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PX4-Autopilot/msg/CMakeLists.txt
Daniel Agar 4f62355dec
msg: new estimator_status_flags message for more accessible ekf2 status logging 
- log all estimator (ekf2) flags as separate booleans in a new dedicated low rate message (only publishes at 1 Hz or immediately on any change)
 - this is a bit verbose, but it avoids the duplicate bit definitions we currently have across PX4 msgs, ecl analysis script, flight review, and many other custom tools and it's much easier for casual log review in FlightPlot, PlotJuggler, csv, etc
 - for compatibility I've left estimator_status filter_fault_flags, innovation_check_flags, and solution_status_flags in place, but they can gradually be removed as tooling is updated

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2020-12-29 11:27:21 -05:00

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CMake
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############################################################################
#
# Copyright (c) 2016 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.
#
############################################################################
# Support IN_LIST if() operator
cmake_policy(SET CMP0057 NEW)
set(msg_files
actuator_armed.msg
actuator_controls.msg
actuator_outputs.msg
adc_report.msg
airspeed.msg
airspeed_validated.msg
battery_status.msg
camera_capture.msg
camera_trigger.msg
cellular_status.msg
collision_constraints.msg
collision_report.msg
commander_state.msg
cpuload.msg
differential_pressure.msg
distance_sensor.msg
ekf2_timestamps.msg
ekf_gps_drift.msg
esc_report.msg
esc_status.msg
estimator_innovations.msg
estimator_optical_flow_vel.msg
estimator_selector_status.msg
estimator_sensor_bias.msg
estimator_states.msg
estimator_status.msg
estimator_status_flags.msg
follow_target.msg
generator_status.msg
geofence_result.msg
gps_dump.msg
gps_inject_data.msg
home_position.msg
hover_thrust_estimate.msg
input_rc.msg
iridiumsbd_status.msg
irlock_report.msg
landing_gear.msg
landing_target_innovations.msg
landing_target_pose.msg
led_control.msg
log_message.msg
logger_status.msg
manual_control_setpoint.msg
manual_control_switches.msg
mavlink_log.msg
mission.msg
mission_result.msg
mount_orientation.msg
multirotor_motor_limits.msg
navigator_mission_item.msg
obstacle_distance.msg
offboard_control_mode.msg
onboard_computer_status.msg
optical_flow.msg
orbit_status.msg
parameter_update.msg
ping.msg
position_controller_landing_status.msg
position_controller_status.msg
position_setpoint.msg
position_setpoint_triplet.msg
power_button_state.msg
power_monitor.msg
pwm_input.msg
px4io_status.msg
qshell_req.msg
qshell_retval.msg
radio_status.msg
rate_ctrl_status.msg
rc_channels.msg
rc_parameter_map.msg
rpm.msg
safety.msg
satellite_info.msg
sensor_accel.msg
sensor_accel_fifo.msg
sensor_baro.msg
sensor_combined.msg
sensor_correction.msg
sensor_gps.msg
sensor_gyro.msg
sensor_gyro_fft.msg
sensor_gyro_fifo.msg
sensor_mag.msg
sensor_preflight_mag.msg
sensor_selection.msg
sensors_status_imu.msg
system_power.msg
task_stack_info.msg
tecs_status.msg
telemetry_status.msg
test_motor.msg
timesync.msg
timesync_status.msg
trajectory_bezier.msg
trajectory_waypoint.msg
transponder_report.msg
tune_control.msg
uavcan_parameter_request.msg
uavcan_parameter_value.msg
ulog_stream.msg
ulog_stream_ack.msg
vehicle_acceleration.msg
vehicle_air_data.msg
vehicle_angular_acceleration.msg
vehicle_angular_velocity.msg
vehicle_attitude.msg
vehicle_attitude_setpoint.msg
vehicle_command.msg
vehicle_command_ack.msg
vehicle_constraints.msg
vehicle_control_mode.msg
vehicle_global_position.msg
vehicle_gps_position.msg
vehicle_imu.msg
vehicle_imu_status.msg
vehicle_land_detected.msg
vehicle_local_position.msg
vehicle_local_position_setpoint.msg
vehicle_magnetometer.msg
vehicle_odometry.msg
vehicle_rates_setpoint.msg
vehicle_roi.msg
vehicle_status.msg
vehicle_status_flags.msg
vehicle_trajectory_bezier.msg
vehicle_trajectory_waypoint.msg
vtol_vehicle_status.msg
wheel_encoders.msg
wind_estimate.msg
yaw_estimator_status.msg
)
if(NOT px4_constrained_flash_build)
list(APPEND msg_files
debug_array.msg
debug_key_value.msg
debug_value.msg
debug_vect.msg
)
endif()
if(PX4_TESTING)
list(APPEND msg_files
orb_test.msg
orb_test_large.msg
orb_test_medium.msg
)
endif()
list(SORT msg_files)
set(deprecated_msgs
ekf2_innovations.msg # 2019-11-22, Updated estimator interface and logging; replaced by 'estimator_innovations'.
