NuttX cmake improvements

- fix temporary Make.defs copy
 - implement custom macros for COMPILE, COMPILEXX, ASSEMBLE, ARCHIVE to enable ccache properly (if available and enabled)
 - fix NuttX mkdeps
 - fix libapps race condition with context

platforms/nuttx/NuttX/CMakeLists.txt

@@ -147,9 +147,7 @@ add_custom_command(
 add_custom_target(nuttx_copy_config_dir_target DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp)
 
 
-# NuttX defconfig
-#  cmake should trigger reconfigure if defconfig changes
-set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${NUTTX_DEFCONFIG})
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
 
 # copy compressed PX4 defconfig into nuttx and inflate
 add_custom_command(
@@ -157,14 +155,15 @@ add_custom_command(
 		${NUTTX_DIR}/.config
 		${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
 	COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config
-	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh ${NUTTX_DIR}
+	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh > nuttx_olddefconfig.log
 	COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
 	DEPENDS
+		${NUTTX_DIR}/Make.defs
 		${NUTTX_DEFCONFIG}
 		nuttx_copy_config_dir_target ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy_config_dir.stamp
 		${CMAKE_CURRENT_SOURCE_DIR}/tools/px4_nuttx_make_olddefconfig.sh
 	WORKING_DIRECTORY ${NUTTX_DIR}
-	COMMENT "Copying NuttX compressed config ${NUTTX_CONFIG} and inflating"
+	COMMENT "Copying NuttX compressed config ${NUTTX_CONFIG} and inflating (make olddefconfig)"
 )
 add_custom_target(nuttx_config_target DEPENDS ${NUTTX_DIR}/.config ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp)
 
@@ -172,8 +171,6 @@ add_custom_target(nuttx_config_target DEPENDS ${NUTTX_DIR}/.config ${CMAKE_CURRE
 # NuttX build
 ###############################################################################
 
-configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
-
 # verbose build settings (V=1 or VERBOSE=1)
 option(PX4_NUTTX_VERBOSE "PX4 NuttX verbose build" off)
 
@@ -184,11 +181,9 @@ endif()
 
 if(PX4_NUTTX_VERBOSE)
 	set(nuttx_build_options)
-	set(nuttx_build_output)
 	set(nuttx_build_uses_terminal "USES_TERMINAL")
 else()
 	set(nuttx_build_options "--quiet")
-	set(nuttx_build_output ">nuttx_build.log")
 	set(nuttx_build_uses_terminal)
 endif()
 
@@ -198,8 +193,9 @@ add_custom_command(
 		${NUTTX_DIR}/include/nuttx/config.h
 		${NUTTX_DIR}/include/nuttx/version.h
 	COMMAND
-		make ${nuttx_build_options} --no-print-directory CONFIG_ARCH_BOARD_CUSTOM=y context > nuttx_context.log
+		make ${nuttx_build_options} --no-print-directory CONFIG_ARCH_BOARD_CUSTOM=y pass1dep > nuttx_context.log
 	DEPENDS
+		${NUTTX_DIR}/Make.defs
 		nuttx_config_target ${NUTTX_DIR}/.config ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.stamp
 	WORKING_DIRECTORY ${NUTTX_DIR}
 	${nuttx_build_uses_terminal}
@@ -264,11 +260,11 @@ add_custom_target(nuttx_builtin_list_target DEPENDS ${nuttx_builtin_list})
 # libapps.a
 add_custom_command(OUTPUT ${APPS_DIR}/libapps.a ${APPS_DIR}/platform/.built
 	COMMAND find ${APPS_DIR} -name \*.o -delete
-	COMMAND make ${nuttx_build_options} --no-print-directory TOPDIR="${NUTTX_DIR}" ../apps/libapps.a > nuttx_apps.log
+	COMMAND make ${nuttx_build_options} --no-print-directory TOPDIR="${NUTTX_DIR}"
 	DEPENDS
 		nuttx_builtin_list_target ${nuttx_builtin_list}
 		nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h
-	WORKING_DIRECTORY ${NUTTX_DIR}
+	WORKING_DIRECTORY ${APPS_DIR}
 	${nuttx_build_uses_terminal}
 )
 add_custom_target(nuttx_apps_build DEPENDS ${APPS_DIR}/libapps.a)
@@ -285,7 +281,7 @@ function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra)
 
