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431 lines
14 KiB
431 lines
14 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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# 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}_${BOARD}.cmake. |
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# |
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# Formatting |
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# --------------------------------------------------------------------------- |
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# |
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# * Use hard indents to match the px4 source code. |
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# |
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# * All function and script arguments are upper case. |
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# |
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# * All local variables are lower case. |
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# |
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# * All cmake functions are lowercase. |
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# |
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# * For else, endif, endfunction, etc, never put the name of the statement |
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# |
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# Instead of the very confusing: |
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# if (${var} STREQUAL "1") <-- condition now becomes if name |
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# # do somthing |
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# elseif (${var} STREQUAL "2") <-- another condition |
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# # do somthing |
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# else (${var} STREQUAL "1") <-- tag is referring to name of if |
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# # do somthing |
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# endif (${var} STREQUAL "1") <-- tag is referring to name of if |
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# |
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# Do this: |
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# if (${var} STREQUAL "1") <-- condition now becomes if name |
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# # do somthing |
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# elseif (${var} STREQUAL "2") <-- another condition |
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# # do somthing |
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# else () <-- leave blank |
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# # do somthing |
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# endif () <-- leave blank |
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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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# resuse 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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# subdirecties, 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 ${OS} is not defined instead of silently |
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# evaluating to false. |
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# |
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#============================================================================= |
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# Warning: Changing this modifies CMake's internal workings |
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# and leads to wrong toolchain detection |
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cmake_minimum_required(VERSION 2.8 FATAL_ERROR) |
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set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}") |
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set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}") |
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execute_process( |
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COMMAND Tools/check_submodules.sh |
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WORKING_DIRECTORY ${PX4_SOURCE_DIR} |
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) |
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# Use clang |
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#SET (CMAKE_C_COMPILER /usr/bin/clang-3.6) |
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#SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6) |
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#============================================================================= |
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# parameters |
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# |
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set(CMAKE_BUILD_TYPE "" CACHE STRING "build type") |
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set_property(CACHE CMAKE_BUILD_TYPE PROPERTY |
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STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel") |
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set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration") |
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file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake") |
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set_property(CACHE CONFIG PROPERTY STRINGS ${configs}) |
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set(THREADS "4" CACHE STRING |
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"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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#============================================================================= |
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# configuration |
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# |
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# must come before project to set toolchain |
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string(REPLACE "_" ";" config_args ${CONFIG}) |
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list(GET config_args 0 OS) |
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list(GET config_args 1 BOARD) |
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list(GET config_args 2 LABEL) |
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set(target_name "${OS}-${BOARD}-${LABEL}") |
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message(STATUS "${target_name}") |
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# Define GNU standard installation directories |
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include(GNUInstallDirs) |
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# Add support for external project building |
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include(ExternalProject) |
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# Setup install paths |
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if(NOT CMAKE_INSTALL_PREFIX) |
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if (${OS} STREQUAL "posix") |
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set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE) |
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endif() |
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endif() |
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message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}") |
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list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake") |
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message(STATUS "cmake module path: ${CMAKE_MODULE_PATH}") |
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set(config_module "configs/${CONFIG}") |
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include(${config_module}) |
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# cmake modules |
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include(ExternalProject) |
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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_module} must implement ${cmd}") |
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endif() |
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endforeach() |
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set(px4_required_config |
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config_module_list |
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) |
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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_module} must define ${conf}") |
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endif() |
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endforeach() |
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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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# force static lib build |
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set(BUILD_SHARED_LIBS OFF) |
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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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if (NOT ${CMAKE_VERSION} VERSION_LESS 3.0.0) |
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cmake_policy(SET CMP0045 NEW) # error on non-existent target in get prop |
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cmake_policy(SET CMP0046 NEW) # no non-existent targets as dependencies |
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cmake_policy(SET CMP0025 OLD) # still report AppleClang as Clang |
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endif() |
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if (NOT ${CMAKE_VERSION} VERSION_LESS 3.1.0) |
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cmake_policy(SET CMP0054 NEW) # don't dereference quoted variables |
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endif() |
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set(version_major 1) |
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set(version_minor 4) |
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set(version_patch 1) |
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set(version "${version_major}.${version_minor}.${version_patch}") |
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set(package-contact "px4users@googlegroups.com") |
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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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else() |
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message(STATUS "catkin DISABLED") |
