forked from Archive/PX4-Autopilot
569 lines
24 KiB
Makefile
569 lines
24 KiB
Makefile
############################################################################
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#
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# Copyright (c) 2015 - 2020 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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# Enforce the presence of the GIT repository
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#
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# We depend on our submodules, so we have to prevent attempts to
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# compile without it being present.
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ifeq ($(wildcard .git),)
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$(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
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endif
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# Help
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# --------------------------------------------------------------------
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# Don't be afraid of this makefile, it is just passing
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# arguments to cmake to allow us to keep the wiki pages etc.
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# that describe how to build the px4 firmware
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# the same even when using cmake instead of make.
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#
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# Example usage:
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#
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# make px4_fmu-v2_default (builds)
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# make px4_fmu-v2_default upload (builds and uploads)
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# make px4_fmu-v2_default test (builds and tests)
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#
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# This tells cmake to build the nuttx px4_fmu-v2 default config in the
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# directory build/px4_fmu-v2_default and then call make
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# in that directory with the target upload.
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# explicity set default build target
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all: px4_sitl_default
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# define a space character to be able to explicitly find it in strings
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space := $(subst ,, )
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define make_list
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$(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
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endef
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# Parsing
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# --------------------------------------------------------------------
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# assume 1st argument passed is the main target, the
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# rest are arguments to pass to the makefile generated
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# by cmake in the subdirectory
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FIRST_ARG := $(firstword $(MAKECMDGOALS))
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ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
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# Get -j or --jobs argument as suggested in:
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# https://stackoverflow.com/a/33616144/8548472
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MAKE_PID := $(shell echo $$PPID)
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j := $(shell ps T | sed -n 's|.*$(MAKE_PID).*$(MAKE).* \(-j\|--jobs\) *\([0-9][0-9]*\).*|\2|p')
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# Default j for clang-tidy
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j_clang_tidy := $(or $(j),4)
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NINJA_BIN := ninja
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ifndef NO_NINJA_BUILD
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NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
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ifndef NINJA_BUILD
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NINJA_BIN := ninja-build
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NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
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endif
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endif
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ifdef NINJA_BUILD
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PX4_CMAKE_GENERATOR := Ninja
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PX4_MAKE := $(NINJA_BIN)
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ifdef VERBOSE
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PX4_MAKE_ARGS := -v
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else
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PX4_MAKE_ARGS :=
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endif
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# Only override ninja default if -j is set.
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ifneq ($(j),)
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PX4_MAKE_ARGS := $(PX4_MAKE_ARGS) -j$(j)
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endif
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else
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ifdef SYSTEMROOT
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# Windows
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PX4_CMAKE_GENERATOR := "MSYS\ Makefiles"
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else
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PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
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endif
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# For non-ninja builds we default to -j4
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j := $(or $(j),4)
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PX4_MAKE = $(MAKE)
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PX4_MAKE_ARGS = -j$(j) --no-print-directory
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endif
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SRC_DIR := $(shell dirname "$(realpath $(lastword $(MAKEFILE_LIST)))")
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# check if replay env variable is set & set build dir accordingly
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ifdef replay
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BUILD_DIR_SUFFIX := _replay
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else
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BUILD_DIR_SUFFIX :=
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endif
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CMAKE_ARGS ?=
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# additional config parameters passed to cmake
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ifdef EXTERNAL_MODULES_LOCATION
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override CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
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endif
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ifdef PX4_CMAKE_BUILD_TYPE
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override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
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else
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# Address Sanitizer
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ifdef PX4_ASAN