 	add_custom_command(OUTPUT ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a
 		COMMAND find ${nuttx_lib_dir} -type f -name *.o -delete
-		COMMAND make -C ${nuttx_lib_dir} ${nuttx_build_options} --no-print-directory all TOPDIR=${NUTTX_DIR} KERNEL=${kernel} EXTRADEFINES=${extra} ${nuttx_build_output}
+		COMMAND make -C ${nuttx_lib_dir} ${nuttx_build_options} --no-print-directory all TOPDIR=${NUTTX_DIR} KERNEL=${kernel} EXTRADEFINES=${extra}
 		DEPENDS
 			${nuttx_lib_files}
 			nuttx_context ${NUTTX_DIR}/include/nuttx/config.h ${NUTTX_DIR}/include/nuttx/version.h

platforms/nuttx/NuttX/Make.defs.in

@@ -40,6 +40,7 @@ CC = ${CMAKE_C_COMPILER}
 CXX = ${CMAKE_CXX_COMPILER}
 CPP = ${CMAKE_C_COMPILER} -E
 LD = ${CMAKE_LD}
+STRIP = ${CMAKE_STRIP} --strip-unneeded
 AR = ${CMAKE_AR} rcs
 NM = ${CMAKE_NM}
 OBJCOPY = ${CMAKE_OBJCOPY}
@@ -51,6 +52,7 @@ ifneq (, $(findstring CYGWIN, $(shell uname)))
   ARCHINCLUDES = -I. -isystem "$(shell cygpath -w $(TOPDIR)/include)"
   ARCHXXINCLUDES = $(ARCHINCLUDES) -isystem "$(shell cygpath -w $(TOPDIR)/include/cxx)"
 else
+  MKDEP = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
   ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
   ARCHXXINCLUDES = $(ARCHINCLUDES) -isystem $(TOPDIR)/include/cxx
 endif
@@ -119,4 +121,26 @@ CXXFLAGS = $(ARCHXXINCLUDES) \
 	-Wno-double-promotion \
 	-Wno-missing-declarations
 
+CPPFLAGS = $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES)
 AFLAGS = $(CFLAGS) -D__ASSEMBLY__
+
+ASMEXT = .S
+OBJEXT = .o
+LIBEXT = .a
+EXEEXT =
+
+define COMPILE
+	$(Q) ${CCACHE_PROGRAM} $(CC) -c $(CFLAGS) $($(strip $1)_CFLAGS) $1 -o $2
+endef
+
+define COMPILEXX
+	$(Q) ${CCACHE_PROGRAM} $(CXX) -c $(CXXFLAGS) $($(strip $1)_CXXFLAGS) $1 -o $2
+endef
+
+define ASSEMBLE
+	$(Q) ${CCACHE_PROGRAM} $(CC) -c $(AFLAGS) $1 $($(strip $1)_AFLAGS) -o $2
+endef
+
+define ARCHIVE
+	$(Q) $(AR) $1 $(2)
+endef

platforms/nuttx/NuttX/tools/px4_nuttx_make_olddefconfig.sh

@@ -1,10 +1,8 @@
 #! /bin/bash
 
-NUTTX_DIR=${1}
-
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
 # update PATH to include kconfiglib scripts
 export PATH=${DIR}:${PATH}
 
-make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y CONFIG_APPS_DIR="../apps" olddefconfig > nuttx_olddefconfig.log
+make --no-print-directory --silent CONFIG_ARCH_BOARD_CUSTOM=y CONFIG_APPS_DIR="../apps" olddefconfig