common_flags)
${PX4_BINARY_DIR}
${PX4_BINARY_DIR}/src
${PX4_BINARY_DIR}/src/modules
${PX4_SOURCE_DIR}/mavlink/include/mavlink
${PX4_SOURCE_DIR}/src
${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
${PX4_SOURCE_DIR}/src/include

233
cmake/posix/px4_impl_posix.cmake
View File

@ -79,6 +79,7 @@ function(px4_posix_generate_builtin_commands)
MULTI_VALUE MODULE_LIST
REQUIRED MODULE_LIST OUT
ARGN ${ARGN})
set(builtin_apps_string)
set(builtin_apps_decl_string)
set(command_count 0)
@ -101,10 +102,8 @@ function(px4_posix_generate_builtin_commands)
math(EXPR command_count "${command_count}+1")
endif()
endforeach()
configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.cpp.in
${OUT}.cpp)
configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.h.in
${OUT}.h)
configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.cpp.in ${OUT}.cpp)
configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.h.in ${OUT}.h)
endfunction()
#=============================================================================
@ -168,137 +167,133 @@ function(px4_os_add_flags)
LINK_DIRS ${LINK_DIRS}
DEFINITIONS ${DEFINITIONS})
set(PX4_BASE )
set(added_include_dirs
src/modules/systemlib
src/platforms/posix/include
mavlink/include/mavlink
)
src/platforms/posix/include
)
# This block sets added_definitions and added_cxx_flags.
if(UNIX AND APPLE)
set(added_definitions
-D__PX4_POSIX
-D__PX4_DARWIN
-D__DF_DARWIN
-Dnoreturn_function=__attribute__\(\(noreturn\)\)
)
set(added_cxx_flags)
if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0)
message(FATAL_ERROR "PX4 Firmware requires XCode 8 or newer on Mac OS. Version installed on this system: ${CMAKE_CXX_COMPILER_VERSION}")
endif()
EXEC_PROGRAM(uname ARGS -v OUTPUT_VARIABLE DARWIN_VERSION)
STRING(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})
# message(STATUS "PX4 Darwin Version: ${DARWIN_VERSION}")
if (DARWIN_VERSION LESS 16)
list(APPEND added_definitions
-DCLOCK_MONOTONIC=1
-DCLOCK_REALTIME=0
-D__PX4_APPLE_LEGACY
# This block sets added_definitions and added_cxx_flags.
if(UNIX AND APPLE)
set(added_definitions
-D__PX4_POSIX
-D__PX4_DARWIN
-D__DF_DARWIN
-Dnoreturn_function=__attribute__\(\(noreturn\)\)
)
endif()
else()
set(added_cxx_flags)
set(added_definitions
-D__PX4_POSIX
-D__PX4_LINUX
-D__DF_LINUX
-Dnoreturn_function=__attribute__\(\(noreturn\)\)
)
if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0)
message(FATAL_ERROR "PX4 Firmware requires XCode 8 or newer on Mac OS. Version installed on this system: ${CMAKE_CXX_COMPILER_VERSION}")
endif()
# Use -pthread For linux/g++.
set(added_cxx_flags
-pthread
)
EXEC_PROGRAM(uname ARGS -v OUTPUT_VARIABLE DARWIN_VERSION)
STRING(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})
# message(STATUS "PX4 Darwin Version: ${DARWIN_VERSION}")
if (DARWIN_VERSION LESS 16)
list(APPEND added_definitions
-DCLOCK_MONOTONIC=1
-DCLOCK_REALTIME=0
-D__PX4_APPLE_LEGACY
)
endif()
endif()
set(added_exe_linker_flags)
# This block sets added_c_flags (appends to others).
if ("${BOARD}" STREQUAL "eagle")
if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
else()
set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
set(added_definitions
-D__PX4_POSIX
-D__PX4_LINUX
-D__DF_LINUX
-Dnoreturn_function=__attribute__\(\(noreturn\)\)
)
# Use -pthread For linux/g++.
set(added_cxx_flags
-pthread
)
endif()
# Add the toolchain specific flags
set(added_cflags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT})
set(added_exe_linker_flags)
list(APPEND added_cxx_flags
${POSIX_CMAKE_CXX_FLAGS}
--sysroot=${HEXAGON_ARM_SYSROOT}
# This block sets added_c_flags (appends to others).
if ("${BOARD}" STREQUAL "eagle")
if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
else()
set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
endif()
# Add the toolchain specific flags
set(added_cflags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT})
list(APPEND added_cxx_flags
${POSIX_CMAKE_CXX_FLAGS}
--sysroot=${HEXAGON_ARM_SYSROOT}
)
list(APPEND added_exe_linker_flags
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/usr/lib
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib
--sysroot=${HEXAGON_ARM_SYSROOT}
)
# This block sets added_c_flags (appends to others).
elseif ("${BOARD}" STREQUAL "excelsior")
if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
else()
set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
endif()
# Add the toolchain specific flags
set(added_cflags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096 -mfloat-abi=softfp -mfpu=neon -mthumb-interwork)
list(APPEND added_cxx_flags
${POSIX_CMAKE_CXX_FLAGS}
--sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096 -mfloat-abi=softfp -mfpu=neon -mthumb-interwork
)
list(APPEND added_exe_linker_flags
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib32-apq8096/usr/lib
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib32-apq8096/lib
--sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096 -mfloat-abi=softfp -mfpu=neon -mthumb-interwork
)
elseif ("${BOARD}" STREQUAL "rpi")
SET(RPI_COMPILE_FLAGS
-mcpu=cortex-a53
-mfpu=neon
-mfloat-abi=hard
)
LIST(APPEND added_c_flags ${RPI_COMPILE_FLAGS})
LIST(APPEND added_cxx_flags ${RPI_COMPILE_FLAGS})
list(APPEND added_exe_linker_flags
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/usr/lib
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib
--sysroot=${HEXAGON_ARM_SYSROOT}
)
# This block sets added_c_flags (appends to others).
elseif ("${BOARD}" STREQUAL "excelsior")
FIND_PROGRAM(CXX_COMPILER_PATH ${CMAKE_CXX_COMPILER})
if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
else()
set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
GET_FILENAME_COMPONENT(CXX_COMPILER_PATH ${CXX_COMPILER_PATH} DIRECTORY)
GET_FILENAME_COMPONENT(CXX_COMPILER_PATH "${CXX_COMPILER_PATH}/../" ABSOLUTE)
IF ("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang")
set(CLANG_COMPILE_FLAGS
--target=arm-pc-linux-gnueabihf
-ccc-gcc-name arm-linux-gnueabihf-gcc
--sysroot=${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc
-I${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/include/
)
set(added_c_flags ${POSIX_CMAKE_C_FLAGS} ${CLANG_COMPILE_FLAGS})
list(APPEND added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS} ${CLANG_COMPILE_FLAGS})
list(APPEND added_exe_linker_flags ${POSIX_CMAKE_EXE_LINKER_FLAGS} ${CLANG_COMPILE_FLAGS}
-B${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib
-L${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib
)
ENDIF()
endif()
# Add the toolchain specific flags
set(added_cflags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096 -mfloat-abi=softfp -mfpu=neon -mthumb-interwork)
list(APPEND added_cxx_flags
${POSIX_CMAKE_CXX_FLAGS}
--sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096 -mfloat-abi=softfp -mfpu=neon -mthumb-interwork
)
list(APPEND added_exe_linker_flags
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib32-apq8096/usr/lib
-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib32-apq8096/lib
--sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096 -mfloat-abi=softfp -mfpu=neon -mthumb-interwork
)
elseif ("${BOARD}" STREQUAL "rpi")
SET(RPI_COMPILE_FLAGS
-mcpu=cortex-a53
-mfpu=neon
-mfloat-abi=hard
)
LIST(APPEND added_c_flags ${RPI_COMPILE_FLAGS})
LIST(APPEND added_cxx_flags ${RPI_COMPILE_FLAGS})
FIND_PROGRAM(CXX_COMPILER_PATH ${CMAKE_CXX_COMPILER})
GET_FILENAME_COMPONENT(CXX_COMPILER_PATH ${CXX_COMPILER_PATH} DIRECTORY)
GET_FILENAME_COMPONENT(CXX_COMPILER_PATH "${CXX_COMPILER_PATH}/../" ABSOLUTE)
IF ("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang")
set(CLANG_COMPILE_FLAGS
--target=arm-pc-linux-gnueabihf
-ccc-gcc-name arm-linux-gnueabihf-gcc
--sysroot=${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc
-I${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/include/
)
set(added_c_flags ${POSIX_CMAKE_C_FLAGS} ${CLANG_COMPILE_FLAGS})
list(APPEND added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS} ${CLANG_COMPILE_FLAGS})
list(APPEND added_exe_linker_flags ${POSIX_CMAKE_EXE_LINKER_FLAGS} ${CLANG_COMPILE_FLAGS}
-B${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib
-L${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib
)
ENDIF()
else()
endif()
# output
foreach(var ${inout_vars})
string(TOLOWER ${var} lower_var)