)
foreach(msg IN LISTS deprecated_msgs)
if(msg IN_LIST msg_files)
get_filename_component(msg_we ${msg} NAME_WE)
list(APPEND invalid_msgs ${msg_we})
endif()
endforeach()
if(invalid_msgs)
list(LENGTH invalid_msgs invalid_msgs_size)
if(${invalid_msgs_size} GREATER 1)
foreach(msg IN LISTS invalid_msgs)
string(CONCAT invalid_msgs_cs ${invalid_msgs_cs} "'${msg}', ")
endforeach()
STRING(REGEX REPLACE ", +$" "" invalid_msgs_cs ${invalid_msgs_cs})
message(FATAL_ERROR "${invalid_msgs_cs} are listed as deprecated. Please use different names for the messages.")
else()
message(FATAL_ERROR "'${invalid_msgs}' is listed as deprecated. Please use a different name for the message.")
endif()
endif()
if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
# Check that the msg directory and the CMakeLists.txt file exists
if(EXISTS ${EXTERNAL_MODULES_LOCATION}/msg/CMakeLists.txt)
add_subdirectory(${EXTERNAL_MODULES_LOCATION}/msg external_msg)
# Add each of the external message files to the global msg_files list
foreach(external_msg_file ${config_msg_list_external})
list(APPEND msg_files ${EXTERNAL_MODULES_LOCATION}/msg/${external_msg_file})
endforeach()
endif()
endif()
# headers
set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
set(msg_source_out_path ${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
set(uorb_headers ${msg_out_path}/uORBTopics.hpp)
set(uorb_sources ${msg_source_out_path}/uORBTopics.cpp)
foreach(msg_file ${msg_files})
get_filename_component(msg ${msg_file} NAME_WE)
list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
endforeach()
if (px4_constrained_flash_build)
set(added_arguments --constrained-flash)
endif()
# set parent scope msg_files for other modules to consume (eg topic_listener)
set(msg_files ${msg_files} PARENT_SCOPE)
# Generate uORB headers
add_custom_command(OUTPUT ${uorb_headers}
COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
--headers
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR}
-o ${msg_out_path}
-e templates/uorb
-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers
-q
${added_arguments}
DEPENDS
${msg_files}
templates/uorb/msg.h.em
templates/uorb/uORBTopics.hpp.em
tools/px_generate_uorb_topic_files.py
tools/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB topic headers"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_custom_target(uorb_headers DEPENDS ${uorb_headers})
# Generate uORB sources
add_custom_command(OUTPUT ${uorb_sources}
COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
--sources
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR}
-o ${msg_source_out_path}
-e templates/uorb
-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources
-q
${added_arguments}
DEPENDS
${msg_files}
templates/uorb/msg.cpp.em
templates/uorb/uORBTopics.cpp.em
tools/px_generate_uorb_topic_files.py
tools/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB topic sources"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_library(uorb_msgs ${uorb_sources})
target_link_libraries(uorb_msgs PRIVATE m)
add_dependencies(uorb_msgs prebuild_targets uorb_headers)
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