PX4 CMakeLists解读
本解读基于PX4 V1.11.0，下面直接上CMakeLists.txt############################################################################
#
# Copyright (c) 2017 - 2019 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#=============================================================================
# CMAKE CODING STANDARD FOR PX4
#
# Structure
# ---------------------------------------------------------------------------
#
# * Common functions should be included in px_base.cmake.
#
# * OS/ board specific fucntions should be include in
# px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
#
# Formatting
# ---------------------------------------------------------------------------
#
# * Use hard indents to match the px4 source code.
#
# * All function and script arguments are upper case.
#
# * All local variables are lower case.
#
# * All cmake functions are lowercase.
#
# * For else, endif, endfunction, etc, never put the name of the statement
#
# Functions/Macros
# ---------------------------------------------------------------------------
#
# * Use px4_parse_function_args to parse functions and check for required
# arguments. Unless there is only one argument in the function and it is clear.
#
# * Never use macros. They allow overwriting global variables and this
# makes variable declarations hard to locate.
#
# * If a target from add_custom_* is set in a function, explicitly pass it
# as an output argument so that the target name is clear to the user.
#
# * Avoid use of global variables in functions. Functions in a nested
# scope may use global variables, but this makes it difficult to
# reuse functions.
#
# Included CMake Files
# ---------------------------------------------------------------------------
#
# * All variables in config files must have the prefix "config_".
#
# * Never set global variables in an included cmake file,
# you may only define functions. This excludes config and Toolchain files.
# This makes it clear to the user when variables are being set or targets
# are being created.
#
# * Setting a global variable in a CMakeLists.txt file is ok, because
# each CMakeLists.txt file has scope in the current directory and all
# subdirectories, so it is not truly global.
#
# * All toolchain files should be included in the cmake
# directory and named Toolchain-"name".cmake.
#
# Misc
# ---------------------------------------------------------------------------
#
# * If referencing a string variable, don't put it in quotes.
# Don't do "${PX4_PLATFORM}" STREQUAL "posix",
# instead type ${PX4_PLATFORM} STREQUAL "posix". This will throw an
# error when ${PX4_PLATFORM} is not defined instead of silently
# evaluating to false.
#
#=============================================================================
cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
include(px4_parse_function_args)
#=============================================================================
# git
#
include(px4_git)
execute_process(
COMMAND git describe --always --tags
OUTPUT_VARIABLE PX4_GIT_TAG
OUTPUT_STRIP_TRAILING_WHITESPACE
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
)
message(STATUS "PX4 version: ${PX4_GIT_TAG}")
define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
BRIEF_DOCS "PX4 module libs"
FULL_DOCS "List of all PX4 module libraries"
)
define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
BRIEF_DOCS "PX4 module paths"
FULL_DOCS "List of paths to all PX4 modules"
)
#=============================================================================
# configuration
#
set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
include(px4_add_module)
set(config_module_list)
include(px4_config)
include(px4_add_board)
include(${PX4_CONFIG_FILE})
message(STATUS "PX4 config: ${PX4_CONFIG}")
message(STATUS "PX4 platform: ${PX4_PLATFORM}")
if(${PX4_PLATFORM} STREQUAL "posix")
if(ENABLE_LOCKSTEP_SCHEDULER)
add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
message(STATUS "PX4 lockstep: enabled")
else()
message(STATUS "PX4 lockstep: disabled")
endif()
endif()
# external modules
set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
endif()
set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
#如果Firmware/platforms/nuttx/cmake/init.cmake存在
if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
#插入Firmware/platforms/nuttx/cmake/init.cmake
include(init)
endif()
# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
if(NOT CMAKE_BUILD_TYPE)
if(${PX4_PLATFORM} STREQUAL "nuttx")
set(PX4_BUILD_TYPE "MinSizeRel")
else()
set(PX4_BUILD_TYPE "RelWithDebInfo")
endif()
set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
endif()
if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
set(MAX_CUSTOM_OPT_LEVEL -O0)
elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
set(MAX_CUSTOM_OPT_LEVEL -O1)
else()
if(px4_constrained_flash_build)
set(MAX_CUSTOM_OPT_LEVEL -Os)
else()
set(MAX_CUSTOM_OPT_LEVEL -O2)
endif()
endif()
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
#=============================================================================
# project definition
#
project(px4 CXX C ASM)
set(package-contact "px4users@googlegroups.com")
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_C_STANDARD 11)
set(CMAKE_C_STANDARD_REQUIRED ON)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# For the catkin build process, unset build of dynamically-linked binaries
# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
if (NOT CATKIN_DEVEL_PREFIX)
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})
else()
SET(BUILD_SHARED_LIBS OFF)
endif()
#=============================================================================
# gold linker - use if available
include(CMakeDependentOption)
CMAKE_DEPENDENT_OPTION(USE_LD_GOLD
"Use GNU gold linker" ON
"NOT WIN32;NOT APPLE" OFF
)
if(USE_LD_GOLD)
execute_process(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version ERROR_QUIET OUTPUT_VARIABLE LD_VERSION)
if("${LD_VERSION}" MATCHES "GNU gold")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold")
else()
set(USE_LD_GOLD OFF)
endif()
endif()
#=============================================================================
# Setup install paths
if(${PX4_PLATFORM} STREQUAL "posix")
