You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
442 lines
15 KiB
442 lines
15 KiB
############################################################################ |
|
# |
|
# Copyright (c) 2017 - 2019 PX4 Development Team. All rights reserved. |
|
# |
|
# Redistribution and use in source and binary forms, with or without |
|
# modification, are permitted provided that the following conditions |
|
# are met: |
|
# |
|
# 1. Redistributions of source code must retain the above copyright |
|
# notice, this list of conditions and the following disclaimer. |
|
# 2. Redistributions in binary form must reproduce the above copyright |
|
# notice, this list of conditions and the following disclaimer in |
|
# the documentation and/or other materials provided with the |
|
# distribution. |
|
# 3. Neither the name PX4 nor the names of its contributors may be |
|
# used to endorse or promote products derived from this software |
|
# without specific prior written permission. |
|
# |
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
|
# POSSIBILITY OF SUCH DAMAGE. |
|
# |
|
############################################################################ |
|
|
|
#============================================================================= |
|
# CMAKE CODING STANDARD FOR PX4 |
|
# |
|
# Structure |
|
# --------------------------------------------------------------------------- |
|
# |
|
# * Common functions should be included in px_base.cmake. |
|
# |
|
# * OS/ board specific fucntions should be include in |
|
# px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake. |
|
# |
|
# Formatting |
|
# --------------------------------------------------------------------------- |
|
# |
|
# * Use hard indents to match the px4 source code. |
|
# |
|
# * All function and script arguments are upper case. |
|
# |
|
# * All local variables are lower case. |
|
# |
|
# * All cmake functions are lowercase. |
|
# |
|
# * For else, endif, endfunction, etc, never put the name of the statement |
|
# |
|
# Functions/Macros |
|
# --------------------------------------------------------------------------- |
|
# |
|
# * Use px4_parse_function_args to parse functions and check for required |
|
# arguments. Unless there is only one argument in the function and it is clear. |
|
# |
|
# * Never use macros. They allow overwriting global variables and this |
|
# makes variable declarations hard to locate. |
|
# |
|
# * If a target from add_custom_* is set in a function, explicitly pass it |
|
# as an output argument so that the target name is clear to the user. |
|
# |
|
# * Avoid use of global variables in functions. Functions in a nested |
|
# scope may use global variables, but this makes it difficult to |
|
# reuse functions. |
|
# |
|
# Included CMake Files |
|
# --------------------------------------------------------------------------- |
|
# |
|
# * All variables in config files must have the prefix "config_". |
|
# |
|
# * Never set global variables in an included cmake file, |
|
# you may only define functions. This excludes config and Toolchain files. |
|
# This makes it clear to the user when variables are being set or targets |
|
# are being created. |
|
# |
|
# * Setting a global variable in a CMakeLists.txt file is ok, because |
|
# each CMakeLists.txt file has scope in the current directory and all |
|
# subdirectories, so it is not truly global. |
|
# |
|
# * All toolchain files should be included in the cmake |
|
# directory and named Toolchain-"name".cmake. |
|
# |
|
# Misc |
|
# --------------------------------------------------------------------------- |
|
# |
|
# * If referencing a string variable, don't put it in quotes. |
|
# Don't do "${PX4_PLATFORM}" STREQUAL "posix", |
|
# instead type ${PX4_PLATFORM} STREQUAL "posix". This will throw an |
|
# error when ${PX4_PLATFORM} is not defined instead of silently |
|
# evaluating to false. |
|
# |
|
#============================================================================= |
|
|
|
cmake_minimum_required(VERSION 3.2 FATAL_ERROR) |
|
|
|
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}") |
|
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}") |
|
|
|
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake) |
|
include(px4_parse_function_args) |
|
|
|
#============================================================================= |
|
# git |
|
# |
|
include(px4_git) |
|
|
|
execute_process( |
|
COMMAND git describe --always --tags |
|
OUTPUT_VARIABLE PX4_GIT_TAG |
|
OUTPUT_STRIP_TRAILING_WHITESPACE |
|
WORKING_DIRECTORY ${PX4_SOURCE_DIR} |
|
) |
|
message(STATUS "PX4 version: ${PX4_GIT_TAG}") |
|
|
|
define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES |
|
BRIEF_DOCS "PX4 module libs" |
|
FULL_DOCS "List of all PX4 module libraries" |
|
) |
|
|
|
define_property(GLOBAL PROPERTY PX4_MODULE_PATHS |
|
BRIEF_DOCS "PX4 module paths" |
|
FULL_DOCS "List of paths to all PX4 modules" |
|
) |
|
|
|
#============================================================================= |
|
# configuration |
|
# |
|
|
|
set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration") |
