cmake organize code coverage handling and base

2026-05-21 01:12:11 +00:00 · 2017-06-01 08:47:33 -04:00
parent 17c1114b3e
commit 24b26e53b9
20 changed files with 1027 additions and 940 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -55,24 +55,6 @@
 #
 # * For else, endif, endfunction, etc, never put the name of the statement
 #
-#	Instead of the very confusing:
-#		if (${var} STREQUAL "1") <-- condition now becomes if name
-#			# do somthing
-#		elseif (${var} STREQUAL "2") <-- another condition
-#			# do somthing
-#		else (${var} STREQUAL "1") <-- tag is referring to name of if
-#			# do somthing
-#		endif (${var} STREQUAL "1") <-- tag is referring to name of if
-#
-#	Do this:
-#		if (${var} STREQUAL "1") <-- condition now becomes if name
-#			# do somthing
-#		elseif (${var} STREQUAL "2") <-- another condition
-#			# do somthing
-#		else () <-- leave blank
-#			# do somthing
-#		endif () <-- leave blank
-#
 # Functions/Macros
 # ---------------------------------------------------------------------------
 #
@@ -101,7 +83,7 @@
 #
 # * Setting a global variable in a CMakeLists.txt file is ok, because
 #	each CMakeLists.txt file has scope in the current directory and all
-#	subdirecties, so it is not truly global.
+#	subdirectories, so it is not truly global.
 #
 # * All toolchain files should be included in the cmake
 #	directory and named Toolchain-"name".cmake.
@@ -117,7 +99,7 @@
 #
 #=============================================================================

-if("${CMAKE_VERSION}" VERSION_LESS 3.1.0)
+if ("${CMAKE_VERSION}" VERSION_LESS 3.1.0)
 	message("Not a valid CMake version")
 	message("On Ubuntu >= 16.04, install or upgrade via:")
 	message("	sudo apt-get install cmake")
@@ -139,14 +121,18 @@ execute_process(
 	)

 #=============================================================================
-# parameters
+# configuration
 #
+# must come before project to set toolchain

-set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
-set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
-	STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
 set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")

+string(REPLACE "_" ";" config_args ${CONFIG})
+list(GET config_args 0 OS)
+list(GET config_args 1 BOARD)
+list(GET config_args 2 LABEL)
+set(target_name "${OS}-${BOARD}-${LABEL}")
+
 file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
 set_property(CACHE CONFIG PROPERTY STRINGS ${configs})

@@ -154,33 +140,76 @@ set(THREADS "4" CACHE STRING "number of threads to use for external build proces
 set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
 set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")

-if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
+if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
 endif()

+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
+message(STATUS "CMAKE_MODULE_PATH: ${CMAKE_MODULE_PATH}")
+set(config_module "configs/${CONFIG}")
+include(${config_module})
+
+include(common/coverage)
+include(common/sanitizers)
+
+# CMake build type
+# Debug Release RelWithDebInfo MinSizeRel Coverage
+if (NOT CMAKE_BUILD_TYPE)
+	if (${OS} STREQUAL "nuttx")
+		set(PX4_BUILD_TYPE "MinSizeRel")
+	elseif (${OS} STREQUAL "qurt")
+		set(PX4_BUILD_TYPE "MinSizeRel")
+	elseif (${OS} STREQUAL "bebop")
+		set(PX4_BUILD_TYPE "MinSizeRel")
+	else()
+		set(PX4_BUILD_TYPE "RelWithDebInfo")
+	endif()
+
+	set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE)
+endif()
+
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
+
+message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
+
+
 #=============================================================================
-# configuration
+# git
 #
-# must come before project to set toolchain
+include(common/px4_git)

-string(REPLACE "_" ";" config_args ${CONFIG})
-list(GET config_args 0 OS)
-list(GET config_args 1 BOARD)
-list(GET config_args 2 LABEL)
-set(target_name "${OS}-${BOARD}-${LABEL}")
-
-# version info from git
-execute_process(
-	COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
-	OUTPUT_VARIABLE version
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
 execute_process(
 	COMMAND git describe --always --tags
 	OUTPUT_VARIABLE git_tag
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
+
+execute_process(
+	COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
+	OUTPUT_VARIABLE git_version
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	)
+
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
+px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
+px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
+px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
+px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
+px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
+px4_add_git_submodule(TARGET git_gps_devices PATH "src/drivers/gps/devices")
+px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest")
+px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
+px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
+px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
+px4_add_git_submodule(TARGET git_mavlink2 PATH "mavlink/include/mavlink/v2.0")
+px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
+px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
+
+px4_create_git_hash_header()
+
+#=============================================================================
+
 message(STATUS "PX4 VERSION: ${git_tag}")
 message(STATUS "CONFIG: ${target_name}")

@@ -200,7 +229,7 @@ include(GNUInstallDirs)
 include(ExternalProject)

 # Setup install paths
-if(NOT CMAKE_INSTALL_PREFIX)
+if (NOT CMAKE_INSTALL_PREFIX)
 	if (${OS} STREQUAL "posix")
 		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
 	endif()
@@ -209,38 +238,25 @@ if (CMAKE_INSTALL_PREFIX)
 	message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
 endif()

