############################################################################ # # Copyright (c) 2015 - 2017 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions # are met: # # 1. Redistributions of source code must retain the above copyright # notice, this list of conditions and the following disclaimer. # 2. Redistributions in binary form must reproduce the above copyright # notice, this list of conditions and the following disclaimer in # the documentation and/or other materials provided with the # distribution. # 3. Neither the name PX4 nor the names of its contributors may be # used to endorse or promote products derived from this software # without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS # OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED # AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # ############################################################################ # Enforce the presence of the GIT repository # # We depend on our submodules, so we have to prevent attempts to # compile without it being present. ifeq ($(wildcard .git),) $(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.) endif # Help # -------------------------------------------------------------------- # Don't be afraid of this makefile, it is just passing # arguments to cmake to allow us to keep the wiki pages etc. # that describe how to build the px4 firmware # the same even when using cmake instead of make. # # Example usage: # # make px4fmu-v2_default (builds) # make px4fmu-v2_default upload (builds and uploads) # make px4fmu-v2_default test (builds and tests) # # This tells cmake to build the nuttx px4fmu-v2 default config in the # directory build/nuttx_px4fmu-v2_default and then call make # in that directory with the target upload. # explicity set default build target all: posix_sitl_default # Parsing # -------------------------------------------------------------------- # assume 1st argument passed is the main target, the # rest are arguments to pass to the makefile generated # by cmake in the subdirectory FIRST_ARG := $(firstword $(MAKECMDGOALS)) ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS)) j ?= 4 NINJA_BIN := ninja ifndef NO_NINJA_BUILD NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null) ifndef NINJA_BUILD NINJA_BIN := ninja-build NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null) endif endif ifdef NINJA_BUILD PX4_CMAKE_GENERATOR := Ninja PX4_MAKE := $(NINJA_BIN) ifdef VERBOSE PX4_MAKE_ARGS := -v else PX4_MAKE_ARGS := endif else ifdef SYSTEMROOT # Windows PX4_CMAKE_GENERATOR := "MSYS\ Makefiles" else PX4_CMAKE_GENERATOR := "Unix\ Makefiles" endif PX4_MAKE = $(MAKE) PX4_MAKE_ARGS = -j$(j) --no-print-directory endif SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST)))) # check if replay env variable is set & set build dir accordingly ifdef replay BUILD_DIR_SUFFIX := _replay else BUILD_DIR_SUFFIX := endif # additional config parameters passed to cmake ifdef EXTERNAL_MODULES_LOCATION CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION) endif ifdef PX4_CMAKE_BUILD_TYPE CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE} endif # Functions # -------------------------------------------------------------------- # describe how to build a cmake config define cmake-build +@$(eval BUILD_DIR = $(SRC_DIR)/build/$@$(BUILD_DIR_SUFFIX)) +@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi +@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(1) || (rm -rf $(BUILD_DIR)); fi +@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS)) endef COLOR_BLUE = \033[0;34m NO_COLOR = \033[m define colorecho +@echo "${COLOR_BLUE}${1} ${NO_COLOR}" endef # Get a list of all config targets cmake/configs/*.cmake ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" -maxdepth 1 ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed -e 's:^.