mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
9ee478e1f7
Since the git hashes were being generate by cmake it would only be
generated if the header file was not present. Simple test:
$ make aerofc-v1_default
$ touch a
$ git add a
$ git commit -m tmp
$ make aerofc-v1_default
The file build_aerofc-v1_default/build_git_version.h should have the new
hashes and the correspondent .c/c.pp files should be rebuilt, but they
aren't. The end result is that checking the version with "ver git" in
the nsh console will point to the wrong commit.
This moves the generation of the header to a separate tool and enforces
the command to be executed every time.
487 lines
16 KiB
CMake
487 lines
16 KiB
CMake
############################################################################
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#
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# Copyright (c) 2015 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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#=============================================================================
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# CMAKE CODING STANDARD FOR PX4
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#
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# Structure
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# ---------------------------------------------------------------------------
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#
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# * Common functions should be included in px_base.cmake.
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#
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# * OS/ board specific fucntions should be include in
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# px_impl_${OS}.cmake or px4_impl_${OS}_${BOARD}.cmake.
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#
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# Formatting
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# ---------------------------------------------------------------------------
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#
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# * Use hard indents to match the px4 source code.
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#
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# * All function and script arguments are upper case.
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#
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# * All local variables are lower case.
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#
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# * All cmake functions are lowercase.
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#
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# * For else, endif, endfunction, etc, never put the name of the statement
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#
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# Instead of the very confusing:
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# if (${var} STREQUAL "1") <-- condition now becomes if name
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# # do somthing
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# elseif (${var} STREQUAL "2") <-- another condition
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# # do somthing
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# else (${var} STREQUAL "1") <-- tag is referring to name of if
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# # do somthing
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# endif (${var} STREQUAL "1") <-- tag is referring to name of if
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#
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# Do this:
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# if (${var} STREQUAL "1") <-- condition now becomes if name
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# # do somthing
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# elseif (${var} STREQUAL "2") <-- another condition
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# # do somthing
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# else () <-- leave blank
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# # do somthing
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# endif () <-- leave blank
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#
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# Functions/Macros
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# ---------------------------------------------------------------------------
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#
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# * Use px4_parse_function_args to parse functions and check for required
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# arguments. Unless there is only one argument in the function and it is clear.
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#
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# * Never use macros. They allow overwriting global variables and this
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# makes variable declarations hard to locate.
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#
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# * If a target from add_custom_* is set in a function, explicitly pass it
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# as an output argument so that the target name is clear to the user.
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#
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# * Avoid use of global variables in functions. Functions in a nested
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# scope may use global variables, but this makes it difficult to
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# resuse functions.
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#
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# Included CMake Files
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# ---------------------------------------------------------------------------
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#
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# * All variables in config files must have the prefix "config_".
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#
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# * Never set global variables in an included cmake file,
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# you may only define functions. This excludes config and Toolchain files.
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# This makes it clear to the user when variables are being set or targets
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# are being created.
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#
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# * Setting a global variable in a CMakeLists.txt file is ok, because
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# each CMakeLists.txt file has scope in the current directory and all
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# subdirecties, so it is not truly global.
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#
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# * All toolchain files should be included in the cmake
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# directory and named Toolchain-"name".cmake.
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#
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# Misc
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# ---------------------------------------------------------------------------
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#
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# * If referencing a string variable, don't put it in quotes.
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# Don't do "${OS}" STREQUAL "posix",
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# instead type ${OS} STREQUAL "posix". This will throw an
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# error when ${OS} is not defined instead of silently
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# evaluating to false.
