px4_autopilot/platforms/nuttx/cmake/init.cmake

############################################################################
#
#   Copyright (c) 2019 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.
#
############################################################################

if(NOT PX4_BOARD)
	message(FATAL_ERROR "PX4_BOARD must be set (eg px4_fmu-v2)")
endif()

if(NOT PX4_BINARY_DIR)
	message(FATAL_ERROR "PX4_BINARY_DIR must be set")
endif()

if(NOT PX4_BOARD_DIR)
	message(FATAL_ERROR "PX4_BOARD_DIR must be set")
endif()

set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config CACHE FILEPATH "PX4 NuttX config" FORCE)

set(NUTTX_SRC_DIR ${CMAKE_CURRENT_LIST_DIR}/../NuttX)
set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx CACHE FILEPATH "NuttX directory" FORCE)
set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps CACHE FILEPATH "NuttX apps directory" FORCE)

px4_add_git_submodule(TARGET git_nuttx PATH "${NUTTX_SRC_DIR}/nuttx")
px4_add_git_submodule(TARGET git_nuttx_apps PATH "${NUTTX_SRC_DIR}/apps")

if (CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32)
	# copy with rsync and create file dependencies
	set(cp_cmd "rsync")
	set(cp_opts)
	list(APPEND cp_opts
		-rp
		--inplace
	)
else()
	# copy with hard links
	# archive, recursive, force, link (hardlinks)
	set(cp_cmd "cp")
	set(cp_opts "-aRfl")
endif()

###############################################################################
# NuttX: copy to build directory
###############################################################################
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)

# copy during cmake configure
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_DIR})
execute_process(COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})

###############################################################################
# NuttX apps: copy to build directory
###############################################################################
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)

# copy during cmake configure
execute_process(COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})

###############################################################################
# nuttx-config: copy to build directory
###############################################################################

set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE)

# If the board provides a Kconfig Use it or create an empty one
if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
	execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/configs/dummy/Kconfig)
else()
	execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/configs/dummy/Kconfig)
endif()

execute_process(
	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src
	COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${PX4_BINARY_DIR}/NuttX/nuttx-config
)

# NuttX extra files
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/math.h) # copy arm math.h into NuttX source
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h)

# copy defconfig
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config)

# copy PX4 board config into nuttx
file(STRINGS ${NUTTX_DEFCONFIG} config_expanded REGEX "# Automatically generated file; DO NOT EDIT.")
if (NOT config_expanded)
	set(ENV{PATH} "${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/tools:$ENV{PATH}")
	execute_process(
		COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig
		WORKING_DIRECTORY ${NUTTX_DIR}
		OUTPUT_FILE nuttx_olddefconfig.log
		ERROR_FILE nuttx_olddefconfig.log
	)
endif()

###############################################################################
# NuttX cmake defconfig
###############################################################################

# parse nuttx config options for cmake
file(STRINGS ${NUTTX_DIR}/.config ConfigContents)
foreach(NameAndValue ${ConfigContents})
	# Strip leading spaces
	string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})

	# Find variable name
	string(REGEX MATCH "^CONFIG[^=]+" Name ${NameAndValue})

	if (Name)
		# Find the value
		string(REPLACE "${Name}=" "" Value ${NameAndValue})

		# remove extra quotes
		string(REPLACE "\"" "" Value ${Value})

		# Set the variable
		#message(STATUS "${Name} ${Value}")
		set(${Name} ${Value} CACHE INTERNAL "NUTTX DEFCONFIG: ${Name}" FORCE)
	endif()
endforeach()