mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-06 14:18:52 +08:00
Julian Oes
994947ea84
This adds a a target `make eagle_default` to build both the POSIX and the QURT side in one command. Also, it adds an upload target for both to push the files over adb to the device. This doesn't just push the executables and lib files, but also the startup config files.
916 lines
23 KiB
CMake
916 lines
23 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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#
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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_parse_function_args
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# * px4_add_git_submodule
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# * px4_prepend_string
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# * px4_join
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# * px4_add_module
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# * px4_generate_messages
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# * px4_add_upload
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# * px4_add_common_flags
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#
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include(CMakeParseArguments)
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#=============================================================================
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#
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# px4_parse_function_args
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#
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# This function simpliies usage of the cmake_parse_arguments module.
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# It is inteded to be called by other functions.
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#
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# Usage:
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# px4_parse_function_args(
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# NAME <name>
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# [ OPTIONS <list> ]
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# [ ONE_VALUE <list> ]
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# [ MULTI_VALUE <list> ]
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# REQUIRED <list>
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# ARGN <ARGN>)
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#
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# Input:
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# NAME : the name of the calling function
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# OPTIONS : boolean flags
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# ONE_VALUE : single value variables
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# MULTI_VALUE : multi value variables
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# REQUIRED : required arguments
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# ARGN : the function input arguments, typically ${ARGN}
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#
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# Output:
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# The function arguments corresponding to the following are set:
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# ${OPTIONS}, ${ONE_VALUE}, ${MULTI_VALUE}
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#
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# Example:
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# function test()
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# px4_parse_function_args(
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# NAME TEST
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# ONE_VALUE NAME
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# MULTI_VALUE LIST
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# REQUIRED NAME LIST
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# ARGN ${ARGN})
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# message(STATUS "name: ${NAME}")
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# message(STATUS "list: ${LIST}")
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# endfunction()
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#
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# test(NAME "hello" LIST a b c)
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#
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# OUTPUT:
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# name: hello
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# list: a b c
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#
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function(px4_parse_function_args)
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cmake_parse_arguments(IN "" "NAME" "OPTIONS;ONE_VALUE;MULTI_VALUE;REQUIRED;ARGN" "${ARGN}")
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cmake_parse_arguments(OUT "${IN_OPTIONS}" "${IN_ONE_VALUE}" "${IN_MULTI_VALUE}" "${IN_ARGN}")
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if (OUT_UNPARSED_ARGUMENTS)
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message(FATAL_ERROR "${IN_NAME}: unparsed ${OUT_UNPARSED_ARGUMENTS}")
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endif()
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foreach(arg ${IN_REQUIRED})
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if (NOT OUT_${arg})
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message(FATAL_ERROR "${IN_NAME} requires argument ${arg}\nARGN: ${IN_ARGN}")
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endif()
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endforeach()
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foreach(arg ${IN_OPTIONS} ${IN_ONE_VALUE} ${IN_MULTI_VALUE})
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set(${arg} ${OUT_${arg}} PARENT_SCOPE)
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endforeach()
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endfunction()
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#=============================================================================
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#
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# px4_add_git_submodule
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#
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# This function add a git submodule target.
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#
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# Usage:
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# px4_add_git_submodule(TARGET <target> PATH <path>)
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#
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# Input:
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# PATH : git submodule path
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#
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# Output:
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# TARGET : git target
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#
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# Example:
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# px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
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#
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function(px4_add_git_submodule)
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px4_parse_function_args(
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NAME px4_add_git_submodule
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ONE_VALUE TARGET PATH
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REQUIRED TARGET PATH
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ARGN ${ARGN})
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string(REPLACE "/" "_" NAME ${PATH})
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add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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COMMAND git submodule update --init --recursive ${PATH}
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COMMAND touch ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
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DEPENDS ${CMAKE_SOURCE_DIR}/.gitmodules
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)
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add_custom_target(${TARGET}
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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# This is NOT a good approach as it overwrites checked out branches
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# behind the back of a developer
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#COMMAND git submodule update --recursive ${PATH}
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DEPENDS ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
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)
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endfunction()
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#=============================================================================
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#
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# px4_prepend_string
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#
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# This function prepends a string to a list
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#
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# Usage:
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# px4_prepend_string(OUT <output-list> STR <string> LIST <list>)
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#
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# Input:
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# STR : string to prepend
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# LIST : list to prepend to
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#
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# Output:
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# ${OUT} : prepended list
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#
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# Example:
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# px4_prepend_string(OUT test_str STR "path/to/" LIST src/file1.cpp src/file2.cpp)
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# test_str would then be:
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# path/to/src/file1.cpp
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# path/to/src/file2.cpp
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#
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function(px4_prepend_string)
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px4_parse_function_args(
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NAME px4_prepend_string
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ONE_VALUE OUT STR
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MULTI_VALUE LIST
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REQUIRED OUT STR LIST
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ARGN ${ARGN})
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set(${OUT})
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foreach(file ${LIST})
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list(APPEND ${OUT} ${STR}${file})
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endforeach()
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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_join
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#
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# This function joins a list with a given separator. If list is not
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# passed, or is sent "", this will return the empty string.
