From 5a3ecb009473eb9a1b4aadc06ee10c71071e8a99 Mon Sep 17 00:00:00 2001
From: Jukka Laitinen <jukkax@ssrc.tii.ae>
Date: Wed, 20 Jan 2021 10:53:18 +0200
Subject: [PATCH] Auto-generate a list of kernel-side built-in modules(drivers)

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
---
 platforms/nuttx/NuttX/CMakeLists.txt | 66 ++++++++++++++++++++++++++++
 1 file changed, 66 insertions(+)

diff --git a/platforms/nuttx/NuttX/CMakeLists.txt b/platforms/nuttx/NuttX/CMakeLists.txt
index 06c30a8cd6..0a02ccebc2 100644
--- a/platforms/nuttx/NuttX/CMakeLists.txt
+++ b/platforms/nuttx/NuttX/CMakeLists.txt
@@ -269,6 +269,72 @@ endif()
 
 add_custom_target(nuttx_builtin_list_target DEPENDS ${nuttx_builtin_list})
 
+if (NOT CONFIG_BUILD_FLAT)
+
+set(nuttx_kernel_builtin_list)
+
+set(KERNEL_BUILTIN_DIR ${PX4_BINARY_DIR}/NuttX/kernel_builtin)
+
+# force builtins regeneration and apps rebuild if nuttx or px4 configuration have changed
+add_custom_command(OUTPUT ${KERNEL_BUILTIN_DIR}/kernel_builtins_clean.stamp
+	WORKING_DIRECTORY ${KERNEL_BUILTIN_DIR}
+	COMMAND find . -name px4_\*.bdat -delete
+	COMMAND find . -name px4_\*.pdat -delete
+	COMMAND rm -f kernel_builtin_list.h
+	COMMAND ${CMAKE_COMMAND} -E touch kernel_builtins_clean.stamp
+	DEPENDS
+		nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
+		px4_config_file_target ${PX4_CONFIG_FILE}
+	)
+
+add_custom_target(kernel_builtins_clean_target DEPENDS ${KERNEL_BUILTIN_DIR}/kernel_builtins_clean.stamp)
+
+foreach(module ${kernel_module_libraries})
+	get_target_property(MAIN ${module} MAIN)
+	get_target_property(STACK_MAIN ${module} STACK_MAIN)
+	get_target_property(PRIORITY ${module} PRIORITY)
+
+	if(MAIN)
+		add_custom_command(OUTPUT ${KERNEL_BUILTIN_DIR}/registry/px4_${MAIN}_kernel_main.bdat
+			WORKING_DIRECTORY  ${KERNEL_BUILTIN_DIR}
+			COMMAND echo "{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main }," > registry/px4_${MAIN}_kernel_main.bdat
+			COMMAND echo "{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, launch_kmod_main }," > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat
+			COMMAND ${CMAKE_COMMAND} -E touch registry/.kernel_updated
+			COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated
+			DEPENDS
+				kernel_builtins_clean_target ${KERNEL_BUILTIN_DIR}/kernel_builtins_clean.stamp
+				builtins_clean_target ${PX4_BINARY_DIR}/NuttX/builtins_clean.stamp
+				nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
+			VERBATIM
+			)
+		list(APPEND nuttx_kernel_builtin_list ${KERNEL_BUILTIN_DIR}/registry/px4_${MAIN}_kernel_main.bdat)
+
+		add_custom_command(OUTPUT ${KERNEL_BUILTIN_DIR}/registry/px4_${MAIN}_kernel_main.pdat
+			WORKING_DIRECTORY  ${KERNEL_BUILTIN_DIR}
+			COMMAND echo "int ${MAIN}_main(int argc, char *argv[]);" > registry/px4_${MAIN}_kernel_main.pdat
+			COMMAND ${CMAKE_COMMAND} -E touch registry/.kernel_updated
+			DEPENDS
+				kernel_builtins_clean_target
+			nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
+			VERBATIM
+			)
+		list(APPEND nuttx_kernel_builtin_list ${KERNEL_BUILTIN_DIR}/registry/px4_${MAIN}_kernel_main.pdat)
+
+	endif()
+endforeach()
+
+add_custom_command(OUTPUT ${KERNEL_BUILTIN_DIR}/kernel_builtins.h ${KERNEL_BUILTIN_DIR}/kernel_builtin_prototypes.h
+	WORKING_DIRECTORY  ${KERNEL_BUILTIN_DIR}
+	COMMAND cat registry/*.bdat > kernel_builtins.h
+	COMMAND cat registry/*.pdat > kernel_builtin_prototypes.h
+	DEPENDS ${nuttx_kernel_builtin_list}
+)
+
+add_custom_target(nuttx_kernel_builtin_list_target DEPENDS ${KERNEL_BUILTIN_DIR}/kernel_builtins.h)
+
+add_dependencies(nuttx_builtin_list_target kernel_builtins_clean_target)
+endif() # NOT CONFIG_BUILD_FLAT
+
 # APPS
 
 # libapps.a