mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 23:13:34 +08:00
136 lines
4.9 KiB
CMake
136 lines
4.9 KiB
CMake
############################################################################
|
|
#
|
|
# Copyright (c) 2017 PX4 Development Team. All rights reserved.
|
|
#
|
|
# Redistribution and use in source and binary forms, with or without
|
|
# modification, are permitted provided that the following conditions
|
|
# are met:
|
|
#
|
|
# 1. Redistributions of source code must retain the above copyright
|
|
# notice, this list of conditions and the following disclaimer.
|
|
# 2. Redistributions in binary form must reproduce the above copyright
|
|
# notice, this list of conditions and the following disclaimer in
|
|
# the documentation and/or other materials provided with the
|
|
# distribution.
|
|
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
# used to endorse or promote products derived from this software
|
|
# without specific prior written permission.
|
|
#
|
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
# POSSIBILITY OF SUCH DAMAGE.
|
|
#
|
|
############################################################################
|
|
|
|
#=============================================================================
|
|
# RTPS and micro-cdr
|
|
#
|
|
|
|
find_program(FASTRTPSGEN fastrtpsgen PATHS $ENV{FASTRTPSGEN_DIR})
|
|
if(NOT FASTRTPSGEN)
|
|
message(FATAL_ERROR "Unable to find fastrtpsgen")
|
|
endif()
|
|
|
|
set(config_rtps_send_topics
|
|
sensor_combined
|
|
)
|
|
|
|
set(config_rtps_receive_topics
|
|
sensor_baro
|
|
optical_flow
|
|
)
|
|
|
|
if (FASTRTPSGEN AND (config_rtps_send_topics OR config_rtps_receive_topics))
|
|
option(GENERATE_RTPS_BRIDGE "enable RTPS and microCDR" ON)
|
|
endif()
|
|
|
|
if (GENERATE_RTPS_BRIDGE)
|
|
|
|
add_subdirectory(micrortps_client)
|
|
|
|
###############################################################################
|
|
# micro-cdr serialization
|
|
###############################################################################
|
|
include(common/px4_git)
|
|
px4_add_git_submodule(TARGET git_micro_cdr PATH micro-CDR)
|
|
add_subdirectory(micro-CDR)
|
|
|
|
set(msg_out_path_microcdr ${PX4_BINARY_DIR}/uORB_microcdr/topics)
|
|
set(msg_source_out_path_microcdr ${CMAKE_CURRENT_BINARY_DIR}/topics_microcdr_sources)
|
|
|
|
set(uorb_headers_microcdr)
|
|
set(uorb_sources_microcdr)
|
|
|
|
# send topic files
|
|
set(send_topic_files)
|
|
foreach(topic ${config_rtps_send_topics})
|
|
list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
|
|
list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h)
|
|
list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp)
|
|
endforeach()
|
|
|
|
# receive topic files
|
|
set(receive_topic_files)
|
|
foreach(topic ${config_rtps_receive_topics})
|
|
list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
|
|
list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h)
|
|
list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp)
|
|
endforeach()
|
|
|
|
list(REMOVE_DUPLICATES uorb_headers_microcdr)
|
|
list(REMOVE_DUPLICATES uorb_sources_microcdr)
|
|
|
|
# Generate uORB serialization headers
|
|
add_custom_command(OUTPUT ${uorb_headers_microcdr}
|
|
COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
|
|
--headers
|
|
-f ${send_topic_files} ${receive_topic_files}
|
|
-i .
|
|
-o ${msg_out_path_microcdr}
|
|
-e templates/uorb_microcdr
|
|
-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers_microcdr
|
|
-q
|
|
DEPENDS ${msg_files}
|
|
COMMENT "Generating uORB microcdr topic headers"
|
|
WORKING_DIRECTORY ${PX4_SOURCE_DIR}/msg/
|
|
VERBATIM
|
|
)
|
|
add_custom_target(uorb_headers_microcdr DEPENDS ${uorb_headers_microcdr})
|
|
|
|
# Generate uORB serialization sources
|
|
add_custom_command(OUTPUT ${uorb_sources_microcdr}
|
|
COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
|
|
--sources
|
|
-f ${send_topic_files} ${receive_topic_files}
|
|
-i .
|
|
-o ${msg_source_out_path_microcdr}
|
|
-e templates/uorb_microcdr
|
|
-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources_microcdr
|
|
-q
|
|
DEPENDS ${msg_files}
|
|
COMMENT "Generating uORB microcdr topic sources"
|
|
WORKING_DIRECTORY ${PX4_SOURCE_DIR}/msg/
|
|
VERBATIM
|
|
)
|
|
px4_add_library(uorb_msgs_microcdr ${uorb_sources_microcdr})
|
|
add_dependencies(uorb_msgs_microcdr uorb_headers_microcdr uorb_headers uorb_msgs git_micro_cdr lib__micro-CDR)
|
|
|
|
target_link_libraries(uorb_msgs_microcdr PRIVATE lib__micro-CDR)
|
|
|
|
# microCDR
|
|
target_include_directories(uorb_msgs_microcdr
|
|
PUBLIC
|
|
${CMAKE_CURRENT_SOURCE_DIR}/micro-CDR/include
|
|
${CMAKE_CURRENT_BINARY_DIR}/micro-CDR/include/microcdr
|
|
)
|
|
endif()
|