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PX4-Autopilot/Makefile
Ramon Roche 3d457528d2 clang-tidy: gate NuttX-only driver libs by platform instead of exclude list 
The clang-tidy CI target builds against the SITL (px4_sitl_default-clang)
compilation database. Three libraries in src/lib/drivers/ were
unconditionally added via add_subdirectory(), causing them to appear in
compile_commands.json despite requiring NuttX-only headers:

- mcp_common: includes px4_platform/gpio/mcp.hpp (NuttX platform GPIO)
- smbus: extends device::I2C which resolves to the NuttX I2C driver
- smbus_sbs: includes smbus/SMBus.hpp, same I2C dependency chain

When clang-tidy analyzed these files it failed on clang-diagnostic-error
(fatal: header not found) since the platform headers don't exist in SITL.

The previous commit worked around this by adding the paths to
CLANG_TIDY_EXCLUDE_EXTRA in the Makefile, but the proper fix is to prevent
these libraries from entering the compilation database at all.

Gate mcp_common, smbus, and smbus_sbs behind
if(PX4_PLATFORM STREQUAL "nuttx") in src/lib/drivers/CMakeLists.txt.
This follows the established pattern already used by the device/ library
in the same directory, which conditionally includes NuttX-specific sources
(CDev.cpp, I2C.cpp, SPI.cpp) while compiling posix stubs for SITL.

The other libraries in the directory (accelerometer, gyroscope, led,
magnetometer, rangefinder) are pure abstractions over uORB topics and
internal utilities with no platform-specific hardware dependencies, so
they compile fine on all platforms without any gating.

Remove the now-unnecessary mcp_common and smbus paths from
CLANG_TIDY_EXCLUDE_EXTRA, keeping only the emscripten failsafe exclusion
(requires the emscripten SDK, not a platform build issue).

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
2026-02-12 21:20:27 -08:00

622 lines
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############################################################################
#
# Copyright (c) 2015 - 2024 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.
#
############################################################################
# Enforce the presence of the GIT repository
#
# We depend on our submodules, so we have to prevent attempts to
# compile without it being present.
ifeq ($(wildcard .git),)
$(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
endif
# Help
# --------------------------------------------------------------------
# Don't be afraid of this makefile, it is just passing
# arguments to cmake to allow us to keep the wiki pages etc.
# that describe how to build the px4 firmware
# the same even when using cmake instead of make.
#
# Example usage:
#
# make px4_fmu-v2_default (builds)
# make px4_fmu-v2_default upload (builds and uploads)
# make px4_fmu-v2_default test (builds and tests)
#
# This tells cmake to build the nuttx px4_fmu-v2 default config in the
# directory build/px4_fmu-v2_default and then call make
# in that directory with the target upload.
# explicity set default build target
all: px4_sitl_default
# define a space character to be able to explicitly find it in strings
space := $(subst ,, )
define make_list
$(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
endef
# Parsing
# --------------------------------------------------------------------
# assume 1st argument passed is the main target, the
# rest are arguments to pass to the makefile generated
# by cmake in the subdirectory
FIRST_ARG := $(firstword $(MAKECMDGOALS))
ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
# Get -j or --jobs argument as suggested in:
# https://stackoverflow.com/a/33616144/8548472
MAKE_PID := $(shell echo $$PPID)
j := $(shell ps T | sed -n 's|.*$(MAKE_PID).*$(MAKE).* \(-j\|--jobs\) *\([0-9][0-9]*\).*|\2|p')
# Default j for clang-tidy
j_clang_tidy := $(or $(j),4)
NINJA_BIN := ninja
ifndef NO_NINJA_BUILD
NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
ifndef NINJA_BUILD
NINJA_BIN := ninja-build
NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
endif
endif
ifdef NINJA_BUILD
PX4_CMAKE_GENERATOR := Ninja
PX4_MAKE := $(NINJA_BIN)
