mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 08:53:34 +08:00
move RTPS to dedicated px4fmu-v{3,4,4pro,5}, posix, sdflight builds (#8113)
This commit is contained in:
Daniel Agar
@@ -0,0 +1,134 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2017 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#=============================================================================
|
||||
# RTPS and micro-cdr
|
||||
#
|
||||
|
||||
find_program(FASTRTPSGEN fastrtpsgen PATHS $ENV{FASTRTPSGEN_DIR})
|
||||
if(NOT FASTRTPSGEN)
|
||||
message(FATAL_ERROR "Unable to find fastrtpsgen")
|
||||
endif()
|
||||
|
||||
set(config_rtps_send_topics
|
||||
sensor_combined
|
||||
)
|
||||
|
||||
set(config_rtps_receive_topics
|
||||
sensor_baro
|
||||
)
|
||||
|
||||
if (FASTRTPSGEN AND (config_rtps_send_topics OR config_rtps_receive_topics))
|
||||
option(GENERATE_RTPS_BRIDGE "enable RTPS and microCDR" ON)
|
||||
endif()
|
||||
|
||||
if (GENERATE_RTPS_BRIDGE)
|
||||
|
||||
add_subdirectory(micrortps_client)
|
||||
|
||||
###############################################################################
|
||||
# micro-cdr serialization
|
||||
###############################################################################
|
||||
include(common/px4_git)
|
||||
px4_add_git_submodule(TARGET git_micro_cdr PATH micro-CDR)
|
||||
add_subdirectory(micro-CDR)
|
||||
|
||||
set(msg_out_path_microcdr ${PX4_BINARY_DIR}/uORB_microcdr/topics)
|
||||
set(msg_source_out_path_microcdr ${CMAKE_CURRENT_BINARY_DIR}/topics_microcdr_sources)
|
||||
|
||||
set(uorb_headers_microcdr)
|
||||
set(uorb_sources_microcdr)
|
||||
|
||||
# send topic files
|
||||
set(send_topic_files)
|
||||
foreach(topic ${config_rtps_send_topics})
|
||||
list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
|
||||
list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h)
|
||||
list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp)
|
||||
endforeach()
|
||||
|
||||
# receive topic files
|
||||
set(receive_topic_files)
|
||||
foreach(topic ${config_rtps_receive_topics})
|
||||
list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
|
||||
list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h)
|
||||
list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp)
|
||||
endforeach()
|
||||
|
||||
list(REMOVE_DUPLICATES uorb_headers_microcdr)
|
||||
list(REMOVE_DUPLICATES uorb_sources_microcdr)
|
||||
|
||||
# Generate uORB serialization headers
|
||||
add_custom_command(OUTPUT ${uorb_headers_microcdr}
|
||||
COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
|
||||
--headers
|
||||
-f ${send_topic_files} ${receive_topic_files}
|
||||
-i .
|
||||
-o ${msg_out_path_microcdr}
|
||||
-e templates/uorb_microcdr
|
||||
-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers_microcdr
|
||||
-q
|
||||
DEPENDS ${msg_files}
|
||||
COMMENT "Generating uORB microcdr topic headers"
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}/msg/
|
||||
VERBATIM
|
||||
)
|
||||
add_custom_target(uorb_headers_microcdr DEPENDS ${uorb_headers_microcdr})
|
||||
|
||||
# Generate uORB serialization sources
|
||||
add_custom_command(OUTPUT ${uorb_sources_microcdr}
|
||||
COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
|
||||
--sources
|
||||
-f ${send_topic_files} ${receive_topic_files}
|
||||
-i .