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#
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# Usage:
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# px4_join(OUT ${OUT} [ LIST ${LIST} ] GLUE ${GLUE})
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#
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# Input:
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# LIST : list to join
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# GLUE : separator to use
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#
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# Output:
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# OUT : joined list
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#
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# Example:
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# px4_join(OUT test_join LIST a b c GLUE ";")
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# test_join would then be:
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# "a;b;c"
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#
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function(px4_join)
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px4_parse_function_args(
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NAME px4_join
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ONE_VALUE OUT GLUE
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MULTI_VALUE LIST
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REQUIRED GLUE OUT
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ARGN ${ARGN})
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string (REPLACE ";" "${GLUE}" _TMP_STR "${LIST}")
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set(${OUT} ${_TMP_STR} PARENT_SCOPE)
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endfunction()
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#=============================================================================
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#
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# px4_add_module
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#
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# This function builds a static library from a module description.
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#
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# Usage:
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# px4_add_module(MODULE <string>
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# [ MAIN <string> ]
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# [ STACK <string> ]
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# [ COMPILE_FLAGS <list> ]
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# [ INCLUDES <list> ]
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# [ DEPENDS <string> ]
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# )
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#
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# Input:
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# MODULE : unique name of module
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# MAIN : entry point, if not given, assumed to be library
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# STACK : size of stack
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# COMPILE_FLAGS : compile flags
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# LINK_FLAGS : link flags
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# SRCS : source files
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# INCLUDES : include directories
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# DEPENDS : targets which this module depends on
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#
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# Output:
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# Static library with name matching MODULE.
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#
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# Example:
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# px4_add_module(MODULE test
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# SRCS
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# file.cpp
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# STACK 1024
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# DEPENDS
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# git_nuttx
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# )
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#
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function(px4_add_module)
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px4_parse_function_args(
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NAME px4_add_module
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ONE_VALUE MODULE MAIN STACK PRIORITY
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MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS
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REQUIRED MODULE
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ARGN ${ARGN})
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add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
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if(${OS} STREQUAL "qurt" )
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set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
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endif()
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if(MAIN)
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set_target_properties(${MODULE} PROPERTIES
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COMPILE_DEFINITIONS PX4_MAIN=${MAIN}_app_main)
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endif()
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if(INCLUDES)
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target_include_directories(${MODULE} ${INCLUDES})
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endif()
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if(DEPENDS)
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add_dependencies(${MODULE} ${DEPENDS})
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endif()
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# join list variables to get ready to send to compiler
