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307 lines
8.2 KiB
307 lines
8.2 KiB
############################################################################ |
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# |
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# Copyright (c) 2015 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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# |
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# Defined functions in this file |
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# |
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# OS Specific Functions |
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# |
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# * px4_posix_generate_builtin_commands |
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# |
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# Required OS Interface Functions |
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# |
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# * px4_os_add_flags |
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# * px4_os_determine_build_chip |
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# * px4_os_prebuild_targets |
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# |
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#============================================================================= |
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# |
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# px4_posix_generate_builtin_commands |
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# |
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# This function generates the builtin_commands.c src for posix |
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# |
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# Usage: |
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# px4_posix_generate_builtin_commands( |
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# MODULE_LIST <in-list> |
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# OUT <file>) |
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# |
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# Input: |
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# MODULE_LIST : list of modules |
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# |
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# Output: |
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# OUT : stem of generated apps.cpp/apps.h ("apps") |
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# |
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# Example: |
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# px4_posix_generate_builtin_commands( |
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# OUT <generated-src> MODULE_LIST px4_simple_app) |
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# |
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function(px4_posix_generate_builtin_commands) |
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px4_parse_function_args( |
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NAME px4_posix_generate_builtin_commands |
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ONE_VALUE OUT |
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MULTI_VALUE MODULE_LIST |
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REQUIRED MODULE_LIST OUT |
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ARGN ${ARGN}) |
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set(builtin_apps_string) |
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set(builtin_apps_decl_string) |
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set(command_count 0) |
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foreach(module ${MODULE_LIST}) |
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# default |
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set(MAIN_DEFAULT MAIN-NOTFOUND) |
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set(STACK_DEFAULT 1024) |
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set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT) |
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foreach(property MAIN STACK PRIORITY) |
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get_target_property(${property} ${module} ${property}) |
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if(NOT ${property}) |
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set(${property} ${${property}_DEFAULT}) |
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endif() |
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endforeach() |
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if (MAIN) |
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set(builtin_apps_string |
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"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n") |
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set(builtin_apps_decl_string |
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"${builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n") |
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math(EXPR command_count "${command_count}+1") |
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endif() |
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endforeach() |
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configure_file(${PX4_SOURCE_DIR}/platforms/common/apps.cpp.in ${OUT}.cpp) |
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configure_file(${PX4_SOURCE_DIR}/platforms/common/apps.h.in ${OUT}.h) |
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endfunction() |
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#============================================================================= |
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# |
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# px4_posix_generate_alias |
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# |
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# This function generates the px4-alias.sh script containing the command |
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# aliases for all modules and commands. |
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# |
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# Usage: |
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# px4_posix_generate_alias( |
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# MODULE_LIST <in-list> |
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# OUT <file> |
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# PREFIX <prefix>) |
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# |
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# Input: |
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# MODULE_LIST : list of modules |
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# PREFIX : command prefix (e.g. "px4-") |
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# |
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# Output: |
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# OUT : px4-alias.sh file path |
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# |
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# Example: |
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# px4_posix_generate_alias( |
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# OUT <generated-src> MODULE_LIST px4_simple_app PREFIX px4-) |
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# |
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function(px4_posix_generate_alias) |
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px4_parse_function_args( |
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NAME px4_posix_generate_alias |
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ONE_VALUE OUT PREFIX |
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MULTI_VALUE MODULE_LIST |
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REQUIRED OUT PREFIX MODULE_LIST |
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ARGN ${ARGN}) |
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set(alias_string) |
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foreach(module ${MODULE_LIST}) |
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foreach(property MAIN STACK PRIORITY) |
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get_target_property(${property} ${module} ${property}) |
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if(NOT ${property}) |
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set(${property} ${${property}_DEFAULT}) |
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endif() |
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endforeach() |
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if (MAIN) |
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set(alias_string |
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"${alias_string}alias ${MAIN}='${PREFIX}${MAIN} --instance $px4_instance'\n" |
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) |
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endif() |
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endforeach() |
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configure_file(${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/px4-alias.sh_in ${OUT}) |
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endfunction() |
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#============================================================================= |
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# |
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# px4_posix_generate_symlinks |
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# |
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# This function generates symlinks for all modules/commands. |
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# |
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# Usage: |
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# px4_posix_generate_symlinks( |
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# TARGET <target> |
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# MODULE_LIST <in-list> |
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# PREFIX <prefix>) |
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# |
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# Input: |
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# MODULE_LIST : list of modules |
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# PREFIX : command prefix (e.g. "px4-") |
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# TARGET : cmake target for which the symlinks should be created |
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# |
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# Example: |
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# px4_posix_generate_symlinks( |
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# TARGET px4 MODULE_LIST px4_simple_app PREFIX px4-) |
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# |
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function(px4_posix_generate_symlinks) |
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px4_parse_function_args( |
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NAME px4_posix_generate_symlinks |
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ONE_VALUE TARGET PREFIX |
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MULTI_VALUE MODULE_LIST |
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REQUIRED TARGET PREFIX MODULE_LIST |
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ARGN ${ARGN}) |
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foreach(module ${MODULE_LIST}) |
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foreach(property MAIN STACK PRIORITY) |
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get_target_property(${property} ${module} ${property}) |
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if(NOT ${property}) |
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set(${property} ${${property}_DEFAULT}) |
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endif() |
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endforeach() |
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if (MAIN) |
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set(ln_name "${PREFIX}${MAIN}") |
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add_custom_command(TARGET ${TARGET} |
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POST_BUILD |
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COMMAND ${CMAKE_COMMAND} -E create_symlink ${TARGET} ${ln_name} |
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WORKING_DIRECTORY "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}" |
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) |
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endif() |
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endforeach() |
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endfunction() |
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#============================================================================= |
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# |
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# px4_os_add_flags |
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# |
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# Set the posix build flags. |
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# |
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# Usage: |
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# px4_os_add_flags() |
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# |
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function(px4_os_add_flags) |
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add_definitions( |
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-D__PX4_POSIX |
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-Dnoreturn_function=__attribute__\(\(noreturn\)\) |
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) |
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include_directories(platforms/posix/include) |
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if ("${PX4_BOARD}" MATCHES "sitl") |
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if(UNIX AND APPLE) |
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add_definitions(-D__PX4_DARWIN) |
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if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0) |
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message(FATAL_ERROR "PX4 Firmware requires XCode 8 or newer on Mac OS. Version installed on this system: ${CMAKE_CXX_COMPILER_VERSION}") |
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endif() |
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execute_process(COMMAND uname -v OUTPUT_VARIABLE DARWIN_VERSION) |
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string(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION}) |
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# message(STATUS "PX4 Darwin Version: ${DARWIN_VERSION}") |
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if (DARWIN_VERSION LESS 16) |
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add_definitions( |
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-DCLOCK_MONOTONIC=1 |
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-DCLOCK_REALTIME=0 |
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-D__PX4_APPLE_LEGACY |
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) |
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endif() |
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elseif(CYGWIN) |
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add_definitions( |
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-D__PX4_CYGWIN |
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-D_GNU_SOURCE |
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-D__USE_LINUX_IOCTL_DEFS |
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-U__CUSTOM_FILE_IO__ |
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) |
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else() |
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add_definitions(-D__PX4_LINUX) |
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endif() |
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endif() |
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endfunction() |
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#============================================================================= |
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# |
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# px4_os_determine_build_chip |
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# |
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# Sets PX4_CHIP and PX4_CHIP_MANUFACTURER. |
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# |
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# Usage: |
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# px4_os_determine_build_chip() |
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# |
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function(px4_os_determine_build_chip) |
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# always use generic chip and chip manufacturer |
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set(PX4_CHIP "generic" CACHE STRING "PX4 Chip" FORCE) |
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set(PX4_CHIP_MANUFACTURER "generic" CACHE STRING "PX4 Chip Manufacturer" FORCE) |
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endfunction() |
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#============================================================================= |
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# |
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# px4_os_prebuild_targets |
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# |
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# This function generates os dependent targets |
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# |
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# Usage: |
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# px4_os_prebuild_targets( |
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# OUT <out-list_of_targets> |
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# BOARD <in-string> |
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# ) |
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# |
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# Input: |
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# BOARD : board |
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# |
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# Output: |
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# OUT : the target list |
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# |
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# Example: |
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# px4_os_prebuild_targets(OUT target_list BOARD px4_fmu-v2) |
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# |
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function(px4_os_prebuild_targets) |
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px4_parse_function_args( |
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NAME px4_os_prebuild_targets |
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ONE_VALUE OUT BOARD |
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REQUIRED OUT |
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ARGN ${ARGN}) |
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add_library(prebuild_targets INTERFACE) |
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target_link_libraries(prebuild_targets INTERFACE px4_layer drivers_board) |
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add_dependencies(prebuild_targets DEPENDS uorb_headers) |
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endfunction()
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