forked from Archive/PX4-Autopilot
542 lines
22 KiB
Makefile
542 lines
22 KiB
Makefile
############################################################################
|
|
#
|
|
# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved.
|
|
#
|
|
# Redistribution and use in source and binary forms, with or without
|
|
# modification, are permitted provided that the following conditions
|
|
# are met:
|
|
#
|
|
# 1. Redistributions of source code must retain the above copyright
|
|
# notice, this list of conditions and the following disclaimer.
|
|
# 2. Redistributions in binary form must reproduce the above copyright
|
|
# notice, this list of conditions and the following disclaimer in
|
|
# the documentation and/or other materials provided with the
|
|
# distribution.
|
|
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
# used to endorse or promote products derived from this software
|
|
# without specific prior written permission.
|
|
#
|
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
# POSSIBILITY OF SUCH DAMAGE.
|
|
#
|
|
############################################################################
|
|
|
|
# Enforce the presence of the GIT repository
|
|
#
|
|
# We depend on our submodules, so we have to prevent attempts to
|
|
# compile without it being present.
|
|
ifeq ($(wildcard .git),)
|
|
$(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
|
|
endif
|
|
|
|
# Help
|
|
# --------------------------------------------------------------------
|
|
# Don't be afraid of this makefile, it is just passing
|
|
# arguments to cmake to allow us to keep the wiki pages etc.
|
|
# that describe how to build the px4 firmware
|
|
# the same even when using cmake instead of make.
|
|
#
|
|
# Example usage:
|
|
#
|
|
# make px4_fmu-v2_default (builds)
|
|
# make px4_fmu-v2_default upload (builds and uploads)
|
|
# make px4_fmu-v2_default test (builds and tests)
|
|
#
|
|
# This tells cmake to build the nuttx px4_fmu-v2 default config in the
|
|
# directory build/px4_fmu-v2_default and then call make
|
|
# in that directory with the target upload.
|
|
|
|
# explicity set default build target
|
|
all: px4_sitl_default
|
|
|
|
# define a space character to be able to explicitly find it in strings
|
|
space := $(subst ,, )
|
|
|
|
define make_list
|
|
$(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
|
|
endef
|
|
|
|
# Parsing
|
|
# --------------------------------------------------------------------
|
|
# assume 1st argument passed is the main target, the
|
|
# rest are arguments to pass to the makefile generated
|
|
# by cmake in the subdirectory
|
|
FIRST_ARG := $(firstword $(MAKECMDGOALS))
|
|
ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
|
|
|
|
# Get -j or --jobs argument as suggested in:
|
|
# https://stackoverflow.com/a/33616144/8548472
|
|
MAKE_PID := $(shell echo $$PPID)
|
|
j := $(shell ps T | sed -n 's|.*$(MAKE_PID).*$(MAKE).* \(-j\|--jobs\) *\([0-9][0-9]*\).*|\2|p')
|
|
|
|
# Default j for clang-tidy
|
|
j_clang_tidy := $(or $(j),4)
|
|
|
|
NINJA_BIN := ninja
|
|
ifndef NO_NINJA_BUILD
|
|
NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
|
|
|
|
ifndef NINJA_BUILD
|
|
NINJA_BIN := ninja-build
|
|
NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
|
|
endif
|
|
endif
|
|
|
|
ifdef NINJA_BUILD
|
|
PX4_CMAKE_GENERATOR := Ninja
|
|
PX4_MAKE := $(NINJA_BIN)