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endif() |
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find_package(PythonInterp REQUIRED) |
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#============================================================================= |
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# cmake modules |
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# |
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enable_testing() |
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#============================================================================= |
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# check required toolchain variables |
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# |
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set(required_variables |
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CMAKE_C_COMPILER_ID |
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) |
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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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#============================================================================= |
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# git |
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# |
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px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg") |
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px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp") |
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px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0") |
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px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest") |
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px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan") |
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px4_add_git_submodule(TARGET git_nuttx PATH "NuttX") |
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px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework") |
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px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl") |
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px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim") |
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px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo") |
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px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix") |
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px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon") |
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add_custom_target(submodule_clean |
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WORKING_DIRECTORY ${PX4_SOURCE_DIR} |
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COMMAND git submodule deinit -f . |
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COMMAND rm -rf .git/modules/* |
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) |
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#============================================================================= |
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# misc targets |
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# |
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add_custom_target(check_format |
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COMMAND Tools/check_code_style.sh |
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WORKING_DIRECTORY ${PX4_SOURCE_DIR} |
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) |
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add_custom_target(config |
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COMMAND cmake-gui . |
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WORKING_DIRECTORY ${PX4_BINARY_DIR} |
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) |
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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 ${BOARD} |
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C_FLAGS c_flags |
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CXX_FLAGS cxx_flags |
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EXE_LINKER_FLAGS exe_linker_flags |
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INCLUDE_DIRS include_dirs |
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LINK_DIRS link_dirs |
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DEFINITIONS definitions) |
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px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ") |
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px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ") |
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px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ") |
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include_directories(${include_dirs}) |
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#message("INCLUDE_DIRS=${include_dirs}") |
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link_directories(${link_dirs}) |
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add_definitions(${definitions}) |
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#============================================================================= |
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# source code generation |
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# |
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add_subdirectory(msg) |
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px4_generate_messages(TARGET msg_gen |
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MSG_FILES ${msg_files} |
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OS ${OS} |
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DEPENDS git_genmsg git_gencpp prebuild_targets |
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) |
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px4_generate_parameters_xml(OUT parameters.xml BOARD ${BOARD}) |
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px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD}) |
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add_custom_target(xml_gen |
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DEPENDS parameters.xml airframes.xml) |
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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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# DriverFramework Drivers |
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# |
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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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# subdirectories |
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# |
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set(module_libraries) |
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foreach(module ${config_module_list}) |
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string(REGEX MATCH "^[./]" external_module ${module}) |
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if(external_module) |
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STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module}) |
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STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE}) |
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add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX}) |
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else() |
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add_subdirectory(src/${module}) |
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endif() |
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px4_mangle_name(${module} mangled_name) |
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list(APPEND module_libraries ${mangled_name}) |
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#message(STATUS "adding module: ${module}") |
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endforeach() |
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# Keep track of external shared libs required for modules |
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set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "module_external_libraries") |
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add_subdirectory(src/firmware/${OS}) |
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#add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp) |
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if (NOT "${OS}" STREQUAL "nuttx") |
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endif() |
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if (config_io_board) |
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add_subdirectory(src/modules/px4iofirmware) |
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endif() |
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#============================================================================= |
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# generate git version |
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# |
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px4_create_git_hash_header(HEADER ${PX4_BINARY_DIR}/build_git_version.h) |
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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 ${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(short-description "The px4 autopilot.") |
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set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description}) |
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set(CPACK_GENERATOR "ZIP") |
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set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${version}") |
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set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${version}") |
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set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2") |
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set(CPACK_PACKAGING_INSTALL_PREFIX "/usr") |
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set(CPACK_SET_DESTDIR "OFF") |
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if ("${CMAKE_SYSTEM}" MATCHES "Linux") |
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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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endif() |
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include(CPack) |
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# vim: set noet fenc=utf-8 ff=unix ft=cmake :
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