PX4 CMakeLists解读

feedforward

本解读基于PX4 V1.11.0，下面直接上CMakeLists.txt

1. ############################################################################
   
2. #
   
3. # Copyright (c) 2017 - 2019 PX4 Development Team. All rights reserved.
   
4. #
   
5. # Redistribution and use in source and binary forms, with or without
   
6. # modification, are permitted provided that the following conditions
   
7. # are met:
   
8. #
   
9. # 1. Redistributions of source code must retain the above copyright
   
10. #    notice, this list of conditions and the following disclaimer.
    
11. # 2. Redistributions in binary form must reproduce the above copyright
    
12. #    notice, this list of conditions and the following disclaimer in
    
13. #    the documentation and/or other materials provided with the
    
14. #    distribution.
    
15. # 3. Neither the name PX4 nor the names of its contributors may be
    
16. #    used to endorse or promote products derived from this software
    
17. #    without specific prior written permission.
    
18. #
    
19. # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    
20. # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
    
21. # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
    
22. # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
    
23. # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
    
24. # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
    
25. # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
    
26. # OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
    
27. # AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
    
28. # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
    
29. # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    
30. # POSSIBILITY OF SUCH DAMAGE.
    
31. #
    
32. ############################################################################
    
33. 
    
34. #=============================================================================
    
35. # CMAKE CODING STANDARD FOR PX4
    
36. #
    
37. # Structure
    
38. # ---------------------------------------------------------------------------
    
39. #
    
40. # * Common functions should be included in px_base.cmake.
    
41. #
    
42. # * OS/ board specific fucntions should be include in
    
43. #        px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
    
44. #
    
45. # Formatting
    
46. # ---------------------------------------------------------------------------
    
47. #
    
48. # * Use hard indents to match the px4 source code.
    
49. #
    
50. # * All function and script arguments are upper case.
    
51. #
    
52. # * All local variables are lower case.
    
53. #
    
54. # * All cmake functions are lowercase.
    
55. #
    
56. # * For else, endif, endfunction, etc, never put the name of the statement
    
57. #
    
58. # Functions/Macros
    
59. # ---------------------------------------------------------------------------
    
60. #
    
61. # * Use px4_parse_function_args to parse functions and check for required
    
62. #   arguments. Unless there is only one argument in the function and it is clear.
    
63. #
    
64. # * Never use macros. They allow overwriting global variables and this
    
65. #        makes variable declarations hard to locate.
    
66. #
    
67. # * If a target from add_custom_* is set in a function, explicitly pass it
    
68. #        as an output argument so that the target name is clear to the user.
    
69. #
    
70. # * Avoid use of global variables in functions. Functions in a nested
    
71. #        scope may use global variables, but this makes it difficult to
    
72. #        reuse functions.
    
73. #
    
74. # Included CMake Files
    
75. # ---------------------------------------------------------------------------
    
76. #
    
77. # * All variables in config files must have the prefix "config_".
    
78. #
    
79. # * Never set global variables in an included cmake file,
    
80. #        you may only define functions. This excludes config and Toolchain files.
    
81. #        This makes it clear to the user when variables are being set or targets
    
82. #        are being created.
    
83. #
    
84. # * Setting a global variable in a CMakeLists.txt file is ok, because
    
85. #        each CMakeLists.txt file has scope in the current directory and all
    
86. #        subdirectories, so it is not truly global.
    
87. #
    
88. # * All toolchain files should be included in the cmake
    
89. #        directory and named Toolchain-"name".cmake.
    
90. #
    
91. # Misc
    
92. # ---------------------------------------------------------------------------
    
93. #
    
94. # * If referencing a string variable, don't put it in quotes.
    
95. #        Don't do "${PX4_PLATFORM}" STREQUAL "posix",
    
96. #        instead type ${PX4_PLATFORM} STREQUAL "posix". This will throw an
    
97. #        error when ${PX4_PLATFORM} is not defined instead of silently
    
98. #        evaluating to false.
    
99. #
    
100. #=============================================================================
     
101. 
     
102. cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
     
103. 
     
104. set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
     
105. set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
     
106. 
     
107. list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
     
108. include(px4_parse_function_args)
     
109. 
     
110. #=============================================================================
     
111. # git
     
112. #
     
113. include(px4_git)
     
114. 
     
