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Restructure posix cmake configuration 

We check if the target is SITL and do not build it with all other
posix targets.
This commit is contained in:
Michael Schaeuble 2016-12-13 12:20:39 +01:00 committed by Lorenz Meier
parent 6d3116e30b
commit 71e48c937e
2 changed files with 233 additions and 202 deletions
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306
src/firmware/posix/CMakeLists.txt
View File

@ -4,228 +4,130 @@ px4_posix_generate_builtin_commands(
OUT apps
MODULE_LIST ${module_libraries})
# Define build target
set(APP_NAME px4)
set(MAIN_SRC ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp)
set(UPLOAD_NAME upload)
function(px4_add_sitl_app)
px4_parse_function_args(
NAME px4_add_sitl_app
ONE_VALUE APP_NAME MAIN_SRC UPLOAD_NAME
REQUIRED APP_NAME MAIN_SRC
ARGN ${ARGN})
if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
include(fastrpc)
include(linux_app)
include(fastrpc)
include(linux_app)
FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes -Wno-missing-declarations")
LINUX_APP(
APP_NAME ${APP_NAME}
IDL_NAME px4muorb
APPS_DEST "/home/linaro"
SOURCES
px4muorb_stub.c
${MAIN_SRC}
apps.cpp
LINK_LIBS
-Wl,--start-group
${module_libraries}
${df_driver_libs}
${FASTRPC_ARM_LIBS}
pthread m rt
-Wl,--end-group
)
px4_add_adb_push(OUT ${UPLOAD_NAME}
OS ${OS}
BOARD ${BOARD}
FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
DEPENDS ${APP_NAME}
DEST /home/linaro)
elseif ("${BOARD}" STREQUAL "rpi")
px4_add_executable(${APP_NAME}
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes -Wno-missing-declarations")
LINUX_APP(
APP_NAME ${APP_NAME}
IDL_NAME px4muorb
APPS_DEST "/home/linaro"
SOURCES
px4muorb_stub.c
${MAIN_SRC}
apps.cpp
)
LINK_LIBS
-Wl,--start-group
${module_libraries}
${df_driver_libs}
${FASTRPC_ARM_LIBS}
pthread m rt
-Wl,--end-group
)
px4_add_adb_push(OUT ${UPLOAD_NAME}
OS ${OS}
BOARD ${BOARD}
FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
DEPENDS ${APP_NAME}
DEST /home/linaro)
elseif ("${BOARD}" STREQUAL "rpi")
px4_add_executable(${APP_NAME}
${MAIN_SRC}
apps.cpp
)
target_link_libraries(${APP_NAME}
-Wl,--start-group
${module_libraries}
df_driver_framework
${df_driver_libs}
pthread m rt
-Wl,--end-group
)
file(GLOB RPI_CONFIG_FILES ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config)
px4_add_scp_push(OUT ${UPLOAD_NAME}
OS ${OS}
BOARD ${BOARD}
FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
${RPI_CONFIG_FILES}
${PX4_SOURCE_DIR}/ROMFS
DEPENDS ${APP_NAME}
DEST /home/pi)
elseif ("${BOARD}" STREQUAL "bebop")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -static")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
px4_add_executable(${APP_NAME}
${MAIN_SRC}
apps.cpp
)
if (NOT APPLE)
target_link_libraries(${APP_NAME}
-Wl,--start-group
${module_libraries}
df_driver_framework
${df_driver_libs}
pthread m rt
-Wl,--end-group
)
file(GLOB RPI_CONFIG_FILES ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config)
px4_add_scp_push(OUT ${UPLOAD_NAME}
OS ${OS}
BOARD ${BOARD}
FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
${RPI_CONFIG_FILES}
${PX4_SOURCE_DIR}/ROMFS
DEPENDS ${APP_NAME}
DEST /home/pi)
elseif ("${BOARD}" STREQUAL "bebop")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -static")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
px4_add_executable(${APP_NAME}
${MAIN_SRC}
apps.cpp
)
if (NOT APPLE)
target_link_libraries(${APP_NAME}
-Wl,--start-group
${module_libraries}
${df_driver_libs}
pthread m rt
-Wl,--end-group
)
else()
target_link_libraries(${APP_NAME}
${module_libraries}
