mavlink: cmake generate mavlink headers at build time

- mavlink/mavlink is now directly included as a submodule instead of the generated mavlink/c_library_v2 - this also switches to mavlink development.xml by default
2026-10-20 03:33:34 +08:00 · 2021-11-05 23:01:38 -04:00
parent 88489ae8bd
commit 5969508fa7
20 changed files with 71 additions and 32 deletions
@@ -135,9 +135,9 @@ if (os.path.exists('src/lib/ecl/.git')):


 # Mavlink
-if (os.path.exists('mavlink/include/mavlink/v2.0/.git')):
+if (os.path.exists('src/modules/mavlink/mavlink/.git')):
    mavlink_git_version = subprocess.check_output('git rev-parse --verify HEAD'.split(),
-                                      cwd='mavlink/include/mavlink/v2.0', stderr=subprocess.STDOUT).decode('utf-8').strip()
+                                      cwd='src/modules/mavlink/mavlink', stderr=subprocess.STDOUT).decode('utf-8').strip()
    mavlink_git_version_short = mavlink_git_version[0:16]

    header += f"""
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015-2017 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2015-2021 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
@@ -31,18 +31,51 @@
 #
 ############################################################################

-px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${PX4_SOURCE_DIR}/mavlink/include/mavlink/v2.0")
+set(MAVLINK_DIALECT "development") # standard, development, etc
+
+# force mavlink dialect to standard if flash constrained
+if(px4_constrained_flash_build)
+	set(MAVLINK_DIALECT "standard")
+endif()
+
+set(MAVLINK_GIT_DIR "${CMAKE_CURRENT_LIST_DIR}/mavlink")
+set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")
+file(RELATIVE_PATH MAVLINK_GIT_DIR_RELATIVE ${CMAKE_SOURCE_DIR} ${MAVLINK_GIT_DIR})
+
+px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${MAVLINK_GIT_DIR}")
+
+add_custom_command(
+	OUTPUT ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${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}
+			${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT}.xml
+	DEPENDS
+		git_mavlink_v2
+		${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+		${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT}.xml
+	COMMENT "Generating Mavlink ${MAVLINK_DIALECT}: ${MAVLINK_GIT_DIR_RELATIVE}/message_definitions/v1.0/${MAVLINK_DIALECT}.xml"
+	USES_TERMINAL
+)
+add_custom_target(mavlink_c_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${MAVLINK_DIALECT}.h)
+
+# mavlink header only library
+add_library(mavlink_c INTERFACE)
+target_sources(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${MAVLINK_DIALECT}.h)
+set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${MAVLINK_DIALECT}.h PROPERTIES GENERATED true)
+target_include_directories(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR} ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT})
+target_compile_options(mavlink_c INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
+

 px4_add_module(
 	MODULE modules__mavlink
 	MAIN mavlink
 	COMPILE_FLAGS
-		-Wno-cast-align # TODO: fix and enable
-		-Wno-address-of-packed-member # TODO: fix in c_library_v2
 		-Wno-enum-compare # ROTATION <-> MAV_SENSOR_ROTATION
 		#-DDEBUG_BUILD
-	INCLUDES
-		${PX4_SOURCE_DIR}/mavlink/include/mavlink
 	SRCS
 		mavlink.c
 		mavlink_command_sender.cpp
@@ -70,9 +103,9 @@ px4_add_module(
 		drivers_barometer
 		drivers_gyroscope
 		drivers_magnetometer
-		git_mavlink_v2
 		conversion
 		geo
+		mavlink_c
 		version
 	UNITY_BUILD
 	)
@@ -61,7 +61,7 @@
 # define MAVLINK_COMM_5 static_cast<mavlink_channel_t>(5)
 #endif

-#include <v2.0/mavlink_types.h>
+#include <mavlink_types.h>
 #include <unistd.h>

 __BEGIN_DECLS
@@ -92,7 +92,7 @@ void mavlink_end_uart_send(mavlink_channel_t chan, int length);
 extern mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
 extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);

-#include <v2.0/standard/mavlink.h>
+#include <mavlink.h>

 __END_DECLS

@@ -48,7 +48,7 @@
 #ifndef MAVLINK_FTP_UNIT_TEST
 #include "mavlink_main.h"
 #else
-#include <v2.0/standard/mavlink.h>
+#include <mavlink.h>
 #endif

 using namespace time_literals;
@@ -46,7 +46,7 @@
 #ifndef MAVLINK_FTP_UNIT_TEST
 #include "mavlink_bridge_header.h"
 #else
-#include <v2.0/standard/mavlink.h>
+#include <mavlink.h>
 #endif

 class MavlinkFtpTest;
@@ -31,12 +31,13 @@
 #
 ############################################################################

-include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
-
 px4_add_module(
 	MODULE modules__mavlink__mavlink_tests
 	MAIN mavlink_tests
 	STACK_MAIN 8192
+	INCLUDES
+		${CMAKE_BINARY_DIR}/mavlink
+		${CMAKE_BINARY_DIR}/mavlink/common
 	COMPILE_FLAGS
 		-DMAVLINK_FTP_UNIT_TEST
 		#-DMAVLINK_FTP_DEBUG
@@ -40,7 +40,7 @@
 #ifndef MAVLINK_FTP_UNIT_TEST
 #include "../mavlink_bridge_header.h"
 #else
-#include <v2.0/standard/mavlink.h>
+#include <mavlink.h>
 #endif
 #include "../mavlink_ftp.h"

@@ -55,12 +55,13 @@ px4_add_module(
 		-Wno-cast-align
 		-Wno-address-of-packed-member # TODO: fix in c_library_v2
 	INCLUDES
-		${PX4_SOURCE_DIR}/mavlink/include/mavlink
+		${CMAKE_BINARY_DIR}/mavlink
+		${CMAKE_BINARY_DIR}/mavlink/development
 	SRCS
 		simulator.cpp
 		simulator_mavlink.cpp
 	DEPENDS
-		git_mavlink_v2
+		mavlink_c_generate
 		conversion
 		geo
 		drivers_accelerometer
@@ -68,6 +69,6 @@ px4_add_module(
 		drivers_gyroscope
 		drivers_magnetometer
 	)
-target_include_directories(modules__simulator INTERFACE ${PX4_SOURCE_DIR}/mavlink/include/mavlink)
+target_include_directories(modules__simulator INTERFACE ${CMAKE_BINARY_DIR}/mavlink)

 add_subdirectory(battery_simulator)
@@ -76,8 +76,8 @@

 #include <random>

-#include <v2.0/common/mavlink.h>
-#include <v2.0/mavlink_types.h>
+#include <mavlink.h>
+#include <mavlink_types.h>

 using namespace time_literals;