115. execute_process(
     
116.         COMMAND git describe --always --tags
     
117.         OUTPUT_VARIABLE PX4_GIT_TAG
     
118.         OUTPUT_STRIP_TRAILING_WHITESPACE
     
119.         WORKING_DIRECTORY ${PX4_SOURCE_DIR}
     
120.         )
     
121. message(STATUS "PX4 version: ${PX4_GIT_TAG}")
     
122. 
     
123. define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
     
124.                  BRIEF_DOCS "PX4 module libs"
     
125.                  FULL_DOCS "List of all PX4 module libraries"
     
126.                  )
     
127. 
     
128. define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
     
129.                  BRIEF_DOCS "PX4 module paths"
     
130.                  FULL_DOCS "List of paths to all PX4 modules"
     
131.                  )
     
132. 
     
133. #=============================================================================
     
134. # configuration
     
135. #
     
136. 
     
137. set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
     
138. 
     
139. include(px4_add_module)
     
140. set(config_module_list)
     
141. 
     
142. include(px4_config)
     
143. include(px4_add_board)
     
144. include(${PX4_CONFIG_FILE})
     
145. message(STATUS "PX4 config: ${PX4_CONFIG}")
     
146. message(STATUS "PX4 platform: ${PX4_PLATFORM}")
     
147. 
     
148. if(${PX4_PLATFORM} STREQUAL "posix")
     
149.         if(ENABLE_LOCKSTEP_SCHEDULER)
     
150.                 add_definitions(-DENABLE_LOCKSTEP_SCHEDULER)
     
151.                 message(STATUS "PX4 lockstep: enabled")
     
152.         else()
     
153.                 message(STATUS "PX4 lockstep: disabled")
     
154.         endif()
     
155. endif()
     
156. 
     
157. # external modules
     
158. set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
     
159. 
     
160. if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
     
161.         get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
     
162. endif()
     
163. 
     
164. set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
     
165. 
     
166. include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
     
167. list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
     
168. 
     
169. #如果Firmware/platforms/nuttx/cmake/init.cmake存在
     
170. if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
     
171.        #插入Firmware/platforms/nuttx/cmake/init.cmake
     
172.         include(init)
     
173. endif()
     
174. 
     
175. # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
     
176. if(NOT CMAKE_BUILD_TYPE)
     
177.         if(${PX4_PLATFORM} STREQUAL "nuttx")
     
178.                 set(PX4_BUILD_TYPE "MinSizeRel")
     
179.         else()
     
180.                 set(PX4_BUILD_TYPE "RelWithDebInfo")
     
181.         endif()
     
182. 
     
183.         set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
     
184. endif()
     
185. 
     
186. if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
     
187.         set(MAX_CUSTOM_OPT_LEVEL -O0)
     
188. elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
     
189.         set(MAX_CUSTOM_OPT_LEVEL -O1)
     
190. else()
     
191.         if(px4_constrained_flash_build)
     
192.                 set(MAX_CUSTOM_OPT_LEVEL -Os)
     
193.         else()
     
194.                 set(MAX_CUSTOM_OPT_LEVEL -O2)
     
195.         endif()
     
196. endif()
     
197. 
     
198. set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
     
199. message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
     
200. 
     
201. #=============================================================================
     
202. # project definition
     
203. #
     
204. project(px4 CXX C ASM)
     
205. 
     
206. set(package-contact "px4users@googlegroups.com")
     
207. 
     
208. set(CMAKE_CXX_STANDARD 14)
     
209. set(CMAKE_CXX_STANDARD_REQUIRED ON)
     
210. set(CMAKE_C_STANDARD 11)
     
211. set(CMAKE_C_STANDARD_REQUIRED ON)
     
212. set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
     
213. 
     
214. # For the catkin build process, unset build of dynamically-linked binaries
     
215. # and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
     
216. if (NOT CATKIN_DEVEL_PREFIX)
     
217.         set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
     
218.         set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
     
219.         set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
     
220. else()
     
221.         SET(BUILD_SHARED_LIBS OFF)
     
222. endif()
     
223. 
     
224. #=============================================================================
     
225. 
     
