px4_autopilot/cmake/px4_base.cmake

############################################################################
#
# Copyright (c) 2015 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.
#
############################################################################

#=============================================================================
#
#	Defined functions in this file
#
# 	utility functions
#
#		* px4_parse_function_args
#		* px4_join
#		* px4_add_module
#		* px4_add_common_flags
#		* px4_add_library
#

include(CMakeParseArguments)

#=============================================================================
#
#	px4_parse_function_args
#
#	This function simplifies usage of the cmake_parse_arguments module.
#	It is intended to be called by other functions.
#
#	Usage:
#		px4_parse_function_args(
#			NAME <name>
#			[ OPTIONS <list> ]
#			[ ONE_VALUE <list> ]
#			[ MULTI_VALUE <list> ]
#			REQUIRED <list>
#			ARGN <ARGN>)
#
#	Input:
#		NAME		: the name of the calling function
#		OPTIONS		: boolean flags
#		ONE_VALUE	: single value variables
#		MULTI_VALUE	: multi value variables
#		REQUIRED	: required arguments
#		ARGN		: the function input arguments, typically ${ARGN}
#
#	Output:
#		The function arguments corresponding to the following are set:
#		${OPTIONS}, ${ONE_VALUE}, ${MULTI_VALUE}
#
#	Example:
#		function test()
#			px4_parse_function_args(
#				NAME TEST
#				ONE_VALUE NAME
#				MULTI_VALUE LIST
#				REQUIRED NAME LIST
#				ARGN ${ARGN})
#			message(STATUS "name: ${NAME}")
#			message(STATUS "list: ${LIST}")
#		endfunction()
#
#		test(NAME "hello" LIST a b c)
#
#		OUTPUT:
#			name: hello
#			list: a b c
#
function(px4_parse_function_args)

	cmake_parse_arguments(IN "" "NAME" "OPTIONS;ONE_VALUE;MULTI_VALUE;REQUIRED;ARGN" "${ARGN}")
	cmake_parse_arguments(OUT "${IN_OPTIONS}" "${IN_ONE_VALUE}" "${IN_MULTI_VALUE}" "${IN_ARGN}")

	if (OUT_UNPARSED_ARGUMENTS)
		#message(FATAL_ERROR "${IN_NAME}: unparsed ${OUT_UNPARSED_ARGUMENTS}")
		# TODO: reenable
	endif()

	foreach(arg ${IN_REQUIRED})
		if (NOT OUT_${arg})
			if (NOT "${OUT_${arg}}" STREQUAL "0")
				message(FATAL_ERROR "${IN_NAME} requires argument ${arg}\nARGN: ${IN_ARGN}")
			endif()
		endif()
	endforeach()

	foreach(arg ${IN_OPTIONS} ${IN_ONE_VALUE} ${IN_MULTI_VALUE})
		set(${arg} ${OUT_${arg}} PARENT_SCOPE)
	endforeach()

endfunction()

#=============================================================================
#
#	px4_join
#
#	This function joins a list with a given separator. If list is not
#	passed, or is sent "", this will return the empty string.
#
#	Usage:
#		px4_join(OUT ${OUT} [ LIST ${LIST} ] GLUE ${GLUE})
#
#	Input:
#		LIST		: list to join
#		GLUE		: separator to use
#
#	Output:
#		OUT			: joined list
#
#	Example:
#		px4_join(OUT test_join LIST a b c GLUE ";")
#		test_join would then be:
#			"a;b;c"
#
function(px4_join)
	px4_parse_function_args(
		NAME px4_join
		ONE_VALUE OUT GLUE
		MULTI_VALUE LIST
		REQUIRED GLUE OUT
		ARGN ${ARGN})
	string (REPLACE ";" "${GLUE}" _TMP_STR "${LIST}")
	set(${OUT} ${_TMP_STR} PARENT_SCOPE)
endfunction()

#=============================================================================
#
#	px4_add_module
#
#	This function builds a static library from a module description.
#
#	Usage:
#		px4_add_module(MODULE <string>
#			[ MAIN <string> ]
#			[ STACK <string> ] !!!!!DEPRECATED, USE STACK_MAIN INSTEAD!!!!!!!!!
#			[ STACK_MAIN <string> ]
#			[ STACK_MAX <string> ]
#			[ COMPILE_FLAGS <list> ]
#			[ INCLUDES <list> ]
#			[ DEPENDS <string> ]
#			[ SRCS <list> ]
#			[ MODULE_CONFIG <list> ]
#			[ EXTERNAL ]
#			[ DYNAMIC ]
#			)
#
#	Input:
#		MODULE			: unique name of module
#		MAIN			: entry point, if not given, assumed to be library
#		STACK			: deprecated use stack main instead
#		STACK_MAIN		: size of stack for main function
#		STACK_MAX		: maximum stack size of any frame
#		COMPILE_FLAGS		: compile flags
#		LINK_FLAGS		: link flags
#		SRCS			: source files
#		MODULE_CONFIG		: yaml config file(s)
#		INCLUDES		: include directories
#		DEPENDS			: targets which this module depends on
#		EXTERNAL		: flag to indicate that this module is out-of-tree
#		DYNAMIC			: don't compile into the px4 binary, but build a separate dynamically loadable module (posix)
#		UNITY_BUILD		: merge all source files and build this module as a single compilation unit
#
#	Output:
#		Static library with name matching MODULE.
#		(Or a shared library when DYNAMIC is specified.)
#
#	Example:
#		px4_add_module(MODULE test
#			SRCS
#				file.cpp
#			STACK_MAIN 1024
#			DEPENDS
#				git_nuttx
#			)
#
function(px4_add_module)

