mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
9eda5b373c
This adds the env option PX4_FUZZ which runs the LLVM libFuzzer which throws random bytes at mavlink_receiver using MAVLink messages over UDP. The MAVLink messages that are being sent are valid, so the CRC is calculated but the payload and msgid, etc. are generally garbage, unless the fuzzing gets a msgid right by chance. As I understand it, libFuzzer watches the test coverage and will try to execute as much of the code as possible.
573 lines
23 KiB
Makefile
573 lines
23 KiB
Makefile
############################################################################
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#
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# Copyright (c) 2015 - 2020 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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# Enforce the presence of the GIT repository
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#
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# We depend on our submodules, so we have to prevent attempts to
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# compile without it being present.
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ifeq ($(wildcard .git),)
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$(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
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endif
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# Help
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# --------------------------------------------------------------------
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# Don't be afraid of this makefile, it is just passing
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# arguments to cmake to allow us to keep the wiki pages etc.
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# that describe how to build the px4 firmware
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# the same even when using cmake instead of make.
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#
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# Example usage:
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#
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# make px4_fmu-v2_default (builds)
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# make px4_fmu-v2_default upload (builds and uploads)
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# make px4_fmu-v2_default test (builds and tests)
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#
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# This tells cmake to build the nuttx px4_fmu-v2 default config in the
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# directory build/px4_fmu-v2_default and then call make
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# in that directory with the target upload.
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# explicity set default build target
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all: px4_sitl_default
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# define a space character to be able to explicitly find it in strings
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space := $(subst ,, )
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define make_list
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$(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
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endef
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# Parsing
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# --------------------------------------------------------------------
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# assume 1st argument passed is the main target, the
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# rest are arguments to pass to the makefile generated
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# by cmake in the subdirectory
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FIRST_ARG := $(firstword $(MAKECMDGOALS))
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ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
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# Get -j or --jobs argument as suggested in:
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# https://stackoverflow.com/a/33616144/8548472
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MAKE_PID := $(shell echo $$PPID)
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j := $(shell ps T | sed -n 's|.*$(MAKE_PID).*$(MAKE).* \(-j\|--jobs\) *\([0-9][0-9]*\).*|\2|p')
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# Default j for clang-tidy
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j_clang_tidy := $(or $(j),4)
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NINJA_BIN := ninja
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ifndef NO_NINJA_BUILD
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NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
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ifndef NINJA_BUILD
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NINJA_BIN := ninja-build
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NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
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endif
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endif
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ifdef NINJA_BUILD
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PX4_CMAKE_GENERATOR := Ninja
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PX4_MAKE := $(NINJA_BIN)
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ifdef VERBOSE
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PX4_MAKE_ARGS := -v
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else
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PX4_MAKE_ARGS :=
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endif
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# Only override ninja default if -j is set.
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ifneq ($(j),)
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PX4_MAKE_ARGS := $(PX4_MAKE_ARGS) -j$(j)
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endif
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else
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ifdef SYSTEMROOT
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# Windows
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PX4_CMAKE_GENERATOR := "MSYS\ Makefiles"
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else
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PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
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endif
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# For non-ninja builds we default to -j4
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j := $(or $(j),4)
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PX4_MAKE = $(MAKE)
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PX4_MAKE_ARGS = -j$(j) --no-print-directory
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endif
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SRC_DIR := $(shell dirname "$(realpath $(lastword $(MAKEFILE_LIST)))")
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# check if replay env variable is set & set build dir accordingly
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ifdef replay
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BUILD_DIR_SUFFIX := _replay
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else
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BUILD_DIR_SUFFIX :=
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endif
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# additional config parameters passed to cmake
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ifdef EXTERNAL_MODULES_LOCATION
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CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
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endif
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ifdef PX4_CMAKE_BUILD_TYPE
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CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
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else
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# Address Sanitizer
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ifdef PX4_ASAN
