forked from Archive/PX4-Autopilot
667 lines
19 KiB
CMake
667 lines
19 KiB
CMake
############################################################################
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#
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# Copyright (c) 2015 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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#=============================================================================
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#
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# Defined functions in this file
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#
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# utility functions
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#
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# * px4_parse_function_args
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# * px4_join
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# * px4_add_module
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# * px4_add_common_flags
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# * px4_add_optimization_flags_for_target
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# * px4_add_executable
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# * px4_add_library
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#
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include(CMakeParseArguments)
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#=============================================================================
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#
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# px4_parse_function_args
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#
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# This function simplifies usage of the cmake_parse_arguments module.
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# It is intended to be called by other functions.
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#
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# Usage:
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# px4_parse_function_args(
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# NAME <name>
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# [ OPTIONS <list> ]
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# [ ONE_VALUE <list> ]
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# [ MULTI_VALUE <list> ]
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# REQUIRED <list>
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# ARGN <ARGN>)
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#
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# Input:
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# NAME : the name of the calling function
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# OPTIONS : boolean flags
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# ONE_VALUE : single value variables
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# MULTI_VALUE : multi value variables
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# REQUIRED : required arguments
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# ARGN : the function input arguments, typically ${ARGN}
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#
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# Output:
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# The function arguments corresponding to the following are set:
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# ${OPTIONS}, ${ONE_VALUE}, ${MULTI_VALUE}
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#
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# Example:
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# function test()
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# px4_parse_function_args(
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# NAME TEST
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# ONE_VALUE NAME
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# MULTI_VALUE LIST
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# REQUIRED NAME LIST
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# ARGN ${ARGN})
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# message(STATUS "name: ${NAME}")
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# message(STATUS "list: ${LIST}")
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# endfunction()
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#
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# test(NAME "hello" LIST a b c)
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#
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# OUTPUT:
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# name: hello
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# list: a b c
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#
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function(px4_parse_function_args)
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cmake_parse_arguments(IN "" "NAME" "OPTIONS;ONE_VALUE;MULTI_VALUE;REQUIRED;ARGN" "${ARGN}")
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cmake_parse_arguments(OUT "${IN_OPTIONS}" "${IN_ONE_VALUE}" "${IN_MULTI_VALUE}" "${IN_ARGN}")
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if (OUT_UNPARSED_ARGUMENTS)
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message(FATAL_ERROR "${IN_NAME}: unparsed ${OUT_UNPARSED_ARGUMENTS}")
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endif()
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foreach(arg ${IN_REQUIRED})
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if (NOT OUT_${arg})
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if (NOT "${OUT_${arg}}" STREQUAL "0")
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message(FATAL_ERROR "${IN_NAME} requires argument ${arg}\nARGN: ${IN_ARGN}")
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endif()
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endif()
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endforeach()
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foreach(arg ${IN_OPTIONS} ${IN_ONE_VALUE} ${IN_MULTI_VALUE})
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set(${arg} ${OUT_${arg}} PARENT_SCOPE)
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endforeach()
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endfunction()
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#=============================================================================
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#
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# px4_join
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#
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# This function joins a list with a given separator. If list is not
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# passed, or is sent "", this will return the empty string.
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#
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# Usage:
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# px4_join(OUT ${OUT} [ LIST ${LIST} ] GLUE ${GLUE})
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#
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# Input:
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# LIST : list to join
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# GLUE : separator to use
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#
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# Output:
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# OUT : joined list
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#
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# Example:
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# px4_join(OUT test_join LIST a b c GLUE ";")
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# test_join would then be:
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# "a;b;c"
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#
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function(px4_join)
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px4_parse_function_args(
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NAME px4_join
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ONE_VALUE OUT GLUE
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MULTI_VALUE LIST
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REQUIRED GLUE OUT
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ARGN ${ARGN})
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string (REPLACE ";" "${GLUE}" _TMP_STR "${LIST}")
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set(${OUT} ${_TMP_STR} PARENT_SCOPE)
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endfunction()
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#=============================================================================
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#
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# px4_add_module
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#
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# This function builds a static library from a module description.
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#
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# Usage:
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# px4_add_module(MODULE <string>
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# [ MAIN <string> ]
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# [ STACK <string> ] !!!!!DEPRECATED, USE STACK_MAIN INSTEAD!!!!!!!!!
