mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-15 17:11:35 +08:00
Matthias Grob
6e27db9490
Without this flag the command silently succeeds even though the logs contains an error. It's much more developer friendly to fail early in case of an error. The log path is then also shown in the console output.
166 lines
6.0 KiB
CMake
166 lines
6.0 KiB
CMake
############################################################################
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#
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# Copyright (c) 2015-2023 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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set(MAVLINK_GIT_DIR "${CMAKE_CURRENT_LIST_DIR}/mavlink")
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set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")
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file(RELATIVE_PATH MAVLINK_GIT_DIR_RELATIVE ${CMAKE_SOURCE_DIR} ${MAVLINK_GIT_DIR})
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px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${MAVLINK_GIT_DIR}")
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# always generate uAvionix dialect
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set(MAVLINK_DIALECT_UAVIONIX "uAvionix")
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add_custom_command(
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OUTPUT ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h
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COMMAND
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${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
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--lang C --wire-protocol 2.0
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--exit-code
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--output ${MAVLINK_LIBRARY_DIR}
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${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT_UAVIONIX}.xml > ${CMAKE_CURRENT_BINARY_DIR}/mavgen_${MAVLINK_DIALECT_UAVIONIX}.log
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DEPENDS
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git_mavlink_v2
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${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
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${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT_UAVIONIX}.xml
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COMMENT "Generating Mavlink ${MAVLINK_DIALECT_UAVIONIX}: ${MAVLINK_GIT_DIR_RELATIVE}/message_definitions/v1.0/${MAVLINK_DIALECT_UAVIONIX}.xml"
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)
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add_custom_target(mavlink_c_generate_uavionix DEPENDS ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h)
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set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h PROPERTIES GENERATED true)
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# generate the primary dialect
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add_custom_command(
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OUTPUT ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h
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COMMAND
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${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
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--lang C --wire-protocol 2.0
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--exit-code
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--output ${MAVLINK_LIBRARY_DIR}
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${MAVLINK_GIT_DIR}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml > ${CMAKE_CURRENT_BINARY_DIR}/mavgen_${CONFIG_MAVLINK_DIALECT}.log
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DEPENDS
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git_mavlink_v2
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${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
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${MAVLINK_GIT_DIR}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml
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${BOARD_DEFCONFIG}
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# generate after uAvionix
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mavlink_c_generate_uavionix
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${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h
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COMMENT "Generating Mavlink ${CONFIG_MAVLINK_DIALECT}: ${MAVLINK_GIT_DIR_RELATIVE}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml"
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)
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add_custom_target(mavlink_c_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h)
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set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h PROPERTIES GENERATED true)
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# mavlink header only library
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add_library(mavlink_c INTERFACE)
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target_compile_options(mavlink_c INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
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target_sources(mavlink_c
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INTERFACE
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${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h
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${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h
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)
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target_include_directories(mavlink_c
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INTERFACE
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${MAVLINK_LIBRARY_DIR}
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${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}
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${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}
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)
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px4_add_module(
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MODULE modules__mavlink
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MAIN mavlink
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COMPILE_FLAGS
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-Wno-enum-compare # ROTATION <-> MAV_SENSOR_ROTATION
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#-DDEBUG_BUILD
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SRCS
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mavlink.c
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mavlink_command_sender.cpp
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mavlink_events.cpp
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mavlink_ftp.cpp
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mavlink_log_handler.cpp
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mavlink_main.cpp
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mavlink_messages.cpp
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mavlink_mission.cpp
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mavlink_parameters.cpp
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mavlink_rate_limiter.cpp
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mavlink_receiver.cpp
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mavlink_shell.cpp
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mavlink_simple_analyzer.cpp
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mavlink_stream.cpp
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mavlink_timesync.cpp
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mavlink_ulog.cpp
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MavlinkStatustextHandler.cpp
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tune_publisher.cpp
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MODULE_CONFIG
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module.yaml
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DEPENDS
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adsb
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airspeed
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component_general_json # for checksums.h
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dataman_client
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drivers_accelerometer
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drivers_gyroscope
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drivers_magnetometer
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conversion
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sensor_calibration
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geo
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mavlink_c
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timesync
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tunes
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variable_length_ringbuffer
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version
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UNITY_BUILD
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)
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if(PX4_TESTING)
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add_subdirectory(mavlink_tests)
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endif()
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px4_add_unit_gtest(SRC MavlinkStatustextHandlerTest.cpp
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INCLUDES
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${MAVLINK_LIBRARY_DIR}
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${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}
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${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}
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COMPILE_FLAGS
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-Wno-address-of-packed-member # TODO: fix in c_library_v2
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-Wno-cast-align # TODO: fix
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LINKLIBS
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modules__mavlink
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)
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if(CONFIG_NET AND "${PX4_PLATFORM}" MATCHES "nuttx")
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target_link_libraries(modules__mavlink PRIVATE nuttx_apps) # netlib_get_ipv4netmask
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endif()
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