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cmake remove circular linking and reorganize
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 - px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link
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@dagar
dagar committed Apr 30, 2018
1 parent a8bc3d1 commit ea3acb7
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Showing 576 changed files with 1,406 additions and 2,014 deletions.
113 changes: 42 additions & 71 deletions CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,7 @@
#
# * Avoid use of global variables in functions. Functions in a nested
# scope may use global variables, but this makes it difficult to
# resuse functions.
# reuse functions.
#
# Included CMake Files
# ---------------------------------------------------------------------------
Expand Down Expand Up @@ -99,18 +99,12 @@
#
#=============================================================================

# Warning: Changing this modifies CMake's internal workings
# and leads to wrong toolchain detection
cmake_minimum_required(VERSION 3.2 FATAL_ERROR)

set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})

list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")

#=============================================================================
# git
Expand All @@ -124,14 +118,16 @@ execute_process(
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
)

px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")

define_property(GLOBAL PROPERTY PX4_LIBRARIES
BRIEF_DOCS "PX4 libs"
define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
BRIEF_DOCS "PX4 module libs"
FULL_DOCS "List of all PX4 module libraries"
)

define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
BRIEF_DOCS "PX4 module paths"
FULL_DOCS "List of paths to all PX4 modules"
)

#=============================================================================
# configuration
#
Expand All @@ -142,10 +138,6 @@ string(REPLACE "_" ";" config_args ${CONFIG})
list(GET config_args 0 OS)
list(GET config_args 1 BOARD)
list(GET config_args 2 LABEL)
set(target_name "${OS}_${BOARD}_${LABEL}")

file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
set_property(CACHE CONFIG PROPERTY STRINGS ${configs})

set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
Expand All @@ -155,22 +147,14 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
endif()

list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)

include(platforms/${OS}/cmake/px4_impl_os.cmake)
set(config_module "configs/${CONFIG}")
include(${config_module})

include(common/coverage)
include(common/sanitizers)
include(configs/${CONFIG})
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)

# CMake build type
# Debug Release RelWithDebInfo MinSizeRel Coverage
# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
if (NOT CMAKE_BUILD_TYPE)
if (${OS} STREQUAL "nuttx")
set(PX4_BUILD_TYPE "MinSizeRel")
elseif (${OS} STREQUAL "bebop")
set(PX4_BUILD_TYPE "MinSizeRel")
else()
set(PX4_BUILD_TYPE "RelWithDebInfo")
endif()
Expand All @@ -180,12 +164,10 @@ endif()

set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")

message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")

#=============================================================================

message(STATUS "PX4 VERSION: ${git_tag}")
message(STATUS "CONFIG: ${target_name}")
message(STATUS "CONFIG: ${CONFIG}")
message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")

#=============================================================================
Expand All @@ -195,20 +177,23 @@ project(px4 CXX C ASM)

set(package-contact "[email protected]")

#=============================================================================

# The URL for the elf file for crash logging
if (DEFINED ENV{BUILD_URI})
set(BUILD_URI $ENV{BUILD_URI})
else()
set(BUILD_URI "localhost")
endif()
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_C_STANDARD 99)
set(CMAKE_C_STANDARD_REQUIRED ON)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})

add_definitions(-DBUILD_URI=${BUILD_URI})
#=============================================================================

# Setup install paths
if (${OS} STREQUAL "posix")

include(common/coverage)
include(common/sanitizers)

# Define GNU standard installation directories
include(GNUInstallDirs)

Expand All @@ -229,28 +214,24 @@ set(px4_required_interface
)
foreach(cmd ${px4_required_interface})
if (NOT COMMAND ${cmd})
message(FATAL_ERROR "${config_module} must implement ${cmd}")
message(FATAL_ERROR "${CONFIG} must implement ${cmd}")
endif()
endforeach()

set(px4_required_config config_module_list)
foreach(conf ${px4_required_config})
if (NOT DEFINED ${conf})
message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
message(FATAL_ERROR "cmake/${CONFIG} must define ${conf}")
endif()
endforeach()

