mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 15:38:52 +08:00
cmake organize code coverage handling and base
This commit is contained in:
Daniel Agar
@@ -0,0 +1,106 @@
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############################################################################
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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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find_program(LCOV_PATH lcov)
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find_program(GENHTML_PATH genhtml)
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# add code coverage build type
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set(CMAKE_C_FLAGS_COVERAGE "--coverage -ftest-coverage -fprofile-arcs -O0 -fno-default-inline -fno-inline"
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CACHE STRING "Flags used by the C compiler during coverage builds" FORCE)
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set(CMAKE_CXX_FLAGS_COVERAGE "--coverage -ftest-coverage -fprofile-arcs -O0 -fno-default-inline -fno-inline -fno-elide-constructors"
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CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE)
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set(CMAKE_EXE_LINKER_FLAGS_COVERAGE "--coverage -ftest-coverage -lgcov"
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CACHE STRING "Flags used for linking binaries during coverage builds" FORCE)
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mark_as_advanced(CMAKE_CXX_FLAGS_COVERAGE CMAKE_C_FLAGS_COVERAGE CMAKE_EXE_LINKER_FLAGS_COVERAGE)
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# Param _targetname The name of new the custom make target
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# Param _testrunner The name of the target which runs the tests.
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#
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# Param _outputname lcov output is generated as _outputname.info
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# HTML report is generated in _outputname/index.html
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# Optional fourth parameter is passed as arguments to _testrunner
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# Pass them in list form, e.g.: "-j;2" for -j 2
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FUNCTION(SETUP_TARGET_FOR_COVERAGE _targetname _testrunner _outputname)
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set(options NONE)
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set(oneValueArgs NAME)
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set(multiValueArgs EXECUTABLE EXECUTABLE_ARGS DEPENDENCIES)
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cmake_parse_arguments(Coverage "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
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if (NOT LCOV_PATH)
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message(FATAL_ERROR "lcov required")
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endif()
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if (NOT GENHTML_PATH)
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message(FATAL_ERROR "genhtml required")
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endif()
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set(coverage_info "${CMAKE_BINARY_DIR}/coverage.info")
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set(coverage_cleaned "${coverage_info}.cleaned")
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separate_arguments(test_command UNIX_COMMAND "${_testrunner}")
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# Setup target
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add_custom_COMMAND(OUTPUT ${coverage_info}
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# Cleanup lcov
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COMMAND ${LCOV_PATH} --quiet --directory . --zerocounters
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# Run tests
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COMMAND ${test_command} ${ARGV3}
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# Capturing lcov counters and generating report
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COMMAND ${LCOV_PATH} --quiet --base-directory ${CMAKE_BINARY_DIR} --directory ${CMAKE_SOURCE_DIR} --capture --output-file ${coverage_info}
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DEPENDS px4
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USES_TERMINAL
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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COMMENT "Running code coverage and generating report."
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)
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add_custom_target(${_targetname} DEPENDS ${coverage_info})
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add_custom_command(OUTPUT ${coverage_cleaned}
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COMMAND COMMAND ${LCOV_PATH} --quiet --remove ${coverage_info} 'tests/*' '/usr/*' --output-file ${coverage_cleaned}
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DEPENDS ${coverage_info}
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)
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add_custom_target(${_targetname}_genhtml
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COMMAND ${GENHTML_PATH} --quiet -o coverage-html ${coverage_cleaned}
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DEPENDS ${coverage_cleaned}
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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)
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endfunction() # SETUP_TARGET_FOR_COVERAGE
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+28
-749
@@ -38,12 +38,8 @@
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# utility functions
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#
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# * px4_parse_function_args
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# * px4_add_git_submodule
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# * px4_prepend_string
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# * px4_join
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# * px4_add_module
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# * px4_generate_messages
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# * px4_add_upload
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# * px4_add_common_flags
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# * px4_add_optimization_flags_for_target
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# * px4_add_executable
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@@ -116,81 +112,6 @@ function(px4_parse_function_args)
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endforeach()
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endfunction()
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#=============================================================================
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#
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# px4_add_git_submodule
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#
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# This function add a git submodule target.
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#
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# Usage:
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# px4_add_git_submodule(TARGET <target> PATH <path>)
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#
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# Input:
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# PATH : git submodule path
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#
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# Output:
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# TARGET : git target
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#
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# Example:
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# px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
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#
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function(px4_add_git_submodule)
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px4_parse_function_args(
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NAME px4_add_git_submodule
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ONE_VALUE TARGET PATH
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REQUIRED TARGET PATH
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ARGN ${ARGN})
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string(REPLACE "/" "_" NAME ${PATH})
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add_custom_command(OUTPUT ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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COMMAND touch ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
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DEPENDS ${PX4_SOURCE_DIR}/.gitmodules
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)
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add_custom_target(${TARGET}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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# todo:Not have 2 list of submodules one (see the end of Tools/check_submodules.sh and Firmware/CMakeLists.txt)
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# using the list of submodules from the CMake file to drive the test
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# COMMAND Tools/check_submodules.sh ${PATH}
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DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
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)
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endfunction()
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#=============================================================================
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#
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# px4_prepend_string
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#
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# This function prepends a string to a list
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#
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# Usage:
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# px4_prepend_string(OUT <output-list> STR <string> LIST <list>)
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#
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# Input:
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# STR : string to prepend
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# LIST : list to prepend to
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#
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# Output:
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# ${OUT} : prepended list
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#
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# Example:
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# px4_prepend_string(OUT test_str STR "path/to/" LIST src/file1.cpp src/file2.cpp)
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# test_str would then be:
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# path/to/src/file1.cpp
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# path/to/src/file2.cpp
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#
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function(px4_prepend_string)
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px4_parse_function_args(
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NAME px4_prepend_string
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ONE_VALUE OUT STR
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MULTI_VALUE LIST
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REQUIRED OUT STR LIST
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ARGN ${ARGN})
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set(${OUT})
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foreach(file ${LIST})
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list(APPEND ${OUT} ${STR}${file})
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endforeach()
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set(${OUT} ${${OUT}} PARENT_SCOPE)
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endfunction()
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#=============================================================================
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#
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# px4_join
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@@ -248,7 +169,7 @@ endfunction()
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# STACK : deprecated use stack main instead
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# STACK_MAIN : size of stack for main function
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# STACK_MAX : maximum stack size of any frame
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# COMPILE_FLAGS : compile flags
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# COMPILE_FLAGS : compile flags
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# LINK_FLAGS : link flags
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# SRCS : source files
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# INCLUDES : include directories
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@@ -277,7 +198,7 @@ function(px4_add_module)
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REQUIRED MODULE
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ARGN ${ARGN})
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if(EXTERNAL)
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if (EXTERNAL)
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px4_mangle_name("${EXTERNAL_MODULES_LOCATION}/src/${MODULE}" MODULE)
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endif()
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@@ -352,260 +273,6 @@ function(px4_add_module)
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endfunction()
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#=============================================================================
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#
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# px4_generate_messages
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#
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# This function generates source code from ROS msg definitions.
