mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
abf5c2b301
- moves process airframe deps to the tar generation, to ensure whenever airframes are processed, the tar is extracted first. This is required, because if the airframe processing is done on pruned ROMFS, it's missing the tags. - avoid using init.d/rcS in dependencies, use a separate file instead. This is because pruning modifies the rcS, and the next rebuild was seeing a changed rcS, resulting in unnecessary regeneration.
316 lines
10 KiB
CMake
316 lines
10 KiB
CMake
############################################################################
|
|
#
|
|
# Copyright (c) 2018 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.
|
|
#
|
|
############################################################################
|
|
|
|
message(STATUS "ROMFS: ${config_romfs_root}")
|
|
|
|
set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
|
|
set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
|
|
|
|
set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
|
|
set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_add_romfs_files
|
|
#
|
|
# This function builds a list of files to be included in the ROMFS.
|
|
#
|
|
# Usage:
|
|
# px4_add_romfs_files(<list of files in current directory to be added to the project>)
|
|
#
|
|
# Output:
|
|
# list config_romfs_files_list populated with a list of ROMFS src files including their full file path.
|
|
#
|
|
# Example:
|
|
# px4_add_module(
|
|
# <ROMFS_file_1>
|
|
# <ROMFS_file_2>
|
|
# <ROMFS_file_3>
|
|
# )
|
|
#
|
|
function(px4_add_romfs_files)
|
|
set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_CMAKE_FILES ${CMAKE_CURRENT_LIST_FILE})
|
|
|
|
foreach(arg IN LISTS ARGN)
|
|
if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/${arg})
|
|
message(FATAL_ERROR "${CMAKE_CURRENT_LIST_DIR}/${arg} doesn't exist")
|
|
endif()
|
|
set_property(GLOBAL APPEND PROPERTY PX4_ROMFS_FILES ${CMAKE_CURRENT_LIST_DIR}/${arg})
|
|
endforeach()
|
|
endfunction()
|
|
|
|
# get list of all ROMFS files
|
|
add_subdirectory(${romfs_src_dir})
|
|
|
|
# directory setup
|
|
# copy all romfs files, process airframes
|
|
get_property(romfs_cmake_files GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
|
|
get_property(romfs_copy_files GLOBAL PROPERTY PX4_ROMFS_FILES)
|
|
get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
|
|
file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
|
|
if (px4_constrained_flash_build)
|
|
set(added_arguments --constrained-flash)
|
|
endif()
|
|
# create list of relative romfs file names
|
|
set(romfs_copy_files_relative)
|
|
foreach(romfs_file IN LISTS romfs_copy_files)
|
|
string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
|
|
list(APPEND romfs_copy_files_relative ${romfs_file_rel})
|
|
endforeach()
|
|
# copy the ROMFS files by creating a tar and extracting it to the build
|
|
# directory (which preserves the directory structure)
|
|
file(MAKE_DIRECTORY ${romfs_gen_root_dir})
|
|
set(romfs_tar_file ${PX4_BINARY_DIR}/romfs_files.tar)
|
|
add_custom_command(
|
|
OUTPUT ${romfs_tar_file}
|
|
COMMAND ${CMAKE_COMMAND} -E tar cf ${romfs_tar_file} ${romfs_copy_files_relative}
|
|
WORKING_DIRECTORY ${romfs_src_dir}
|
|
DEPENDS
|
|
${romfs_copy_files}
|
|
${jinja_templates}
|
|
${module_config_files}
|
|
${romfs_cmake_files}
|
|
${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
|
|
${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py
|
|
