forked from Archive/PX4-Autopilot
180 lines
6.9 KiB
CMake
180 lines
6.9 KiB
CMake
cmake_minimum_required(VERSION 2.8)
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include(CMakeForceCompiler)
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CMAKE_FORCE_C_COMPILER(clang Clang)
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CMAKE_FORCE_CXX_COMPILER(clang++ Clang)
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if("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang")
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add_compile_options(-Qunused-arguments )
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endif()
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if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
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add_compile_options(-Qunused-arguments)
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endif()
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project(unittests)
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enable_testing()
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include(CheckCXXCompilerFlag)
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CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
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CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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if(COMPILER_SUPPORTS_CXX11)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fno-exceptions -fno-rtti -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -D__PX4_UNIT_TESTS -g -Wall -Werror")
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elseif(COMPILER_SUPPORTS_CXX0X)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -fno-exceptions -fno-rtti -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -D__PX4_UNIT_TESTS -g -Wall -Werror")
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else()
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message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
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endif()
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=gnu99 -g")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O0 -g3 -fsanitize=address -fno-omit-frame-pointer")
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set(GTEST_DIR ${CMAKE_SOURCE_DIR}/googletest)
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add_subdirectory(${GTEST_DIR})
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include_directories(${GTEST_DIR}/include)
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set(PX4_SRC ${CMAKE_SOURCE_DIR}/../src)
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set(PX4_SITL_BUILD ${PX4_SRC}/../build_posix_sitl_test)
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include_directories(${CMAKE_SOURCE_DIR})
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include_directories(${PX4_SITL_BUILD}/src)
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include_directories(${PX4_SITL_BUILD}/src/modules)
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include_directories(${PX4_SITL_BUILD}/src/modules/param)
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include_directories(${PX4_SITL_BUILD}/src/modules/uORB)
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include_directories(${PX4_SRC})
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include_directories(${PX4_SRC}/drivers)
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include_directories(${PX4_SRC}/drivers/device)
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include_directories(${PX4_SRC}/lib)
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include_directories(${PX4_SRC}/lib/DriverFramework/framework/include)
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include_directories(${PX4_SRC}/modules)
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include_directories(${PX4_SRC}/modules/uORB)
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include_directories(${PX4_SRC}/platforms)
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include_directories(${PX4_SRC}/platforms/posix/include)
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include_directories(${PX4_SRC}/platforms/posix/px4_layer)
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add_definitions(-D__EXPORT=)
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add_definitions(-D__PX4_POSIX)
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add_definitions(-D__PX4_TESTS)
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add_definitions(-D_UNIT_TEST=)
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add_definitions(-DERROR=-1)
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add_definitions(-Dmain_t=int)
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add_definitions(-Dnoreturn_function=)
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add_definitions(-DOK=0)
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# check
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add_custom_target(check
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COMMAND ${CMAKE_CTEST_COMMAND} -j2 --output-on-failure
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WORKING_DIR ${CMAKE_BINARY_DIR}
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USES_TERMINAL)
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function(add_gtest)
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foreach(test_name ${ARGN})
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if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
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target_link_libraries(${test_name} gtest_main pthread px4_platform)
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add_definitions(-D__PX4_DARWIN)
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else()
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target_link_libraries(${test_name} gtest_main pthread rt px4_platform)
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add_definitions(-D__PX4_LINUX)
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endif()
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add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
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add_dependencies(check ${test_name})
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endforeach()
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endfunction()
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add_library(px4_platform
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${PX4_SITL_BUILD}/src/modules/param/px4_parameters.c
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${PX4_SRC}/drivers/device/device_posix.cpp
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${PX4_SRC}/drivers/device/i2c_posix.cpp
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${PX4_SRC}/drivers/device/ringbuffer.cpp
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${PX4_SRC}/drivers/device/sim.cpp
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${PX4_SRC}/drivers/device/vdev.cpp
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${PX4_SRC}/drivers/device/vdev_posix.cpp
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${PX4_SRC}/drivers/device/vfile.cpp