|
|
|
|
ifdef VERBOSE
|
|
PX4_MAKE_ARGS := -v
|
|
else
|
|
PX4_MAKE_ARGS :=
|
|
endif
|
|
|
|
# Only override ninja default if -j is set.
|
|
ifneq ($(j),)
|
|
PX4_MAKE_ARGS := $(PX4_MAKE_ARGS) -j$(j)
|
|
endif
|
|
else
|
|
ifdef SYSTEMROOT
|
|
# Windows
|
|
PX4_CMAKE_GENERATOR := "MSYS\ Makefiles"
|
|
else
|
|
PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
|
|
endif
|
|
|
|
# For non-ninja builds we default to -j4
|
|
j := $(or $(j),4)
|
|
PX4_MAKE = $(MAKE)
|
|
PX4_MAKE_ARGS = -j$(j) --no-print-directory
|
|
endif
|
|
|
|
SRC_DIR := $(shell dirname "$(realpath $(lastword $(MAKEFILE_LIST)))")
|
|
|
|
# check if replay env variable is set & set build dir accordingly
|
|
ifdef replay
|
|
BUILD_DIR_SUFFIX := _replay
|
|
else
|
|
BUILD_DIR_SUFFIX :=
|
|
endif
|
|
|
|
# additional config parameters passed to cmake
|
|
ifdef EXTERNAL_MODULES_LOCATION
|
|
CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
|
|
endif
|
|
|
|
ifdef PX4_CMAKE_BUILD_TYPE
|
|
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
|
|
else
|
|
|
|
# Address Sanitizer
|
|
ifdef PX4_ASAN
|
|
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
|
|
endif
|
|
|
|
# Memory Sanitizer
|
|
ifdef PX4_MSAN
|
|
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
|
|
endif
|
|
|
|
# Thread Sanitizer
|
|
ifdef PX4_TSAN
|
|
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
|
|
endif
|
|
|
|
# Undefined Behavior Sanitizer
|
|
ifdef PX4_UBSAN
|
|
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
|
|
endif
|
|
|
|
endif
|
|
|
|
# Pick up specific Python path if set
|
|
ifdef PYTHON_EXECUTABLE
|
|
CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
|
|
endif
|
|
|
|
# Check if the microRTPS agent is to be built
|
|
ifdef BUILD_MICRORTPS_AGENT
|
|
CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
|
|
endif
|
|
|
|
# Functions
|
|
# --------------------------------------------------------------------
|
|
# describe how to build a cmake config
|
|
define cmake-build
|
|
$(eval CMAKE_ARGS += -DCONFIG=$(1))
|
|
@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
|
|
@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
|
|
@$(call cmake-cache-check)
|
|
@# make sure to start from scratch when switching from GNU Make to Ninja
|
|
@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
|
|
@# make sure to start from scratch if ninja build file is missing
|
|
@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ ! -f $(BUILD_DIR)/build.ninja ]; then rm -rf $(BUILD_DIR); fi
|
|
@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
|
|
@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
|
|
mkdir -p $(BUILD_DIR) \
|
|
&& cd $(BUILD_DIR) \
|
|
&& cmake "$(SRC_DIR)" -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) \
|
|
|| (rm -rf $(BUILD_DIR)); \
|
|
fi
|
|
@# run the build for the specified target
|
|
@cmake --build $(BUILD_DIR) -- $(PX4_MAKE_ARGS) $(ARGS)
|
|
endef
|
|
|
|
# check if the options we want to build with in CMAKE_ARGS match the ones which are already configured in the cache inside BUILD_DIR
|
|
define cmake-cache-check
|
|
@# change to build folder which fails if it doesn't exist and CACHED_CMAKE_OPTIONS stays empty
|
|
@# fetch all previously configured and cached options from the build folder and transform them into the OPTION=VALUE format without type (e.g. :BOOL)
|
|
@$(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' ))
|
|
@# transform the options in CMAKE_ARGS into the OPTION=VALUE format without -D
|
|
@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's|-D\([^[:blank:]]*=[^[:blank:]]*\)|\1|gp' ))
|
|
@# find each currently desired option in the already cached ones making sure the complete configured string value is the same
|
|
@$(eval VERIFIED_CMAKE_OPTIONS = $(foreach option,$(DESIRED_CMAKE_OPTIONS),$(strip $(findstring $(option)$(space),$(CACHED_CMAKE_OPTIONS)))))
|
|
@# if the complete list of desired options is found in the list of verified options we don't need to reconfigure and CMAKE_CACHE_CHECK stays empty
|
|
@$(eval CMAKE_CACHE_CHECK = $(if $(findstring $(DESIRED_CMAKE_OPTIONS),$(VERIFIED_CMAKE_OPTIONS)),,y))
|
|
endef
|
|
|
|
COLOR_BLUE = \033[0;94m
|
|
NO_COLOR = \033[m
|
|
|
|
define colorecho
|
|
+@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
|
|
endef
|
|
|
|
# Get a list of all config targets boards/*/*.cmake
|
|
ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)
|
|
|
|
# ADD CONFIGS HERE
|
|
# --------------------------------------------------------------------
|
|
# Do not put any spaces between function arguments.
|
|
|
|
# All targets.
|
|
$(ALL_CONFIG_TARGETS):
|
|
@$(call cmake-build,$@$(BUILD_DIR_SUFFIX))
|
|
|
|
# Filter for only default targets to allow omiting the "_default" postfix
|
|
CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
|
|
$(CONFIG_TARGETS_DEFAULT):
|
|
@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
|
|
|
|
all_config_targets: $(ALL_CONFIG_TARGETS)
|
|
all_default_targets: $(CONFIG_TARGETS_DEFAULT)
|
|
|
|
# board reorganization deprecation warnings (2018-11-22)
|
|
define deprecation_warning
|
|
$(warning $(1) has been deprecated and will be removed, please use $(2)!)
