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NuttX cmake improve dependencies between configure and runtime 

- attempting to make the build slightly more robust to incomplete configures or other bad states.
This commit is contained in:
Daniel Agar 2019-11-16 18:30:52 -05:00 committed by GitHub
parent ea79bd733d
commit 8ce2f30aa6
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 50 additions and 53 deletions
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22
CMakeLists.txt
View File

@ -146,11 +146,13 @@ include(${PX4_CONFIG_FILE})
message(STATUS "PX4 config: ${PX4_CONFIG}")
message(STATUS "PX4 platform: ${PX4_PLATFORM}")
if (ENABLE_LOCKSTEP_SCHEDULER)
add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
message(STATUS "PX4 lockstep: enabled")
else()
message(STATUS "PX4 lockstep: disabled")
if(${PX4_PLATFORM} STREQUAL "posix")
if(ENABLE_LOCKSTEP_SCHEDULER)
add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
message(STATUS "PX4 lockstep: enabled")
else()
message(STATUS "PX4 lockstep: disabled")
endif()
endif()
# external modules
@ -328,11 +330,13 @@ set(ep_base ${PX4_BINARY_DIR}/external)
set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
# add external project install folders to build
link_directories(${ep_base}/Install/lib)
include_directories(${ep_base}/Install/include)
# add the directories so cmake won't warn
execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base})
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install)
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/lib)
link_directories(${ep_base}/Install/lib)
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/include)
include_directories(${ep_base}/Install/include)
#=============================================================================
# external modules

54
platforms/nuttx/NuttX/CMakeLists.txt
View File

@ -57,9 +57,9 @@ file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
# setup custom command to copy changes later
file(GLOB_RECURSE copy_nuttx_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/nuttx/*)
add_custom_command(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
OUTPUT ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp
COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST}
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp
DEPENDS
git_nuttx
${copy_nuttx_files}
@ -76,9 +76,9 @@ file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
# setup custom command to copy changes later
file(GLOB_RECURSE copy_apps_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/apps/*)
add_custom_command(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
OUTPUT ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST}
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
DEPENDS
git_nuttx_apps
${copy_apps_files}
@ -96,30 +96,30 @@ set(APPS_DIR ${CMAKE_CURRENT_BINARY_DIR}/apps)
# https://samthursfield.wordpress.com/2015/11/21/cmake-dependencies-between-targets-and-files-and-custom-commands/#custom-commands-and-parallel-make
add_custom_target(nuttx_copy_and_apps_target
DEPENDS
${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp
${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
)
# If the board provides a Kconfig Use it or create an empty one
if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
add_custom_command(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
OUTPUT ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp
DEPENDS
nuttx_copy_and_apps_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
nuttx_copy_and_apps_target ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
)
else()
add_custom_command(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
OUTPUT ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp
COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/boards/dummy/Kconfig
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp
DEPENDS
nuttx_copy_and_apps_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
nuttx_copy_and_apps_target ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
)
endif()
add_custom_target(nuttx_config_kconfig_target DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp)
add_custom_target(nuttx_config_kconfig_target DEPENDS ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp)
###############################################################################
# NuttX configure
@ -129,22 +129,22 @@ add_custom_target(nuttx_config_kconfig_target DEPENDS ${CMAKE_CURRENT_BINARY_DIR
file(RELATIVE_PATH CP_SRC ${NUTTX_DIR} ${PX4_BOARD_DIR}/nuttx-config)
file(RELATIVE_PATH CP_DST ${NUTTX_DIR} ${PX4_BINARY_DIR}/NuttX)
add_custom_command(
OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
OUTPUT ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp
COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST}
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers
COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp
DEPENDS
${NUTTX_CONFIG_DIR}/include/board.h
${NUTTX_CONFIG_DIR}/scripts/script.ld
${NUTTX_SRC_DIR}/nsh_romfsimg.h
nuttx_config_kconfig_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
nuttx_config_kconfig_target ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Copying NuttX config ${NUTTX_CONFIG}"
)
add_custom_target(nuttx_copy_config_dir_target DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp)
add_custom_target(nuttx_copy_config_dir_target DEPENDS ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
@ -153,19 +153,19 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
add_custom_command(
OUTPUT
${NUTTX_DIR}/.config
${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config
COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh > nuttx_olddefconfig.log
COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp
DEPENDS
${NUTTX_DIR}/Make.defs
${NUTTX_DEFCONFIG}
nuttx_copy_config_dir_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
nuttx_copy_config_dir_target ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp
${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Copying NuttX compressed config ${NUTTX_CONFIG} and inflating (make olddefconfig)"
)
add_custom_target(nuttx_config_target DEPENDS ${NUTTX_DIR}/.config ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp)
add_custom_target(nuttx_config_target DEPENDS ${NUTTX_DIR}/.config ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp)
###############################################################################
# NuttX build
@ -196,7 +196,7 @@ add_custom_command(
make ${nuttx_build_options} --no-print-directory CONFIG_ARCH_BOARD_CUSTOM=y pass1dep > nuttx_context.log
DEPENDS
${NUTTX_DIR}/Make.defs
nuttx_config_target ${NUTTX_DIR}/.config ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
nuttx_config_target ${NUTTX_DIR}/.config ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp
WORKING_DIRECTORY ${NUTTX_DIR}
${nuttx_build_uses_terminal}
)
@ -211,17 +211,17 @@ add_custom_target(px4_config_file_target DEPENDS ${PX4_CONFIG_FILE})
set(nuttx_builtin_list)
if(CONFIG_NSH_LIBRARY)
# force builtins regeneration and apps rebuild if nuttx or px4 configuration have changed
add_custom_command(OUTPUT builtins_clean.stamp
add_custom_command(OUTPUT ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp
COMMAND find ${APPS_DIR}/builtin/registry -name px4_\*.bdat -delete
COMMAND find ${APPS_DIR}/builtin/registry -name px4_\*.pdat -delete
COMMAND rm -f ${APPS_DIR}/builtin/builtin_list.h
COMMAND ${CMAKE_COMMAND} -E touch builtins_clean.stamp
COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp
DEPENDS
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
px4_config_file_target ${PX4_CONFIG_FILE}
)
add_custom_target(builtins_clean_target DEPENDS builtins_clean.stamp)
add_custom_target(builtins_clean_target DEPENDS ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp)
foreach(module ${module_libraries})
get_target_property(MAIN ${module} MAIN)
@ -233,7 +233,7 @@ if(CONFIG_NSH_LIBRARY)
COMMAND echo "{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main }," > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat
COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated
DEPENDS
builtins_clean_target builtins_clean.stamp
builtins_clean_target ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
VERBATIM
)
@ -243,7 +243,7 @@ if(CONFIG_NSH_LIBRARY)
COMMAND echo "int ${MAIN}_main(int argc, char *argv[]);" > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat
COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated
DEPENDS
builtins_clean_target builtins_clean.stamp
builtins_clean_target ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp
nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
VERBATIM
)

