px4的CMakelists.txt阅读

1710阅读　0评论2017-08-13　ch122633
分类：嵌入式


  1. ############################################################################
  2. #
  3. # Copyright (c) 2017 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. ############################################################################

  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_${OS}.cmake or px4_impl_${OS}_${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. #    resuse 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 "${OS}" STREQUAL "posix",
  96. #    instead type ${OS} STREQUAL "posix". This will throw an
  97. #    error when ${OS} is not defined instead of silently
  98. #    evaluating to false.
  99. #
  100. #=============================================================================

  102. if (${CMAKE_VERSION} VERSION_LESS 3.1.0)                                                                                            //判断cmake版本不能低于3.1.0
  103.     message("Not a valid CMake version")
  104.     message("On Ubuntu >= 16.04, install or upgrade via:")
  105.     message("    sudo apt-get install cmake")
  106.     message("")
  107.     message("Official website: ")
  108.     message(FATAL_ERROR "Update CMake and try again" )
  109. endif()

  111. # Warning: Changing this modifies CMake's internal workings
  112. # and leads to wrong toolchain detection
  113. cmake_minimum_required(VERSION 3.1 FATAL_ERROR)

  115. set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")                                                                                 //设置PX4源文件目录
  116. set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")                                                                                //设置运行程序目录

  118. execute_process(                                                                                                        //执行一个或多个子进程
  119.     COMMAND Tools/check_submodules.sh                                                                                   //运行了tools/check_submodules.sh
  120.     WORKING_DIRECTORY ${PX4_SOURCE_DIR}                                                                                 //工作目录再px4目录下为当前目录
  121.     )

  123. #=============================================================================
  124. # configuration
  125. #
  126. # must come before project to set toolchain

  128. set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")

  130. string(REPLACE "_" ";" config_args ${CONFIG})
  131. list(GET config_args 0 OS)
  132. list(GET config_args 1 BOARD)
  133. list(GET config_args 2 LABEL)
  134. set(target_name "${OS}-${BOARD}-${LABEL}")

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

  139. set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
  140. set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
  141. set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")

  143. if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
  144.     get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
  145. endif()

  147. list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
  148. message(STATUS "CMAKE_MODULE_PATH: ${CMAKE_MODULE_PATH}")
  149. set(config_module "configs/${CONFIG}")
  150. include(${config_module})

  152. include(common/coverage)
  153. include(common/sanitizers)

  155. # CMake build type
  156. # Debug Release RelWithDebInfo MinSizeRel Coverage
  157. if (NOT CMAKE_BUILD_TYPE)
  158.     if (${OS} STREQUAL "nuttx")
  159.         set(PX4_BUILD_TYPE "MinSizeRel")
  160.     elseif (${OS} STREQUAL "bebop")
  161.         set(PX4_BUILD_TYPE "MinSizeRel")
  162.     else()
  163.         set(PX4_BUILD_TYPE "RelWithDebInfo")
  164.     endif()

  166.     set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
  167. endif()

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

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


  174. #=============================================================================
  175. # git
  176. #
  177. include(common/px4_git)

  179. execute_process(
  180.     COMMAND git describe --always --tags
  181.     OUTPUT_VARIABLE git_tag
  182.     OUTPUT_STRIP_TRAILING_WHITESPACE
  183.     WORKING_DIRECTORY ${PX4_SOURCE_DIR}
  184.     )

  186. execute_process(
  187.     COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
  188.     OUTPUT_VARIABLE git_version
  189.     WORKING_DIRECTORY ${PX4_SOURCE_DIR}
  190.     )

  192. px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
  193. px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
  194. px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
  195. px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
  196. px4_add_git_submodule(TARGET git_gazebo_flow PATH "Tools/sitl_gazebo/external/OpticalFlow")
  197. px4_add_git_submodule(TARGET git_gazebo_klt PATH "Tools/sitl_gazebo/external/OpticalFlow/external/klt_feature_tracker")
  198. px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
  199. px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
  200. px4_add_git_submodule(TARGET git_gps_devices PATH "src/drivers/gps/devices")
  201. px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
  202. px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
  203. px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
  204. px4_add_git_submodule(TARGET git_mavlink2 PATH "mavlink/include/mavlink/v2.0")
  205. px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
  206. px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")

  208. px4_create_git_hash_header()

  210. #=============================================================================

  212. message(STATUS "PX4 VERSION: ${git_tag}")
  213. message(STATUS "CONFIG: ${target_name}")

  215. # The URL for the elf file for crash logging
  216. if (DEFINED ENV{BUILD_URI})
  217.     set(BUILD_URI $ENV{BUILD_URI})
  218. else()
  219.     set(BUILD_URI "localhost")
  220. endif()

