cmake remove circular linking and reorganize

- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link

src/modules/micrortps_bridge/CMakeLists.txt

@@ -104,7 +104,7 @@ if (GENERATE_RTPS_BRIDGE)
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}/msg/
 		VERBATIM
 		)
-	add_custom_target(uorb_headers_microcdr DEPENDS ${uorb_headers_microcdr})
+	add_custom_target(uorb_headers_microcdr_gen DEPENDS ${uorb_headers_microcdr})
 
 	# Generate uORB serialization sources
 	add_custom_command(OUTPUT ${uorb_sources_microcdr}
@@ -122,7 +122,11 @@ if (GENERATE_RTPS_BRIDGE)
 		VERBATIM
 		)
 	px4_add_library(uorb_msgs_microcdr ${uorb_sources_microcdr})
-	add_dependencies(uorb_msgs_microcdr uorb_headers_microcdr uorb_headers uorb_msgs git_micro_cdr lib__micro-CDR)
+	add_dependencies(uorb_msgs_microcdr
+		uorb_headers_microcdr_gen
+		git_micro_cdr
+		lib__micro-CDR
+	)
 
 	target_link_libraries(uorb_msgs_microcdr PRIVATE lib__micro-CDR)
 

src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt

@@ -85,21 +85,19 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
 	)
 	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
+		INCLUDES
+			${CMAKE_CURRENT_SOURCE_DIR}
+			${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
 		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 uorb_msgs_microcdr)
 endif()