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px4-firmware/msg/CMakeLists.txt

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CMake
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############################################################################
#
# Copyright (c) 2016 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.
#
############################################################################
# Support IN_LIST if() operator
cmake_policy(SET CMP0057 NEW)
set(msg_files
actuator_armed.msg
actuator_controls.msg
actuator_outputs.msg
adc_report.msg
airspeed.msg
airspeed_validated.msg
battery_status.msg
camera_capture.msg
camera_trigger.msg
cellular_status.msg
collision_constraints.msg
collision_report.msg
commander_state.msg
cpuload.msg
differential_pressure.msg
distance_sensor.msg
ekf2_timestamps.msg
ekf_gps_drift.msg
esc_report.msg
esc_status.msg
estimator_innovations.msg
estimator_sensor_bias.msg
estimator_states.msg
estimator_status.msg
follow_target.msg
generator_status.msg
geofence_result.msg
gps_dump.msg
gps_inject_data.msg
home_position.msg
hover_thrust_estimate.msg
input_rc.msg
iridiumsbd_status.msg
irlock_report.msg
landing_gear.msg
landing_target_innovations.msg
landing_target_pose.msg
led_control.msg
log_message.msg
logger_status.msg
manual_control_setpoint.msg
mavlink_log.msg
mission.msg
mission_result.msg
mount_orientation.msg
multirotor_motor_limits.msg
navigator_mission_item.msg
obstacle_distance.msg
offboard_control_mode.msg
onboard_computer_status.msg
optical_flow.msg
orbit_status.msg
parameter_update.msg
ping.msg
position_controller_landing_status.msg
position_controller_status.msg
position_setpoint.msg
position_setpoint_triplet.msg
power_button_state.msg
power_monitor.msg
pwm_input.msg
px4io_status.msg
qshell_req.msg
qshell_retval.msg
radio_status.msg
rate_ctrl_status.msg
rc_channels.msg
rc_parameter_map.msg
rpm.msg
safety.msg
satellite_info.msg
sensor_accel.msg
sensor_accel_fifo.msg
sensor_baro.msg
sensor_combined.msg
sensor_correction.msg
sensor_gps.msg
sensor_gyro.msg
sensor_gyro_fft.msg
sensor_gyro_fifo.msg
sensor_mag.msg
sensor_preflight_mag.msg
sensor_selection.msg
sensors_status_imu.msg
subsystem_info.msg
system_power.msg
task_stack_info.msg
tecs_status.msg
telemetry_status.msg
test_motor.msg
timesync.msg
timesync_status.msg
trajectory_bezier.msg
trajectory_waypoint.msg
transponder_report.msg
tune_control.msg
uavcan_parameter_request.msg
uavcan_parameter_value.msg
ulog_stream.msg
ulog_stream_ack.msg
vehicle_acceleration.msg
vehicle_air_data.msg
vehicle_angular_acceleration.msg
vehicle_angular_velocity.msg
vehicle_attitude.msg
vehicle_attitude_setpoint.msg
vehicle_command.msg
vehicle_command_ack.msg
vehicle_constraints.msg
vehicle_control_mode.msg
vehicle_global_position.msg
vehicle_gps_position.msg
vehicle_imu.msg
vehicle_imu_status.msg
vehicle_land_detected.msg
vehicle_local_position.msg
vehicle_local_position_setpoint.msg
vehicle_magnetometer.msg
vehicle_odometry.msg
vehicle_rates_setpoint.msg
vehicle_roi.msg
vehicle_status.msg
vehicle_status_flags.msg
vehicle_trajectory_bezier.msg
vehicle_trajectory_waypoint.msg
vtol_vehicle_status.msg
wheel_encoders.msg
wind_estimate.msg
yaw_estimator_status.msg
)
if(NOT px4_constrained_flash_build)
list(APPEND msg_files
debug_array.msg
debug_key_value.msg
debug_value.msg
debug_vect.msg
)
endif()
if(PX4_TESTING)
list(APPEND msg_files
orb_test.msg
orb_test_large.msg
orb_test_medium.msg
)
endif()
list(SORT msg_files)
set(deprecated_msgs
ekf2_innovations.msg # 2019-11-22, Updated estimator interface and logging; replaced by 'estimator_innovations'.
)
foreach(msg IN LISTS deprecated_msgs)
if(msg IN_LIST msg_files)
get_filename_component(msg_we ${msg} NAME_WE)
list(APPEND invalid_msgs ${msg_we})
endif()
endforeach()
if(invalid_msgs)
list(LENGTH invalid_msgs invalid_msgs_size)
if(${invalid_msgs_size} GREATER 1)
foreach(msg IN LISTS invalid_msgs)
string(CONCAT invalid_msgs_cs ${invalid_msgs_cs} "'${msg}', ")
endforeach()
STRING(REGEX REPLACE ", +$" "" invalid_msgs_cs ${invalid_msgs_cs})
message(FATAL_ERROR "${invalid_msgs_cs} are listed as deprecated. Please use different names for the messages.")
else()
message(FATAL_ERROR "'${invalid_msgs}' is listed as deprecated. Please use a different name for the message.")
endif()
endif()
if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
# Check that the msg directory and the CMakeLists.txt file exists
if(EXISTS ${EXTERNAL_MODULES_LOCATION}/msg/CMakeLists.txt)
add_subdirectory(${EXTERNAL_MODULES_LOCATION}/msg external_msg)
# Add each of the external message files to the global msg_files list
foreach(external_msg_file ${config_msg_list_external})
list(APPEND msg_files ${EXTERNAL_MODULES_LOCATION}/msg/${external_msg_file})
endforeach()
endif()
endif()
# headers
set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
set(msg_source_out_path ${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
set(uorb_headers ${msg_out_path}/uORBTopics.hpp)
set(uorb_sources ${msg_source_out_path}/uORBTopics.cpp)
foreach(msg_file ${msg_files})
get_filename_component(msg ${msg_file} NAME_WE)
list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
endforeach()
if (px4_constrained_flash_build)
set(added_arguments --constrained-flash)
endif()
# set parent scope msg_files for other modules to consume (eg topic_listener)
set(msg_files ${msg_files} PARENT_SCOPE)
# Generate uORB headers
add_custom_command(OUTPUT ${uorb_headers}
COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
--headers
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR}
-o ${msg_out_path}
-e templates/uorb
-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers
-q
${added_arguments}
DEPENDS
${msg_files}
templates/uorb/msg.h.em
templates/uorb/uORBTopics.hpp.em
tools/px_generate_uorb_topic_files.py
tools/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB topic headers"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_custom_target(uorb_headers DEPENDS ${uorb_headers})
# Generate uORB sources
add_custom_command(OUTPUT ${uorb_sources}
COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
--sources
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR}
-o ${msg_source_out_path}
-e templates/uorb
-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources
-q
${added_arguments}
DEPENDS
${msg_files}
templates/uorb/msg.cpp.em
templates/uorb/uORBTopics.cpp.em
tools/px_generate_uorb_topic_files.py
tools/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB topic sources"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_library(uorb_msgs ${uorb_sources})
target_link_libraries(uorb_msgs PRIVATE m)
add_dependencies(uorb_msgs prebuild_targets uorb_headers)
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