mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 05:13:34 +08:00
Mark Charlebois
6cb26de74c
This adds support for a dynamic build for QuRT and initial Multi-uORB changes to enable communication between the DSP and the application processor. This part of the changes do not affect the POSIX build. This is enablement for the QuRT build using Multi-uORB. The second part of the changes will be added in a new module under src/modules. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
168 lines
7.1 KiB
CMake
168 lines
7.1 KiB
CMake
cmake_minimum_required(VERSION 2.8)
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include( CMakeForceCompiler )
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#set( CMAKE_SYSTEM_NAME px4_posix_clang )
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CMAKE_FORCE_C_COMPILER( clang Clang )
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CMAKE_FORCE_CXX_COMPILER( clang++ Clang )
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#set( CMAKE_C_COMPILER /opt/clang-3.4.2/bin/clang )
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#set( CMAKE_CXX_COMPILER /opt/clang-3.4.2/bin/clang++ )
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#set( CMAKE_FIND_ROOT_PATH /opt/clang-3.4.2/ )
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#set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM_NEVER )
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#set( CMAKE_FIND_ROOT_PATH_MODE_LIBARARY_ONLY )
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#set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE_ONLY )
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project(unittests)
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enable_testing()
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include(CheckCXXCompilerFlag)
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CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
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CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
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if(COMPILER_SUPPORTS_CXX11)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fno-exceptions -fno-rtti -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -g -Wall")
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elseif(COMPILER_SUPPORTS_CXX0X)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x -fno-exceptions -fno-rtti -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -g -Wall")
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else()
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message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
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endif()
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=gnu99 -g")
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#set(CMAKE_INCLUDE_SYSTEM_FLAG_C "-isystem" )
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#set(CMAKE_INCLUDE_SYSTEM_FLAG_CXX "-isystem" )
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set(GTEST_DIR gtest)
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add_subdirectory(${GTEST_DIR})
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include_directories(${GTEST_DIR}/include)
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set(PX_SRC ${CMAKE_SOURCE_DIR}/../src)
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include_directories(${CMAKE_SOURCE_DIR})
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include_directories(${PX_SRC})
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include_directories(${PX_SRC}/modules)
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include_directories(${PX_SRC}/modules/uORB)
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include_directories(${PX_SRC}/lib)
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include_directories(${PX_SRC}/drivers)
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include_directories(${PX_SRC}/platforms)
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include_directories(${PX_SRC}/platforms/posix/include)
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include_directories(${PX_SRC}/platforms/posix/px4_layer)
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include_directories(${PX_SRC}/drivers/device )
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add_definitions(-D__EXPORT=)
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add_definitions(-D__PX4_TESTS)
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add_definitions(-Dnoreturn_function=)
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add_definitions(-Dmain_t=int)
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add_definitions(-DERROR=-1)
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add_definitions(-DOK=0)
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add_definitions(-D_UNIT_TEST=)
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add_definitions(-D__PX4_POSIX)
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add_definitions(-D__PX4_LINUX)
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add_definitions(-D__PX4_POSIX)
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# check
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add_custom_target(unittests COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
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function(add_gtest)
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foreach(test_name ${ARGN})
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target_link_libraries(${test_name} gtest_main pthread rt )
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add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
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add_dependencies(unittests ${test_name})
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endforeach()
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endfunction()
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add_library( px4_platform
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# ${PX_SRC}/platforms/common/px4_getopt.c
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${PX_SRC}/platforms/posix/px4_layer/px4_posix_impl.cpp
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${PX_SRC}/platforms/posix/px4_layer/px4_posix_tasks.cpp
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${PX_SRC}/platforms/posix/px4_layer/work_lock.c
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${PX_SRC}/platforms/posix/px4_layer/work_queue.c
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${PX_SRC}/platforms/posix/px4_layer/dq_rem.c
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${PX_SRC}/platforms/posix/px4_layer/sq_addlast.c
