mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
d94748c831
This means that we can use the normal host scheduling (not lockstep) for the unit tests. In the future we might add unit tests using lockstep as well.
468 lines
17 KiB
Makefile
468 lines
17 KiB
Makefile
############################################################################
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#
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# Copyright (c) 2015 - 2017 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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# Enforce the presence of the GIT repository
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#
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# We depend on our submodules, so we have to prevent attempts to
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# compile without it being present.
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ifeq ($(wildcard .git),)
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$(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
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endif
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# Help
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# --------------------------------------------------------------------
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# Don't be afraid of this makefile, it is just passing
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# arguments to cmake to allow us to keep the wiki pages etc.
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# that describe how to build the px4 firmware
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# the same even when using cmake instead of make.
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#
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# Example usage:
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#
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# make px4_fmu-v2_default (builds)
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# make px4_fmu-v2_default upload (builds and uploads)
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# make px4_fmu-v2_default test (builds and tests)
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#
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# This tells cmake to build the nuttx px4_fmu-v2 default config in the
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# directory build/px4_fmu-v2_default and then call make
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# in that directory with the target upload.
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# explicity set default build target
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all: px4_sitl_default
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# Parsing
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# --------------------------------------------------------------------
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# assume 1st argument passed is the main target, the
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# rest are arguments to pass to the makefile generated
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# by cmake in the subdirectory
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FIRST_ARG := $(firstword $(MAKECMDGOALS))
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ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
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j ?= 4
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NINJA_BIN := ninja
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ifndef NO_NINJA_BUILD
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NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
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ifndef NINJA_BUILD
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NINJA_BIN := ninja-build
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NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
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endif
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endif
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ifdef NINJA_BUILD
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PX4_CMAKE_GENERATOR := Ninja
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PX4_MAKE := $(NINJA_BIN)
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ifdef VERBOSE
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PX4_MAKE_ARGS := -v
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else
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PX4_MAKE_ARGS :=
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endif
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else
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ifdef SYSTEMROOT
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# Windows
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PX4_CMAKE_GENERATOR := "MSYS\ Makefiles"
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else
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PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
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endif
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PX4_MAKE = $(MAKE)
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PX4_MAKE_ARGS = -j$(j) --no-print-directory
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endif
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SRC_DIR := $(shell dirname "$(realpath $(lastword $(MAKEFILE_LIST)))")
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# check if replay env variable is set & set build dir accordingly
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ifdef replay
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BUILD_DIR_SUFFIX := _replay
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else
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BUILD_DIR_SUFFIX :=
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endif
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# additional config parameters passed to cmake
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ifdef EXTERNAL_MODULES_LOCATION
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CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
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endif
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ifdef PX4_CMAKE_BUILD_TYPE
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CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
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else
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# Address Sanitizer
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ifdef PX4_ASAN
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CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
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endif
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# Memory Sanitizer
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ifdef PX4_MSAN
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CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
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endif
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# Thread Sanitizer
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ifdef PX4_TSAN
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CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
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endif
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# Undefined Behavior Sanitizer
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ifdef PX4_UBSAN
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CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
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endif
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endif
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# Functions
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# --------------------------------------------------------------------
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# describe how to build a cmake config
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define cmake-build
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+@$(eval PX4_CONFIG = $(1))
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+@$(eval BUILD_DIR = "$(SRC_DIR)"/build/$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
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+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
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+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake "$(SRC_DIR)" -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(PX4_CONFIG) || (rm -rf $(BUILD_DIR)); fi
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+@$(PX4_MAKE) -C $(BUILD_DIR) $(PX4_MAKE_ARGS) $(ARGS)
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endef
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COLOR_BLUE = \033[0;94m
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NO_COLOR = \033[m
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define colorecho
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+@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
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endef
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# Get a list of all config targets boards/*/*.cmake
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ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's/boards\///' | sed -e 's/\.cmake//' | sed -e 's/\//_/g' | sort)
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# Strip off default
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CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
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# ADD CONFIGS HERE
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# --------------------------------------------------------------------
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# Do not put any spaces between function arguments.
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# All targets.
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$(ALL_CONFIG_TARGETS):
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$(call cmake-build,$@)
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# Abbreviated config targets.
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# nuttx_ is left off by default; provide a rule to allow that.