# This makes it possible to dynamically load code which depends on symbols
# inside the px4 executable.
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
set(CMAKE_ENABLE_EXPORTS ON)
include(coverage)
include(sanitizers)
# Define GNU standard installation directories
include(GNUInstallDirs)
if (NOT CMAKE_INSTALL_PREFIX)
set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
endif()
endif()
include(ccache)
#=============================================================================
# find programs and packages
#
# see if catkin was invoked to build this
if (CATKIN_DEVEL_PREFIX)
message(STATUS "catkin ENABLED")
find_package(catkin REQUIRED)
if (catkin_FOUND)
catkin_package()
else()
message(FATAL_ERROR "catkin not found")
endif()
endif()
# Python
# If using catkin, Python 2 is found since it points
# to the Python libs installed with the ROS distro
if (NOT CATKIN_DEVEL_PREFIX)
find_package(PythonInterp 3)
# We have a custom error message to tell users how to install python3.
if (NOT PYTHONINTERP_FOUND)
message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
" Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
" macOS: brew install python")
endif()
else()
find_package(PythonInterp REQUIRED)
endif()
option(PYTHON_COVERAGE "Python code coverage" OFF)
if(PYTHON_COVERAGE)
message(STATUS "python coverage enabled")
set(PYTHON_EXECUTABLE coverage run -p)
endif()
#=============================================================================
# get chip and chip manufacturer
#
px4_os_determine_build_chip()
if(NOT PX4_CHIP_MANUFACTURER)
message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP_MANUFACTURER")
endif()
if(NOT PX4_CHIP)
message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
endif()
#=============================================================================
# build flags
#
include(px4_add_common_flags)
px4_add_common_flags()
px4_os_add_flags()
#=============================================================================
# board cmake init (optional)
#
if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
include(${PX4_BOARD_DIR}/cmake/init.cmake)
endif()
#=============================================================================
# message, and airframe generation
#
include(px4_metadata)
add_subdirectory(msg EXCLUDE_FROM_ALL)
px4_generate_airframes_xml(BOARD ${PX4_BOARD})
#=============================================================================
# external projects
#
set(ep_base ${PX4_BINARY_DIR}/external)
set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
# add external project install folders to build
# add the directories so cmake won't warn
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base})
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install)
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/lib)
link_directories(${ep_base}/Install/lib)
execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/include)
include_directories(${ep_base}/Install/include)
#=============================================================================
# external modules
#
set(external_module_paths)
if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}")
add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules)
foreach(external_module ${config_module_list_external})
add_subdirectory(${EXTERNAL_MODULES_LOCATION}/src/${external_module} external_modules/${external_module})
list(APPEND external_module_paths ${EXTERNAL_MODULES_LOCATION}/src/${external_module})
endforeach()
endif()
#=============================================================================
# Testing - Automatic unit and integration testing with CTest
#
# optionally enable cmake testing (supported only on posix)
option(CMAKE_TESTING "Configure test targets" OFF)
if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
set(CMAKE_TESTING ON)
endif()
if(CMAKE_TESTING)
include(CTest) # sets BUILD_TESTING variable
endif()
# enable test filtering to run only specific tests with the ctest -R regex functionality
set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
# if testing is enabled download and configure gtest
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
include(px4_add_gtest)
if(BUILD_TESTING)
include(gtest)
add_custom_target(test_results
COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
DEPENDS
px4
examples__dyn_hello
test_mixer_multirotor
USES_TERMINAL
COMMENT "Running tests"
WORKING_DIRECTORY ${PX4_BINARY_DIR})
set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
endif()
#=============================================================================
# subdirectories
#
add_library(parameters_interface INTERFACE)
include(px4_add_library)
add_subdirectory(src/lib EXCLUDE_FROM_ALL)
add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
add_subdirectory(platforms EXCLUDE_FROM_ALL)
add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
add_subdirectory(${PX4_BOARD_DIR})
endif()
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/${PX4_PLATFORM})
#=============================================================================
# uORB graph generation: add a custom target 'uorb_graph'
#
set(uorb_graph_config ${PX4_BOARD})
set(graph_module_list "")
foreach(module ${config_module_list})
set(graph_module_list "${graph_module_list}" "--src-path" "src/${module}")
endforeach()
add_custom_command(OUTPUT ${uorb_graph_config}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
${graph_module_list}
--exclude-path src/examples
--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
COMMENT "Generating uORB graph"
)
add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
include(doxygen)
include(metadata)
include(package)
# print size
add_custom_target(size
COMMAND size [ DISCUZ_CODE_1 ]lt;TARGET_FILE:px4>
DEPENDS px4
WORKING_DIRECTORY ${PX4_BINARY_DIR}
USES_TERMINAL
)
页:
[1]