mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
1079c57fd0
Add cmake/cpack infrastructure for building .deb packages from px4_sitl_sih and px4_sitl_default targets. Includes install rules, package scripts, Gazebo wrapper, and CI workflow. Signed-off-by: Ramon Roche <mrpollo@gmail.com>
324 lines
8.0 KiB
CMake
324 lines
8.0 KiB
CMake
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include_directories(${CMAKE_CURRENT_BINARY_DIR})
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get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${CMAKE_BINARY_DIR}/bin)
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${CMAKE_BINARY_DIR}/bin)
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set(PX4_SHELL_COMMAND_PREFIX "px4-")
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add_definitions("-DPX4_SHELL_COMMAND_PREFIX=\"${PX4_SHELL_COMMAND_PREFIX}\"")
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px4_posix_generate_builtin_commands(
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OUT apps
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MODULE_LIST ${module_libraries})
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px4_posix_generate_alias(
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OUT ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/px4-alias.sh
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MODULE_LIST ${module_libraries}
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PREFIX ${PX4_SHELL_COMMAND_PREFIX}
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)
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add_definitions(-DPX4_SOURCE_DIR="${PX4_SOURCE_DIR}" -DPX4_BINARY_DIR="${PX4_BINARY_DIR}")
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# PX4_INSTALL_PREFIX is set by cmake/package.cmake after this file is processed.
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# It is passed via target_compile_definitions on the px4 target from package.cmake.
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add_executable(px4
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src/px4/common/main.cpp
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apps.cpp
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)
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if (BUILD_TESTING)
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# Build mavlink fuzz tests. These run other modules and thus cannot be a functional/unit test
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add_executable(mavlink_fuzz_tests EXCLUDE_FROM_ALL
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src/px4/common/mavlink_fuzz_tests.cpp
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apps.cpp
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)
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set_target_properties(mavlink_fuzz_tests PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${PX4_BINARY_DIR}")
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target_include_directories(mavlink_fuzz_tests PRIVATE SYSTEM "${CMAKE_BINARY_DIR}/mavlink")
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add_dependencies(test_results mavlink_fuzz_tests)
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link_fuzztest(mavlink_fuzz_tests)
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target_link_libraries(mavlink_fuzz_tests
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PRIVATE
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${module_libraries}
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m
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parameters
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)
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target_compile_options(mavlink_fuzz_tests
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PRIVATE
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# There warnings come from within fuzztest
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-Wno-float-equal
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-Wno-sign-compare
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-Wno-shadow
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-Wno-extra
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-Wno-non-template-friend
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# From mavlink
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-Wno-cast-align
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-Wno-address-of-packed-member
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)
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endif()
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target_link_libraries(px4
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PRIVATE
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${module_libraries}
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m
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parameters
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)
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if((NOT APPLE) AND (NOT ANDROID))
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target_link_libraries(px4 PRIVATE rt)
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endif()
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if(NOT ANDROID)
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target_link_libraries(px4 PRIVATE pthread)
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endif()
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target_link_libraries(px4 PRIVATE uORB)
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#=============================================================================
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# install
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#
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# Detect dpkg early so install rules can branch on it.
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# find_program caches the result, so the later call in package.cmake is a no-op.
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find_program(DPKG_PROGRAM dpkg)
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# Generic install rules (skipped when board provides its own install.cmake)
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if(NOT EXISTS "${PX4_BOARD_DIR}/cmake/install.cmake")
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# Legacy top-level install (posix-configs, test data, etc into px4/ prefix).
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# Skip when building .deb packages which use a clean /opt/px4-sitl{,-sih}/ layout.
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if(NOT DPKG_PROGRAM)
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install(
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DIRECTORY
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${PROJECT_SOURCE_DIR}/posix-configs
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${PROJECT_SOURCE_DIR}/test
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${PX4_BINARY_DIR}/etc
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${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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DESTINATION
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${PROJECT_NAME}
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USE_SOURCE_PERMISSIONS
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)
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endif()
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endif() # NOT board install.cmake
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# Module Symlinks
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px4_posix_generate_symlinks(
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MODULE_LIST ${module_libraries}
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PREFIX ${PX4_SHELL_COMMAND_PREFIX}
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TARGET px4
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)
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if(config_romfs_root)
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add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
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add_dependencies(px4 romfs_gen_files_target)
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endif()
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# board defined upload helper
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if(EXISTS "${PX4_BOARD_DIR}/cmake/upload.cmake")
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include(${PX4_BOARD_DIR}/cmake/upload.cmake)
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endif()
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# board defined install rules for .deb packaging
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if(EXISTS "${PX4_BOARD_DIR}/cmake/install.cmake")
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include(${PX4_BOARD_DIR}/cmake/install.cmake)
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endif()
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# board defined link libraries
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if(EXISTS "${PX4_BOARD_DIR}/cmake/link_libraries.cmake")
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include(${PX4_BOARD_DIR}/cmake/link_libraries.cmake)
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endif()
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if("${PX4_BOARD}" MATCHES "beaglebone_blue")
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target_link_libraries(px4 PRIVATE robotics_cape)
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elseif("${PX4_BOARD}" MATCHES "emlid_navio2")
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target_link_libraries(px4 PRIVATE atomic)
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# vscode launch.json
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_rpi.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
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elseif("${PX4_BOARD}" MATCHES "sitl")
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# vscode launch.json
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if(${PX4_BOARD_LABEL} MATCHES "replay")
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_replay.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
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else()
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sitl.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
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endif()
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set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/rootfs)
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file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/posix.lldbinit ${SITL_WORKING_DIR}/.lldbinit COPYONLY)
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/posix.gdbinit ${SITL_WORKING_DIR}/.gdbinit COPYONLY)
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if(BUILD_TESTING)
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include(sitl_tests)
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endif()
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# "none" legacy SITL helper target
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add_custom_target(none
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COMMAND $<TARGET_FILE:px4>
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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USES_TERMINAL
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DEPENDS px4
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)
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# install
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# Legacy install rules (used by ROS launch, existing CPack tarball workflow).