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$(NUTTX_CONFIG_TARGETS):
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$(call cmake-build,nuttx_$@)
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all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
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$(CONFIG_TARGETS_DEFAULT):
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$(call cmake-build,$@_default)
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all_default_targets: $(CONFIG_TARGETS_DEFAULT)
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posix: px4_sitl_default
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# board reorganization deprecation warnings (2018-11-22)
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define deprecation_warning
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$(warning $(1) has been deprecated and will be removed, please use $(2)!)
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endef
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px4fmu-%_default:
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$(call deprecation_warning, ${@},$(subst px4fmu,px4_fmu,$@))
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$(MAKE) $(subst px4fmu,px4_fmu, $@)
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posix_sitl_default:
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$(call deprecation_warning, ${@},px4_sitl_default)
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$(MAKE) px4_sitl_default
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# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
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.PHONY: all posix px4_sitl_default all_nuttx_targets all_default_targets
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# Multi- config targets.
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eagle_default: atlflight_eagle_default atlflight_eagle_qurt-default
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eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
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excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt-default
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excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
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.PHONY: eagle_default eagle_rtps
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.PHONY: excelsior_default excelsior_rtps
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# Other targets
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# --------------------------------------------------------------------
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.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware check_rtps
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# QGroundControl flashable NuttX firmware
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qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
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# px4fmu NuttX firmware
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px4fmu_firmware: \
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check_px4_io-v2_default \
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check_px4_fmu-v2_default \
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check_px4_fmu-v3_default \
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check_px4_fmu-v4_default \
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check_px4_fmu-v4pro_default \
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check_px4_fmu-v5_default \
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sizes
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misc_qgc_extra_firmware: \
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check_gumstix_aerocore2_default \
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check_intel_aerofc-v1_default \
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check_auav_x21_default \
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check_bitcraze_crazyflie_default \
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check_airmind_mindpx-v2_default \
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check_px4_fmu-v2_lpe \
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sizes
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# Other NuttX firmware
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alt_firmware: \
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check_nxp_fmuk66-v3_default \
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check_atmel_same70xplained_default \
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check_stm_32f4discovery_default \
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check_px4_cannode-v1_default \
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check_px4_esc-v1_default \
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check_stm_nucleo-F767ZI_default \
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check_thiemar_s2740vc-v1_default \
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sizes
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# builds with RTPS
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check_rtps: \
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check_px4_fmu-v3_rtps \
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check_px4_fmu-v4_rtps \
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check_px4_fmu-v4pro_rtps \
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check_px4_sitl_rtps \
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sizes
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.PHONY: sizes check quick_check check_rtps uorb_graphs
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sizes:
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@-find build -name *.elf -type f | xargs size 2> /dev/null || :
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# All default targets that don't require a special build environment
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check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format
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# quick_check builds a single nuttx and posix target, runs testing, and checks the style
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quick_check: check_px4_sitl_default check_px4_fmu-v5_default tests check_format
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check_%:
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@echo
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$(call colorecho,'Building' $(subst check_,,$@))
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@$(MAKE) --no-print-directory $(subst check_,,$@)
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@echo
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uorb_graphs:
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@./Tools/uorb_graph/create_from_startupscript.sh
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@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
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@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
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@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
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@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
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.PHONY: coverity_scan
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coverity_scan: px4_sitl_default
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# Documentation
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# --------------------------------------------------------------------
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.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
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parameters_metadata:
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@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
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airframe_metadata:
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@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
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module_documentation:
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@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
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px4_metadata: parameters_metadata airframe_metadata module_documentation
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doxygen:
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@mkdir -p "$(SRC_DIR)"/build/doxygen
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@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
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@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
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@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
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# Astyle
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# --------------------------------------------------------------------
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.PHONY: check_format format
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check_format:
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$(call colorecho,'Checking formatting with astyle')
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@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh
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@cd "$(SRC_DIR)" && git diff --check