4
cmake/qurt/px4_impl_qurt.cmake
View File

@ -172,11 +172,11 @@ function(px4_os_add_flags)
)
set(added_definitions
-D__PX4_QURT
-D__PX4_QURT
-D__DF_QURT # For DriverFramework
-D__PX4_POSIX
-D__QAIC_SKEL_EXPORT=__EXPORT
)
)
# Add the toolchain specific flags
set(added_cflags)

3
src/drivers/pwm_out_rc_in/CMakeLists.txt
View File

@ -30,6 +30,9 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
px4_add_module(
MODULE drivers__pwm_out_rc_in
MAIN pwm_out_rc_in

3
src/drivers/snapdragon_rc_pwm/CMakeLists.txt
View File

@ -30,6 +30,9 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
px4_add_module(
MODULE drivers__snapdragon_rc_pwm
MAIN snapdragon_rc_pwm

3
src/modules/mavlink/CMakeLists.txt
View File

@ -30,6 +30,9 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
px4_add_module(
MODULE modules__mavlink
MAIN mavlink

3
src/modules/mavlink/mavlink_tests/CMakeLists.txt
View File

@ -30,6 +30,9 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
px4_add_module(
MODULE modules__mavlink__mavlink_tests
MAIN mavlink_tests

2
src/modules/simulator/CMakeLists.txt
View File

@ -31,6 +31,8 @@
#
############################################################################
include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
option(ENABLE_UART_RC_INPUT "Enable RC Input from UART mavlink connection" OFF)
if(ENABLE_UART_RC_INPUT)

1
src/modules/uavcan/CMakeLists.txt
View File

@ -48,6 +48,7 @@ add_definitions(
add_subdirectory(libuavcan EXCLUDE_FROM_ALL)
add_dependencies(uavcan platforms__nuttx)
include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
include_directories(libuavcan/libuavcan/include)
include_directories(libuavcan/libuavcan/include/dsdlc_generated)
include_directories(libuavcan/libuavcan_drivers/posix/include)

3
src/platforms/posix/drivers/accelsim/CMakeLists.txt
View File

@ -30,6 +30,9 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
px4_add_module(
MODULE platforms__posix__drivers__accelsim
MAIN accelsim

3
src/platforms/posix/drivers/airspeedsim/CMakeLists.txt
View File

@ -30,6 +30,9 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
px4_add_module(
MODULE platforms__posix__drivers__airspeedsim
MAIN measairspeedsim

3
src/platforms/posix/drivers/barosim/CMakeLists.txt
View File

@ -30,6 +30,9 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
px4_add_module(
MODULE platforms__posix__drivers__barosim
MAIN barosim

3
src/platforms/posix/drivers/gpssim/CMakeLists.txt
View File

@ -30,6 +30,9 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
px4_add_module(
MODULE platforms__posix__drivers__gpssim
MAIN gpssim

3
src/platforms/posix/drivers/gyrosim/CMakeLists.txt
View File

@ -30,6 +30,9 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
px4_add_module(
MODULE platforms__posix__drivers__gyrosim
MAIN gyrosim