From 5b3a6facfaa70bef033e0b48d362a18ed6ee9528 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Tue, 9 Apr 2019 16:54:30 +0200 Subject: [PATCH] cmake: fix races without ninja This fixes build races which happened if "Unix Makefiles" instead of ninja-build was used as the cmake backend. For any dependencies of commands on files we need to create a target. Otherwise, if "Unix Makefiles" are used as the generator the commands are run in parallel on the different files which often can lead to races or redundancies in our build. A nice write-up can be found here: https://samthursfield.wordpress.com/2015/11/21/ cmake-dependencies-between-targets-and-files-and-custom-commands/# custom-commands-and-parallel-make --- platforms/nuttx/NuttX/CMakeLists.txt | 120 ++++++++++++++++++++------- 1 file changed, 92 insertions(+), 28 deletions(-) diff --git a/platforms/nuttx/NuttX/CMakeLists.txt b/platforms/nuttx/NuttX/CMakeLists.txt index 75ffe9eb42..c465eb2f5f 100644 --- a/platforms/nuttx/NuttX/CMakeLists.txt +++ b/platforms/nuttx/NuttX/CMakeLists.txt @@ -56,11 +56,24 @@ file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX) # setup custom command to copy changes later file(GLOB_RECURSE copy_nuttx_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/nuttx/*) + + +# For any dependencies of commands on files we need to create a target. +# Otherwise, if "Unix Makefiles" are used as the generator the commands are run in +# parallel on the different files which often can lead to races or redundancies +# in our build. +# A nice write-up can be found here: +# https://samthursfield.wordpress.com/2015/11/21/cmake-dependencies-between-targets-and-files-and-custom-commands/#custom-commands-and-parallel-make + +add_custom_target(copy_nuttx_files_target + DEPENDS ${copy_nuttx_files} +) + add_custom_command( OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST} COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp - DEPENDS ${copy_nuttx_files} git_nuttx + DEPENDS copy_nuttx_files_target ${copy_nuttx_files} git_nuttx COMMENT "Copying NuttX/nuttx to ${CP_DST}" WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} ) @@ -73,16 +86,27 @@ file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX) # setup custom command to copy changes later file(GLOB_RECURSE copy_apps_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/apps/*) + +add_custom_target(copy_apps_files_target + DEPENDS ${copy_apps_files} +) + add_custom_command( OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST} COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp - DEPENDS ${copy_apps_files} git_nuttx_apps + DEPENDS copy_apps_files_target ${copy_apps_files} git_nuttx_apps COMMENT "Copying NuttX/apps to ${CP_DST}" WORKING_DIRECTORY ${CMAKE_SOURCE_DIR} ) set(APPS_DIR ${CMAKE_CURRENT_BINARY_DIR}/apps) +add_custom_target(nuttx_copy_and_apps_target + DEPENDS + ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp + ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp +) + # If the board provides a Kconfig Use it or create an empty one if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig) @@ -93,8 +117,7 @@ if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig) COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/configs/dummy/Kconfig COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp DEPENDS - ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp - ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp + nuttx_copy_and_apps_target ) else() add_custom_command( @@ -104,11 +127,16 @@ else() COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/configs/dummy/Kconfig COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp DEPENDS - ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp - ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp + nuttx_copy_and_apps_target ) endif() +add_custom_target(nuttx_config_kconfig_target + DEPENDS + ${NUTTX_DIR}/configs/dummy/Kconfig + ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp +) + ############################################################################### # NuttX