NuttX cmake improve dependencies between configure and runtime

- attempting to make the build slightly more robust to incomplete configures or other bad states.

CMakeLists.txt

@@ -146,12 +146,14 @@ include(${PX4_CONFIG_FILE})
 message(STATUS "PX4 config: ${PX4_CONFIG}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")
 
+if(${PX4_PLATFORM} STREQUAL "posix")
 	if(ENABLE_LOCKSTEP_SCHEDULER)
 		add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
 		message(STATUS "PX4 lockstep: enabled")
 	else()
 		message(STATUS "PX4 lockstep: disabled")
 	endif()
+endif()
 
 # external modules
 set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
@@ -328,11 +330,13 @@ set(ep_base ${PX4_BINARY_DIR}/external)
 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
 
 # add external project install folders to build
+# add the directories so cmake won't warn
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base})
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install)
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/lib)
 link_directories(${ep_base}/Install/lib)
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/include)
 include_directories(${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

platforms/nuttx/NuttX/CMakeLists.txt

@@ -57,9 +57,9 @@ file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
 # setup custom command to copy changes later
 file(GLOB_RECURSE copy_nuttx_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/nuttx/*)
 add_custom_command(
-	OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
+	OUTPUT ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp
 	COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST}
-	COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
+	COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp
 	DEPENDS
 		git_nuttx
 		${copy_nuttx_files}
@@ -76,9 +76,9 @@ file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
 # setup custom command to copy changes later
 file(GLOB_RECURSE copy_apps_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/apps/*)
 add_custom_command(
-	OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
+	OUTPUT ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 	COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST}
-	COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
+	COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 	DEPENDS
 		git_nuttx_apps
 		${copy_apps_files}
@@ -96,30 +96,30 @@ set(APPS_DIR ${CMAKE_CURRENT_BINARY_DIR}/apps)
 # https://samthursfield.wordpress.com/2015/11/21/cmake-dependencies-between-targets-and-files-and-custom-commands/#custom-commands-and-parallel-make
 add_custom_target(nuttx_copy_and_apps_target
 	DEPENDS
-		${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
-		${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
+		${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp
+		${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 )
 
 # If the board provides a Kconfig Use it or create an empty one
 if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
 	add_custom_command(
-		OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
+		OUTPUT ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp
 		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig
-		COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
+		COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp
 		DEPENDS
-			nuttx_copy_and_apps_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
+			nuttx_copy_and_apps_target ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 		)
 else()
 	add_custom_command(
-		OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
+		OUTPUT ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp
 		COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/boards/dummy/Kconfig
-		COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
+		COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp
 		DEPENDS
-			nuttx_copy_and_apps_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
+			nuttx_copy_and_apps_target ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 		)
 endif()
 
-add_custom_target(nuttx_config_kconfig_target DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp)
+add_custom_target(nuttx_config_kconfig_target DEPENDS ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp)
 
 ###############################################################################
 # NuttX configure
@@ -129,22 +129,22 @@ add_custom_target(nuttx_config_kconfig_target DEPENDS ${CMAKE_CURRENT_BINARY_DIR
 file(RELATIVE_PATH CP_SRC ${NUTTX_DIR} ${PX4_BOARD_DIR}/nuttx-config)
 file(RELATIVE_PATH CP_DST ${NUTTX_DIR} ${PX4_BINARY_DIR}/NuttX)
 add_custom_command(
-	OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
+	OUTPUT ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp
 	COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers
 	COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src
 	COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h
-	COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
+	COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp
 	DEPENDS
 		${NUTTX_CONFIG_DIR}/include/board.h
 		${NUTTX_CONFIG_DIR}/scripts/script.ld
 		${NUTTX_SRC_DIR}/nsh_romfsimg.h
-		nuttx_config_kconfig_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp
+		nuttx_config_kconfig_target ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp
 	WORKING_DIRECTORY ${NUTTX_DIR}
 	COMMENT "Copying NuttX config ${NUTTX_CONFIG}"
 )
-add_custom_target(nuttx_copy_config_dir_target DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp)
+add_custom_target(nuttx_copy_config_dir_target DEPENDS ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp)
 
 
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
@@ -153,19 +153,19 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
 add_custom_command(
 	OUTPUT
 		${NUTTX_DIR}/.config
-		${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
+		${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp
 	COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config
 	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh > nuttx_olddefconfig.log
-	COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
+	COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp
 	DEPENDS
 		${NUTTX_DIR}/Make.defs
 		${NUTTX_DEFCONFIG}
-		nuttx_copy_config_dir_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
+		nuttx_copy_config_dir_target ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp
 		${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh
 	WORKING_DIRECTORY ${NUTTX_DIR}
 	COMMENT "Copying NuttX compressed config ${NUTTX_CONFIG} and inflating (make olddefconfig)"
 )
-add_custom_target(nuttx_config_target DEPENDS ${NUTTX_DIR}/.config ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp)
+add_custom_target(nuttx_config_target DEPENDS ${NUTTX_DIR}/.config ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp)
 
 ###############################################################################
 # NuttX build
@@ -196,7 +196,7 @@ add_custom_command(
 		make ${nuttx_build_options} --no-print-directory CONFIG_ARCH_BOARD_CUSTOM=y pass1dep > nuttx_context.log
 	DEPENDS
 		${NUTTX_DIR}/Make.defs
-		nuttx_config_target ${NUTTX_DIR}/.config ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
+		nuttx_config_target ${NUTTX_DIR}/.config ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp
 	WORKING_DIRECTORY ${NUTTX_DIR}
 	${nuttx_build_uses_terminal}
 )
@@ -211,17 +211,17 @@ add_custom_target(px4_config_file_target DEPENDS ${PX4_CONFIG_FILE})
 set(nuttx_builtin_list)
 if(CONFIG_NSH_LIBRARY)
 	# force builtins regeneration and apps rebuild if nuttx or px4 configuration have changed
-	add_custom_command(OUTPUT builtins_clean.stamp
+	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp
 		COMMAND find ${APPS_DIR}/builtin/registry -name px4_\*.bdat -delete
 		COMMAND find ${APPS_DIR}/builtin/registry -name px4_\*.pdat -delete
 		COMMAND rm -f ${APPS_DIR}/builtin/builtin_list.h
-		COMMAND ${CMAKE_COMMAND} -E touch builtins_clean.stamp
+		COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp
 		DEPENDS
 			nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
 			px4_config_file_target ${PX4_CONFIG_FILE}
 	)
 
-	add_custom_target(builtins_clean_target DEPENDS builtins_clean.stamp)
+	add_custom_target(builtins_clean_target DEPENDS ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp)
 
 	foreach(module ${module_libraries})
 		get_target_property(MAIN ${module} MAIN)
@@ -233,7 +233,7 @@ if(CONFIG_NSH_LIBRARY)
 				COMMAND echo "{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main }," > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat
 				COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated
 				DEPENDS
-					builtins_clean_target builtins_clean.stamp
+					builtins_clean_target ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp
 					nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
 				VERBATIM
 				)
@@ -243,7 +243,7 @@ if(CONFIG_NSH_LIBRARY)
 				COMMAND echo "int ${MAIN}_main(int argc, char *argv[]);" > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat
 				COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated
 				DEPENDS
-					builtins_clean_target builtins_clean.stamp
+					builtins_clean_target ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp
 					nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
 				VERBATIM
 				)

platforms/nuttx/cmake/init.cmake

@@ -50,7 +50,7 @@ set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config CACHE FILEPATH "PX4 NuttX con
 set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE)
 set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${NUTTX_DEFCONFIG})
 
-set(NUTTX_SRC_DIR ${CMAKE_CURRENT_LIST_DIR}/../NuttX)
+set(NUTTX_SRC_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/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)
 
@@ -77,7 +77,8 @@ execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/Nut
 ###############################################################################
 # NuttX: copy to build directory
 ###############################################################################
-if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp)
+if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx/Kconfig))
+	execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx)
 	file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx)
 	file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
 	execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
@@ -87,7 +88,8 @@ endif()
 ###############################################################################
 # NuttX apps: copy to build directory
 ###############################################################################
-if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp)
+if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/apps/Kconfig))
+	execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/apps)
 	file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps)
 	file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
 	execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
@@ -99,7 +101,7 @@ endif()
 ###############################################################################
 
 # If the board provides a Kconfig Use it or create an empty one
-if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp)
+if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp) OR (NOT EXISTS ${NUTTX_DIR}/boards/dummy/Kconfig))
 	if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
 		execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig)
 	else()
@@ -109,7 +111,7 @@ if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp)
 	execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp)
 endif()
 
-if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp)
+if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig))
 	# copy board's nuttx-config to NuttX/nuttx-config
 	file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${PX4_BOARD_DIR}/nuttx-config)
 	file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
@@ -124,26 +126,17 @@ if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp)
 endif()
 
 # make olddefconfig (inflate defconfig to full .config)
-if(NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp)
+if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx/.config))
 	execute_process(COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_SRC_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs) # Create a temporary Toplevel Make.defs for the oldconfig step
 	execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config)
 	execute_process(
 		COMMAND ${NUTTX_SRC_DIR}/tools/px4_nuttx_make_olddefconfig.sh
 		WORKING_DIRECTORY ${NUTTX_DIR}
 		OUTPUT_FILE nuttx_olddefconfig.log
-		ERROR_FILE nuttx_olddefconfig.log
 		RESULT_VARIABLE ret
 	)
-	if(NOT ret EQUAL "0")
-		# Show the log here as it will be deleted due to the incomplete configure step
-		file(READ ${NUTTX_DIR}/nuttx_olddefconfig.log DEFCONFIG_LOG)
-		message(STATUS "${DEFCONFIG_LOG}")
-		message(FATAL_ERROR "NuttX olddefconfig target failed. \
-			Possible cause: the board (${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}) has the wrong directory structure (i.e. missing files).")
-	else()
 	execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp)
-	endif()
-	# remove Toplevel Make.defs
+	# remove temporary top level Make.defs
 	execute_process(COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/Make.defs)
 endif()