*/::' | sort)) # Strip off leading nuttx_ NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS))) # ADD CONFIGS HERE # -------------------------------------------------------------------- # Do not put any spaces between function arguments. # All targets. $(ALL_CONFIG_TARGETS): $(call cmake-build,$@,$(SRC_DIR)) # Abbreviated config targets. # nuttx_ is left off by default; provide a rule to allow that. $(NUTTX_CONFIG_TARGETS): $(call cmake-build,nuttx_$@,$(SRC_DIR)) all_nuttx_targets: $(NUTTX_CONFIG_TARGETS) posix: posix_sitl_default broadcast: posix_sitl_broadcast # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe). .PHONY: all posix broadcast all_nuttx_targets # Multi- config targets. eagle_default: posix_eagle_default qurt_eagle_default eagle_rtps: posix_eagle_rtps qurt_eagle_default eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy excelsior_default: posix_excelsior_default qurt_excelsior_default excelsior_rtps: posix_excelsior_rtps qurt_excelsior_default excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy .PHONY: eagle_default eagle_rtps eagle_legacy_default .PHONY: excelsior_default excelsior_rtps excelsior_legacy_default # Other targets # -------------------------------------------------------------------- .PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware check_rtps # QGroundControl flashable NuttX firmware qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware # px4fmu NuttX firmware px4fmu_firmware: \ check_px4io-v2_default \ check_px4fmu-v2_default \ check_px4fmu-v3_default \ check_px4fmu-v4_default \ check_px4fmu-v4pro_default \ check_px4fmu-v5_default \ sizes misc_qgc_extra_firmware: \ check_aerocore2_default \ check_aerofc-v1_default \ check_auav-x21_default \ check_crazyflie_default \ check_mindpx-v2_default \ check_px4fmu-v2_lpe \ check_tap-v1_default \ sizes # Other NuttX firmware alt_firmware: \ check_nxphlite-v3_default \ check_px4-same70xplained-v1_default \ check_px4-stm32f4discovery_default \ check_px4cannode-v1_default \ check_px4esc-v1_default \ check_px4nucleoF767ZI-v1_default \ check_s2740vc-v1_default \ sizes # builds with RTPS check_rtps: \ check_px4fmu-v3_rtps \ check_px4fmu-v4_rtps \ check_px4fmu-v4pro_rtps \ check_posix_sitl_rtps \ sizes .PHONY: sizes check quick_check check_rtps uorb_graphs sizes: @-find build -name *.elf -type f | xargs size 2> /dev/null || : # All default targets that don't require a special build environment check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format # quick_check builds a single nuttx and posix target, runs testing, and checks the style quick_check: check_posix_sitl_default check_px4fmu-v4pro_default tests check_format check_%: @echo $(call colorecho,"Building" $(subst check_,,$@)) @$(MAKE) --no-print-directory $(subst check_,,$@) @echo uorb_graphs: @./Tools/uorb_graph/create_from_startupscript.sh @./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full @$(MAKE) --no-print-directory px4fmu-v2_default uorb_graph @$(MAKE) --no-print-directory px4fmu-v4_default uorb_graph @$(MAKE) --no-print-directory posix_sitl_default uorb_graph .PHONY: coverity_scan coverity_scan: posix_sitl_default # Documentation # -------------------------------------------------------------------- .PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata parameters_metadata: @python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --markdown @python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --xml airframe_metadata: @python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown @python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --xml module_documentation: @python $(SRC_DIR)/Tools/px_process_module_doc.py -v --markdown $(SRC_DIR)/modules --src-path $(SRC_DIR)/src px4_metadata: parameters_metadata airframe_metadata module_documentation # Astyle # -------------------------------------------------------------------- .PHONY: check_format format check_format: $(call colorecho,"Checking formatting with astyle") @$(SRC_DIR)/Tools/astyle/check_code_style_all.sh @cd $(SRC_DIR) && git diff --check format: $(call colorecho,"Formatting with astyle") @$(SRC_DIR)/Tools/astyle/check_code_style_all.sh --fix # Testing # -------------------------------------------------------------------- .PHONY: tests tests_coverage tests_mission tests_offboard rostest tests: @$(MAKE) --no-print-directory posix_sitl_default test_results \ ASAN_OPTIONS="color=always:check_initialization_order=1:detect_stack_use_after_return=1" \ UBSAN_OPTIONS="color=always" tests_coverage: @$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage @echo "Open $(SRC_DIR)/build/posix_sitl_default/coverage-html/index.html to see coverage" rostest: posix_sitl_default @$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo tests_mission: rostest @test/rostest_px4_run.sh mavros_posix_tests_missions.test tests_offboard: rostest @$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test @$(SRC_DIR)/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test # static analyzers (scan-build, clang-tidy, cppcheck) # -------------------------------------------------------------------- .PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck check_stack scan-build: @export CCC_CC=clang @export CCC_CXX=clang++ @rm -rf $(SRC_DIR)/build/posix_sitl_default-scan-build @rm -rf $(SRC_DIR)/build/scan-build/report_latest @mkdir -p $(SRC_DIR)/build/posix_sitl_default-scan-build @cd $(SRC_DIR)/build/posix_sitl_default-scan-build && scan-build cmake $(SRC_DIR) -GNinja -DCONFIG=posix_sitl_default @scan-build -o $(SRC_DIR)/build/scan-build cmake --build $(SRC_DIR)/build/posix_sitl_default-scan-build @find $(SRC_DIR)/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" $(SRC_DIR)/build/scan-build/report_latest \; posix_sitl_default-clang: @mkdir -p $(SRC_DIR)/build/posix_sitl_default-clang @cd $(SRC_DIR)/build/posix_sitl_default-clang && cmake $(SRC_DIR) $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ @$(PX4_MAKE) -C $(SRC_DIR)/build/posix_sitl_default-clang clang-tidy: posix_sitl_default-clang @cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p . # to automatically fix a single check at a time, eg modernize-redundant-void-arg # % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p . clang-tidy-fix: posix_sitl_default-clang @cd $(SRC_DIR)/build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p . # modified version of run-clang-tidy.py to return error codes and only output relevant results clang-tidy-quiet: posix_sitl_default-clang @cd $(SRC_DIR)/build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p . # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all cppcheck: posix_sitl_default @mkdir -p $(SRC_DIR)/build/cppcheck @cppcheck -i$(SRC_DIR)/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project=$(SRC_DIR)/build/posix_sitl_default/compile_commands.json --xml-version=2 2> $(SRC_DIR)/build/cppcheck/cppcheck-result.xml > /dev/null @cppcheck-htmlreport --source-encoding=ascii --file=$(SRC_DIR)/build/cppcheck/cppcheck-result.xml --report-dir=$(SRC_DIR)/build/cppcheck --source-dir=$(SRC_DIR)/src/ check_stack: px4fmu-v4pro_default @echo "Checking worst case stack usage with checkstack.pl ..." @echo " " @echo "Top 10:" @cd $(SRC_DIR)/build/px4fmu-v4pro_default && mkdir -p stack_usage && arm-none-eabi-objdump -d nuttx_px4fmu-v4pro_default.elf | $(SRC_DIR)/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt @head -n 10 $(SRC_DIR)/build/px4fmu-v4pro_default/stack_usage/checkstack_output.txt | c++filt @echo " " @echo "Symbols with 'main', 'thread' or 'task':" @cat $(SRC_DIR)/build/px4fmu-v4pro_default/stack_usage/checkstack_output.txt | c++filt | grep -E 'thread|main|task' # Cleanup # -------------------------------------------------------------------- .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean clean: @rm -rf $(SRC_DIR)/build submodulesclean: @git submodule foreach --quiet --recursive git clean -ff -x -d @git submodule update --quiet --init --recursive --force || true @git submodule sync --recursive @git submodule update --init --recursive --force submodulesupdate: @git submodule update --quiet --init --recursive || true @git submodule sync --recursive @git submodule update --init --recursive gazeboclean: @rm -rf ~/.gazebo/* distclean: submodulesclean gazeboclean @git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode" # -------------------------------------------------------------------- # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error. %: $(if $(filter $(FIRST_ARG),$@), \ $(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#) #help: # @echo # @echo "Type 'make ' and hit the tab key twice to see a list of the available" # @echo "build configurations." # @echo empty := space := $(empty) $(empty) # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069) help: @echo "Usage: $(MAKE) " @echo "Where is one of:" @$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \ awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \ egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS) $(NUTTX_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)' @echo @echo "Or, $(MAKE) []" @echo "Use '$(MAKE) list_config_targets' for a list of configuration targets." # Print a list of all config targets. list_config_targets: @for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done