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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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313 lines
9.0 KiB
CMake
313 lines
9.0 KiB
CMake
############################################################################
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#
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# Copyright (c) 2017 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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#
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# Defined functions in this file
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#
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# utility functions
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#
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# * px4_generate_messages
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# * px4_generate_parameters_xml
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# * px4_generate_parameters_source
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# * px4_generate_airframes_xml
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#
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#=============================================================================
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#
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# px4_generate_messages
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#
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# This function generates source code from ROS msg definitions.
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#
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# Usage:
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# px4_generate_messages(TARGET <target> MSGS <msg-files>)
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#
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# Input:
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# MSG_FILES : the ROS msgs to generate files from
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# OS : the operating system selected
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# DEPENDS : dependencies
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#
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# Output:
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# TARGET : the message generation target
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#
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# Example:
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# px4_generate_messages(TARGET <target>
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# MSG_FILES <files> OS <operating-system>
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# [ DEPENDS <dependencies> ]
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# )
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#
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function(px4_generate_messages)
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px4_parse_function_args(
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NAME px4_generate_messages
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OPTIONS VERBOSE
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ONE_VALUE OS TARGET
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MULTI_VALUE MSG_FILES DEPENDS INCLUDES
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REQUIRED MSG_FILES OS TARGET
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ARGN ${ARGN})
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if("${config_nuttx_config}" STREQUAL "bootloader")
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# do nothing for bootloaders
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else()
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set(QUIET)
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if (NOT VERBOSE)
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set(QUIET "-q")
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endif()
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# headers
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set(msg_out_path ${PX4_BINARY_DIR}/src/modules/uORB/topics)
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set(msg_list)
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foreach(msg_file ${MSG_FILES})
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get_filename_component(msg ${msg_file} NAME_WE)
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list(APPEND msg_list ${msg})
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endforeach()
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set(msg_files_out)
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foreach(msg ${msg_list})
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list(APPEND msg_files_out ${msg_out_path}/${msg}.h)
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endforeach()
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add_custom_command(OUTPUT ${msg_files_out}
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COMMAND ${PYTHON_EXECUTABLE}
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Tools/px_generate_uorb_topic_files.py
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--headers
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${QUIET}
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-f ${MSG_FILES}
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-i ${INCLUDES}
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-o ${msg_out_path}
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-e msg/templates/uorb
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-t ${PX4_BINARY_DIR}/topics_temporary_header
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DEPENDS ${DEPENDS} ${MSG_FILES}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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COMMENT "Generating uORB topic headers"
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VERBATIM
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)
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# !sources
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set(msg_source_out_path ${PX4_BINARY_DIR}/topics_sources)
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set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
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foreach(msg ${msg_list})
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list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
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endforeach()
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add_custom_command(OUTPUT ${msg_source_files_out}
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COMMAND ${PYTHON_EXECUTABLE}
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Tools/px_generate_uorb_topic_files.py
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--sources
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${QUIET}
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-f ${MSG_FILES}
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-i ${INCLUDES}
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-o ${msg_source_out_path}
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-e msg/templates/uorb
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-t ${PX4_BINARY_DIR}/topics_temporary_sources
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DEPENDS ${DEPENDS} ${MSG_FILES}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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COMMENT "Generating uORB topic sources"
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VERBATIM
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)
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set_source_files_properties(${msg_source_files_out} PROPERTIES GENERATED TRUE)
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# multi messages for target OS
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set(msg_multi_out_path ${PX4_BINARY_DIR}/src/platforms/${OS}/px4_messages)
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set(msg_multi_files_out)
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foreach(msg ${msg_list})
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list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
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endforeach()
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add_custom_command(OUTPUT ${msg_multi_files_out}
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COMMAND ${PYTHON_EXECUTABLE}
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Tools/px_generate_uorb_topic_files.py
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--headers
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${QUIET}
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-f ${MSG_FILES}
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-i ${INCLUDES}
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-o ${msg_multi_out_path}
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-e msg/templates/px4/uorb
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-t ${PX4_BINARY_DIR}/multi_topics_temporary/${OS}
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-p "px4_"
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DEPENDS ${DEPENDS} ${MSG_FILES}
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WORKING_DIRECTORY ${PX4_SOURCE_DIR}
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COMMENT "Generating uORB topic multi headers for ${OS}"
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VERBATIM
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)
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px4_add_library(${TARGET}
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${msg_source_files_out}
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${msg_multi_files_out}
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${msg_files_out}
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)
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endif()
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endfunction()
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#=============================================================================
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#
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# px4_generate_parameters_xml
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#
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# Generates a parameters.xml file.