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#
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# Usage:
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# px4_generate_messages(TARGET <target> MSGS <msg-files>)
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#
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# Input:
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# MSG_FILES : the ROS msgs to generate files from
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# OS : the operating system selected
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# DEPENDS : dependencies
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#
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# Output:
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# TARGET : the message generation target
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#
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# Example:
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# px4_generate_messages(TARGET <target>
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# MSG_FILES <files> OS <operating-system>
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# [ DEPENDS <dependencies> ]
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# )
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#
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function(px4_generate_messages)
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px4_parse_function_args(
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NAME px4_generate_messages
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OPTIONS VERBOSE
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ONE_VALUE OS TARGET
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MULTI_VALUE MSG_FILES DEPENDS INCLUDES
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REQUIRED MSG_FILES OS TARGET
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ARGN ${ARGN})
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if("${config_nuttx_config}" STREQUAL "bootloader")
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else()
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set(QUIET)
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if(NOT VERBOSE)
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set(QUIET "-q")
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endif()
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# headers
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set(msg_out_path ${PX4_BINARY_DIR}/src/modules/uORB/topics)
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set(msg_list)
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foreach(msg_file ${MSG_FILES})
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get_filename_component(msg ${msg_file} NAME_WE)
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list(APPEND msg_list ${msg})
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endforeach()
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set(msg_files_out)
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foreach(msg ${msg_list})
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list(APPEND msg_files_out ${msg_out_path}/${msg}.h)
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endforeach()
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add_custom_command(OUTPUT ${msg_files_out}
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COMMAND ${PYTHON_EXECUTABLE}
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Tools/px_generate_uorb_topic_files.py
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--headers
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${QUIET}
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-f ${MSG_FILES}
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-i ${INCLUDES}
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-o ${msg_out_path}
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-e msg/templates/uorb
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-t ${PX4_BINARY_DIR}/topics_temporary_header
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DEPENDS ${DEPENDS} ${MSG_FILES}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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COMMENT "Generating uORB topic headers"
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VERBATIM
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)
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# !sources
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set(msg_source_out_path ${PX4_BINARY_DIR}/topics_sources)
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set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
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foreach(msg ${msg_list})
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list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
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endforeach()
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add_custom_command(OUTPUT ${msg_source_files_out}
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COMMAND ${PYTHON_EXECUTABLE}
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Tools/px_generate_uorb_topic_files.py
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--sources
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${QUIET}
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-f ${MSG_FILES}
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-i ${INCLUDES}
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-o ${msg_source_out_path}
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-e msg/templates/uorb
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-t ${PX4_BINARY_DIR}/topics_temporary_sources
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DEPENDS ${DEPENDS} ${MSG_FILES}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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COMMENT "Generating uORB topic sources"
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VERBATIM
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)
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set_source_files_properties(${msg_source_files_out} PROPERTIES GENERATED TRUE)
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# multi messages for target OS
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set(msg_multi_out_path
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${PX4_BINARY_DIR}/src/platforms/${OS}/px4_messages)
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set(msg_multi_files_out)
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foreach(msg ${msg_list})
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list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
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endforeach()
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add_custom_command(OUTPUT ${msg_multi_files_out}
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COMMAND ${PYTHON_EXECUTABLE}
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Tools/px_generate_uorb_topic_files.py
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--headers
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${QUIET}
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-f ${MSG_FILES}
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-i ${INCLUDES}
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-o ${msg_multi_out_path}
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-e msg/templates/px4/uorb
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-t ${PX4_BINARY_DIR}/multi_topics_temporary/${OS}
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-p "px4_"
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DEPENDS ${DEPENDS} ${MSG_FILES}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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COMMENT "Generating uORB topic multi headers for ${OS}"
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VERBATIM
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)
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px4_add_library(${TARGET}
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${msg_source_files_out}