  222. add_definitions(-DBUILD_URI=${BUILD_URI})

  224. # Define GNU standard installation directories
  225. include(GNUInstallDirs)

  227. # Add support for external project building
  228. include(ExternalProject)

  230. # Setup install paths
  231. if (NOT CMAKE_INSTALL_PREFIX)
  232.     if (${OS} STREQUAL "posix")
  233.         set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
  234.     endif()
  235. endif()
  236. if (CMAKE_INSTALL_PREFIX)
  237.     message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
  238. endif()

  240. #=============================================================================
  241. # require px4 module interface
  242. set(px4_required_interface
  243.     px4_os_prebuild_targets
  244.     px4_os_add_flags
  245.     )
  246. foreach(cmd ${px4_required_interface})
  247.     if (NOT COMMAND ${cmd})
  248.         message(FATAL_ERROR "${config_module} must implement ${cmd}")
  249.     endif()
  250. endforeach()

  252. set(px4_required_config config_module_list)
  253. foreach(conf ${px4_required_config})
  254.     if (NOT DEFINED ${conf})
  255.         message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
  256.     endif()
  257. endforeach()

  259. # force static lib build
  260. set(BUILD_SHARED_LIBS OFF)

  262. #=============================================================================
  263. # ccache
  264. #
  265. option(CCACHE "Use ccache if available" OFF)
  266. find_program(CCACHE_PROGRAM ccache)
  267. if (CCACHE AND CCACHE_PROGRAM)
  268.     message(STATUS "Enabled ccache: ${CCACHE_PROGRAM}")
  269.     set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
  270. endif()

  272. #=============================================================================
  273. # project definition
  274. #
  275. project(px4 CXX C ASM)

  277. set(package-contact "px4users@googlegroups.com")

  279. #=============================================================================
  280. # find programs and packages
  281. #

  283. # see if catkin was invoked to build this
  284. if (CATKIN_DEVEL_PREFIX)
  285.     message(STATUS "catkin ENABLED")
  286.     find_package(catkin REQUIRED)
  287.     if (catkin_FOUND)
  288.         catkin_package()
  289.     else()
  290.         message(FATAL_ERROR "catkin not found")
  291.     endif()
  292. endif()

  294. find_package(PythonInterp REQUIRED)
  295. px4_find_python_module(jinja2 REQUIRED)

  297. #=============================================================================
  298. # cmake testing
  299. #
  300. enable_testing()
  301. include(CTest)

  303. #=============================================================================
  304. # generate compile command database
  305. #
  306. set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

  308. #=============================================================================
  309. # check required toolchain variables
  310. #

  312. # PX4 requires c++11
  313. set(CMAKE_CXX_STANDARD 11)
  314. set(CMAKE_CXX_STANDARD_REQUIRED ON)

  316. # PX4 requires c99
  317. set(CMAKE_C_STANDARD 99)
  318. set(CMAKE_C_STANDARD_REQUIRED ON)

  320. set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
  321. foreach(var ${required_variables})
  322.     if (NOT ${var})
  323.         message(FATAL_ERROR "Toolchain/config must define ${var}")
  324.     endif()
  325. endforeach()

  327. # print full c compiler version
  328. execute_process(COMMAND ${CMAKE_C_COMPILER} --version
  329.         OUTPUT_VARIABLE c_compiler_version
  330.         OUTPUT_STRIP_TRAILING_WHITESPACE
  331.         )
  332. STRING(REGEX MATCH "[^\n]*" c_compiler_version_short ${c_compiler_version})
  333. message(STATUS "C compiler: ${c_compiler_version_short}")

  335. # print full c++ compiler version
  336. execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
  337.         OUTPUT_VARIABLE cxx_compiler_version
  338.         OUTPUT_STRIP_TRAILING_WHITESPACE
  339.         )
  340. STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
  341. message(STATUS "C++ compiler: ${cxx_compiler_version_short}")

  343. #=============================================================================
  344. # external libraries
  345. #
  346. px4_os_prebuild_targets(OUT prebuild_targets
  347.     BOARD ${BOARD}
  348.     THREADS ${THREADS})

  350. #=============================================================================
  351. # build flags
  352. #
  353. px4_os_add_flags(
  354.     BOARD ${BOARD}
  355.     C_FLAGS c_flags
  356.     CXX_FLAGS cxx_flags
  357.     OPTIMIZATION_FLAGS optimization_flags
  358.     EXE_LINKER_FLAGS exe_linker_flags
  359.     INCLUDE_DIRS include_dirs
  360.     LINK_DIRS link_dirs
  361.     DEFINITIONS definitions)

