px4的CMakelists.txt阅读

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. ############################################################################
    
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_${OS}.cmake or px4_impl_${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. #=============================================================================
     
101. 
     
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: https://cmake.org/download/")
     
108.     message(FATAL_ERROR "Update CMake and try again" )
     
109. endif()
     
110. 
     
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)
     
114. 
     
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
     
117. 
     
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.     )
     
122. 
     
123. #=============================================================================
     
124. # configuration
     
125. #
     
126. # must come before project to set toolchain
     
127. 
     
128. set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
     
129. 
     
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}")
     
135. 
     
136. file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
     
137. set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
     
138. 
     
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")
     
142. 
     
143. if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
     
144.     get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
     
145. endif()
     
146. 
     
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})
     
151. 
     
152. include(common/coverage)
     
153. include(common/sanitizers)
     
154. 
     
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()
     
165. 
     
166.     set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
     
167. endif()
     
168. 
     
169. set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
     
170. 
     
171. message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
     
172. 
     
173. 
     
174. #=============================================================================
     
175. # git
     
176. #
     
177. include(common/px4_git)
     
178. 
     
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.     )
     
185. 
     
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.     )
     
191. 
     
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")
     
207. 
     
208. px4_create_git_hash_header()
     
209. 
     
210. #=============================================================================
     
211. 
     
212. message(STATUS "PX4 VERSION: ${git_tag}")
     
213. message(STATUS "CONFIG: ${target_name}")
     
214. 
     
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()
     
221. 
     
222. add_definitions(-DBUILD_URI=${BUILD_URI})
     
223. 
     
224. # Define GNU standard installation directories
     
225. include(GNUInstallDirs)
     
226. 
     
227. # Add support for external project building
     
228. include(ExternalProject)
     
229. 
     
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()
     
239. 
     
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()
     
251. 
     
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()
     
258. 
     
259. # force static lib build
     
260. set(BUILD_SHARED_LIBS OFF)
     
261. 
     
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()
     
271. 
     
272. #=============================================================================
     
273. # project definition
     
274. #
     
275. project(px4 CXX C ASM)
     
276. 
     
277. set(package-contact "[e-mail]")
     
278. 
     
279. #=============================================================================
     
280. # find programs and packages
     
281. #
     
282. 
     
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()
     
293. 
     
294. find_package(PythonInterp REQUIRED)
     
295. px4_find_python_module(jinja2 REQUIRED)
     
296. 
     
297. #=============================================================================
     
298. # cmake testing
     
299. #
     
300. enable_testing()
     
301. include(CTest)
     
302. 
     
303. #=============================================================================
     
304. # generate compile command database
     
305. #
     
306. set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
     
307. 
     
308. #=============================================================================
     
309. # check required toolchain variables
     
310. #
     
311. 
     
312. # PX4 requires c++11
     
313. set(CMAKE_CXX_STANDARD 11)
     
314. set(CMAKE_CXX_STANDARD_REQUIRED ON)
     
315. 
     
316. # PX4 requires c99
     
317. set(CMAKE_C_STANDARD 99)
     
318. set(CMAKE_C_STANDARD_REQUIRED ON)
     
319. 
     
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()
     
326. 
     
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}")
     
334. 
     
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}")
     
342. 
     
343. #=============================================================================
     
344. # external libraries
     
345. #
     
346. px4_os_prebuild_targets(OUT prebuild_targets
     
347.     BOARD ${BOARD}
     
348.     THREADS ${THREADS})
     
349. 
     
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)
     
362. 
     
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 " ")
     
366. 
     
367. include_directories(${include_dirs})
     
368. #message("INCLUDE_DIRS=${include_dirs}")
     
369. link_directories(${link_dirs})
     
370. add_definitions(${definitions})
     
371. 
     
372. #=============================================================================
     
373. # message, and airframe generation
     
374. #
     
375. 
     
376. include(common/px4_metadata)
     
377. 
     
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.     )
     
385. 
     
386. px4_generate_airframes_xml(BOARD ${BOARD})
     
387. 
     
388. #=============================================================================
     
389. # DriverFramework
     
390. #
     
391. 
     
392. # List the DriverFramework drivers
     
393. if (DEFINED config_df_driver_list)
     
394.     message("DF Drivers: ${config_df_driver_list}")
     
395. endif()
     
396. 
     
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()
     
403. 
     
404. #=============================================================================
     
405. # external projects
     
406. #
     
407. 
     
408. set(ep_base ${PX4_BINARY_DIR}/external)
     
409. set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
     
410. 
     
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)
     
417. 
     
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)
     
424. 
     
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()
     
435. 
     
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()
     
452. 
     
453. # Keep track of external shared libs required for modules
     
454. set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "module_external_libraries")
     
455. 
     
456. add_subdirectory(src/firmware/${OS})
     
457. 
     
458. if (config_io_board)
     
459.     add_subdirectory(src/modules/px4iofirmware)
     
460. endif()
     
461. 
     
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()
     
474. 
     
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)
     
501. 
     
502. # vim: set noet fenc=utf-8 ff=unix ft=cmake :