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px4-firmware/msg/CMakeLists.txt

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CMake
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############################################################################
#
# Copyright (c) 2016-2022 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)
include(px4_list_make_absolute)
set(msg_files
ActionRequest.msg
ActuatorArmed.msg
ActuatorControlsStatus.msg
ActuatorMotors.msg
ActuatorOutputs.msg
ActuatorServos.msg
ActuatorServosTrim.msg
ActuatorTest.msg
AdcReport.msg
Airspeed.msg
AirspeedValidated.msg
AirspeedWind.msg
AutotuneAttitudeControlStatus.msg
BatteryStatus.msg
ButtonEvent.msg
CameraCapture.msg
CameraStatus.msg
CameraTrigger.msg
CellularStatus.msg
CollisionConstraints.msg
CollisionReport.msg
ControlAllocatorStatus.msg
Cpuload.msg
DatamanRequest.msg
DatamanResponse.msg
DebugArray.msg
DebugKeyValue.msg
DebugValue.msg
DebugVect.msg
DifferentialPressure.msg
DistanceSensor.msg
Ekf2Timestamps.msg
EscReport.msg
EscStatus.msg
EstimatorAidSource1d.msg
EstimatorAidSource2d.msg
EstimatorAidSource3d.msg
EstimatorBias.msg
EstimatorBias3d.msg
EstimatorEventFlags.msg
EstimatorGpsStatus.msg
EstimatorInnovations.msg
EstimatorSelectorStatus.msg
EstimatorSensorBias.msg
EstimatorStates.msg
EstimatorStatus.msg
EstimatorStatusFlags.msg
Event.msg
FailsafeFlags.msg
FailureDetectorStatus.msg
FollowTarget.msg
FollowTargetEstimator.msg
FollowTargetStatus.msg
GeneratorStatus.msg
GeofenceResult.msg
GimbalControls.msg
GimbalDeviceAttitudeStatus.msg
GimbalDeviceInformation.msg
GimbalDeviceSetAttitude.msg
GimbalManagerInformation.msg
GimbalManagerSetAttitude.msg
GimbalManagerSetManualControl.msg
GimbalManagerStatus.msg
GpioConfig.msg
GpioIn.msg
GpioOut.msg
GpioRequest.msg
GpsDump.msg
GpsInjectData.msg
Gripper.msg
HealthReport.msg
HeaterStatus.msg
HomePosition.msg
HoverThrustEstimate.msg
InputRc.msg
InternalCombustionEngineStatus.msg
IridiumsbdStatus.msg
IrlockReport.msg
LandingGear.msg
LandingGearWheel.msg
LandingTargetInnovations.msg
LandingTargetPose.msg
LaunchDetectionStatus.msg
LedControl.msg
LoggerStatus.msg
LogMessage.msg
MagnetometerBiasEstimate.msg
MagWorkerData.msg
ManualControlSetpoint.msg
ManualControlSwitches.msg
MavlinkLog.msg
MavlinkTunnel.msg
Mission.msg
MissionResult.msg
MountOrientation.msg
ModeCompleted.msg
NavigatorMissionItem.msg
NormalizedUnsignedSetpoint.msg
NpfgStatus.msg
ObstacleDistance.msg
OffboardControlMode.msg
OnboardComputerStatus.msg
OrbitStatus.msg
OrbTest.msg
OrbTestLarge.msg
OrbTestMedium.msg
ParameterUpdate.msg
Ping.msg
PositionControllerLandingStatus.msg
PositionControllerStatus.msg
PositionSetpoint.msg
PositionSetpointTriplet.msg
PowerButtonState.msg
PowerMonitor.msg
PpsCapture.msg
PwmInput.msg
Px4ioStatus.msg
QshellReq.msg
QshellRetval.msg
RadioStatus.msg
RateCtrlStatus.msg
RcChannels.msg
RcParameterMap.msg
Rpm.msg
RtlTimeEstimate.msg
SatelliteInfo.msg
SensorAccel.msg
SensorAccelFifo.msg
SensorBaro.msg
SensorCombined.msg
SensorCorrection.msg
SensorGnssRelative.msg
SensorGps.msg
SensorGyro.msg
SensorGyroFft.msg
SensorGyroFifo.msg
SensorHygrometer.msg
SensorMag.msg
SensorOpticalFlow.msg
SensorPreflightMag.msg
SensorSelection.msg
SensorsStatus.msg
SensorsStatusImu.msg
SensorUwb.msg
SystemPower.msg
TakeoffStatus.msg
TaskStackInfo.msg
TecsStatus.msg
TelemetryStatus.msg
TiltrotorExtraControls.msg
TimesyncStatus.msg
TrajectoryBezier.msg
TrajectorySetpoint.msg
TrajectoryWaypoint.msg
TransponderReport.msg
TuneControl.msg
UavcanParameterRequest.msg
UavcanParameterValue.msg
UlogStream.msg
UlogStreamAck.msg
VehicleAcceleration.msg
VehicleAirData.msg
VehicleAngularAccelerationSetpoint.msg
VehicleAngularVelocity.msg
VehicleAttitude.msg
VehicleAttitudeSetpoint.msg
VehicleCommand.msg
VehicleCommandAck.msg
VehicleConstraints.msg
VehicleControlMode.msg
VehicleGlobalPosition.msg
VehicleImu.msg
