forked from Archive/PX4-Autopilot
510 lines
16 KiB
CMake
510 lines
16 KiB
CMake
############################################################################
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#
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# Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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# Support IN_LIST if() operator
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cmake_policy(SET CMP0057 NEW)
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include(px4_list_make_absolute)
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set(msg_files
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ActionRequest.msg
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ActuatorArmed.msg
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ActuatorControlsStatus.msg
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ActuatorMotors.msg
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ActuatorOutputs.msg
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ActuatorServos.msg
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ActuatorServosTrim.msg
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ActuatorTest.msg
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AdcReport.msg
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Airspeed.msg
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AirspeedValidated.msg
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AirspeedWind.msg
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ArmingCheckReply.msg
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ArmingCheckRequest.msg
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AutotuneAttitudeControlStatus.msg
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BatteryStatus.msg
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ButtonEvent.msg
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CameraCapture.msg
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CameraStatus.msg
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CameraTrigger.msg
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CellularStatus.msg
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CollisionConstraints.msg
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CollisionReport.msg
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ConfigOverrides.msg
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ControlAllocatorStatus.msg
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Cpuload.msg
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DatamanRequest.msg
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DatamanResponse.msg
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DebugArray.msg
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DebugKeyValue.msg
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DebugValue.msg
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DebugVect.msg
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DifferentialPressure.msg
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DistanceSensor.msg
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Ekf2Timestamps.msg
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EscReport.msg
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EscStatus.msg
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EstimatorAidSource1d.msg
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EstimatorAidSource2d.msg
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EstimatorAidSource3d.msg
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EstimatorBias.msg
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EstimatorBias3d.msg
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EstimatorEventFlags.msg
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EstimatorGpsStatus.msg
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EstimatorInnovations.msg
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EstimatorSelectorStatus.msg
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EstimatorSensorBias.msg
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EstimatorStates.msg
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EstimatorStatus.msg
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EstimatorStatusFlags.msg
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Event.msg
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FigureEightStatus.msg
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FailsafeFlags.msg
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FailureDetectorStatus.msg
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FollowTarget.msg
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FollowTargetEstimator.msg
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FollowTargetStatus.msg
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GeneratorStatus.msg
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GeofenceResult.msg
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GimbalControls.msg
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GimbalDeviceAttitudeStatus.msg
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GimbalDeviceInformation.msg
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GimbalDeviceSetAttitude.msg
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GimbalManagerInformation.msg
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GimbalManagerSetAttitude.msg
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GimbalManagerSetManualControl.msg
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GimbalManagerStatus.msg
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GpioConfig.msg
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GpioIn.msg
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GpioOut.msg
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GpioRequest.msg
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GpsDump.msg
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GpsInjectData.msg
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Gripper.msg
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HealthReport.msg
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HeaterStatus.msg
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HomePosition.msg
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HoverThrustEstimate.msg
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InputRc.msg
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InternalCombustionEngineStatus.msg
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IridiumsbdStatus.msg
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IrlockReport.msg
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LandingGear.msg
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LandingGearWheel.msg
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LandingTargetInnovations.msg
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LandingTargetPose.msg
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LaunchDetectionStatus.msg
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LedControl.msg
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LoggerStatus.msg
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LogMessage.msg
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MagnetometerBiasEstimate.msg
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MagWorkerData.msg
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ManualControlSetpoint.msg
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ManualControlSwitches.msg
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MavlinkLog.msg
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MavlinkTunnel.msg
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MessageFormatRequest.msg
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MessageFormatResponse.msg
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Mission.msg
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MissionResult.msg
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MountOrientation.msg
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ModeCompleted.msg