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${msg_multi_files_out}
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${msg_files_out}
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)
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endif()
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endfunction()
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#=============================================================================
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#
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# px4_add_upload
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#
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# This function generates source code from ROS msg definitions.
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#
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# Usage:
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# px4_add_upload(OUT <target> BUNDLE <file.px4>)
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#
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# Input:
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# BUNDLE : the firmware.px4 file
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# OS : the operating system
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# BOARD : the board
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#
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# Output:
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# OUT : the firmware target
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#
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# Example:
|
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# px4_add_upload(OUT upload
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# BUNDLE main.px4
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# )
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#
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function(px4_add_upload)
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px4_parse_function_args(
|
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NAME px4_add_upload
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ONE_VALUE OS BOARD OUT BUNDLE
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REQUIRED OS BOARD OUT BUNDLE
|
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ARGN ${ARGN})
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set(serial_ports)
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if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
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list(APPEND serial_ports
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||||
/dev/serial/by-id/*_PX4_*
|
||||
/dev/serial/by-id/usb-3D_Robotics*
|
||||
/dev/serial/by-id/usb-The_Autopilot*
|
||||
/dev/serial/by-id/usb-Bitcraze*
|
||||
/dev/serial/by-id/pci-3D_Robotics*
|
||||
/dev/serial/by-id/pci-Bitcraze*
|
||||
/dev/serial/by-id/usb-Gumstix*
|
||||
)
|
||||
elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
|
||||
list(APPEND serial_ports
|
||||
/dev/tty.usbmodemPX*,/dev/tty.usbmodem*
|
||||
)
|
||||
elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Windows")
|
||||
foreach(port RANGE 32 0)
|
||||
list(APPEND serial_ports
|
||||
"COM${port}")
|
||||
endforeach()
|
||||
endif()
|
||||
px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",")
|
||||
add_custom_target(${OUT}
|
||||
COMMAND ${PYTHON_EXECUTABLE}
|
||||
${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
|
||||
DEPENDS ${BUNDLE}
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
COMMENT "uploading ${BUNDLE}"
|
||||
VERBATIM
|
||||
USES_TERMINAL
|
||||
)
|
||||
endfunction()
|
||||
|
||||
|
||||
function(px4_add_adb_push)
|
||||
px4_parse_function_args(
|
||||
NAME px4_add_upload
|
||||
ONE_VALUE OS BOARD OUT DEST
|
||||
MULTI_VALUE FILES DEPENDS
|
||||
REQUIRED OS BOARD OUT FILES DEPENDS DEST
|
||||
ARGN ${ARGN})
|
||||
|
||||
add_custom_target(${OUT}
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
|
||||
DEPENDS ${DEPENDS}
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
COMMENT "uploading ${BUNDLE}"
|
||||
VERBATIM
|
||||
USES_TERMINAL
|
||||
)
|
||||
endfunction()
|
||||
|
||||
function(px4_add_adb_push_to_bebop)
|
||||
px4_parse_function_args(
|
||||
NAME px4_add_upload_to_bebop
|
||||
ONE_VALUE OS BOARD OUT DEST
|
||||
MULTI_VALUE FILES DEPENDS
|
||||
REQUIRED OS BOARD OUT FILES DEPENDS DEST
|
||||
ARGN ${ARGN})
|
||||
|
||||
add_custom_target(${OUT}
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
|
||||
DEPENDS ${DEPENDS}
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
COMMENT "uploading ${BUNDLE}"
|
||||
VERBATIM
|
||||
USES_TERMINAL
|
||||
)
|
||||
endfunction()
|
||||
|
||||
function(px4_add_scp_push)
|
||||
px4_parse_function_args(
|
||||
NAME px4_add_upload
|
||||
ONE_VALUE OS BOARD OUT DEST
|
||||
MULTI_VALUE FILES DEPENDS
|
||||
REQUIRED OS BOARD OUT FILES DEPENDS DEST
|
||||
ARGN ${ARGN})
|
||||
|
||||
add_custom_target(${OUT}
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
|
||||
DEPENDS ${DEPENDS}
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
COMMENT "uploading ${BUNDLE}"
|
||||
VERBATIM
|
||||
USES_TERMINAL
|
||||
)
|
||||
endfunction()
|
||||
|
||||
function(px4_add_upload_aero)
|
||||
px4_parse_function_args(
|
||||
NAME px4_add_upload_aero
|
||||
ONE_VALUE OS BOARD OUT BUNDLE
|
||||
REQUIRED OS BOARD OUT BUNDLE
|
||||
ARGN ${ARGN})
|
||||
|
||||
add_custom_target(${OUT}
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/aero_upload.sh ${BUNDLE}
|
||||
DEPENDS ${BUNDLE}
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
COMMENT "uploading ${BUNDLE}"
|
||||
VERBATIM
|
||||
USES_TERMINAL
|
||||
)
|
||||
endfunction()
|
||||
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_add_common_flags
|
||||
@@ -657,27 +324,21 @@ function(px4_add_common_flags)
|
||||
|
||||
set(warnings
|
||||
-Wall
|
||||
-Warray-bounds
|
||||
-Werror
|
||||
-Wextra
|
||||
-Wno-sign-compare
|
||||
-Wshadow
|
||||
-Wfloat-equal
|
||||
-Wpointer-arith
|
||||
-Wmissing-declarations
|
||||
-Wno-unused-parameter
|
||||
-Werror=format-security
|
||||
-Werror=array-bounds
|
||||
-Wfatal-errors
|
||||
-Werror=unused-variable
|
||||
-Werror=reorder
|
||||
-Werror=uninitialized
|
||||
-Werror=init-self
|
||||
#-Wcast-qual - generates spurious noreturn attribute warnings,
|
||||
# try again later
|
||||
#-Wconversion - would be nice, but too many "risky-but-safe"
|
||||
# conversions in the code
|
||||
#-Wcast-align - would help catch bad casts in some cases,
|
||||
# but generates too many false positives
|
||||
-Wfloat-equal
|
||||
-Wformat-security
|
||||
-Winit-self
|
||||
-Wmissing-declarations
|
||||
-Wpointer-arith
|
||||
-Wshadow
|
||||
-Wuninitialized
|
||||
-Wunused-variable
|
||||
|
||||
-Wno-sign-compare
|
||||
-Wno-unused-parameter
|
||||
)
|
||||
|
||||
if (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
|
||||
@@ -693,111 +354,25 @@ function(px4_add_common_flags)
|
||||
endif()
|
||||
else()
|
||||
list(APPEND warnings
|
||||
-Werror=unused-but-set-variable
|
||||
-Wunused-but-set-variable
|
||||
-Wformat=1
|
||||
#-Wlogical-op # very verbose due to eigen
|
||||
-Wdouble-promotion
|
||||
-Werror=double-promotion
|
||||
)
|
||||
endif()
|
||||
|
||||
# optimization flags and santiziers (ASAN, TSAN, UBSAN)
|
||||
if ($ENV{PX4_ASAN} MATCHES "1")
|
||||
message(STATUS "address sanitizer enabled")
|
||||
|
||||
# environment variables
|
||||
# ASAN_OPTIONS=detect_stack_use_after_return=1
|
||||
# ASAN_OPTIONS=check_initialization_order=1
|
||||
|
||||
set(max_optimization -O1)
|
||||
|
||||
# Do not use optimization_flags (without _) as that is already used.
|
||||
set(_optimization_flags
|
||||
-fno-strict-aliasing
|
||||
-fno-omit-frame-pointer
|
||||
-funsafe-math-optimizations
|
||||
-ffunction-sections
|
||||
-fdata-sections
|
||||
-g3 -fsanitize=address
|
||||
#-fsanitize-address-use-after-scope
|
||||
)
|
||||
|
||||
elseif ($ENV{PX4_TSAN} MATCHES "1")
|
||||
message(STATUS "thread sanitizer enabled")
|
||||
|
||||
# needs some optimization for usable performance
|
||||
set(max_optimization -O1)
|
||||
|
||||
# Do not use optimization_flags (without _) as that is already used.
|
||||