# force static lib build
set(BUILD_SHARED_LIBS OFF)

#=============================================================================
# ccache
#
option(CCACHE "Use ccache if available" ON)
find_program(CCACHE_PROGRAM ccache)
if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
else()
endif()

#=============================================================================
Expand All @@ -271,23 +252,10 @@ endif()
find_package(PythonInterp REQUIRED)
px4_find_python_module(jinja2 REQUIRED)

#=============================================================================
# generate compile command database
#
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

#=============================================================================
# check required toolchain variables
#

# PX4 requires c++11
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

# PX4 requires c99
set(CMAKE_C_STANDARD 99)
set(CMAKE_C_STANDARD_REQUIRED ON)

set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
foreach(var ${required_variables})
if (NOT ${var})
Expand Down Expand Up @@ -335,24 +303,20 @@ px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker
px4_join(OUT CMAKE_C_FLAGS LIST "${CMAKE_C_FLAGS};${c_flags};${optimization_flags}" GLUE " ")
px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimization_flags}" GLUE " ")

include_directories(${include_dirs} ${CMAKE_CURRENT_BINARY_DIR}/src/modules/systemlib/param)
link_directories(${link_dirs})
add_definitions(${definitions})

#=============================================================================
# message, and airframe generation
#
include(common/px4_metadata)

add_subdirectory(msg)
add_subdirectory(msg EXCLUDE_FROM_ALL)

px4_generate_airframes_xml(BOARD ${BOARD})

#=============================================================================
# DriverFramework
#

px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
add_subdirectory(src/lib/DriverFramework/framework)

# List the DriverFramework drivers
if (DEFINED config_df_driver_list)
Expand All @@ -369,7 +333,6 @@ endforeach()
#=============================================================================
# external projects
#

set(ep_base ${PX4_BINARY_DIR}/external)
set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})

Expand Down Expand Up @@ -397,12 +360,22 @@ endif()
#=============================================================================
# subdirectories
#
add_subdirectory(src/platforms/common)
add_library(parameters_interface INTERFACE)
add_subdirectory(src/lib EXCLUDE_FROM_ALL)
add_subdirectory(src/platforms/common EXCLUDE_FROM_ALL)
add_subdirectory(src/modules/systemlib EXCLUDE_FROM_ALL) # TODO: split into libraries in platform layer
add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)

foreach(module ${config_module_list})
add_subdirectory(src/${module})
endforeach()

# must be the last module before firmware
add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
target_link_libraries(parameters_interface INTERFACE parameters)

# firmware added last to generate the builtin for included modules
add_subdirectory(platforms/${OS})

#=============================================================================
Expand Down Expand Up @@ -450,20 +423,18 @@ set(CPACK_PACKAGE_CONTACT ${package-contact})
set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
set(short-description "The px4 autopilot.")
set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
set(CPACK_GENERATOR "ZIP")
set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
set(CPACK_PACKAGING_INSTALL_PREFIX "")
set(CPACK_SET_DESTDIR "OFF")

if ("${CMAKE_SYSTEM}" MATCHES "Linux")
find_program(DPKG_PROGRAM dpkg)
if (EXISTS ${DPKG_PROGRAM})
list (APPEND CPACK_GENERATOR "DEB")
endif()
endif()
include(CPack)

# vim: set noet fenc=utf-8 ff=unix ft=cmake :
4 changes: 2 additions & 2 deletions Makefile
View file
Original file line number Diff line number Diff line change
Expand Up @@ -252,8 +252,8 @@ coverity_scan: posix_sitl_default
.PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata

parameters_metadata:
@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --markdown
@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --xml
@python $(SRC_DIR)/src/lib/parameters/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/lib/parameters/parameters_injected.xml --markdown
@python $(SRC_DIR)/src/lib/parameters/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 4 -type d` --inject-xml $(SRC_DIR)/src/lib/parameters/parameters_injected.xml --xml

airframe_metadata:
@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown
Expand Down
56 changes: 46 additions & 10 deletions cmake/common/px4_base.cmake
View file
Original file line number Diff line number Diff line change
Expand Up @@ -195,10 +195,22 @@ function(px4_add_module)
ONE_VALUE MODULE MAIN STACK STACK_MAIN STACK_MAX PRIORITY
MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS
OPTIONS EXTERNAL
REQUIRED MODULE
REQUIRED MODULE MAIN
ARGN ${ARGN})

px4_add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})