${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py
|
|
${PX4_SOURCE_DIR}/Tools/px4airframes/srcparser.py
|
|
${PX4_SOURCE_DIR}/Tools/px4airframes/srcscanner.py
|
|
${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
|
|
${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
|
|
)
|
|
set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
|
|
add_custom_command(
|
|
OUTPUT ${romfs_extract_stamp}
|
|
COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
|
|
COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
|
|
WORKING_DIRECTORY ${romfs_gen_root_dir}
|
|
DEPENDS ${romfs_tar_file}
|
|
)
|
|
|
|
add_custom_command(
|
|
OUTPUT
|
|
${romfs_gen_root_dir}/init.d/rc.serial
|
|
${romfs_gen_root_dir}/init.d/rc.autostart
|
|
${romfs_gen_root_dir}/init.d/rc.autostart.post
|
|
romfs_copy.stamp
|
|
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
|
|
--airframes-path ${romfs_gen_root_dir}/init.d
|
|
--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
|
|
--board ${PX4_BOARD}
|
|
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
|
|
--rc-dir ${romfs_gen_root_dir}/init.d
|
|
--serial-ports ${board_serial_ports} ${added_arguments}
|
|
--config-files ${module_config_files} #--verbose
|
|
COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
|
|
DEPENDS
|
|
${romfs_extract_stamp}
|
|
COMMENT "ROMFS: copying, generating airframes"
|
|
)
|
|
|
|
# copy extras into ROMFS
|
|
set(extras_dependencies)
|
|
|
|
# copy px4io binary if configured
|
|
if(config_io_board)
|
|
list(APPEND extras_dependencies
|
|
copy_px4io_bin
|
|
${fw_io_bin}
|
|
)
|
|
endif()
|
|
|
|
if(config_build_bootloader)
|
|
list(APPEND extras_dependencies
|
|
copy_bootloader_bin
|
|
${bootloader_bin}
|
|
)
|
|
endif()
|
|
|
|
set(OPTIONAL_BOARD_RC)
|
|
list(APPEND OPTIONAL_BOARD_RC
|
|
rc.board_defaults
|
|
rc.board_sensors
|
|
rc.board_extras
|
|
rc.board_mavlink
|
|
)
|
|
|
|
foreach(board_rc_file ${OPTIONAL_BOARD_RC})
|
|
|
|
if(EXISTS "${PX4_BOARD_DIR}/init/${board_rc_file}")
|
|
message(STATUS "ROMFS: Adding ${board_rc_file}")
|
|
|
|
add_custom_command(
|
|
OUTPUT
|
|
${romfs_gen_root_dir}/init.d/${board_rc_file}
|
|
${board_rc_file}.stamp
|
|
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${board_rc_file} ${romfs_gen_root_dir}/init.d/${board_rc_file}
|
|
COMMAND ${CMAKE_COMMAND} -E touch ${board_rc_file}.stamp
|
|
DEPENDS
|
|
${PX4_BOARD_DIR}/init/${board_rc_file}
|
|
romfs_copy.stamp
|
|
COMMENT "ROMFS: copying ${board_rc_file}"
|
|
)
|
|
|
|
list(APPEND extras_dependencies
|
|
${board_rc_file}.stamp
|
|
)
|
|
endif()
|
|
|
|
endforeach()
|
|
|
|
list(APPEND extras_dependencies
|
|
${config_romfs_extra_dependencies}
|
|
)
|
|
|
|
if (config_romfs_extra_files)
|
|
set(extras_copy_cmd COMMAND ${CMAKE_COMMAND} -E copy_if_different ${config_romfs_extra_files} ${romfs_gen_root_dir}/extras/)
|
|
else()
|
|
set(extras_copy_cmd "")
|
|
endif()
|
|
add_custom_command(OUTPUT romfs_extras.stamp
|
|
COMMAND ${CMAKE_COMMAND} -E make_directory ${romfs_gen_root_dir}/extras/
|
|
COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/romfs_extras/
|
|
COMMAND ${CMAKE_COMMAND} -E copy_directory ${PX4_BINARY_DIR}/romfs_extras/ ${romfs_gen_root_dir}/extras/
|
|
${extras_copy_cmd}
|
|
COMMAND ${CMAKE_COMMAND} -E touch romfs_extras.stamp
|
|
DEPENDS
|
|
romfs_copy.stamp
|
|
${config_romfs_extra_files}
|
|
${extras_dependencies}
|
|
COMMENT "ROMFS: copying extras"
|
|
)
|
|
|
|
add_custom_target(romfs_gen_files_target
|
|
DEPENDS
|
|
