From dab7b007de17b3449b875735d337149716af80c4 Mon Sep 17 00:00:00 2001
From: Jukka Laitinen <jukkax@ssrc.tii.ae>
Date: Wed, 20 Jan 2021 10:53:18 +0200
Subject: [PATCH] Auto-generate a list of kernel-side built-in modules(drivers)

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
---
 platforms/nuttx/NuttX/CMakeLists.txt     | 33 ++++++++++++++++++++++++
 platforms/nuttx/NuttX/px4.bdat.in        |  1 +
 platforms/nuttx/NuttX/px4_kernel.bdat.in |  1 +
 platforms/nuttx/NuttX/px4_kernel.pdat.in |  1 +
 4 files changed, 36 insertions(+)
 create mode 100644 platforms/nuttx/NuttX/px4_kernel.bdat.in
 create mode 100644 platforms/nuttx/NuttX/px4_kernel.pdat.in

diff --git a/platforms/nuttx/NuttX/CMakeLists.txt b/platforms/nuttx/NuttX/CMakeLists.txt
index fb1595b13f..9752076710 100644
--- a/platforms/nuttx/NuttX/CMakeLists.txt
+++ b/platforms/nuttx/NuttX/CMakeLists.txt
@@ -89,6 +89,39 @@ if(CONFIG_NSH_LIBRARY)
 	endforeach()
 endif()
 
+if (NOT CONFIG_BUILD_FLAT)
+	set(KERNEL_BUILTIN_DIR ${CMAKE_CURRENT_BINARY_DIR}/kernel_builtin)
+	set(kernel_builtin_apps_string)
+	set(kernel_builtin_apps_proxy_string)
+	set(kernel_builtin_apps_decl_string)
+
+	list(SORT kernel_module_libraries)
+	foreach(module ${kernel_module_libraries})
+		get_target_property(MAIN ${module} MAIN)
+		get_target_property(STACK_MAIN ${module} STACK_MAIN)
+		get_target_property(PRIORITY ${module} PRIORITY)
+
+		if(MAIN)
+			set(kernel_builtin_apps_string "${kernel_builtin_apps_string}{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main },\n")
+			set(kernel_builtin_apps_proxy_string "${kernel_builtin_apps_proxy_string}{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, launch_kmod_main },\n")
+			set(kernel_builtin_apps_decl_string "${kernel_builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n")
+		endif()
+	endforeach()
+
+	configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4_kernel.bdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4_kernel.bdat)
+	configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4_kernel.pdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4_kernel.pdat)
+
+	add_custom_command(OUTPUT ${KERNEL_BUILTIN_DIR}/kernel_builtin_list.h ${KERNEL_BUILTIN_DIR}/kernel_builtin_proto.h
+		WORKING_DIRECTORY  ${KERNEL_BUILTIN_DIR}
+		COMMAND ${CMAKE_COMMAND} -E remove -f kernel_builtin_list.h kernel_builtin_proto.h
+		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/px4_kernel.bdat kernel_builtin_list.h
+		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${CMAKE_CURRENT_BINARY_DIR}/px4_kernel.pdat kernel_builtin_proto.h
+	)
+
+	add_custom_target(px4_kernel_builtin_list_target DEPENDS ${KERNEL_BUILTIN_DIR}/kernel_builtin_list.h ${KERNEL_BUILTIN_DIR}/kernel_builtin_proto.h)
+
+endif() # NOT CONFIG_BUILD_FLAT
+
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4.bdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4.bdat)
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/px4.pdat.in ${CMAKE_CURRENT_BINARY_DIR}/px4.pdat)
 
diff --git a/platforms/nuttx/NuttX/px4.bdat.in b/platforms/nuttx/NuttX/px4.bdat.in
index 6c0675aade..376baca083 100644
--- a/platforms/nuttx/NuttX/px4.bdat.in
+++ b/platforms/nuttx/NuttX/px4.bdat.in
@@ -1 +1,2 @@
 @builtin_apps_string@
+@kernel_builtin_apps_proxy_string@
diff --git a/platforms/nuttx/NuttX/px4_kernel.bdat.in b/platforms/nuttx/NuttX/px4_kernel.bdat.in
new file mode 100644
index 0000000000..2061dab6e0
--- /dev/null
+++ b/platforms/nuttx/NuttX/px4_kernel.bdat.in
@@ -0,0 +1 @@
+@kernel_builtin_apps_string@
diff --git a/platforms/nuttx/NuttX/px4_kernel.pdat.in b/platforms/nuttx/NuttX/px4_kernel.pdat.in
new file mode 100644
index 0000000000..ecdf5e7b9d
--- /dev/null
+++ b/platforms/nuttx/NuttX/px4_kernel.pdat.in
@@ -0,0 +1 @@
+@kernel_builtin_apps_decl_string@