PX4 ROS2 msg conformity and explicit topics

- .msg files are PascalCase
 - topics are still either per msg or explicitly listed in TOPICS
 - compatible structs are still generated (eg struct msg_s), but ROS2 style px4::msg::Msg is also available

cmake/package.cmake

@@ -57,4 +57,7 @@ else()
 endif()
 
 include(CPack)
-include(bloaty)
+
+if(${PX4_PLATFORM} MATCHES "nuttx")
+	include(bloaty)
+endif()

cmake/px4_add_common_flags.cmake

@@ -71,11 +71,11 @@ function(px4_add_common_flags)
 		-Werror
 
 		-Warray-bounds
-		-Wcast-align
+		#-Wcast-align # TODO
 		-Wdisabled-optimization
 		-Wdouble-promotion
 		-Wfatal-errors
-		-Wfloat-equal
+		#-Wfloat-equal
 		-Wformat-security
 		-Winit-self
 		-Wlogical-op
@@ -156,9 +156,6 @@ function(px4_add_common_flags)
 	# CXX only flags
 	set(cxx_flags)
 	list(APPEND cxx_flags
-		-fno-exceptions
-		-fno-threadsafe-statics
-
 		-Wreorder
 
 		# disabled warnings
@@ -175,16 +172,19 @@ function(px4_add_common_flags)
 		add_compile_options($<$<COMPILE_LANGUAGE:CXX>:${flag}>)
 	endforeach()
 
+	if(NOT (${PX4_PLATFORM} MATCHES "ros2")) # TODO: fix
+		include_directories(
+			${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/${PX4_CHIP_MANUFACTURER}/${PX4_CHIP}/include
+			${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/common/include
+			${PX4_SOURCE_DIR}/platforms/common
+			${PX4_SOURCE_DIR}/platforms/common/include
+		)
+	endif()
 
 	include_directories(
 		${PX4_BINARY_DIR}
 		${PX4_BINARY_DIR}/src/lib
 
-		${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/${PX4_CHIP_MANUFACTURER}/${PX4_CHIP}/include
-		${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/common/include
-		${PX4_SOURCE_DIR}/platforms/common
-		${PX4_SOURCE_DIR}/platforms/common/include
-
 		${PX4_SOURCE_DIR}/src
 		${PX4_SOURCE_DIR}/src/include
 		${PX4_SOURCE_DIR}/src/lib

cmake/px4_add_library.cmake

@@ -39,7 +39,10 @@ include(px4_list_make_absolute)
 #	Like add_library but with PX4 platform dependencies
 #
 function(px4_add_library target)
-	add_library(${target} EXCLUDE_FROM_ALL ${ARGN})
+	add_library(${target} STATIC
+		EXCLUDE_FROM_ALL
+		${ARGN}
+	)
 
 	target_compile_definitions(${target} PRIVATE MODULE_NAME="${target}")
 

cmake/px4_add_module.cmake

@@ -48,6 +48,7 @@ include(px4_list_make_absolute)
 #			[ DEPENDS <string> ]
 #			[ SRCS <list> ]
 #			[ MODULE_CONFIG <list> ]
+#			[ PUBLICATIONS <list> ]
 #			[ EXTERNAL ]
 #			[ DYNAMIC ]
 #			)
@@ -64,6 +65,8 @@ include(px4_list_make_absolute)
 #		MODULE_CONFIG		: yaml config file(s)
 #		INCLUDES		: include directories
 #		DEPENDS			: targets which this module depends on
+#		PUBLICATIONS		: List of publications from this module
+#               SUBSCRIPTIONS		: List of subsriptions used by this module
 #		EXTERNAL		: flag to indicate that this module is out-of-tree
 #		DYNAMIC			: don't compile into the px4 binary, but build a separate dynamically loadable module (posix)
 #		UNITY_BUILD		: merge all source files and build this module as a single compilation unit
@@ -86,7 +89,7 @@ function(px4_add_module)
 	px4_parse_function_args(
 		NAME px4_add_module
 		ONE_VALUE MODULE MAIN STACK_MAIN STACK_MAX PRIORITY
-		MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS MODULE_CONFIG
+		MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS MODULE_CONFIG PUBLICATIONS SUBSCRIPTIONS
 		OPTIONS EXTERNAL DYNAMIC UNITY_BUILD
 		REQUIRED MODULE MAIN
 		ARGN ${ARGN})
@@ -185,7 +188,7 @@ function(px4_add_module)
 
 	# set defaults if not set
 	set(MAIN_DEFAULT MAIN-NOTFOUND)
-	set(STACK_MAIN_DEFAULT 2048)
+	set(STACK_MAIN_DEFAULT 4096)
 	set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
 
 	foreach(property MAIN STACK_MAIN PRIORITY)
@@ -238,7 +241,21 @@ function(px4_add_module)
 		endforeach()
 	endif()
 
-	foreach (prop LINK_FLAGS STACK_MAIN MAIN PRIORITY)
+	if(PUBLICATIONS)
+		foreach(publication ${PUBLICATIONS})
+			#message(STATUS "${MODULE} PUBLICATION: ${publication}")
+			set_property(GLOBAL APPEND PROPERTY PX4_PUBLICATIONS ${publication})
+		endforeach()
+	endif()
+
+	if(SUBSCRIPTIONS)
+		foreach(subscription ${SUBSCRIPTIONS})
+			#message(STATUS "${MODULE} SUBSCRIPTION: ${subscription}")
+			set_property(GLOBAL APPEND PROPERTY PX4_SUBSCRIPTIONS ${subscription})
+		endforeach()
+	endif()
+
+	foreach(prop LINK_FLAGS STACK_MAIN MAIN PRIORITY)
 		if (${prop})
 			set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
 		endif()

cmake/px4_config.cmake

@@ -63,9 +63,9 @@ if(NOT PX4_CONFIG_FILE)
 			)
 				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
 				set(PX4_BOARD_DIR "${PX4_SOURCE_DIR}/boards/${vendor}/${model}" CACHE STRING "PX4 board directory" FORCE)
-                set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
-                set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
-                set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
+				set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
+				set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
+				set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
 				break()
 			endif()
 
@@ -76,9 +76,9 @@ if(NOT PX4_CONFIG_FILE)
 			)
 				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
 				set(PX4_BOARD_DIR "${PX4_SOURCE_DIR}/boards/${vendor}/${model}" CACHE STRING "PX4 board directory" FORCE)
-                set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
-                set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
-                set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
+				set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
+				set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
+				set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
 				break()
 			endif()
 		endif()