ifdef VERBOSE
PX4_MAKE_ARGS := -v
else
PX4_MAKE_ARGS :=
endif
# Only override ninja default if -j is set.
ifneq ($(j),)
PX4_MAKE_ARGS := $(PX4_MAKE_ARGS) -j$(j)
endif
else
ifdef SYSTEMROOT
# Windows
PX4_CMAKE_GENERATOR := "MSYS\ Makefiles"
else
PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
endif
# For non-ninja builds we default to -j4
j := $(or $(j),4)
PX4_MAKE = $(MAKE)
PX4_MAKE_ARGS = -j$(j) --no-print-directory
endif
SRC_DIR := $(shell dirname "$(realpath $(lastword $(MAKEFILE_LIST)))")
# check if replay env variable is set & set build dir accordingly
ifdef replay
BUILD_DIR_SUFFIX := _replay
else
BUILD_DIR_SUFFIX :=
endif
CMAKE_ARGS ?=
# additional config parameters passed to cmake
ifdef EXTERNAL_MODULES_LOCATION
override CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
endif
ifdef PX4_CMAKE_BUILD_TYPE
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
else
# Address Sanitizer
ifdef PX4_ASAN
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
endif
# Memory Sanitizer
ifdef PX4_MSAN
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
endif
# Thread Sanitizer
ifdef PX4_TSAN
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
endif
# Undefined Behavior Sanitizer
ifdef PX4_UBSAN
override CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
endif
endif
# Pick up specific Python path if set
ifdef PYTHON_EXECUTABLE
override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
endif
# Functions
# --------------------------------------------------------------------
# describe how to build a cmake config
define cmake-build
$(eval override CMAKE_ARGS += -DCONFIG=$(1))
@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
@$(call cmake-cache-check)
@# make sure to start from scratch when switching from GNU Make to Ninja
@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
@# make sure to start from scratch if ninja build file is missing
@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ ! -f $(BUILD_DIR)/build.ninja ]; then rm -rf $(BUILD_DIR); fi
@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
mkdir -p $(BUILD_DIR) \
&& cd $(BUILD_DIR) \
&& cmake "$(SRC_DIR)" -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) \
|| (rm -rf $(BUILD_DIR)); \
fi
@# run the build for the specified target
@cmake --build $(BUILD_DIR) -- $(PX4_MAKE_ARGS) $(ARGS)
endef
# check if the options we want to build with in CMAKE_ARGS match the ones which are already configured in the cache inside BUILD_DIR
define cmake-cache-check
@# change to build folder which fails if it doesn't exist and CACHED_CMAKE_OPTIONS stays empty
@# fetch all previously configured and cached options from the build folder and transform them into the OPTION=VALUE format without type (e.g. :BOOL)
@$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's|\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)|\1\2|gp' ))
@# transform the options in CMAKE_ARGS into the OPTION=VALUE format without -D
@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's|-D\([^[:blank:]]*=[^[:blank:]]*\)|\1|gp' ))
@# find each currently desired option in the already cached ones making sure the complete configured string value is the same
@$(eval VERIFIED_CMAKE_OPTIONS = $(foreach option,$(DESIRED_CMAKE_OPTIONS),$(strip $(findstring $(option)$(space),$(CACHED_CMAKE_OPTIONS)))))
@# if the complete list of desired options is found in the list of verified options we don't need to reconfigure and CMAKE_CACHE_CHECK stays empty
@$(eval CMAKE_CACHE_CHECK = $(if $(findstring $(DESIRED_CMAKE_OPTIONS),$(VERIFIED_CMAKE_OPTIONS)),,y))
endef
COLOR_BLUE = \033[0;94m
NO_COLOR = \033[m
define colorecho
+@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
endef
# Get a list of all config targets boards/*/*.px4board
ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.px4board' -print | sed -e 's|boards\/||' | sed -e 's|\.px4board||' | sed -e 's|\/|_|g' | sort)
