forked from Archive/PX4-Autopilot
404 lines
14 KiB
CMake
404 lines
14 KiB
CMake
############################################################################
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#
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# Copyright (c) 2018 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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set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
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set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
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file(RELATIVE_PATH romfs_path_relative ${PX4_SOURCE_DIR} ${romfs_src_dir})
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message(STATUS "ROMFS: ${romfs_path_relative}")
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set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
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set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
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#=============================================================================
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#
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# px4_add_romfs_files
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#
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# This function builds a list of files to be included in the ROMFS.
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#
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# Usage:
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# px4_add_romfs_files(<list of files in current directory to be added to the project>)
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#
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# Output:
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# list config_romfs_files_list populated with a list of ROMFS src files including their full file path.
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#
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# Example:
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# px4_add_module(
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# <ROMFS_file_1>
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# <ROMFS_file_2>
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# <ROMFS_file_3>
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# )
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#
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function(px4_add_romfs_files)
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set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_CMAKE_FILES ${CMAKE_CURRENT_LIST_FILE})
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foreach(arg IN LISTS ARGN)
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if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/${arg})
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message(FATAL_ERROR "${CMAKE_CURRENT_LIST_DIR}/${arg} doesn't exist")
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endif()
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set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_FILES ${CMAKE_CURRENT_LIST_DIR}/${arg})
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endforeach()
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endfunction()
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# get list of all ROMFS files
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add_subdirectory(${romfs_src_dir})
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# directory setup
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# copy all romfs files, process airframes
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get_property(romfs_cmake_files GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
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get_property(romfs_copy_files GLOBAL PROPERTY PX4_ROMFS_FILES)
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get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
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file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
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if (px4_constrained_flash_build)
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set(added_arguments --constrained-flash)
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endif()
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if(PX4_ETHERNET)
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set(added_arguments ${added_arguments} --ethernet)
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endif()
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# create list of relative romfs file names
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set(romfs_copy_files_relative)
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foreach(romfs_file IN LISTS romfs_copy_files)
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string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
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list(APPEND romfs_copy_files_relative ${romfs_file_rel})
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endforeach()
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# copy the ROMFS files by creating a tar and extracting it to the build
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# directory (which preserves the directory structure)
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file(MAKE_DIRECTORY ${romfs_gen_root_dir})
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set(romfs_tar_file ${PX4_BINARY_DIR}/romfs_files.tar)
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add_custom_command(
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OUTPUT ${romfs_tar_file}
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COMMAND ${CMAKE_COMMAND} -E tar cf ${romfs_tar_file} ${romfs_copy_files_relative}
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WORKING_DIRECTORY ${romfs_src_dir}
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DEPENDS
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${romfs_copy_files}
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${jinja_templates}
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${module_config_files}
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${romfs_cmake_files}
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${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
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${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py
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${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py
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${PX4_SOURCE_DIR}/Tools/px4airframes/srcparser.py
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${PX4_SOURCE_DIR}/Tools/px4airframes/srcscanner.py
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${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
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${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
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)
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set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
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add_custom_command(
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OUTPUT ${romfs_extract_stamp}
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COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
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COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
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COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
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WORKING_DIRECTORY ${romfs_gen_root_dir}
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DEPENDS ${romfs_tar_file}
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)
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add_custom_command(
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OUTPUT
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${romfs_gen_root_dir}/init.d/rc.serial
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${romfs_gen_root_dir}/init.d/rc.autostart
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${romfs_gen_root_dir}/init.d/rc.autostart.post
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romfs_copy.stamp
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
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--airframes-path ${romfs_gen_root_dir}/init.d
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--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
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--board ${PX4_BOARD}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
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--rc-dir ${romfs_gen_root_dir}/init.d
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--serial-ports ${board_serial_ports} ${added_arguments}
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--config-files ${module_config_files} #--verbose
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COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
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DEPENDS
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${romfs_extract_stamp}
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COMMENT "ROMFS: copying, generating airframes"
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)
