Merge branch 'cmake-2' of github.com:PX4/Firmware into cmake-2-pthread

CMakeLists.txt

@@ -277,10 +277,12 @@ foreach(module ${config_module_list})
 endforeach()
 
 add_subdirectory(src/firmware/${OS})
+
 if (config_io_board)
 	add_subdirectory(src/modules/px4iofirmware)
 endif()
 
+
 #=============================================================================
 # generate git version
 #

Makefile

@@ -110,7 +110,7 @@ clean:
 	rm -rf build_*/
 
 # targets handled by cmake
-cmake_targets = test upload package package_source debug check_weak
+cmake_targets = test upload package package_source debug debug_io check_weak
 $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
 
 .PHONY: clean

cmake/common/px4_base.cmake

@@ -551,7 +551,7 @@ function(px4_add_common_flags)
 	endif()
 
 	set(c_compile_flags
-		-g3
+		-g
 		-std=gnu99
 		-fno-common
 		)
@@ -560,7 +560,7 @@ function(px4_add_common_flags)
 		-Wno-missing-field-initializers
 		)
 	set(cxx_compile_flags
-		-g3
+		-g
 		-fno-exceptions
 		-fno-rtti
 		-std=gnu++0x
@@ -735,4 +735,54 @@ function(px4_generate_parameters)
 	set(${OUT} ${generated_files} PARENT_SCOPE)
 endfunction()
 
+#=============================================================================
+#
+#	px4_copy_tracked
+#
+#	Copy files to a directory and keep track of dependencies.
+#
+#	Usage:
+#		px4_copy_tracked(OUT <dest-files> FILES <in-files> DIR <dir-name>)
+#
+#	Input:
+#		FILES	:  the source files
+#		DEST		:  the directory to copy files to
+#		RELATIVE :  relative directory for source files
+#
+#	Output:
+#		OUT	: the copied files
+#
+#	Example:
+#		px4_copy_tracked(OUT copied_files FILES src_files DEST path RELATIVE path_rel)
+#
+function(px4_copy_tracked)
+	px4_parse_function_args(
+		NAME px4_copy_tracked
+		ONE_VALUE DEST OUT RELATIVE
+		MULTI_VALUE FILES
+		REQUIRED DEST OUT FILES
+		ARGN ${ARGN})
+	set(files)
+	# before build, make sure dest directory exists
+	execute_process(
+		COMMAND cmake -E make_directory ${DEST})
+	# create rule to copy each file and set dependency as source file
+	set(_files_out)
+	foreach(_file ${FILES})
+		if (RELATIVE)
+			file(RELATIVE_PATH _file_path ${RELATIVE} ${_file})
+		else()
+			set(_file_path ${_file})
+		endif()
+		set(_dest_file ${DEST}/${_file_path})
+		#message(STATUS "copy ${_file} -> ${_dest_file}")
+		add_custom_command(OUTPUT ${_dest_file}
+			COMMAND cmake -E copy ${_file} ${_dest_file}
+			DEPENDS ${_file})
+		list(APPEND _files_out ${_dest_file})
+	endforeach()
+	set(${OUT} ${_files_out} PARENT_SCOPE)
+endfunction()
+
+
 # vim: set noet fenc=utf-8 ff=unix nowrap:

cmake/nuttx/px4_impl_nuttx.cmake

@@ -40,7 +40,7 @@
 #		* px4_nuttx_add_firmware
 #		* px4_nuttx_generate_builtin_commands
 #		* px4_nuttx_add_export
-#		* px4_nuttx_generate_romfs
+#		* px4_nuttx_add_romfs
 #
 # 	Required OS Inteface Functions
 #
@@ -260,61 +260,106 @@ endfunction()
 
 #=============================================================================
 #
-#	px4_nuttx_generate_romfs
+#	px4_nuttx_create_bin
 #
-#	The functions generates the ROMFS filesystem for nuttx.
+#	The functions generates a bin image for nuttx.
 #
 #	Usage:
-#		px4_nuttx_generate_romfs(OUT <out-target> ROOT <in-directory>)
+#		px4_nuttx_create_bin(BIN <out-file> EXE <in-file>)
+#
+#	Input:
+#		EXE		: the exe file
+#
+#	Output:
+#		OUT		: the binary output file
+#
+#	Example:
+#		px4_nuttx_create_bin(OUT my_exe.bin EXE my_exe)
+#
+function(px4_nuttx_create_bin)
+
+	px4_parse_function_args(
+		NAME px4_nuttx_create_bin
+		ONE_VALUE EXE OUT
+		REQUIRED EXE OUT
+		ARGN ${ARGN})
+
+	add_custom_command(OUTPUT ${OUT}
+		COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
+		DEPENDS ${EXE})
+
+	set(${OUT} ${${OUT}} PARENT_SCOPE)
+
+endfunction()
+
+
+#=============================================================================
+#
+#	px4_nuttx_add_romfs
+#
+#	The functions creates a  ROMFS filesystem for nuttx.
+#
+#	Usage:
+#		px4_nuttx_add_romfs(
+#			OUT <out-target>
+#			ROOT <in-directory>
+#			EXTRAS <in-list>)
 #
 #	Input:
 #		ROOT	: the root of the ROMFS
+#		EXTRAS 	: list of extra files
 #
 #	Output:
-#		OUT		: the generated ROMFS
+#		OUT		: the ROMFS library target
 #
 #	Example:
-#		px4_nuttx_generate_romfs(OUT my_romfs ROOT "ROMFS/my_board")
+#		px4_nuttx_add_romfs(OUT my_romfs ROOT "ROMFS/my_board")
 #
-function(px4_nuttx_generate_romfs)
+function(px4_nuttx_add_romfs)
 