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foreach(prop LINK_FLAGS COMPILE_FLAGS)
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if(${prop})
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px4_join(OUT ${prop} LIST ${${prop}} GLUE " ")
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endif()
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endforeach()
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# store module properties in target
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# COMPILE_FLAGS and LINK_FLAGS are passed to compiler/linker by cmake
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# STACK, MAIN, PRIORITY are PX4 specific
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foreach (prop COMPILE_FLAGS LINK_FLAGS STACK MAIN PRIORITY)
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if (${prop})
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set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
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endif()
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endforeach()
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endfunction()
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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
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REQUIRED MSG_FILES OS TARGET
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ARGN ${ARGN})
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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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set(msg_out_path ${CMAKE_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 ${PYTHON_EXECUTABLE}
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Tools/px_generate_uorb_topic_headers.py
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${QUIET}
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-d msg
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-o ${msg_out_path}
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-e msg/templates/uorb
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-t ${CMAKE_BINARY_DIR}/topics_temporary
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DEPENDS ${DEPENDS} ${MSG_FILES}
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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COMMENT "Generating uORB topic headers"
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VERBATIM
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)
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# multi messages for target OS
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set(msg_multi_out_path
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${CMAKE_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 ${PYTHON_EXECUTABLE}
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Tools/px_generate_uorb_topic_headers.py
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${QUIET}
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-d msg
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-o ${msg_multi_out_path}
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-e msg/templates/px4/uorb
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-t ${CMAKE_BINARY_DIR}/multi_topics_temporary/${OS}
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-p "px4_"
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DEPENDS ${DEPENDS} ${MSG_FILES}
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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COMMENT "Generating uORB topic multi headers for ${OS}"
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VERBATIM
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)
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add_custom_target(${TARGET}
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DEPENDS ${msg_multi_files_out} ${msg_files_out})
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endfunction()
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#=============================================================================
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#
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# px4_add_upload
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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_add_upload(OUT <target> BUNDLE <file.px4>)
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#
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# Input:
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# BUNDLE : the firmware.px4 file
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# OS : the operating system
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# BOARD : the board
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#
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# Output:
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# OUT : the firmware target
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#
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# Example:
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# px4_add_upload(OUT upload
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# BUNDLE main.px4
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# )
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#
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function(px4_add_upload)
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px4_parse_function_args(
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NAME px4_add_upload
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ONE_VALUE OS BOARD OUT BUNDLE
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REQUIRED OS BOARD OUT BUNDLE
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ARGN ${ARGN})
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set(serial_ports)
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if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
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list(APPEND serial_ports
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/dev/serial/by-id/usb-3D_Robotics*
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/dev/serial/by-id/pci-3D_Robotics*
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)
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elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
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list(APPEND serial_ports