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#
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#=============================================================================
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# Warning: Changing this modifies CMake's internal workings
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# and leads to wrong toolchain detection
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cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
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set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
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set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
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execute_process(
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COMMAND Tools/check_submodules.sh
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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)
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# Use clang
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#SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
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#SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
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#=============================================================================
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# parameters
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#
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set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
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set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
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STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
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set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
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file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
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set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
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set(THREADS "4" CACHE STRING
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"number of threads to use for external build processes")
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set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
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set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
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#=============================================================================
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# configuration
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#
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# must come before project to set toolchain
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string(REPLACE "_" ";" config_args ${CONFIG})
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list(GET config_args 0 OS)
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list(GET config_args 1 BOARD)
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list(GET config_args 2 LABEL)
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set(target_name "${OS}-${BOARD}-${LABEL}")
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message(STATUS "${target_name}")
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# The Url for the elf file for crash logging
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if (DEFINED ENV{BUILD_URI})
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set (BUILD_URI $ENV{BUILD_URI})
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else()
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set (BUILD_URI "localhost")
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endif()
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add_definitions(-DBUILD_URI=${BUILD_URI})
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# Define GNU standard installation directories
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include(GNUInstallDirs)
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# Add support for external project building
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include(ExternalProject)
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# Setup install paths
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if(NOT CMAKE_INSTALL_PREFIX)
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if (${OS} STREQUAL "posix")
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set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
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endif()
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endif()
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message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
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list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
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message(STATUS "cmake module path: ${CMAKE_MODULE_PATH}")
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set(config_module "configs/${CONFIG}")
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include(${config_module})
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# cmake modules
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include(ExternalProject)
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# require px4 module interface
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set(px4_required_interface
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px4_os_prebuild_targets
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px4_os_add_flags
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)
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foreach(cmd ${px4_required_interface})
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if(NOT COMMAND ${cmd})
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message(FATAL_ERROR "${config_module} must implement ${cmd}")
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endif()
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endforeach()
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set(px4_required_config
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config_module_list
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)
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foreach(conf ${px4_required_config})
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if(NOT DEFINED ${conf})
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message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
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endif()
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endforeach()
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# List the DriverFramework drivers
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if(DEFINED config_df_driver_list)
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message("DF Drivers: ${config_df_driver_list}")
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endif()
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# force static lib build
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set(BUILD_SHARED_LIBS OFF)
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#=============================================================================
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# project definition
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#
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project(px4 CXX C ASM)
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if (NOT ${CMAKE_VERSION} VERSION_LESS 3.0.0)
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cmake_policy(SET CMP0045 NEW) # error on non-existent target in get prop
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cmake_policy(SET CMP0046 NEW) # no non-existent targets as dependencies
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cmake_policy(SET CMP0025 OLD) # still report AppleClang as Clang
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endif()
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if (NOT ${CMAKE_VERSION} VERSION_LESS 3.1.0)
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cmake_policy(SET CMP0054 NEW) # don't dereference quoted variables
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endif()
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set(version_major 1)
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set(version_minor 5)
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set(version_patch 0)
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set(version "${version_major}.${version_minor}.${version_patch}")
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set(package-contact "px4users@googlegroups.com")
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#=============================================================================
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# find programs and packages
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#
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# see if catkin was invoked to build this
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if (CATKIN_DEVEL_PREFIX)
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message(STATUS "catkin ENABLED")
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find_package(catkin REQUIRED)
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if (catkin_FOUND)
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catkin_package()
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else()
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message(FATAL_ERROR "catkin not found")
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endif()
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else()
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#message(STATUS "catkin DISABLED")
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endif()
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find_package(PythonInterp REQUIRED)
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#=============================================================================
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# cmake modules
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#
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enable_testing()
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#=============================================================================
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# generate compile command database
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#
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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#=============================================================================
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# check required toolchain variables
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#
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set(required_variables
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CMAKE_C_COMPILER_ID
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)
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foreach(var ${required_variables})
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if (NOT ${var})
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message(FATAL_ERROR "Toolchain/config must define ${var}")
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endif()
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endforeach()
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#=============================================================================
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# git
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#
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px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
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px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
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px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
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px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest")
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px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
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px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
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px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
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px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
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px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
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px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
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px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
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px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
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add_custom_target(submodule_clean
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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COMMAND git submodule deinit -f .
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COMMAND rm -rf .git/modules/*
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)
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#=============================================================================
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# misc targets
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#
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add_custom_target(check_format
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COMMAND Tools/check_code_style.sh
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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)
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add_custom_target(config
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COMMAND cmake-gui .
