Fix for romfs generation.

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
 #
@@ -295,12 +295,12 @@ endfunction()
 
 #=============================================================================
 #
-#	px4_nuttx_generate_romfs
+#	px4_nuttx_add_romfs
 #
-#	The functions generates the ROMFS filesystem for nuttx.
+#	The functions creates a  ROMFS filesystem for nuttx.
 #
 #	Usage:
-#		px4_nuttx_generate_romfs(
+#		px4_nuttx_add_romfs(
 #			OUT <out-target>
 #			ROOT <in-directory>
 #			EXTRAS <in-list>)
@@ -310,64 +310,58 @@ endfunction()
 #		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})
 
 	set(romfs_temp_dir ${CMAKE_BINARY_DIR}/tmp/${ROOT})
-	set(romfs_dest_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)
 
 	file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*)
 
-	px4_copy_tracked(OUT romfs_files
+	set(cmake_test ${CMAKE_SOURCE_DIR}/cmake/test/cmake_tester.py)
-		FILES ${romfs_src_files}
-		DEST ${romfs_dest_dir}
-		RELATIVE ${romfs_src_dir}
-		)
 
-	if (EXTRAS)
-		px4_copy_tracked(OUT extra_files
-			FILES ${EXTRAS}
-			DEST ${romfs_dest_dir}/extras
-			RELATIVE ${romfs_src_dir}
-			)
-		list(APPEND romfs_files ${extra_files})
-	endif()
 	
-	add_custom_command(OUTPUT ${romfs_dest_dir}/init.d/rc.autostart
+	set(extras)
-		COMMAND ${PYTHON_EXECUTABLE} ${romfs_autostart}
+	foreach(extra ${EXTRAS})
-			-a ${romfs_src_dir}/init.d
+		get_filename_component(file_name ${extra} NAME)
-			-s ${romfs_dest_dir}/init.d/rc.autostart
+		set(file_dest ${extras_dir}/${file_name})
+		add_custom_command(OUTPUT ${file_dest}
+			COMMAND cmake -E copy ${extra} ${file_dest}
+			DEPENDS ${extra}
 			)
-	list(APPEND romfs_files ${romfs_dest_dir}/init.d/rc.autostart)
+		list(APPEND extras ${file_dest})
+	endforeach()
+	add_custom_target(collect_extras DEPENDS ${extras})
 
-	add_custom_command(OUTPUT romfs.bin
+	message(STATUS "EXTRAS: ${extras}")
+
+	add_custom_command(OUTPUT romfs.o
 		COMMAND cmake -E remove_directory ${romfs_temp_dir}
-		COMMAND cmake -E copy_directory ${romfs_dest_dir} ${romfs_temp_dir}
+		COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
+		COMMAND cmake -E copy_directory ${extras_dir} ${romfs_temp_dir}
+		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"
 		COMMAND cmake -E remove_directory ${romfs_temp_dir}
-		DEPENDS ${romfs_files}
-		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}
@@ -375,11 +369,12 @@ 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 :

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")

src/modules/px4iofirmware/CMakeLists.txt

@@ -129,8 +129,12 @@ target_link_libraries(${fw_io_name}
 	${config_io_extra_libs}
 	-Wl,--end-group)
 
-px4_nuttx_create_bin(OUT ${fw_io_name}.bin
+px4_nuttx_create_bin(OUT ${CMAKE_CURRENT_BINARY_DIR}/${fw_io_name}.bin
 	EXE ${fw_io_name}
 	)
 
+add_custom_target(fw_io
+	DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/${fw_io_name}.bin)
+
+
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :