forked from Archive/PX4-Autopilot
322 lines
11 KiB
CMake
322 lines
11 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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# CMAKE CODING STANDARD FOR PX4
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#
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# Structure
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# ---------------------------------------------------------------------------
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#
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# * Common functions should be included in px_base.cmake.
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#
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# * OS/ board specific fucntions should be include in
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# px_impl_${OS}.cmake or px4_impl_${OS}_${BOARD}.cmake.
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#
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# Formatting
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# ---------------------------------------------------------------------------
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#
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# * Use hard indents to match the px4 source code.
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#
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# * All function and script arguments are upper case.
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#
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# * All local variables are lower case.
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#
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# * All cmake functions are lowercase.
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#
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# * For else, endif, endfunction, etc, never put the name of the statement
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#
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# Instead of the very confusing:
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# if (${var} STREQUAL "1") <-- condition now becomes if name
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# # do somthing
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# elseif (${var} STREQUAL "2") <-- another condition
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# # do somthing
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# else (${var} STREQUAL "1") <-- tag is referring to name of if
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# # do somthing
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# endif (${var} STREQUAL "1") <-- tag is referring to name of if
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#
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# Do this:
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# if (${var} STREQUAL "1") <-- condition now becomes if name
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# # do somthing
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# elseif (${var} STREQUAL "2") <-- another condition
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# # do somthing
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# else () <-- leave blank
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# # do somthing
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# endif () <-- leave blank
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#
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# Functions/Macros
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# ---------------------------------------------------------------------------
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#
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# * Use px4_parse_function_args to parse functions and check for required
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# arguments. Unless there is only one argument in the function and it is clear.
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#
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# * Never use macros. They allow overwriting global variables and this
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# makes variable declarations hard to locate.
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#
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# * If a target from add_custom_* is set in a function, explicitly pass it
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# as an output argument so that the target name is clear to the user.
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#
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# * Avoid use of global variables in functions. Functions in a nested
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# scope may use global variables, but this makes it difficult to
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# resuse functions.
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#
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# Included CMake Files
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# ---------------------------------------------------------------------------
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#
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# * All variables in config files must have the prefix "config_".
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#
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# * Never set global variables in an included cmake file,
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# you may only define functions. This excludes config and Toolchain files.
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# This makes it clear to the user when variables are being set or targets
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# are being created.
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#
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# * Setting a global variable in a CMakeLists.txt file is ok, because
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# each CMakeLists.txt file has scope in the current directory and all
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# subdirecties, so it is not truly global.
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#
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# * All toolchain files should be included in the cmake
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# directory and named Toolchain-"name".cmake.
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#
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# Misc
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# ---------------------------------------------------------------------------
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#
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# * If referencing a string variable, don't put it in quotes.
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# Don't do "${OS}" STREQUAL "posix",
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# instead type ${OS} STREQUAL "posix". This will throw an
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# error when ${OS} is not defined instead of silently
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# evaluating to false.
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#
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#=============================================================================
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cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
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#=============================================================================
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# parameters
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#
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set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
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set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
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STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
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set(CONFIG "nuttx_px4fmu-v2_default" CACHE STRING "desired configuration")
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file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
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set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
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set(THREADS "4" CACHE STRING
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"number of threads to use for external build processes")
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set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
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#=============================================================================
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# configuration
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#
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# must come before project to set toolchain
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string(REPLACE "_" ";" config_args ${CONFIG})
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list(GET config_args 0 OS)
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list(GET config_args 1 BOARD)
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list(GET config_args 2 LABEL)
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set(target_name "${OS}-${BOARD}-${LABEL}")
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message(STATUS "${target_name}")
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# switch to ros CMake file if building ros
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if (${OS} STREQUAL "ros")
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include("cmake/ros-CMakeLists.txt")
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else() # otherwise use the rest of this file
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
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set(config_module "configs/${CONFIG}")
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include(${config_module})
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# cmake modules
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include(ExternalProject)
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# require px4 module interface
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set(px4_required_interface
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px4_os_prebuild_targets
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px4_os_add_flags
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)
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foreach(cmd ${px4_required_interface})
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if(NOT COMMAND ${cmd})
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message(FATAL_ERROR "${config_module} must implement ${cmd}")
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endif()
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endforeach()
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set(px4_required_config
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config_module_list
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)
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foreach(conf ${px4_required_config})
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if(NOT DEFINED ${conf})
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message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
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endif()
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endforeach()
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#=============================================================================
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# project definition
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#
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project(px4 CXX C ASM)
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if (NOT ${CMAKE_VERSION} VERSION_LESS 3.0.0)
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cmake_policy(SET CMP0045 NEW) # error on non-existent target in get prop
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cmake_policy(SET CMP0046 NEW) # no non-existent targets as dependencies
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endif()
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if (NOT ${CMAKE_VERSION} VERSION_LESS 3.1.0)
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cmake_policy(SET CMP0054 NEW) # don't dereference quoted variables
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endif()
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set(version_major 1)
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set(version_minor 0)
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set(version_patch 1)
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set(version "${version_major}.${version_minor}.${version_patch}")
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set(package-contact "px4users@googlegroups.com")
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#=============================================================================
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# programs
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#
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find_package(PythonInterp REQUIRED)
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#=============================================================================
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# cmake modules
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#
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enable_testing()
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#=============================================================================
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# check required toolchain variables
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#
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set(required_variables
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CMAKE_C_COMPILER_ID
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)
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foreach(var ${required_variables})
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if (NOT ${var})
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message(FATAL_ERROR "Toolchain/config must define ${var}")
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endif()
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endforeach()
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#=============================================================================
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# git
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#
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px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
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px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
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px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
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px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
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px4_add_git_submodule(TARGET git_uavcan PATH "src/lib/uavcan")
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px4_add_git_submodule(TARGET git_eigen PATH "src/lib/eigen")
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px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
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px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
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add_custom_target(submodule_clean
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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COMMAND git submodule deinit -f .
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COMMAND rm -rf .git/modules/*
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)
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#=============================================================================
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# external libraries
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#
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px4_os_prebuild_targets(OUT prebuild_targets
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BOARD ${BOARD}
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THREADS ${THREADS})
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#=============================================================================
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# build flags
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#
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px4_os_add_flags(
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BOARD ${BOARD}
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C_FLAGS c_flags
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CXX_FLAGS cxx_flags
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EXE_LINKER_FLAGS exe_linker_flags
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INCLUDE_DIRS include_dirs
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LINK_DIRS link_dirs
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DEFINITIONS definitions)
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px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
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px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
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px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
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include_directories(${include_dirs})
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link_directories(${link_dirs})
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add_definitions(${definitions})
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#=============================================================================
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# source code generation
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#
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file(GLOB_RECURSE msg_files msg/*.msg)
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px4_generate_messages(TARGET msg_gen
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MSG_FILES ${msg_files}
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OS ${OS}
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DEPENDS git_genmsg git_gencpp
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)
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#=============================================================================
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# external projects
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#
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set(ep_base ${CMAKE_BINARY_DIR}/external)
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set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
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# add external project install folders to build
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link_directories(${ep_base}/Install/lib)
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include_directories(${ep_base}/Install/include)
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#=============================================================================
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# subdirectories
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#
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set(module_libraries)
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foreach(module ${config_module_list})
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add_subdirectory(src/${module})
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px4_mangle_name(${module} mangled_name)
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list(APPEND module_libraries ${mangled_name})
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#message(STATUS "adding module: ${module}")
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endforeach()
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add_subdirectory(src/firmware/${OS})
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if (config_io_board)
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add_subdirectory(src/modules/px4iofirmware)
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endif()
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#=============================================================================
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# generate git version
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#
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px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
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#=============================================================================
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# packaging
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#
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# Important to having packaging at end of cmake file.
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#
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set(CPACK_PACKAGE_VERSION ${version})
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set(CPACK_PACKAGE_CONTACT ${package_contact})
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set(CPACK_GENERATOR "ZIP")
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set(CPACK_SOURCE_GENERATOR "ZIP")
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include(CPack)
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endif() # ros alternative endif
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# vim: set noet fenc=utf-8 ff=unix ft=cmake :
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