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NavigatorMissionItem.msg
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NormalizedUnsignedSetpoint.msg
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NpfgStatus.msg
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ObstacleDistance.msg
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OffboardControlMode.msg
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OnboardComputerStatus.msg
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OrbitStatus.msg
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OrbTest.msg
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OrbTestLarge.msg
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OrbTestMedium.msg
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ParameterUpdate.msg
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Ping.msg
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PositionControllerLandingStatus.msg
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PositionControllerStatus.msg
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PositionSetpoint.msg
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PositionSetpointTriplet.msg
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PowerButtonState.msg
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PowerMonitor.msg
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PpsCapture.msg
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PwmInput.msg
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Px4ioStatus.msg
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QshellReq.msg
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QshellRetval.msg
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RadioStatus.msg
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RateCtrlStatus.msg
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RcChannels.msg
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RcParameterMap.msg
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RegisterExtComponentReply.msg
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RegisterExtComponentRequest.msg
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Rpm.msg
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RtlTimeEstimate.msg
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SatelliteInfo.msg
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SensorAccel.msg
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SensorAccelFifo.msg
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SensorBaro.msg
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SensorCombined.msg
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SensorCorrection.msg
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SensorGnssRelative.msg
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SensorGps.msg
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SensorGyro.msg
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SensorGyroFft.msg
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SensorGyroFifo.msg
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SensorHygrometer.msg
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SensorMag.msg
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SensorOpticalFlow.msg
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SensorPreflightMag.msg
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SensorSelection.msg
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SensorsStatus.msg
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SensorsStatusImu.msg
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SensorUwb.msg
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SystemPower.msg
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TakeoffStatus.msg
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TaskStackInfo.msg
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TecsStatus.msg
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TelemetryStatus.msg
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TiltrotorExtraControls.msg
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TimesyncStatus.msg
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TrajectoryBezier.msg
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TrajectorySetpoint.msg
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TrajectoryWaypoint.msg
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TransponderReport.msg
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TuneControl.msg
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UavcanParameterRequest.msg
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UavcanParameterValue.msg
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UlogStream.msg
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UlogStreamAck.msg
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UnregisterExtComponent.msg
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VehicleAcceleration.msg
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VehicleAirData.msg
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VehicleAngularAccelerationSetpoint.msg
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VehicleAngularVelocity.msg
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VehicleAttitude.msg
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VehicleAttitudeSetpoint.msg
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VehicleCommand.msg
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VehicleCommandAck.msg
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VehicleConstraints.msg
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VehicleControlMode.msg
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VehicleGlobalPosition.msg
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VehicleImu.msg
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VehicleImuStatus.msg
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VehicleLandDetected.msg
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VehicleLocalPosition.msg
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VehicleLocalPositionSetpoint.msg
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VehicleMagnetometer.msg
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VehicleOdometry.msg
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VehicleOpticalFlow.msg
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VehicleOpticalFlowVel.msg
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VehicleRatesSetpoint.msg
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VehicleRoi.msg
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VehicleStatus.msg
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VehicleThrustSetpoint.msg
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VehicleTorqueSetpoint.msg
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VehicleTrajectoryBezier.msg
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VehicleTrajectoryWaypoint.msg
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VtolVehicleStatus.msg
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Wind.msg
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YawEstimatorStatus.msg
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)
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list(SORT msg_files)
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px4_list_make_absolute(msg_files ${CMAKE_CURRENT_SOURCE_DIR} ${msg_files})
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if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
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# Check that the msg directory and the CMakeLists.txt file exists
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if(EXISTS ${EXTERNAL_MODULES_LOCATION}/msg/CMakeLists.txt)
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add_subdirectory(${EXTERNAL_MODULES_LOCATION}/msg external_msg)
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# Add each of the external message files to the global msg_files list
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foreach(external_msg_file ${config_msg_list_external})