  363. px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
  364. px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags};${optimization_flags}" GLUE " ")
  365. px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags};${optimization_flags}" GLUE " ")

  367. include_directories(${include_dirs})
  368. #message("INCLUDE_DIRS=${include_dirs}")
  369. link_directories(${link_dirs})
  370. add_definitions(${definitions})

  372. #=============================================================================
  373. # message, and airframe generation
  374. #

  376. include(common/px4_metadata)

  378. add_subdirectory(msg)
  379. px4_generate_messages(TARGET msg_gen
  380.     MSG_FILES ${msg_files}
  381.     OS ${OS}
  382.     INCLUDES ${msg_include_paths}
  383.     DEPENDS git_genmsg git_gencpp prebuild_targets
  384.     )

  386. px4_generate_airframes_xml(BOARD ${BOARD})

  388. #=============================================================================
  389. # DriverFramework
  390. #

  392. # List the DriverFramework drivers
  393. if (DEFINED config_df_driver_list)
  394.     message("DF Drivers: ${config_df_driver_list}")
  395. endif()

  397. set(df_driver_libs)
  398. foreach(driver ${config_df_driver_list})
  399.     add_subdirectory(src/lib/DriverFramework/drivers/${driver})
  400.     list(APPEND df_driver_libs df_${driver})
  401.     message("Adding DF driver: ${driver}")
  402. endforeach()

  404. #=============================================================================
  405. # external projects
  406. #

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

  411. # add external project install folders to build
  412. link_directories(${ep_base}/Install/lib)
  413. include_directories(${ep_base}/Install/include)
  414. # add the directories so cmake won't warn
  415. execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
  416. execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)

  418. #=============================================================================
  419. # external modules
  420. #
  421. if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
  422.     message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}")
  423.     add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules_src)

  425.     set(config_module_list_external_expanded)
  426.     foreach(external_module ${config_module_list_external})
  427.         list(APPEND config_module_list_external_expanded
  428.             ${EXTERNAL_MODULES_LOCATION}/src/${external_module})
  429.     endforeach()
  430.     set(config_module_list
  431.         ${config_module_list}
  432.         ${config_module_list_external_expanded}
  433.         )
  434. endif()

  436. #=============================================================================
  437. # subdirectories
  438. #
  439. set(module_libraries)
  440. foreach(module ${config_module_list})
  441.     string(REGEX MATCH "^[./]" external_module ${module})
  442.     if (external_module)
  443.         STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
  444.         STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
  445.         add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
  446.     else()
  447.         add_subdirectory(src/${module})
  448.     endif()
  449.     px4_mangle_name(${module} mangled_name)
  450.     list(APPEND module_libraries ${mangled_name})
  451. endforeach()

  453. # Keep track of external shared libs required for modules
  454. set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "module_external_libraries")

  456. add_subdirectory(src/firmware/${OS})

  458. if (config_io_board)
  459.     add_subdirectory(src/modules/px4iofirmware)
  460. endif()

  462. #=============================================================================
  463. # generate custom target to print for all executable and module cmake targets
  464. #
  465. if (all_posix_cmake_targets)
  466.     list(SORT all_posix_cmake_targets)
  467.     px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
  468.     add_custom_target(list_cmake_targets
  469.         COMMAND sh -c "printf \"${posix_cmake_target_list}\\n\""
  470.         COMMENT "List of cmake targets that can be matched by PX4_NO_OPTIMIZATION:"
  471.         VERBATIM
  472.         )
  473. endif()

  475. #=============================================================================
  476. # packaging
  477. #
  478. # Important to having packaging at end of cmake file.
  479. #
  480. set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
  481. set(CPACK_PACKAGE_VERSION ${git_version})
  482. set(CPACK_PACKAGE_CONTACT ${package-contact})
  483. set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
  484. set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
  485. set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
  486. set(short-description "The px4 autopilot.")
  487. set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
  488. set(CPACK_GENERATOR "ZIP")
  489. set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
  490. set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
  491. set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
  492. set(CPACK_PACKAGING_INSTALL_PREFIX "")
  493. set(CPACK_SET_DESTDIR "OFF")
  494. if ("${CMAKE_SYSTEM}" MATCHES "Linux")
  495.     find_program(DPKG_PROGRAM dpkg)
  496.     if (EXISTS ${DPKG_PROGRAM})
  497.         list (APPEND CPACK_GENERATOR "DEB")
  498.     endif()
  499. endif()
  500. include(CPack)

  502. # vim: set noet fenc=utf-8 ff=unix ft=cmake :

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