mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 07:13:35 +08:00
Merge branch 'cmake-2' of github.com:PX4/Firmware into cmake-2-pthread
This commit is contained in:
Lorenz Meier
@@ -551,7 +551,7 @@ function(px4_add_common_flags)
|
||||
endif()
|
||||
|
||||
set(c_compile_flags
|
||||
-g3
|
||||
-g
|
||||
-std=gnu99
|
||||
-fno-common
|
||||
)
|
||||
@@ -560,7 +560,7 @@ function(px4_add_common_flags)
|
||||
-Wno-missing-field-initializers
|
||||
)
|
||||
set(cxx_compile_flags
|
||||
-g3
|
||||
-g
|
||||
-fno-exceptions
|
||||
-fno-rtti
|
||||
-std=gnu++0x
|
||||
@@ -735,4 +735,54 @@ function(px4_generate_parameters)
|
||||
set(${OUT} ${generated_files} PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_copy_tracked
|
||||
#
|
||||
# Copy files to a directory and keep track of dependencies.
|
||||
#
|
||||
# Usage:
|
||||
# px4_copy_tracked(OUT <dest-files> FILES <in-files> DIR <dir-name>)
|
||||
#
|
||||
# Input:
|
||||
# FILES : the source files
|
||||
# DEST : the directory to copy files to
|
||||
# RELATIVE : relative directory for source files
|
||||
#
|
||||
# Output:
|
||||
# OUT : the copied files
|
||||
#
|
||||
# Example:
|
||||
# px4_copy_tracked(OUT copied_files FILES src_files DEST path RELATIVE path_rel)
|
||||
#
|
||||
function(px4_copy_tracked)
|
||||
px4_parse_function_args(
|
||||
NAME px4_copy_tracked
|
||||
ONE_VALUE DEST OUT RELATIVE
|
||||
MULTI_VALUE FILES
|
||||
REQUIRED DEST OUT FILES
|
||||
ARGN ${ARGN})
|
||||
set(files)
|
||||
# before build, make sure dest directory exists
|
||||
execute_process(
|
||||
COMMAND cmake -E make_directory ${DEST})
|
||||
# create rule to copy each file and set dependency as source file
|
||||
set(_files_out)
|
||||
foreach(_file ${FILES})
|
||||
if (RELATIVE)
|
||||
file(RELATIVE_PATH _file_path ${RELATIVE} ${_file})
|
||||
else()
|
||||
set(_file_path ${_file})
|
||||
endif()
|
||||
set(_dest_file ${DEST}/${_file_path})
|
||||
#message(STATUS "copy ${_file} -> ${_dest_file}")
|
||||
add_custom_command(OUTPUT ${_dest_file}
|
||||
COMMAND cmake -E copy ${_file} ${_dest_file}
|
||||
DEPENDS ${_file})
|
||||
list(APPEND _files_out ${_dest_file})
|
||||
endforeach()
|
||||
set(${OUT} ${_files_out} PARENT_SCOPE)
|
||||
endfunction()
|
||||
|
||||
|
||||
# vim: set noet fenc=utf-8 ff=unix nowrap:
|
||||
|
||||
@@ -40,7 +40,7 @@
|
||||
# * px4_nuttx_add_firmware
|
||||
# * px4_nuttx_generate_builtin_commands
|
||||
# * px4_nuttx_add_export
|
||||
# * px4_nuttx_generate_romfs
|
||||
# * px4_nuttx_add_romfs
|
||||
#
|
||||
# Required OS Inteface Functions
|
||||
#
|
||||
@@ -260,61 +260,106 @@ endfunction()
