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NuttX build in place

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- cmake NuttX build wrapper compile in place instead of copying source tree to build directory
    - slightly faster skipping necessary copying (depending on system)
    - allows debugging in place
    - easier to work directly in NuttX following official documentation
    - simplifies overall build which should make it easier to resolve any remaining NuttX dependency issues in the build system
 - the downside is switching back and forth between different builds always require rebuilding NuttX, but I think this is worth the improved developer experience
 - also no longer builds px4io and bootloader in every single build, for most users these rarely change and we're wasting a lot of build time
This commit is contained in:
Daniel Agar
2021-11-15 18:47:38 -05:00
committed by GitHub
parent 7b7b7acd36
commit f5d9b01f5c
164 changed files with 351 additions and 751 deletions
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platforms/nuttx/cmake/init.cmake
+18 -96
View File
@@ -56,113 +56,35 @@ set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config CACHE FILEPATH "PX4 NuttX con
set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE)
set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${NUTTX_DEFCONFIG})
set(NUTTX_SRC_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX)
set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx CACHE FILEPATH "NuttX directory" FORCE)
set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps CACHE FILEPATH "NuttX apps directory" FORCE)
set(NUTTX_SRC_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX)
set(NUTTX_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx CACHE FILEPATH "NuttX directory" FORCE)
set(NUTTX_APPS_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/apps CACHE FILEPATH "NuttX apps directory" FORCE)
px4_add_git_submodule(TARGET git_nuttx PATH "${NUTTX_SRC_DIR}/nuttx")
px4_add_git_submodule(TARGET git_nuttx_apps PATH "${NUTTX_SRC_DIR}/apps")
if(CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32)
# copy with rsync and create file dependencies
set(NUTTX_COPY_CMD "rsync")
set(NUTTX_COPY_CMD_OPTS)
list(APPEND NUTTX_COPY_CMD_OPTS
-rp
--inplace
)
else()
# copy with hard links
# archive, recursive, force, link (hardlinks)
set(NUTTX_COPY_CMD "cp")
set(NUTTX_COPY_CMD_OPTS "-aRfl")
endif()
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX)
###############################################################################
# NuttX: copy to build directory
###############################################################################
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx/Kconfig))
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx)
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
# replace NuttX .git with actual git repo location (absolute path)
execute_process(
COMMAND git rev-parse --absolute-git-dir
OUTPUT_VARIABLE nuttx_git_dir
WORKING_DIRECTORY ${NUTTX_SRC_DIR}/nuttx
OUTPUT_STRIP_TRAILING_WHITESPACE
)
execute_process(COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/nuttx/.git)
file(WRITE ${PX4_BINARY_DIR}/NuttX/nuttx/.git "gitdir: ${nuttx_git_dir}")
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy.stamp)
endif()
###############################################################################
# NuttX apps: copy to build directory
###############################################################################
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/apps/Kconfig))
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/apps)
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp)
endif()
###############################################################################
# board nuttx-config
###############################################################################
# If the board provides a Kconfig Use it or create an empty one
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp) OR (NOT EXISTS ${NUTTX_DIR}/boards/dummy/Kconfig))
if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/boards/dummy/Kconfig)
else()
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/boards/dummy/Kconfig)
endif()
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_config_kconfig.stamp)
endif()
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig))
# copy board's nuttx-config to NuttX/nuttx-config
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${PX4_BOARD_DIR}/nuttx-config)
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
execute_process(COMMAND ${NUTTX_COPY_CMD} ${NUTTX_COPY_CMD_OPTS} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers)
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx-config/drivers/Kconfig)
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src)
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h)
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_copy_config_dir.stamp)
endif()
# make olddefconfig (inflate defconfig to full .config)
if((NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp) OR (NOT EXISTS ${PX4_BINARY_DIR}/NuttX/nuttx/.config))
execute_process(COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_SRC_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs) # Create a temporary Toplevel Make.defs for the oldconfig step
