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drivers/uavcan: subtree merge last working libuavcan (preserving history)

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- upstream libuavcan was broken and then marked deprecated, this fully absorbs the submodule (renamed libdronecan to deconflict) up to our last good working commit and all commit history is kept
 - fixes https://github.com/PX4/PX4-Autopilot/issues/23727 (regression introduced in #23113)
 - this puts us in a much better position to evolve the library as needed now that we have full control
This commit is contained in:
Daniel Agar
2024-10-16 13:31:17 -04:00
parent a0e6f9cd70 9a0fd624c4
commit e59cc9afeb
238 changed files with 40766 additions and 46 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/uavcannode/CMakeLists.txt
+23 -19
View File
@@ -31,10 +31,13 @@
#
############################################################################
set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/drivers/uavcan/libuavcan)
set(LIBUAVCAN_DIR_DRIVERS ${PX4_SOURCE_DIR}/src/drivers/uavcan/uavcan_drivers)
set(LIBDRONECAN_DIR ${PX4_SOURCE_DIR}/src/drivers/uavcan/libdronecan)
set(LIBDRONECAN_DIR_DRIVERS ${PX4_SOURCE_DIR}/src/drivers/uavcan/uavcan_drivers)
px4_add_git_submodule(TARGET git_uavcan PATH ${LIBUAVCAN_DIR})
set(DSDLC_DIR "${PX4_SOURCE_DIR}/src/drivers/uavcan/libdronecan/dsdl")
px4_add_git_submodule(TARGET git_uavcan_dsdl PATH ${DSDLC_DIR})
px4_add_git_submodule(TARGET git_uavcan_pydronecan PATH ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/pydronecan)
set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
set(UAVCAN_PLATFORM "generic")
@@ -89,25 +92,24 @@ add_compile_options(
-Wno-address-of-packed-member
)
set(CMAKE_WARN_DEPRECATED OFF CACHE BOOL "" FORCE) # silence libuavcan deprecation warning for now (TODO: fix and remove)
add_subdirectory(${LIBUAVCAN_DIR} libuavcan EXCLUDE_FROM_ALL)
add_subdirectory(${LIBDRONECAN_DIR} libdronecan EXCLUDE_FROM_ALL)
add_dependencies(uavcan prebuild_targets)
# driver
add_subdirectory(${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver libuavcan_drivers EXCLUDE_FROM_ALL)
add_subdirectory(${LIBDRONECAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver libuavcan_drivers EXCLUDE_FROM_ALL)
target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
${LIBUAVCAN_DIR}/libuavcan/include
${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
${LIBDRONECAN_DIR}/libuavcan/include
${LIBDRONECAN_DIR}/libuavcan/include/dsdlc_generated
)
# generated DSDL
set(DSDLC_DIR "${PX4_SOURCE_DIR}/src/drivers/uavcan/dsdl")
set(DSDLC_INPUTS
"${LIBUAVCAN_DIR}/dsdl/ardupilot"
"${LIBUAVCAN_DIR}/dsdl/com"
"${LIBUAVCAN_DIR}/dsdl/cuav"
"${LIBUAVCAN_DIR}/dsdl/dronecan"
"${LIBUAVCAN_DIR}/dsdl/uavcan"
"${DSDLC_DIR}/ardupilot"
"${DSDLC_DIR}/com"
"${DSDLC_DIR}/cuav"
"${DSDLC_DIR}/dronecan"
"${DSDLC_DIR}/uavcan"
)
set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
@@ -118,7 +120,7 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
endforeach(DSDLC_INPUT)
add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
COMMAND
${PYTHON_EXECUTABLE} ${LIBUAVCAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
${PYTHON_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
--outdir ${DSDLC_OUTPUT} ${DSDLC_INPUTS}
#--verbose
COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
@@ -135,10 +137,10 @@ px4_add_module(
#-DDEBUG_BUILD
INCLUDES
${DSDLC_OUTPUT}
${LIBUAVCAN_DIR}/libuavcan/include
${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include
${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver/include
${LIBDRONECAN_DIR}/libuavcan/include
${LIBDRONECAN_DIR}/libuavcan/include/dsdlc_generated
${LIBDRONECAN_DIR}/libuavcan/posix/include
${LIBDRONECAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver/include
SRCS
allocator.hpp
uavcan_driver.hpp
@@ -153,7 +155,9 @@ px4_add_module(
drivers_bootloaders
version
conversion
git_uavcan
git_uavcan_dsdl
git_uavcan_pydronecan
uavcan_${UAVCAN_DRIVER}_driver
# within libuavcan