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############################################################################ |
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# |
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# Copyright (c) 2017 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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#============================================================================= |
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# RTPS and micro-cdr |
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# |
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find_program(FASTRTPSGEN fastrtpsgen PATHS $ENV{FASTRTPSGEN_DIR}) |
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if(NOT FASTRTPSGEN) |
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message(FATAL_ERROR "Unable to find fastrtpsgen") |
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endif() |
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set(config_rtps_send_topics |
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sensor_combined |
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) |
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set(config_rtps_receive_topics |
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sensor_baro |
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) |
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if (FASTRTPSGEN AND (config_rtps_send_topics OR config_rtps_receive_topics)) |
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option(GENERATE_RTPS_BRIDGE "enable RTPS and microCDR" ON) |
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endif() |
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if (GENERATE_RTPS_BRIDGE) |
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add_subdirectory(micrortps_client) |
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############################################################################### |
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# micro-cdr serialization |
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############################################################################### |
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include(common/px4_git) |
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px4_add_git_submodule(TARGET git_micro_cdr PATH micro-CDR) |
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add_subdirectory(micro-CDR) |
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set(msg_out_path_microcdr ${PX4_BINARY_DIR}/uORB_microcdr/topics) |
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set(msg_source_out_path_microcdr ${CMAKE_CURRENT_BINARY_DIR}/topics_microcdr_sources) |
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set(uorb_headers_microcdr) |
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set(uorb_sources_microcdr) |
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# send topic files |
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set(send_topic_files) |
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foreach(topic ${config_rtps_send_topics}) |
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list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg) |
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list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h) |
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list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp) |
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endforeach() |
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# receive topic files |
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set(receive_topic_files) |
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foreach(topic ${config_rtps_receive_topics}) |
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list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg) |
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list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h) |
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list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp) |
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endforeach() |
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list(REMOVE_DUPLICATES uorb_headers_microcdr) |
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list(REMOVE_DUPLICATES uorb_sources_microcdr) |
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# Generate uORB serialization headers |
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add_custom_command(OUTPUT ${uorb_headers_microcdr} |
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COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py |
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--headers |
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-f ${send_topic_files} ${receive_topic_files} |
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-i . |
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-o ${msg_out_path_microcdr} |
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-e templates/uorb_microcdr |
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-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers_microcdr |
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-q |
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DEPENDS ${msg_files} |
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COMMENT "Generating uORB microcdr topic headers" |
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}/msg/ |
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VERBATIM |
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) |
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add_custom_target(uorb_headers_microcdr DEPENDS ${uorb_headers_microcdr}) |
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# Generate uORB serialization sources |
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add_custom_command(OUTPUT ${uorb_sources_microcdr} |
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COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py |
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--sources |
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-f ${send_topic_files} ${receive_topic_files} |
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-i . |
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-o ${msg_source_out_path_microcdr} |
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-e templates/uorb_microcdr |
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-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources_microcdr |
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-q |
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DEPENDS ${msg_files} |
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COMMENT "Generating uORB microcdr topic sources" |
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}/msg/ |
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VERBATIM |
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) |
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px4_add_library(uorb_msgs_microcdr ${uorb_sources_microcdr}) |
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add_dependencies(uorb_msgs_microcdr uorb_headers_microcdr uorb_headers git_micro_cdr lib__micro-CDR) |
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target_link_libraries(uorb_msgs_microcdr PRIVATE lib__micro-CDR) |
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# microCDR |
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target_include_directories(uorb_msgs_microcdr |
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PUBLIC |
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${CMAKE_CURRENT_SOURCE_DIR}/micro-CDR/include |
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${CMAKE_CURRENT_BINARY_DIR}/micro-CDR/include/microcdr |
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) |
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endif() |
Daniel Agar
7 years ago
committed by
GitHub