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_nuttx_generate_romfs
|
||||
# px4_nuttx_create_bin
|
||||
#
|
||||
# The functions generates the ROMFS filesystem for nuttx.
|
||||
# The functions generates a bin image for nuttx.
|
||||
#
|
||||
# Usage:
|
||||
# px4_nuttx_generate_romfs(OUT <out-target> ROOT <in-directory>)
|
||||
# px4_nuttx_create_bin(BIN <out-file> EXE <in-file>)
|
||||
#
|
||||
# Input:
|
||||
# EXE : the exe file
|
||||
#
|
||||
# Output:
|
||||
# OUT : the binary output file
|
||||
#
|
||||
# Example:
|
||||
# px4_nuttx_create_bin(OUT my_exe.bin EXE my_exe)
|
||||
#
|
||||
function(px4_nuttx_create_bin)
|
||||
|
||||
px4_parse_function_args(
|
||||
NAME px4_nuttx_create_bin
|
||||
ONE_VALUE EXE OUT
|
||||
REQUIRED EXE OUT
|
||||
ARGN ${ARGN})
|
||||
|
||||
add_custom_command(OUTPUT ${OUT}
|
||||
COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
|
||||
DEPENDS ${EXE})
|
||||
|
||||
set(${OUT} ${${OUT}} PARENT_SCOPE)
|
||||
|
||||
endfunction()
|
||||
|
||||
|
||||
#=============================================================================
|
||||
#
|
||||
# px4_nuttx_add_romfs
|
||||
#
|
||||
# The functions creates a ROMFS filesystem for nuttx.
|
||||
#
|
||||
# Usage:
|
||||
# px4_nuttx_add_romfs(
|
||||
# OUT <out-target>
|
||||
# ROOT <in-directory>
|
||||
# EXTRAS <in-list>)
|
||||
#
|
||||
# Input:
|
||||
# ROOT : the root of the ROMFS
|
||||
# EXTRAS : list of extra files
|
||||
#
|
||||
# Output:
|
||||
# OUT : the generated ROMFS
|
||||
# OUT : the ROMFS library target
|
||||
#
|
||||
# Example:
|
||||
# px4_nuttx_generate_romfs(OUT my_romfs ROOT "ROMFS/my_board")
|
||||
# px4_nuttx_add_romfs(OUT my_romfs ROOT "ROMFS/my_board")
|
||||
#
|
||||
function(px4_nuttx_generate_romfs)
|
||||
function(px4_nuttx_add_romfs)
|
||||
|
||||
px4_parse_function_args(
|
||||
NAME px4_nuttx_generate_romfs
|
||||
NAME px4_nuttx_add_romfs
|
||||
ONE_VALUE OUT ROOT
|
||||
MULTI_VALUE EXTRAS
|
||||
REQUIRED OUT ROOT
|
||||
ARGN ${ARGN})
|
||||
|
||||
file(GLOB_RECURSE romfs_files ${ROOT}/*)
|
||||
set(romfs_temp_dir ${CMAKE_BINARY_DIR}/${ROOT})
|
||||
set(romfs_temp_dir ${CMAKE_BINARY_DIR}/tmp/${ROOT})
|
||||
set(romfs_src_dir ${CMAKE_SOURCE_DIR}/${ROOT})
|
||||
|
||||
set(romfs_autostart ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
|
||||
set(romfs_pruner ${CMAKE_SOURCE_DIR}/Tools/px_romfs_pruner.py)
|
||||
set(bin_to_obj ${CMAKE_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
|
||||
set(extras_dir ${CMAKE_CURRENT_BINARY_DIR}/extras)
|
||||
|
||||
#message(STATUS "temp_dir: ${romfs_temp_dir}")
|
||||
#message(STATUS "src_dir: ${romfs_src_dir}")
|
||||
file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*)
|
||||
|
||||
add_custom_command(OUTPUT rc.autostart
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${romfs_autostart}
|
||||
-a ${romfs_src_dir}/init.d
|
||||
-s rc.autostart
|
||||
)
|
||||
set(cmake_test ${CMAKE_SOURCE_DIR}/cmake/test/cmake_tester.py)
|
||||
|
||||
add_custom_command(OUTPUT romfs.bin
|
||||
|
||||
set(extras)
|
||||
foreach(extra ${EXTRAS})
|
||||
get_filename_component(file_name ${extra} NAME)
|
||||
set(file_dest ${extras_dir}/${file_name})
|
||||
add_custom_command(OUTPUT ${file_dest}
|
||||
COMMAND cmake -E copy ${extra} ${file_dest}
|
||||
DEPENDS ${extra}
|
||||
)
|
||||
list(APPEND extras ${file_dest})
|
||||
endforeach()
|
||||
add_custom_target(collect_extras DEPENDS ${extras})
|
||||
|
||||
add_custom_command(OUTPUT romfs.o
|
||||
COMMAND cmake -E remove_directory ${romfs_temp_dir}
|
||||
COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
|
||||
COMMAND cmake -E copy rc.autostart ${romfs_temp_dir}/init.d