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override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
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endif
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# Memory Sanitizer
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ifdef PX4_MSAN
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override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
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endif
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# Thread Sanitizer
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ifdef PX4_TSAN
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override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
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endif
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# Undefined Behavior Sanitizer
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ifdef PX4_UBSAN
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override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
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endif
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# Fuzz Testing
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ifdef PX4_FUZZ
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override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
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endif
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endif
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# Pick up specific Python path if set
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ifdef PYTHON_EXECUTABLE
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override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
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endif
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# Functions
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# --------------------------------------------------------------------
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# describe how to build a cmake config
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define cmake-build
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$(eval override CMAKE_ARGS += -DCONFIG=$(1))
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@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
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@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
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@$(call cmake-cache-check)
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@# make sure to start from scratch when switching from GNU Make to Ninja
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@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
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@# make sure to start from scratch if ninja build file is missing
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@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ ! -f $(BUILD_DIR)/build.ninja ]; then rm -rf $(BUILD_DIR); fi
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@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
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@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
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mkdir -p $(BUILD_DIR) \
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&& cd $(BUILD_DIR) \
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&& cmake "$(SRC_DIR)" -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) \
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|| (rm -rf $(BUILD_DIR)); \
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fi
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@# run the build for the specified target
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@cmake --build $(BUILD_DIR) -- $(PX4_MAKE_ARGS) $(ARGS)
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endef
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# check if the options we want to build with in CMAKE_ARGS match the ones which are already configured in the cache inside BUILD_DIR
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define cmake-cache-check
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@# change to build folder which fails if it doesn't exist and CACHED_CMAKE_OPTIONS stays empty
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@# fetch all previously configured and cached options from the build folder and transform them into the OPTION=VALUE format without type (e.g. :BOOL)
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@$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's|\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)|\1\2|gp' ))
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@# transform the options in CMAKE_ARGS into the OPTION=VALUE format without -D
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@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's|-D\([^[:blank:]]*=[^[:blank:]]*\)|\1|gp' ))
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@# find each currently desired option in the already cached ones making sure the complete configured string value is the same
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@$(eval VERIFIED_CMAKE_OPTIONS = $(foreach option,$(DESIRED_CMAKE_OPTIONS),$(strip $(findstring $(option)$(space),$(CACHED_CMAKE_OPTIONS)))))
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@# if the complete list of desired options is found in the list of verified options we don't need to reconfigure and CMAKE_CACHE_CHECK stays empty
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@$(eval CMAKE_CACHE_CHECK = $(if $(findstring $(DESIRED_CMAKE_OPTIONS),$(VERIFIED_CMAKE_OPTIONS)),,y))
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endef
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COLOR_BLUE = \033[0;94m
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NO_COLOR = \033[m
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define colorecho
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+@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
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endef
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# Get a list of all config targets boards/*/*.px4board
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ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.px4board' -print | sed -e 's|boards\/||' | sed -e 's|\.px4board||' | sed -e 's|\/|_|g' | sort)
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# ADD CONFIGS HERE
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# --------------------------------------------------------------------
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# Do not put any spaces between function arguments.
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# All targets.
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$(ALL_CONFIG_TARGETS):
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@$(call cmake-build,$@$(BUILD_DIR_SUFFIX))
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# Filter for only default targets to allow omiting the "_default" postfix
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CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
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$(CONFIG_TARGETS_DEFAULT):
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@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
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all_config_targets: $(ALL_CONFIG_TARGETS)
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all_default_targets: $(CONFIG_TARGETS_DEFAULT)
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updateconfig:
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@./Tools/kconfig/updateconfig.py
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# board reorganization deprecation warnings (2018-11-22)
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define deprecation_warning
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$(warning $(1) has been deprecated and will be removed, please use $(2)!)
