Daniel Agar
6 years ago
committed by
David Sidrane
9 changed files with 557 additions and 458 deletions
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|
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############################################################################ |
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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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include(px4_base) |
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#============================================================================= |
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# |
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# px4_add_common_flags |
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# |
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# Set the default build flags. |
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# |
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# Usage: |
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# px4_add_common_flags( |
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# BOARD <in-string> |
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# C_FLAGS <inout-variable> |
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# CXX_FLAGS <inout-variable> |
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# OPTIMIZATION_FLAGS <inout-variable> |
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# EXE_LINKER_FLAGS <inout-variable> |
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# INCLUDE_DIRS <inout-variable> |
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# LINK_DIRS <inout-variable> |
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# DEFINITIONS <inout-variable>) |
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# |
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# Input: |
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# BOARD : board |
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# |
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# Input/Output: (appends to existing variable) |
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# C_FLAGS : c compile flags variable |
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# CXX_FLAGS : c++ compile flags variable |
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# OPTIMIZATION_FLAGS : optimization compile flags variable |
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# EXE_LINKER_FLAGS : executable linker flags variable |
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# INCLUDE_DIRS : include directories |
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# LINK_DIRS : link directories |
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# DEFINITIONS : definitions |
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# |
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# Example: |
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# px4_add_common_flags( |
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# BOARD px4_fmu-v2 |
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# C_FLAGS CMAKE_C_FLAGS |
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# CXX_FLAGS CMAKE_CXX_FLAGS |
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# OPTIMIZATION_FLAGS optimization_flags |
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# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS |
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# INCLUDES <list>) |
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# |
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function(px4_add_common_flags) |
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set(inout_vars |
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C_FLAGS CXX_FLAGS OPTIMIZATION_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS) |
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px4_parse_function_args( |
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NAME px4_add_common_flags |
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ONE_VALUE ${inout_vars} BOARD |
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REQUIRED ${inout_vars} |
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ARGN ${ARGN}) |
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set(warnings |
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-Wall |
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-Wextra |
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-Werror |
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|
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-Warray-bounds |
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-Wdisabled-optimization |
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-Wdouble-promotion |
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-Wfatal-errors |
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-Wfloat-equal |
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-Wformat-security |
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-Winit-self |
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-Wlogical-op |
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-Wmissing-declarations |
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-Wpointer-arith |
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-Wshadow |
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-Wuninitialized |
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-Wunknown-pragmas |
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-Wunused-variable |
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|
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-Wno-implicit-fallthrough # set appropriate level and update |
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-Wno-missing-field-initializers |
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-Wno-missing-include-dirs # TODO: fix and enable |
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-Wno-unused-parameter |
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) |
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|
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if (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*") |
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# QuRT 6.4.X compiler identifies as Clang but does not support this option |
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if (NOT ${PX4_PLATFORM} STREQUAL "qurt") |
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list(APPEND warnings |
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-Qunused-arguments |
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-Wno-unused-const-variable |
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-Wno-varargs |
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-Wno-address-of-packed-member |
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-Wno-unknown-warning-option |
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-Wunused-but-set-variable |
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) |
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endif() |
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else() |
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list(APPEND warnings |
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-Wunused-but-set-variable |
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-Wformat=1 |
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) |
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endif() |
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|
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set(_optimization_flags |
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-fno-strict-aliasing |
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-fomit-frame-pointer |
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|
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-fno-math-errno |
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-funsafe-math-optimizations |
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|
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-ffunction-sections |
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-fdata-sections |
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) |
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|
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set(c_warnings |
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-Wbad-function-cast |
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-Wstrict-prototypes |
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-Wmissing-prototypes |
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-Wnested-externs |
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) |
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|
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set(c_compile_flags |