set(_optimization_flags
|
||||
-fno-strict-aliasing
|
||||
-fno-omit-frame-pointer
|
||||
-funsafe-math-optimizations
|
||||
-ffunction-sections
|
||||
-fdata-sections
|
||||
-g3 -fsanitize=thread
|
||||
)
|
||||
|
||||
elseif ($ENV{PX4_UBSAN} MATCHES "1")
|
||||
message(STATUS "undefined behaviour sanitizer enabled")
|
||||
|
||||
set(max_optimization -O2)
|
||||
|
||||
# Do not use optimization_flags (without _) as that is already used.
|
||||
set(_optimization_flags
|
||||
-fno-strict-aliasing
|
||||
-fno-omit-frame-pointer
|
||||
-funsafe-math-optimizations
|
||||
-ffunction-sections
|
||||
-fdata-sections
|
||||
-g3
|
||||
#-fsanitize=alignment
|
||||
-fsanitize=bool
|
||||
-fsanitize=bounds
|
||||
-fsanitize=enum
|
||||
#-fsanitize=float-cast-overflow
|
||||
-fsanitize=float-divide-by-zero
|
||||
#-fsanitize=function
|
||||
-fsanitize=integer-divide-by-zero
|
||||
-fsanitize=nonnull-attribute
|
||||
-fsanitize=null
|
||||
-fsanitize=object-size
|
||||
-fsanitize=return
|
||||
-fsanitize=returns-nonnull-attribute
|
||||
-fsanitize=shift
|
||||
-fsanitize=signed-integer-overflow
|
||||
-fsanitize=unreachable
|
||||
#-fsanitize=unsigned-integer-overflow
|
||||
-fsanitize=vla-bound
|
||||
-fsanitize=vptr
|
||||
)
|
||||
|
||||
else()
|
||||
if ("${OS}" STREQUAL "nuttx")
|
||||
set(max_optimization -Os)
|
||||
elseif (${BOARD} STREQUAL "bebop")
|
||||
set(max_optimization -Os)
|
||||
else()
|
||||
set(max_optimization -O2)
|
||||
endif()
|
||||
|
||||
if ("${OS}" STREQUAL "qurt")
|
||||
set(PIC_FLAG -fPIC)
|
||||
endif()
|
||||
set(_optimization_flags
|
||||
-fno-strict-aliasing
|
||||
-fomit-frame-pointer
|
||||
-funsafe-math-optimizations
|
||||
-ffunction-sections
|
||||
-fdata-sections
|
||||
${PIC_FLAG}
|
||||
)
|
||||
if ("${OS}" STREQUAL "qurt")
|
||||
set(PIC_FLAG -fPIC)
|
||||
endif()
|
||||
|
||||
# code coverage
|
||||
if ($ENV{PX4_CODE_COVERAGE} MATCHES "1")
|
||||
#set(max_optimization -O0)
|
||||
endif()
|
||||
set(_optimization_flags
|
||||
-fno-strict-aliasing
|
||||
-fomit-frame-pointer
|
||||
-funsafe-math-optimizations
|
||||
-ffunction-sections
|
||||
-fdata-sections
|
||||
${PIC_FLAG}
|
||||
)
|
||||
|
||||
set(c_warnings
|
||||
-Wbad-function-cast
|
||||
@@ -814,6 +389,7 @@ function(px4_add_common_flags)
|
||||
|
||||
set(cxx_warnings
|
||||
-Wno-missing-field-initializers
|
||||
-Wreorder
|
||||
)
|
||||
|
||||
set(cxx_compile_flags
|
||||
@@ -875,7 +451,6 @@ function(px4_add_common_flags)
|
||||
)
|
||||
|
||||
set(added_optimization_flags
|
||||
${max_optimization}
|
||||
${_optimization_flags}
|
||||
)
|
||||
|
||||
@@ -883,34 +458,26 @@ function(px4_add_common_flags)
|
||||
${PX4_BINARY_DIR}
|
||||
${PX4_BINARY_DIR}/src
|
||||
${PX4_BINARY_DIR}/src/modules
|
||||
${PX4_BINARY_DIR}/src/modules/px4_messages
|
||||
${PX4_SOURCE_DIR}/mavlink/include/mavlink
|
||||
${PX4_SOURCE_DIR}/src
|
||||
${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
|
||||
${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
|
||||
)
|
||||
|
||||
list(APPEND added_include_dirs
|
||||
src/lib/matrix
|
||||
)
|
||||
|
||||
set(added_link_dirs) # none used currently
|
||||
set(added_exe_linker_flags)
|
||||
|
||||
string(TOUPPER ${BOARD} board_upper)
|
||||
string(REPLACE "-" "_" board_config ${board_upper})
|
||||
set (added_target_definitions)
|
||||
if (NOT ${target_definitions})
|
||||
px4_prepend_string(OUT added_target_definitions STR "-D" LIST ${target_definitions})
|
||||
endif()
|
||||
|
||||
set(added_definitions
|
||||
-DCONFIG_ARCH_BOARD_${board_config}
|
||||
-D__STDC_FORMAT_MACROS
|
||||
${added_target_definitions}
|
||||
)
|
||||
|
||||
if (NOT (APPLE AND (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")))
|
||||
@@ -921,20 +488,6 @@ function(px4_add_common_flags)
|
||||
)
|
||||
endif()
|
||||
|
||||
# code coverage
|
||||
if ($ENV{PX4_CODE_COVERAGE} MATCHES "1")
|
||||
message(STATUS "Code coverage build flags enabled")
|
||||
list(APPEND added_cxx_flags
|
||||
-fprofile-arcs -ftest-coverage --coverage -g3 -O0 -fno-elide-constructors -Wno-invalid-offsetof -fno-default-inline -fno-inline
|
||||
)
|
||||
list(APPEND added_c_flags
|
||||
-fprofile-arcs -ftest-coverage --coverage -g3 -O0 -fno-default-inline -fno-inline
|
||||
)
|
||||
list(APPEND added_exe_linker_flags
|
||||
-ftest-coverage --coverage -lgcov
|
||||
)
|
||||
endif()
|
||||
|
||||
# output
|
||||
foreach(var ${inout_vars})
|
||||
string(TOLOWER ${var} lower_var)
|
||||
@@ -969,280 +522,6 @@ function(px4_mangle_name dirname newname)
|
||||
set(${newname} ${tmp} PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_create_git_hash_header
|
||||
#
|
||||
# Create a header file containing the git hash of the current tree
|
||||
#
|
||||
# Usage:
|
||||
# px4_create_git_hash_header()
|
||||
#
|
||||
# Example:
|
||||
# px4_create_git_hash_header()
|
||||
#
|
||||
function(px4_create_git_hash_header)
|
||||
px4_parse_function_args(
|
||||
NAME px4_create_git_hash_header
|
||||
ARGN ${ARGN})
|
||||
|
||||
set(px4_git_ver_header ${PX4_BINARY_DIR}/build_git_version.h)
|
||||
|
||||
# check if px4 source is a git repo
|
||||
if(EXISTS ${PX4_SOURCE_DIR}/.git)
|
||||
if (IS_DIRECTORY ${PX4_SOURCE_DIR}/.git)
|
||||
# standard git repo
|
||||
set(git_dir_path ${PX4_SOURCE_DIR}/.git)
|
||||
else()
|
||||
# git submodule
|
||||
file(READ ${PX4_SOURCE_DIR}/.git git_dir_path)
|
||||
string(STRIP ${git_dir_path} git_dir_path)
|
||||
string(REPLACE "gitdir: " "" git_dir_path ${git_dir_path})
|
||||
get_filename_component(git_dir_path ${git_dir_path} ABSOLUTE)
|
||||
endif()
|
||||
else()
|
||||
message(FATAL_ERROR "is not a git repository")
|
||||
endif()
|
||||
if(NOT IS_DIRECTORY "${git_dir_path}")
|
||||
message(FATAL_ERROR "${git_dir_path} is not a directory")
|
||||
endif()
|
||||
|
||||
set(deps
|
||||
${PX4_SOURCE_DIR}/Tools/px_update_git_header.py
|
||||
${git_dir_path}/index
|
||||
${git_dir_path}/HEAD)
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT ${px4_git_ver_header}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_update_git_header.py ${px4_git_ver_header} > ${PX4_BINARY_DIR}/git_header.log
|
||||
DEPENDS ${deps}
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
COMMENT "Generating git hash header"
|
||||
)
|
||||
set_source_files_properties(${px4_git_ver_header} PROPERTIES GENERATED TRUE)
|
||||
add_custom_target(ver_gen ALL DEPENDS ${px4_git_ver_header})
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_generate_parameters_xml
|
||||
#
|
||||
# Generates a parameters.xml file.
|
||||
#
|
||||
# Usage:
|
||||
# px4_generate_parameters_xml(OUT <param-xml_file>)
|
||||
#
|
||||
# Input:
|
||||
# BOARD : the board
|
||||
# MODULES : a list of px4 modules used to limit scope of the paramaters
|
||||
# OVERRIDES : A json dict with param names as keys and param default
|
||||
# overrides as values
|
||||
#
|
||||
# Output:
|
||||
# OUT : the generated xml file
|
||||
#
|
||||
# Example:
|
||||
# px4_generate_parameters_xml(OUT parameters.xml)
|
||||
#
|
||||
function(px4_generate_parameters_xml)
|
||||
px4_parse_function_args(
|
||||
NAME px4_generate_parameters_xml
|
||||
ONE_VALUE OUT BOARD OVERRIDES
|
||||
MULTI_VALUE MODULES
|
||||
REQUIRED MODULES OUT BOARD
|
||||
ARGN ${ARGN})
|
||||
set(path ${PX4_SOURCE_DIR}/src)
|
||||
file(GLOB_RECURSE param_src_files
|
||||
${PX4_SOURCE_DIR}/src/*params.c
|
||||
)
|
||||
if (NOT OVERRIDES)
|
||||
set(OVERRIDES "{}")
|
||||
endif()
|
||||
|
||||
# get full path for each module
|
||||
set(module_list)
|
||||
if(DISABLE_PARAMS_MODULE_SCOPING)
|
||||
set(module_list ${path})
|
||||
else()
|
||||
foreach(module ${MODULES})
|
||||
list(APPEND module_list ${PX4_SOURCE_DIR}/src/${module})
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
add_custom_command(OUTPUT ${OUT}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
|
||||
-s ${module_list} ${EXTERNAL_MODULES_LOCATION}
|
||||
--board CONFIG_ARCH_${BOARD} --xml --inject-xml
|
||||
--overrides ${OVERRIDES}
|
||||
DEPENDS ${param_src_files} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
|
||||
${PX4_SOURCE_DIR}/Tools/px_generate_params.py
|
||||
)
|
||||
|
||||
set(${OUT} ${${OUT}} PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_generate_parameters_source