|
|
|
include(px4_add_module) |
|
set(config_module_list) |
|
|
|
include(px4_config) |
|
include(px4_add_board) |
|
include(${PX4_CONFIG_FILE}) |
|
message(STATUS "PX4 config: ${PX4_CONFIG}") |
|
message(STATUS "PX4 platform: ${PX4_PLATFORM}") |
|
|
|
if(${PX4_PLATFORM} STREQUAL "posix") |
|
if(ENABLE_LOCKSTEP_SCHEDULER) |
|
add_definitions(-DENABLE_LOCKSTEP_SCHEDULER) |
|
message(STATUS "PX4 lockstep: enabled") |
|
else() |
|
message(STATUS "PX4 lockstep: disabled") |
|
endif() |
|
endif() |
|
|
|
# external modules |
|
set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location") |
|
|
|
if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "") |
|
get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE) |
|
endif() |
|
|
|
set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES) |
|
|
|
include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake) |
|
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake) |
|
|
|
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake") |
|
include(init) |
|
endif() |
|
|
|
# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage) |
|
if(NOT CMAKE_BUILD_TYPE) |
|
if(${PX4_PLATFORM} STREQUAL "nuttx") |
|
set(PX4_BUILD_TYPE "MinSizeRel") |
|
else() |
|
set(PX4_BUILD_TYPE "RelWithDebInfo") |
|
endif() |
|
|
|
set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE) |
|
endif() |
|
|
|
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer") |
|
message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}") |
|
|
|
#============================================================================= |
|
# project definition |
|
# |
|
project(px4 CXX C ASM) |
|
|
|
set(package-contact "px4users@googlegroups.com") |
|
|
|
set(CMAKE_CXX_STANDARD 11) |
|
set(CMAKE_CXX_STANDARD_REQUIRED ON) |
|
set(CMAKE_C_STANDARD 11) |
|
set(CMAKE_C_STANDARD_REQUIRED ON) |
|
set(CMAKE_EXPORT_COMPILE_COMMANDS ON) |
|
|
|
# For the catkin build process, unset build of dynamically-linked binaries |
|
# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY |
|
if (NOT CATKIN_DEVEL_PREFIX) |
|
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR}) |
|
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR}) |
|
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR}) |
|
else() |
|
SET(BUILD_SHARED_LIBS OFF) |
|
endif() |
|
|
|
#============================================================================= |
|
|
|
# gold linker - use if available |
|
include(CMakeDependentOption) |
|
CMAKE_DEPENDENT_OPTION(USE_LD_GOLD |
|
"Use GNU gold linker" ON |
|
"NOT WIN32;NOT APPLE" OFF |
|
) |
|
|
|
if(USE_LD_GOLD) |
|
execute_process(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version ERROR_QUIET OUTPUT_VARIABLE LD_VERSION) |
|
if("${LD_VERSION}" MATCHES "GNU gold") |
|
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold") |
|
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold") |
|
else() |
|
set(USE_LD_GOLD OFF) |
|
endif() |
|
endif() |
|
|
|
#============================================================================= |
|
|
|
# Setup install paths |
|
if(${PX4_PLATFORM} STREQUAL "posix") |
|
# This makes it possible to dynamically load code which depends on symbols |
|
# inside the px4 executable. |
|
set(CMAKE_POSITION_INDEPENDENT_CODE ON) |
|
set(CMAKE_ENABLE_EXPORTS ON) |
|
|
|
include(coverage) |
|
include(sanitizers) |
|
|
|
# Define GNU standard installation directories |
|
include(GNUInstallDirs) |
|
|
|
if (NOT CMAKE_INSTALL_PREFIX) |
|
set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE) |
|
endif() |
|
endif() |
|
|
|
include(ccache) |
|
|
|
#============================================================================= |
|
# find programs and packages |
|
# |
|
|
|
# see if catkin was invoked to build this |
|
if (CATKIN_DEVEL_PREFIX) |
|
message(STATUS "catkin ENABLED") |
|
find_package(catkin REQUIRED) |
|
if (catkin_FOUND) |
|
catkin_package() |
|
else() |
|
message(FATAL_ERROR "catkin not found") |
|
endif() |
|
endif() |
|
|
|
# Python |
|
# If using catkin, Python 2 is found since it points |
|
# to the Python libs installed with the ROS distro |
|
if (NOT CATKIN_DEVEL_PREFIX) |
|
find_package(PythonInterp 3) |
|
# We have a custom error message to tell users how to install python3. |
|
if (NOT PYTHONINTERP_FOUND) |
|
message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n" |
|
" Ubuntu: sudo apt install python3 python3-devel python3-pip\n" |
|
" macOS: brew install python") |
|
endif() |
|
else() |
|
find_package(PythonInterp REQUIRED) |
|
endif() |
|
|
|
option(PYTHON_COVERAGE "Python code coverage" OFF) |
|
if(PYTHON_COVERAGE) |
|
message(STATUS "python coverage enabled") |
|
set(PYTHON_EXECUTABLE coverage run -p) |
|
endif() |
|
|
|
#============================================================================= |
|
# get chip and chip manufacturer |
|
# |
|
px4_os_determine_build_chip() |
|
if(NOT PX4_CHIP_MANUFACTURER) |
|
message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP_MANUFACTURER") |
|
endif() |
|
if(NOT PX4_CHIP) |
|
message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP") |
|
endif() |
|
|
|
#============================================================================= |
|
# build flags |
|
# |
|
include(px4_add_common_flags) |
|
px4_add_common_flags() |
|
px4_os_add_flags() |
|
|
|
#============================================================================= |
|
# board cmake init (optional) |
|
# |
|
if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake) |
|
include(${PX4_BOARD_DIR}/cmake/init.cmake) |
|
endif() |
|
|
|
#============================================================================= |
|
# message, and airframe generation |
|
# |
|
include(px4_metadata) |
|
|
|
add_subdirectory(msg EXCLUDE_FROM_ALL) |
|
|
|
px4_generate_airframes_xml(BOARD ${PX4_BOARD}) |
|
|
|
#============================================================================= |
|
# external projects |
|
# |
|
set(ep_base ${PX4_BINARY_DIR}/external) |
|
set_property(DIRECTORY PROPERTY EP_BASE ${ep_base}) |
|
|
|
# add external project install folders to build |
|
# add the directories so cmake won't warn |
|
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}) |
|
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install) |
|
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/lib) |
|
link_directories(${ep_base}/Install/lib) |
|
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/include) |
|
include_directories(${ep_base}/Install/include) |
|
|
|
#============================================================================= |
|
# external modules |
|
# |
|
set(external_module_paths) |
|
if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "") |
|
message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}") |
|
add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules) |
|
|
|
foreach(external_module ${config_module_list_external}) |
|
add_subdirectory(${EXTERNAL_MODULES_LOCATION}/src/${external_module} external_modules/${external_module}) |
|
list(APPEND external_module_paths ${EXTERNAL_MODULES_LOCATION}/src/${external_module}) |
|
endforeach() |
|
endif() |
|
|
|
#============================================================================= |
|
# Testing - Automatic unit and integration testing with CTest |
|
# |
|
|
|
# optionally enable cmake testing (supported only on posix) |
|
option(CMAKE_TESTING "Configure test targets" OFF) |
|
if(${PX4_CONFIG} STREQUAL "px4_sitl_test") |
|
set(CMAKE_TESTING ON) |
|
endif() |
|
if(CMAKE_TESTING) |
|
include(CTest) # sets BUILD_TESTING variable |
|
endif() |
|
|
|
# enable test filtering to run only specific tests with the ctest -R regex functionality |
|
set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)") |
|
|
|
# if testing is enabled download and configure gtest |
|
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/) |
|
include(px4_add_gtest) |
|
if(BUILD_TESTING) |
|
include(gtest) |
|
endif() |
|
|
|
add_custom_target(test_results |
|
COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL |
|
DEPENDS |
|
px4 |
|
examples__dyn_hello |
|
test_mixer_multirotor |
|
USES_TERMINAL |
|
COMMENT "Running tests" |
|
WORKING_DIRECTORY ${PX4_BINARY_DIR}) |
|
set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE) |
|
|
|
#============================================================================= |
|
# subdirectories |
|
# |
|
add_library(parameters_interface INTERFACE) |
|
|
|
include(px4_add_library) |
|
add_subdirectory(src/lib EXCLUDE_FROM_ALL) |
|
|
|
add_subdirectory(platforms/${PX4_PLATFORM}/src/px4) |
|
add_subdirectory(platforms EXCLUDE_FROM_ALL) |
|
add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer |
|
|
|
if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt") |
|
add_subdirectory(${PX4_BOARD_DIR}) |
|
endif() |
|
|
|
foreach(module ${config_module_list}) |
|
add_subdirectory(src/${module}) |
|
endforeach() |
|
|
|
# must be the last module before firmware |
|
add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL) |
|
target_link_libraries(parameters_interface INTERFACE parameters) |
|
|
|
# firmware added last to generate the builtin for included modules |
|
add_subdirectory(platforms/${PX4_PLATFORM}) |
|
|
|
#============================================================================= |
|
# uORB graph generation: add a custom target 'uorb_graph' |
|
# |
|
set(uorb_graph_config ${PX4_BOARD}) |
|
|
|
set(graph_module_list "") |
|
foreach(module ${config_module_list}) |
|
set(graph_module_list "${graph_module_list}" "--src-path" "src/${module}") |
|
endforeach() |
|
|
|
add_custom_command(OUTPUT ${uorb_graph_config} |
|
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py |
|
${graph_module_list} |
|
--exclude-path src/examples |
|
--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config} |
|
WORKING_DIRECTORY ${PX4_SOURCE_DIR} |
|
COMMENT "Generating uORB graph" |
|
) |
|
add_custom_target(uorb_graph DEPENDS ${uorb_graph_config}) |
|
|
|
|
|
include(doxygen) |
|
include(metadata) |
|
include(package) |
|
|
|
# print size |
|
add_custom_target(size |
|
COMMAND size $<TARGET_FILE:px4> |
|
DEPENDS px4 |
|
WORKING_DIRECTORY ${PX4_BINARY_DIR} |
|
USES_TERMINAL |
|
)
|
|
|