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PX4 ROS2 msg conformity and explicit topics

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- .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
This commit is contained in:
Daniel Agar
2022-03-07 10:36:27 -05:00
parent 5affa693f2
commit 9ee8fa21cd
481 changed files with 5491 additions and 8399 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/nuttx/CMakeLists.txt
+2
View File
@@ -242,6 +242,8 @@ else()
arch_board_reset
)
target_link_libraries(nuttx_boards INTERFACE arch_board_reset)
target_link_libraries(nuttx_c INTERFACE nuttx_drivers)
target_link_libraries(nuttx_drivers INTERFACE nuttx_c)
target_link_libraries(nuttx_xx INTERFACE nuttx_c)
platforms/nuttx/cmake/px4_impl_os.cmake
+12 -3
View File
@@ -64,10 +64,19 @@ function(px4_os_add_flags)
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/apps/include
)
# prevent using the toolchain's std c++ library
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-nostdinc++>)
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-fno-sized-deallocation>)
set(cxx_flags)
list(APPEND cxx_flags
-fno-exceptions
-fno-rtti
-fno-sized-deallocation
-fno-threadsafe-statics
-nostdinc++ # prevent using the toolchain's std c++ library
)
foreach(flag ${cxx_flags})
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:${flag}>)
endforeach()
add_definitions(
-D__PX4_NUTTX
platforms/nuttx/src/canbootloader/CMakeLists.txt
+2 -2
View File
@@ -33,7 +33,7 @@
add_subdirectory(arch/${PX4_CHIP_MANUFACTURER})
px4_add_library(canbootloader
add_library(canbootloader
common/nuttx_stubs.c
fs/flash.c
protocol/uavcan.c
@@ -42,7 +42,7 @@ px4_add_library(canbootloader
util/random.c
util/cxx_init.c
)
add_dependencies(canbootloader prebuild_targets)
include_directories(include)
target_include_directories(canbootloader INTERFACE include)
platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/CMakeLists.txt
+4 -1
View File
@@ -32,8 +32,11 @@
############################################################################
include_directories(../../../include)
px4_add_library(arch_canbootloader
add_library(arch_canbootloader
board_identity.c
drivers/can/driver.c
drivers/flash/driver.c
)
target_link_libraries(arch_canbootloader PRIVATE crc)
add_dependencies(arch_canbootloader prebuild_targets)
platforms/nuttx/src/canbootloader/arch/nxp/s32k14x/drivers/can/driver.c
+1 -1
View File
@@ -53,7 +53,7 @@
#include <arch/board/board.h>
#include "flexcan.h"
#include <lib/systemlib/crc.h>
#include <lib/crc/crc.h>
#define CAN_TX_TIMEOUT_MS (200 /(1000/(1000000/CONFIG_USEC_PER_TICK)))
platforms/nuttx/src/canbootloader/arch/stm/stm32f4/CMakeLists.txt
+2 -2
View File
@@ -33,11 +33,11 @@
include_directories(../../../include)
px4_add_library(arch_canbootloader
add_library(arch_canbootloader
board_identity.c
drivers/can/driver.c
)
add_dependencies(arch_canbootloader prebuild_targets)
target_link_libraries(arch_canbootloader
PRIVATE
arch_watchdog_iwdg
platforms/nuttx/src/canbootloader/arch/stm/stm32f4/drivers/can/driver.c
+1 -1
View File
@@ -55,7 +55,7 @@
#include <arch/board/board.h>
#include <lib/systemlib/crc.h>
#include <lib/crc/crc.h>
#define INAK_TIMEOUT 65535
platforms/nuttx/src/canbootloader/arch/stm/stm32f7/CMakeLists.txt
+2 -2
View File
@@ -33,11 +33,11 @@
include_directories(../../../include)
px4_add_library(arch_canbootloader
add_library(arch_canbootloader
board_identity.c
drivers/can/driver.c
)
add_dependencies(arch_canbootloader prebuild_targets)
target_link_libraries(arch_canbootloader
PRIVATE
arch_watchdog_iwdg
platforms/nuttx/src/canbootloader/arch/stm/stm32f7/drivers/can/driver.c
+1 -1
View File
@@ -54,7 +54,7 @@
#include <arch/board/board.h>
#include <lib/systemlib/crc.h>
#include <lib/crc/crc.h>
#define INAK_TIMEOUT 65535
platforms/nuttx/src/canbootloader/protocol/uavcan.c
