mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-01 14:11:36 +08:00
Julian Oes
9eda5b373c
This adds the env option PX4_FUZZ which runs the LLVM libFuzzer which throws random bytes at mavlink_receiver using MAVLink messages over UDP. The MAVLink messages that are being sent are valid, so the CRC is calculated but the payload and msgid, etc. are generally garbage, unless the fuzzing gets a msgid right by chance. As I understand it, libFuzzer watches the test coverage and will try to execute as much of the code as possible.
204 lines
4.4 KiB
CMake
204 lines
4.4 KiB
CMake
|
|
include_directories(${CMAKE_CURRENT_BINARY_DIR})
|
|
|
|
get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
|
|
|
|
# When building with catkin, do not change CMAKE_RUNTIME_OUTPUT_DIR from
|
|
# CMAKE_CURRENT_BINARY_DIR ''./platforms/posix' to './bin'
|
|
if (NOT CATKIN_DEVEL_PREFIX)
|
|
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
|
|
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${CMAKE_BINARY_DIR}/bin)
|
|
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${CMAKE_BINARY_DIR}/bin)
|
|
endif()
|
|
|
|
set(PX4_SHELL_COMMAND_PREFIX "px4-")
|
|
|
|
add_definitions("-DPX4_SHELL_COMMAND_PREFIX=\"${PX4_SHELL_COMMAND_PREFIX}\"")
|
|
|
|
px4_posix_generate_builtin_commands(
|
|
OUT apps
|
|
MODULE_LIST ${module_libraries})
|
|
|
|
px4_posix_generate_alias(
|
|
OUT ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/px4-alias.sh
|
|
MODULE_LIST ${module_libraries}
|
|
PREFIX ${PX4_SHELL_COMMAND_PREFIX}
|
|
)
|
|
|
|
if (CMAKE_BUILD_TYPE STREQUAL FuzzTesting)
|
|
add_executable(px4
|
|
src/px4/common/main_fuzztesting.cpp
|
|
apps.cpp
|
|
)
|
|
else()
|
|
add_executable(px4
|
|
src/px4/common/main.cpp
|
|
apps.cpp
|
|
)
|
|
endif()
|
|
|
|
target_link_libraries(px4
|
|
PRIVATE
|
|
${module_libraries}
|
|
m
|
|
|
|
# horrible circular dependencies that need to be teased apart
|
|
px4_layer px4_platform
|
|
work_queue
|
|
parameters
|
|
)
|
|
|
|
if((NOT APPLE) AND (NOT ANDROID))
|
|
target_link_libraries(px4 PRIVATE rt)
|
|
endif()
|
|
|
|
if(NOT ANDROID)
|
|
target_link_libraries(px4 PRIVATE pthread)
|
|
endif()
|
|
|
|
target_link_libraries(px4 PRIVATE uORB)
|
|
|
|
if (CMAKE_BUILD_TYPE STREQUAL FuzzTesting)
|
|
target_include_directories(px4 PRIVATE SYSTEM "${CMAKE_BINARY_DIR}/mavlink}")
|
|
target_compile_options(px4 PRIVATE "-Wno-cast-align")
|
|
endif()
|
|
|
|
#=============================================================================
|
|
# install
|
|
#
|
|
|
|
# TODO: extend to snapdragon
|
|
|
|
# px4 dirs
|
|
install(
|
|
DIRECTORY
|
|
${PROJECT_SOURCE_DIR}/posix-configs
|
|
${PROJECT_SOURCE_DIR}/test
|
|
${CMAKE_BINARY_DIR}/etc
|
|
${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
|
|
DESTINATION
|
|
${PROJECT_NAME}
|
|
USE_SOURCE_PERMISSIONS
|
|
)
|
|
|
|
# Module Symlinks
|
|
px4_posix_generate_symlinks(
|
|
MODULE_LIST ${module_libraries}