|
||||
#
|
||||
# Generates a source file with all parameters.
|
||||
#
|
||||
# Usage:
|
||||
# px4_generate_parameters_source(OUT <list-source-files> XML <param-xml-file> MODULES px4 module list)
|
||||
#
|
||||
# Input:
|
||||
# XML : the parameters.xml file
|
||||
# MODULES : a list of px4 modules used to limit scope of the paramaters
|
||||
# DEPS : target dependencies
|
||||
#
|
||||
# Output:
|
||||
# OUT : the generated source files
|
||||
#
|
||||
# Example:
|
||||
# px4_generate_parameters_source(OUT param_files XML parameters.xml MODULES lib/controllib modules/ekf2)
|
||||
#
|
||||
function(px4_generate_parameters_source)
|
||||
px4_parse_function_args(
|
||||
NAME px4_generate_parameters_source
|
||||
ONE_VALUE OUT XML DEPS
|
||||
MULTI_VALUE MODULES
|
||||
REQUIRED MODULES OUT XML
|
||||
ARGN ${ARGN})
|
||||
set(generated_files
|
||||
${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.h
|
||||
${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.c)
|
||||
set_source_files_properties(${generated_files}
|
||||
PROPERTIES GENERATED TRUE)
|
||||
|
||||
if(DISABLE_PARAMS_MODULE_SCOPING)
|
||||
add_custom_command(OUTPUT ${generated_files}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py
|
||||
--xml ${XML} --dest ${CMAKE_CURRENT_BINARY_DIR}
|
||||
DEPENDS ${XML} ${DEPS}
|
||||
)
|
||||
else()
|
||||
px4_join(OUT module_list LIST ${MODULES} GLUE ",")
|
||||
add_custom_command(OUTPUT ${generated_files}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py
|
||||
--xml ${XML} --modules ${module_list} --dest ${CMAKE_CURRENT_BINARY_DIR}
|
||||
DEPENDS ${XML} ${DEPS}
|
||||
)
|
||||
endif()
|
||||
|
||||
set(${OUT} ${generated_files} PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_generate_airframes_xml
|
||||
#
|
||||
# Generates airframes.xml
|
||||
#
|
||||
# Usage:
|
||||
# px4_generate_airframes_xml(OUT <airframe-xml-file>)
|
||||
#
|
||||
# Input:
|
||||
# XML : the airframes.xml file
|
||||
# BOARD : the board
|
||||
#
|
||||
# Output:
|
||||
# OUT : the generated source files
|
||||
#
|
||||
# Example:
|
||||
# px4_generate_airframes_xml(OUT airframes.xml)
|
||||
#
|
||||
function(px4_generate_airframes_xml)
|
||||
px4_parse_function_args(
|
||||
NAME px4_generate_airframes_xml
|
||||
ONE_VALUE OUT BOARD
|
||||
REQUIRED OUT BOARD
|
||||
ARGN ${ARGN})
|
||||
set(process_airframes ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
|
||||
add_custom_command(OUTPUT ${OUT}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
|
||||
-a ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d
|
||||
--board CONFIG_ARCH_BOARD_${BOARD} --xml
|
||||
)
|
||||
set(${OUT} ${${OUT}} PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_copy_tracked
|
||||
#
|
||||
# Copy files to a directory and keep track of dependencies.
|
||||
#
|
||||
# Usage:
|
||||
# px4_copy_tracked(OUT <dest-files> FILES <in-files> DIR <dir-name>)
|
||||
#
|
||||
# Input:
|
||||
# FILES : the source files
|
||||
# DEST : the directory to copy files to
|
||||
# RELATIVE : relative directory for source files
|
||||
#
|
||||
# Output:
|
||||
# OUT : the copied files
|
||||
#
|
||||
# Example:
|
||||
# px4_copy_tracked(OUT copied_files FILES src_files DEST path RELATIVE path_rel)
|
||||
#
|
||||
function(px4_copy_tracked)
|
||||
px4_parse_function_args(
|
||||
NAME px4_copy_tracked
|
||||
ONE_VALUE DEST OUT RELATIVE
|
||||
MULTI_VALUE FILES
|
||||
REQUIRED DEST OUT FILES
|
||||
ARGN ${ARGN})
|
||||
set(files)
|
||||
# before build, make sure dest directory exists
|
||||
execute_process(
|
||||
COMMAND cmake -E make_directory ${DEST})
|
||||
# create rule to copy each file and set dependency as source file
|
||||
set(_files_out)
|
||||
foreach(_file ${FILES})
|
||||
if (RELATIVE)
|
||||
file(RELATIVE_PATH _file_path ${RELATIVE} ${_file})
|
||||
else()
|
||||
set(_file_path ${_file})
|
||||
endif()
|
||||
set(_dest_file ${DEST}/${_file_path})
|
||||
#message(STATUS "copy ${_file} -> ${_dest_file}")
|
||||
add_custom_command(OUTPUT ${_dest_file}
|
||||
COMMAND cmake -E copy ${_file} ${_dest_file}
|
||||
DEPENDS ${_file})
|
||||
list(APPEND _files_out ${_dest_file})
|
||||
endforeach()
|
||||
set(${OUT} ${_files_out} PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_share_subdirectory
|
||||
#
|
||||
# This function simplifes sharing a sub directory
|
||||
#
|
||||
# Usage:
|
||||
# px4_share_subdirectory(RELDIR <relative path> ARGS <args>)
|
||||
#
|
||||
# Input:
|
||||
# RELDIR : The relitive path to share.
|
||||
# ARGS : Any optional arguments to pass to add_subdirectory
|
||||
#
|
||||
# Output:
|
||||
# : None
|
||||
#
|
||||
# Example:
|
||||
# px4_share_subdirectory(RELDIR ../uavcan/libuavcan ARGS EXCLUDE_FROM_ALL)
|
||||
#
|
||||
function(px4_share_subdirectory)
|
||||
px4_parse_function_args(
|
||||
NAME px4_share_subdirectory
|
||||
ONE_VALUE OUT RELDIR
|
||||
MULTI_VALUE ARGS
|
||||
REQUIRED RELDIR
|
||||
ARGN ${ARGN})
|
||||
add_subdirectory(${RELDIR} ${RELDIR}/${RELDIR} ${ARGS})
|
||||
endfunction()
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_strip_optimization
|
||||
|
||||
@@ -0,0 +1,138 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2017 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
include(CMakeParseArguments)
|
||||
include(common/px4_base)
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# Defined functions in this file