+1 -1
View File
@@ -49,7 +49,7 @@
#include "uavcan.h"
#include "can.h"
#include <lib/systemlib/crc.h>
#include <lib/crc/crc.h>
#define CAN_REQUEST_TIMEOUT 1000
#define ANY_NODE_ID 0
platforms/nuttx/src/canbootloader/uavcan/main.c
+1 -1
View File
@@ -58,7 +58,7 @@
#include <drivers/bootloaders/boot_app_shared.h>
#include <drivers/bootloaders/boot_alt_app_shared.h>
#include <drivers/drv_watchdog.h>
#include <lib/systemlib/crc.h>
#include <lib/crc/crc.h>
//#define DEBUG_APPLICATION_INPLACE 1 /* Never leave defined */
#define DEBUG_NO_FW_UPDATE 1 /* With DEBUG_APPLICATION_INPLACE
platforms/nuttx/src/px4/nxp/imxrt/hrt/CMakeLists.txt
+3 -2
View File
@@ -31,7 +31,8 @@
#
############################################################################
px4_add_library(arch_hrt
add_library(arch_hrt
hrt.c
)
target_compile_options(arch_hrt PRIVATE -Wno-cast-align) # TODO: fix and enable
add_dependencies(arch_hrt prebuild_targets)
target_compile_options(arch_hrt PRIVATE -Wno-cast-align ${MAX_CUSTOM_OPT_LEVEL}) # TODO: fix and enable
platforms/nuttx/src/px4/nxp/kinetis/hrt/CMakeLists.txt
+3 -3
View File
@@ -31,8 +31,8 @@
#
############################################################################
px4_add_library(arch_hrt
add_library(arch_hrt
hrt.c
)
target_compile_options(arch_hrt PRIVATE -Wno-cast-align) # TODO: fix and enable
add_dependencies(arch_hrt prebuild_targets)
target_compile_options(arch_hrt PRIVATE -Wno-cast-align ${MAX_CUSTOM_OPT_LEVEL}) # TODO: fix and enable
platforms/nuttx/src/px4/nxp/s32k1xx/hrt/CMakeLists.txt
+3 -2
View File
@@ -31,7 +31,8 @@
#
############################################################################
px4_add_library(arch_hrt
add_library(arch_hrt
hrt.c
)
target_compile_options(arch_hrt PRIVATE -Wno-cast-align) # TODO: fix and enable
add_dependencies(arch_hrt prebuild_targets)
target_compile_options(arch_hrt PRIVATE -Wno-cast-align ${MAX_CUSTOM_OPT_LEVEL}) # TODO: fix and enable
platforms/nuttx/src/px4/rpi/rpi_common/hrt/CMakeLists.txt
+3 -6
View File
@@ -31,11 +31,8 @@
#
############################################################################
px4_add_library(arch_hrt
add_library(arch_hrt
hrt.c
)
target_compile_options(arch_hrt
PRIVATE
${MAX_CUSTOM_OPT_LEVEL}
-Wno-cast-align # TODO: fix and enable
)
add_dependencies(arch_hrt prebuild_targets)
target_compile_options(arch_hrt PRIVATE -Wno-cast-align ${MAX_CUSTOM_OPT_LEVEL}) # TODO: fix and enable
platforms/nuttx/src/px4/stm/stm32_common/hrt/CMakeLists.txt
+3 -6
View File
@@ -31,11 +31,8 @@
#
############################################################################
px4_add_library(arch_hrt
add_library(arch_hrt
hrt.c
)
target_compile_options(arch_hrt
PRIVATE
${MAX_CUSTOM_OPT_LEVEL}
-Wno-cast-align # TODO: fix and enable
)
add_dependencies(arch_hrt prebuild_targets)
target_compile_options(arch_hrt PRIVATE -Wno-cast-align ${MAX_CUSTOM_OPT_LEVEL}) # TODO: fix and enable
platforms/nuttx/src/px4/stm/stm32f1/watchdog/CMakeLists.txt
+2 -1
View File
@@ -31,6 +31,7 @@
#
############################################################################
px4_add_library(arch_watchdog_iwdg
add_library(arch_watchdog_iwdg
iwdg.c
)
add_dependencies(arch_watchdog_iwdg prebuild_targets)
platforms/nuttx/src/px4/stm/stm32f4/watchdog/CMakeLists.txt
+2 -1
View File
@@ -31,6 +31,7 @@
#
############################################################################
px4_add_library(arch_watchdog_iwdg
add_library(arch_watchdog_iwdg
iwdg.c
)
add_dependencies(arch_watchdog_iwdg prebuild_targets)
platforms/nuttx/src/px4/stm/stm32f7/watchdog/CMakeLists.txt
+2 -1
View File
@@ -31,6 +31,7 @@
#
############################################################################
px4_add_library(arch_watchdog_iwdg
add_library(arch_watchdog_iwdg
iwdg.c
)
add_dependencies(arch_watchdog_iwdg prebuild_targets)