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${PX4_SRC}/platforms/posix/px4_layer/drv_hrt.c
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${PX4_SRC}/platforms/posix/px4_layer/lib_crc32.c
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${PX4_SRC}/platforms/posix/px4_layer/px4_log.c
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${PX4_SRC}/platforms/posix/px4_layer/px4_log.c
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${PX4_SRC}/platforms/posix/px4_layer/px4_posix_impl.cpp
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${PX4_SRC}/platforms/posix/px4_layer/px4_posix_tasks.cpp
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${PX4_SRC}/platforms/posix/px4_layer/px4_sem.cpp
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${PX4_SRC}/platforms/posix/px4_layer/shmem_posix.c
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${PX4_SRC}/platforms/posix/work_queue/dq_addlast.c
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${PX4_SRC}/platforms/posix/work_queue/dq_rem.c
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${PX4_SRC}/platforms/posix/work_queue/dq_remfirst.c
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${PX4_SRC}/platforms/posix/work_queue/hrt_queue.c
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${PX4_SRC}/platforms/posix/work_queue/hrt_thread.c
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${PX4_SRC}/platforms/posix/work_queue/hrt_work_cancel.c
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${PX4_SRC}/platforms/posix/work_queue/queue.c
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${PX4_SRC}/platforms/posix/work_queue/sq_addafter.c
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${PX4_SRC}/platforms/posix/work_queue/sq_addlast.c
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${PX4_SRC}/platforms/posix/work_queue/sq_remfirst.c
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${PX4_SRC}/platforms/posix/work_queue/work_cancel.c
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${PX4_SRC}/platforms/posix/work_queue/work_lock.c
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${PX4_SRC}/platforms/posix/work_queue/work_queue.c
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${PX4_SRC}/platforms/posix/work_queue/work_thread.c
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)
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target_include_directories(px4_platform PUBLIC ${PX4_SRC}/platforms)
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#######################################################################
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# TESTS
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#######################################################################
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# add_executable(example_test example_test.cpp)
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# add_gtest(example_test)
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# autodeclination_test
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add_executable(autodeclination_test autodeclination_test.cpp ${PX4_SRC}/lib/geo_lookup/geo_mag_declination.c)
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add_gtest(autodeclination_test)
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# mixer_test
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add_custom_command(OUTPUT ${PX4_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h
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COMMAND ${PX4_SRC}/modules/systemlib/mixer/multi_tables.py > ${PX4_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h)
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add_executable(mixer_test mixer_test.cpp hrt.cpp
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${PX4_SRC}/modules/systemlib/mixer/mixer.cpp
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${PX4_SRC}/modules/systemlib/mixer/mixer_group.cpp
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${PX4_SRC}/modules/systemlib/mixer/mixer_load.c
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${PX4_SRC}/modules/systemlib/mixer/mixer_multirotor.cpp
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${PX4_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h
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${PX4_SRC}/modules/systemlib/mixer/mixer_simple.cpp
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${PX4_SRC}/modules/systemlib/pwm_limit/pwm_limit.c
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${PX4_SRC}/systemcmds/tests/test_mixer.cpp)
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add_gtest(mixer_test)
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# conversion_test
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add_executable(conversion_test conversion_test.cpp ${PX4_SRC}/systemcmds/tests/test_conv.cpp)
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add_gtest(conversion_test)
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# sbus2_test
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add_executable(sbus2_test sbus2_test.cpp hrt.cpp
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${PX4_SRC}/lib/rc/sbus.c)
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add_gtest(sbus2_test)
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# DSM test
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add_executable(dsm_test dsm_test.cpp hrt.cpp
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${PX4_SRC}/lib/rc/dsm.c)
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add_gtest(dsm_test)
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# st24_test
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add_executable(rc_input_test st24_test.cpp hrt.cpp sumd_test.cpp
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${PX4_SRC}/lib/rc/st24.c
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${PX4_SRC}/lib/rc/sumd.c)
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add_gtest(rc_input_test)
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# sf0x_test
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add_executable(sf0x_test sf0x_test.cpp
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${PX4_SRC}/drivers/sf0x/sf0x_parser.cpp)
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add_gtest(sf0x_test)
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# param_test
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add_executable(param_test param_test.cpp hrt.cpp uorb_stub.cpp
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${PX4_SRC}/modules/systemlib/bson/tinybson.c
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${PX4_SRC}/modules/systemlib/param/param.c)
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add_gtest(param_test)
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# param_shmem_test
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#add_executable(param_shmem_test param_test.cpp hrt.cpp uorb_stub.cpp
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# ${PX4_SRC}/modules/systemlib/bson/tinybson.c
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# ${PX4_SRC}/modules/systemlib/param/param_shmem.c)
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#add_gtest(param_shmem_test)
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