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#
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# Usage:
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# px4_generate_parameters_xml(OUT <param-xml_file>)
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#
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# Input:
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# BOARD : the board
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# MODULES : a list of px4 modules used to limit scope of the paramaters
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# OVERRIDES : A json dict with param names as keys and param default
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# overrides as values
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#
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# Output:
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# OUT : the generated xml file
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#
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# Example:
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# px4_generate_parameters_xml(OUT parameters.xml)
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#
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function(px4_generate_parameters_xml)
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px4_parse_function_args(
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NAME px4_generate_parameters_xml
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ONE_VALUE OUT BOARD OVERRIDES
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MULTI_VALUE MODULES
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REQUIRED MODULES OUT BOARD
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ARGN ${ARGN})
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set(path ${PX4_SOURCE_DIR}/src)
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file(GLOB_RECURSE param_src_files
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${PX4_SOURCE_DIR}/src/*params.c
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)
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if (NOT OVERRIDES)
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set(OVERRIDES "{}")
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endif()
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# get full path for each module
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set(module_list)
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if(DISABLE_PARAMS_MODULE_SCOPING)
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set(module_list ${path})
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else()
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foreach(module ${MODULES})
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list(APPEND module_list ${PX4_SOURCE_DIR}/src/${module})
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endforeach()
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endif()
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add_custom_command(OUTPUT ${OUT}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
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-s ${module_list} ${EXTERNAL_MODULES_LOCATION}
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--board CONFIG_ARCH_${BOARD} --xml --inject-xml
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--overrides ${OVERRIDES}
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DEPENDS ${param_src_files} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
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${PX4_SOURCE_DIR}/Tools/px_generate_params.py
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)
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set(${OUT} ${${OUT}} PARENT_SCOPE)
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endfunction()
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#=============================================================================
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#
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# px4_generate_parameters_source
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#
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# Generates a source file with all parameters.
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#
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# Usage:
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# px4_generate_parameters_source(OUT <list-source-files> XML <param-xml-file> MODULES px4 module list)
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#
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# Input:
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# XML : the parameters.xml file
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# MODULES : a list of px4 modules used to limit scope of the paramaters
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# DEPS : target dependencies
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#
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# Output:
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# OUT : the generated source files
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#
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# Example:
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# px4_generate_parameters_source(OUT param_files XML parameters.xml MODULES lib/controllib modules/ekf2)
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#
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function(px4_generate_parameters_source)
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px4_parse_function_args(
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NAME px4_generate_parameters_source
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ONE_VALUE OUT XML DEPS
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MULTI_VALUE MODULES
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REQUIRED MODULES OUT XML
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ARGN ${ARGN})
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set(generated_files
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${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.h
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${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.c)
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set_source_files_properties(${generated_files} PROPERTIES GENERATED TRUE)
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if(DISABLE_PARAMS_MODULE_SCOPING)
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add_custom_command(OUTPUT ${generated_files}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py
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--xml ${XML} --dest ${CMAKE_CURRENT_BINARY_DIR}
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DEPENDS ${XML} ${DEPS}
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)
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else()
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px4_join(OUT module_list LIST ${MODULES} GLUE ",")
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add_custom_command(OUTPUT ${generated_files}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py
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--xml ${XML} --modules ${module_list} --dest ${CMAKE_CURRENT_BINARY_DIR}
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DEPENDS ${XML} ${DEPS}
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)
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endif()
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set(${OUT} ${generated_files} PARENT_SCOPE)
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endfunction()
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#=============================================================================
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#
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# px4_generate_airframes_xml
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#
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# Generates airframes.xml
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#
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# Usage:
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# px4_generate_airframes_xml(OUT <airframe-xml-file>)
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#
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# Input:
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# XML : the airframes.xml file
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# BOARD : the board
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#
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# Output:
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# OUT : the generated source files
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#
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# Example:
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# px4_generate_airframes_xml(OUT airframes.xml)
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#
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function(px4_generate_airframes_xml)
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px4_parse_function_args(
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NAME px4_generate_airframes_xml
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ONE_VALUE OUT BOARD
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REQUIRED OUT BOARD
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ARGN ${ARGN})
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set(process_airframes ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
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add_custom_command(OUTPUT ${OUT}
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COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
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-a ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d
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--board CONFIG_ARCH_BOARD_${BOARD} --xml
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)
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set(${OUT} ${${OUT}} PARENT_SCOPE)
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endfunction()
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