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# copy extras into ROMFS
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set(extras_dependencies)
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# copy px4io binary if configured
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if(config_io_board)
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list(APPEND extras_dependencies
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copy_px4io_bin
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${fw_io_bin}
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)
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file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
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message(STATUS "ROMFS: Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
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endif()
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# board bootloader (built or included)
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if(TARGET copy_bootloader_bin)
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if(board_bootloader_firmware)
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file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
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message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
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else()
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file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
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message(STATUS "ROMFS: Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
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endif()
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list(APPEND extras_dependencies
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copy_bootloader_bin
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${bootloader_bin}
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)
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endif()
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# optional board architecture defaults
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set(board_arch_rc_file "rc.board_arch_defaults")
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if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
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file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file})
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message(STATUS "ROMFS: Adding ${rc_file_relative} -> /etc/init.d/${board_arch_rc_file}")
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add_custom_command(
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OUTPUT
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${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
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${board_arch_rc_file}.stamp
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file} ${romfs_gen_root_dir}/init.d/${board_arch_rc_file}
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COMMAND ${CMAKE_COMMAND} -E touch ${board_arch_rc_file}.stamp
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DEPENDS
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${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}
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romfs_copy.stamp
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COMMENT "ROMFS: copying ${board_arch_rc_file}"
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)
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list(APPEND extras_dependencies
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${board_arch_rc_file}.stamp
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)
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endif()
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set(OPTIONAL_BOARD_RC)
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list(APPEND OPTIONAL_BOARD_RC
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rc.board_defaults
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rc.board_sensors
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rc.board_extras
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rc.board_mavlink
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)
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foreach(board_rc_file ${OPTIONAL_BOARD_RC})
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if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
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file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${board_rc_file})
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message(STATUS "ROMFS: Adding ${rc_file_relative} -> /etc/init.d/${board_rc_file}")
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add_custom_command(
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OUTPUT
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${romfs_gen_root_dir}/init.d/${board_rc_file}
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${board_rc_file}.stamp
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COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${board_rc_file} ${romfs_gen_root_dir}/init.d/${board_rc_file}
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COMMAND ${CMAKE_COMMAND} -E touch ${board_rc_file}.stamp
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DEPENDS
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${PX4_BOARD_DIR}/init/${board_rc_file}
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romfs_copy.stamp
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COMMENT "ROMFS: copying ${board_rc_file}"
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)
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list(APPEND extras_dependencies
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${board_rc_file}.stamp
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)
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endif()
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endforeach()
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if(config_uavcan_peripheral_firmware)
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include(ExternalProject)
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foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
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# include the px4io binary in ROMFS
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message(STATUS "ROMFS: Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
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ExternalProject_Add(build_${uavcan_peripheral_config}
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SOURCE_DIR ${CMAKE_SOURCE_DIR}
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DOWNLOAD_COMMAND ""
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UPDATE_COMMAND ""
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CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
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INSTALL_COMMAND ""
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USES_TERMINAL_BUILD true
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DEPENDS git_nuttx git_nuttx_apps
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BUILD_ALWAYS 1
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)
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ExternalProject_Get_Property(build_${uavcan_peripheral_config} BINARY_DIR)
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add_custom_command(
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OUTPUT
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${romfs_gen_root_dir}/uavcan/fw/_${uavcan_board_id}.bin
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${uavcan_peripheral_config}.stamp
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COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/uavcan/fw/
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COMMAND ${CMAKE_COMMAND} -E copy ${BINARY_DIR}/deploy/*.bin ${romfs_gen_root_dir}/uavcan/fw/
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COMMAND ls -lsa ${romfs_gen_root_dir}/uavcan/fw/
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COMMAND ${CMAKE_COMMAND} -E touch ${uavcan_peripheral_config}.stamp
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DEPENDS
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build_${uavcan_peripheral_config}
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COMMENT "ROMFS: copying ${uavcan_peripheral_config}"
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)
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list(APPEND extras_dependencies
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${uavcan_peripheral_config}.stamp
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)
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endforeach()
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endif()
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list(APPEND extras_dependencies
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${config_romfs_extra_dependencies}
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)
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if (config_romfs_extra_files)
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set(extras_copy_cmd COMMAND ${CMAKE_COMMAND} -E copy_if_different ${config_romfs_extra_files} ${romfs_gen_root_dir}/extras/)
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else()