	px4_parse_function_args(
		NAME px4_add_module
		ONE_VALUE MODULE MAIN STACK STACK_MAIN STACK_MAX PRIORITY
		MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS MODULE_CONFIG
		OPTIONS EXTERNAL DYNAMIC UNITY_BUILD
		REQUIRED MODULE MAIN
		ARGN ${ARGN})

	if(UNITY_BUILD AND (${PX4_PLATFORM} STREQUAL "nuttx"))
		# build standalone test library to catch compilation errors and provide sane output
		add_library(${MODULE}_original STATIC EXCLUDE_FROM_ALL ${SRCS})
		if(DEPENDS)
			add_dependencies(${MODULE}_original ${DEPENDS})
		endif()

		if(INCLUDES)
			target_include_directories(${MODULE}_original PRIVATE ${INCLUDES})
		endif()
		target_compile_definitions(${MODULE}_original PRIVATE PX4_MAIN=${MAIN}_app_main)
		target_compile_definitions(${MODULE}_original PRIVATE MODULE_NAME="${MAIN}_original")

		# unity build
		add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp
			COMMAND cat ${SRCS} > ${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp
			DEPENDS ${MODULE}_original ${DEPENDS} ${SRCS}
			COMMENT "${MODULE} merging source"
			WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
			)
		set_source_files_properties(${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp PROPERTIES GENERATED true)

		add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp)
		target_include_directories(${MODULE} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})

		if(DEPENDS)
			# using target_link_libraries for dependencies provides linking
			#  as well as interface include and libraries
			foreach(dep ${DEPENDS})
				get_target_property(dep_type ${dep} TYPE)
				if (${dep_type} STREQUAL "STATIC_LIBRARY")
					target_link_libraries(${MODULE}_original PRIVATE ${dep})
				else()
					add_dependencies(${MODULE}_original ${dep})
				endif()
			endforeach()
		endif()

	elseif(DYNAMIC AND MAIN AND (${OS} STREQUAL "posix"))
		add_library(${MODULE} SHARED ${SRCS})
		target_compile_definitions(${MODULE} PRIVATE ${MAIN}_main=px4_module_main)
		set_target_properties(${MODULE} PROPERTIES
			PREFIX ""
			SUFFIX ".px4mod"
			)
		target_link_libraries(${MODULE} PRIVATE px4)
		if(APPLE)
			# Postpone resolving symbols until loading time, which is the default on most systems, but not Mac.
			set_target_properties(${MODULE} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
		endif()
	else()
		add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
	endif()

	# all modules can potentially use parameters and uORB
	add_dependencies(${MODULE} uorb_headers)

	if(NOT DYNAMIC)
		target_link_libraries(${MODULE} PRIVATE prebuild_targets parameters_interface platforms__common px4_layer systemlib)
		set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})
		set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
	endif()

	# Pass variable to the parent px4_add_module.
	set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE)

	# set defaults if not set
	set(MAIN_DEFAULT MAIN-NOTFOUND)
	set(STACK_MAIN_DEFAULT 1024)
	set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)

	foreach(property MAIN STACK_MAIN PRIORITY)
		if(NOT ${property})
			set(${property} ${${property}_DEFAULT})
		endif()
		set_target_properties(${MODULE} PROPERTIES ${property} ${${property}})
	endforeach()