 	px4_parse_function_args(
-		NAME px4_nuttx_generate_romfs
+		NAME px4_nuttx_add_romfs
 		ONE_VALUE OUT ROOT
+		MULTI_VALUE EXTRAS
 		REQUIRED OUT ROOT
 		ARGN ${ARGN})
 
-	file(GLOB_RECURSE romfs_files ${ROOT}/*)
+	set(romfs_temp_dir ${CMAKE_BINARY_DIR}/tmp/${ROOT})
-	set(romfs_temp_dir ${CMAKE_BINARY_DIR}/${ROOT})
 	set(romfs_src_dir ${CMAKE_SOURCE_DIR}/${ROOT})
-
 	set(romfs_autostart ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
 	set(romfs_pruner ${CMAKE_SOURCE_DIR}/Tools/px_romfs_pruner.py)
 	set(bin_to_obj ${CMAKE_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
+	set(extras_dir ${CMAKE_CURRENT_BINARY_DIR}/extras)
 
-	#message(STATUS "temp_dir: ${romfs_temp_dir}")
+	file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*)
-	#message(STATUS "src_dir: ${romfs_src_dir}")
 
-	add_custom_command(OUTPUT rc.autostart
+	set(cmake_test ${CMAKE_SOURCE_DIR}/cmake/test/cmake_tester.py)
-		COMMAND ${PYTHON_EXECUTABLE} ${romfs_autostart}
+
-			-a ${romfs_src_dir}/init.d
+	
-			-s rc.autostart
+	set(extras)
+	foreach(extra ${EXTRAS})
+		get_filename_component(file_name ${extra} NAME)
+		set(file_dest ${extras_dir}/${file_name})
+		add_custom_command(OUTPUT ${file_dest}
+			COMMAND cmake -E copy ${extra} ${file_dest}
+			DEPENDS ${extra}
 			)
+		list(APPEND extras ${file_dest})
+	endforeach()
+	add_custom_target(collect_extras DEPENDS ${extras})
 
-	add_custom_command(OUTPUT romfs.bin
+	add_custom_command(OUTPUT romfs.o
 		COMMAND cmake -E remove_directory ${romfs_temp_dir}
 		COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
-		COMMAND cmake -E copy rc.autostart ${romfs_temp_dir}/init.d
+		COMMAND cmake -E copy_directory ${extras_dir} ${romfs_temp_dir}/extras
-		#TODO add romfs cleanup of temp file .~, .swp etc
+		COMMAND ${PYTHON_EXECUTABLE} ${romfs_autostart}
+			-a ${romfs_temp_dir}/init.d
+			-s ${romfs_temp_dir}/init.d/rc.autostart
 		COMMAND ${PYTHON_EXECUTABLE} ${romfs_pruner}
 			--folder ${romfs_temp_dir}
 		COMMAND ${GENROMFS} -f ${CMAKE_CURRENT_BINARY_DIR}/romfs.bin
 			-d ${romfs_temp_dir} -V "NSHInitVol"
-		DEPENDS ${romfs_files} rc.autostart
+		#COMMAND cmake -E remove_directory ${romfs_temp_dir}
-		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-		)
-
-	add_custom_command(OUTPUT romfs.o
 		COMMAND ${PYTHON_EXECUTABLE} ${bin_to_obj}
 			--ld ${LD} --c_flags ${CMAKE_C_FLAGS}
 			--c_compiler ${CMAKE_C_COMPILER}
@@ -322,11 +367,12 @@ function(px4_nuttx_generate_romfs)
 			--obj romfs.o
 			--var romfs_img
 			--bin romfs.bin
-		DEPENDS romfs.bin
+		DEPENDS ${romfs_src_files} ${extras}
 		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
 		)
-
+	add_library(${OUT} STATIC romfs.o)
-	set(${OUT} romfs.o PARENT_SCOPE)
+	set_target_properties(${OUT} PROPERTIES LINKER_LANGUAGE C)
+	set(${OUT} ${${OUT}} PARENT_SCOPE)
 
 endfunction()
 