|
||||
#
|
||||
# utility functions
|
||||
#
|
||||
# * px4_add_git_submodule
|
||||
# * px4_create_git_hash_header
|
||||
#
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_add_git_submodule
|
||||
#
|
||||
# This function add a git submodule target.
|
||||
#
|
||||
# Usage:
|
||||
# px4_add_git_submodule(TARGET <target> PATH <path>)
|
||||
#
|
||||
# Input:
|
||||
# PATH : git submodule path
|
||||
#
|
||||
# Output:
|
||||
# TARGET : git target
|
||||
#
|
||||
# Example:
|
||||
# px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
|
||||
#
|
||||
function(px4_add_git_submodule)
|
||||
px4_parse_function_args(
|
||||
NAME px4_add_git_submodule
|
||||
ONE_VALUE TARGET PATH
|
||||
REQUIRED TARGET PATH
|
||||
ARGN ${ARGN})
|
||||
string(REPLACE "/" "_" NAME ${PATH})
|
||||
add_custom_command(OUTPUT ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
COMMAND touch ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
|
||||
DEPENDS ${PX4_SOURCE_DIR}/.gitmodules
|
||||
)
|
||||
add_custom_target(${TARGET}
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
# todo:Not have 2 list of submodules one (see the end of Tools/check_submodules.sh and Firmware/CMakeLists.txt)
|
||||
# using the list of submodules from the CMake file to drive the test
|
||||
# COMMAND Tools/check_submodules.sh ${PATH}
|
||||
DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
|
||||
)
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_create_git_hash_header
|
||||
#
|
||||
# Create a header file containing the git hash of the current tree
|
||||
#
|
||||
# Usage:
|
||||
# px4_create_git_hash_header()
|
||||
#
|
||||
# Example:
|
||||
# px4_create_git_hash_header()
|
||||
#
|
||||
function(px4_create_git_hash_header)
|
||||
px4_parse_function_args(
|
||||
NAME px4_create_git_hash_header
|
||||
ARGN ${ARGN})
|
||||
|
||||
set(px4_git_ver_header ${PX4_BINARY_DIR}/build_git_version.h)
|
||||
|
||||
# check if px4 source is a git repo
|
||||
if(EXISTS ${PX4_SOURCE_DIR}/.git)
|
||||
if (IS_DIRECTORY ${PX4_SOURCE_DIR}/.git)
|
||||
# standard git repo
|
||||
set(git_dir_path ${PX4_SOURCE_DIR}/.git)
|
||||
else()
|
||||
# git submodule
|
||||
file(READ ${PX4_SOURCE_DIR}/.git git_dir_path)
|
||||
string(STRIP ${git_dir_path} git_dir_path)
|
||||
string(REPLACE "gitdir: " "" git_dir_path ${git_dir_path})
|
||||
get_filename_component(git_dir_path ${git_dir_path} ABSOLUTE)
|
||||
endif()
|
||||
else()
|
||||
message(FATAL_ERROR "is not a git repository")
|
||||
endif()
|
||||
if(NOT IS_DIRECTORY "${git_dir_path}")
|
||||
message(FATAL_ERROR "${git_dir_path} is not a directory")
|
||||
endif()
|
||||
|
||||
set(deps
|
||||
${PX4_SOURCE_DIR}/Tools/px_update_git_header.py
|
||||
${git_dir_path}/index
|
||||
${git_dir_path}/HEAD)
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT ${px4_git_ver_header}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_update_git_header.py ${px4_git_ver_header} > ${PX4_BINARY_DIR}/git_header.log
|
||||
DEPENDS ${deps}
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
COMMENT "Generating git hash header"
|
||||
)
|
||||
set_source_files_properties(${px4_git_ver_header} PROPERTIES GENERATED TRUE)
|
||||
add_custom_target(ver_gen ALL DEPENDS ${px4_git_ver_header})
|
||||
endfunction()
|
||||
@@ -0,0 +1,312 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2017 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_generate_messages
|
||||
# * px4_generate_parameters_xml
|
||||
# * px4_generate_parameters_source
|
||||
# * px4_generate_airframes_xml
|
||||
#
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_generate_messages
|
||||
#
|
||||
# This function generates source code from ROS msg definitions.
|
||||
#
|
||||
# Usage:
|
||||
# px4_generate_messages(TARGET <target> MSGS <msg-files>)
|
||||
#
|
||||
# Input:
|
||||
# MSG_FILES : the ROS msgs to generate files from
|
||||
# OS : the operating system selected
|
||||
# DEPENDS : dependencies
|
||||
#
|
||||
# Output:
|
||||
# TARGET : the message generation target
|
||||
#
|
||||
# Example:
|
||||
# px4_generate_messages(TARGET <target>
|
||||
# MSG_FILES <files> OS <operating-system>
|
||||
# [ DEPENDS <dependencies> ]
|
||||
# )
|
||||
#
|
||||
function(px4_generate_messages)
|
||||
px4_parse_function_args(
|
||||
NAME px4_generate_messages
|
||||
OPTIONS VERBOSE
|
||||
ONE_VALUE OS TARGET
|
||||
MULTI_VALUE MSG_FILES DEPENDS INCLUDES
|
||||
REQUIRED MSG_FILES OS TARGET
|
||||
ARGN ${ARGN})
|
||||
|
||||
if("${config_nuttx_config}" STREQUAL "bootloader")
|
||||
# do nothing for bootloaders
|
||||
else()
|
||||
|
||||
set(QUIET)
|
||||
if (NOT VERBOSE)
|
||||
set(QUIET "-q")
|
||||
endif()
|
||||
|
||||
# headers
|
||||
set(msg_out_path ${PX4_BINARY_DIR}/src/modules/uORB/topics)
|
||||
set(msg_list)
|
||||
foreach(msg_file ${MSG_FILES})
|
||||
get_filename_component(msg ${msg_file} NAME_WE)
|
||||
list(APPEND msg_list ${msg})
|
||||
endforeach()
|
||||
|
||||
set(msg_files_out)
|
||||
foreach(msg ${msg_list})
|
||||
list(APPEND msg_files_out ${msg_out_path}/${msg}.h)
|
||||
endforeach()
|
||||
|
||||
add_custom_command(OUTPUT ${msg_files_out}
|
||||
COMMAND ${PYTHON_EXECUTABLE}
|
||||
Tools/px_generate_uorb_topic_files.py
|
||||
--headers
|
||||
${QUIET}
|
||||
-f ${MSG_FILES}
|
||||
-i ${INCLUDES}
|
||||
-o ${msg_out_path}
|
||||
-e msg/templates/uorb
|
||||
-t ${PX4_BINARY_DIR}/topics_temporary_header
|
||||
DEPENDS ${DEPENDS} ${MSG_FILES}
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
COMMENT "Generating uORB topic headers"
|
||||
VERBATIM
|
||||
)
|
||||
|
||||
# !sources
|
||||
set(msg_source_out_path ${PX4_BINARY_DIR}/topics_sources)
|
||||
set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
|
||||
foreach(msg ${msg_list})
|
||||
list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
|
||||
endforeach()
|
||||
add_custom_command(OUTPUT ${msg_source_files_out}
|
||||
COMMAND ${PYTHON_EXECUTABLE}
|
||||
Tools/px_generate_uorb_topic_files.py
|
||||
--sources
|
||||
${QUIET}
|
||||
-f ${MSG_FILES}
|
||||
-i ${INCLUDES}
|
||||
-o ${msg_source_out_path}
|
||||
-e msg/templates/uorb
|
||||
-t ${PX4_BINARY_DIR}/topics_temporary_sources
|
||||
DEPENDS ${DEPENDS} ${MSG_FILES}
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
COMMENT "Generating uORB topic sources"
|
||||
VERBATIM
|
||||
)
|
||||
set_source_files_properties(${msg_source_files_out} PROPERTIES GENERATED TRUE)
|
||||
|
||||
# multi messages for target OS
|
||||
set(msg_multi_out_path ${PX4_BINARY_DIR}/src/platforms/${OS}/px4_messages)
|
||||
set(msg_multi_files_out)
|
||||
foreach(msg ${msg_list})
|
||||
list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
|
||||
endforeach()
|
||||
add_custom_command(OUTPUT ${msg_multi_files_out}
|
||||
COMMAND ${PYTHON_EXECUTABLE}
|
||||
Tools/px_generate_uorb_topic_files.py
|
||||
--headers
|
||||
${QUIET}
|
||||
-f ${MSG_FILES}
|
||||
-i ${INCLUDES}
|
||||
-o ${msg_multi_out_path}
|
||||
-e msg/templates/px4/uorb
|
||||
-t ${PX4_BINARY_DIR}/multi_topics_temporary/${OS}
|
||||
-p "px4_"
|
||||
DEPENDS ${DEPENDS} ${MSG_FILES}
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
COMMENT "Generating uORB topic multi headers for ${OS}"
|
||||
VERBATIM
|
||||
)
|
||||
|
||||
px4_add_library(${TARGET}
|
||||
${msg_source_files_out}
|
||||
${msg_multi_files_out}
|
||||
${msg_files_out}
|
||||
)
|
||||
endif()
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_generate_parameters_xml
|
||||
#
|
||||
# Generates a parameters.xml file.
|
||||
#
|
||||
# Usage:
|
||||
# px4_generate_parameters_xml(OUT <param-xml_file>)
|
||||
#
|
||||
# Input:
|
||||
# BOARD : the board
|
||||
# MODULES : a list of px4 modules used to limit scope of the paramaters
|
||||
# OVERRIDES : A json dict with param names as keys and param default
|
||||
# overrides as values
|
||||
#
|
||||
# Output:
|
||||
# OUT : the generated xml file
|
||||
#
|
||||
# Example:
|
||||
# px4_generate_parameters_xml(OUT parameters.xml)
|
||||
#
|
||||
function(px4_generate_parameters_xml)
|
||||
px4_parse_function_args(
|
||||
NAME px4_generate_parameters_xml
|
||||
ONE_VALUE OUT BOARD OVERRIDES
|
||||
MULTI_VALUE MODULES
|
||||
REQUIRED MODULES OUT BOARD
|
||||
ARGN ${ARGN})
|
||||
set(path ${PX4_SOURCE_DIR}/src)
|
||||
file(GLOB_RECURSE param_src_files
|
||||
${PX4_SOURCE_DIR}/src/*params.c
|
||||
)
|
||||
if (NOT OVERRIDES)
|
||||
set(OVERRIDES "{}")
|
||||
endif()
|
||||
|
||||
# get full path for each module
|
||||
set(module_list)
|
||||
if(DISABLE_PARAMS_MODULE_SCOPING)
|
||||
set(module_list ${path})
|
||||
else()
|
||||
foreach(module ${MODULES})
|
||||
list(APPEND module_list ${PX4_SOURCE_DIR}/src/${module})
|
||||
endforeach()
|
||||
endif()
|
||||
|
||||
add_custom_command(OUTPUT ${OUT}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
|
||||
-s ${module_list} ${EXTERNAL_MODULES_LOCATION}
|
||||
--board CONFIG_ARCH_${BOARD} --xml --inject-xml
|
||||
--overrides ${OVERRIDES}
|
||||
DEPENDS ${param_src_files} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
|
||||
${PX4_SOURCE_DIR}/Tools/px_generate_params.py
|
||||
)
|
||||
|
||||
set(${OUT} ${${OUT}} PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_generate_parameters_source
|
||||
#
|
||||
# Generates a source file with all parameters.
|
||||
#
|
||||
# Usage:
|
||||
# px4_generate_parameters_source(OUT <list-source-files> XML <param-xml-file> MODULES px4 module list)
|
||||
#
|
||||
# Input:
|
||||
# XML : the parameters.xml file
|
||||
# MODULES : a list of px4 modules used to limit scope of the paramaters
|
||||
# DEPS : target dependencies
|
||||
#
|
||||
# Output:
|
||||
# OUT : the generated source files
|
||||
#
|
||||
# Example:
|
||||
# px4_generate_parameters_source(OUT param_files XML parameters.xml MODULES lib/controllib modules/ekf2)
|
||||
#
|
||||
function(px4_generate_parameters_source)
|
||||
px4_parse_function_args(
|
||||
NAME px4_generate_parameters_source
|
||||
ONE_VALUE OUT XML DEPS
|
||||
MULTI_VALUE MODULES
|
||||
REQUIRED MODULES OUT XML
|
||||
ARGN ${ARGN})
|
||||
|
||||
set(generated_files
|
||||
${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.h
|
||||
${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.c)
|
||||
|
||||
set_source_files_properties(${generated_files} PROPERTIES GENERATED TRUE)
|
||||
|
||||
if(DISABLE_PARAMS_MODULE_SCOPING)
|
||||
add_custom_command(OUTPUT ${generated_files}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py
|
||||
--xml ${XML} --dest ${CMAKE_CURRENT_BINARY_DIR}
|
||||
DEPENDS ${XML} ${DEPS}
|
||||
)
|
||||
else()
|
||||
px4_join(OUT module_list LIST ${MODULES} GLUE ",")
|
||||
add_custom_command(OUTPUT ${generated_files}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py
|
||||
--xml ${XML} --modules ${module_list} --dest ${CMAKE_CURRENT_BINARY_DIR}
|
||||
DEPENDS ${XML} ${DEPS}
|
||||
)
|
||||
endif()
|
||||
|
||||
set(${OUT} ${generated_files} PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_generate_airframes_xml
|
||||
#
|
||||
# Generates airframes.xml
|
||||
#
|
||||
# Usage:
|
||||
# px4_generate_airframes_xml(OUT <airframe-xml-file>)
|
||||
#
|
||||
# Input:
|
||||
# XML : the airframes.xml file
|
||||
# BOARD : the board
|
||||
#
|
||||
# Output:
|
||||
# OUT : the generated source files
|
||||
#
|
||||
# Example:
|
||||
# px4_generate_airframes_xml(OUT airframes.xml)
|
||||
#
|
||||
function(px4_generate_airframes_xml)
|
||||
px4_parse_function_args(
|
||||
NAME px4_generate_airframes_xml
|
||||
ONE_VALUE OUT BOARD
|
||||
REQUIRED OUT BOARD
|
||||
ARGN ${ARGN})
|
||||
set(process_airframes ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
|
||||
add_custom_command(OUTPUT ${OUT}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
|
||||
-a ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d
|
||||
--board CONFIG_ARCH_BOARD_${BOARD} --xml
|
||||
)
|
||||
set(${OUT} ${${OUT}} PARENT_SCOPE)
|
||||
endfunction()
|
||||
@@ -0,0 +1,182 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2017 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_add_upload