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# [ STACK_MAIN <string> ]
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# [ STACK_MAX <string> ]
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# [ COMPILE_FLAGS <list> ]
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# [ INCLUDES <list> ]
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# [ DEPENDS <string> ]
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# [ SRCS <list> ]
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# [ MODULE_CONFIG <list> ]
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# [ EXTERNAL ]
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# )
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#
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# Input:
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# MODULE : unique name of module
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# MAIN : entry point, if not given, assumed to be library
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# STACK : deprecated use stack main instead
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# STACK_MAIN : size of stack for main function
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# STACK_MAX : maximum stack size of any frame
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# COMPILE_FLAGS : compile flags
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# LINK_FLAGS : link flags
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# SRCS : source files
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# MODULE_CONFIG : yaml config file(s)
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# INCLUDES : include directories
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# DEPENDS : targets which this module depends on
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# EXTERNAL : flag to indicate that this module is out-of-tree
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# UNITY_BUILD : merge all source files and build this module as a single compilation unit
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#
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# Output:
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# Static library with name matching MODULE.
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#
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# Example:
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# px4_add_module(MODULE test
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# SRCS
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# file.cpp
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# STACK_MAIN 1024
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# DEPENDS
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# git_nuttx
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# )
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#
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function(px4_add_module)
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px4_parse_function_args(
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NAME px4_add_module
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ONE_VALUE MODULE MAIN STACK STACK_MAIN STACK_MAX PRIORITY
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MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS MODULE_CONFIG
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OPTIONS EXTERNAL UNITY_BUILD
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REQUIRED MODULE MAIN
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ARGN ${ARGN})
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if(UNITY_BUILD AND (${OS} STREQUAL "nuttx"))
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# build standalone test library to catch compilation errors and provide sane output
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add_library(${MODULE}_original STATIC EXCLUDE_FROM_ALL ${SRCS})
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if(DEPENDS)
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add_dependencies(${MODULE}_original ${DEPENDS})
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endif()
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if(INCLUDES)
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target_include_directories(${MODULE}_original PRIVATE ${INCLUDES})
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endif()
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add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp
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COMMAND cat ${SRCS} > ${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp
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DEPENDS ${MODULE}_original ${DEPENDS} ${SRCS}
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COMMENT "${MODULE} merging source"
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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)
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set_source_files_properties(${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp PROPERTIES GENERATED true)
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add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp)
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target_include_directories(${MODULE} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
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else()
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add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
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endif()
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# all modules can potentially use parameters and uORB
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add_dependencies(${MODULE} uorb_headers)
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target_link_libraries(${MODULE} PRIVATE prebuild_targets parameters_interface platforms__common px4_layer systemlib)
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set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})
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set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
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px4_add_optimization_flags_for_target(${MODULE})
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# Pass variable to the parent px4_add_module.
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set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE)
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# set defaults if not set
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set(MAIN_DEFAULT MAIN-NOTFOUND)
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set(STACK_MAIN_DEFAULT 1024)
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set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
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foreach(property MAIN STACK_MAIN PRIORITY)
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if(NOT ${property})
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set(${property} ${${property}_DEFAULT})
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endif()
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set_target_properties(${MODULE} PROPERTIES ${property} ${${property}})
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endforeach()
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# default stack max to stack main
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if(NOT STACK_MAX)
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set(STACK_MAX ${STACK_MAIN})
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endif()
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set_target_properties(${MODULE} PROPERTIES STACK_MAX ${STACK_MAX})
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if(${OS} STREQUAL "qurt")
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set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
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elseif(${OS} STREQUAL "nuttx")
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target_compile_options(${MODULE} PRIVATE -Wframe-larger-than=${STACK_MAX})
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endif()
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if(MAIN)
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target_compile_definitions(${MODULE} PRIVATE PX4_MAIN=${MAIN}_app_main)
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target_compile_definitions(${MODULE} PRIVATE MODULE_NAME="${MAIN}")
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else()
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target_compile_definitions(${MODULE} PRIVATE MODULE_NAME="${MODULE}")
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endif()
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if(COMPILE_FLAGS)
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target_compile_options(${MODULE} PRIVATE ${COMPILE_FLAGS})