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set(extras_copy_cmd "")
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endif()
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add_custom_command(OUTPUT romfs_extras.stamp
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COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/
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COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras/
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COMMAND ${CMAKE_COMMAND} -E copy_directory ${PX4_BINARY_DIR}/romfs_extras/ ${romfs_gen_root_dir}/extras/
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${extras_copy_cmd}
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COMMAND ${CMAKE_COMMAND} -E touch romfs_extras.stamp
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DEPENDS
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romfs_copy.stamp
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${config_romfs_extra_files}
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${extras_dependencies}
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COMMENT "ROMFS: copying extras"
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)
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add_custom_target(romfs_gen_files_target
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DEPENDS
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${romfs_extract_stamp}
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${romfs_gen_root_dir}/init.d/rc.serial
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romfs_extras.stamp
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)
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add_custom_command(
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OUTPUT romfs_pruned.stamp
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
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COMMAND ${CMAKE_COMMAND} -E touch romfs_pruned.stamp
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DEPENDS
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romfs_copy.stamp
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romfs_extras.stamp
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${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
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COMMENT "ROMFS: pruning"
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)
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if("${CONFIG_FS_CROMFS}" STREQUAL "y")
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add_custom_command(
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OUTPUT ${CMAKE_BINARY_DIR}/gencromfs
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COMMAND make --no-print-directory --silent -f Makefile.host gencromfs
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COMMAND ${CMAKE_COMMAND} -E copy_if_different gencromfs ${CMAKE_BINARY_DIR}/gencromfs
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DEPENDS ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/tools/gencromfs.c
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WORKING_DIRECTORY ${NUTTX_DIR}/tools
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)
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# create nsh_romfsimg.c
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add_custom_command(OUTPUT nsh_romfsimg.c
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COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
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COMMAND ${CMAKE_BINARY_DIR}/gencromfs ${romfs_gen_root_dir} nsh_romfsimg.c
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DEPENDS
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${CMAKE_BINARY_DIR}/gencromfs
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romfs_pruned.stamp
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COMMENT "ROMFS: generating image"
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)
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add_library(romfs STATIC nsh_romfsimg.c)
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add_dependencies(romfs prebuild_targets)
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set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
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elseif("${CONFIG_FS_ROMFS}" STREQUAL "y")
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# create romfs.img
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find_program(GENROMFS genromfs)
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if(NOT GENROMFS)
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message(FATAL_ERROR "genromfs not found")
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endif()
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add_custom_command(
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OUTPUT
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romfs.img
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romfs.txt
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COMMAND ${CMAKE_COMMAND} -E remove -f romfs.img romfs.txt
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COMMAND ${GENROMFS} -f romfs.img -d ${romfs_gen_root_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
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DEPENDS romfs_pruned.stamp
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COMMENT "ROMFS: generating image"
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)
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# create nsh_romfsimg.c
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find_program(XXD xxd)
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if(NOT XXD)
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message(FATAL_ERROR "xxd not found")
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endif()
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find_program(SED sed)
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if(NOT SED)
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message(FATAL_ERROR "sed not found")
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endif()
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add_custom_command(OUTPUT nsh_romfsimg.c
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COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
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COMMAND ${XXD} -i romfs.img nsh_romfsimg.c
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COMMAND ${SED} 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && ${CMAKE_COMMAND} -E rename nsh_romfsimg.c.tmp nsh_romfsimg.c
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DEPENDS romfs.img
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)
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add_library(romfs STATIC nsh_romfsimg.c)
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add_dependencies(romfs prebuild_targets)
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set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
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endif()
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# shellcheck
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find_program(SHELLCHECK_PATH shellcheck)
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if(SHELLCHECK_PATH)
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# TODO: fix SC2086, SC2166
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add_custom_target(shellcheck
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COMMAND ${SHELLCHECK_PATH} --shell=sh
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--exclude=SC1090 # SC1090: use of source (.) - Can't follow non-constant source. Use a directive to specify location.
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--exclude=SC1091 # SC1091: use of source (.) - Not following: xxxx openBinaryFile: does not exist (No such file or directory)
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--exclude=SC2121 # SC2121: To assign a variable, use just 'var=value'
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--exclude=SC2086 # SC2086: Double quote to prevent globbing and word splitting.
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--exclude=SC2166 # SC2166: Prefer [ p ] || [ q ] as [ p -o q ] is not well defined.
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--exclude=SC2154 # SC2154: <var> is referenced but not assigned (NuttX uses different asssignment)
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--exclude=SC2164 # SC2164: Use 'cd ... || exit' or 'cd ... || return' in case cd fails.
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--exclude=SC2169 # SC2169: In dash, 'source' in place of '.' is not supported. (we alias it)
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--exclude=SC2039 # SC2039: In POSIX sh, 'source' in place of '.' is undefined. (we alias it)
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--exclude=SC2181 # SC2181: Check exit code directly with e.g. 'if mycmd;', not indirectly with $?.
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`find ${romfs_gen_root_dir}/init.d -type f`
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DEPENDS ${romfs_gen_root_dir}/init.d/rc.autostart
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WORKING_DIRECTORY ${romfs_gen_root_dir}
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USES_TERMINAL
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)
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endif()
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