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PX4-Autopilot/CMakeLists.txt
Mark Charlebois 7a44ee7429 Added support for external shared libraries 
The FC_ADDON drivers are shared libraries that have PX4 wrappers.
The wrappers are built as modules which are static libraries and
cannot have shared library dependencies.

The shared libraries are required to resolve the symbols at runtime
and need to be linked with the libmainapp shared library.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
2016-05-28 14:05:27 +02:00

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CMake
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############################################################################
#
# Copyright (c) 2015 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.
#
############################################################################
#=============================================================================
# CMAKE CODING STANDARD FOR PX4
#
# Structure
# ---------------------------------------------------------------------------
#
# * Common functions should be included in px_base.cmake.
#
# * OS/ board specific fucntions should be include in
# px_impl_${OS}.cmake or px4_impl_${OS}_${BOARD}.cmake.
#
# Formatting
# ---------------------------------------------------------------------------
#
# * Use hard indents to match the px4 source code.
#
# * All function and script arguments are upper case.
#
# * All local variables are lower case.
#
# * All cmake functions are lowercase.
#
# * For else, endif, endfunction, etc, never put the name of the statement
#
# Instead of the very confusing:
# if (${var} STREQUAL "1") <-- condition now becomes if name
# # do somthing
# elseif (${var} STREQUAL "2") <-- another condition
# # do somthing
# else (${var} STREQUAL "1") <-- tag is referring to name of if
# # do somthing
# endif (${var} STREQUAL "1") <-- tag is referring to name of if
#
# Do this:
# if (${var} STREQUAL "1") <-- condition now becomes if name
# # do somthing
# elseif (${var} STREQUAL "2") <-- another condition
# # do somthing
# else () <-- leave blank
# # do somthing
# endif () <-- leave blank
#
# Functions/Macros
# ---------------------------------------------------------------------------
#
# * Use px4_parse_function_args to parse functions and check for required
# arguments. Unless there is only one argument in the function and it is clear.
#
# * Never use macros. They allow overwriting global variables and this
# makes variable declarations hard to locate.
#
# * If a target from add_custom_* is set in a function, explicitly pass it
# as an output argument so that the target name is clear to the user.
#
# * Avoid use of global variables in functions. Functions in a nested
# scope may use global variables, but this makes it difficult to
# resuse functions.
#
# Included CMake Files
# ---------------------------------------------------------------------------
#
# * All variables in config files must have the prefix "config_".
#
# * Never set global variables in an included cmake file,
# you may only define functions. This excludes config and Toolchain files.
# This makes it clear to the user when variables are being set or targets
# are being created.
#
# * Setting a global variable in a CMakeLists.txt file is ok, because
# each CMakeLists.txt file has scope in the current directory and all
# subdirecties, so it is not truly global.
#
# * All toolchain files should be included in the cmake
# directory and named Toolchain-"name".cmake.
#
# Misc
# ---------------------------------------------------------------------------
#
# * If referencing a string variable, don't put it in quotes.
# Don't do "${OS}" STREQUAL "posix",
# instead type ${OS} STREQUAL "posix". This will throw an
# error when ${OS} is not defined instead of silently
# evaluating to false.
#
#=============================================================================
# Warning: Changing this modifies CMake's internal workings
# and leads to wrong toolchain detection
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
# Use clang
#SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
#SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
#=============================================================================
# parameters
#
set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
set(CONFIG "nuttx_px4fmu-v2_default" CACHE STRING "desired configuration")
file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
set(THREADS "4" CACHE STRING
"number of threads to use for external build processes")
set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
#=============================================================================
# configuration
#
# must come before project to set toolchain
string(REPLACE "_" ";" config_args ${CONFIG})
list(GET config_args 0 OS)
list(GET config_args 1 BOARD)
list(GET config_args 2 LABEL)
set(target_name "${OS}-${BOARD}-${LABEL}")
message(STATUS "${target_name}")
# switch to ros CMake file if building ros
if (${OS} STREQUAL "ros")
include("cmake/ros-CMakeLists.txt")
else() # otherwise use the rest of this file
list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
set(config_module "configs/${CONFIG}")
include(${config_module})
# cmake modules
include(ExternalProject)
# require px4 module interface
set(px4_required_interface
px4_os_prebuild_targets
px4_os_add_flags
)
foreach(cmd ${px4_required_interface})
if(NOT COMMAND ${cmd})