|
||||
#TODO add romfs cleanup of temp file .~, .swp etc
|
||||
COMMAND cmake -E copy_directory ${extras_dir} ${romfs_temp_dir}/extras
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${romfs_autostart}
|
||||
-a ${romfs_temp_dir}/init.d
|
||||
-s ${romfs_temp_dir}/init.d/rc.autostart
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${romfs_pruner}
|
||||
--folder ${romfs_temp_dir}
|
||||
COMMAND ${GENROMFS} -f ${CMAKE_CURRENT_BINARY_DIR}/romfs.bin
|
||||
-d ${romfs_temp_dir} -V "NSHInitVol"
|
||||
DEPENDS ${romfs_files} rc.autostart
|
||||
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT romfs.o
|
||||
#COMMAND cmake -E remove_directory ${romfs_temp_dir}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${bin_to_obj}
|
||||
--ld ${LD} --c_flags ${CMAKE_C_FLAGS}
|
||||
--c_compiler ${CMAKE_C_COMPILER}
|
||||
@@ -322,11 +367,12 @@ function(px4_nuttx_generate_romfs)
|
||||
--obj romfs.o
|
||||
--var romfs_img
|
||||
--bin romfs.bin
|
||||
DEPENDS romfs.bin
|
||||
DEPENDS ${romfs_src_files} ${extras}
|
||||
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
|
||||
set(${OUT} romfs.o PARENT_SCOPE)
|
||||
add_library(${OUT} STATIC romfs.o)
|
||||
set_target_properties(${OUT} PROPERTIES LINKER_LANGUAGE C)
|
||||
set(${OUT} ${${OUT}} PARENT_SCOPE)
|
||||
|
||||
endfunction()
|
||||
|
||||
|
||||
Executable
+52
@@ -0,0 +1,52 @@
|
||||
#!/usr/bin/env python
|
||||
"""
|
||||
The module facilitates testing in cmake.
|
||||
It takes a command and a regex for failure ok passing.
|
||||
It passes if:
|
||||
* No stderr output.
|
||||
* Stdout doesn't match failure regex.
|
||||
* Stdout matches ok regex if given.
|
||||
"""
|
||||
from __future__ import print_function
|
||||
import argparse
|
||||
import subprocess
|
||||
import re
|
||||
import sys
|
||||
|
||||
#pylint: disable=invalid-name
|
||||
|
||||
parser = argparse.ArgumentParser()
|
||||
|
||||
parser.add_argument('cmd')
|
||||
parser.add_argument('--re-fail')
|
||||
parser.add_argument('--re-ok')
|
||||
parser.add_argument('--verbose', '-v', dest='verbose', action='store_true')
|
||||
|
||||
parser.set_defaults(verbose=False)
|
||||
args = parser.parse_args()
|
||||
|
||||
proc = subprocess.Popen(args.cmd.split(), stdout=subprocess.PIPE, stderr=subprocess.PIPE)
|
||||
stdout, stderr = proc.communicate()
|
||||
|
||||
if stderr != "":
|
||||
print(stderr)
|
||||
sys.exit(1)
|
||||
|
||||
if args.re_fail is not None:
|
||||
fail_match = re.search(args.re_fail, stdout)
|
||||
if fail_match is not None:
|
||||
print(stdout)
|
||||
sys.exit(1)
|
||||
|
||||
if args.re_ok is not None:
|
||||
ok_match = re.search(args.re_ok, stdout)
|
||||
if re.match(args.re_ok, stdout) is None:
|
||||
print(stdout)
|
||||
sys.exit(1)
|
||||
|
||||
if args.verbose:
|
||||
print(stdout)
|
||||
|
||||
sys.exit(0)
|
||||
|
||||
# vim: set et ft=python fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :
|
||||
@@ -37,7 +37,7 @@ endif()
|
||||
cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
|
||||
|
||||
# compiler tools
|
||||
foreach(tool objcopy nm ld gdb)
|
||||
foreach(tool objcopy nm ld)
|
||||
string(TOUPPER ${tool} TOOL)
|
||||
find_program(${TOOL} arm-none-eabi-${tool})
|
||||
if(NOT ${TOOL})
|
||||
@@ -45,6 +45,12 @@ foreach(tool objcopy nm ld gdb)
|
||||
endif()
|
||||
endforeach()
|
||||
|
||||
# optional compiler tools
|
||||
foreach(tool gdb gdbtui)
|
||||
string(TOUPPER ${tool} TOOL)
|
||||
find_program(${TOOL} arm-none-eabi-${tool})
|
||||
endforeach()
|
||||
|
||||
# os tools
|
||||
foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
|
||||
string(TOUPPER ${tool} TOOL)
|
||||
|
||||
Reference in New Issue
Block a user