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NuttX upgrade cmake wrapper (#7873)

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* NuttX cmake

* px4_macros:Pass the stringified predicate as second arg to static assert

   CC_ASSERT mapes to the c++ static_assert or provides the same
   funtionality for c via the other macros. The c++ static assert
   takes 2 argumants the prdicate and a message. This fixes the
   lacking second argument.

* Updated nuttx and apps submodule to upstream nuttx 7.21+==master

   This is the latest uptake of upstream nuttx and apps.

* ROMFS generate with xxd instead of objcopy

* delete nuttx-patches

* NuttX update submodules to latest px4_nuttx-master

* fix nuttx apps and board dependency

* docker_run update to latest container 2017-08-29

* cmake ROMFS portable sed usage

* NuttX update submodules to latest px4_nuttx-master
This commit is contained in:
Daniel Agar
2017-09-29 10:13:51 -04:00
parent 11e518f494
commit 01b3e6fd25
159 changed files with 3220 additions and 4256 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt
+72 -73
View File
@@ -33,88 +33,87 @@
if(NOT GENERATE_RTPS_BRIDGE MATCHES "off")
find_program(FASTRTPSGEN fastrtpsgen
PATHS $ENV{FASTRTPSGEN_DIR})
if(NOT FASTRTPSGEN)
message(WARNING "WARNING: Unable to find fastrtpsgen. Building PX4 without RTPS bridge support")
px4_add_module(
MODULE modules__micrortps_bridge__micrortps_client
MAIN micrortps_client
SRCS
microRTPS_client_dummy.cpp
DEPENDS
platforms__common
)
return()
endif()
find_program(FASTRTPSGEN fastrtpsgen PATHS $ENV{FASTRTPSGEN_DIR})
if(NOT FASTRTPSGEN)
message(STATUS "WARNING: Unable to find fastrtpsgen. Building PX4 without RTPS bridge support")
px4_add_module(
MODULE modules__micrortps_bridge__micrortps_client
MAIN micrortps_client
SRCS
microRTPS_client_dummy.cpp
DEPENDS
platforms__common
)
return()
endif()
include_directories(.)
include_directories(${CMAKE_CURRENT_BINARY_DIR})
include_directories(.)
include_directories(${CMAKE_CURRENT_BINARY_DIR})
include_directories(${PX4_SOURCE_DIR}/src/lib/micro-CDR/include)
include_directories(${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr)
# Do not delete everything in the current dir
set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
set(topic_msg_path ${PX4_SOURCE_DIR}/msg)
# Do not delete everything in the current dir
set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
set(topic_msg_path ${PX4_SOURCE_DIR}/msg)
set(send_topic_files)
foreach(topic ${config_rtps_send_topics})
list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
endforeach()
set(send_topic_files)
foreach(topic ${config_rtps_send_topics})
list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
endforeach()
set(receive_topic_files)
foreach(topic ${config_rtps_receive_topics})
list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
endforeach()
set(receive_topic_files)
foreach(topic ${config_rtps_receive_topics})
list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
endforeach()
foreach(topic ${config_rtps_send_topics})
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.cpp)
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.h)
endforeach()
foreach(topic ${config_rtps_send_topics})
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.cpp)
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Publisher.h)
endforeach()
foreach(topic ${config_rtps_receive_topics})
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.cpp)
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.h)