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list(APPEND msg_files ${EXTERNAL_MODULES_LOCATION}/msg/${external_msg_file})
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endforeach()
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endif()
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endif()
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# headers
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set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
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set(ucdr_out_path ${PX4_BINARY_DIR}/uORB/ucdr)
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set(msg_source_out_path ${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
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set(uorb_headers)
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set(uorb_sources)
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set(uorb_ucdr_headers)
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set(uorb_json_files)
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foreach(msg_file ${msg_files})
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get_filename_component(msg ${msg_file} NAME_WE)
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# Pascal case to snake case (MsgFile -> msg_file)
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string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" msg "${msg}")
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string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" msg "${msg}")
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string(TOLOWER "${msg}" msg)
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list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
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list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
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list(APPEND uorb_ucdr_headers ${ucdr_out_path}/${msg}.h)
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list(APPEND uorb_json_files ${msg_source_out_path}/${msg}.json)
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endforeach()
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# Generate uORB headers
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add_custom_command(
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OUTPUT
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${uorb_headers}
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${msg_out_path}/uORBTopics.hpp
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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--headers
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-f ${msg_files}
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-i ${CMAKE_CURRENT_SOURCE_DIR}
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-o ${msg_out_path}
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-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
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DEPENDS
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${msg_files}
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${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.h.em
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${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.hpp.em
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
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COMMENT "Generating uORB topic headers"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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VERBATIM
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)
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add_custom_target(uorb_headers DEPENDS ${uorb_headers})
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add_custom_command(
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OUTPUT
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${uorb_json_files}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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--json
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-f ${msg_files}
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-i ${CMAKE_CURRENT_SOURCE_DIR}
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-o ${msg_source_out_path}
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-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
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DEPENDS
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${msg_files}
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${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.json.em
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
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COMMENT "Generating uORB json files"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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VERBATIM
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)
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add_custom_target(uorb_json_files DEPENDS ${uorb_json_files})
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set(uorb_message_fields_cpp_file ${msg_source_out_path}/uORBMessageFieldsGenerated.cpp)
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set(uorb_message_fields_header_file ${msg_out_path}/uORBMessageFieldsGenerated.hpp)
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add_custom_command(
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OUTPUT
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${uorb_message_fields_cpp_file}
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${uorb_message_fields_header_file}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py
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-f ${uorb_json_files}
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--source-output-file ${uorb_message_fields_cpp_file}
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--header-output-file ${uorb_message_fields_header_file}
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DEPENDS
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uorb_json_files
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py
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COMMENT "Generating uORB compressed fields"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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VERBATIM
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)
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# Generate microcdr headers
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add_custom_command(
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OUTPUT ${uorb_ucdr_headers}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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--headers
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-f ${msg_files}
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-i ${CMAKE_CURRENT_SOURCE_DIR}
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-o ${ucdr_out_path}
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-e ${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr
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DEPENDS
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${msg_files}
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${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr/msg.h.em
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
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COMMENT "Generating uORB topic ucdr headers"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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VERBATIM
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)
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add_custom_target(uorb_ucdr_headers DEPENDS ${uorb_ucdr_headers})
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# Generate uORB sources
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add_custom_command(
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OUTPUT
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${uorb_sources}
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${msg_source_out_path}/uORBTopics.cpp