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config)
execute_process(
COMMAND ${NUTTX_SRC_DIR}/tools/px4_nuttx_make_olddefconfig.sh
WORKING_DIRECTORY ${NUTTX_DIR}
OUTPUT_FILE nuttx_olddefconfig.log
RESULT_VARIABLE ret
)
execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${PX4_BINARY_DIR}/NuttX/nuttx_olddefconfig.stamp)
# remove temporary top level Make.defs
execute_process(COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/Make.defs)
endif()
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_CONFIG_DIR}/src) # needed for NuttX build
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs) # Create a temporary Toplevel Make.defs for the oldconfig step
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config)
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/defconfig)
set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${NUTTX_DIR}/defconfig)
execute_process(
COMMAND ${NUTTX_SRC_DIR}/tools/px4_nuttx_make_olddefconfig.sh
WORKING_DIRECTORY ${NUTTX_DIR}
OUTPUT_FILE ${CMAKE_CURRENT_BINARY_DIR}/nuttx_olddefconfig.log
RESULT_VARIABLE ret
)
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/.config ${PX4_BINARY_DIR}/NuttX/nuttx/.config)
###############################################################################
# NuttX cmake defconfig
###############################################################################
# parse nuttx config options for cmake
file(STRINGS ${NUTTX_DIR}/.config ConfigContents)
file(STRINGS ${PX4_BINARY_DIR}/NuttX/nuttx/.config ConfigContents)
foreach(NameAndValue ${ConfigContents})
# Strip leading spaces
string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
platforms/nuttx/cmake/jlink.cmake
+6 -17
View File
@@ -117,32 +117,21 @@ find_program(JLinkExe_PATH JLinkExe)
if(JLinkExe_PATH)
# jlink_flash_bootloader_bin
if(bootloader_bin OR (EXISTS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin))
if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
set(BOARD_FIRMWARE_APP_OFFSET "0x08000000")
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in ${PX4_BINARY_DIR}/flash_bootloader_bin.jlink @ONLY)
if(bootloader_bin)
add_custom_command(OUTPUT ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN}
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${bootloader_bin} ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN}
DEPENDS ${bootloader_bin}
)
elseif(EXISTS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
add_custom_command(OUTPUT ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN}
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN}
DEPENDS ${PX4_BOARD_DIR}/bootloader/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin
)
endif()
add_custom_target(jlink_flash_bootloader_bin
${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin ${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN}
COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bootloader_bin.jlink
DEPENDS
${PX4_BINARY_DIR}/${BOARD_FIRMWARE_BIN}
${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
endif()
# jlink_flash_bin
@@ -161,8 +150,8 @@ if(JLinkExe_PATH)
USES_TERMINAL
)
else()
# regular firmware ${PX4_BINARY_DIR}/${PX4_BOARD}.bin
set(BOARD_FIRMWARE_BIN ${PX4_BOARD}.bin)
# regular firmware ${PX4_BINARY_DIR}/${PX4_CONFIG}.bin
set(BOARD_FIRMWARE_BIN ${PX4_CONFIG}.bin)
set(BOARD_FIRMWARE_APP_OFFSET "0x08008000") # TODO: get from board
configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in ${PX4_BINARY_DIR}/flash_bin.jlink @ONLY)
@@ -171,7 +160,7 @@ if(JLinkExe_PATH)
COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bin.jlink
DEPENDS
${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in
${PX4_BINARY_DIR}/${PX4_BOARD}.bin
${PX4_BINARY_DIR}/${PX4_CONFIG}.bin
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
platforms/nuttx/cmake/px4_impl_os.cmake
+7 -7
View File
@@ -51,17 +51,17 @@
function(px4_os_add_flags)
include_directories(BEFORE SYSTEM
${PX4_BINARY_DIR}/NuttX/nuttx/include
${PX4_BINARY_DIR}/NuttX/nuttx/include/cxx
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/include
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/include/cxx
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/include/cxx # custom new
)
include_directories(
${PX4_BINARY_DIR}/NuttX/nuttx/arch/${CONFIG_ARCH}/src/${CONFIG_ARCH_FAMILY}
${PX4_BINARY_DIR}/NuttX/nuttx/arch/${CONFIG_ARCH}/src/chip
${PX4_BINARY_DIR}/NuttX/nuttx/arch/${CONFIG_ARCH}/src/common
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/${CONFIG_ARCH}/src/${CONFIG_ARCH_FAMILY}
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/${CONFIG_ARCH}/src/chip
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/arch/${CONFIG_ARCH}/src/common
${PX4_BINARY_DIR}/NuttX/apps/include
${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/apps/include
)
# prevent using the toolchain's std c++ library
@@ -178,6 +178,6 @@ function(px4_os_prebuild_targets)
add_library(prebuild_targets INTERFACE)
target_link_libraries(prebuild_targets INTERFACE nuttx_xx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
add_dependencies(prebuild_targets DEPENDS nuttx_build uorb_headers)
add_dependencies(prebuild_targets DEPENDS nuttx_context uorb_headers)
endfunction()