${romfs_extract_stamp}
|
|
${romfs_gen_root_dir}/init.d/rc.serial
|
|
romfs_extras.stamp
|
|
)
|
|
|
|
add_custom_command(
|
|
OUTPUT romfs_pruned.stamp
|
|
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
|
|
COMMAND ${CMAKE_COMMAND} -E touch romfs_pruned.stamp
|
|
DEPENDS
|
|
romfs_copy.stamp
|
|
romfs_extras.stamp
|
|
${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
|
|
COMMENT "ROMFS: pruning"
|
|
)
|
|
|
|
if("${CONFIG_FS_CROMFS}" STREQUAL "y")
|
|
add_custom_command(
|
|
OUTPUT ${CMAKE_BINARY_DIR}/gencromfs
|
|
COMMAND make --no-print-directory --silent -f Makefile.host gencromfs
|
|
COMMAND ${CMAKE_COMMAND} -E copy_if_different gencromfs ${CMAKE_BINARY_DIR}/gencromfs
|
|
DEPENDS ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/nuttx/tools/gencromfs.c
|
|
WORKING_DIRECTORY ${NUTTX_DIR}/tools
|
|
)
|
|
|
|
# create nsh_romfsimg.c
|
|
add_custom_command(OUTPUT nsh_romfsimg.c
|
|
COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
|
|
COMMAND ${CMAKE_BINARY_DIR}/gencromfs ${romfs_gen_root_dir} nsh_romfsimg.c
|
|
DEPENDS
|
|
${CMAKE_BINARY_DIR}/gencromfs
|
|
romfs_pruned.stamp
|
|
COMMENT "ROMFS: generating image"
|
|
)
|
|
|
|
add_library(romfs STATIC nsh_romfsimg.c)
|
|
add_dependencies(romfs prebuild_targets)
|
|
set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
|
|
|
|
elseif("${CONFIG_FS_ROMFS}" STREQUAL "y")
|
|
# create romfs.img
|
|
find_program(GENROMFS genromfs)
|
|
if(NOT GENROMFS)
|
|
message(FATAL_ERROR "genromfs not found")
|
|
endif()
|
|
|
|
add_custom_command(
|
|
OUTPUT
|
|
romfs.img
|
|
romfs.txt
|
|
COMMAND ${CMAKE_COMMAND} -E remove -f romfs.img romfs.txt
|
|
COMMAND ${GENROMFS} -f romfs.img -d ${romfs_gen_root_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
|
|
DEPENDS romfs_pruned.stamp
|
|
COMMENT "ROMFS: generating image"
|
|
)
|
|
|
|
|
|
# create nsh_romfsimg.c
|
|
find_program(XXD xxd)
|
|
if(NOT XXD)
|
|
message(FATAL_ERROR "xxd not found")
|
|
endif()
|
|
|
|
find_program(SED sed)
|
|
if(NOT SED)
|
|
message(FATAL_ERROR "sed not found")
|
|
endif()
|
|
|
|
add_custom_command(OUTPUT nsh_romfsimg.c
|
|
COMMAND ${CMAKE_COMMAND} -E remove -f nsh_romfsimg.c
|
|
COMMAND ${XXD} -i romfs.img nsh_romfsimg.c
|
|
COMMAND ${SED} 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && ${CMAKE_COMMAND} -E rename nsh_romfsimg.c.tmp nsh_romfsimg.c
|
|
DEPENDS romfs.img
|
|
)
|
|
|
|
add_library(romfs STATIC nsh_romfsimg.c)
|
|
add_dependencies(romfs prebuild_targets)
|
|
set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
|
|
endif()
|
|
|
|
|
|
|
|
# shellcheck
|
|
find_program(SHELLCHECK_PATH shellcheck)
|
|
|
|
if(SHELLCHECK_PATH)
|
|
|
|
# TODO: fix SC2086, SC2166
|
|
add_custom_target(shellcheck
|
|
COMMAND ${SHELLCHECK_PATH} --shell=sh
|
|
--exclude=SC2121 # SC2121: To assign a variable, use just 'var=value'
|
|
--exclude=SC2086 # SC2086: Double quote to prevent globbing and word splitting.
|
|
--exclude=SC2166 # SC2166: Prefer [ p ] || [ q ] as [ p -o q ] is not well defined.
|
|
--exclude=SC2154 # SC2154: <var> is referenced but not assigned (NuttX uses different asssignment)
|
|
--exclude=SC2164 # SC2164: Use 'cd ... || exit' or 'cd ... || return' in case cd fails.
|
|
--exclude=SC2181 # SC2181: Check exit code directly with e.g. 'if mycmd;', not indirectly with $?.
|
|
`find ${romfs_gen_root_dir}/init.d -type f`
|
|
DEPENDS ${romfs_gen_root_dir}/init.d/rc.autostart
|
|
WORKING_DIRECTORY ${romfs_gen_root_dir}
|
|
USES_TERMINAL
|
|
)
|
|
endif()
|