27
platforms/nuttx/cmake/init.cmake
View File

@ -50,7 +50,7 @@ set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config CACHE FILEPATH "PX4 NuttX con
set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE)
set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${NUTTX_DEFCONFIG})
set(NUTTX_SRC_DIR ${CMAKE_CURRENT_LIST_DIR}/../NuttX)
set(NUTTX_SRC_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX)
set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx CACHE FILEPATH "NuttX directory" FORCE)
set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps CACHE FILEPATH "NuttX apps directory" FORCE)
@ -77,7 +77,8 @@ execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/Nut
###############################################################################
# NuttX: copy to build directory
###############################################################################
if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp)
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx/Kconfig))
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx)
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
@ -87,7 +88,8 @@ endif()
###############################################################################
# NuttX apps: copy to build directory
###############################################################################
if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp)
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/apps/Kconfig))
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/apps)
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
@ -99,7 +101,7 @@ endif()
###############################################################################
# If the board provides a Kconfig Use it or create an empty one
if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp)
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp) OR (NOT EXISTS ${NUTTX_DIR}/boards/dummy/Kconfig))
if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig)
else()
@ -109,7 +111,7 @@ if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp)
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp)
endif()
if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp)
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig))
# copy board's nuttx-config to NuttX/nuttx-config
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${PX4_BOARD_DIR}/nuttx-config)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
@ -124,26 +126,17 @@ if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp)
endif()
# make olddefconfig (inflate defconfig to full .config)
if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp)
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx/.config))
execute_process(COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_SRC_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs) # Create a temporary Toplevel Make.defs for the oldconfig step
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config)
execute_process(
COMMAND ${NUTTX_SRC_DIR}/tools/px4_nuttx_make_olddefconfig.sh
WORKING_DIRECTORY ${NUTTX_DIR}
OUTPUT_FILE nuttx_olddefconfig.log
ERROR_FILE nuttx_olddefconfig.log
RESULT_VARIABLE ret
)
if(NOT ret EQUAL "0")
# Show the log here as it will be deleted due to the incomplete configure step
file(READ ${NUTTX_DIR}/nuttx_olddefconfig.log DEFCONFIG_LOG)
message(STATUS "${DEFCONFIG_LOG}")
message(FATAL_ERROR "NuttX olddefconfig target failed. \
Possible cause: the board (${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}) has the wrong directory structure (i.e. missing files).")
else()
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp)
endif()
# remove Toplevel Make.defs
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp)
# remove temporary top level Make.defs
execute_process(COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/Make.defs)
endif()