# all modules can potentially use parameters and uORB
add_dependencies(${MODULE} uorb_headers)
target_link_libraries(${MODULE} PRIVATE prebuild_targets parameters_interface platforms__common px4_layer systemlib)

set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})

px4_add_optimization_flags_for_target(${MODULE})

# Pass variable to the parent px4_add_module.
set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE)

# set defaults if not set
set(MAIN_DEFAULT MAIN-NOTFOUND)
Expand Down Expand Up @@ -240,7 +252,16 @@ function(px4_add_module)
endif()

if(DEPENDS)
add_dependencies(${MODULE} ${DEPENDS})
# using target_link_libraries for dependencies provides linking
# as well as interface include and libraries
foreach(dep ${DEPENDS})
get_target_property(dep_type ${dep} TYPE)
if (${dep_type} STREQUAL "STATIC_LIBRARY")
target_link_libraries(${MODULE} PRIVATE ${dep})
else()
add_dependencies(${MODULE} ${dep})
endif()
endforeach()
endif()

# join list variables to get ready to send to compiler
Expand Down Expand Up @@ -425,6 +446,10 @@ function(px4_add_common_flags)
-fdiagnostics-color=always
)
endif()

list(APPEND cxx_warnings
-Wno-format-truncation # TODO: fix
)
endif()

set(visibility_flags
Expand All @@ -450,10 +475,13 @@ function(px4_add_common_flags)
${_optimization_flags}
)

set(added_include_dirs
include_directories(
${PX4_BINARY_DIR}
${PX4_BINARY_DIR}/src
${PX4_BINARY_DIR}/src/lib
${PX4_BINARY_DIR}/src/modules


${PX4_SOURCE_DIR}/src
${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
${PX4_SOURCE_DIR}/src/include
Expand All @@ -464,13 +492,10 @@ function(px4_add_common_flags)
${PX4_SOURCE_DIR}/src/platforms
)

set(added_link_dirs) # none used currently
set(added_exe_linker_flags)

string(TOUPPER ${BOARD} board_upper)
string(REPLACE "-" "_" board_config ${board_upper})

set(added_definitions
add_definitions(
-DCONFIG_ARCH_BOARD_${board_config}
-D__STDC_FORMAT_MACROS
)
Expand Down Expand Up @@ -548,13 +573,25 @@ endfunction()
#
function(px4_add_library target)
add_library(${target} ${ARGN})
add_dependencies(${target} prebuild_targets)

target_compile_definitions(${target} PRIVATE MODULE_NAME="${target}")

# all PX4 libraries have access to parameters and uORB
add_dependencies(${target} uorb_headers)
target_link_libraries(${target} PRIVATE prebuild_targets parameters_interface uorb_msgs)

# TODO: move to platform layer
if ("${OS}" MATCHES "nuttx")
target_link_libraries(${target} PRIVATE m nuttx_c)
endif()

px4_add_optimization_flags_for_target(${target})

# Pass variable to the parent px4_add_module.
set(_no_optimization_for_target ${_no_optimization_for_target} PARENT_SCOPE)

set_property(GLOBAL APPEND PROPERTY PX4_LIBRARIES ${target})
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
endfunction()

#=============================================================================
Expand Down Expand Up @@ -596,4 +633,3 @@ function(px4_find_python_module module)
#endif()
endfunction(px4_find_python_module)

# vim: set noet fenc=utf-8 ff=unix nowrap:
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