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endef
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# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
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.PHONY: all px4_sitl_default all_config_targets all_default_targets
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# Other targets
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# --------------------------------------------------------------------
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.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware
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# QGroundControl flashable NuttX firmware
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qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
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# px4fmu NuttX firmware
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px4fmu_firmware: \
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check_px4_io-v2_default \
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check_px4_fmu-v2_default \
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check_px4_fmu-v3_default \
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check_px4_fmu-v4_default \
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check_px4_fmu-v4pro_default \
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check_px4_fmu-v5_default \
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check_px4_fmu-v5x_default \
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sizes
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misc_qgc_extra_firmware: \
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check_nxp_fmuk66-v3_default \
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check_mro_x21_default \
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check_bitcraze_crazyflie_default \
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check_bitcraze_crazyflie21_default \
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check_airmind_mindpx-v2_default \
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sizes
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.PHONY: sizes check quick_check uorb_graphs
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sizes:
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@-find build -name *.elf -type f | xargs size 2> /dev/null || :
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# All default targets that don't require a special build environment
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check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware tests check_format
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# quick_check builds a single nuttx and SITL target, runs testing, and checks the style
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quick_check: check_px4_sitl_test check_px4_fmu-v5_default tests check_format
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check_%:
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@echo
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$(call colorecho,'Building' $(subst check_,,$@))
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@$(MAKE) --no-print-directory $(subst check_,,$@)
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@echo
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all_variants_%:
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@echo 'Building all $(subst all_variants_,,$@) variants:' $(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS))
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@echo
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$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
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uorb_graphs:
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@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
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@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
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@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
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@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
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@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
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@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
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px4io_update:
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@$(MAKE) --no-print-directory px4_io-v2_default
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@$(MAKE) --no-print-directory cubepilot_io-v2_default
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# px4_io-v2_default
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/ark/fmu-v6x/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
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# cubepilot_io-v2_default
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cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
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cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
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git status
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bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
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git status
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.PHONY: coverity_scan
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coverity_scan: px4_sitl_default
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# Documentation
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# --------------------------------------------------------------------
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.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
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parameters_metadata:
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@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
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airframe_metadata:
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@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes ver_gen
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module_documentation:
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@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
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extract_events:
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@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
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px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
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doxygen:
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@mkdir -p "$(SRC_DIR)"/build/doxygen
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@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
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@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
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@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
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# Astyle
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# --------------------------------------------------------------------
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.PHONY: check_format format
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check_format:
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$(call colorecho,'Checking formatting with astyle')
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@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh
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@cd "$(SRC_DIR)" && git diff --check
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format:
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$(call colorecho,'Formatting with astyle')
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@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
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# Testing
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# --------------------------------------------------------------------
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.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
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.PHONY: rostest python_coverage
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tests:
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$(eval override CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
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$(eval ARGS += test_results)
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$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
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$(eval UBSAN_OPTIONS += color=always)
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$(call cmake-build,px4_sitl_test)
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tests_coverage:
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@$(MAKE) clean
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@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
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@mkdir -p coverage
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@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
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rostest: px4_sitl_default
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@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
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tests_integration: px4_sitl_default
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@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
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@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
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@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
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tests_integration_coverage:
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@$(MAKE) clean
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@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
|
|
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
|
@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
|
|
@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
|
|
@mkdir -p coverage
|
|
@lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
|
|
|
|
tests_mission: rostest
|
|
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
|
|
|
|
rostest_run: px4_sitl_default
|
|
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
|
@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
|
|
|
|
tests_mission_coverage:
|
|
@$(MAKE) clean
|
|
@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
|
|
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic PX4_CMAKE_BUILD_TYPE=Coverage
|
|
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
|
|
@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
|
|
|
|
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
|
|
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
|
|
|
|
tests_avoidance: rostest
|
|
@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
|
|
@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
|
|
|
|
python_coverage:
|
|
@mkdir -p "$(SRC_DIR)"/build/python_coverage
|
|
@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
|
|
@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage
|
|
@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_airframes
|
|
@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_parameters
|
|
#@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage module_documentation # TODO: fix within coverage.py
|
|
@coverage combine `find . -name .coverage\*`
|
|
@coverage report -m
|
|
|
|
|
|
# static analyzers (scan-build, clang-tidy, cppcheck)
|
|
# --------------------------------------------------------------------
|
|
.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
|
|
.PHONY: cppcheck shellcheck_all validate_module_configs
|
|
|
|
scan-build:
|
|
@export CCC_CC=clang
|
|
@export CCC_CXX=clang++
|
|
@rm -rf "$(SRC_DIR)"/build/px4_sitl_default-scan-build
|
|
@rm -rf "$(SRC_DIR)"/build/scan-build/report_latest
|
|
@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-scan-build
|
|
@cd "$(SRC_DIR)"/build/px4_sitl_default-scan-build && scan-build cmake "$(SRC_DIR)" -GNinja -DCONFIG=px4_sitl_default
|
|
@scan-build -o "$(SRC_DIR)"/build/scan-build cmake --build "$(SRC_DIR)"/build/px4_sitl_default-scan-build
|
|
@find "$(SRC_DIR)"/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" "$(SRC_DIR)"/build/scan-build/report_latest \;
|
|
|
|
px4_sitl_default-clang:
|
|
@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang
|
|
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
|
|
@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
|
|
|
|
clang-tidy: px4_sitl_default-clang
|
|
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
|
|
|
|
# to automatically fix a single check at a time, eg modernize-redundant-void-arg
|
|
# % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
|
|
clang-tidy-fix: px4_sitl_default-clang
|
|
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .
|
|
|
|
# modified version of run-clang-tidy.py to return error codes and only output relevant results
|
|
clang-tidy-quiet: px4_sitl_default-clang
|
|
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
|
|
|
|
# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
|
|
cppcheck: px4_sitl_default
|
|
@mkdir -p "$(SRC_DIR)"/build/cppcheck
|
|
@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++14 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_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/
|
|
|
|
shellcheck_all:
|
|
@"$(SRC_DIR)"/Tools/run-shellcheck.sh "$(SRC_DIR)"/ROMFS/px4fmu_common/
|
|
@make px4_fmu-v5_default shellcheck
|
|
|
|
validate_module_configs:
|
|
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
|
|
-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
|
|
-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
|
|
-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
|
|
-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
|
|
-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
|
|
-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
|
|
xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
|
|
|
# Cleanup
|
|
# --------------------------------------------------------------------
|
|
.PHONY: clean submodulesclean submodulesupdate distclean
|
|
|
|
clean:
|
|
@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
|
|
@git submodule foreach git clean -dX --force # some submodules generate build artifacts in source
|
|
|
|
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 --jobs 4
|
|
|
|
submodulesupdate:
|
|
@git submodule update --quiet --init --recursive --jobs 4 || true
|
|
@git submodule sync --recursive
|
|
@git submodule update --init --recursive --jobs 4
|
|
@git fetch --all --tags --recurse-submodules=yes --jobs=4
|
|
|
|
distclean:
|
|
@git submodule deinit --force $(SRC_DIR)
|
|
@rm -rf "$(SRC_DIR)/build"
|
|
@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
|
|
|
|
# Help / Error / Misc
|
|
# --------------------------------------------------------------------
|
|
|
|
# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
|
|
%:
|
|
$(if $(filter $(FIRST_ARG),$@), \
|
|
$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
|
|
|
|
# Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
|
|
help:
|
|
@echo "Usage: $(MAKE) <target>"
|
|
@echo "Where <target> is one of:"
|
|
@$(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)))$$' -e '_default$$' -e '^(Makefile)'
|
|
@echo
|
|
@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
|
|
@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
|
|
|
|
# Print a list of all config targets.
|
|
list_config_targets:
|
|
@for targ in $(patsubst %_default,%[_default],$(ALL_CONFIG_TARGETS)); do echo $$targ; done
|
|
|
|
check_nuttx : $(call make_list,nuttx) \
|
|
sizes
|
|
|
|
check_linux : $(call make_list,linux) \
|
|
sizes
|
|
|
|
check_px4: $(call make_list,nuttx,"px4") \
|
|
sizes
|
|
|
|
check_nxp: $(call make_list,nuttx,"nxp") \
|
|
sizes
|
|
|
|
# helpers for running olddefconfig (nuttx) and px4_savedefconfig on all boards
|
|
.PHONY: all_oldconfig all_px4_savedefconfig
|
|
all_oldconfig:
|
|
@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ oldconfig; done
|
|
|
|
all_px4_savedefconfig:
|
|
@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ px4_savedefconfig; done
|
|
|
|
.PHONY: failsafe_web run_failsafe_web_server
|
|
failsafe_web:
|
|
@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
|
|
@$(MAKE) --no-print-directory px4_sitl_default failsafe_test parameters_xml \
|
|
PX4_CMAKE_BUILD_TYPE=Release BUILD_DIR_SUFFIX=_failsafe_web \
|
|
CMAKE_ARGS="-DCMAKE_CXX_COMPILER=em++ -DCMAKE_C_COMPILER=emcc"
|
|
run_failsafe_web_server: failsafe_web
|
|
@cd build/px4_sitl_default_failsafe_web && \
|
|
python3 -m http.server
|