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endif()
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if(INCLUDES)
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target_include_directories(${MODULE} PRIVATE ${INCLUDES})
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endif()
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if(DEPENDS)
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# using target_link_libraries for dependencies provides linking
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# as well as interface include and libraries
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foreach(dep ${DEPENDS})
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get_target_property(dep_type ${dep} TYPE)
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if (${dep_type} STREQUAL "STATIC_LIBRARY")
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target_link_libraries(${MODULE} PRIVATE ${dep})
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else()
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add_dependencies(${MODULE} ${dep})
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endif()
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endforeach()
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endif()
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# join list variables to get ready to send to compiler
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foreach(prop LINK_FLAGS)
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if(${prop})
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px4_join(OUT ${prop} LIST ${${prop}} GLUE " ")
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endif()
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endforeach()
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# store module properties in target
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# COMPILE_FLAGS and LINK_FLAGS are passed to compiler/linker by cmake
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# STACK_MAIN, MAIN, PRIORITY are PX4 specific
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if(COMPILE_FLAGS AND ${_no_optimization_for_target})
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px4_strip_optimization(COMPILE_FLAGS ${COMPILE_FLAGS})
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endif()
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foreach (prop LINK_FLAGS STACK_MAIN MAIN PRIORITY)
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if (${prop})
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set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
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endif()
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endforeach()
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if(MODULE_CONFIG)
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foreach(module_config ${MODULE_CONFIG})
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set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/${module_config})
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endforeach()
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endif()
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endfunction()
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#=============================================================================
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#
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# px4_add_common_flags
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#
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# Set the default build flags.
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#
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# Usage:
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# px4_add_common_flags(
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# BOARD <in-string>
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# C_FLAGS <inout-variable>
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# CXX_FLAGS <inout-variable>
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# OPTIMIZATION_FLAGS <inout-variable>
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# EXE_LINKER_FLAGS <inout-variable>
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# INCLUDE_DIRS <inout-variable>
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# LINK_DIRS <inout-variable>
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# DEFINITIONS <inout-variable>)
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#
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# Input:
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# BOARD : board
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#
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# Input/Output: (appends to existing variable)
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# C_FLAGS : c compile flags variable
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# CXX_FLAGS : c++ compile flags variable
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# OPTIMIZATION_FLAGS : optimization compile flags variable
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# EXE_LINKER_FLAGS : executable linker flags variable
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# INCLUDE_DIRS : include directories
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# LINK_DIRS : link directories
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# DEFINITIONS : definitions
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#
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# Example:
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# px4_add_common_flags(
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# BOARD px4fmu-v2
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# C_FLAGS CMAKE_C_FLAGS
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# CXX_FLAGS CMAKE_CXX_FLAGS
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# OPTIMIZATION_FLAGS optimization_flags
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# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
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# INCLUDES <list>)
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#
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function(px4_add_common_flags)
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set(inout_vars
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C_FLAGS CXX_FLAGS OPTIMIZATION_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
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px4_parse_function_args(
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NAME px4_add_common_flags
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ONE_VALUE ${inout_vars} BOARD
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REQUIRED ${inout_vars} BOARD
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ARGN ${ARGN})
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set(warnings
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-Wall
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-Wextra
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-Werror
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-Warray-bounds
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-Wdisabled-optimization
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-Wdouble-promotion
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-Wfatal-errors
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-Wfloat-equal
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-Wformat-security
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-Winit-self
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-Wlogical-op
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-Wmissing-declarations
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-Wpointer-arith
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-Wshadow
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-Wuninitialized
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-Wunknown-pragmas
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-Wunused-variable
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-Wno-implicit-fallthrough # set appropriate level and update
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-Wno-missing-field-initializers
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-Wno-missing-include-dirs # TODO: fix and enable
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-Wno-unused-parameter
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)
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if (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
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# QuRT 6.4.X compiler identifies as Clang but does not support this option
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if (NOT ${OS} STREQUAL "qurt")
