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px4-firmware/CMakeLists.txt

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CMake
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############################################################################
#
# Copyright (c) 2017 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.
#
############################################################################
#=============================================================================
# CMAKE CODING STANDARD FOR PX4
#
# Structure
# ---------------------------------------------------------------------------
#
# * Common functions should be included in px_base.cmake.
#
# * OS/ board specific fucntions should be include in
# px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
#
# Formatting
# ---------------------------------------------------------------------------
#
# * Use hard indents to match the px4 source code.
#
# * All function and script arguments are upper case.
#
# * All local variables are lower case.
#
# * All cmake functions are lowercase.
#
# * For else, endif, endfunction, etc, never put the name of the statement
#
# Functions/Macros
# ---------------------------------------------------------------------------
#
# * Use px4_parse_function_args to parse functions and check for required
# arguments. Unless there is only one argument in the function and it is clear.
#
# * Never use macros. They allow overwriting global variables and this
# makes variable declarations hard to locate.
#
# * If a target from add_custom_* is set in a function, explicitly pass it
# as an output argument so that the target name is clear to the user.
#
# * Avoid use of global variables in functions. Functions in a nested
# scope may use global variables, but this makes it difficult to
# reuse functions.
#
# Included CMake Files
# ---------------------------------------------------------------------------
#
# * All variables in config files must have the prefix "config_".
#
# * Never set global variables in an included cmake file,
# you may only define functions. This excludes config and Toolchain files.
# This makes it clear to the user when variables are being set or targets
# are being created.
#
# * Setting a global variable in a CMakeLists.txt file is ok, because
# each CMakeLists.txt file has scope in the current directory and all
# subdirectories, so it is not truly global.
#
# * All toolchain files should be included in the cmake
# directory and named Toolchain-"name".cmake.
#
# Misc
# ---------------------------------------------------------------------------
#
# * If referencing a string variable, don't put it in quotes.
# Don't do "${PX4_PLATFORM}" STREQUAL "posix",
# instead type ${PX4_PLATFORM} STREQUAL "posix". This will throw an
# error when ${PX4_PLATFORM} is not defined instead of silently
# evaluating to false.
#
#=============================================================================
cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
#=============================================================================
# git
#
include(px4_git)
execute_process(
COMMAND git describe --always --tags
OUTPUT_VARIABLE PX4_GIT_TAG
OUTPUT_STRIP_TRAILING_WHITESPACE
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
)
define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
BRIEF_DOCS "PX4 module libs"
FULL_DOCS "List of all PX4 module libraries"
)
define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
BRIEF_DOCS "PX4 module paths"
FULL_DOCS "List of paths to all PX4 modules"
)
#=============================================================================
# configuration
#
set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
include(px4_add_module)
set(config_module_list)
set(config_df_driver_list)
# find PX4 config
# look for in tree board config that matches CONFIG input
if(NOT PX4_CONFIG_FILE)
file(GLOB_RECURSE board_configs
RELATIVE "${PX4_SOURCE_DIR}/boards"
"boards/*.cmake"
)
set(PX4_CONFIGS ${board_configs} CACHE STRINGS "PX4 board configs" FORCE)
foreach(filename ${board_configs})
# parse input CONFIG into components to match with existing in tree configs
# the platform prefix (eg nuttx_) is historical, and removed if present
string(REPLACE ".cmake" "" filename_stripped ${filename})
string(REPLACE "/" ";" config ${filename_stripped})
list(LENGTH config config_len)
if(${config_len} EQUAL 3)
list(GET config 0 vendor)
list(GET config 1 model)
list(GET config 2 label)
set(board "${vendor}${model}")
# <VENDOR>_<MODEL>_<LABEL> (eg px4_fmu-v2_default)
# <VENDOR>_<MODEL>_default (eg px4_fmu-v2) # allow skipping label if "default"
if ((${CONFIG} MATCHES "${vendor}_${model}_${label}") OR # match full vendor, model, label
((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${vendor}_${model}")) # default label can be omitted
)
set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
break()
endif()
# <BOARD>_<LABEL> (eg px4_fmu-v2_default)
# <BOARD>_default (eg px4_fmu-v2) # allow skipping label if "default"
if ((${CONFIG} MATCHES "${board}_${label}") OR # match full board, label
((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${board}")) # default label can be omitted
)
set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
break()
endif()