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-g |
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-std=gnu99 |
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-fno-common |
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) |
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|
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set(cxx_warnings |
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-Wno-overloaded-virtual # TODO: fix and remove |
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-Wreorder |
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) |
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|
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set(cxx_compile_flags |
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-g |
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-fno-exceptions |
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-fno-rtti |
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-std=gnu++11 |
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-fno-threadsafe-statics |
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-DCONFIG_WCHAR_BUILTIN |
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-D__CUSTOM_FILE_IO__ |
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) |
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|
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# regular Clang or AppleClang |
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if (CMAKE_CXX_COMPILER_ID MATCHES "Clang") |
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# force color for clang (needed for clang + ccache) |
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list(APPEND _optimization_flags |
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-fcolor-diagnostics |
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) |
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else() |
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list(APPEND _optimization_flags |
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-fno-strength-reduce |
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-fno-builtin-printf |
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) |
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|
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# -fcheck-new is a no-op for Clang in general |
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# and has no effect, but can generate a compile |
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# error for some OS |
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list(APPEND cxx_compile_flags |
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-fcheck-new |
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) |
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endif() |
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|
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if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU") |
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if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 4.9) |
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# force color for gcc > 4.9 |
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list(APPEND _optimization_flags |
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-fdiagnostics-color=always |
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) |
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endif() |
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|
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list(APPEND cxx_warnings |
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-Wno-format-truncation # TODO: fix |
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) |
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endif() |
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|
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set(visibility_flags |
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-fvisibility=hidden |
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-include visibility.h |
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) |
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set(added_c_flags |
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${c_compile_flags} |
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${warnings} |
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${c_warnings} |
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${visibility_flags} |
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) |
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|
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set(added_cxx_flags |
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${cxx_compile_flags} |
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${warnings} |
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${cxx_warnings} |
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${visibility_flags} |
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) |
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|
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set(added_optimization_flags |
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${_optimization_flags} |
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) |
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include_directories( |
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${PX4_BINARY_DIR} |
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${PX4_BINARY_DIR}/src |
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${PX4_BINARY_DIR}/src/lib |
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${PX4_BINARY_DIR}/src/modules |
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${PX4_SOURCE_DIR}/src |
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${PX4_SOURCE_DIR}/src/include |
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${PX4_SOURCE_DIR}/src/lib |
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${PX4_SOURCE_DIR}/src/lib/DriverFramework/framework/include |
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${PX4_SOURCE_DIR}/src/lib/matrix |
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${PX4_SOURCE_DIR}/src/modules |
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${PX4_SOURCE_DIR}/src/platforms |
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) |
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string(TOUPPER ${PX4_BOARD} board_upper) |
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string(REPLACE "-" "_" board_config ${board_upper}) |
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|
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add_definitions( |
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-DCONFIG_ARCH_BOARD_${board_config} |
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-D__STDC_FORMAT_MACROS |
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) |
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|
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# output |
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foreach(var ${inout_vars}) |
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string(TOLOWER ${var} lower_var) |
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set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE) |
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#message(STATUS "set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)") |
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endforeach() |
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|
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endfunction() |
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@ -0,0 +1,61 @@
@@ -0,0 +1,61 @@
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############################################################################ |
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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 |
||||
# 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 |
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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 |
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
# 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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|
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include(px4_base) |
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#============================================================================= |
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# |
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# px4_add_library |
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# |
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# Like add_library but with PX4 platform dependencies |