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${PX_SRC}/platforms/posix/px4_layer/lib_crc32.c
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${PX_SRC}/platforms/posix/px4_layer/sq_addafter.c
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${PX_SRC}/platforms/posix/px4_layer/queue.c
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${PX_SRC}/platforms/posix/px4_layer/work_cancel.c
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${PX_SRC}/platforms/posix/px4_layer/dq_remfirst.c
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${PX_SRC}/platforms/posix/px4_layer/work_thread.c
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${PX_SRC}/platforms/posix/px4_layer/drv_hrt.c
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${PX_SRC}/platforms/posix/px4_layer/sq_remfirst.c
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${PX_SRC}/platforms/posix/px4_layer/dq_addlast.c
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${PX_SRC}/drivers/device/device_posix.cpp
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${PX_SRC}/drivers/device/vdev.cpp
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${PX_SRC}/drivers/device/vfile.cpp
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${PX_SRC}/drivers/device/vdev_posix.cpp
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${PX_SRC}/drivers/device/i2c_posix.cpp
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${PX_SRC}/drivers/device/sim.cpp
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${PX_SRC}/drivers/device/ringbuffer.cpp
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)
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#target_include_directories( px4_platform PUBLIC ${PX_SRC}/platforms )
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# add each test
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add_executable(autodeclination_test autodeclination_test.cpp ${PX_SRC}/lib/geo_lookup/geo_mag_declination.c)
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add_gtest(autodeclination_test)
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# mixer_test
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add_custom_command(OUTPUT ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h
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COMMAND ${PX_SRC}/modules/systemlib/mixer/multi_tables.py > ${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h)
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add_executable(mixer_test mixer_test.cpp hrt.cpp
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${PX_SRC}/modules/systemlib/mixer/mixer.cpp
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${PX_SRC}/modules/systemlib/mixer/mixer_group.cpp
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${PX_SRC}/modules/systemlib/mixer/mixer_load.c
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${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.cpp
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${PX_SRC}/modules/systemlib/mixer/mixer_multirotor.generated.h
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${PX_SRC}/modules/systemlib/mixer/mixer_simple.cpp
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${PX_SRC}/modules/systemlib/pwm_limit/pwm_limit.c
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${PX_SRC}/systemcmds/tests/test_mixer.cpp)
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target_link_libraries( mixer_test LINK_PUBLIC px4_platform )
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add_gtest(mixer_test)
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# conversion_test
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add_executable(conversion_test conversion_test.cpp ${PX_SRC}/systemcmds/tests/test_conv.cpp)
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add_gtest(conversion_test)
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# sbus2_test
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add_executable(sbus2_test sbus2_test.cpp hrt.cpp)
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add_gtest(sbus2_test)
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# st24_test
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add_executable(st24_test st24_test.cpp hrt.cpp ${PX_SRC}/lib/rc/st24.c)
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add_gtest(st24_test)
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# sumd_test
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add_executable(sumd_test sumd_test.cpp hrt.cpp ${PX_SRC}/lib/rc/sumd.c)
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add_gtest(sumd_test)
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# sf0x_test
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add_executable(sf0x_test sf0x_test.cpp ${PX_SRC}/drivers/sf0x/sf0x_parser.cpp)
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add_gtest(sf0x_test)
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# param_test
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add_executable(param_test param_test.cpp
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hrt.cpp
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uorb_stub.cpp
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${PX_SRC}/modules/systemlib/param/param.c
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${PX_SRC}/modules/systemlib/bson/tinybson.c
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)
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target_link_libraries( param_test px4_platform )
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add_gtest(param_test)
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# uorb test
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add_executable(uorb_tests uorb_unittests/uORBCommunicator_gtests.cpp
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uorb_unittests/uORBCommunicatorMock.cpp
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uorb_unittests/uORBCommunicatorMockLoopback.cpp
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${PX_SRC}/modules/uORB/uORBDevices_posix.cpp
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${PX_SRC}/modules/uORB/uORBManager_posix.cpp
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${PX_SRC}/modules/uORB/objects_common.cpp
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${PX_SRC}/modules/uORB/uORBUtils.cpp
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${PX_SRC}/modules/uORB/uORB.cpp
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)
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target_link_libraries( uorb_tests px4_platform )
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add_gtest(uorb_tests)
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