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473 lines
16 KiB
473 lines
16 KiB
############################################################################ |
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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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# CMAKE CODING STANDARD FOR PX4 |
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# |
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# Structure |
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# --------------------------------------------------------------------------- |
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# |
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# * Common functions should be included in px_base.cmake. |
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# |
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# * OS/ board specific fucntions should be include in |
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# px_impl_${OS}.cmake or px4_impl_${OS}_${BOARD}.cmake. |
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# |
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# Formatting |
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# --------------------------------------------------------------------------- |
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# |
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# * Use hard indents to match the px4 source code. |
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# |
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# * All function and script arguments are upper case. |
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# |
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# * All local variables are lower case. |
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# |
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# * All cmake functions are lowercase. |
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# |
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# * For else, endif, endfunction, etc, never put the name of the statement |
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# |
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# Functions/Macros |
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# --------------------------------------------------------------------------- |
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# |
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# * Use px4_parse_function_args to parse functions and check for required |
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# arguments. Unless there is only one argument in the function and it is clear. |
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# |
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# * Never use macros. They allow overwriting global variables and this |
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# makes variable declarations hard to locate. |
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# |
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# * If a target from add_custom_* is set in a function, explicitly pass it |
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# as an output argument so that the target name is clear to the user. |
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# |
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# * Avoid use of global variables in functions. Functions in a nested |
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# scope may use global variables, but this makes it difficult to |
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# reuse functions. |
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# |
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# Included CMake Files |
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# --------------------------------------------------------------------------- |
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# |
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# * All variables in config files must have the prefix "config_". |
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# |
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# * Never set global variables in an included cmake file, |
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# you may only define functions. This excludes config and Toolchain files. |
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# This makes it clear to the user when variables are being set or targets |
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# are being created. |
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# |
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# * Setting a global variable in a CMakeLists.txt file is ok, because |
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# each CMakeLists.txt file has scope in the current directory and all |
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# subdirectories, so it is not truly global. |
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# |
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# * All toolchain files should be included in the cmake |
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# directory and named Toolchain-"name".cmake. |
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# |
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# Misc |
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# --------------------------------------------------------------------------- |
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# |
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# * If referencing a string variable, don't put it in quotes. |
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# Don't do "${OS}" STREQUAL "posix", |
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# instead type ${OS} STREQUAL "posix". This will throw an |
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# error when ${OS} is not defined instead of silently |
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# evaluating to false. |
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# |
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#============================================================================= |
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cmake_minimum_required(VERSION 3.2 FATAL_ERROR) |
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set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}") |
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set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}") |
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list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake") |
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#============================================================================= |
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# git |
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# |
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include(common/px4_git) |
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execute_process( |
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COMMAND git describe --always --tags |
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OUTPUT_VARIABLE git_tag |
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OUTPUT_STRIP_TRAILING_WHITESPACE |
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WORKING_DIRECTORY ${PX4_SOURCE_DIR} |
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) |
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define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES |
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BRIEF_DOCS "PX4 module libs" |
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FULL_DOCS "List of all PX4 module libraries" |
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) |
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define_property(GLOBAL PROPERTY PX4_MODULE_PATHS |
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BRIEF_DOCS "PX4 module paths" |
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FULL_DOCS "List of paths to all PX4 modules" |
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) |
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#============================================================================= |
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# configuration |
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# |
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set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration") |
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string(REPLACE "_" ";" config_args ${CONFIG}) |
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list(GET config_args 0 OS) |
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list(GET config_args 1 BOARD) |
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list(GET config_args 2 LABEL) |
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set(THREADS "4" CACHE STRING "number of threads to use for external build processes") |
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set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port") |
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set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location") |
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if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "") |
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get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE) |
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endif() |
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include(platforms/${OS}/cmake/px4_impl_os.cmake) |
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include(configs/${CONFIG}) |
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list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake) |
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# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage) |
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if (NOT CMAKE_BUILD_TYPE) |
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if (${OS} STREQUAL "nuttx") |
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set(PX4_BUILD_TYPE "MinSizeRel") |
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else() |
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set(PX4_BUILD_TYPE "RelWithDebInfo") |
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endif() |
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set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE) |
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endif() |
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set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage") |
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#============================================================================= |
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message(STATUS "PX4 VERSION: ${git_tag}") |
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message(STATUS "CONFIG: ${CONFIG}") |
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message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}") |
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#============================================================================= |
