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