fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-29 18:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

NuttX cmake build wrapper thorough dependencies

Browse Source
This commit is contained in:
Daniel Agar
2019-11-16 11:43:42 +01:00
committed by Lorenz Meier
parent 99aae8b891
commit 2af262ed1d
9 changed files with 182 additions and 269 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/nuttx/cmake/init.cmake
+53 -47
View File
@@ -52,19 +52,19 @@ set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps CACHE FILEPATH "NuttX apps direc
px4_add_git_submodule(TARGET git_nuttx PATH "${NUTTX_SRC_DIR}/nuttx")
px4_add_git_submodule(TARGET git_nuttx_apps PATH "${NUTTX_SRC_DIR}/apps")
if (CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32)
if(CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32)
# copy with rsync and create file dependencies
set(cp_cmd "rsync")
set(cp_opts)
list(APPEND cp_opts
set(NUTTX_COPY_CMD "rsync")
set(NUTTX_COPY_CMD_OPTS)
list(APPEND NUTTX_COPY_CMD_OPTS
-rp
--inplace
)
else()
# copy with hard links
# archive, recursive, force, link (hardlinks)
set(cp_cmd "cp")
set(cp_opts "-aRfl")
set(NUTTX_COPY_CMD "cp")
set(NUTTX_COPY_CMD_OPTS "-aRfl")
endif()
###############################################################################
@@ -73,9 +73,12 @@ endif()
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
# copy during cmake configure
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_DIR})
execute_process(COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
# copy nuttx during cmake configure
if(NOT EXISTS ${NUTTX_DIR}/nuttx_copy.stamp)
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_DIR})
execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp)
endif()
###############################################################################
# NuttX apps: copy to build directory
@@ -83,47 +86,48 @@ execute_process(COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST} WORKING_DIRECTO
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
# copy during cmake configure
execute_process(COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
###############################################################################
# nuttx-config: copy to build directory
###############################################################################
set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE)
###############################################################################
# Create a temporary Toplevel Make.defs for the oldconfig step
###############################################################################
configure_file(${NUTTX_SRC_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
# If the board provides a Kconfig Use it or create an empty one
if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig)
else()
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/boards/dummy/Kconfig)
# copy apps during cmake configure
if(NOT EXISTS ${NUTTX_DIR}/apps_copy.stamp)
execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp)
endif()
execute_process(
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src
COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${PX4_BINARY_DIR}/NuttX/nuttx-config
)
###############################################################################
# board nuttx-config
###############################################################################
# NuttX extra files
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h)
# If the board provides a Kconfig Use it or create an empty one
if(NOT EXISTS ${NUTTX_DIR}/nuttx_config_kconfig.stamp)
if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig)
else()
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/boards/dummy/Kconfig)
endif()
# copy defconfig
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config)
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp)
endif()
# create empty drivers/Kconfig
execute_process(
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers
COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig
)
if(NOT EXISTS ${NUTTX_DIR}/nuttx_copy_config_dir.stamp)
# copy PX4 board config into nuttx
file(STRINGS ${NUTTX_DEFCONFIG} config_expanded REGEX "# Automatically generated file; DO NOT EDIT.")
if (NOT config_expanded)
# copy board's nuttx-config to NuttX/nuttx-config
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${PX4_BOARD_DIR}/nuttx-config)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers)
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig)
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src)
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h)
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp)
endif()
# make olddefconfig (inflate defconfig to full .config)
if(NOT EXISTS ${NUTTX_DIR}/.config)
set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE)
configure_file(${NUTTX_SRC_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs) # Create a temporary Toplevel Make.defs for the oldconfig step
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config)
set(ENV{PATH} "${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/tools:$ENV{PATH}")
execute_process(
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig
@@ -135,9 +139,11 @@ if (NOT config_expanded)
if(NOT ret EQUAL "0")
# Show the log here as it will be deleted due to the incomplete configure step
file(READ ${NUTTX_DIR}/nuttx_olddefconfig.log DEFCONFIG_LOG)
message( STATUS "${DEFCONFIG_LOG}")
message( FATAL_ERROR "NuttX olddefconfig target failed. \
Possible cause: the board (${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}) has the wrong directory structure (i.e. missing files).")
message(STATUS "${DEFCONFIG_LOG}")
message(FATAL_ERROR "NuttX olddefconfig target failed. \
Possible cause: the board (${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}) has the wrong directory structure (i.e. missing files).")
else()
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp)
endif()
# remove Toplevel Make.defs
file(REMOVE ${NUTTX_DIR}/Make.defs)
platforms/nuttx/cmake/px4_impl_os.cmake
+3 -4
View File
@@ -52,9 +52,8 @@ function(px4_os_add_flags)
include_directories(BEFORE SYSTEM
${PX4_BINARY_DIR}/NuttX/nuttx/include
${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/include/cxx
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/include/cxx # custom new
)
include_directories(
@@ -63,7 +62,7 @@ function(px4_os_add_flags)
${PX4_BINARY_DIR}/NuttX/nuttx/arch/${CONFIG_ARCH}/src/common
${PX4_BINARY_DIR}/NuttX/apps/include
)
)
# prevent using the toolchain's std c++ library
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-nostdinc++>)
@@ -160,6 +159,6 @@ function(px4_os_prebuild_targets)
add_library(prebuild_targets INTERFACE)
target_link_libraries(prebuild_targets INTERFACE nuttx_xx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
add_dependencies(prebuild_targets DEPENDS nuttx_context uorb_headers)
add_dependencies(prebuild_targets DEPENDS nuttx_build uorb_headers)
endfunction()