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/dev/tty.usbmodemPX*,/dev/tty.usbmodem*
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)
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elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Windows")
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foreach(port RANGE 32 0)
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list(APPEND serial_ports
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"COM${port}")
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endforeach()
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endif()
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px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",")
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add_custom_target(${OUT}
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COMMAND ${PYTHON_EXECUTABLE}
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${CMAKE_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
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DEPENDS ${BUNDLE}
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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COMMENT "uploading ${BUNDLE}"
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VERBATIM
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USES_TERMINAL
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)
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endfunction()
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function(px4_add_adb_push)
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px4_parse_function_args(
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NAME px4_add_upload
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ONE_VALUE OS BOARD OUT DEST
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MULTI_VALUE FILES DEPENDS
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REQUIRED OS BOARD OUT FILES DEPENDS DEST
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ARGN ${ARGN})
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add_custom_target(${OUT}
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COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
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DEPENDS ${DEPENDS}
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WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
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COMMENT "uploading ${BUNDLE}"
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VERBATIM
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USES_TERMINAL
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)
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endfunction()
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#=============================================================================
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#
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# px4_add_common_flags
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#
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# Set ths default build flags.
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#
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# Usage:
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# px4_add_common_flags(
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# BOARD <in-string>
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# C_FLAGS <inout-variable>
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# CXX_FLAGS <inout-variable>
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# EXE_LINKER_FLAGS <inout-variable>
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# INCLUDE_DIRS <inout-variable>
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# LINK_DIRS <inout-variable>
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# DEFINITIONS <inout-variable>)
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#
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# Input:
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# BOARD : board
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#
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# Input/Output: (appends to existing variable)
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# C_FLAGS : c compile flags variable
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# CXX_FLAGS : c++ compile flags variable
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# EXE_LINKER_FLAGS : executable linker flags variable
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# INCLUDE_DIRS : include directories
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# LINK_DIRS : link directories
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# DEFINITIONS : definitions
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#
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# Example:
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# px4_add_common_flags(
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# BOARD px4fmu-v2
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# C_FLAGS CMAKE_C_FLAGS
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# CXX_FLAGS CMAKE_CXX_FLAGS
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# EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
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# INCLUDES <list>)
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#
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function(px4_add_common_flags)
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set(inout_vars
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C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
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px4_parse_function_args(
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NAME px4_add_common_flags
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ONE_VALUE ${inout_vars} BOARD
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REQUIRED ${inout_vars} BOARD
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ARGN ${ARGN})
|
|
|
|
set(warnings
|
|
-Wall
|
|
-Werror
|
|
-Wextra
|
|
-Wno-sign-compare
|
|
#-Wshadow # very verbose due to eigen
|
|
-Wfloat-equal
|
|
-Wpointer-arith
|
|
-Wmissing-declarations
|
|
-Wno-unused-parameter
|
|
-Werror=format-security
|
|
-Werror=array-bounds
|
|
-Wfatal-errors
|
|
-Werror=unused-variable
|
|
-Werror=reorder
|
|