# ADD CONFIGS HERE
# --------------------------------------------------------------------
# Do not put any spaces between function arguments.
# All targets.
$(ALL_CONFIG_TARGETS):
@$(call cmake-build,$@$(BUILD_DIR_SUFFIX))
# Filter for only default targets to allow omiting the "_default" postfix
CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
$(CONFIG_TARGETS_DEFAULT):
@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
all_config_targets: $(ALL_CONFIG_TARGETS)
all_default_targets: $(CONFIG_TARGETS_DEFAULT)
updateconfig:
@./Tools/kconfig/updateconfig.py
# board reorganization deprecation warnings (2018-11-22)
define deprecation_warning
$(warning $(1) has been deprecated and will be removed, please use $(2)!)
endef
# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
.PHONY: all px4_sitl_default all_config_targets all_default_targets
# Other targets
# --------------------------------------------------------------------
.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware
# QGroundControl flashable NuttX firmware
qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
# px4fmu NuttX firmware
px4fmu_firmware: \
check_px4_io-v2_default \
check_px4_fmu-v2_default \
check_px4_fmu-v3_default \
check_px4_fmu-v4_default \
check_px4_fmu-v4pro_default \
check_px4_fmu-v5_default \
check_px4_fmu-v5x_default \
sizes
misc_qgc_extra_firmware: \
check_nxp_fmuk66-v3_default \
check_mro_x21_default \
check_bitcraze_crazyflie_default \
check_bitcraze_crazyflie21_default \
check_airmind_mindpx-v2_default \
sizes
.PHONY: sizes check quick_check uorb_graphs
sizes:
@-find build -name *.elf -type f | xargs size 2> /dev/null || :
# All default targets that don't require a special build environment
check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware tests check_format
# quick_check builds a single nuttx and SITL target, runs testing, and checks the style
quick_check: check_px4_sitl_test check_px4_fmu-v5_default tests check_format
check_%:
@echo
$(call colorecho,'Building' $(subst check_,,$@))
@$(MAKE) --no-print-directory $(subst check_,,$@)
@echo
all_variants_%:
@echo 'Building all $(subst all_variants_,,$@) variants:' $(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS))
@echo
$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
uorb_graphs:
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
@$(MAKE) --no-print-directory px4_fmu-v5x_default uorb_graph
@$(MAKE) --no-print-directory px4_fmu-v6x_default uorb_graph
@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
px4io_update:
@$(MAKE) --no-print-directory px4_io-v2_default
@$(MAKE) --no-print-directory cubepilot_io-v2_default
# px4_io-v2_default
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/ark/fmu-v6x/extras/px4_io-v2_default.bin
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21/extras/px4_io-v2_default.bin
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
# cubepilot_io-v2_default
cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
git status
bootloaders_update: \
3dr_ctrl-zero-h7-oem-revg_bootloader \
ark_fmu-v6x_bootloader \
ark_fpv_bootloader \
ark_pi6x_bootloader \
auterion_fmu-v6s_bootloader \
auterion_fmu-v6x_bootloader \
cuav_nora_bootloader \
cuav_x7pro_bootloader \
cuav_7-nano_bootloader \
cuav_fmu-v6x_bootloader \
cuav_x25-evo_bootloader \
cubepilot_cubeorange_bootloader \
cubepilot_cubeorangeplus_bootloader \
hkust_nxt-dual_bootloader \
hkust_nxt-v1_bootloader \
holybro_durandal-v1_bootloader \
holybro_kakuteh7_bootloader \
holybro_kakuteh7mini_bootloader \
holybro_kakuteh7v2_bootloader \
matek_h743_bootloader \
matek_h743-mini_bootloader \
matek_h743-slim_bootloader \
micoair_h743_bootloader \
micoair_h743-aio_bootloader \
micoair_h743-v2_bootloader \
micoair_h743-lite_bootloader \
modalai_fc-v2_bootloader \
mro_ctrl-zero-classic_bootloader \
mro_ctrl-zero-h7_bootloader \
mro_ctrl-zero-h7-oem_bootloader \
mro_pixracerpro_bootloader \
narinfc_h7_bootloader \