226. # gold linker - use if available
     
227. include(CMakeDependentOption)
     
228. CMAKE_DEPENDENT_OPTION(USE_LD_GOLD
     
229.                       "Use GNU gold linker" ON
     
230.                       "NOT WIN32;NOT APPLE" OFF
     
231. )
     
232. 
     
233. if(USE_LD_GOLD)
     
234.         execute_process(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--version ERROR_QUIET OUTPUT_VARIABLE LD_VERSION)
     
235.         if("${LD_VERSION}" MATCHES "GNU gold")
     
236.                 set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold")
     
237.                 set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold")
     
238.         else()
     
239.                 set(USE_LD_GOLD OFF)
     
240.         endif()
     
241. endif()
     
242. 
     
243. #=============================================================================
     
244. 
     
245. # Setup install paths
     
246. if(${PX4_PLATFORM} STREQUAL "posix")
     
247.         # This makes it possible to dynamically load code which depends on symbols
     
248.         # inside the px4 executable.
     
249.         set(CMAKE_POSITION_INDEPENDENT_CODE ON)
     
250.         set(CMAKE_ENABLE_EXPORTS ON)
     
251. 
     
252.         include(coverage)
     
253.         include(sanitizers)
     
254. 
     
255.         # Define GNU standard installation directories
     
256.         include(GNUInstallDirs)
     
257. 
     
258.         if (NOT CMAKE_INSTALL_PREFIX)
     
259.                 set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
     
260.         endif()
     
261. endif()
     
262. 
     
263. include(ccache)
     
264. 
     
265. #=============================================================================
     
266. # find programs and packages
     
267. #
     
268. 
     
269. # see if catkin was invoked to build this
     
270. if (CATKIN_DEVEL_PREFIX)
     
271.         message(STATUS "catkin ENABLED")
     
272.         find_package(catkin REQUIRED)
     
273.         if (catkin_FOUND)
     
274.                 catkin_package()
     
275.         else()
     
276.                 message(FATAL_ERROR "catkin not found")
     
277.         endif()
     
278. endif()
     
279. 
     
280. # Python
     
281. # If using catkin, Python 2 is found since it points
     
282. # to the Python libs installed with the ROS distro
     
283. if (NOT CATKIN_DEVEL_PREFIX)
     
284.         find_package(PythonInterp 3)
     
285.         # We have a custom error message to tell users how to install python3.
     
286.         if (NOT PYTHONINTERP_FOUND)
     
287.                 message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
     
288.                         "    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
     
289.                         "    macOS: brew install python")
     
290.         endif()
     
291. else()
     
292.         find_package(PythonInterp REQUIRED)
     
293. endif()
     
294. 
     
295. option(PYTHON_COVERAGE "Python code coverage" OFF)
     
296. if(PYTHON_COVERAGE)
     
297.         message(STATUS "python coverage enabled")
     
298.         set(PYTHON_EXECUTABLE coverage run -p)
     
299. endif()
     
300. 
     
301. #=============================================================================
     
302. # get chip and chip manufacturer
     
303. #
     
304. px4_os_determine_build_chip()
     
305. if(NOT PX4_CHIP_MANUFACTURER)
     
306.         message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP_MANUFACTURER")
     
307. endif()
     
308. if(NOT PX4_CHIP)
     
309.         message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
     
310. endif()
     
311. 
     
312. #=============================================================================
     
313. # build flags
     
314. #
     
315. include(px4_add_common_flags)
     
316. px4_add_common_flags()
     
317. px4_os_add_flags()
     
318. 
     
319. #=============================================================================
     
320. # board cmake init (optional)
     
321. #
     
322. if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
     
323.         include(${PX4_BOARD_DIR}/cmake/init.cmake)
     
324. endif()
     
325. 
     
326. #=============================================================================
     
327. # message, and airframe generation
     
328. #
     
329. include(px4_metadata)
     
330. 
     
331. add_subdirectory(msg EXCLUDE_FROM_ALL)
     
332. 
     
333. px4_generate_airframes_xml(BOARD ${PX4_BOARD})
     
334. 
     
335. #=============================================================================
     
336. # external projects
     
337. #
     
338. set(ep_base ${PX4_BINARY_DIR}/external)
     
339. set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
     
340. 
     