endforeach()
foreach(topic ${config_rtps_receive_topics})
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.cpp)
list(APPEND topic_bridge_files_out ${msg_out_path}/${topic}_Subscriber.h)
endforeach()
if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
set(topic_bridge_files_out microRTPS_client.cpp microRTPS_transport.cpp microRTPS_transport.h)
set(topic_bridge_files_out microRTPS_client.cpp microRTPS_transport.cpp microRTPS_transport.h)
set(send_topic_files_opt)
if (NOT "${send_topic_files}" STREQUAL "")
set(send_topic_opt "-s")
endif()
set(send_topic_files_opt)
if (NOT "${send_topic_files}" STREQUAL "")
set(send_topic_opt "-s")
endif()
set(receive_topic_files_opt)
if (NOT "${receive_topic_files}" STREQUAL "")
set(receive_topic_opt "-r")
endif()
set(receive_topic_files_opt)
if (NOT "${receive_topic_files}" STREQUAL "")
set(receive_topic_opt "-r")
endif()
add_custom_command(OUTPUT ${topic_bridge_files_out}
COMMAND ${PYTHON_EXECUTABLE}
${PX4_SOURCE_DIR}/Tools/generate_microRTPS_bridge.py
-f $ENV{FASTRTPSGEN_DIR}
${send_topic_opt} ${send_topic_files}
${receive_topic_opt} ${receive_topic_files}
-t ${topic_msg_path}
-u ${msg_out_path}
DEPENDS ${DEPENDS} ${send_topic_files} ${receive_topic_files}
COMMENT "Generating RTPS topic bridge"
VERBATIM
)
add_custom_command(OUTPUT ${topic_bridge_files_out}
COMMAND ${PYTHON_EXECUTABLE}
${PX4_SOURCE_DIR}/Tools/generate_microRTPS_bridge.py
-f $ENV{FASTRTPSGEN_DIR}
${send_topic_opt} ${send_topic_files}
${receive_topic_opt} ${receive_topic_files}
-t ${topic_msg_path}
-u ${msg_out_path}
DEPENDS ${DEPENDS} ${send_topic_files} ${receive_topic_files}
COMMENT "Generating RTPS topic bridge"
VERBATIM
)
add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out})
px4_add_module(
MODULE modules__micrortps_bridge__micrortps_client
MAIN micrortps_client
STACK_MAIN 4096
SRCS
${msg_out_path}/microRTPS_transport.cpp
${msg_out_path}/microRTPS_client.cpp
microRTPS_client_main.cpp
DEPENDS
platforms__common
topic_bridge_files
)
endif()
endif()
px4_add_module(
MODULE modules__micrortps_bridge__micrortps_client
MAIN micrortps_client
STACK_MAIN 4096
SRCS
microRTPS_transport.cpp
microRTPS_client.cpp
microRTPS_client.h
microRTPS_client_main.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
endif()
src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+2 -1
View File
@@ -35,15 +35,16 @@
#include <cinttypes>
#include <cstdio>
#include <cstdlib>
#include <ctime>
#include <termios.h>
#include <px4_config.h>
#include <px4_getopt.h>
#include <px4_module.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include <px4_time.h>
#include <px4_module.h>
extern "C" __EXPORT int micrortps_client_main(int argc, char *argv[]);
src/modules/px4iofirmware/CMakeLists.txt
+14 -107
View File
@@ -31,112 +31,19 @@
#
############################################################################
# kill all flags above us, this is a different board (io)
set_directory_properties(PROPERTIES
INCLUDE_DIRECTORIES ""
LINK_DIRECTORIES ""
COMPILE_DEFINITIONS ""
)
set(c_flags)
set(exe_linker_flags)
set(cxx_flags)
set(optimization_flags)
set(include_dirs)
set(link_dirs)
set(definitions)
px4_nuttx_configure(HWCLASS m3 CONFIG nsh)
px4_os_prebuild_targets(OUT io_prebuild_targets
BOARD ${config_io_board}
THREADS ${THREADS})
px4_os_add_flags(
BOARD ${config_io_board}
C_FLAGS c_flags
CXX_FLAGS cxx_flags
OPTIMIZATION_FLAGS optimization_flags
EXE_LINKER_FLAGS exe_linker_flags
INCLUDE_DIRS include_dirs
LINK_DIRS link_dirs
DEFINITIONS definitions)
px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags};${optimization_flags}" GLUE " ")
px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags};${optimization_flags}" GLUE " ")
include_directories(
${include_dirs}
${PX4_BINARY_DIR}/src/modules/systemlib/mixer
)
link_directories(${link_dirs})
add_definitions(${definitions})
set(srcs
${PX4_SOURCE_DIR}/src/drivers/boards/${config_io_board}/px4io_init.c
${PX4_SOURCE_DIR}/src/drivers/boards/${config_io_board}/px4io_timer_config.c
${PX4_SOURCE_DIR}/src/drivers/stm32/drv_hrt.c
${PX4_SOURCE_DIR}/src/drivers/stm32/drv_io_timer.c
${PX4_SOURCE_DIR}/src/drivers/stm32/drv_pwm_servo.c
${PX4_SOURCE_DIR}/src/lib/rc/dsm.cpp
${PX4_SOURCE_DIR}/src/lib/rc/sbus.cpp
${PX4_SOURCE_DIR}/src/lib/rc/st24.cpp
${PX4_SOURCE_DIR}/src/lib/rc/sumd.cpp
${PX4_SOURCE_DIR}/src/lib/rc/common_rc.cpp
${PX4_SOURCE_DIR}/src/modules/systemlib/mixer/mixer.cpp
${PX4_SOURCE_DIR}/src/modules/systemlib/mixer/mixer_group.cpp
${PX4_SOURCE_DIR}/src/modules/systemlib/mixer/mixer_helicopter.cpp
${PX4_SOURCE_DIR}/src/modules/systemlib/mixer/mixer_multirotor.cpp
${PX4_SOURCE_DIR}/src/modules/systemlib/mixer/mixer_simple.cpp
${PX4_SOURCE_DIR}/src/modules/systemlib/perf_counter.c
${PX4_SOURCE_DIR}/src/modules/systemlib/pwm_limit/pwm_limit.c
adc.c
controls.c
mixer.cpp
px4io.c
registers.c
safety.c
)
if(${config_io_board} STREQUAL "px4io-v2")
list(APPEND srcs
px4_add_module(
MODULE modules__px4iofirmware
SRCS
../systemlib/hx_stream.c
../systemlib/perf_counter.c
../systemlib/pwm_limit/pwm_limit.c
adc.c
controls.c
mixer.cpp
px4io.c
registers.c
safety.c
serial.c
${PX4_SOURCE_DIR}/src/modules/systemlib/hx_stream.c
)
endif()
set(fw_io_name ${config_io_board})
add_executable(${fw_io_name} ${srcs})
add_dependencies(${fw_io_name}
io_prebuild_targets
mixer_gen
msg_gen
nuttx_export_${config_io_board}
DEPENDS
platforms__common
)
set(nuttx_export_dir ${PX4_BINARY_DIR}/${config_io_board}/NuttX/nuttx/nuttx-export)
set(main_link_flags
"-T${nuttx_export_dir}/build/ld.script"
"-Wl,-Map=${PX4_BINARY_DIR}/${config_io_board}/main.map"
)
px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
set_target_properties(${fw_io_name} PROPERTIES LINK_FLAGS ${main_link_flags})
target_link_libraries(${fw_io_name}
-Wl,--start-group
apps nuttx nosys m gcc
${config_io_extra_libs}
-Wl,--end-group
)
px4_nuttx_create_bin(
OUT ${CMAKE_CURRENT_BINARY_DIR}/${fw_io_name}.bin
EXE ${fw_io_name}
)
add_custom_target(fw_io DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/${fw_io_name}.bin)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/modules/systemlib/px4_macros.h
+1 -1
View File
@@ -96,7 +96,7 @@
#if !defined(CCASSERT)
#if defined(static_assert)
# define CCASSERT(predicate) static_assert(predicate)
# define CCASSERT(predicate) static_assert(predicate, STRINGIFY(predicate))
# else
# define CCASSERT(predicate) _x_CCASSERT_LINE(predicate, __LINE__)
# if !defined(_x_CCASSERT_LINE)
src/modules/uORB/CMakeLists.txt
+9 -18
View File
@@ -32,29 +32,20 @@
############################################################################
# this includes the generated topics directory
include_directories(
${CMAKE_CURRENT_BINARY_DIR}
)
link_libraries(msg_gen)
set(SRCS
uORBUtils.cpp
uORB.cpp
uORBMain.cpp
Publication.cpp
Subscription.cpp
uORBManager.cpp
uORBDevices.cpp
)
include_directories(${CMAKE_CURRENT_BINARY_DIR})
px4_add_module(
MODULE modules__uORB
MAIN uorb
STACK_MAIN 2100
COMPILE_FLAGS
SRCS ${SRCS}
SRCS
Publication.cpp
Subscription.cpp
uORB.cpp
uORBDevices.cpp
uORBMain.cpp
uORBManager.cpp
uORBUtils.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/modules/uavcan/CMakeLists.txt
+4
View File
@@ -34,6 +34,10 @@
set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")
if(NOT config_uavcan_num_ifaces)
message(FATAL_ERROR "config_uavcan_num_ifaces not set")
endif()
string(TOUPPER "${OS}" OS_UPPER)
add_definitions(
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
src/modules/uavcanesc/CMakeLists.txt
+11 -15
View File
@@ -46,22 +46,19 @@ add_definitions(
-DUAVCAN_STM32_TIMER_NUMBER=2
-DUAVCAN_USE_CPP03=ON
-DUAVCAN_USE_EXTERNAL_SNPRINT
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
add_subdirectory(../uavcan/libuavcan uavcanesc_libuavcan)
set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/modules/uavcan/libuavcan)
add_subdirectory(${LIBUAVCAN_DIR} uavcanesc_libuavcan)
add_dependencies(uavcan platforms__nuttx)
include_directories(../../drivers/bootloaders/include)
include_directories(../uavcan/libuavcan/libuavcan/include)
include_directories(../uavcan/libuavcan/libuavcan/include/dsdlc_generated)
include_directories(../uavcan/libuavcan/libuavcan_drivers/posix/include)
include_directories(../uavcan/libuavcan/libuavcan_drivers/stm32/driver/include)
include_directories(../systemlib/flashparams)
include_directories(${PX4_SOURCE_DIR}/src/drivers/bootloaders/include)
include_directories(${PX4_SOURCE_DIR}/src/modules/systemlib/flashparams)
include_directories(${LIBUAVCAN_DIR}/libuavcan/include)
include_directories(${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated)
include_directories(${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include)
include_directories(${LIBUAVCAN_DIR}/libuavcan_drivers/stm32/driver/include)
px4_add_module(
MODULE modules__uavcanesc
@@ -76,9 +73,8 @@ px4_add_module(
indication_controller.cpp
led.cpp
uavcanesc_params.c
../systemlib/flashparams/flashparams.c
../systemlib/flashparams/flashfs.c
${PX4_SOURCE_DIR}/src/modules/systemlib/flashparams/flashparams.c
${PX4_SOURCE_DIR}/src/modules/systemlib/flashparams/flashfs.c
DEPENDS
platforms__common
uavcan
src/modules/uavcannode/CMakeLists.txt
+11 -12
View File
@@ -46,21 +46,18 @@ add_definitions(
-DUAVCAN_STM32_TIMER_NUMBER=2
-DUAVCAN_USE_CPP03=ON
-DUAVCAN_USE_EXTERNAL_SNPRINT
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
add_subdirectory(../uavcan/libuavcan uavcannode_libuavcan)
set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/modules/uavcan/libuavcan)
add_subdirectory(${LIBUAVCAN_DIR} uavcannode_libuavcan)
add_dependencies(uavcan platforms__nuttx)
include_directories(../../drivers/bootloaders/include)
include_directories(../uavcan/libuavcan/libuavcan/include)
include_directories(../uavcan/libuavcan/libuavcan/include/dsdlc_generated)
include_directories(../uavcan/libuavcan/libuavcan_drivers/posix/include)
include_directories(../uavcan/libuavcan/libuavcan_drivers/stm32/driver/include)
include_directories(${PX4_SOURCE_DIR}/src/drivers/bootloaders/include)
include_directories(${LIBUAVCAN_DIR}/libuavcan/include)
include_directories(${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated)
include_directories(${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include)
include_directories(${LIBUAVCAN_DIR}/libuavcan_drivers/stm32/driver/include)
px4_add_module(
MODULE modules__uavcannode
@@ -83,4 +80,6 @@ px4_add_module(
uavcan
)
target_link_libraries(modules__uavcannode uavcan uavcan_stm32_driver)
target_link_libraries(modules__uavcannode PUBLIC uavcan uavcan_stm32_driver)
set_property(GLOBAL APPEND PROPERTY PX4_LIBRARIES uavcan_stm32_driver)