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CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
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endif
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# Memory Sanitizer
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ifdef PX4_MSAN
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CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
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endif
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# Thread Sanitizer
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ifdef PX4_TSAN
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CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
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endif
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# Undefined Behavior Sanitizer
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ifdef PX4_UBSAN
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CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
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endif
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# Fuzz Testing
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ifdef PX4_FUZZ
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export CC=clang
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export CXX=clang++
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CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
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endif
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endif
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# Pick up specific Python path if set
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ifdef PYTHON_EXECUTABLE
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CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
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endif
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# Check if the microRTPS agent is to be built
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ifdef BUILD_MICRORTPS_AGENT
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CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
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endif
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# Functions
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# --------------------------------------------------------------------
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# describe how to build a cmake config
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define cmake-build
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$(eval CMAKE_ARGS += -DCONFIG=$(1))
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@$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
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@# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
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@$(call cmake-cache-check)
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@# make sure to start from scratch when switching from GNU Make to Ninja
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@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
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@# make sure to start from scratch if ninja build file is missing
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@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ ! -f $(BUILD_DIR)/build.ninja ]; then rm -rf $(BUILD_DIR); fi
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@# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
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@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
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mkdir -p $(BUILD_DIR) \
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&& cd $(BUILD_DIR) \
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&& cmake "$(SRC_DIR)" -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) \
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|| (rm -rf $(BUILD_DIR)); \
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fi
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@# run the build for the specified target
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@cmake --build $(BUILD_DIR) -- $(PX4_MAKE_ARGS) $(ARGS)
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endef
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# check if the options we want to build with in CMAKE_ARGS match the ones which are already configured in the cache inside BUILD_DIR
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define cmake-cache-check
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@# change to build folder which fails if it doesn't exist and CACHED_CMAKE_OPTIONS stays empty
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@# fetch all previously configured and cached options from the build folder and transform them into the OPTION=VALUE format without type (e.g. :BOOL)
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@$(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' ))
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@# transform the options in CMAKE_ARGS into the OPTION=VALUE format without -D
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@$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's|-D\([^[:blank:]]*=[^[:blank:]]*\)|\1|gp' ))
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@# find each currently desired option in the already cached ones making sure the complete configured string value is the same
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@$(eval VERIFIED_CMAKE_OPTIONS = $(foreach option,$(DESIRED_CMAKE_OPTIONS),$(strip $(findstring $(option)$(space),$(CACHED_CMAKE_OPTIONS)))))
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@# if the complete list of desired options is found in the list of verified options we don't need to reconfigure and CMAKE_CACHE_CHECK stays empty
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@$(eval CMAKE_CACHE_CHECK = $(if $(findstring $(DESIRED_CMAKE_OPTIONS),$(VERIFIED_CMAKE_OPTIONS)),,y))
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endef
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COLOR_BLUE = \033[0;94m
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NO_COLOR = \033[m
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define colorecho
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+@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
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endef
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# Get a list of all config targets boards/*/*.px4board
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ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.px4board' -print | sed -e 's|boards\/||' | sed -e 's|\.px4board||' | sed -e 's|\/|_|g' | sort)
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# ADD CONFIGS HERE
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# --------------------------------------------------------------------
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# Do not put any spaces between function arguments.
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# All targets.
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$(ALL_CONFIG_TARGETS):
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@$(call cmake-build,$@$(BUILD_DIR_SUFFIX))
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# Filter for only default targets to allow omiting the "_default" postfix
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CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
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$(CONFIG_TARGETS_DEFAULT):
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@$(call cmake-build,$@_default$(BUILD_DIR_SUFFIX))
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all_config_targets: $(ALL_CONFIG_TARGETS)
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all_default_targets: $(CONFIG_TARGETS_DEFAULT)
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updateconfig:
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@./Tools/kconfig/updateconfig.py
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# board reorganization deprecation warnings (2018-11-22)
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define deprecation_warning
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$(warning $(1) has been deprecated and will be removed, please use $(2)!)