|
|
PREFIX ${PX4_SHELL_COMMAND_PREFIX}
|
|
TARGET px4
|
|
)
|
|
|
|
if (config_romfs_root)
|
|
add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
|
|
add_dependencies(px4 romfs_gen_files_target)
|
|
endif()
|
|
|
|
|
|
# board defined upload helper
|
|
if(EXISTS "${PX4_BOARD_DIR}/cmake/upload.cmake")
|
|
include(${PX4_BOARD_DIR}/cmake/upload.cmake)
|
|
endif()
|
|
|
|
|
|
if("${PX4_BOARD}" MATCHES "beaglebone_blue")
|
|
target_link_libraries(px4 PRIVATE robotics_cape)
|
|
|
|
elseif("${PX4_BOARD}" MATCHES "emlid_navio2")
|
|
target_link_libraries(px4 PRIVATE atomic)
|
|
|
|
# vscode launch.json
|
|
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_rpi.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
|
|
|
|
elseif("${PX4_BOARD}" MATCHES "sitl")
|
|
|
|
# vscode launch.json
|
|
if(${PX4_BOARD_LABEL} MATCHES "replay")
|
|
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_replay.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
|
|
else()
|
|
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sim.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
|
|
endif()
|
|
|
|
include(sitl_target)
|
|
if(BUILD_TESTING)
|
|
include(sitl_tests)
|
|
endif()
|
|
|
|
# install
|
|
|
|
# px4 dirs
|
|
install(
|
|
DIRECTORY
|
|
${PROJECT_SOURCE_DIR}/integrationtests
|
|
${PROJECT_SOURCE_DIR}/launch
|
|
${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
|
|
DESTINATION
|
|
${PROJECT_NAME}
|
|
USE_SOURCE_PERMISSIONS
|
|
)
|
|
|
|
# px4 files
|
|
install(
|
|
FILES
|
|
${PROJECT_SOURCE_DIR}/CMakeLists.txt
|
|
${PROJECT_SOURCE_DIR}/package.xml
|
|
DESTINATION
|
|
${PROJECT_NAME}
|
|
)
|
|
|
|
# px4 Tools dirs
|
|
install(
|
|
DIRECTORY
|
|
${PROJECT_SOURCE_DIR}/Tools/ecl_ekf
|
|
DESTINATION
|
|
${PROJECT_NAME}/Tools
|
|
USE_SOURCE_PERMISSIONS
|
|
)
|
|
|
|
# px4 Tools files
|
|
install(
|
|
PROGRAMS
|
|
${PROJECT_SOURCE_DIR}/Tools/setup_gazebo.bash
|
|
${PROJECT_SOURCE_DIR}/Tools/upload_log.py
|
|
DESTINATION
|
|
${PROJECT_NAME}/Tools
|
|
)
|
|
|
|
# ROMFS files
|
|
install(
|
|
DIRECTORY
|
|
${PX4_BINARY_DIR}/etc
|
|
DESTINATION
|
|
${PROJECT_NAME}/build/px4_sitl_default
|
|
)
|
|
|
|
# sitl_gazebo built plugins
|
|
install(
|
|
DIRECTORY
|
|
${PX4_BINARY_DIR}/build_gazebo
|
|
DESTINATION
|
|
${PROJECT_NAME}/build/px4_sitl_default
|
|
FILES_MATCHING
|
|
PATTERN "CMakeFiles" EXCLUDE
|
|
PATTERN "*.so"
|
|
)
|
|
|
|
# sitl_gazebo dirs
|
|
install(
|
|
DIRECTORY
|
|
${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/models
|
|
${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/worlds
|
|
DESTINATION
|
|
${PROJECT_NAME}/Tools/sitl_gazebo
|
|
)
|
|
|
|
# sitl_gazebo files
|
|
install(
|
|
FILES
|
|
${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/CMakeLists.txt
|
|
${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/package.xml
|
|
DESTINATION
|
|
${PROJECT_NAME}/Tools/sitl_gazebo
|
|
)
|
|
|
|
endif()
|