|
||||
-o ${msg_source_out_path_microcdr}
|
||||
-e templates/uorb_microcdr
|
||||
-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources_microcdr
|
||||
-q
|
||||
DEPENDS ${msg_files}
|
||||
COMMENT "Generating uORB microcdr topic sources"
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}/msg/
|
||||
VERBATIM
|
||||
)
|
||||
px4_add_library(uorb_msgs_microcdr ${uorb_sources_microcdr})
|
||||
add_dependencies(uorb_msgs_microcdr uorb_headers_microcdr uorb_headers git_micro_cdr lib__micro-CDR)
|
||||
|
||||
target_link_libraries(uorb_msgs_microcdr PRIVATE lib__micro-CDR)
|
||||
|
||||
# microCDR
|
||||
target_include_directories(uorb_msgs_microcdr
|
||||
PUBLIC
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/micro-CDR/include
|
||||
${CMAKE_CURRENT_BINARY_DIR}/micro-CDR/include/microcdr
|
||||
)
|
||||
endif()
|
||||
Submodule
+1
Submodule src/modules/micrortps_bridge/micro-CDR added at 50776f4ab7
@@ -31,86 +31,75 @@
|
||||
#
|
||||
############################################################################
|
||||
|
||||
if(GENERATE_RTPS_BRIDGE)
|
||||
set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
|
||||
|
||||
find_program(FASTRTPSGEN fastrtpsgen PATHS $ENV{FASTRTPSGEN_DIR})
|
||||
if(NOT FASTRTPSGEN)
|
||||
message(STATUS "WARNING: Unable to find fastrtpsgen. Building PX4 without RTPS bridge support")
|
||||
if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
|
||||
|
||||
return()
|
||||
set(send_topic_files)
|
||||
foreach(topic ${config_rtps_send_topics})
|
||||
list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
|
||||
endforeach()
|
||||
|
||||
set(receive_topic_files)
|
||||
foreach(topic ${config_rtps_receive_topics})
|
||||
list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
|
||||
endforeach()
|
||||
|
||||
foreach(topic ${config_rtps_send_topics})
|
||||
list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Publisher.cpp)
|
||||
list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Publisher.h)
|
||||
endforeach()
|
||||
|
||||
foreach(topic ${config_rtps_receive_topics})
|
||||
list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Subscriber.cpp)
|
||||
list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Subscriber.h)
|
||||
endforeach()
|
||||
|
||||
set(send_topic_files_opt)
|
||||
if (NOT "${send_topic_files}" STREQUAL "")
|
||||
set(send_topic_opt "--send")
|
||||
endif()
|
||||
|
||||
# Do not delete everything in the current dir
|
||||
set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
|
||||
set(receive_topic_files_opt)
|
||||
if (NOT "${receive_topic_files}" STREQUAL "")
|
||||
set(receive_topic_opt "--receive")
|
||||
endif()
|
||||
|
||||
if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
|
||||
list(APPEND topic_bridge_files_out
|
||||
${msg_out_path}/micrortps_client/microRTPS_client.cpp
|
||||
${msg_out_path}/micrortps_client/microRTPS_transport.cpp
|
||||
${msg_out_path}/micrortps_client/microRTPS_transport.h
|
||||
)
|
||||
|
||||
set(send_topic_files)
|
||||
foreach(topic ${config_rtps_send_topics})
|
||||
list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
|
||||
endforeach()
|
||||
add_custom_command(OUTPUT ${topic_bridge_files_out}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/generate_microRTPS_bridge.py
|
||||
--fastrtpsgen-dir $ENV{FASTRTPSGEN_DIR}
|
||||
${send_topic_opt} ${send_topic_files}
|
||||
${receive_topic_opt} ${receive_topic_files}
|
||||
--topic-msg-dir ${PX4_SOURCE_DIR}/msg
|
||||
--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