VehicleImuStatus.msg
VehicleLandDetected.msg
VehicleLocalPosition.msg
VehicleLocalPositionSetpoint.msg
VehicleMagnetometer.msg
VehicleOdometry.msg
VehicleOpticalFlow.msg
VehicleOpticalFlowVel.msg
VehicleRatesSetpoint.msg
VehicleRoi.msg
VehicleStatus.msg
VehicleThrustSetpoint.msg
VehicleTorqueSetpoint.msg
VehicleTrajectoryBezier.msg
VehicleTrajectoryWaypoint.msg
VtolVehicleStatus.msg
Wind.msg
YawEstimatorStatus.msg
)
list(SORT msg_files)
px4_list_make_absolute(msg_files ${CMAKE_CURRENT_SOURCE_DIR} ${msg_files})
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(ucdr_out_path ${PX4_BINARY_DIR}/uORB/ucdr)
set(msg_source_out_path ${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
set(uorb_headers)
set(uorb_sources)
set(uorb_ucdr_headers)
foreach(msg_file ${msg_files})
get_filename_component(msg ${msg_file} NAME_WE)
# Pascal case to snake case (MsgFile -> msg_file)
string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" msg "${msg}")
string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" msg "${msg}")
string(TOLOWER "${msg}" msg)
list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
list(APPEND uorb_ucdr_headers ${ucdr_out_path}/${msg}.h)
endforeach()
# 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}
${msg_out_path}/uORBTopics.hpp
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
--headers
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR}
-o ${msg_out_path}
-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
DEPENDS
${msg_files}
${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.h.em
${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.hpp.em
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
${PX4_SOURCE_DIR}/Tools/msg/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 microcdr headers
add_custom_command(
OUTPUT ${uorb_ucdr_headers}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
--headers
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR}
-o ${ucdr_out_path}
-e ${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr
DEPENDS
${msg_files}
${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr/msg.h.em
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB topic ucdr headers"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_custom_target(uorb_ucdr_headers DEPENDS ${uorb_ucdr_headers})
# Generate uORB sources
add_custom_command(
OUTPUT
${uorb_sources}
${msg_source_out_path}/uORBTopics.cpp
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
--sources
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR}
-o ${msg_source_out_path}
-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
DEPENDS
${msg_files}
${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.cpp.em
${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.cpp.em
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB topic sources"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_library(uorb_msgs ${uorb_headers} ${msg_out_path}/uORBTopics.hpp ${uorb_sources} ${msg_source_out_path}/uORBTopics.cpp)
target_link_libraries(uorb_msgs PRIVATE m)
add_dependencies(uorb_msgs prebuild_targets uorb_headers)
if(CONFIG_LIB_CDRSTREAM)
set(uorb_cdr_idl)
set(uorb_cdr_msg)
set(uorb_cdr_idl_uorb)
set(idl_include_path ${PX4_BINARY_DIR}/uORB/idl)
set(idl_out_path ${idl_include_path}/px4/msg)
set(idl_uorb_path ${PX4_BINARY_DIR}/msg/px4/msg)
# Make sure that CycloneDDS has been checkout out
execute_process(COMMAND git submodule sync src/lib/cdrstream/cyclonedds
WORKING_DIRECTORY ${PX4_SOURCE_DIR} )
execute_process(COMMAND git submodule update --init --force src/lib/cdrstream/cyclonedds
WORKING_DIRECTORY ${PX4_SOURCE_DIR} )
# CycloneDDS-tools doesn't ship with the cdrstream-desc feature thus we've to compile idlc from source
MESSAGE(STATUS "Configuring idlc :" ${CMAKE_CURRENT_BINARY_DIR}/idlc)
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc)