	# default stack max to stack main
	if(NOT STACK_MAX)
		set(STACK_MAX ${STACK_MAIN})
	endif()
	set_target_properties(${MODULE} PROPERTIES STACK_MAX ${STACK_MAX})

	if(${PX4_PLATFORM} STREQUAL "qurt")
		set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
	elseif(${PX4_PLATFORM} STREQUAL "nuttx")
		target_compile_options(${MODULE} PRIVATE -Wframe-larger-than=${STACK_MAX})
	endif()

	if(MAIN)
		target_compile_definitions(${MODULE} PRIVATE PX4_MAIN=${MAIN}_app_main)
		target_compile_definitions(${MODULE} PRIVATE MODULE_NAME="${MAIN}")
	else()
		target_compile_definitions(${MODULE} PRIVATE MODULE_NAME="${MODULE}")
	endif()

	if(COMPILE_FLAGS)
		target_compile_options(${MODULE} PRIVATE ${COMPILE_FLAGS})
	endif()

	if(INCLUDES)
		target_include_directories(${MODULE} PRIVATE ${INCLUDES})
	endif()

	if(DEPENDS)
		# using target_link_libraries for dependencies provides linking
		#  as well as interface include and libraries
		foreach(dep ${DEPENDS})
			get_target_property(dep_type ${dep} TYPE)
			if (${dep_type} STREQUAL "STATIC_LIBRARY")
				target_link_libraries(${MODULE} PRIVATE ${dep})
			else()
				add_dependencies(${MODULE} ${dep})
			endif()
		endforeach()
	endif()

	# join list variables to get ready to send to compiler
	foreach(prop LINK_FLAGS)
		if(${prop})
			px4_join(OUT ${prop} LIST ${${prop}} GLUE " ")
		endif()
	endforeach()

	foreach (prop LINK_FLAGS STACK_MAIN MAIN PRIORITY)
		if (${prop})
			set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
		endif()
	endforeach()

	if(MODULE_CONFIG)
		foreach(module_config ${MODULE_CONFIG})
			set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/${module_config})
		endforeach()
	endif()
endfunction()

#=============================================================================
#
#	px4_add_common_flags
#
#	Set the default build flags.
#
#	Usage:
#		px4_add_common_flags(
#			BOARD <in-string>
#			C_FLAGS <inout-variable>
#			CXX_FLAGS <inout-variable>
#			OPTIMIZATION_FLAGS <inout-variable>
#			EXE_LINKER_FLAGS <inout-variable>
#			INCLUDE_DIRS <inout-variable>
#			LINK_DIRS <inout-variable>
#			DEFINITIONS <inout-variable>)
#
#	Input:
#		BOARD					: board
#
#	Input/Output: (appends to existing variable)
#		C_FLAGS					: c compile flags variable
#		CXX_FLAGS				: c++ compile flags variable
#		OPTIMIZATION_FLAGS			: optimization compile flags variable
#		EXE_LINKER_FLAGS			: executable linker flags variable
#		INCLUDE_DIRS				: include directories
#		LINK_DIRS				: link directories
#		DEFINITIONS				: definitions
#
#	Example:
#		px4_add_common_flags(
#			BOARD px4_fmu-v2
#			C_FLAGS CMAKE_C_FLAGS
#			CXX_FLAGS CMAKE_CXX_FLAGS
#			OPTIMIZATION_FLAGS optimization_flags
#			EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
#			INCLUDES <list>)
#
function(px4_add_common_flags)

	set(inout_vars
		C_FLAGS CXX_FLAGS OPTIMIZATION_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)

	px4_parse_function_args(
		NAME px4_add_common_flags
		ONE_VALUE ${inout_vars} BOARD
		REQUIRED ${inout_vars}
		ARGN ${ARGN})

	set(warnings
		-Wall
		-Wextra
		-Werror

		-Warray-bounds
		-Wdisabled-optimization
		-Wdouble-promotion
		-Wfatal-errors
		-Wfloat-equal
		-Wformat-security
		-Winit-self
		-Wlogical-op
		-Wmissing-declarations
		-Wpointer-arith
		-Wshadow
		-Wuninitialized
		-Wunknown-pragmas
		-Wunused-variable

		-Wno-implicit-fallthrough # set appropriate level and update
		-Wno-missing-field-initializers
		-Wno-missing-include-dirs # TODO: fix and enable
		-Wno-unused-parameter
		)

	if (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
		# QuRT 6.4.X compiler identifies as Clang but does not support this option
		if (NOT ${PX4_PLATFORM} STREQUAL "qurt")
			list(APPEND warnings
				-Qunused-arguments
				-Wno-unused-const-variable
				-Wno-varargs
				-Wno-address-of-packed-member
				-Wno-unknown-warning-option
				-Wunused-but-set-variable
			)
		endif()
	else()
		list(APPEND warnings
			-Wunused-but-set-variable
			-Wformat=1
		)
	endif()

	set(_optimization_flags
		-fno-strict-aliasing
		-fomit-frame-pointer

		-fno-math-errno
		-funsafe-math-optimizations

		-ffunction-sections
		-fdata-sections
		)

	set(c_warnings
		-Wbad-function-cast
		-Wstrict-prototypes
		-Wmissing-prototypes
		-Wnested-externs
		)

	set(c_compile_flags
		-g
		-std=gnu99
		-fno-common
		)

	set(cxx_warnings
		-Wno-overloaded-virtual # TODO: fix and remove
		-Wreorder
		)

	set(cxx_compile_flags
		-g
		-fno-exceptions
		-fno-rtti
		-std=gnu++11
		-fno-threadsafe-statics
		-DCONFIG_WCHAR_BUILTIN
		-D__CUSTOM_FILE_IO__
		)

	# regular Clang or AppleClang
	if (CMAKE_CXX_COMPILER_ID MATCHES "Clang")
		# force color for clang (needed for clang + ccache)
		list(APPEND _optimization_flags
			-fcolor-diagnostics
		)
	else()
		list(APPEND _optimization_flags
			-fno-strength-reduce
			-fno-builtin-printf
		)

		# -fcheck-new is a no-op for Clang in general
		# and has no effect, but can generate a compile
		# error for some OS
		list(APPEND cxx_compile_flags
			-fcheck-new
		)
	endif()

	if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
		if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 4.9)
			# force color for gcc > 4.9
			list(APPEND _optimization_flags
				-fdiagnostics-color=always
			)
		endif()

		list(APPEND cxx_warnings
			-Wno-format-truncation # TODO: fix
		)
	endif()

	set(visibility_flags
		-fvisibility=hidden
		-include visibility.h
		)

	set(added_c_flags
		${c_compile_flags}
		${warnings}
		${c_warnings}
		${visibility_flags}
		)

	set(added_cxx_flags
		${cxx_compile_flags}
		${warnings}
		${cxx_warnings}
		${visibility_flags}
		)

	set(added_optimization_flags
		${_optimization_flags}
		)

	include_directories(
		${PX4_BINARY_DIR}
		${PX4_BINARY_DIR}/src
		${PX4_BINARY_DIR}/src/lib
		${PX4_BINARY_DIR}/src/modules

		${PX4_SOURCE_DIR}/src
		${PX4_SOURCE_DIR}/src/include
		${PX4_SOURCE_DIR}/src/lib
		${PX4_SOURCE_DIR}/src/lib/DriverFramework/framework/include
		${PX4_SOURCE_DIR}/src/lib/matrix
		${PX4_SOURCE_DIR}/src/modules
		${PX4_SOURCE_DIR}/src/platforms
		)

	string(TOUPPER ${PX4_BOARD} board_upper)
	string(REPLACE "-" "_" board_config ${board_upper})

	add_definitions(
		-DCONFIG_ARCH_BOARD_${board_config}
		-D__STDC_FORMAT_MACROS
		)

	# output
	foreach(var ${inout_vars})
		string(TOLOWER ${var} lower_var)
		set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
		#message(STATUS "set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
	endforeach()

endfunction()

#=============================================================================
#
#	px4_add_library
#
#	Like add_library but with optimization flag fixup.
#
function(px4_add_library target)
	add_library(${target} ${ARGN})

	target_compile_definitions(${target} PRIVATE MODULE_NAME="${target}")

	# all PX4 libraries have access to parameters and uORB
	add_dependencies(${target} uorb_headers)
	target_link_libraries(${target} PRIVATE prebuild_targets parameters_interface uorb_msgs)

	# TODO: move to platform layer
	if ("${PX4_PLATFORM}" MATCHES "nuttx")
		target_link_libraries(${target} PRIVATE m nuttx_c)
	endif()

	# Pass variable to the parent px4_add_module.
	set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE)

	set_property(GLOBAL APPEND PROPERTY PX4_LIBRARIES ${target})
	set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
endfunction()

#=============================================================================
#
#	px4_find_python_module
#
#	Find a required python module
#
#   Usage
#		px4_find_python_module(module_name [REQUIRED])
#
function(px4_find_python_module module)
	string(TOUPPER ${module} module_upper)
	if(NOT PY_${module_upper})
		if(ARGC GREATER 1 AND ARGV1 STREQUAL "REQUIRED")
			set(PY_${module}_FIND_REQUIRED TRUE)
		endif()
		# A module's location is usually a directory, but for binary modules
		# it's a .so file.
		execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c"
			"import re, ${module}; print(re.compile('/__init__.py.*').sub('',${module}.__file__))"
			RESULT_VARIABLE _${module}_status
			OUTPUT_VARIABLE _${module}_location
			ERROR_QUIET
			OUTPUT_STRIP_TRAILING_WHITESPACE)
		if(NOT _${module}_status)
			set(PY_${module_upper} ${_${module}_location} CACHE STRING
				"Location of Python module ${module}")
		endif()
	endif()
	find_package_handle_standard_args(PY_${module}
		"couldn't find python module ${module}:
		\nfor debian systems try: \
		\n\tsudo apt-get install python-${module} \
		\nor for all other OSs/debian: \
		\n\tsudo -H pip install ${module}\n" PY_${module_upper})
	#if (NOT PY_${module}_FOUND)
		#message(FATAL_ERROR "python module not found, exiting")
	#endif()
endfunction(px4_find_python_module)