px4_fmu-v6c_bootloader \
px4_fmu-v6u_bootloader \
px4_fmu-v6x_bootloader \
px4_fmu-v6xrt_bootloader \
siyi_n7_bootloader
git status
.PHONY: coverity_scan
coverity_scan: px4_sitl_default
# Documentation
# --------------------------------------------------------------------
.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata
parameters_metadata:
@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
airframe_metadata:
@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes ver_gen
module_documentation:
@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
extract_events:
@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
# Style
# --------------------------------------------------------------------
.PHONY: check_format format check_newlines
check_format:
$(call colorecho,'Checking formatting with astyle')
@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh
@cd "$(SRC_DIR)" && git diff --check
format:
$(call colorecho,'Formatting with astyle')
@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
check_newlines:
$(call colorecho,'Checking for missing or duplicate newlines at the end of files')
@"$(SRC_DIR)"/Tools/astyle/check_newlines.sh
# Testing
# --------------------------------------------------------------------
.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard
.PHONY: rostest python_coverage
tests:
$(eval override CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
$(eval ARGS += test_results)
$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
$(eval UBSAN_OPTIONS += color=always)
$(call cmake-build,px4_sitl_test)
# work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
LCOBUG = --ignore-errors mismatch
tests_coverage:
@$(MAKE) clean
@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
@mkdir -p coverage
@lcov --directory build/px4_sitl_test \
--base-directory build/px4_sitl_test \
--gcov-tool gcov \
--capture \
$(LCOBUG) \
-o coverage/lcov.info
rostest: px4_sitl_default
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
tests_integration: px4_sitl_default
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
tests_integration_coverage:
@$(MAKE) clean
@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
@mkdir -p coverage
@lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
tests_mission: rostest
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
rostest_run: px4_sitl_default
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
tests_mission_coverage:
@$(MAKE) clean
@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic PX4_CMAKE_BUILD_TYPE=Coverage
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
tests_offboard: rostest
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
python_coverage:
@mkdir -p "$(SRC_DIR)"/build/python_coverage
@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage
@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_airframes
@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_parameters
#@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage module_documentation # TODO: fix within coverage.py
@coverage combine `find . -name .coverage\*`
@coverage report -m
# static analyzers (scan-build, clang-tidy, cppcheck)
# --------------------------------------------------------------------
.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix
.PHONY: cppcheck shellcheck_all validate_module_configs
scan-build:
@export CCC_CC=clang
@export CCC_CXX=clang++
@rm -rf "$(SRC_DIR)"/build/px4_sitl_default-scan-build
@rm -rf "$(SRC_DIR)"/build/scan-build/report_latest
@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-scan-build
@cd "$(SRC_DIR)"/build/px4_sitl_default-scan-build && scan-build cmake "$(SRC_DIR)" -GNinja -DCONFIG=px4_sitl_default
@scan-build -o "$(SRC_DIR)"/build/scan-build cmake --build "$(SRC_DIR)"/build/px4_sitl_default-scan-build
@find "$(SRC_DIR)"/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" "$(SRC_DIR)"/build/scan-build/report_latest \;
px4_sitl_default-clang:
@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang
@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++
@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
# Paths to exclude from clang-tidy (auto-generated from .gitmodules + manual additions):
# - All submodules (external code we consume, not edit)
# - Test code (allowed looser style)
# - Example code (educational, not production)
# - Vendored third-party code (e.g., CMSIS_5)
# - NuttX-only drivers excluded at CMake level (mcp_common, smbus); GPIO excluded here
# - Emscripten failsafe web build (requires emscripten SDK not present in container)
#
# To add manual exclusions, append to CLANG_TIDY_EXCLUDE_EXTRA below.
# Submodules are automatically excluded - no action needed when adding new ones.
CLANG_TIDY_SUBMODULES := $(shell git config --file .gitmodules --get-regexp path | awk '{print $$2}' | tr '\n' '|' | sed 's/|$$//')
CLANG_TIDY_EXCLUDE_EXTRA := src/systemcmds/tests|src/examples|src/modules/gyro_fft/CMSIS_5|src/drivers/gpio|src/modules/commander/failsafe/emscripten
CLANG_TIDY_EXCLUDE := $(CLANG_TIDY_SUBMODULES)|$(CLANG_TIDY_EXCLUDE_EXTRA)
clang-tidy: px4_sitl_default-clang
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -p .
# to automatically fix a single check at a time, eg modernize-redundant-void-arg
# % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
clang-tidy-fix: px4_sitl_default-clang
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -fix -p .
# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
cppcheck: px4_sitl_default
@mkdir -p "$(SRC_DIR)"/build/cppcheck
@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++14 --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
@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/
shellcheck_all:
@"$(SRC_DIR)"/Tools/run-shellcheck.sh "$(SRC_DIR)"/ROMFS/px4fmu_common/
@make px4_fmu-v5_default shellcheck
validate_module_configs:
@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
-not -path "$(SRC_DIR)/src/modules/zenoh/dds_topics.yaml" \
-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
# Cleanup
# --------------------------------------------------------------------
.PHONY: clean submodulesclean submodulesupdate distclean
clean:
@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
@git submodule foreach git clean -dX --force # some submodules generate build artifacts in source
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 --jobs 4
submodulesupdate:
@git submodule update --quiet --init --recursive --jobs 4 || true
@git submodule sync --recursive
@git submodule update --init --recursive --jobs 4
@git fetch --all --tags --recurse-submodules=yes --jobs=4
distclean:
@git submodule deinit --force $(SRC_DIR)
@rm -rf "$(SRC_DIR)/build"
@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
# Help / Error / Misc
# --------------------------------------------------------------------
# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
%:
$(if $(filter $(FIRST_ARG),$@), \
$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) list_config_targets' to get a list of all possible [configuration] targets."),@#)
# 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: '/(^|\n)# Files(\n|$$)/,/(^|\n)# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
@echo
@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
# Print a list of all config targets.
list_config_targets:
@for targ in $(patsubst %_default,%[_default],$(ALL_CONFIG_TARGETS)); do echo $$targ; done
check_nuttx : $(call make_list,nuttx) \
sizes
check_linux : $(call make_list,linux) \
sizes
check_px4: $(call make_list,nuttx,"px4") \
sizes
check_nxp: $(call make_list,nuttx,"nxp") \
sizes
# helpers for running olddefconfig (nuttx) and px4_savedefconfig on all boards
.PHONY: all_oldconfig all_px4_savedefconfig
all_oldconfig:
@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ oldconfig; done
all_px4_savedefconfig:
@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ px4_savedefconfig; done
.PHONY: failsafe_web run_failsafe_web_server
failsafe_web:
@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
@$(MAKE) --no-print-directory px4_sitl_default failsafe_test parameters_xml \
PX4_CMAKE_BUILD_TYPE=Release BUILD_DIR_SUFFIX=_failsafe_web \
CMAKE_ARGS="-DCMAKE_CXX_COMPILER=em++ -DCMAKE_C_COMPILER=emcc"
run_failsafe_web_server: failsafe_web
@cd build/px4_sitl_default_failsafe_web && \
python3 -m http.server
# Generate reference documentation for uORB messages
.PHONY: msg_docs
msg_docs:
$(call colorecho,'Generating uORB message reference docs')
@mkdir -p build/msg_docs
@./Tools/msg/generate_msg_docs.py -d build/msg_docs
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