-Werror=uninitialized
|
|
-Werror=init-self
|
|
#-Wcast-qual - generates spurious noreturn attribute warnings,
|
|
# try again later
|
|
#-Wconversion - would be nice, but too many "risky-but-safe"
|
|
# conversions in the code
|
|
#-Wcast-align - would help catch bad casts in some cases,
|
|
# but generates too many false positives
|
|
)
|
|
|
|
if (${OS} STREQUAL "nuttx")
|
|
list(APPEND warnings -Wframe-larger-than=1024)
|
|
endif()
|
|
|
|
if (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
|
|
# QuRT 6.4.X compiler identifies as Clang but does not support this option
|
|
if (NOT ${OS} STREQUAL "qurt")
|
|
list(APPEND warnings
|
|
-Wno-unused-const-variable
|
|
-Wno-varargs
|
|
)
|
|
endif()
|
|
else()
|
|
list(APPEND warnings
|
|
-Werror=unused-but-set-variable
|
|
-Wformat=1
|
|
#-Wlogical-op # very verbose due to eigen
|
|
-Wdouble-promotion
|
|
-Werror=double-promotion
|
|
)
|
|
endif()
|
|
|
|
if ($ENV{MEMORY_DEBUG} MATCHES "1")
|
|
set(max_optimization -O0)
|
|
|
|
set(optimization_flags
|
|
-fno-strict-aliasing
|
|
-fno-omit-frame-pointer
|
|
-funsafe-math-optimizations
|
|
-ffunction-sections
|
|
-fdata-sections
|
|
-g -fsanitize=address
|
|
)
|
|
else()
|
|
set(max_optimization -Os)
|
|
|
|
if ("${OS}" STREQUAL "qurt")
|
|
set(PIC_FLAG -fPIC)
|
|
endif()
|
|
set(optimization_flags
|
|
-fno-strict-aliasing
|
|
-fomit-frame-pointer
|
|
-funsafe-math-optimizations
|
|
-ffunction-sections
|
|
-fdata-sections
|
|
${PIC_FLAG}
|
|
)
|
|
endif()
|
|
|
|
if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
|
|
list(APPEND optimization_flags
|
|
-fno-strength-reduce
|
|
-fno-builtin-printf
|
|
)
|
|
endif()
|
|
|
|
set(c_warnings
|
|
-Wbad-function-cast
|
|
-Wstrict-prototypes
|
|
-Wmissing-prototypes
|
|
-Wnested-externs
|
|
)
|
|
|
|
if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
|
|
list(APPEND c_warnings
|
|
-Wold-style-declaration
|
|
-Wmissing-parameter-type
|
|
)
|
|
endif()
|
|
|
|
set(c_compile_flags
|
|
-g
|
|
-std=gnu99
|
|
-fno-common
|
|
)
|
|
|
|
set(cxx_warnings
|
|
-Wno-missing-field-initializers
|
|
)
|
|
|
|
set(cxx_compile_flags
|
|
-g
|
|
-fno-exceptions
|
|
-fno-rtti
|
|
-std=gnu++0x
|
|
-fno-threadsafe-statics
|
|
-DCONFIG_WCHAR_BUILTIN
|
|
-D__CUSTOM_FILE_IO__
|
|
)
|
|
|
|
set(visibility_flags
|
|
-fvisibility=hidden
|
|
-include visibility.h
|
|
)
|
|
|
|
set(added_c_flags
|
|
${c_compile_flags}
|
|
${warnings}
|
|
${c_warnings}
|
|
${max_optimization}
|
|
${optimization_flags}
|
|
${visibility_flags}
|
|
)
|
|
|
|
set(added_cxx_flags
|
|
${cxx_compile_flags}
|
|
${warnings}
|
|
${cxx_warnings}
|
|
${max_optimization}
|
|
${optimization_flags}
|
|
${visibility_flags}
|
|
)
|
|
|
|
set(added_include_dirs
|
|
${CMAKE_SOURCE_DIR}/src
|
|
${CMAKE_BINARY_DIR}
|
|
${CMAKE_BINARY_DIR}/src
|
|
${CMAKE_SOURCE_DIR}/src/modules
|
|
${CMAKE_SOURCE_DIR}/src/include
|
|
${CMAKE_SOURCE_DIR}/src/lib
|
|
${CMAKE_SOURCE_DIR}/src/platforms
|
|
# TODO Build/versioning was in Makefile,
|
|
# do we need this, how does it work with cmake
|
|
${CMAKE_SOURCE_DIR}/src/drivers/boards/${BOARD}
|
|
${CMAKE_BINARY_DIR}
|
|
${CMAKE_BINARY_DIR}/src/modules/px4_messages
|
|
${CMAKE_BINARY_DIR}/src/modules
|
|
${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
|
|
${CMAKE_SOURCE_DIR}/src/lib/DriverFramework/framework/include
|
|
)
|
|
|
|
list(APPEND added_include_dirs
|
|
src/lib/matrix
|
|
)
|
|
|
|
set(added_link_dirs) # none used currently
|
|
|
|
string(TOUPPER ${BOARD} board_upper)
|
|
string(REPLACE "-" "_" board_config ${board_upper})
|
|
set(added_definitions
|
|
-DCONFIG_ARCH_BOARD_${board_config}
|
|
)
|
|
|
|
if (NOT ${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
|
|
set(added_exe_link_flags
|
|
-Wl,--warn-common
|
|
-Wl,--gc-sections
|
|
)
|
|
else()
|
|
set(added_exe_link_flags
|
|
-Wl,--warn-common
|
|
)
|
|
endif()
|
|
|
|
# output
|
|
foreach(var ${inout_vars})
|
|
string(TOLOWER ${var} lower_var)
|
|
set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
|
|
#message(STATUS "set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
|
|
endforeach()
|
|
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_mangle_name
|
|
#
|
|
# Convert a path name to a module name
|
|
#
|
|
# Usage:
|
|
# px4_mangle_name(dirname newname)
|
|
#
|
|
# Input:
|
|
# dirname : path to module dir
|
|
#
|
|
# Output:
|
|
# newname : module name
|
|
#
|
|
# Example:
|
|
# px4_mangle_name(${dirpath} mangled_name)
|
|
# message(STATUS "module name is ${mangled_name}")
|
|
#
|
|
function(px4_mangle_name dirname newname)
|
|
set(tmp)
|
|
string(REPLACE "/" "__" tmp ${dirname})
|
|
set(${newname} ${tmp} PARENT_SCOPE)
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_create_git_hash_header
|
|
#
|
|
# Create a header file containing the git hash of the current tree
|
|
#
|
|
# Usage:
|
|
# px4_create_git_hash_header(HEADER ${CMAKE_BUILD_DIR}/git_hash.h)
|
|
#
|
|
# Input:
|
|
# HEADER : path of the header file to generate
|
|
#
|
|
# Example:
|
|
# px4_create_git_hash_header(HEADER ${CMAKE_BUILD_DIR}/git_hash.h)
|
|
#
|
|
function(px4_create_git_hash_header)
|
|
px4_parse_function_args(
|
|
NAME px4_create_git_hash_header
|
|
ONE_VALUE HEADER
|
|
REQUIRED HEADER
|
|
ARGN ${ARGN})
|
|
execute_process(
|
|
COMMAND git rev-parse HEAD
|
|
OUTPUT_VARIABLE git_desc
|
|
OUTPUT_STRIP_TRAILING_WHITESPACE
|
|
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
|
|
)
|
|
message(STATUS "GIT_DESC = ${git_desc}")
|
|
set(git_desc_short)
|
|
string(SUBSTRING ${git_desc} 1 16 git_desc_short)
|
|
configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_generate_parameters_xml
|
|
#
|
|
# Generates a parameters.xml file.
|
|
#
|
|
# Usage:
|
|
# px4_generate_parameters_xml(OUT <param-xml_file>)
|
|
#
|
|
# Input:
|
|
# BOARD : the board
|
|
#
|
|
# Output:
|
|
# OUT : the generated xml file
|
|
#
|
|
# Example:
|
|
# px4_generate_parameters_xml(OUT parameters.xml)
|
|
#
|
|
function(px4_generate_parameters_xml)
|
|
px4_parse_function_args(
|
|
NAME px4_generate_parameters_xml
|
|
ONE_VALUE OUT BOARD
|
|
REQUIRED OUT BOARD
|
|
ARGN ${ARGN})
|
|
set(path ${CMAKE_SOURCE_DIR}/src)
|
|
file(GLOB_RECURSE param_src_files
|
|
${CMAKE_SOURCE_DIR}/src/*params.c
|
|
)
|
|
add_custom_command(OUTPUT ${OUT}
|
|
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py
|
|
-s ${path} --board CONFIG_ARCH_${BOARD} --xml --inject-xml
|
|
DEPENDS ${param_src_files}
|
|
)
|
|
set(${OUT} ${${OUT}} PARENT_SCOPE)