|
||||
--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
|
||||
>micrortps_bridge.log 2>&1 || cat micrortps_bridge.log # quiet successful build output
|
||||
DEPENDS ${send_topic_files} ${receive_topic_files}
|
||||
COMMENT "Generating RTPS topic bridge"
|
||||
)
|
||||
add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out})
|
||||
|
||||
set(receive_topic_files)
|
||||
foreach(topic ${config_rtps_receive_topics})
|
||||
list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
|
||||
endforeach()
|
||||
include_directories(${CMAKE_CURRENT_SOURCE_DIR})
|
||||
include_directories(${CMAKE_CURRENT_BINARY_DIR}/micrortps_client)
|
||||
|
||||
foreach(topic ${config_rtps_send_topics})
|
||||
list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Publisher.cpp)
|
||||
list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Publisher.h)
|
||||
endforeach()
|
||||
|
||||
foreach(topic ${config_rtps_receive_topics})
|
||||
list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Subscriber.cpp)
|
||||
list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Subscriber.h)
|
||||
endforeach()
|
||||
|
||||
set(send_topic_files_opt)
|
||||
if (NOT "${send_topic_files}" STREQUAL "")
|
||||
set(send_topic_opt "--send")
|
||||
endif()
|
||||
|
||||
set(receive_topic_files_opt)
|
||||
if (NOT "${receive_topic_files}" STREQUAL "")
|
||||
set(receive_topic_opt "--receive")
|
||||
endif()
|
||||
|
||||
list(APPEND topic_bridge_files_out
|
||||
px4_add_module(
|
||||
MODULE modules__micrortps_bridge__micrortps_client
|
||||
MAIN micrortps_client
|
||||
STACK_MAIN 4096
|
||||
SRCS
|
||||
microRTPS_client_main.cpp
|
||||
${msg_out_path}/micrortps_client/microRTPS_client.cpp
|
||||
${msg_out_path}/micrortps_client/microRTPS_transport.cpp
|
||||
${msg_out_path}/micrortps_client/microRTPS_transport.h
|
||||
)
|
||||
|
||||
add_custom_command(OUTPUT ${topic_bridge_files_out}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/generate_microRTPS_bridge.py
|
||||
--fastrtpsgen-dir $ENV{FASTRTPSGEN_DIR}
|
||||
${send_topic_opt} ${send_topic_files}
|
||||
${receive_topic_opt} ${receive_topic_files}
|
||||
--topic-msg-dir ${PX4_SOURCE_DIR}/msg
|
||||
--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
|
||||
--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
|
||||
>micrortps_bridge.log 2>&1 || cat micrortps_bridge.log # quiet successful build output
|
||||
DEPENDS ${send_topic_files} ${receive_topic_files}
|
||||
COMMENT "Generating RTPS topic bridge"
|
||||
)
|
||||
add_custom_target(topic_bridge_files DEPENDS ${topic_bridge_files_out})
|
||||
|
||||
include_directories(${CMAKE_CURRENT_SOURCE_DIR})
|
||||
include_directories(${CMAKE_CURRENT_BINARY_DIR}/micrortps_client)
|
||||
|
||||
px4_add_module(
|
||||
MODULE modules__micrortps_bridge__micrortps_client
|
||||
MAIN micrortps_client
|
||||
STACK_MAIN 4096
|
||||
SRCS
|
||||
microRTPS_client_main.cpp
|
||||
${msg_out_path}/micrortps_client/microRTPS_client.cpp
|
||||
${msg_out_path}/micrortps_client/microRTPS_transport.cpp
|
||||
DEPENDS
|
||||
platforms__common
|
||||
topic_bridge_files
|
||||
uorb_headers_microcdr
|
||||
)
|
||||
target_link_libraries(modules__micrortps_bridge__micrortps_client PRIVATE lib__micro-CDR)
|
||||
endif()
|
||||
DEPENDS
|
||||
platforms__common
|
||||
topic_bridge_files
|
||||
uorb_headers_microcdr
|
||||
)
|
||||
target_link_libraries(modules__micrortps_bridge__micrortps_client PRIVATE uorb_msgs_microcdr)
|
||||
endif()
|
||||
Reference in New Issue
Block a user