From 3b543c77001314a1f4c32e41995a4cd731581a62 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 24 Jan 2023 13:48:23 -0500
Subject: [PATCH] mavlink: serialize mavlink generation to prevent broken
 output

 - let uAvionix generation fully complete before generating CONFIG_MAVLINK_DIALECT
---
 src/modules/mavlink/CMakeLists.txt | 46 ++++++++++++++++++------------
 1 file changed, 27 insertions(+), 19 deletions(-)

diff --git a/src/modules/mavlink/CMakeLists.txt b/src/modules/mavlink/CMakeLists.txt
index 948c77575c..45f7737e6e 100644
--- a/src/modules/mavlink/CMakeLists.txt
+++ b/src/modules/mavlink/CMakeLists.txt
@@ -37,25 +37,6 @@ file(RELATIVE_PATH MAVLINK_GIT_DIR_RELATIVE ${CMAKE_SOURCE_DIR} ${MAVLINK_GIT_DI
 
 px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${MAVLINK_GIT_DIR}")
 
-add_custom_command(
-	OUTPUT ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h
-	COMMAND
-		${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
-			--lang C --wire-protocol 2.0
-			#--no-validate
-			#--strict-units
-			--output ${MAVLINK_LIBRARY_DIR}
-			${MAVLINK_GIT_DIR}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml > ${CMAKE_CURRENT_BINARY_DIR}/mavgen_${CONFIG_MAVLINK_DIALECT}.log
-	DEPENDS
-		git_mavlink_v2
-		${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
-		${MAVLINK_GIT_DIR}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml
-		${BOARD_DEFCONFIG}
-	COMMENT "Generating Mavlink ${CONFIG_MAVLINK_DIALECT}: ${MAVLINK_GIT_DIR_RELATIVE}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml"
-)
-add_custom_target(mavlink_c_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h)
-set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h PROPERTIES GENERATED true)
-
 # always generate uAvionix dialect
 set(MAVLINK_DIALECT_UAVIONIX "uAvionix")
 add_custom_command(
@@ -71,11 +52,38 @@ add_custom_command(
 		git_mavlink_v2
 		${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
 		${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT_UAVIONIX}.xml
+
 	COMMENT "Generating Mavlink ${MAVLINK_DIALECT_UAVIONIX}: ${MAVLINK_GIT_DIR_RELATIVE}/message_definitions/v1.0/${MAVLINK_DIALECT_UAVIONIX}.xml"
 )
 add_custom_target(mavlink_c_generate_uavionix DEPENDS ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h)
 set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h PROPERTIES GENERATED true)
 
+# generate the primary dialect
+add_custom_command(
+	OUTPUT ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h
+	COMMAND
+		${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+			--lang C --wire-protocol 2.0
+			#--no-validate
+			#--strict-units
+			--output ${MAVLINK_LIBRARY_DIR}
+			${MAVLINK_GIT_DIR}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml > ${CMAKE_CURRENT_BINARY_DIR}/mavgen_${CONFIG_MAVLINK_DIALECT}.log
+	DEPENDS
+		git_mavlink_v2
+		${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+		${MAVLINK_GIT_DIR}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml
+		${BOARD_DEFCONFIG}
+
+		# generate after uAvionix
+		mavlink_c_generate_uavionix
+		${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h
+
+	COMMENT "Generating Mavlink ${CONFIG_MAVLINK_DIALECT}: ${MAVLINK_GIT_DIR_RELATIVE}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml"
+)
+add_custom_target(mavlink_c_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h)
+set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h PROPERTIES GENERATED true)
+
+
 
 # mavlink header only library
 add_library(mavlink_c INTERFACE)