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list(APPEND warnings
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-Qunused-arguments
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-Wno-unused-const-variable
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-Wno-varargs
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-Wno-address-of-packed-member
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-Wno-unknown-warning-option
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-Wunused-but-set-variable
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)
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endif()
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else()
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list(APPEND warnings
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-Wunused-but-set-variable
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-Wformat=1
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)
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endif()
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set(_optimization_flags
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-fno-strict-aliasing
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-fomit-frame-pointer
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-fno-math-errno
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-funsafe-math-optimizations
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-ffunction-sections
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-fdata-sections
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)
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set(c_warnings
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-Wbad-function-cast
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-Wstrict-prototypes
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-Wmissing-prototypes
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-Wnested-externs
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)
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set(c_compile_flags
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-g
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-std=gnu99
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-fno-common
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)
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set(cxx_warnings
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-Wno-overloaded-virtual # TODO: fix and remove
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-Wreorder
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)
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set(cxx_compile_flags
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-g
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-fno-exceptions
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-fno-rtti
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-std=gnu++11
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-fno-threadsafe-statics
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-DCONFIG_WCHAR_BUILTIN
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-D__CUSTOM_FILE_IO__
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)
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# regular Clang or AppleClang
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if (CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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# force color for clang (needed for clang + ccache)
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list(APPEND _optimization_flags
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-fcolor-diagnostics
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)
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else()
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list(APPEND _optimization_flags
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-fno-strength-reduce
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-fno-builtin-printf
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)
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# -fcheck-new is a no-op for Clang in general
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# and has no effect, but can generate a compile
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# error for some OS
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list(APPEND cxx_compile_flags
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-fcheck-new
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)
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endif()
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if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
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if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 4.9)
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# force color for gcc > 4.9
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list(APPEND _optimization_flags
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-fdiagnostics-color=always
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)
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endif()
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list(APPEND cxx_warnings
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-Wno-format-truncation # TODO: fix
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)
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endif()
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set(visibility_flags
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-fvisibility=hidden
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-include visibility.h
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)
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set(added_c_flags
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${c_compile_flags}
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${warnings}
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${c_warnings}
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${visibility_flags}
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)
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set(added_cxx_flags
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${cxx_compile_flags}
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${warnings}
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${cxx_warnings}
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${visibility_flags}
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)
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set(added_optimization_flags
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${_optimization_flags}
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)
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include_directories(
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${PX4_BINARY_DIR}
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${PX4_BINARY_DIR}/src
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${PX4_BINARY_DIR}/src/lib
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${PX4_BINARY_DIR}/src/modules
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${PX4_SOURCE_DIR}/src
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${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
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${PX4_SOURCE_DIR}/src/include
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${PX4_SOURCE_DIR}/src/lib
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${PX4_SOURCE_DIR}/src/lib/DriverFramework/framework/include
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${PX4_SOURCE_DIR}/src/lib/matrix
|
|
${PX4_SOURCE_DIR}/src/modules
|
|
${PX4_SOURCE_DIR}/src/platforms
|
|
)
|
|
|
|
string(TOUPPER ${BOARD} board_upper)
|
|
string(REPLACE "-" "_" board_config ${board_upper})
|
|
|
|
add_definitions(
|
|
-DCONFIG_ARCH_BOARD_${board_config}
|
|
-D__STDC_FORMAT_MACROS
|
|
)
|
|
|
|
# output
|
|
foreach(var ${inout_vars})
|
|
string(TOLOWER ${var} lower_var)
|
|
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
|
|
#message(STATUS "set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
|
|
endforeach()
|
|
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_strip_optimization
|
|
#
|
|
function(px4_strip_optimization name)
|
|
set(_compile_flags)
|
|
separate_arguments(_args UNIX_COMMAND ${ARGN})
|
|
foreach(_flag ${_args})
|
|
if(NOT "${_flag}" MATCHES "^-O")
|
|
set(_compile_flags "${_compile_flags} ${_flag}")
|
|
endif()
|
|
endforeach()
|
|
string(STRIP "${_compile_flags}" _compile_flags)
|
|
set(${name} "${_compile_flags}" PARENT_SCOPE)
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_add_optimization_flags_for_target
|
|
#
|
|
set(all_posix_cmake_targets "" CACHE INTERNAL "All cmake targets for which optimization can be suppressed")
|
|
function(px4_add_optimization_flags_for_target target)
|
|
set(_no_optimization_for_target FALSE)