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WORKING_DIRECTORY ${PX4_BINARY_DIR}
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)
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#=============================================================================
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# external libraries
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#
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px4_os_prebuild_targets(OUT prebuild_targets
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BOARD ${BOARD}
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THREADS ${THREADS})
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#=============================================================================
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# build flags
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#
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px4_os_add_flags(
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BOARD ${BOARD}
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C_FLAGS c_flags
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CXX_FLAGS cxx_flags
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OPTIMIZATION_FLAGS optimization_flags
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EXE_LINKER_FLAGS exe_linker_flags
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INCLUDE_DIRS include_dirs
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LINK_DIRS link_dirs
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DEFINITIONS definitions)
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px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
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px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags};${optimization_flags}" GLUE " ")
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px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags};${optimization_flags}" GLUE " ")
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include_directories(${include_dirs})
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#message("INCLUDE_DIRS=${include_dirs}")
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link_directories(${link_dirs})
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add_definitions(${definitions})
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#=============================================================================
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# source code generation
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#
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add_subdirectory(msg)
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px4_generate_messages(TARGET msg_gen
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MSG_FILES ${msg_files}
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OS ${OS}
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DEPENDS git_genmsg git_gencpp prebuild_targets
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)
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px4_generate_parameters_xml(OUT parameters.xml BOARD ${BOARD})
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px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
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add_custom_target(xml_gen
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DEPENDS parameters.xml airframes.xml)
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#=============================================================================
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# external projects
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#
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set(ep_base ${PX4_BINARY_DIR}/external)
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set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
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# add external project install folders to build
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link_directories(${ep_base}/Install/lib)
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include_directories(${ep_base}/Install/include)
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# add the directories so cmake won't warn
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execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
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execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
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#=============================================================================
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# DriverFramework Drivers
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#
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set(df_driver_libs)
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foreach(driver ${config_df_driver_list})
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add_subdirectory(src/lib/DriverFramework/drivers/${driver})
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list(APPEND df_driver_libs df_${driver})
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message("Adding DF driver: ${driver}")
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endforeach()
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#=============================================================================
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# external modules
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#
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if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
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message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}")
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add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules_src)
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set(config_module_list_external_expanded)
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foreach(external_module ${config_module_list_external})
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list(APPEND config_module_list_external_expanded
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${EXTERNAL_MODULES_LOCATION}/src/${external_module})
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endforeach()
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set(config_module_list
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${config_module_list}
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${config_module_list_external_expanded}
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)
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endif()
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#=============================================================================
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# subdirectories
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#
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set(module_libraries)
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foreach(module ${config_module_list})
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string(REGEX MATCH "^[./]" external_module ${module})
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if(external_module)
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STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
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STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
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add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
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else()
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add_subdirectory(src/${module})
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endif()
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px4_mangle_name(${module} mangled_name)
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list(APPEND module_libraries ${mangled_name})
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#message(STATUS "adding module: ${module}")
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endforeach()
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# Keep track of external shared libs required for modules
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set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "module_external_libraries")
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add_subdirectory(src/firmware/${OS})
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#add_dependencies(df_driver_framework nuttx_export_${CONFIG})
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if (NOT "${OS}" STREQUAL "nuttx")
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endif()
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if (config_io_board)
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add_subdirectory(src/modules/px4iofirmware)
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endif()
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#=============================================================================
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# generate custom target to print for all executable and module cmake targets
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#
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if(all_posix_cmake_targets)
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list(SORT all_posix_cmake_targets)
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px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
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add_custom_target(list_cmake_targets
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COMMAND sh -c "printf \"${posix_cmake_target_list}\\n\""
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COMMENT "List of cmake targets that can be matched by PX4_NO_OPTIMIZATION:"
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VERBATIM
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)
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endif()
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#=============================================================================
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# generate git version
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#
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px4_create_git_hash_header(OUT ${PX4_BINARY_DIR}/build_git_version.h)
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#=============================================================================
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# packaging
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#
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# Important to having packaging at end of cmake file.
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#
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execute_process(
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COMMAND git describe --always --tags
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OUTPUT_VARIABLE git_tag
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OUTPUT_STRIP_TRAILING_WHITESPACE
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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)
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set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
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set(CPACK_PACKAGE_VERSION ${version})
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set(CPACK_PACKAGE_CONTACT ${package-contact})
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set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
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set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
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set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
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set(short-description "The px4 autopilot.")
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set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
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set(CPACK_GENERATOR "ZIP")
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set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
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set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${version}")
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set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
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set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
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set(CPACK_SET_DESTDIR "OFF")
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if ("${CMAKE_SYSTEM}" MATCHES "Linux")
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find_program(DPKG_PROGRAM dpkg)
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if (EXISTS ${DPKG_PROGRAM})
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list (APPEND CPACK_GENERATOR "DEB")
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endif()
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endif()
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include(CPack)
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# vim: set noet fenc=utf-8 ff=unix ft=cmake :
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