|
||||
# * px4_add_adb_push
|
||||
# * px4_add_adb_push_to_bebop
|
||||
# * px4_add_scp_push
|
||||
# * px4_add_upload_aero
|
||||
#
|
||||
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_add_upload
|
||||
#
|
||||
# This function generates source code from ROS msg definitions.
|
||||
#
|
||||
# Usage:
|
||||
# px4_add_upload(OUT <target> BUNDLE <file.px4>)
|
||||
#
|
||||
# Input:
|
||||
# BUNDLE : the firmware.px4 file
|
||||
# OS : the operating system
|
||||
# BOARD : the board
|
||||
#
|
||||
# Output:
|
||||
# OUT : the firmware target
|
||||
#
|
||||
# Example:
|
||||
# px4_add_upload(OUT upload
|
||||
# BUNDLE main.px4
|
||||
# )
|
||||
#
|
||||
function(px4_add_upload)
|
||||
px4_parse_function_args(
|
||||
NAME px4_add_upload
|
||||
ONE_VALUE OS BOARD OUT BUNDLE
|
||||
REQUIRED OS BOARD OUT BUNDLE
|
||||
ARGN ${ARGN})
|
||||
set(serial_ports)
|
||||
if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
|
||||
list(APPEND serial_ports
|
||||
/dev/serial/by-id/*_PX4_*
|
||||
/dev/serial/by-id/usb-3D_Robotics*
|
||||
/dev/serial/by-id/usb-The_Autopilot*
|
||||
/dev/serial/by-id/usb-Bitcraze*
|
||||
/dev/serial/by-id/pci-3D_Robotics*
|
||||
/dev/serial/by-id/pci-Bitcraze*
|
||||
/dev/serial/by-id/usb-Gumstix*
|
||||
)
|
||||
elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
|
||||
list(APPEND serial_ports
|
||||
/dev/tty.usbmodemPX*,/dev/tty.usbmodem*
|
||||
)
|
||||
elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Windows")
|
||||
foreach(port RANGE 32 0)
|
||||
list(APPEND serial_ports
|
||||
"COM${port}")
|
||||
endforeach()
|
||||
endif()
|
||||
px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",")
|
||||
add_custom_target(${OUT}
|
||||
COMMAND ${PYTHON_EXECUTABLE}
|
||||
${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
|
||||
DEPENDS ${BUNDLE}
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
COMMENT "uploading ${BUNDLE}"
|
||||
VERBATIM
|
||||
USES_TERMINAL
|
||||
)
|
||||
endfunction()
|
||||
|
||||
|
||||
function(px4_add_adb_push)
|
||||
px4_parse_function_args(
|
||||
NAME px4_add_upload
|
||||
ONE_VALUE OS BOARD OUT DEST
|
||||
MULTI_VALUE FILES DEPENDS
|
||||
REQUIRED OS BOARD OUT FILES DEPENDS DEST
|
||||
ARGN ${ARGN})
|
||||
|
||||
add_custom_target(${OUT}
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
|
||||
DEPENDS ${DEPENDS}
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
COMMENT "uploading ${BUNDLE}"
|
||||
VERBATIM
|
||||
USES_TERMINAL
|
||||
)
|
||||
endfunction()
|
||||
|
||||
|
||||
function(px4_add_adb_push_to_bebop)
|
||||
px4_parse_function_args(
|
||||
NAME px4_add_upload_to_bebop
|
||||
ONE_VALUE OS BOARD OUT DEST
|
||||
MULTI_VALUE FILES DEPENDS
|
||||
REQUIRED OS BOARD OUT FILES DEPENDS DEST
|
||||
ARGN ${ARGN})
|
||||
|
||||
add_custom_target(${OUT}
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
|
||||
DEPENDS ${DEPENDS}
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
COMMENT "uploading ${BUNDLE}"
|
||||
VERBATIM
|
||||
USES_TERMINAL
|
||||
)
|
||||
endfunction()
|
||||
|
||||
|
||||
function(px4_add_scp_push)
|
||||
px4_parse_function_args(
|
||||
NAME px4_add_upload
|
||||
ONE_VALUE OS BOARD OUT DEST
|
||||
MULTI_VALUE FILES DEPENDS
|
||||
REQUIRED OS BOARD OUT FILES DEPENDS DEST
|
||||
ARGN ${ARGN})
|
||||
|
||||
add_custom_target(${OUT}
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
|
||||
DEPENDS ${DEPENDS}
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
COMMENT "uploading ${BUNDLE}"
|
||||
VERBATIM
|
||||
USES_TERMINAL
|
||||
)
|
||||
endfunction()
|
||||
|
||||
|
||||
function(px4_add_upload_aero)
|
||||
px4_parse_function_args(
|
||||
NAME px4_add_upload_aero
|
||||
ONE_VALUE OS BOARD OUT BUNDLE
|
||||
REQUIRED OS BOARD OUT BUNDLE
|
||||
ARGN ${ARGN})
|
||||
|
||||
add_custom_target(${OUT}
|
||||
COMMAND ${PX4_SOURCE_DIR}/Tools/aero_upload.sh ${BUNDLE}
|
||||
DEPENDS ${BUNDLE}
|
||||
WORKING_DIRECTORY ${PX4_BINARY_DIR}
|
||||
COMMENT "uploading ${BUNDLE}"
|
||||
VERBATIM
|
||||
USES_TERMINAL
|
||||
)
|
||||
endfunction()
|
||||
@@ -0,0 +1,94 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2017 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
option(SANITIZE_ADDRESS "Enable AddressSanitizer" Off)
|
||||
option(SANITIZE_MEMORY "Enable MemorySanitizer" Off)
|
||||
option(SANITIZE_THREAD "Enable ThreadSanitizer" Off)
|
||||
option(SANITIZE_UNDEFINED "Enable UndefinedBehaviorSanitizer" Off)
|
||||
|
||||
if (SANITIZE_ADDRESS)
|
||||
message(STATUS "address sanitizer enabled")
|
||||
|
||||
# environment variables
|
||||
# ASAN_OPTIONS=detect_stack_use_after_return=1
|
||||
# ASAN_OPTIONS=check_initialization_order=1
|
||||
add_compile_options(
|
||||
-g3
|
||||
-fno-omit-frame-pointer
|
||||
-fsanitize=address
|
||||
#-fsanitize-address-use-after-scope
|
||||
)
|
||||
|
||||
elseif(SANITIZE_MEMORY)
|
||||
message(STATUS "thread sanitizer enabled")
|
||||
|
||||
add_compile_options(
|
||||
-g3
|
||||
-fsanitize=memory
|
||||
)
|
||||
|
||||
elseif(SANITIZE_THREAD)
|
||||
message(STATUS "thread sanitizer enabled")
|
||||
|
||||
add_compile_options(
|
||||
-g3
|
||||
-fsanitize=thread
|
||||
)
|
||||
|
||||
elseif(SANITIZE_UNDEFINED)
|
||||
message(STATUS "undefined behaviour sanitizer enabled")
|
||||
|
||||
add_compile_options(
|
||||
-g3
|
||||
#-fsanitize=alignment
|
||||
-fsanitize=bool
|
||||
-fsanitize=bounds
|
||||
-fsanitize=enum
|
||||
#-fsanitize=float-cast-overflow
|
||||
-fsanitize=float-divide-by-zero
|
||||
#-fsanitize=function
|
||||
-fsanitize=integer-divide-by-zero
|
||||
-fsanitize=nonnull-attribute
|
||||
-fsanitize=null
|
||||
-fsanitize=object-size
|
||||
-fsanitize=return
|
||||
-fsanitize=returns-nonnull-attribute
|
||||
-fsanitize=shift
|
||||
-fsanitize=signed-integer-overflow
|
||||
-fsanitize=unreachable
|
||||
#-fsanitize=unsigned-integer-overflow
|
||||
-fsanitize=vla-bound
|
||||
-fsanitize=vptr
|
||||
)
|
||||
|
||||
endif()
|
||||
Reference in New Issue
Block a user