forked from Archive/PX4-Autopilot
196 lines
4.5 KiB
CMake
196 lines
4.5 KiB
CMake
|
|
include_directories(${CMAKE_CURRENT_BINARY_DIR})
|
|
|
|
get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
|
|
|
|
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
|
|
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${CMAKE_BINARY_DIR}/bin)
|
|
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${CMAKE_BINARY_DIR}/bin)
|
|
|
|
set(PX4_SHELL_COMMAND_PREFIX "px4-")
|
|
|
|
add_definitions("-DPX4_SHELL_COMMAND_PREFIX=\"${PX4_SHELL_COMMAND_PREFIX}\"")
|
|
|
|
px4_posix_generate_builtin_commands(
|
|
OUT apps
|
|
MODULE_LIST ${module_libraries})
|
|
|
|
px4_posix_generate_alias(
|
|
OUT ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/px4-alias.sh
|
|
MODULE_LIST ${module_libraries}
|
|
PREFIX ${PX4_SHELL_COMMAND_PREFIX}
|
|
)
|
|
|
|
if (CMAKE_BUILD_TYPE STREQUAL FuzzTesting)
|
|
add_executable(px4
|
|
src/px4/common/main_fuzztesting.cpp
|
|
apps.cpp
|
|
)
|
|
else()
|
|
add_definitions(-DPX4_SOURCE_DIR="${PX4_SOURCE_DIR}" -DPX4_BINARY_DIR="${PX4_BINARY_DIR}")
|
|
|
|
add_executable(px4
|
|
src/px4/common/main.cpp
|
|
apps.cpp
|
|
)
|
|
endif()
|
|
|
|
target_link_libraries(px4
|
|
PRIVATE
|
|
${module_libraries}
|
|
m
|
|
parameters
|
|
)
|
|
|
|
if((NOT APPLE) AND (NOT ANDROID))
|
|
target_link_libraries(px4 PRIVATE rt)
|
|
endif()
|
|
|
|
if(NOT ANDROID)
|
|
target_link_libraries(px4 PRIVATE pthread)
|
|
endif()
|
|
|
|
target_link_libraries(px4 PRIVATE uORB)
|
|
|
|
if (CMAKE_BUILD_TYPE STREQUAL FuzzTesting)
|
|
target_include_directories(px4 PRIVATE SYSTEM "${CMAKE_BINARY_DIR}/mavlink}")
|
|
target_compile_options(px4 PRIVATE "-Wno-cast-align")
|
|
endif()
|
|
|
|
#=============================================================================
|
|
# install
|
|
#
|
|
|
|
# TODO: extend to snapdragon
|
|
|
|
# px4 dirs
|
|
install(
|
|
DIRECTORY
|
|
${PROJECT_SOURCE_DIR}/posix-configs
|
|
${PROJECT_SOURCE_DIR}/test
|
|
${CMAKE_BINARY_DIR}/etc
|
|
${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
|
|
DESTINATION
|
|
${PROJECT_NAME}
|
|
USE_SOURCE_PERMISSIONS
|
|
)
|
|
|
|
# Module Symlinks
|
|
px4_posix_generate_symlinks(
|
|
MODULE_LIST ${module_libraries}
|
|
PREFIX ${PX4_SHELL_COMMAND_PREFIX}
|
|
TARGET px4
|
|
)
|
|
|
|
if(config_romfs_root)
|
|
add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
|
|
add_dependencies(px4 romfs_gen_files_target)
|
|
endif()
|
|
|
|
|
|
# board defined upload helper
|
|
if(EXISTS "${PX4_BOARD_DIR}/cmake/upload.cmake")
|
|
include(${PX4_BOARD_DIR}/cmake/upload.cmake)
|
|
endif()
|
|
|
|
# board defined link libraries
|
|
if(EXISTS "${PX4_BOARD_DIR}/cmake/link_libraries.cmake")
|
|
include(${PX4_BOARD_DIR}/cmake/link_libraries.cmake)
|
|
endif()
|
|
|
|
if("${PX4_BOARD}" MATCHES "beaglebone_blue")
|
|
target_link_libraries(px4 PRIVATE robotics_cape)
|
|
|
|
elseif("${PX4_BOARD}" MATCHES "emlid_navio2")
|
|
target_link_libraries(px4 PRIVATE atomic)
|
|
|
|
# vscode launch.json
|
|
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_rpi.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
|
|
|
|
elseif("${PX4_BOARD}" MATCHES "sitl")
|
|
|
|
# vscode launch.json
|
|
if(${PX4_BOARD_LABEL} MATCHES "replay")
|
|
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_replay.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
|
|
|
|
else()
|
|
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sitl.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
|
|
endif()
|
|
|
|
set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/rootfs)
|
|
file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
|
|
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/posix.lldbinit ${SITL_WORKING_DIR}/.lldbinit COPYONLY)
|
|
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/posix.gdbinit ${SITL_WORKING_DIR}/.gdbinit COPYONLY)
|
|
|
|
if(BUILD_TESTING)
|
|
include(sitl_tests)
|
|
endif()
|
|
|
|
# "none" legacy SITL helper target
|
|
add_custom_target(none
|
|
COMMAND $<TARGET_FILE:px4>
|
|
WORKING_DIRECTORY ${SITL_WORKING_DIR}
|
|
USES_TERMINAL
|
|
DEPENDS px4
|
|
)
|
|
|
|
# install
|
|
|
|
# px4 dirs
|
|
install(
|
|
DIRECTORY
|
|
${PROJECT_SOURCE_DIR}/integrationtests
|
|
${PROJECT_SOURCE_DIR}/launch
|
|
${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
|
|
DESTINATION
|
|
${PROJECT_NAME}
|
|
USE_SOURCE_PERMISSIONS
|
|
)
|
|
|
|
# px4 files
|
|
install(
|
|
FILES
|
|
${PROJECT_SOURCE_DIR}/CMakeLists.txt
|
|
${PROJECT_SOURCE_DIR}/package.xml
|
|
DESTINATION
|
|
${PROJECT_NAME}
|
|
)
|
|
|
|
# px4 Tools dirs
|
|
install(
|
|
DIRECTORY
|
|
${PROJECT_SOURCE_DIR}/Tools/ecl_ekf
|
|
DESTINATION
|
|
${PROJECT_NAME}/Tools
|
|
USE_SOURCE_PERMISSIONS
|
|
)
|
|
|
|
# px4 Tools files
|
|
install(
|
|
PROGRAMS
|
|
${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo-classic/setup_gazebo.bash
|
|
${PROJECT_SOURCE_DIR}/Tools/upload_log.py
|
|
DESTINATION
|
|
${PROJECT_NAME}/Tools
|
|
)
|
|
|
|
# ROMFS files
|
|
install(
|
|
DIRECTORY
|
|
${PX4_BINARY_DIR}/etc
|
|
DESTINATION
|
|
${PROJECT_NAME}/build/px4_sitl_default
|
|
)
|
|
|
|
# gazebo dirs
|
|
install(
|
|
DIRECTORY
|
|
${PROJECT_SOURCE_DIR}/Tools/simulation/gz/models
|
|
${PROJECT_SOURCE_DIR}/Tools/simulation/gz/worlds
|
|
DESTINATION
|
|
${PROJECT_NAME}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
|
|
OPTIONAL
|
|
)
|
|
|
|
endif()
|