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format:
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$(call colorecho,'Formatting with astyle')
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@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
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# Testing
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# --------------------------------------------------------------------
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.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard
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.PHONY: rostest python_coverage test_mixer_multirotor
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test_mixer_multirotor:
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@$(MAKE) -C "$(SRC_DIR)"/src/lib/mixer --no-print-directory tests
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tests: test_mixer_multirotor
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@$(MAKE) --no-print-directory px4_sitl_test test_results \
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ASAN_OPTIONS="color=always:check_initialization_order=1:detect_stack_use_after_return=1" \
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UBSAN_OPTIONS="color=always"
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tests_coverage:
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@$(MAKE) clean
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@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
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@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"
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rostest: px4_sitl_default
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@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
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tests_mission: rostest
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@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
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tests_mission_coverage:
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@$(MAKE) clean
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@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
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@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
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@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
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@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
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tests_offboard: rostest
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@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
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@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
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python_coverage:
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@mkdir -p "$(SRC_DIR)"/build/python_coverage
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@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
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@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage
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@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_airframes
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@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_parameters
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#@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage module_documentation # TODO: fix within coverage.py
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@coverage combine `find . -name .coverage\*`
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@coverage report -m
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# static analyzers (scan-build, clang-tidy, cppcheck)
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# --------------------------------------------------------------------
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.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
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.PHONY: cppcheck shellcheck_all validate_module_configs
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scan-build:
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@export CCC_CC=clang
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@export CCC_CXX=clang++
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@rm -rf "$(SRC_DIR)"/build/px4_sitl_default-scan-build
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@rm -rf "$(SRC_DIR)"/build/scan-build/report_latest
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@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-scan-build
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@cd "$(SRC_DIR)"/build/px4_sitl_default-scan-build && scan-build cmake "$(SRC_DIR)" -GNinja -DCONFIG=px4_sitl_default
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@scan-build -o "$(SRC_DIR)"/build/scan-build cmake --build "$(SRC_DIR)"/build/px4_sitl_default-scan-build
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@find "$(SRC_DIR)"/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" "$(SRC_DIR)"/build/scan-build/report_latest \;
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px4_sitl_default-clang:
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@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang
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@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
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@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
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clang-tidy: px4_sitl_default-clang
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@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
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# to automatically fix a single check at a time, eg modernize-redundant-void-arg
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# % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
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clang-tidy-fix: px4_sitl_default-clang
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@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .
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# modified version of run-clang-tidy.py to return error codes and only output relevant results
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clang-tidy-quiet: px4_sitl_default-clang
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@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
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# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
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cppcheck: px4_sitl_default
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@mkdir -p "$(SRC_DIR)"/build/cppcheck
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@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
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@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/
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shellcheck_all:
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@"$(SRC_DIR)"/Tools/run-shellcheck.sh "$(SRC_DIR)"/ROMFS/px4fmu_common/
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@make px4_fmu-v5_default shellcheck
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validate_module_configs:
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@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
|
|
|
# Cleanup
|
|
# --------------------------------------------------------------------
|
|
.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
|
|
|
|
clean:
|
|
@rm -rf "$(SRC_DIR)"/build
|
|
|
|
submodulesclean:
|
|
@git submodule foreach --quiet --recursive git clean -ff -x -d
|
|
@git submodule update --quiet --init --recursive --force || true
|
|
@git submodule sync --recursive
|
|
@git submodule update --init --recursive --force
|
|
|
|
submodulesupdate:
|
|
@git submodule update --quiet --init --recursive || true
|
|
@git submodule sync --recursive
|
|
@git submodule update --init --recursive
|
|
|
|
gazeboclean:
|
|
@rm -rf ~/.gazebo/*
|
|
|
|
distclean: gazeboclean
|
|
@git submodule deinit -f .
|
|
@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
|
|
|
|
# --------------------------------------------------------------------
|
|
|
|
# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
|
|
%:
|
|
$(if $(filter $(FIRST_ARG),$@), \
|
|
$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
|
|
|
|
#help:
|
|
# @echo
|
|
# @echo "Type 'make ' and hit the tab key twice to see a list of the available"
|
|
# @echo "build configurations."
|
|
# @echo
|
|
|
|
empty :=
|
|
space := $(empty) $(empty)
|
|
|
|
# Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
|
|
help:
|
|
@echo "Usage: $(MAKE) <target>"
|
|
@echo "Where <target> is one of:"
|
|
@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
|
|
awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
|
|
egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS) $(NUTTX_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
|
|
@echo
|
|
@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
|
|
@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
|
|
|
|
# Print a list of all config targets.
|
|
list_config_targets:
|
|
@for targ in $(patsubst %_default,%[_default],$(ALL_CONFIG_TARGETS)); do echo $$targ; done
|