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# project definition |
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# |
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project(px4 CXX C ASM) |
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set(package-contact "px4users@googlegroups.com") |
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set(CMAKE_CXX_STANDARD 11) |
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set(CMAKE_CXX_STANDARD_REQUIRED ON) |
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set(CMAKE_C_STANDARD 99) |
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set(CMAKE_C_STANDARD_REQUIRED ON) |
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON) |
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR}) |
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR}) |
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR}) |
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#============================================================================= |
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# Setup install paths |
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if (${OS} STREQUAL "posix") |
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include(common/coverage) |
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include(common/sanitizers) |
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# Define GNU standard installation directories |
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include(GNUInstallDirs) |
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if (NOT CMAKE_INSTALL_PREFIX) |
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set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE) |
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endif() |
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# cmake testing only on posix |
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enable_testing() |
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include(CTest) |
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endif() |
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#============================================================================= |
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# require px4 module interface |
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set(px4_required_interface |
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px4_os_prebuild_targets |
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px4_os_add_flags |
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) |
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foreach(cmd ${px4_required_interface}) |
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if (NOT COMMAND ${cmd}) |
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message(FATAL_ERROR "${CONFIG} must implement ${cmd}") |
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endif() |
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endforeach() |
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set(px4_required_config config_module_list) |
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foreach(conf ${px4_required_config}) |
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if (NOT DEFINED ${conf}) |
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message(FATAL_ERROR "cmake/${CONFIG} must define ${conf}") |
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endif() |
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endforeach() |
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#============================================================================= |
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# ccache |
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# |
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option(CCACHE "Use ccache if available" ON) |
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find_program(CCACHE_PROGRAM ccache) |
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if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE}) |
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set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}") |
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endif() |
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#============================================================================= |
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# find programs and packages |
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# |
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# see if catkin was invoked to build this |
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if (CATKIN_DEVEL_PREFIX) |
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message(STATUS "catkin ENABLED") |
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find_package(catkin REQUIRED) |
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if (catkin_FOUND) |
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catkin_package() |
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else() |
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message(FATAL_ERROR "catkin not found") |
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endif() |
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endif() |
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find_package(PythonInterp REQUIRED) |
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px4_find_python_module(jinja2 REQUIRED) |
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#============================================================================= |
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# check required toolchain variables |
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# |
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set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID) |
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foreach(var ${required_variables}) |
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if (NOT ${var}) |
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message(FATAL_ERROR "Toolchain/config must define ${var}") |
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endif() |
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endforeach() |
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# print full c compiler version |
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execute_process(COMMAND ${CMAKE_C_COMPILER} --version |
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OUTPUT_VARIABLE c_compiler_version |
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OUTPUT_STRIP_TRAILING_WHITESPACE |
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) |
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STRING(REGEX MATCH "[^\n]*" c_compiler_version_short ${c_compiler_version}) |
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message(STATUS "C compiler: ${c_compiler_version_short}") |
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# print full c++ compiler version |
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execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version |
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OUTPUT_VARIABLE cxx_compiler_version |
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OUTPUT_STRIP_TRAILING_WHITESPACE |
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) |
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STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version}) |
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message(STATUS "C++ compiler: ${cxx_compiler_version_short}") |
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#============================================================================= |
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# external libraries |
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# |
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px4_os_prebuild_targets(OUT prebuild_targets |
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BOARD ${BOARD} |
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THREADS ${THREADS}) |
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#============================================================================= |
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# build flags |
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# |
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px4_os_add_flags( |
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BOARD ${BOARD} |
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C_FLAGS c_flags |
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CXX_FLAGS cxx_flags |
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OPTIMIZATION_FLAGS optimization_flags |
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EXE_LINKER_FLAGS exe_linker_flags |
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INCLUDE_DIRS include_dirs |
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LINK_DIRS link_dirs |
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DEFINITIONS definitions) |
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px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker_flags}" GLUE " ") |
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px4_join(OUT CMAKE_C_FLAGS LIST "${CMAKE_C_FLAGS};${c_flags};${optimization_flags}" GLUE " ") |
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px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimization_flags}" GLUE " ") |
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#============================================================================= |
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# message, and airframe generation |
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# |
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include(common/px4_metadata) |
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add_subdirectory(msg EXCLUDE_FROM_ALL) |
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px4_generate_airframes_xml(BOARD ${BOARD}) |
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#============================================================================= |
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# DriverFramework |
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# |
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px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework") |
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add_subdirectory(src/lib/DriverFramework/framework) |
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# List the DriverFramework drivers |
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if (DEFINED config_df_driver_list) |
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message("DF Drivers: ${config_df_driver_list}") |
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endif() |
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set(df_driver_libs) |
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foreach(driver ${config_df_driver_list}) |
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add_subdirectory(src/lib/DriverFramework/drivers/${driver}) |
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list(APPEND df_driver_libs df_${driver}) |
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message("Adding DF driver: ${driver}") |
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endforeach() |
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#============================================================================= |
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# external projects |
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# |
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set(ep_base ${PX4_BINARY_DIR}/external) |
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set_property(DIRECTORY PROPERTY EP_BASE ${ep_base}) |
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# add external project install folders to build |
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link_directories(${ep_base}/Install/lib) |
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include_directories(${ep_base}/Install/include) |
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# add the directories so cmake won't warn |
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execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib) |
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execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include) |
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#============================================================================= |
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# external modules |
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# |
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set(external_module_paths) |
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if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "") |
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message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}") |
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add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules) |
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foreach(external_module ${config_module_list_external}) |
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add_subdirectory(${EXTERNAL_MODULES_LOCATION}/src/${external_module} external_modules/${external_module}) |
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list(APPEND external_module_paths ${EXTERNAL_MODULES_LOCATION}/src/${external_module}) |
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endforeach() |
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endif() |
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#============================================================================= |
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# subdirectories |
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# |
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add_library(parameters_interface INTERFACE) |
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add_subdirectory(src/lib EXCLUDE_FROM_ALL) |
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add_subdirectory(src/platforms/common EXCLUDE_FROM_ALL) |
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add_subdirectory(src/modules/systemlib EXCLUDE_FROM_ALL) # TODO: split into libraries in platform layer |
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add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer |
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add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL) |
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foreach(module ${config_module_list}) |
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add_subdirectory(src/${module}) |
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endforeach() |
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# must be the last module before firmware |
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add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL) |
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target_link_libraries(parameters_interface INTERFACE parameters) |
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# firmware added last to generate the builtin for included modules |
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add_subdirectory(platforms/${OS}) |
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#============================================================================= |
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# generate custom target to print for all executable and module cmake targets |
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# |
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if (all_posix_cmake_targets) |
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list(SORT all_posix_cmake_targets) |
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px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n") |
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add_custom_target(list_cmake_targets |
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COMMAND sh -c "printf \"${posix_cmake_target_list}\\n\"" |
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COMMENT "List of cmake targets that can be matched by PX4_NO_OPTIMIZATION:" |
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VERBATIM |
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) |
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endif() |
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#============================================================================= |
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# uORB graph generation: add a custom target 'uorb_graph' |
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# |
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set(uorb_graph_config ${BOARD}) |
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set(graph_module_list "") |
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foreach(module ${config_module_list}) |
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set(graph_module_list "${graph_module_list}" "--src-path" "src/${module}") |
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endforeach() |
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add_custom_command(OUTPUT ${uorb_graph_config} |
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py |
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${module_list} |
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--exclude-path src/examples |
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--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config} |
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WORKING_DIRECTORY ${PX4_SOURCE_DIR} |
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COMMENT "Generating uORB graph" |
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) |
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add_custom_target(uorb_graph DEPENDS ${uorb_graph_config}) |
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#============================================================================= |
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# Doxygen |
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# |
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option(BUILD_DOXYGEN "Build doxygen documentation" OFF) |
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if (BUILD_DOXYGEN) |
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find_package(Doxygen) |
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if (DOXYGEN_FOUND) |
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# set input and output files |
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set(DOXYGEN_IN ${CMAKE_SOURCE_DIR}/Documentation/Doxyfile.in) |
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set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile) |
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# request to configure the file |
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configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY) |
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# note the option ALL which allows to build the docs together with the application |
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add_custom_target(doxygen ALL |
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COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT} |
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR} |
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COMMENT "Generating documentation with Doxygen" |
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DEPENDS uorb_msgs parameters |
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VERBATIM |
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USES_TERMINAL |
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) |
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else() |
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message("Doxygen needs to be installed to generate documentation") |
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endif() |
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endif() |
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#============================================================================= |
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# packaging |
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# |
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# Important to having packaging at end of cmake file. |
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# |
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set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG}) |
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set(CPACK_PACKAGE_VERSION ${git_version}) |
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set(CPACK_PACKAGE_CONTACT ${package-contact}) |
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set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON) |
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set(CPACK_DEBIAN_PACKAGE_SECTION "devel") |
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set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional") |
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set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.") |
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set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}") |
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set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}") |
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set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2") |
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set(CPACK_PACKAGING_INSTALL_PREFIX "") |
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set(CPACK_SET_DESTDIR "OFF") |
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if ("${CMAKE_SYSTEM}" MATCHES "Linux") |
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set(CPACK_GENERATOR "TBZ2") |
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find_program(DPKG_PROGRAM dpkg) |
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if (EXISTS ${DPKG_PROGRAM}) |
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list (APPEND CPACK_GENERATOR "DEB") |
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endif() |
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else() |
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set(CPACK_GENERATOR "ZIP") |
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endif() |
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include(CPack) |