execute_process(COMMAND ${CMAKE_COMMAND} ${PX4_SOURCE_DIR}/src/lib/cdrstream/cyclonedds
-DCMAKE_C_COMPILER=/usr/bin/gcc
-DBUILD_EXAMPLES=OFF
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc
RESULT_VARIABLE CMD_ERROR
OUTPUT_FILE CMD_OUTPUT )
MESSAGE(STATUS "Building idlc :" ${CMAKE_CURRENT_BINARY_DIR}/idlc)
execute_process(COMMAND ${CMAKE_COMMAND} --build . --target idlc
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc
RESULT_VARIABLE CMD_ERROR
OUTPUT_FILE CMD_OUTPUT )
list(APPEND CMAKE_PROGRAM_PATH "${CMAKE_CURRENT_BINARY_DIR}/idlc/bin")
# Copy .msg files
foreach(msg_file ${msg_files})
get_filename_component(msg ${msg_file} NAME_WE)
configure_file(${PX4_SOURCE_DIR}/msg/${msg}.msg ${idl_out_path}/${msg}.msg COPYONLY)
list(APPEND uorb_cdr_idl ${idl_out_path}/${msg}.idl)
list(APPEND uorb_cdr_msg ${idl_out_path}/${msg}.msg)
list(APPEND uorb_cdr_idl_uorb ${idl_uorb_path}/${msg}.h)
endforeach()
# Generate IDL from .msg using rosidl_adapter
# Note this a submodule inside PX4 hence no ROS2 installation required
add_custom_command(
OUTPUT ${uorb_cdr_idl}
COMMAND ${CMAKE_COMMAND}
-E env "PYTHONPATH=${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_adapter:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_cli"
${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/msg2idl.py
${uorb_cdr_msg}
DEPENDS
${uorb_cdr_msg}
git_cyclonedds
COMMENT "Generating IDL from uORB topic headers"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
# Generate C definitions from IDL
set(CYCLONEDDS_DIR ${PX4_SOURCE_DIR}/src/lib/cdrstream/cyclonedds)
include("${CYCLONEDDS_DIR}/cmake/Modules/Generate.cmake")
idlc_generate(TARGET uorb_cdrstream
FEATURES "cdrstream-desc"
FILES ${uorb_cdr_idl}
INCLUDES ${idl_include_path}
BASE_DIR ${idl_include_path}
WARNINGS no-implicit-extensibility)
target_link_libraries(uorb_cdrstream INTERFACE cdr)
# Generate and overwrite IDL header with custom headers for uORB operatability
# We typedef the IDL struct the uORB struct so that the IDL offset calculate
# the offset of internal uORB struct for serialization/deserialization
# In the future we might want to turn this around let the IDL struct be the leading ABI
# However we need to remove the padding for logging and remove the re-ordering of fields
add_custom_target(
uorb_idl_header
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
--uorb-idl-header
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR}
-o ${idl_uorb_path}
-e ${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream
DEPENDS
uorb_cdrstream
${msg_files}
${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream/uorb_idl_header.h.em
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB compatible IDL headers"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_dependencies(uorb_msgs uorb_idl_header)
# Compile all CDR compatible message defnitions
target_link_libraries(uorb_msgs PRIVATE uorb_cdrstream )
endif()
if(CONFIG_MODULES_ZENOH)
# Update kconfig file for topics
execute_process(COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
--zenoh-config
-f ${msg_files}
-o ${PX4_SOURCE_DIR}/src/modules/zenoh/
-e ${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh
)
add_custom_command(
OUTPUT
${PX4_BINARY_DIR}/src/modules/zenoh/uorb_pubsub_factory.hpp
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
--zenoh-pub-sub
-f ${msg_files}
-o ${PX4_BINARY_DIR}/src/modules/zenoh/
-e ${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh
DEPENDS
${msg_files}
${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em
${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
COMMENT "Generating Zenoh Topic Code"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_library(zenoh_topics ${PX4_BINARY_DIR}/src/modules/zenoh/uorb_pubsub_factory.hpp)
set_target_properties(zenoh_topics PROPERTIES LINKER_LANGUAGE CXX)
endif()
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