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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--sources
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-f ${msg_files}
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-i ${CMAKE_CURRENT_SOURCE_DIR}
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-o ${msg_source_out_path}
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-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
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DEPENDS
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${msg_files}
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${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.cpp.em
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${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.cpp.em
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
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${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
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COMMENT "Generating uORB topic sources"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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VERBATIM
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)
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add_library(uorb_msgs ${uorb_headers} ${msg_out_path}/uORBTopics.hpp ${uorb_sources} ${msg_source_out_path}/uORBTopics.cpp ${uorb_message_fields_cpp_file})
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target_link_libraries(uorb_msgs PRIVATE m)
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add_dependencies(uorb_msgs prebuild_targets uorb_headers)
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if(CONFIG_LIB_CDRSTREAM)
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set(uorb_cdr_idl)
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set(uorb_cdr_msg)
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set(uorb_cdr_idl_uorb)
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set(idl_include_path ${PX4_BINARY_DIR}/uORB/idl)
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set(idl_out_path ${idl_include_path}/px4/msg)
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set(idl_uorb_path ${PX4_BINARY_DIR}/msg/px4/msg)
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# Make sure that CycloneDDS has been checkout out
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execute_process(COMMAND git submodule sync src/lib/cdrstream/cyclonedds
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WORKING_DIRECTORY ${PX4_SOURCE_DIR} )
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execute_process(COMMAND git submodule update --init --force src/lib/cdrstream/cyclonedds
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WORKING_DIRECTORY ${PX4_SOURCE_DIR} )
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# CycloneDDS-tools doesn't ship with the cdrstream-desc feature thus we've to compile idlc from source
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MESSAGE(STATUS "Configuring idlc :" ${CMAKE_CURRENT_BINARY_DIR}/idlc)
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file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc)
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execute_process(COMMAND ${CMAKE_COMMAND} ${PX4_SOURCE_DIR}/src/lib/cdrstream/cyclonedds
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-DCMAKE_C_COMPILER=/usr/bin/gcc
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-DBUILD_EXAMPLES=OFF
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc
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RESULT_VARIABLE CMD_ERROR
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OUTPUT_FILE CMD_OUTPUT )
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MESSAGE(STATUS "Building idlc :" ${CMAKE_CURRENT_BINARY_DIR}/idlc)
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execute_process(COMMAND ${CMAKE_COMMAND} --build . --target idlc
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc
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RESULT_VARIABLE CMD_ERROR
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OUTPUT_FILE CMD_OUTPUT )
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list(APPEND CMAKE_PROGRAM_PATH "${CMAKE_CURRENT_BINARY_DIR}/idlc/bin")
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# Copy .msg files
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foreach(msg_file ${msg_files})
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get_filename_component(msg ${msg_file} NAME_WE)
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configure_file(${PX4_SOURCE_DIR}/msg/${msg}.msg ${idl_out_path}/${msg}.msg COPYONLY)
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list(APPEND uorb_cdr_idl ${idl_out_path}/${msg}.idl)
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list(APPEND uorb_cdr_msg ${idl_out_path}/${msg}.msg)
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list(APPEND uorb_cdr_idl_uorb ${idl_uorb_path}/${msg}.h)
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endforeach()
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# Generate IDL from .msg using rosidl_adapter
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# Note this a submodule inside PX4 hence no ROS2 installation required
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add_custom_command(
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OUTPUT ${uorb_cdr_idl}
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COMMAND ${CMAKE_COMMAND}
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-E env "PYTHONPATH=${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_adapter:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_cli"
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${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/msg2idl.py
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${uorb_cdr_msg}
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DEPENDS
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${uorb_cdr_msg}
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git_cyclonedds
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COMMENT "Generating IDL from uORB topic headers"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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VERBATIM
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)
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# Generate C definitions from IDL
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set(CYCLONEDDS_DIR ${PX4_SOURCE_DIR}/src/lib/cdrstream/cyclonedds)
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include("${CYCLONEDDS_DIR}/cmake/Modules/Generate.cmake")
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idlc_generate(TARGET uorb_cdrstream
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FEATURES "cdrstream-desc"
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FILES ${uorb_cdr_idl}
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INCLUDES ${idl_include_path}
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BASE_DIR ${idl_include_path}
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WARNINGS no-implicit-extensibility)
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target_link_libraries(uorb_cdrstream INTERFACE cdr)
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# Generate and overwrite IDL header with custom headers for uORB operatability
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# We typedef the IDL struct the uORB struct so that the IDL offset calculate
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# the offset of internal uORB struct for serialization/deserialization
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# In the future we might want to turn this around let the IDL struct be the leading ABI
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# However we need to remove the padding for logging and remove the re-ordering of fields
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add_custom_target(
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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()
|