mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
200 lines
4.3 KiB
CMake
200 lines
4.3 KiB
CMake
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include_directories(${CMAKE_CURRENT_BINARY_DIR})
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get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
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# When building with catkin, do not change CMAKE_RUNTIME_OUTPUT_DIR from
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# CMAKE_CURRENT_BINARY_DIR ''./platforms/posix' to './bin'
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if (NOT CATKIN_DEVEL_PREFIX)
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${CMAKE_BINARY_DIR}/bin)
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${CMAKE_BINARY_DIR}/bin)
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endif()
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set(PX4_SHELL_COMMAND_PREFIX "px4-")
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add_definitions("-DPX4_SHELL_COMMAND_PREFIX=\"${PX4_SHELL_COMMAND_PREFIX}\"")
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px4_posix_generate_builtin_commands(
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OUT apps
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MODULE_LIST ${module_libraries})
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px4_posix_generate_alias(
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OUT ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/px4-alias.sh
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MODULE_LIST ${module_libraries}
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PREFIX ${PX4_SHELL_COMMAND_PREFIX}
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)
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if (CMAKE_BUILD_TYPE STREQUAL FuzzTesting)
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add_executable(px4
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src/px4/common/main_fuzztesting.cpp
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apps.cpp
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)
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else()
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add_executable(px4
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src/px4/common/main.cpp
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apps.cpp
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)
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endif()
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target_link_libraries(px4
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PRIVATE
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${module_libraries}
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m
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parameters
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)
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if((NOT APPLE) AND (NOT ANDROID))
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target_link_libraries(px4 PRIVATE rt)
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endif()
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if(NOT ANDROID)
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target_link_libraries(px4 PRIVATE pthread)
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endif()
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target_link_libraries(px4 PRIVATE uORB)
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if (CMAKE_BUILD_TYPE STREQUAL FuzzTesting)
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target_include_directories(px4 PRIVATE SYSTEM "${CMAKE_BINARY_DIR}/mavlink}")
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target_compile_options(px4 PRIVATE "-Wno-cast-align")
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endif()
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#=============================================================================
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# install
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#
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# TODO: extend to snapdragon
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# px4 dirs
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install(
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DIRECTORY
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${PROJECT_SOURCE_DIR}/posix-configs
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${PROJECT_SOURCE_DIR}/test
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${CMAKE_BINARY_DIR}/etc
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${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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DESTINATION
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${PROJECT_NAME}
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USE_SOURCE_PERMISSIONS
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)
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# Module Symlinks
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px4_posix_generate_symlinks(
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MODULE_LIST ${module_libraries}
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PREFIX ${PX4_SHELL_COMMAND_PREFIX}
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TARGET px4
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)
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if (config_romfs_root)
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add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
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add_dependencies(px4 romfs_gen_files_target)
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endif()
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# board defined upload helper
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if(EXISTS "${PX4_BOARD_DIR}/cmake/upload.cmake")
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include(${PX4_BOARD_DIR}/cmake/upload.cmake)
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endif()
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if("${PX4_BOARD}" MATCHES "beaglebone_blue")
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target_link_libraries(px4 PRIVATE robotics_cape)
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elseif("${PX4_BOARD}" MATCHES "emlid_navio2")
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target_link_libraries(px4 PRIVATE atomic)
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# vscode launch.json
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_rpi.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
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elseif("${PX4_BOARD}" MATCHES "sitl")
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# vscode launch.json
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if(${PX4_BOARD_LABEL} MATCHES "replay")
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_replay.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
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else()
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sim.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
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endif()
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include(sitl_target)
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if(BUILD_TESTING)
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include(sitl_tests)
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endif()
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# install
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# px4 dirs
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install(
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DIRECTORY
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${PROJECT_SOURCE_DIR}/integrationtests
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${PROJECT_SOURCE_DIR}/launch
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${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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DESTINATION
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${PROJECT_NAME}
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USE_SOURCE_PERMISSIONS
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)
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# px4 files
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install(
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FILES
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${PROJECT_SOURCE_DIR}/CMakeLists.txt
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${PROJECT_SOURCE_DIR}/package.xml
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DESTINATION
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${PROJECT_NAME}
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)
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# px4 Tools dirs
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install(
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DIRECTORY
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${PROJECT_SOURCE_DIR}/Tools/ecl_ekf
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DESTINATION
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${PROJECT_NAME}/Tools
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USE_SOURCE_PERMISSIONS
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)
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# px4 Tools files
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install(
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PROGRAMS
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${PROJECT_SOURCE_DIR}/Tools/setup_gazebo.bash
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${PROJECT_SOURCE_DIR}/Tools/upload_log.py
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DESTINATION
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${PROJECT_NAME}/Tools
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)
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# ROMFS files
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install(
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DIRECTORY
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${PX4_BINARY_DIR}/etc
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DESTINATION
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${PROJECT_NAME}/build/px4_sitl_default
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)
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# sitl_gazebo built plugins
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install(
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DIRECTORY
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${PX4_BINARY_DIR}/build_gazebo
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DESTINATION
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${PROJECT_NAME}/build/px4_sitl_default
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FILES_MATCHING
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PATTERN "CMakeFiles" EXCLUDE
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PATTERN "*.so"
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)
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# sitl_gazebo dirs
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install(
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DIRECTORY
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${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/models
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${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/worlds
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DESTINATION
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${PROJECT_NAME}/Tools/sitl_gazebo
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)
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# sitl_gazebo files
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install(
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FILES
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${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/CMakeLists.txt
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${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/package.xml
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DESTINATION
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${PROJECT_NAME}/Tools/sitl_gazebo
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)
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endif()
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