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# Skip when building .deb packages: the .deb rules below provide a clean
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# /opt/px4-sitl{,-sih}/ layout and these would duplicate/bloat the package.
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if(NOT DPKG_PROGRAM)
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# px4 dirs
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install(
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DIRECTORY
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${PROJECT_SOURCE_DIR}/integrationtests
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${PROJECT_SOURCE_DIR}/launch
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${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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DESTINATION
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${PROJECT_NAME}
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USE_SOURCE_PERMISSIONS
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)
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# px4 files
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install(
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FILES
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${PROJECT_SOURCE_DIR}/CMakeLists.txt
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${PROJECT_SOURCE_DIR}/package.xml
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DESTINATION
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${PROJECT_NAME}
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)
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# px4 Tools dirs
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install(
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DIRECTORY
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${PROJECT_SOURCE_DIR}/Tools/ecl_ekf
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DESTINATION
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${PROJECT_NAME}/Tools
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USE_SOURCE_PERMISSIONS
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)
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# px4 Tools files
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install(
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PROGRAMS
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${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo-classic/setup_gazebo.bash
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${PROJECT_SOURCE_DIR}/Tools/upload_log.py
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DESTINATION
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${PROJECT_NAME}/Tools
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)
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# ROMFS files
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install(
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DIRECTORY
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${PX4_BINARY_DIR}/etc
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DESTINATION
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${PROJECT_NAME}/build/px4_sitl_default
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)
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# gazebo files
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install(
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FILES
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${PROJECT_SOURCE_DIR}/Tools/simulation/gz/server.config
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DESTINATION
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${PROJECT_NAME}/Tools/simulation/gz
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)
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# gazebo dirs
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install(
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DIRECTORY
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${PROJECT_SOURCE_DIR}/Tools/simulation/gz/models
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${PROJECT_SOURCE_DIR}/Tools/simulation/gz/worlds
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DESTINATION
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${PROJECT_NAME}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
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OPTIONAL
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)
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endif() # NOT DPKG_PROGRAM
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####################################################################
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# Install rules for .deb package (only when dpkg is available)
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####################################################################
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if(DPKG_PROGRAM AND NOT CMAKE_C_COMPILER MATCHES "emcc$")
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# px4 binary
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install(TARGETS px4
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RUNTIME DESTINATION bin
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)
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# module symlinks and alias script
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install(
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DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/
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DESTINATION bin
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USE_SOURCE_PERMISSIONS
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FILES_MATCHING
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PATTERN "px4-*"
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PATTERN "px4-alias.sh"
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)
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# ROMFS (init scripts, mixers, etc.)
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install(
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DIRECTORY ${PX4_BINARY_DIR}/etc
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DESTINATION .
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USE_SOURCE_PERMISSIONS
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)
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if(CONFIG_MODULES_SIMULATION_GZ_BRIDGE)
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# Gazebo wrapper script (sets GZ_SIM_* env vars pointing at installed resources)
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install(
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PROGRAMS ${PROJECT_SOURCE_DIR}/Tools/packaging/px4-gazebo.sh
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DESTINATION bin
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RENAME px4-gazebo
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)
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endif()
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if(CONFIG_MODULES_SIMULATION_GZ_BRIDGE)
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# Gazebo models
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install(
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DIRECTORY ${PROJECT_SOURCE_DIR}/Tools/simulation/gz/models
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DESTINATION share/gz
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OPTIONAL
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)
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# Gazebo worlds
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install(
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DIRECTORY ${PROJECT_SOURCE_DIR}/Tools/simulation/gz/worlds
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DESTINATION share/gz
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OPTIONAL
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)
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# Gazebo server config
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install(
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FILES ${PROJECT_SOURCE_DIR}/Tools/simulation/gz/server.config
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DESTINATION share/gz
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OPTIONAL
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)
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# Gazebo plugins (built .so files)
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install(
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DIRECTORY ${CMAKE_BINARY_DIR}/src/modules/simulation/gz_plugins/
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DESTINATION lib/gz/plugins
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FILES_MATCHING PATTERN "*.so"
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PATTERN "CMakeFiles" EXCLUDE
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)
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# OpticalFlow external library (runtime dep of OpticalFlowSystem plugin)
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install(
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FILES ${CMAKE_BINARY_DIR}/OpticalFlow/install/lib/libOpticalFlow.so
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DESTINATION lib/gz/plugins
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OPTIONAL
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)
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endif()
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endif() # DPKG_PROGRAM AND NOT emcc
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endif()
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