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Improvements to SITL to make paths more flexible. (#5181) (#5255)

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* Path cleanup for SITL.

* Restructured sitl scripts dir.

* Set integration tests to use ekf2 for vtol.

* Fix sitl paths for mac.
This commit is contained in:
Lorenz Meier
2016-08-25 21:47:45 +02:00
committed by GitHub
parent 61f7470e7e
commit f511d49cc2
35 changed files with 527 additions and 346 deletions
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Makefile
+16 -20
View File
@@ -111,20 +111,23 @@ else
BUILD_DIR_SUFFIX :=
endif
SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
# Functions
# --------------------------------------------------------------------
# describe how to build a cmake config
define cmake-build
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e ./build_$@$(BUILD_DIR_SUFFIX)/Makefile ]; then rm -rf ./build_$@$(BUILD_DIR_SUFFIX); fi
+@if [ ! -e ./build_$@$(BUILD_DIR_SUFFIX)/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p ./build_$@$(BUILD_DIR_SUFFIX) && cd ./build_$@$(BUILD_DIR_SUFFIX) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf ./build_$@$(BUILD_DIR_SUFFIX)); fi
+@Tools/check_submodules.sh
+@(echo "PX4 CONFIG: $@$(BUILD_DIR_SUFFIX)" && cd ./build_$@$(BUILD_DIR_SUFFIX) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
+@(echo "PX4 CONFIG: $(BUILD_DIR)" && cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
endef
define cmake-build-other
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e ./build_$@/Makefile ]; then rm -rf ./build_$@; fi
+@if [ ! -e ./build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p ./build_$@ && cd ./build_$@ && cmake $(2) -G$(PX4_CMAKE_GENERATOR) || (cd .. && rm -rf ./build_$@); fi
+@(cd ./build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
endef
# create empty targets to avoid msgs for targets passed to cmake
@@ -174,6 +177,9 @@ posix_sitl_default:
posix_sitl_lpe:
$(call cmake-build,$@)
posix_sitl_ekf2:
$(call cmake-build,$@)
posix_sitl_replay:
$(call cmake-build,$@)
@@ -233,14 +239,8 @@ run_sitl_ros: sitl_deprecation
# Other targets
# --------------------------------------------------------------------
.PHONY: gazebo_build uavcan_firmware check check_format format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
.NOTPARALLEL: gazebo_build uavcan_firmware check check_format format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
gazebo_build:
@mkdir -p build_gazebo
@if [ ! -e ./build_gazebo/CMakeCache.txt ];then cd build_gazebo && cmake -Wno-dev -G$(PX4_CMAKE_GENERATOR) ../Tools/sitl_gazebo; fi
@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS)
@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS) sdf
.PHONY: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
.NOTPARALLEL: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
uavcan_firmware:
ifeq ($(VECTORCONTROL),1)
@@ -308,11 +308,7 @@ unittest: posix_sitl_default
@(cd build_unittest && ctest -j2 --output-on-failure)
run_tests_posix: posix_sitl_default
@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/fs/microsd
@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/eeprom
@touch build_posix_sitl_default/src/firmware/posix/rootfs/eeprom/parameters
@(cd build_posix_sitl_default/src/firmware/posix && ./px4 -d ../../../../posix-configs/SITL/init/rcS_tests | tee test_output)
@(cd build_posix_sitl_default/src/firmware/posix && grep --color=always "All tests passed" test_output)
@(cd build_posix_sitl_default/ && ctest -V)
tests: check_unittest run_tests_posix