# LEGACY form
# <OS>_<BOARD>_<LABEL> (eg nuttx_px4_fmu-v2_default)
string(REGEX REPLACE "^nuttx_|^posix_|^qurt_" "" config_no_os ${CONFIG}) # ignore OS prefix
if ((${config_no_os} MATCHES "${board}_${label}"))
set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
break()
endif()
# LEGACY form special case to ease board layout transition (2018-11-18)
# match board with model and label only: eg sitl_default -> px4_sitl_default
if ((${config_no_os} MATCHES "${model}_${label}"))
set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
break()
endif()
endif()
endforeach()
endif()
if(NOT PX4_CONFIG_FILE)
message(FATAL_ERROR "PX4 config file not set, try one of ${PX4_CONFIGS}")
endif()
message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")
include(px4_add_board)
include(${PX4_CONFIG_FILE})
message(STATUS "PX4 config: ${PX4_CONFIG}")
message(STATUS "PX4 platform: ${PX4_PLATFORM}")
if (ENABLE_LOCKSTEP_SCHEDULER)
add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
message(STATUS "PX4 lockstep: enabled")
else()
message(STATUS "PX4 lockstep: disabled")
endif()
# external modules
set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
endif()
set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
if (NOT CMAKE_BUILD_TYPE)
if (${PX4_PLATFORM} STREQUAL "nuttx")
set(PX4_BUILD_TYPE "MinSizeRel")
else()
set(PX4_BUILD_TYPE "RelWithDebInfo")
endif()
set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
endif()
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
#=============================================================================
message(STATUS "PX4 version: ${PX4_GIT_TAG}")
message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
#=============================================================================
# project definition
#
project(px4 CXX C ASM)
set(package-contact "px4users@googlegroups.com")
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_C_STANDARD 99)
set(CMAKE_C_STANDARD_REQUIRED ON)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# For the catkin build process, unset build of dynamically-linked binaries
# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
if (NOT CATKIN_DEVEL_PREFIX)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
else()
SET(BUILD_SHARED_LIBS OFF)
endif()
#=============================================================================
# Setup install paths
if (${PX4_PLATFORM} STREQUAL "posix")
# This makes it possible to dynamically load code which depends on symbols
# inside the px4 executable.
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
set(CMAKE_ENABLE_EXPORTS ON)
include(coverage)
include(sanitizers)
# Define GNU standard installation directories
include(GNUInstallDirs)
if (NOT CMAKE_INSTALL_PREFIX)
set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
endif()
# cmake testing only on posix
enable_testing()
include(CTest)
endif()
#=============================================================================
# ccache
#
option(CCACHE "Use ccache if available" ON)
find_program(CCACHE_PROGRAM ccache)
if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
get_filename_component(ccache_real_path ${CCACHE_PROGRAM} REALPATH)
get_filename_component(cxx_real_path ${CMAKE_CXX_COMPILER} REALPATH)
get_filename_component(cxx_abs_path ${CMAKE_CXX_COMPILER} ABSOLUTE)
if ("${ccache_real_path}" STREQUAL "${cxx_real_path}")
message(STATUS "ccache enabled via symlink (${cxx_abs_path} -> ${cxx_real_path})")
else()
message(STATUS "ccache enabled (export CCACHE_DISABLE=1 to disable)")
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
endif()
endif()
#=============================================================================
# find programs and packages
#
# see if catkin was invoked to build this
if (CATKIN_DEVEL_PREFIX)
message(STATUS "catkin ENABLED")
find_package(catkin REQUIRED)
if (catkin_FOUND)
catkin_package()
else()
message(FATAL_ERROR "catkin not found")
endif()
endif()
find_package(PythonInterp REQUIRED)
option(PYTHON_COVERAGE "Python code coverage" OFF)
if(PYTHON_COVERAGE)
message(STATUS "python coverage enabled")
set(PYTHON_EXECUTABLE coverage run -p)
else()
# run normally (broken under coveragepy)
px4_find_python_module(jinja2 REQUIRED)
endif()
#=============================================================================
# build flags
#
include(px4_add_common_flags)
px4_add_common_flags()
px4_os_add_flags()
#=============================================================================
# message, and airframe generation
#
include(px4_metadata)
add_subdirectory(msg EXCLUDE_FROM_ALL)
px4_generate_airframes_xml(BOARD ${PX4_BOARD})
#=============================================================================
# DriverFramework
#
px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
set(OS ${PX4_PLATFORM})
add_subdirectory(src/lib/DriverFramework/framework)
# List the DriverFramework drivers
if (DEFINED config_df_driver_list)
message("DF Drivers: ${config_df_driver_list}")
endif()
set(df_driver_libs)
foreach(driver ${config_df_driver_list})
add_subdirectory(src/lib/DriverFramework/drivers/${driver})
list(APPEND df_driver_libs df_${driver})
message("Adding DF driver: ${driver}")
endforeach()
#=============================================================================
# external projects
#
set(ep_base ${PX4_BINARY_DIR}/external)
set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