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_generate_parameters_source
|
|
#
|
|
# Generates a source file with all parameters.
|
|
#
|
|
# Usage:
|
|
# px4_generate_parameters_source(OUT <list-source-files> XML <param-xml-file>)
|
|
#
|
|
# Input:
|
|
# XML : the parameters.xml file
|
|
# DEPS : target dependencies
|
|
#
|
|
# Output:
|
|
# OUT : the generated source files
|
|
#
|
|
# Example:
|
|
# px4_generate_parameters_source(OUT param_files XML parameters.xml)
|
|
#
|
|
function(px4_generate_parameters_source)
|
|
px4_parse_function_args(
|
|
NAME px4_generate_parameters_source
|
|
ONE_VALUE OUT XML DEPS
|
|
REQUIRED OUT XML
|
|
ARGN ${ARGN})
|
|
set(generated_files
|
|
${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.h
|
|
${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.c)
|
|
set_source_files_properties(${generated_files}
|
|
PROPERTIES GENERATED TRUE)
|
|
add_custom_command(OUTPUT ${generated_files}
|
|
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${XML}
|
|
DEPENDS ${XML} ${DEPS}
|
|
)
|
|
set(${OUT} ${generated_files} PARENT_SCOPE)
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_generate_airframes_xml
|
|
#
|
|
# Generates airframes.xml
|
|
#
|
|
# Usage:
|
|
# px4_generate_airframes_xml(OUT <airframe-xml-file>)
|
|
#
|
|
# Input:
|
|
# XML : the airframes.xml file
|
|
# BOARD : the board
|
|
#
|
|
# Output:
|
|
# OUT : the generated source files
|
|
#
|
|
# Example:
|
|
# px4_generate_airframes_xml(OUT airframes.xml)
|
|
#
|
|
function(px4_generate_airframes_xml)
|
|
px4_parse_function_args(
|
|
NAME px4_generate_airframes_xml
|
|
ONE_VALUE OUT BOARD
|
|
REQUIRED OUT BOARD
|
|
ARGN ${ARGN})
|
|
set(process_airframes ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
|
|
add_custom_command(OUTPUT ${OUT}
|
|
COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
|
|
-a ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
|
|
--board CONFIG_ARCH_BOARD_${BOARD} --xml
|
|
)
|
|
set(${OUT} ${${OUT}} PARENT_SCOPE)
|
|
endfunction()
|
|
|
|
#=============================================================================
|
|
#
|
|
# px4_copy_tracked
|
|
#
|
|
# Copy files to a directory and keep track of dependencies.
|
|
#
|
|
# Usage:
|
|
# px4_copy_tracked(OUT <dest-files> FILES <in-files> DIR <dir-name>)
|
|
#
|
|
# Input:
|
|
# FILES : the source files
|
|
# DEST : the directory to copy files to
|
|
# RELATIVE : relative directory for source files
|
|
#
|
|
# Output:
|
|
# OUT : the copied files
|
|
#
|
|
# Example:
|
|
# px4_copy_tracked(OUT copied_files FILES src_files DEST path RELATIVE path_rel)
|
|
#
|
|
function(px4_copy_tracked)
|
|
px4_parse_function_args(
|
|
NAME px4_copy_tracked
|
|
ONE_VALUE DEST OUT RELATIVE
|
|
MULTI_VALUE FILES
|
|
REQUIRED DEST OUT FILES
|
|
ARGN ${ARGN})
|
|
set(files)
|
|
# before build, make sure dest directory exists
|
|
execute_process(
|
|
COMMAND cmake -E make_directory ${DEST})
|
|
# create rule to copy each file and set dependency as source file
|
|
set(_files_out)
|
|
foreach(_file ${FILES})
|
|
if (RELATIVE)
|
|
file(RELATIVE_PATH _file_path ${RELATIVE} ${_file})
|
|
else()
|
|
set(_file_path ${_file})
|
|
endif()
|
|
set(_dest_file ${DEST}/${_file_path})
|
|
#message(STATUS "copy ${_file} -> ${_dest_file}")
|
|
add_custom_command(OUTPUT ${_dest_file}
|
|
COMMAND cmake -E copy ${_file} ${_dest_file}
|
|
DEPENDS ${_file})
|
|
list(APPEND _files_out ${_dest_file})
|
|
endforeach()
|
|
set(${OUT} ${_files_out} PARENT_SCOPE)
|
|
endfunction()
|
|
|
|
|
|
# vim: set noet fenc=utf-8 ff=unix nowrap:
|