${df_driver_libs}
pthread m
)
endif()
px4_add_adb_push_to_bebop(OUT ${UPLOAD_NAME}
OS ${OS}
BOARD ${BOARD}
FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
DEPENDS ${APP_NAME}
DEST /usr/bin)
else()
px4_add_executable(${APP_NAME}
${MAIN_SRC}
apps.cpp
target_link_libraries(${APP_NAME}
${module_libraries}
${df_driver_libs}
pthread m
)
if (NOT APPLE)
target_link_libraries(${APP_NAME}
-Wl,--start-group
${module_libraries}
${df_driver_libs}
pthread m rt
-Wl,--end-group
)
else()
target_link_libraries(${APP_NAME}
${module_libraries}
${df_driver_libs}
pthread m
)
endif()
endif()
endfunction()
SET(SITL_RUNNER_MAIN_CPP ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp)
px4_add_sitl_app(APP_NAME px4
UPLOAD_NAME upload
MAIN_SRC ${SITL_RUNNER_MAIN_CPP}
px4_add_adb_push_to_bebop(OUT ${UPLOAD_NAME}
OS ${OS}
BOARD ${BOARD}
FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
DEPENDS ${APP_NAME}
DEST /usr/bin)
elseif ("${BOARD}" STREQUAL "sitl")
include(./sitl_target.cmake)
else()
px4_add_executable(${APP_NAME}
${MAIN_SRC}
apps.cpp
)
#=============================================================================
# sitl run targets
#
set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/tmp)
file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
add_custom_target(run_config
COMMAND Tools/sitl_run.sh
$<TARGET_FILE:px4>
${config_sitl_rcS_dir}
${config_sitl_debugger}
${config_sitl_viewer}
${config_sitl_model}
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
)
add_dependencies(run_config px4)
# project to build sitl_gazebo if necessary
ExternalProject_Add(sitl_gazebo
SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo
CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
INSTALL_COMMAND ""
)
set_target_properties(sitl_gazebo PROPERTIES EXCLUDE_FROM_ALL TRUE)
# create targets for each viewer/model/debugger combination
set(viewers none jmavsim gazebo replay)
set(debuggers none ide gdb lldb ddd valgrind)
set(models none iris iris_opt_flow tailsitter standard_vtol plane solo typhoon_h480)
set(all_posix_vmd_make_targets)
foreach(viewer ${viewers})
foreach(debugger ${debuggers})
foreach(model ${models})
if (debugger STREQUAL "none")
if (model STREQUAL "none")
set(_targ_name "${viewer}")
else()
set(_targ_name "${viewer}_${model}")
endif()
else()
if (model STREQUAL "none")
set(_targ_name "${viewer}___${debugger}")
else()
set(_targ_name "${viewer}_${model}_${debugger}")
endif()
endif()
if (debugger STREQUAL "ide" AND viewer STREQUAL "gazebo")
SET(SITL_RUNNER_SOURCE_DIR ${PX4_SOURCE_DIR})
SET(SITL_RUNNER_MODEL_FILE ${PX4_SOURCE_DIR}/${config_sitl_rcS_dir}/${model})
SET(SITL_RUNNER_WORKING_DIRECTORY ${SITL_WORKING_DIR})
CONFIGURE_FILE(${PX4_SOURCE_DIR}/src/platforms/posix/sitl_runner_main.cpp.in sitl_runner_main_${model}.cpp @ONLY)
px4_add_sitl_app(APP_NAME px4_${model}
UPLOAD_NAME upload_${model}
MAIN_SRC ${CMAKE_CURRENT_BINARY_DIR}/sitl_runner_main_${model}.cpp
)
endif()
add_custom_target(${_targ_name}
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
${config_sitl_rcS_dir}
${debugger}
${viewer}
${model}
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
)
list(APPEND all_posix_vmd_make_targets ${_targ_name})
if (viewer STREQUAL "gazebo")
add_dependencies(${_targ_name} sitl_gazebo)
endif()
endforeach()
endforeach()
endforeach()
px4_join(OUT posix_vmd_make_target_list LIST ${all_posix_vmd_make_targets} GLUE "\\n")
add_custom_target(list_vmd_make_targets
COMMAND sh -c "printf \"${posix_vmd_make_target_list}\\n\""
COMMENT "List of acceptable '${CONFIG}' <viewer_model_debugger> targets:"
VERBATIM