message(FATAL_ERROR "${config_module} must implement ${cmd}")
endif()
endforeach()
set(px4_required_config
config_module_list
)
foreach(conf ${px4_required_config})
if(NOT DEFINED ${conf})
message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
endif()
endforeach()
# List the DriverFramework drivers
if(DEFINED config_df_driver_list)
message("DF Drivers: ${config_df_driver_list}")
endif()
#=============================================================================
# project definition
#
project(px4 CXX C ASM)
if (NOT ${CMAKE_VERSION} VERSION_LESS 3.0.0)
cmake_policy(SET CMP0045 NEW) # error on non-existent target in get prop
cmake_policy(SET CMP0046 NEW) # no non-existent targets as dependencies
cmake_policy(SET CMP0025 OLD) # still report AppleClang as Clang
endif()
if (NOT ${CMAKE_VERSION} VERSION_LESS 3.1.0)
cmake_policy(SET CMP0054 NEW) # don't dereference quoted variables
endif()
set(version_major 1)
set(version_minor 0)
set(version_patch 1)
set(version "${version_major}.${version_minor}.${version_patch}")
set(package-contact "px4users@googlegroups.com")
#=============================================================================
# programs
#
find_package(PythonInterp REQUIRED)
#=============================================================================
# cmake modules
#
enable_testing()
#=============================================================================
# check required toolchain variables
#
set(required_variables
CMAKE_C_COMPILER_ID
)
foreach(var ${required_variables})
if (NOT ${var})
message(FATAL_ERROR "Toolchain/config must define ${var}")
endif()
endforeach()
#=============================================================================
# git
#
px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
add_custom_target(submodule_clean
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
COMMAND git submodule deinit -f .
COMMAND rm -rf .git/modules/*
)
#=============================================================================
# misc targets
#
add_custom_target(check_format
COMMAND Tools/check_code_style.sh
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
)
add_custom_target(config
COMMAND cmake-gui .
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
)
#=============================================================================
# external libraries
#
px4_os_prebuild_targets(OUT prebuild_targets
BOARD ${BOARD}
THREADS ${THREADS})
#=============================================================================
# build flags
#
px4_os_add_flags(
BOARD ${BOARD}
C_FLAGS c_flags
CXX_FLAGS cxx_flags
EXE_LINKER_FLAGS exe_linker_flags
INCLUDE_DIRS include_dirs
LINK_DIRS link_dirs
DEFINITIONS definitions)
px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
include_directories(${include_dirs})
#message("INCLUDE_DIRS=${include_dirs}")
link_directories(${link_dirs})
add_definitions(${definitions})
#=============================================================================
# source code generation
#
add_subdirectory(msg)
px4_generate_messages(TARGET msg_gen
MSG_FILES ${msg_files}
OS ${OS}
DEPENDS git_genmsg git_gencpp prebuild_targets
)
px4_generate_parameters_xml(OUT parameters.xml BOARD ${BOARD})
px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
add_custom_target(xml_gen
DEPENDS parameters.xml airframes.xml)
#=============================================================================
# external projects
#
set(ep_base ${CMAKE_BINARY_DIR}/external)
set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
# add external project install folders to build
link_directories(${ep_base}/Install/lib)
include_directories(${ep_base}/Install/include)
# add the directories so cmake won't warn
execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
#=============================================================================
# DriverFramework Drivers
#
set(df_driver_libs)
foreach(driver ${config_df_driver_list})
add_subdirectory(src/lib/DriverFramework/drivers/${driver})
list(APPEND df_driver_libs df_${driver})
message("Adding DF driver: ${driver}")
endforeach()
#=============================================================================
# subdirectories
#
set(module_libraries)
foreach(module ${config_module_list})
string(REGEX MATCH "^[./]" external_module ${module})
if(external_module)
STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
else()
add_subdirectory(src/${module})
endif()
px4_mangle_name(${module} mangled_name)
list(APPEND module_libraries ${mangled_name})
#message(STATUS "adding module: ${module}")
endforeach()
# Keep track of external shared libs required for modules
set(module_shared_libraries "${module_shared_libraries}" CACHE INTERNAL "module_shared_libraries")
add_subdirectory(src/firmware/${OS})
#add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
if (NOT "${OS}" STREQUAL "nuttx")
endif()
if (config_io_board)
add_subdirectory(src/modules/px4iofirmware)
endif()
#=============================================================================
# generate git version
#
px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
#=============================================================================
# packaging
#
# Important to having packaging at end of cmake file.
#
set(CPACK_PACKAGE_VERSION ${version})
set(CPACK_PACKAGE_CONTACT ${package_contact})
set(CPACK_GENERATOR "ZIP")
set(CPACK_SOURCE_GENERATOR "ZIP")
include(CPack)
endif() # ros alternative endif
# vim: set noet fenc=utf-8 ff=unix ft=cmake :
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