cmake/test/cmake_tester.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python
+"""
+The module facilitates testing in cmake.
+It  takes a command and a regex for failure ok passing.
+It passes if:
+    * No stderr output.
+    * Stdout doesn't match failure regex.
+    * Stdout matches ok regex if given.
+"""
+from __future__ import print_function
+import argparse
+import subprocess
+import re
+import sys
+
+#pylint: disable=invalid-name
+
+parser = argparse.ArgumentParser()
+
+parser.add_argument('cmd')
+parser.add_argument('--re-fail')
+parser.add_argument('--re-ok')
+parser.add_argument('--verbose', '-v', dest='verbose', action='store_true')
+
+parser.set_defaults(verbose=False)
+args = parser.parse_args()
+
+proc = subprocess.Popen(args.cmd.split(), stdout=subprocess.PIPE, stderr=subprocess.PIPE)
+stdout, stderr = proc.communicate()
+
+if stderr != "":
+    print(stderr)
+    sys.exit(1)
+
+if args.re_fail is not None:
+    fail_match = re.search(args.re_fail, stdout)
+    if fail_match is not None:
+        print(stdout)
+        sys.exit(1)
+
+if args.re_ok is not None:
+    ok_match = re.search(args.re_ok, stdout)
+    if re.match(args.re_ok, stdout) is None:
+        print(stdout)
+        sys.exit(1)
+
+if args.verbose:
+    print(stdout)
+
+sys.exit(0)
+
+# vim: set et ft=python fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :

cmake/toolchains/Toolchain-arm-none-eabi.cmake

@@ -37,7 +37,7 @@ endif()
 cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
 
 # compiler tools
-foreach(tool objcopy nm ld gdb)
+foreach(tool objcopy nm ld)
 	string(TOUPPER ${tool} TOOL)
 	find_program(${TOOL} arm-none-eabi-${tool})
 	if(NOT ${TOOL})
@@ -45,6 +45,12 @@ foreach(tool objcopy nm ld gdb)
 	endif()
 endforeach()
 
+# optional compiler tools
+foreach(tool gdb gdbtui)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} arm-none-eabi-${tool})
+endforeach()
+
 # os tools
 foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
 	string(TOUPPER ${tool} TOOL)

src/firmware/nuttx/CMakeLists.txt

@@ -5,17 +5,22 @@ px4_nuttx_generate_builtin_commands(
 		${config_extra_builtin_cmds}
 	)
 
-px4_nuttx_generate_romfs(OUT romfs.o
+px4_nuttx_add_romfs(OUT romfs
-	ROOT ROMFS/px4fmu_common)
+	ROOT ROMFS/px4fmu_common
+	EXTRAS ${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}_${LABEL}.bin
+	)
+
+add_dependencies(romfs fw_io)
 
 # add executable
 add_executable(firmware_nuttx
-	builtin_commands.c
+	builtin_commands.c)
-	romfs.o)
+
+
 set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
 
 set(link_libs
-	apps nuttx m gcc
+	romfs apps nuttx m gcc
 	)
 
 if(NOT ${BOARD} STREQUAL "sim")
@@ -56,7 +61,14 @@ if(NOT ${BOARD} STREQUAL "sim")
 	configure_file(gdbinit.in .gdbinit)
 
 	add_custom_target(debug
-		COMMAND ${GDB} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
+		COMMAND ${GDBTUI} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
+		DEPENDS firmware_nuttx
+			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
+		)
+
+	add_custom_target(debug_io
+		COMMAND ${GDBTUI}
+			${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}_${LABEL}
 		DEPENDS firmware_nuttx
 			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
 		)

src/modules/px4iofirmware/CMakeLists.txt

@@ -103,10 +103,12 @@ elseif(${config_io_board} STREQUAL "px4io-v2")
 		)
 endif()
 
-add_executable(firmware_io_nuttx
+set(fw_io_name ${config_io_board}_${LABEL})
+
+add_executable(${fw_io_name}
 	${srcs})
 
-add_dependencies(firmware_io_nuttx
+add_dependencies(${fw_io_name}
 	nuttx_export_${config_io_board}
 	msg_gen
 	io_prebuild_targets
@@ -119,20 +121,20 @@ set(main_link_flags
 	"-Wl,-Map=${CMAKE_BINARY_DIR}/${config_io_board}/main.map"
 	)
 px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
-set_target_properties(firmware_io_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
+set_target_properties(${fw_io_name} PROPERTIES LINK_FLAGS ${main_link_flags})
 
-set(io_fw_file ${CMAKE_CURRENT_BINARY_DIR}/${config_io_board}.px4)
+target_link_libraries(${fw_io_name}
-
-target_link_libraries(firmware_io_nuttx
 	-Wl,--start-group
 	apps nuttx nosys m gcc
 	${config_io_extra_libs}
 	-Wl,--end-group)
 
-px4_nuttx_add_firmware(OUT ${io_fw_file}
+px4_nuttx_create_bin(OUT ${CMAKE_CURRENT_BINARY_DIR}/${fw_io_name}.bin
-	BOARD ${config_io_board}
+	EXE ${fw_io_name}
-	EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_io_nuttx
-	${config_firmware_options}
 	)
 
+add_custom_target(fw_io
+	DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/${fw_io_name}.bin)
+
+
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :