cmake split px4_base into px4_add_module, px4_add_library, px4_add_common_flags

CMakeLists.txt

@@ -134,6 +134,7 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
 
 set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
 
+include(px4_add_module)
 set(config_module_list)
 set(config_df_driver_list)
 
@@ -421,7 +422,10 @@ endif()
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
+
+include(px4_add_library)
 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

cmake/px4_add_common_flags.cmake

@@ -0,0 +1,255 @@
+############################################################################
+#
+# Copyright (c) 2018 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.
+#
+############################################################################
+
+include(px4_base)
+
+#=============================================================================
+#
+#	px4_add_common_flags
+#
+#	Set the default build flags.
+#
+#	Usage:
+#		px4_add_common_flags(
+#			BOARD <in-string>
+#			C_FLAGS <inout-variable>
+#			CXX_FLAGS <inout-variable>
+#			OPTIMIZATION_FLAGS <inout-variable>
+#			EXE_LINKER_FLAGS <inout-variable>
+#			INCLUDE_DIRS <inout-variable>
+#			LINK_DIRS <inout-variable>
+#			DEFINITIONS <inout-variable>)
+#
+#	Input:
+#		BOARD					: board
+#
+#	Input/Output: (appends to existing variable)
+#		C_FLAGS					: c compile flags variable
+#		CXX_FLAGS				: c++ compile flags variable
+#		OPTIMIZATION_FLAGS			: optimization compile flags variable
+#		EXE_LINKER_FLAGS			: executable linker flags variable
+#		INCLUDE_DIRS				: include directories
+#		LINK_DIRS				: link directories
+#		DEFINITIONS				: definitions
+#
+#	Example:
+#		px4_add_common_flags(
+#			BOARD px4_fmu-v2
+#			C_FLAGS CMAKE_C_FLAGS
+#			CXX_FLAGS CMAKE_CXX_FLAGS
+#			OPTIMIZATION_FLAGS optimization_flags
+#			EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
+#			INCLUDES <list>)
+#
+function(px4_add_common_flags)
+
+	set(inout_vars
+		C_FLAGS CXX_FLAGS OPTIMIZATION_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
+
+	px4_parse_function_args(
+		NAME px4_add_common_flags
+		ONE_VALUE ${inout_vars} BOARD
+		REQUIRED ${inout_vars}
+		ARGN ${ARGN})
+
+	set(warnings
+		-Wall
+		-Wextra
+		-Werror
+
+		-Warray-bounds
+		-Wdisabled-optimization
+		-Wdouble-promotion
+		-Wfatal-errors
+		-Wfloat-equal
+		-Wformat-security
+		-Winit-self
+		-Wlogical-op
+		-Wmissing-declarations
+		-Wpointer-arith
+		-Wshadow
+		-Wuninitialized
+		-Wunknown-pragmas
+		-Wunused-variable
+
+		-Wno-implicit-fallthrough # set appropriate level and update
+		-Wno-missing-field-initializers
+		-Wno-missing-include-dirs # TODO: fix and enable
+		-Wno-unused-parameter
+		)
+
+	if (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
+		# QuRT 6.4.X compiler identifies as Clang but does not support this option
+		if (NOT ${PX4_PLATFORM} STREQUAL "qurt")
+			list(APPEND warnings
+				-Qunused-arguments
+				-Wno-unused-const-variable
+				-Wno-varargs
+				-Wno-address-of-packed-member
+				-Wno-unknown-warning-option
+				-Wunused-but-set-variable
+			)
+		endif()
+	else()
+		list(APPEND warnings
+			-Wunused-but-set-variable
+			-Wformat=1
+		)
+	endif()
+
+	set(_optimization_flags
+		-fno-strict-aliasing
+		-fomit-frame-pointer
+
+		-fno-math-errno
+		-funsafe-math-optimizations
+
+		-ffunction-sections
+		-fdata-sections
+		)
+
+	set(c_warnings
+		-Wbad-function-cast
+		-Wstrict-prototypes
+		-Wmissing-prototypes
+		-Wnested-externs
+		)
+
+	set(c_compile_flags
+		-g
+		-std=gnu99
+		-fno-common
+		)
+
+	set(cxx_warnings
+		-Wno-overloaded-virtual # TODO: fix and remove
+		-Wreorder
+		)
+
+	set(cxx_compile_flags
+		-g
+		-fno-exceptions
+		-fno-rtti
+		-std=gnu++11
+		-fno-threadsafe-statics
+		-DCONFIG_WCHAR_BUILTIN
+		-D__CUSTOM_FILE_IO__
+		)
+
+	# regular Clang or AppleClang
+	if (CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+		# force color for clang (needed for clang + ccache)
+		list(APPEND _optimization_flags
+			-fcolor-diagnostics
+		)
+	else()
+		list(APPEND _optimization_flags
+			-fno-strength-reduce
+			-fno-builtin-printf
+		)
+
+		# -fcheck-new is a no-op for Clang in general
+		# and has no effect, but can generate a compile
+		# error for some OS
+		list(APPEND cxx_compile_flags
+			-fcheck-new
+		)
+	endif()
+
+	if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+		if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 4.9)
+			# force color for gcc > 4.9
+			list(APPEND _optimization_flags
+				-fdiagnostics-color=always
+			)
+		endif()
+
+		list(APPEND cxx_warnings
+			-Wno-format-truncation # TODO: fix
+		)
+	endif()
+
+	set(visibility_flags
+		-fvisibility=hidden
+		-include visibility.h
+		)
+
+	set(added_c_flags
+		${c_compile_flags}
+		${warnings}
+		${c_warnings}
+		${visibility_flags}
+		)
+
+	set(added_cxx_flags
+		${cxx_compile_flags}
+		${warnings}
+		${cxx_warnings}
+		${visibility_flags}
+		)
+
+	set(added_optimization_flags
+		${_optimization_flags}
+		)
+
+	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/include
+		${PX4_SOURCE_DIR}/src/lib
+		${PX4_SOURCE_DIR}/src/lib/DriverFramework/framework/include
+		${PX4_SOURCE_DIR}/src/lib/matrix
+		${PX4_SOURCE_DIR}/src/modules
+		${PX4_SOURCE_DIR}/src/platforms
+		)
+
+	string(TOUPPER ${PX4_BOARD} board_upper)
+	string(REPLACE "-" "_" board_config ${board_upper})
+
+	add_definitions(
+		-DCONFIG_ARCH_BOARD_${board_config}
+		-D__STDC_FORMAT_MACROS
+		)
+
+	# output
+	foreach(var ${inout_vars})
+		string(TOLOWER ${var} lower_var)
+		set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
+		#message(STATUS "set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
+	endforeach()
+
+endfunction()

cmake/px4_add_library.cmake

@@ -0,0 +1,61 @@
+############################################################################
+#
+# Copyright (c) 2018 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.
+#
+############################################################################
+
+include(px4_base)
+
+#=============================================================================
+#
+#	px4_add_library
+#
+#	Like add_library but with PX4 platform dependencies
+#
+function(px4_add_library target)
+	add_library(${target} ${ARGN})
+
+	target_compile_definitions(${target} PRIVATE MODULE_NAME="${target}")
+
+	# all PX4 libraries have access to parameters and uORB
+	add_dependencies(${target} uorb_headers)
+	target_link_libraries(${target} PRIVATE prebuild_targets parameters_interface uorb_msgs)
+
+	# TODO: move to platform layer
+	if ("${PX4_PLATFORM}" MATCHES "nuttx")
+		target_link_libraries(${target} PRIVATE m nuttx_c)
+	endif()
+
+	# 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()

cmake/px4_add_module.cmake

@@ -0,0 +1,233 @@
+############################################################################
+#
+# Copyright (c) 2018 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.
+#
+############################################################################
+
+include(px4_base)
+
+#=============================================================================
+#
+#	px4_add_module
+#
+#	This function builds a static library from a module description.
+#
+#	Usage:
+#		px4_add_module(MODULE <string>
+#			MAIN <string>
+#			[ STACK <string> ] !!!!!DEPRECATED, USE STACK_MAIN INSTEAD!!!!!!!!!
+#			[ STACK_MAIN <string> ]
+#			[ STACK_MAX <string> ]
+#			[ COMPILE_FLAGS <list> ]
+#			[ INCLUDES <list> ]
+#			[ DEPENDS <string> ]
+#			[ SRCS <list> ]
+#			[ MODULE_CONFIG <list> ]
+#			[ EXTERNAL ]
+#			[ DYNAMIC ]
+#			)
+#
+#	Input:
+#		MODULE			: unique name of module
+#		MAIN			: entry point
+#		STACK			: deprecated use stack main instead
+#		STACK_MAIN		: size of stack for main function
+#		STACK_MAX		: maximum stack size of any frame
+#		COMPILE_FLAGS		: compile flags
+#		LINK_FLAGS		: link flags
+#		SRCS			: source files
+#		MODULE_CONFIG		: yaml config file(s)
+#		INCLUDES		: include directories
+#		DEPENDS			: targets which this module depends on
+#		EXTERNAL		: flag to indicate that this module is out-of-tree
+#		DYNAMIC			: don't compile into the px4 binary, but build a separate dynamically loadable module (posix)
+#		UNITY_BUILD		: merge all source files and build this module as a single compilation unit
+#
+#	Output:
+#		Static library with name matching MODULE.
+#		(Or a shared library when DYNAMIC is specified.)
+#
+#	Example:
+#		px4_add_module(MODULE test
+#			SRCS
+#				file.cpp
+#			STACK_MAIN 1024
+#			DEPENDS
+#				git_nuttx
+#			)
+#
+function(px4_add_module)
+
+	px4_parse_function_args(
+		NAME px4_add_module
+		ONE_VALUE MODULE MAIN STACK STACK_MAIN STACK_MAX PRIORITY
+		MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS MODULE_CONFIG
+		OPTIONS EXTERNAL DYNAMIC UNITY_BUILD
+		REQUIRED MODULE MAIN
+		ARGN ${ARGN})
+
+	if(UNITY_BUILD AND (${PX4_PLATFORM} STREQUAL "nuttx"))
+		# build standalone test library to catch compilation errors and provide sane output
+		add_library(${MODULE}_original STATIC EXCLUDE_FROM_ALL ${SRCS})
+		if(DEPENDS)
+			add_dependencies(${MODULE}_original ${DEPENDS})
+		endif()
+
+		if(INCLUDES)
+			target_include_directories(${MODULE}_original PRIVATE ${INCLUDES})
+		endif()
+		target_compile_definitions(${MODULE}_original PRIVATE PX4_MAIN=${MAIN}_app_main)
+		target_compile_definitions(${MODULE}_original PRIVATE MODULE_NAME="${MAIN}_original")
+
+		# unity build
+		add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp
+			COMMAND cat ${SRCS} > ${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp
+			DEPENDS ${MODULE}_original ${DEPENDS} ${SRCS}
+			COMMENT "${MODULE} merging source"
+			WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+			)
+		set_source_files_properties(${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp PROPERTIES GENERATED true)
+
+		add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp)
+		target_include_directories(${MODULE} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
+
+		if(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}_original PRIVATE ${dep})
+				else()
+					add_dependencies(${MODULE}_original ${dep})
+				endif()
+			endforeach()
+		endif()
+
+	elseif(DYNAMIC AND MAIN AND (${OS} STREQUAL "posix"))
+		add_library(${MODULE} SHARED ${SRCS})
+		target_compile_definitions(${MODULE} PRIVATE ${MAIN}_main=px4_module_main)
+		set_target_properties(${MODULE} PROPERTIES
+			PREFIX ""
+			SUFFIX ".px4mod"
+			)
+		target_link_libraries(${MODULE} PRIVATE px4)
+		if(APPLE)
+			# Postpone resolving symbols until loading time, which is the default on most systems, but not Mac.
+			set_target_properties(${MODULE} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
+		endif()
+
+	else()
+		add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
+	endif()
+
+	# all modules can potentially use parameters and uORB
+	add_dependencies(${MODULE} uorb_headers)
+
+	if(NOT DYNAMIC)
+		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})
+	endif()
+
+	# 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)
+	set(STACK_MAIN_DEFAULT 1024)
+	set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
+
+	foreach(property MAIN STACK_MAIN PRIORITY)
+		if(NOT ${property})
+			set(${property} ${${property}_DEFAULT})
+		endif()
+		set_target_properties(${MODULE} PROPERTIES ${property} ${${property}})
+	endforeach()
+
+	# default stack max to stack main
+	if(NOT STACK_MAX)
+		set(STACK_MAX ${STACK_MAIN})
+	endif()
+	set_target_properties(${MODULE} PROPERTIES STACK_MAX ${STACK_MAX})
+
+	if(${PX4_PLATFORM} STREQUAL "qurt")
+		set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
+	elseif(${PX4_PLATFORM} STREQUAL "nuttx")
+		target_compile_options(${MODULE} PRIVATE -Wframe-larger-than=${STACK_MAX})
+	endif()
+
+	if(MAIN)
+		target_compile_definitions(${MODULE} PRIVATE PX4_MAIN=${MAIN}_app_main)
+		target_compile_definitions(${MODULE} PRIVATE MODULE_NAME="${MAIN}")
+	else()
+		target_compile_definitions(${MODULE} PRIVATE MODULE_NAME="${MODULE}")
+	endif()
+
+	if(COMPILE_FLAGS)
+		target_compile_options(${MODULE} PRIVATE ${COMPILE_FLAGS})
+	endif()
+
+	if(INCLUDES)
+		target_include_directories(${MODULE} PRIVATE ${INCLUDES})
+	endif()
+
+	if(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} ${dep})
+			endif()
+		endforeach()
+	endif()
+
+	# join list variables to get ready to send to compiler
+	foreach(prop LINK_FLAGS)
+		if(${prop})
+			px4_join(OUT ${prop} LIST ${${prop}} GLUE " ")
+		endif()
+	endforeach()
+
+	foreach (prop LINK_FLAGS STACK_MAIN MAIN PRIORITY)
+		if (${prop})
+			set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
+		endif()
+	endforeach()
+
+	if(MODULE_CONFIG)
+		foreach(module_config ${MODULE_CONFIG})
+			set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/${module_config})
+		endforeach()
+	endif()
+endfunction()

cmake/px4_base.cmake

@@ -39,9 +39,6 @@
 #
 #		* px4_parse_function_args
 #		* px4_join
-#		* px4_add_module
-#		* px4_add_common_flags
-#		* px4_add_library
 #
 
 include(CMakeParseArguments)
@@ -116,6 +113,7 @@ function(px4_parse_function_args)
 
 endfunction()
 
+
 #=============================================================================
 #
 #	px4_join
@@ -149,451 +147,6 @@ function(px4_join)
 	set(${OUT} ${_TMP_STR} PARENT_SCOPE)
 endfunction()
 
-#=============================================================================
-#
-#	px4_add_module
-#
-#	This function builds a static library from a module description.
-#
-#	Usage:
-#		px4_add_module(MODULE <string>
-#			MAIN <string>
-#			[ STACK <string> ] !!!!!DEPRECATED, USE STACK_MAIN INSTEAD!!!!!!!!!
-#			[ STACK_MAIN <string> ]
-#			[ STACK_MAX <string> ]
-#			[ COMPILE_FLAGS <list> ]
-#			[ INCLUDES <list> ]
-#			[ DEPENDS <string> ]
-#			[ SRCS <list> ]
-#			[ MODULE_CONFIG <list> ]
-#			[ EXTERNAL ]
-#			[ DYNAMIC ]
-#			)
-#
-#	Input:
-#		MODULE			: unique name of module
-#		MAIN			: entry point
-#		STACK			: deprecated use stack main instead
-#		STACK_MAIN		: size of stack for main function
-#		STACK_MAX		: maximum stack size of any frame
-#		COMPILE_FLAGS		: compile flags
-#		LINK_FLAGS		: link flags
-#		SRCS			: source files
-#		MODULE_CONFIG		: yaml config file(s)
-#		INCLUDES		: include directories
-#		DEPENDS			: targets which this module depends on
-#		EXTERNAL		: flag to indicate that this module is out-of-tree
-#		DYNAMIC			: don't compile into the px4 binary, but build a separate dynamically loadable module (posix)
-#		UNITY_BUILD		: merge all source files and build this module as a single compilation unit
-#
-#	Output:
-#		Static library with name matching MODULE.
-#		(Or a shared library when DYNAMIC is specified.)
-#
-#	Example:
-#		px4_add_module(MODULE test
-#			SRCS
-#				file.cpp
-#			STACK_MAIN 1024
-#			DEPENDS
-#				git_nuttx
-#			)
-#
-function(px4_add_module)
-
-	px4_parse_function_args(
-		NAME px4_add_module
-		ONE_VALUE MODULE MAIN STACK STACK_MAIN STACK_MAX PRIORITY
-		MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS MODULE_CONFIG
-		OPTIONS EXTERNAL DYNAMIC UNITY_BUILD
-		REQUIRED MODULE MAIN
-		ARGN ${ARGN})
-
-	if(UNITY_BUILD AND (${PX4_PLATFORM} STREQUAL "nuttx"))
-		# build standalone test library to catch compilation errors and provide sane output
-		add_library(${MODULE}_original STATIC EXCLUDE_FROM_ALL ${SRCS})
-		if(DEPENDS)
-			add_dependencies(${MODULE}_original ${DEPENDS})
-		endif()
-
-		if(INCLUDES)
-			target_include_directories(${MODULE}_original PRIVATE ${INCLUDES})
-		endif()
-		target_compile_definitions(${MODULE}_original PRIVATE PX4_MAIN=${MAIN}_app_main)
-		target_compile_definitions(${MODULE}_original PRIVATE MODULE_NAME="${MAIN}_original")
-
-		# unity build
-		add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp
-			COMMAND cat ${SRCS} > ${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp
-			DEPENDS ${MODULE}_original ${DEPENDS} ${SRCS}
-			COMMENT "${MODULE} merging source"
-			WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-			)
-		set_source_files_properties(${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp PROPERTIES GENERATED true)
-
-		add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${CMAKE_CURRENT_BINARY_DIR}/${MODULE}_unity.cpp)
-		target_include_directories(${MODULE} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
-
-		if(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}_original PRIVATE ${dep})
-				else()
-					add_dependencies(${MODULE}_original ${dep})
-				endif()
-			endforeach()
-		endif()
-
-	elseif(DYNAMIC AND MAIN AND (${OS} STREQUAL "posix"))
-		add_library(${MODULE} SHARED ${SRCS})
-		target_compile_definitions(${MODULE} PRIVATE ${MAIN}_main=px4_module_main)
-		set_target_properties(${MODULE} PROPERTIES
-			PREFIX ""
-			SUFFIX ".px4mod"
-			)
-		target_link_libraries(${MODULE} PRIVATE px4)
-		if(APPLE)
-			# Postpone resolving symbols until loading time, which is the default on most systems, but not Mac.
-			set_target_properties(${MODULE} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
-		endif()
-	else()
-		add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
-	endif()
-
-	# all modules can potentially use parameters and uORB
-	add_dependencies(${MODULE} uorb_headers)
-
-	if(NOT DYNAMIC)
-		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})
-	endif()
-
-	# 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)
-	set(STACK_MAIN_DEFAULT 1024)
-	set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
-
-	foreach(property MAIN STACK_MAIN PRIORITY)
-		if(NOT ${property})
-			set(${property} ${${property}_DEFAULT})
-		endif()
-		set_target_properties(${MODULE} PROPERTIES ${property} ${${property}})
-	endforeach()
-
-	# default stack max to stack main
-	if(NOT STACK_MAX)
-		set(STACK_MAX ${STACK_MAIN})
-	endif()
-	set_target_properties(${MODULE} PROPERTIES STACK_MAX ${STACK_MAX})
-
-	if(${PX4_PLATFORM} STREQUAL "qurt")
-		set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
-	elseif(${PX4_PLATFORM} STREQUAL "nuttx")
-		target_compile_options(${MODULE} PRIVATE -Wframe-larger-than=${STACK_MAX})
-	endif()
-
-	if(MAIN)
-		target_compile_definitions(${MODULE} PRIVATE PX4_MAIN=${MAIN}_app_main)
-		target_compile_definitions(${MODULE} PRIVATE MODULE_NAME="${MAIN}")
-	else()
-		target_compile_definitions(${MODULE} PRIVATE MODULE_NAME="${MODULE}")
-	endif()
-
-	if(COMPILE_FLAGS)
-		target_compile_options(${MODULE} PRIVATE ${COMPILE_FLAGS})
-	endif()
-
-	if(INCLUDES)
-		target_include_directories(${MODULE} PRIVATE ${INCLUDES})
-	endif()
-
-	if(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} ${dep})
-			endif()
-		endforeach()
-	endif()
-
-	# join list variables to get ready to send to compiler
-	foreach(prop LINK_FLAGS)
-		if(${prop})
-			px4_join(OUT ${prop} LIST ${${prop}} GLUE " ")
-		endif()
-	endforeach()
-
-	foreach (prop LINK_FLAGS STACK_MAIN MAIN PRIORITY)
-		if (${prop})
-			set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
-		endif()
-	endforeach()
-
-	if(MODULE_CONFIG)
-		foreach(module_config ${MODULE_CONFIG})
-			set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/${module_config})
-		endforeach()
-	endif()
-endfunction()
-
-#=============================================================================
-#
-#	px4_add_common_flags
-#
-#	Set the default build flags.
-#
-#	Usage:
-#		px4_add_common_flags(
-#			BOARD <in-string>
-#			C_FLAGS <inout-variable>
-#			CXX_FLAGS <inout-variable>
-#			OPTIMIZATION_FLAGS <inout-variable>
-#			EXE_LINKER_FLAGS <inout-variable>
-#			INCLUDE_DIRS <inout-variable>
-#			LINK_DIRS <inout-variable>
-#			DEFINITIONS <inout-variable>)
-#
-#	Input:
-#		BOARD					: board
-#
-#	Input/Output: (appends to existing variable)
-#		C_FLAGS					: c compile flags variable
-#		CXX_FLAGS				: c++ compile flags variable
-#		OPTIMIZATION_FLAGS			: optimization compile flags variable
-#		EXE_LINKER_FLAGS			: executable linker flags variable
-#		INCLUDE_DIRS				: include directories
-#		LINK_DIRS				: link directories
-#		DEFINITIONS				: definitions
-#
-#	Example:
-#		px4_add_common_flags(
-#			BOARD px4_fmu-v2
-#			C_FLAGS CMAKE_C_FLAGS
-#			CXX_FLAGS CMAKE_CXX_FLAGS
-#			OPTIMIZATION_FLAGS optimization_flags
-#			EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
-#			INCLUDES <list>)
-#
-function(px4_add_common_flags)
-
-	set(inout_vars
-		C_FLAGS CXX_FLAGS OPTIMIZATION_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
-
-	px4_parse_function_args(
-		NAME px4_add_common_flags
-		ONE_VALUE ${inout_vars} BOARD
-		REQUIRED ${inout_vars}
-		ARGN ${ARGN})
-
-	set(warnings
-		-Wall
-		-Wextra
-		-Werror
-
-		-Warray-bounds
-		-Wdisabled-optimization
-		-Wdouble-promotion
-		-Wfatal-errors
-		-Wfloat-equal
-		-Wformat-security
-		-Winit-self
-		-Wlogical-op
-		-Wmissing-declarations
-		-Wpointer-arith
-		-Wshadow
-		-Wuninitialized
-		-Wunknown-pragmas
-		-Wunused-variable
-
-		-Wno-implicit-fallthrough # set appropriate level and update
-		-Wno-missing-field-initializers
-		-Wno-missing-include-dirs # TODO: fix and enable
-		-Wno-unused-parameter
-		)
-
-	if (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")
-		# QuRT 6.4.X compiler identifies as Clang but does not support this option
-		if (NOT ${PX4_PLATFORM} STREQUAL "qurt")
-			list(APPEND warnings
-				-Qunused-arguments
-				-Wno-unused-const-variable
-				-Wno-varargs
-				-Wno-address-of-packed-member
-				-Wno-unknown-warning-option
-				-Wunused-but-set-variable
-			)
-		endif()
-	else()
-		list(APPEND warnings
-			-Wunused-but-set-variable
-			-Wformat=1
-		)
-	endif()
-
-	set(_optimization_flags
-		-fno-strict-aliasing
-		-fomit-frame-pointer
-
-		-fno-math-errno
-		-funsafe-math-optimizations
-
-		-ffunction-sections
-		-fdata-sections
-		)
-
-	set(c_warnings
-		-Wbad-function-cast
-		-Wstrict-prototypes
-		-Wmissing-prototypes
-		-Wnested-externs
-		)
-
-	set(c_compile_flags
-		-g
-		-std=gnu99
-		-fno-common
-		)
-
-	set(cxx_warnings
-		-Wno-overloaded-virtual # TODO: fix and remove
-		-Wreorder
-		)
-
-	set(cxx_compile_flags
-		-g
-		-fno-exceptions
-		-fno-rtti
-		-std=gnu++11
-		-fno-threadsafe-statics
-		-DCONFIG_WCHAR_BUILTIN
-		-D__CUSTOM_FILE_IO__
-		)
-
-	# regular Clang or AppleClang
-	if (CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-		# force color for clang (needed for clang + ccache)
-		list(APPEND _optimization_flags
-			-fcolor-diagnostics
-		)
-	else()
-		list(APPEND _optimization_flags
-			-fno-strength-reduce
-			-fno-builtin-printf
-		)
-
-		# -fcheck-new is a no-op for Clang in general
-		# and has no effect, but can generate a compile
-		# error for some OS
-		list(APPEND cxx_compile_flags
-			-fcheck-new
-		)
-	endif()
-
-	if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-		if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 4.9)
-			# force color for gcc > 4.9
-			list(APPEND _optimization_flags
-				-fdiagnostics-color=always
-			)
-		endif()
-
-		list(APPEND cxx_warnings
-			-Wno-format-truncation # TODO: fix
-		)
-	endif()
-
-	set(visibility_flags
-		-fvisibility=hidden
-		-include visibility.h
-		)
-
-	set(added_c_flags
-		${c_compile_flags}
-		${warnings}
-		${c_warnings}
-		${visibility_flags}
-		)
-
-	set(added_cxx_flags
-		${cxx_compile_flags}
-		${warnings}
-		${cxx_warnings}
-		${visibility_flags}
-		)
-
-	set(added_optimization_flags
-		${_optimization_flags}
-		)
-
-	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/include
-		${PX4_SOURCE_DIR}/src/lib
-		${PX4_SOURCE_DIR}/src/lib/DriverFramework/framework/include
-		${PX4_SOURCE_DIR}/src/lib/matrix
-		${PX4_SOURCE_DIR}/src/modules
-		${PX4_SOURCE_DIR}/src/platforms
-		)
-
-	string(TOUPPER ${PX4_BOARD} board_upper)
-	string(REPLACE "-" "_" board_config ${board_upper})
-
-	add_definitions(
-		-DCONFIG_PROCESSOR_BOARD_${board_config}
-		-D__STDC_FORMAT_MACROS
-		)
-
-	# output
-	foreach(var ${inout_vars})
-		string(TOLOWER ${var} lower_var)
-		set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
-		#message(STATUS "set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
-	endforeach()
-
-endfunction()
-
-#=============================================================================
-#
-#	px4_add_library
-#
-#	Like add_library but with optimization flag fixup.
-#
-function(px4_add_library target)
-	add_library(${target} ${ARGN})
-
-	target_compile_definitions(${target} PRIVATE MODULE_NAME="${target}")
-
-	# all PX4 libraries have access to parameters and uORB
-	add_dependencies(${target} uorb_headers)
-	target_link_libraries(${target} PRIVATE prebuild_targets parameters_interface uorb_msgs)
-
-	# TODO: move to platform layer
-	if ("${PX4_PLATFORM}" MATCHES "nuttx")
-		target_link_libraries(${target} PRIVATE m nuttx_c)
-	endif()
-
-	# 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()
 
 #=============================================================================
 #

cmake/px4_git.cmake

@@ -31,18 +31,8 @@
 #
 ############################################################################
 
-include(CMakeParseArguments)
 include(px4_base)
 
-#=============================================================================
-#
-#	Defined functions in this file
-#
-# 	utility functions
-#
-#		* px4_add_git_submodule
-#
-
 #=============================================================================
 #
 #	px4_add_git_submodule

platforms/nuttx/cmake/px4_impl_os.cmake

@@ -94,6 +94,7 @@ function(px4_os_add_flags)
 		REQUIRED ${inout_vars}
 		ARGN ${ARGN})
 
+	include(px4_add_common_flags)
 	px4_add_common_flags(
 		BOARD ${PX4_BOARD}
 		C_FLAGS ${C_FLAGS}

platforms/posix/cmake/px4_impl_os.cmake

@@ -259,6 +259,7 @@ function(px4_os_add_flags)
 		REQUIRED ${inout_vars} BOARD
 		ARGN ${ARGN})
 
+	include(px4_add_common_flags)
 	px4_add_common_flags(
 		BOARD ${PX4_BOARD}
 		C_FLAGS ${C_FLAGS}

platforms/qurt/cmake/px4_impl_os.cmake

@@ -150,6 +150,7 @@ function(px4_os_add_flags)
 		REQUIRED ${inout_vars} BOARD
 		ARGN ${ARGN})
 
+	include(px4_add_common_flags)
 	px4_add_common_flags(
 		BOARD ${PX4_BOARD}
 		C_FLAGS ${C_FLAGS}