341. # add external project install folders to build
     
342. # add the directories so cmake won't warn
     
343. execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base})
     
344. execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install)
     
345. execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/lib)
     
346. link_directories(${ep_base}/Install/lib)
     
347. execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${ep_base}/Install/include)
     
348. include_directories(${ep_base}/Install/include)
     
349. 
     
350. #=============================================================================
     
351. # external modules
     
352. #
     
353. set(external_module_paths)
     
354. if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
     
355.         message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}")
     
356.         add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules)
     
357. 
     
358.         foreach(external_module ${config_module_list_external})
     
359.                 add_subdirectory(${EXTERNAL_MODULES_LOCATION}/src/${external_module} external_modules/${external_module})
     
360.                 list(APPEND external_module_paths ${EXTERNAL_MODULES_LOCATION}/src/${external_module})
     
361.         endforeach()
     
362. endif()
     
363. 
     
364. #=============================================================================
     
365. # Testing - Automatic unit and integration testing with CTest
     
366. #
     
367. 
     
368. # optionally enable cmake testing (supported only on posix)
     
369. option(CMAKE_TESTING "Configure test targets" OFF)
     
370. if(${PX4_CONFIG} STREQUAL "px4_sitl_test")
     
371.         set(CMAKE_TESTING ON)
     
372. endif()
     
373. if(CMAKE_TESTING)
     
374.         include(CTest) # sets BUILD_TESTING variable
     
375. endif()
     
376. 
     
377. # enable test filtering to run only specific tests with the ctest -R regex functionality
     
378. set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)")
     
379. 
     
380. # if testing is enabled download and configure gtest
     
381. list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/)
     
382. include(px4_add_gtest)
     
383. if(BUILD_TESTING)
     
384.         include(gtest)
     
385. 
     
386.         add_custom_target(test_results
     
387.                         COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
     
388.                         DEPENDS
     
389.                                 px4
     
390.                                 examples__dyn_hello
     
391.                                 test_mixer_multirotor
     
392.                         USES_TERMINAL
     
393.                         COMMENT "Running tests"
     
394.                         WORKING_DIRECTORY ${PX4_BINARY_DIR})
     
395.         set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
     
396. endif()
     
397. 
     
398. 
     
399. #=============================================================================
     
400. # subdirectories
     
401. #
     
402. add_library(parameters_interface INTERFACE)
     
403. 
     
404. include(px4_add_library)
     
405. add_subdirectory(src/lib EXCLUDE_FROM_ALL)
     
406. 
     
407. add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
     
408. add_subdirectory(platforms EXCLUDE_FROM_ALL)
     
409. add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
     
410. 
     
411. if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
     
412.         add_subdirectory(${PX4_BOARD_DIR})
     
413. endif()
     
414. 
     
415. foreach(module ${config_module_list})
     
416.         add_subdirectory(src/${module})
     
417. endforeach()
     
418. 
     
419. # must be the last module before firmware
     
420. add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
     
421. target_link_libraries(parameters_interface INTERFACE parameters)
     
422. 
     
423. # firmware added last to generate the builtin for included modules
     
424. add_subdirectory(platforms/${PX4_PLATFORM})
     
425. 
     
426. #=============================================================================
     
427. # uORB graph generation: add a custom target 'uorb_graph'
     
428. #
     
429. set(uorb_graph_config ${PX4_BOARD})
     
430. 
     
431. set(graph_module_list "")
     
432. foreach(module ${config_module_list})
     
433.         set(graph_module_list "${graph_module_list}" "--src-path" "src/${module}")
     
434. endforeach()
     
435. 
     
436. add_custom_command(OUTPUT ${uorb_graph_config}
     
437.         COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
     
438.                 ${graph_module_list}
     
439.                 --exclude-path src/examples
     
440.                 --file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
     
441.         WORKING_DIRECTORY ${PX4_SOURCE_DIR}
     
442.         COMMENT "Generating uORB graph"
     
443. )
     
444. add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
     
445. 
     
446. 
     
447. include(doxygen)
     
448. include(metadata)
     
449. include(package)
     
450. 
     
451. # print size
     
452. add_custom_target(size
     
453.         COMMAND size [        DISCUZ_CODE_1        ]lt;TARGET_FILE:px4>
     
454.         DEPENDS px4
     
455.         WORKING_DIRECTORY ${PX4_BINARY_DIR}
     
456.         USES_TERMINAL
     
457.         )

复制代码