# add external project install folders to build
link_directories(${ep_base}/Install/lib)
include_directories(${ep_base}/Install/include)
# add the directories so cmake won't warn
execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
#=============================================================================
# external modules
#
set(external_module_paths)
if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}")
add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules)
foreach(external_module ${config_module_list_external})
add_subdirectory(${EXTERNAL_MODULES_LOCATION}/src/${external_module} external_modules/${external_module})
list(APPEND external_module_paths ${EXTERNAL_MODULES_LOCATION}/src/${external_module})
endforeach()
endif()
#=============================================================================
# subdirectories
#
add_library(parameters_interface INTERFACE)
include(px4_add_library)
add_subdirectory(src/lib EXCLUDE_FROM_ALL)
add_subdirectory(src/platforms EXCLUDE_FROM_ALL)
add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
add_subdirectory(${PX4_BOARD_DIR})
endif()
foreach(module ${config_module_list})
add_subdirectory(src/${module})
endforeach()
# must be the last module before firmware
add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
target_link_libraries(parameters_interface INTERFACE parameters)
# firmware added last to generate the builtin for included modules
add_subdirectory(platforms/${PX4_PLATFORM})
#=============================================================================
# uORB graph generation: add a custom target 'uorb_graph'
#
set(uorb_graph_config ${PX4_BOARD})
set(graph_module_list "")
foreach(module ${config_module_list})
set(graph_module_list "${graph_module_list}" "--src-path" "src/${module}")
endforeach()
add_custom_command(OUTPUT ${uorb_graph_config}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
${module_list}
--exclude-path src/examples
--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
COMMENT "Generating uORB graph"
)
add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
#=============================================================================
# Doxygen
#
option(BUILD_DOXYGEN "Build doxygen documentation" OFF)
if (BUILD_DOXYGEN)
find_package(Doxygen)
if (DOXYGEN_FOUND)
# set input and output files
set(DOXYGEN_IN ${CMAKE_SOURCE_DIR}/Documentation/Doxyfile.in)
set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
# request to configure the file
configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
# note the option ALL which allows to build the docs together with the application
add_custom_target(doxygen ALL
COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
COMMENT "Generating documentation with Doxygen"
DEPENDS uorb_msgs parameters
VERBATIM
USES_TERMINAL
)
else()
message("Doxygen needs to be installed to generate documentation")
endif()
endif()
#=============================================================================
# Metadata - helpers for generating documentation
#
add_custom_target(metadata_airframes
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
--markdown ${PX4_BINARY_DIR}/docs/airframes.md
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
--xml ${PX4_BINARY_DIR}/docs/airframes.xml
COMMENT "Generating full airframe metadata (markdown and xml)"
USES_TERMINAL
)
file(GLOB_RECURSE yaml_config_files ${PX4_SOURCE_DIR}/src/modules/*.yaml
${PX4_SOURCE_DIR}/src/drivers/*.yaml ${PX4_SOURCE_DIR}/src/lib/*.yaml)
add_custom_target(metadata_parameters
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
COMMAND ${PYTHON_EXECUTABLE}
${PX4_SOURCE_DIR}/Tools/serial/generate_config.py --all-ports --params-file ${PX4_SOURCE_DIR}/src/generated_serial_params.c --config-files ${yaml_config_files}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
--markdown ${PX4_BINARY_DIR}/docs/parameters.md
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
--xml ${PX4_BINARY_DIR}/docs/parameters.xml
COMMENT "Generating full parameter metadata (markdown and xml)"
USES_TERMINAL
)
add_custom_target(metadata_module_documentation
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_module_doc.py -v --src-path ${PX4_SOURCE_DIR}/src
--markdown ${PX4_BINARY_DIR}/docs/modules
COMMENT "Generating module documentation"
USES_TERMINAL
)
add_custom_target(all_metadata
DEPENDS
metadata_airframes
metadata_parameters
metadata_module_documentation
)
#=============================================================================
# packaging
#
# Important to having packaging at end of cmake file.
#
set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${PX4_CONFIG})
set(CPACK_PACKAGE_VERSION ${PX4_GIT_TAG})
set(CPACK_PACKAGE_CONTACT ${package-contact})
set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF) # TODO: review packaging for linux boards
set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_CONFIG}-${PX4_GIT_TAG}")
set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_GIT_TAG}")
set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
set(CPACK_PACKAGING_INSTALL_PREFIX "")
set(CPACK_SET_DESTDIR "OFF")
if ("${CMAKE_SYSTEM}" MATCHES "Linux")
set(CPACK_GENERATOR "TBZ2")
find_program(DPKG_PROGRAM dpkg)
if (EXISTS ${DPKG_PROGRAM})
list (APPEND CPACK_GENERATOR "DEB")
endif()
else()
set(CPACK_GENERATOR "ZIP")
endif()
include(CPack)
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