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# |
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function(px4_add_library target) |
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add_library(${target} ${ARGN}) |
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target_compile_definitions(${target} PRIVATE MODULE_NAME="${target}") |
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# all PX4 libraries have access to parameters and uORB |
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add_dependencies(${target} uorb_headers) |
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target_link_libraries(${target} PRIVATE prebuild_targets parameters_interface uorb_msgs) |
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|
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# TODO: move to platform layer |
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if ("${PX4_PLATFORM}" MATCHES "nuttx") |
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target_link_libraries(${target} PRIVATE m nuttx_c) |
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endif() |
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|
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# Pass variable to the parent px4_add_module. |
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set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE) |
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|
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set_property(GLOBAL APPEND PROPERTY PX4_LIBRARIES ${target}) |
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set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR}) |
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endfunction() |
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@ -0,0 +1,233 @@
@@ -0,0 +1,233 @@
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############################################################################ |
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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 |
||||
# 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. |
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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, |
||||
# 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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|
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include(px4_base) |
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|
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#============================================================================= |
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# |
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# px4_add_module |
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# |
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# This function builds a static library from a module description. |
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# |
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# Usage: |
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# px4_add_module(MODULE <string> |
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# MAIN <string> |
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# [ STACK <string> ] !!!!!DEPRECATED, USE STACK_MAIN INSTEAD!!!!!!!!! |
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# [ STACK_MAIN <string> ] |
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# [ STACK_MAX <string> ] |
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# [ COMPILE_FLAGS <list> ] |
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# [ INCLUDES <list> ] |
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# [ DEPENDS <string> ] |
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# [ SRCS <list> ] |
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# [ MODULE_CONFIG <list> ] |
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# [ EXTERNAL ] |
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# [ DYNAMIC ] |
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# ) |
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# |
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# Input: |
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# MODULE : unique name of module |
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# MAIN : entry point |
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# STACK : deprecated use stack main instead |
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# STACK_MAIN : size of stack for main function |
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# STACK_MAX : maximum stack size of any frame |
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# COMPILE_FLAGS : compile flags |
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# LINK_FLAGS : link flags |
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# SRCS : source files |
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# MODULE_CONFIG : yaml config file(s) |
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# INCLUDES : include directories |
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# DEPENDS : targets which this module depends on |
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# EXTERNAL : flag to indicate that this module is out-of-tree |
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# DYNAMIC : don't compile into the px4 binary, but build a separate dynamically loadable module (posix) |
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# UNITY_BUILD : merge all source files and build this module as a single compilation unit |
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# |
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# Output: |
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# Static library with name matching MODULE. |
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# (Or a shared library when DYNAMIC is specified.) |
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# |
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# Example: |
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# px4_add_module(MODULE test |
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# SRCS |
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# file.cpp |
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# STACK_MAIN 1024 |
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# DEPENDS |
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# git_nuttx |
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# ) |
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# |
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function(px4_add_module) |
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|
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px4_parse_function_args( |
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NAME px4_add_module |
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ONE_VALUE MODULE MAIN STACK STACK_MAIN STACK_MAX PRIORITY |
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MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS MODULE_CONFIG |
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OPTIONS EXTERNAL DYNAMIC UNITY_BUILD |
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REQUIRED MODULE MAIN |
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ARGN ${ARGN}) |
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|
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if(UNITY_BUILD AND (${PX4_PLATFORM} STREQUAL "nuttx")) |
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# build standalone test library to catch compilation errors and provide sane output |
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add_library(${MODULE}_original STATIC EXCLUDE_FROM_ALL ${SRCS}) |
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if(DEPENDS) |
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add_dependencies(${MODULE}_original ${DEPENDS}) |
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endif() |
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|
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if(INCLUDES) |
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target_include_directories(${MODULE}_original PRIVATE ${INCLUDES}) |
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endif() |
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target_compile_definitions(${MODULE}_original PRIVATE PX4_MAIN=${MAIN}_app_main) |
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target_compile_definitions(${MODULE}_original PRIVATE MODULE_NAME="${MAIN}_original") |
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|
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# unity build |
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add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp |
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COMMAND cat ${SRCS} > ${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp |
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DEPENDS ${MODULE}_original ${DEPENDS} ${SRCS} |
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COMMENT "${MODULE} merging source" |
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} |
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) |
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set_source_files_properties(${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp PROPERTIES GENERATED true) |
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|
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add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp) |
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target_include_directories(${MODULE} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}) |
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|
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if(DEPENDS) |
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# using target_link_libraries for dependencies provides linking |
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# as well as interface include and libraries |
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foreach(dep ${DEPENDS}) |
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get_target_property(dep_type ${dep} TYPE) |
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if (${dep_type} STREQUAL "STATIC_LIBRARY") |
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target_link_libraries(${MODULE}_original PRIVATE ${dep}) |
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else() |
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add_dependencies(${MODULE}_original ${dep}) |
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endif() |
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endforeach() |
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endif() |
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|
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elseif(DYNAMIC AND MAIN AND (${OS} STREQUAL "posix")) |
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add_library(${MODULE} SHARED ${SRCS}) |
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target_compile_definitions(${MODULE} PRIVATE ${MAIN}_main=px4_module_main) |
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set_target_properties(${MODULE} PROPERTIES |
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PREFIX "" |
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SUFFIX ".px4mod" |
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) |
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target_link_libraries(${MODULE} PRIVATE px4) |
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if(APPLE) |
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# Postpone resolving symbols until loading time, which is the default on most systems, but not Mac. |
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set_target_properties(${MODULE} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") |
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endif() |
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|
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else() |
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add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS}) |
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endif() |
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|
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# all modules can potentially use parameters and uORB |
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add_dependencies(${MODULE} uorb_headers) |
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|
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if(NOT DYNAMIC) |
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target_link_libraries(${MODULE} PRIVATE prebuild_targets parameters_interface platforms__common px4_layer systemlib) |
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set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE}) |
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set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR}) |
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endif() |
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|
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# Pass variable to the parent px4_add_module. |
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set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE) |
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|
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# set defaults if not set |
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set(MAIN_DEFAULT MAIN-NOTFOUND) |
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set(STACK_MAIN_DEFAULT 1024) |
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set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT) |
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|
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foreach(property MAIN STACK_MAIN PRIORITY) |
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if(NOT ${property}) |
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set(${property} ${${property}_DEFAULT}) |
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endif() |
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set_target_properties(${MODULE} PROPERTIES ${property} ${${property}}) |
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endforeach() |
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|
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# default stack max to stack main |
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if(NOT STACK_MAX) |
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set(STACK_MAX ${STACK_MAIN}) |
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endif() |
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set_target_properties(${MODULE} PROPERTIES STACK_MAX ${STACK_MAX}) |
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|
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if(${PX4_PLATFORM} STREQUAL "qurt") |
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set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE) |
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elseif(${PX4_PLATFORM} STREQUAL "nuttx") |
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target_compile_options(${MODULE} PRIVATE -Wframe-larger-than=${STACK_MAX}) |
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endif() |
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|
||||
if(MAIN) |
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target_compile_definitions(${MODULE} PRIVATE PX4_MAIN=${MAIN}_app_main) |
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target_compile_definitions(${MODULE} PRIVATE MODULE_NAME="${MAIN}") |
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else() |
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target_compile_definitions(${MODULE} PRIVATE MODULE_NAME="${MODULE}") |
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endif() |
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|
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if(COMPILE_FLAGS) |
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target_compile_options(${MODULE} PRIVATE ${COMPILE_FLAGS}) |
||||
endif() |
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|
||||
if(INCLUDES) |
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target_include_directories(${MODULE} PRIVATE ${INCLUDES}) |
||||
endif() |
||||
|
||||
if(DEPENDS) |
||||
# using target_link_libraries for dependencies provides linking |
||||
# as well as interface include and libraries |
||||
foreach(dep ${DEPENDS}) |
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get_target_property(dep_type ${dep} TYPE) |
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if (${dep_type} STREQUAL "STATIC_LIBRARY") |
||||
target_link_libraries(${MODULE} PRIVATE ${dep}) |
||||
else() |
||||
add_dependencies(${MODULE} ${dep}) |
||||
endif() |
||||
endforeach() |
||||
endif() |
||||
|
||||
# join list variables to get ready to send to compiler |
||||
foreach(prop LINK_FLAGS) |
||||
if(${prop}) |
||||
px4_join(OUT ${prop} LIST ${${prop}} GLUE " ") |
||||
endif() |
||||
endforeach() |
||||
|
||||
foreach (prop LINK_FLAGS STACK_MAIN MAIN PRIORITY) |
||||
if (${prop}) |
||||
set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}}) |
||||
endif() |
||||
endforeach() |
||||
|
||||
if(MODULE_CONFIG) |
||||
foreach(module_config ${MODULE_CONFIG}) |
||||
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/${module_config}) |
||||
endforeach() |
||||
endif() |
||||
endfunction() |
||||
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Reference in new issue