cmake qurt and posix fixes for cmake

Added generation of build_git_version.h

Added separate src/lib/eigen-3.2 dir for qurt (new submodule)

Added patching of eigen-3.2 for qurt (compiler has issue with Complex)

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

.gitmodules

@@ -22,3 +22,6 @@
 [submodule "src/lib/dspal"]
 	path = src/lib/dspal
 	url = https://github.com/mcharleb/dspal.git
+[submodule "src/lib/eigen-3.2"]
+	path = src/lib/eigen-3.2
+	url = https://github.com/PX4/eigen.git

CMakeLists.txt

@@ -175,12 +175,16 @@ endforeach()
 #=============================================================================
 # git
 #
-px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
+if (${OS} STREQUAL "nuttx")
+	px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
+endif()
 px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
 px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
 px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
 px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
-px4_add_git_submodule(TARGET git_eigen PATH "src/lib/eigen")
+if (NOT ${OS} STREQUAL "qurt")
+	px4_add_git_submodule(TARGET git_eigen PATH "src/lib/eigen")
+endif()
 
 add_custom_target(submodule_clean
 	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
@@ -233,6 +237,12 @@ add_subdirectory(src)
 # set the overall objective of the build
 add_custom_target(ALL firmware_${OS})
 
+#=============================================================================
+# generate git version
+#
+include(px4_git_hash)
+px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
+
 #=============================================================================
 # packaging
 #

cmake/build_git_version.h.in

@@ -0,0 +1,4 @@
+/* Auto Magically Generated file */
+/* Do not edit! */
+#define PX4_GIT_VERSION_STR  @git_desc@
+#define PX4_GIT_VERSION_BINARY 0x@git_desc_short@

cmake/px4_base.cmake

@@ -581,13 +581,18 @@ function(px4_add_common_flags)
 		# TODO Build/versioning was in Makefile,
 		# do we need this, how does it work with cmake
 		src/drivers/boards/${BOARD}
-		src/lib/eigen
 		${CMAKE_BINARY_DIR}
 		${CMAKE_BINARY_DIR}/src/modules/px4_messages
 		${CMAKE_BINARY_DIR}/src/modules
 		mavlink/include/mavlink
 		)
 
+	if (NOT ${OS} STREQUAL "qurt")
+		list(APPEND added_include_dirs
+			src/lib/eigen
+			)
+	endif()
+
 	set(added_link_dirs) # none used currently
 
 	string(TOUPPER ${BOARD} board_upper)

cmake/px4_git_hash.cmake

@@ -0,0 +1,31 @@
+#=============================================================================
+#
+#	px4_create_git_hash_header
+#
+#	Create a header file containing the git hash of the current tree
+#
+#	Usage:
+#		px4_create_git_hash_header(HEADER ${CMAKE_BUILD_DIR}/git_hash.h)
+#
+#	Input:
+#		HEADER 		: path of the header file to generate
+#
+#	Example:
+#		px4_create_git_hash_header(HEADER ${CMAKE_BUILD_DIR}/git_hash.h)
+#
+function(px4_create_git_hash_header)
+	px4_parse_function_args(
+		NAME px4_create_git_hash_header
+		ONE_VALUE HEADER 
+		REQUIRED HEADER 
+		ARGN ${ARGN})
+	execute_process(
+		COMMAND git log -n 1 --pretty=format:"%H"
+		OUTPUT_VARIABLE git_desc
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		)
+	message(STATUS "GIT_DESC = ${git_desc}")
+	set(git_desc_short)
+	string(SUBSTRING ${git_desc} 1 16 git_desc_short)
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/build_git_version.h.in ${HEADER} @ONLY)
+endfunction()

cmake/qurt/px4_impl_qurt.cmake

@@ -227,6 +227,9 @@ function(px4_os_prebuild_targets)
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})
 	add_custom_target(${OUT})
+	execute_process(
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/src/lib/eigen-3.2
+		COMMAND patch -p1 -i ../../../cmake/qurt/qurt_eigen.patch)
 endfunction()
 
 #=============================================================================

cmake/qurt/qurt_eigen.patch

@@ -0,0 +1,17 @@
+This patch is required for QuRT. complex.h defines "I" and it replaces "I" in the 
+enum definition without this patch creating an error.
+
+diff --git a/Eigen/src/Core/SolveTriangular.h b/Eigen/src/Core/SolveTriangular.h
+index ef17f28..1116270 100644
+--- a/Eigen/src/Core/SolveTriangular.h
++++ b/Eigen/src/Core/SolveTriangular.h
+@@ -112,6 +112,9 @@ template<typename Lhs, typename Rhs, int Mode, int Index, int Size,
+          bool Stop = Index==Size>
+ struct triangular_solver_unroller;
+ 
++#ifdef __PX4_QURT
++#undef I
++#endif
+ template<typename Lhs, typename Rhs, int Mode, int Index, int Size>
+ struct triangular_solver_unroller<Lhs,Rhs,Mode,Index,Size,false> {
+   enum {

src/include/build_git_version.h

@@ -1,2 +0,0 @@
-#define PX4_GIT_VERSION_STR "1234567890123456789012345678901234567890"
-#define PX4_GIT_VERSION_BINARY 0x1234567890123456

src/lib/eigen-3.2

@@ -0,0 +1 @@
+Subproject commit e7850ed81f9c469e02df496ef09ae32ec0379b71