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mavlink: move mavlink dialect selection to kconfig

This commit is contained in:
Daniel Agar 2022-10-14 10:50:35 -04:00
parent d792a3ff5b
commit 743200df22
2 changed files with 16 additions and 16 deletions
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25
src/modules/mavlink/CMakeLists.txt
View File

@ -31,13 +31,6 @@
#
############################################################################
set(MAVLINK_DIALECT "common") # standard, development, etc
# force mavlink dialect to standard if flash constrained
if(px4_constrained_flash_build)
set(MAVLINK_DIALECT "standard")
endif()
set(MAVLINK_GIT_DIR "${CMAKE_CURRENT_LIST_DIR}/mavlink")
set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")
file(RELATIVE_PATH MAVLINK_GIT_DIR_RELATIVE ${CMAKE_SOURCE_DIR} ${MAVLINK_GIT_DIR})
@ -45,28 +38,28 @@ file(RELATIVE_PATH MAVLINK_GIT_DIR_RELATIVE ${CMAKE_SOURCE_DIR} ${MAVLINK_GIT_DI
px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${MAVLINK_GIT_DIR}")
add_custom_command(
OUTPUT ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${MAVLINK_DIALECT}.h
OUTPUT ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h
COMMAND
${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
--lang C --wire-protocol 2.0
#--no-validate
#--strict-units
--output ${MAVLINK_LIBRARY_DIR}
${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT}.xml
${MAVLINK_GIT_DIR}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml
DEPENDS
git_mavlink_v2
${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT}.xml
COMMENT "Generating Mavlink ${MAVLINK_DIALECT}: ${MAVLINK_GIT_DIR_RELATIVE}/message_definitions/v1.0/${MAVLINK_DIALECT}.xml"
${MAVLINK_GIT_DIR}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml
COMMENT "Generating Mavlink ${CONFIG_MAVLINK_DIALECT}: ${MAVLINK_GIT_DIR_RELATIVE}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml"
USES_TERMINAL
)
add_custom_target(mavlink_c_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${MAVLINK_DIALECT}.h)
add_custom_target(mavlink_c_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h)
# mavlink header only library
add_library(mavlink_c INTERFACE)
target_sources(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${MAVLINK_DIALECT}.h)
set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${MAVLINK_DIALECT}.h PROPERTIES GENERATED true)
target_include_directories(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR} ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT})
target_sources(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h)
set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h PROPERTIES GENERATED true)
target_include_directories(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR} ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT})
target_compile_options(mavlink_c INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
@ -119,7 +112,7 @@ endif()
px4_add_unit_gtest(SRC MavlinkStatustextHandlerTest.cpp
INCLUDES
${MAVLINK_LIBRARY_DIR}
${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}
${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}
COMPILE_FLAGS
-Wno-address-of-packed-member # TODO: fix in c_library_v2
-Wno-cast-align # TODO: fix

7
src/modules/mavlink/Kconfig
View File

@ -4,6 +4,13 @@ menuconfig MODULES_MAVLINK
---help---
Enable support for mavlink
menuconfig MAVLINK_DIALECT
depends on MODULES_MAVLINK
string "Mavlink dialect"
default "standard"
help
Select the Mavlink dialect to generate and use.
menuconfig USER_MAVLINK
bool "mavlink running as userspace module"
default y