configure ############################################################################### @@ -132,29 +160,38 @@ add_custom_command( ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${NUTTX_CONFIG_DIR}/include/board.h ${NUTTX_CONFIG_DIR}/scripts/script.ld - ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp - ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp + nuttx_copy_and_apps_target WORKING_DIRECTORY ${NUTTX_DIR} COMMENT "Copying NuttX config ${NUTTX_CONFIG}" ) +add_custom_target(nuttx_copy_config_dir_target + DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp +) + + # NuttX defconfig # cmake should trigger reconfigure if defconfig changes set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${NUTTX_DEFCONFIG}) file(STRINGS ${NUTTX_DEFCONFIG} config_expanded REGEX "# Automatically generated file; DO NOT EDIT.") + +add_custom_target(nuttx_defconfig_target + DEPENDS + ${NUTTX_DEFCONFIG} +) + if (NOT config_expanded) # copy compressed PX4 defconfig into nuttx and inflate add_custom_command( OUTPUT ${NUTTX_DIR}/.config - ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config.stamp COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh ${NUTTX_DIR} - COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config.stamp DEPENDS + nuttx_defconfig_target ${NUTTX_DEFCONFIG} - ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp - ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp + nuttx_copy_config_dir_target + nuttx_config_kconfig_target WORKING_DIRECTORY ${NUTTX_DIR} COMMENT "Copying NuttX compressed config ${NUTTX_CONFIG} and inflating" ) @@ -163,18 +200,19 @@ else() add_custom_command( OUTPUT ${NUTTX_DIR}/.config - ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config.stamp COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config - COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config.stamp DEPENDS + nuttx_defconfig_target ${NUTTX_DEFCONFIG} - ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp - ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config_kconfig.stamp + nuttx_copy_config_dir_target + nuttx_config_kconfig_target WORKING_DIRECTORY ${NUTTX_DIR} COMMENT "Copying NuttX uncompressed config ${NUTTX_CONFIG}" ) endif() +add_custom_target(nuttx_config_target DEPENDS ${NUTTX_DIR}/.config) + ############################################################################### # NuttX build ############################################################################### @@ -202,16 +240,21 @@ endif() # context add_custom_command(OUTPUT ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h COMMAND make ${nuttx_build_options} --no-print-directory CONFIG_ARCH_BOARD_CUSTOM=y context > nuttx_context.log - DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config.stamp + DEPENDS nuttx_config_target WORKING_DIRECTORY ${NUTTX_DIR} ${nuttx_build_uses_terminal} ) + add_custom_target(nuttx_context DEPENDS ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h) # library of NuttX libraries add_library(nuttx_build INTERFACE) add_dependencies(nuttx_build nuttx_context) +add_custom_target(px4_config_file_target + DEPENDS ${PX4_CONFIG_FILE} +) + # builtins set(nuttx_builtin_list) if (CONFIG_NSH_LIBRARY) @@ -222,12 +265,17 @@ if (CONFIG_NSH_LIBRARY) COMMAND rm -f ${APPS_DIR}/builtin/builtin_list.h COMMAND ${CMAKE_COMMAND} -E touch builtins_clean.stamp DEPENDS - ${CMAKE_CURRENT_BINARY_DIR}/nuttx_config.stamp + nuttx_config_target + nuttx_context ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h - ${PX4_CONFIG_FILE} + px4_config_file_target ${PX4_CONFIG_FILE} ) + add_custom_target(builtins_clean_target + DEPENDS builtins_clean.stamp + ) + foreach(module ${module_libraries}) get_target_property(MAIN ${module} MAIN) get_target_property(STACK_MAIN ${module} STACK_MAIN) @@ -237,7 +285,10 @@ if (CONFIG_NSH_LIBRARY) add_custom_command(OUTPUT ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat COMMAND echo "{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main }," > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated - DEPENDS builtins_clean.stamp ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h + DEPENDS + builtins_clean_target + nuttx_context + ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h VERBATIM ) list(APPEND nuttx_builtin_list ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat) @@ -245,7 +296,10 @@ if (CONFIG_NSH_LIBRARY) add_custom_command(OUTPUT ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat COMMAND echo "int ${MAIN}_main(int argc, char *argv[]);" > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated - DEPENDS builtins_clean.stamp ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h + DEPENDS + builtins_clean_target + nuttx_context + ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h VERBATIM ) list(APPEND nuttx_builtin_list ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat) @@ -254,13 +308,20 @@ if (CONFIG_NSH_LIBRARY) endforeach() endif() +add_custom_target(nuttx_builtin_list_target + DEPENDS ${nuttx_builtin_list} +) + # APPS # libapps.a add_custom_command(OUTPUT ${APPS_DIR}/libapps.a ${APPS_DIR}/platform/.built COMMAND find ${APPS_DIR} -name \*.o -delete COMMAND make ${nuttx_build_options} --no-print-directory -C ../apps TOPDIR="${NUTTX_DIR}" libapps.a > nuttx_apps.log - DEPENDS ${nuttx_builtin_list} ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h + DEPENDS + nuttx_builtin_list_target ${nuttx_builtin_list} + nuttx_context + ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h WORKING_DIRECTORY ${NUTTX_DIR} ${nuttx_build_uses_terminal} ) @@ -279,7 +340,10 @@ function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra) add_custom_command(OUTPUT ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a COMMAND find ${nuttx_lib_dir} -type f -name *.o -delete COMMAND make -C ${nuttx_lib_dir} ${nuttx_build_options} --no-print-directory all TOPDIR=${NUTTX_DIR} KERNEL=${kernel} EXTRADEFINES=${extra} ${nuttx_build_output} - DEPENDS ${nuttx_lib_files} ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h + DEPENDS + ${nuttx_lib_files} + nuttx_context + ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h WORKING_DIRECTORY ${NUTTX_DIR} ${nuttx_build_uses_terminal} ) @@ -309,7 +373,7 @@ endif() # NuttX oldconfig add_custom_target(oldconfig_nuttx COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y oldconfig - DEPENDS ${NUTTX_DIR}/.config + DEPENDS nuttx_config_target ${NUTTX_DIR}/.config WORKING_DIRECTORY ${NUTTX_DIR} COMMENT "Running NuttX make oldconfig for ${NUTTX_CONFIG}" USES_TERMINAL @@ -339,7 +403,7 @@ add_custom_target(oldconfig_uncompressed # NuttX olddefconfig add_custom_target(olddefconfig_nuttx COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig - DEPENDS ${NUTTX_DIR}/.config + DEPENDS nuttx_config_target ${NUTTX_DIR}/.config WORKING_DIRECTORY ${NUTTX_DIR} COMMENT "Running NuttX make olddefconfig for ${NUTTX_CONFIG}" USES_TERMINAL @@ -369,7 +433,7 @@ add_custom_target(olddefconfig_uncompressed # NuttX menuconfig add_custom_target(menuconfig_nuttx COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y menuconfig - DEPENDS ${NUTTX_DIR}/.config + DEPENDS nuttx_config_target ${NUTTX_DIR}/.config WORKING_DIRECTORY ${NUTTX_DIR} COMMENT "Running NuttX make menuconfig for ${NUTTX_CONFIG}" USES_TERMINAL @@ -399,7 +463,7 @@ add_custom_target(menuconfig_uncompressed # NuttX qconfig add_custom_target(qconfig_nuttx COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y qconfig - DEPENDS ${NUTTX_DIR}/.config + DEPENDS nuttx_config_target ${NUTTX_DIR}/.config WORKING_DIRECTORY ${NUTTX_DIR} COMMENT "Running NuttX make qconfig for ${NUTTX_CONFIG}" USES_TERMINAL @@ -419,7 +483,7 @@ add_custom_target(qconfig # NuttX qconfig + copy uncompressed back to PX4 add_custom_target(qconfig_uncompressed COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_DIR}/.config ${NUTTX_DEFCONFIG} - DEPENDS qconfig_nuttx + DEPENDS nuttx_config_target qconfig_nuttx WORKING_DIRECTORY ${NUTTX_DIR} COMMENT "Running make qconfig then saving uncompressed defconfig for ${NUTTX_CONFIG}" USES_TERMINAL