|
|
# If the current CONFIG is posix_sitl_* then suppress optimization for certain targets.
|
|
if(CONFIG MATCHES "^posix_sitl_")
|
|
foreach(_regexp $ENV{PX4_NO_OPTIMIZATION})
|
|
if("${target}" MATCHES "${_regexp}")
|
|
set(_no_optimization_for_target TRUE)
|
|
set(_matched_regexp "${_regexp}")
|
|
endif()
|
|
endforeach()
|
|
# Create a full list of targets that optimization can be suppressed for.
|
|
list(APPEND all_posix_cmake_targets ${target})
|
|
set(all_posix_cmake_targets ${all_posix_cmake_targets} CACHE INTERNAL "All cmake targets for which optimization can be suppressed")
|
|
endif()
|
|
if(NOT ${_no_optimization_for_target})
|
|
target_compile_options(${target} PRIVATE ${optimization_flags})
|
|
else()
|
|
message(STATUS "Disabling optimization for target '${target}' because it matches the regexp '${_matched_regexp}' in env var PX4_NO_OPTIMIZATION")
|
|
target_compile_options(${target} PRIVATE -O0)
|
|
endif()
|
|
# Pass variable to the parent px4_add_library.
|
|
set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE)
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_add_executable
|
|
#
|
|
# Like add_executable but with optimization flag fixup.
|
|
#
|
|
function(px4_add_executable target)
|
|
add_executable(${target} ${ARGN})
|
|
px4_add_optimization_flags_for_target(${target})
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_add_library
|
|
#
|
|
# Like add_library but with optimization flag fixup.
|
|
#
|
|
function(px4_add_library target)
|
|
add_library(${target} ${ARGN})
|
|
|
|
target_compile_definitions(${target} PRIVATE MODULE_NAME="${target}")
|
|
|
|
# all PX4 libraries have access to parameters and uORB
|
|
add_dependencies(${target} uorb_headers)
|
|
target_link_libraries(${target} PRIVATE prebuild_targets parameters_interface uorb_msgs)
|
|
|
|
# TODO: move to platform layer
|
|
if ("${OS}" MATCHES "nuttx")
|
|
target_link_libraries(${target} PRIVATE m nuttx_c)
|
|
endif()
|
|
|
|
px4_add_optimization_flags_for_target(${target})
|
|
|
|
# Pass variable to the parent px4_add_module.
|
|
set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE)
|
|
|
|
set_property(GLOBAL APPEND PROPERTY PX4_LIBRARIES ${target})
|
|
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_find_python_module
|
|
#
|
|
# Find a required python module
|
|
#
|
|
# Usage
|
|
# px4_find_python_module(module_name [REQUIRED])
|
|
#
|
|
function(px4_find_python_module module)
|
|
string(TOUPPER ${module} module_upper)
|
|
if(NOT PY_${module_upper})
|
|
if(ARGC GREATER 1 AND ARGV1 STREQUAL "REQUIRED")
|
|
set(PY_${module}_FIND_REQUIRED TRUE)
|
|
endif()
|
|
# A module's location is usually a directory, but for binary modules
|
|
# it's a .so file.
|
|
execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c"
|
|
"import re, ${module}; print(re.compile('/__init__.py.*').sub('',${module}.__file__))"
|
|
RESULT_VARIABLE _${module}_status
|
|
OUTPUT_VARIABLE _${module}_location
|
|
ERROR_QUIET
|
|
OUTPUT_STRIP_TRAILING_WHITESPACE)
|
|
if(NOT _${module}_status)
|
|
set(PY_${module_upper} ${_${module}_location} CACHE STRING
|
|
"Location of Python module ${module}")
|
|
endif()
|
|
endif()
|
|
find_package_handle_standard_args(PY_${module}
|
|
"couldn't find python module ${module}:
|
|
\nfor debian systems try: \
|
|
\n\tsudo apt-get install python-${module} \
|
|
\nor for all other OSs/debian: \
|
|
\n\tsudo -H pip install ${module}\n" PY_${module_upper})
|
|
#if (NOT PY_${module}_FOUND)
|
|
#message(FATAL_ERROR "python module not found, exiting")
|
|
#endif()
|
|
endfunction(px4_find_python_module)
|
|
|