|
|
endef
|
|
|
|
# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
|
|
.PHONY: all px4_sitl_default all_config_targets all_default_targets
|
|
|
|
# Other targets
|
|
# --------------------------------------------------------------------
|
|
|
|
.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
|
|
|
|
# QGroundControl flashable NuttX firmware
|
|
qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
|
|
|
|
# px4fmu NuttX firmware
|
|
px4fmu_firmware: \
|
|
check_px4_io-v2_default \
|
|
check_px4_fmu-v2_default \
|
|
check_px4_fmu-v3_default \
|
|
check_px4_fmu-v4_default \
|
|
check_px4_fmu-v4pro_default \
|
|
check_px4_fmu-v5_default \
|
|
check_px4_fmu-v5x_default \
|
|
sizes
|
|
|
|
misc_qgc_extra_firmware: \
|
|
check_nxp_fmuk66-v3_default \
|
|
check_nxp_fmurt1062-v1_default \
|
|
check_mro_x21_default \
|
|
check_bitcraze_crazyflie_default \
|
|
check_bitcraze_crazyflie21_default \
|
|
check_airmind_mindpx-v2_default \
|
|
sizes
|
|
|
|
# builds with RTPS
|
|
check_rtps: \
|
|
check_px4_fmu-v3_rtps \
|
|
check_px4_fmu-v4_rtps \
|
|
check_px4_fmu-v4pro_rtps \
|
|
check_px4_sitl_rtps \
|
|
sizes
|
|
|
|
.PHONY: sizes check quick_check check_rtps uorb_graphs
|
|
|
|
sizes:
|
|
@-find build -name *.elf -type f | xargs size 2> /dev/null || :
|
|
|
|
# All default targets that don't require a special build environment
|
|
check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware tests check_format
|
|
|
|
# quick_check builds a single nuttx and SITL target, runs testing, and checks the style
|
|
quick_check: check_px4_sitl_test check_px4_fmu-v5_default tests check_format
|
|
|
|
check_%:
|
|
@echo
|
|
$(call colorecho,'Building' $(subst check_,,$@))
|
|
@$(MAKE) --no-print-directory $(subst check_,,$@)
|
|
@echo
|
|
|
|
all_variants_%:
|
|
@echo 'Building all $(subst all_variants_,,$@) variants:' $(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS))
|
|
@echo
|
|
$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
|
|
|
|
uorb_graphs:
|
|
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
|
|
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
|
|
@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
|
|
@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
|
|
@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
|
|
@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
|
|
|
|
|
|
.PHONY: coverity_scan
|
|
|
|
coverity_scan: px4_sitl_default
|
|
|
|
# Documentation
|
|
# --------------------------------------------------------------------
|
|
.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
|
|
|
|
parameters_metadata:
|
|
@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
|
|
|
|
airframe_metadata:
|
|
@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes ver_gen
|
|
|
|
module_documentation:
|
|
@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
|
|
|
|
extract_events:
|
|
@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
|
|
|
|
px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
|
|
|
|
doxygen:
|
|
@mkdir -p "$(SRC_DIR)"/build/doxygen
|
|
@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
|
|
@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
|
|
@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
|
|
|
|
# Astyle
|
|
# --------------------------------------------------------------------
|
|
.PHONY: check_format format
|
|
|
|
check_format:
|
|
$(call colorecho,'Checking formatting with astyle')
|
|
@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh
|
|
@cd "$(SRC_DIR)" && git diff --check
|
|
|
|
format:
|
|
$(call colorecho,'Formatting with astyle')
|
|
@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
|
|
|
|
# Testing
|
|
# --------------------------------------------------------------------
|
|
.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
|
|
.PHONY: rostest python_coverage
|
|
|
|
tests:
|
|
$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
|
|
$(eval ARGS += test_results)
|
|
$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
|
|
$(eval UBSAN_OPTIONS += color=always)
|
|
$(call cmake-build,px4_sitl_test)
|
|
|
|
tests_coverage:
|
|
@$(MAKE) clean
|
|
@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
|
|
@mkdir -p coverage
|
|
@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
|
|
|
|
|
|
rostest: px4_sitl_default
|
|
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
|
|
|
tests_integration: px4_sitl_default
|
|
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
|
@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
|
|
@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
|
|
|
|
tests_integration_coverage:
|
|
@$(MAKE) clean
|
|
@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
|
|
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
|
@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
|
|
@"$(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
|
|
@"$(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 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 "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
|
|
|
# Cleanup
|
|
# --------------------------------------------------------------------
|
|
.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
|
|
|
|
clean:
|
|
@[ ! -d "$(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
|
|
|
|
gazeboclean:
|
|
@rm -rf ~/.gazebo/*
|
|
|
|
distclean: gazeboclean
|
|
@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: $(call make_list,nuttx,"nxp") \
|
|
sizes
|
|
|
|
ifneq ($(ROS2_WS_DIR),)
|
|
ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
|
|
else
|
|
ROS2_WS_DIR := ~/colcon_ws
|
|
endif
|
|
|
|
update_ros2_bridge:
|
|
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
|
|
|
|
update_px4_ros_com:
|
|
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
|
|
|
|
update_px4_msgs:
|
|
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
|