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endef
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# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
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.PHONY: all px4_sitl_default all_config_targets all_default_targets
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# Other targets
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# --------------------------------------------------------------------
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.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
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# QGroundControl flashable NuttX firmware
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qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
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# px4fmu NuttX firmware
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px4fmu_firmware: \
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check_px4_io-v2_default \
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check_px4_fmu-v2_default \
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check_px4_fmu-v3_default \
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check_px4_fmu-v4_default \
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check_px4_fmu-v4pro_default \
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check_px4_fmu-v5_default \
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check_px4_fmu-v5x_default \
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sizes
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misc_qgc_extra_firmware: \
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check_nxp_fmuk66-v3_default \
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check_nxp_fmurt1062-v1_default \
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check_mro_x21_default \
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check_bitcraze_crazyflie_default \
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check_bitcraze_crazyflie21_default \
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check_airmind_mindpx-v2_default \
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sizes
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# builds with RTPS
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check_rtps: \
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check_px4_fmu-v3_rtps \
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check_px4_fmu-v4_rtps \
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check_px4_fmu-v4pro_rtps \
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check_px4_sitl_rtps \
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sizes
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.PHONY: sizes check quick_check check_rtps uorb_graphs
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sizes:
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@-find build -name *.elf -type f | xargs size 2> /dev/null || :
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# All default targets that don't require a special build environment
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check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware tests check_format
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# quick_check builds a single nuttx and SITL target, runs testing, and checks the style
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quick_check: check_px4_sitl_test check_px4_fmu-v5_default tests check_format
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check_%:
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@echo
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$(call colorecho,'Building' $(subst check_,,$@))
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@$(MAKE) --no-print-directory $(subst check_,,$@)
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@echo
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all_variants_%:
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@echo 'Building all $(subst all_variants_,,$@) variants:' $(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS))
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@echo
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$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
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uorb_graphs:
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@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
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@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
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@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
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@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
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@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
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@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
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px4io_update: px4_io-v2_default cubepilot_io-v2_default
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# px4_io-v2_default
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
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cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
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# cubepilot_io-v2_default
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cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
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cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
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git status
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bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
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git status
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.PHONY: coverity_scan
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coverity_scan: px4_sitl_default
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# Documentation
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# --------------------------------------------------------------------
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.PHONY: parameters_metadata airframe_metadata module_documentation extract_events px4_metadata doxygen
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parameters_metadata:
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@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen
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airframe_metadata:
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@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes ver_gen
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module_documentation:
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@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
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extract_events:
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@$(MAKE) --no-print-directory px4_sitl_default metadata_extract_events ver_gen
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px4_metadata: parameters_metadata airframe_metadata module_documentation extract_events
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doxygen:
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@mkdir -p "$(SRC_DIR)"/build/doxygen
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@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
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@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
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@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
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# Astyle
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# --------------------------------------------------------------------
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.PHONY: check_format format
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check_format:
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$(call colorecho,'Checking formatting with astyle')
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@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh
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@cd "$(SRC_DIR)" && git diff --check
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format:
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$(call colorecho,'Formatting with astyle')
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@"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
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# Testing
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# --------------------------------------------------------------------
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.PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
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.PHONY: rostest python_coverage
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tests:
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$(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
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$(eval ARGS += test_results)
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$(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
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$(eval UBSAN_OPTIONS += color=always)
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$(call cmake-build,px4_sitl_test)
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tests_coverage:
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@$(MAKE) clean
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@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
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@mkdir -p coverage
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@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
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rostest: px4_sitl_default
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@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
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tests_integration: px4_sitl_default
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@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
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@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
|
|
@"$(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
|
|
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
|
@$(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
|
|
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
|
@"$(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 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
|
|
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_rpyrt_ctl.test
|
|
|
|
tests_avoidance: rostest
|
|
@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
|
|
@"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_safe_landing.test
|
|
|
|
python_coverage:
|
|
@mkdir -p "$(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 clang-tidy-quiet
|
|
.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
|
|
|
|
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$(j_clang_tidy) -p .
|
|
|
|
# to automatically fix a single check at a time, eg modernize-redundant-void-arg
|
|
# % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
|
|
clang-tidy-fix: px4_sitl_default-clang
|
|
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .
|
|
|
|
# modified version of run-clang-tidy.py to return error codes and only output relevant results
|
|
clang-tidy-quiet: px4_sitl_default-clang
|
|
@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
|
|
|
|
# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
|
|
cppcheck: px4_sitl_default
|
|
@mkdir -p "$(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 "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
|
|
xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
|
|
|
|
# Cleanup
|
|
# --------------------------------------------------------------------
|
|
.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
|
|
|
|
clean:
|
|
@[ ! -d "$(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
|
|
|
|
gazeboclean:
|
|
@rm -rf ~/.gazebo/*
|
|
|
|
distclean: gazeboclean
|
|
@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) help|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: '/^# File/,/^# 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: $(call make_list,nuttx,"nxp") \
|
|
sizes
|
|
|
|
ifneq ($(ROS2_WS_DIR),)
|
|
ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
|
|
else
|
|
ROS2_WS_DIR := ~/colcon_ws
|
|
endif
|
|
|
|
update_ros2_bridge:
|
|
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
|
|
|
|
update_px4_ros_com:
|
|
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
|
|
|
|
update_px4_msgs:
|
|
@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
|