)
if (NOT APPLE)
target_link_libraries(${APP_NAME}
-Wl,--start-group
${module_libraries}
${df_driver_libs}
pthread m rt
-Wl,--end-group
)
else()
target_link_libraries(${APP_NAME}
${module_libraries}
${df_driver_libs}
pthread m
)
endif()
endif()
#=============================================================================
# install

129
src/firmware/posix/sitl_target.cmake Normal file
View File

@ -0,0 +1,129 @@
function(px4_add_sitl_app)
px4_parse_function_args(
NAME px4_add_sitl_app
ONE_VALUE APP_NAME MAIN_SRC UPLOAD_NAME
REQUIRED APP_NAME MAIN_SRC
ARGN ${ARGN})
px4_add_executable(${APP_NAME}
${MAIN_SRC}
apps.cpp
)
if (NOT APPLE)
target_link_libraries(${APP_NAME}
-Wl,--start-group
${module_libraries}
${df_driver_libs}
pthread m rt
-Wl,--end-group
)
else()
target_link_libraries(${APP_NAME}
${module_libraries}
${df_driver_libs}
pthread m
)
endif()
endfunction()
#=============================================================================
# sitl run targets
#
SET(SITL_RUNNER_MAIN_CPP ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp)
px4_add_sitl_app(APP_NAME px4
UPLOAD_NAME upload
MAIN_SRC ${SITL_RUNNER_MAIN_CPP}
)
set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/tmp)
file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
add_custom_target(run_config
COMMAND Tools/sitl_run.sh
$<TARGET_FILE:px4>
${config_sitl_rcS_dir}
${config_sitl_debugger}
${config_sitl_viewer}
${config_sitl_model}
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
)
add_dependencies(run_config px4)
# project to build sitl_gazebo if necessary
ExternalProject_Add(sitl_gazebo
SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo
CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
INSTALL_COMMAND ""
)
set_target_properties(sitl_gazebo PROPERTIES EXCLUDE_FROM_ALL TRUE)
# create targets for each viewer/model/debugger combination
set(viewers none jmavsim gazebo replay)
set(debuggers none ide gdb lldb ddd valgrind)
set(models none iris iris_opt_flow tailsitter standard_vtol plane solo typhoon_h480)
set(all_posix_vmd_make_targets)
foreach(viewer ${viewers})
foreach(debugger ${debuggers})
foreach(model ${models})
if (debugger STREQUAL "none")
if (model STREQUAL "none")
set(_targ_name "${viewer}")
else()
set(_targ_name "${viewer}_${model}")
endif()
else()
if (model STREQUAL "none")
set(_targ_name "${viewer}___${debugger}")
else()
set(_targ_name "${viewer}_${model}_${debugger}")
endif()
endif()
if (debugger STREQUAL "ide" AND viewer STREQUAL "gazebo")
SET(SITL_RUNNER_SOURCE_DIR ${PX4_SOURCE_DIR})
SET(SITL_RUNNER_MODEL_FILE ${PX4_SOURCE_DIR}/${config_sitl_rcS_dir}/${model})
SET(SITL_RUNNER_WORKING_DIRECTORY ${SITL_WORKING_DIR})
CONFIGURE_FILE(${PX4_SOURCE_DIR}/src/platforms/posix/sitl_runner_main.cpp.in sitl_runner_main_${model}.cpp @ONLY)
px4_add_sitl_app(APP_NAME px4_${model}
UPLOAD_NAME upload_${model}
MAIN_SRC ${CMAKE_CURRENT_BINARY_DIR}/sitl_runner_main_${model}.cpp
)
endif()
add_custom_target(${_targ_name}
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
${config_sitl_rcS_dir}
${debugger}
${viewer}
${model}
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
)
list(APPEND all_posix_vmd_make_targets ${_targ_name})
if (viewer STREQUAL "gazebo")
add_dependencies(${_targ_name} sitl_gazebo)
endif()
endforeach()
endforeach()
endforeach()
px4_join(OUT posix_vmd_make_target_list LIST ${all_posix_vmd_make_targets} GLUE "\\n")
add_custom_target(list_vmd_make_targets
COMMAND sh -c "printf \"${posix_vmd_make_target_list}\\n\""
COMMENT "List of acceptable '${CONFIG}' <viewer_model_debugger> targets:"
VERBATIM
)