-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
-message(STATUS "CMAKE_MODULE_PATH: ${CMAKE_MODULE_PATH}")
-set(config_module "configs/${CONFIG}")
-include(${config_module})
-
-# cmake modules
-include(ExternalProject)
-
+#=============================================================================
 # require px4 module interface
 set(px4_required_interface
 	px4_os_prebuild_targets
 	px4_os_add_flags
 	)
 foreach(cmd ${px4_required_interface})
-	if(NOT COMMAND ${cmd})
+	if (NOT COMMAND ${cmd})
 		message(FATAL_ERROR "${config_module} must implement ${cmd}")
 	endif()
 endforeach()
-set(px4_required_config
-	config_module_list
-	)
+
+set(px4_required_config config_module_list)
 foreach(conf ${px4_required_config})
-	if(NOT DEFINED ${conf})
+	if (NOT DEFINED ${conf})
 		message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
 	endif()
 endforeach()

-# List the DriverFramework drivers
-if(DEFINED config_df_driver_list)
-	message("DF Drivers: ${config_df_driver_list}")
-endif()
-
 # force static lib build
 set(BUILD_SHARED_LIBS OFF)

@@ -249,7 +265,7 @@ set(BUILD_SHARED_LIBS OFF)
 #
 option(CCACHE "Use ccache if available" OFF)
 find_program(CCACHE_PROGRAM ccache)
-if(CCACHE AND CCACHE_PROGRAM)
+if (CCACHE AND CCACHE_PROGRAM)
 	message(STATUS "Enabled ccache: ${CCACHE_PROGRAM}")
 	set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
 endif()
@@ -302,9 +318,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 99)
 set(CMAKE_C_STANDARD_REQUIRED ON)

-set(required_variables
-	CMAKE_C_COMPILER_ID
-	)
+set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
 foreach(var ${required_variables})
 	if (NOT ${var})
 		message(FATAL_ERROR "Toolchain/config must define ${var}")
@@ -327,43 +341,6 @@ execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
 STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
 message(STATUS "C++ compiler: ${cxx_compiler_version_short}")

-
-#=============================================================================
-# git
-#
-px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
-px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
-px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
-px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
-px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
-px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
-px4_add_git_submodule(TARGET git_gtest PATH "unittests/gtest")
-px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
-px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
-px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
-px4_add_git_submodule(TARGET git_mavlink2 PATH "mavlink/include/mavlink/v2.0")
-px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
-px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
-
-add_custom_target(submodule_clean
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	COMMAND git submodule deinit -f .
-	COMMAND rm -rf .git/modules/*
-	)
-
-#=============================================================================
-# misc targets
-#
-add_custom_target(check_format
-	COMMAND Tools/check_code_style.sh
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
-
-add_custom_target(config
-	COMMAND cmake-gui .
-	WORKING_DIRECTORY ${PX4_BINARY_DIR}
-	)
-
 #=============================================================================
 # external libraries
 #
@@ -394,9 +371,11 @@ link_directories(${link_dirs})
 add_definitions(${definitions})

 #=============================================================================
-# source code generation
+# message, parameter, and airframe generation
 #

+include(common/px4_metadata)
+
 add_subdirectory(msg)
 px4_generate_messages(TARGET msg_gen
 	MSG_FILES ${msg_files}
@@ -404,21 +383,31 @@ px4_generate_messages(TARGET msg_gen
 	INCLUDES ${msg_include_paths}
 	DEPENDS git_genmsg git_gencpp prebuild_targets
 	)
+
 px4_generate_parameters_xml(OUT parameters.xml 
 	BOARD ${BOARD}
 	MODULES ${config_module_list}
 	OVERRIDES ${PARAM_DEFAULT_OVERRIDES})
-px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
-add_custom_target(xml_gen
-	DEPENDS parameters.xml airframes.xml)

-if(NOT "${config_nuttx_config}" STREQUAL "bootloader")
-install(FILES
-	${CMAKE_CURRENT_BINARY_DIR}/airframes.xml
-	${CMAKE_CURRENT_BINARY_DIR}/parameters.xml
-	DESTINATION .)
+px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
+add_custom_target(xml_gen DEPENDS parameters.xml airframes.xml)
+
+#=============================================================================
+# DriverFramework
+#
+
+# List the DriverFramework drivers
+if (DEFINED config_df_driver_list)
+	message("DF Drivers: ${config_df_driver_list}")
 endif()

+set(df_driver_libs)
+foreach(driver ${config_df_driver_list})
+	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
+	list(APPEND df_driver_libs df_${driver})
+	message("Adding DF driver: ${driver}")
+endforeach()
+
 #=============================================================================
 # external projects
 #
@@ -433,20 +422,10 @@ include_directories(${ep_base}/Install/include)
 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)

-#=============================================================================
-# DriverFramework Drivers
-#
-set(df_driver_libs)
-foreach(driver ${config_df_driver_list})
-	add_subdirectory(src/lib/DriverFramework/drivers/${driver})
-	list(APPEND df_driver_libs df_${driver})
-	message("Adding DF driver: ${driver}")
-endforeach()
-
 #=============================================================================
 # external modules
 #
-if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
+if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}")
 	add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules_src)

@@ -467,7 +446,7 @@ endif()
 set(module_libraries)
 foreach(module ${config_module_list})
 	string(REGEX MATCH "^[./]" external_module ${module})
-	if(external_module)
+	if (external_module)
 		STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
 		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
 		add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
@@ -476,7 +455,6 @@ foreach(module ${config_module_list})
 	endif()
 	px4_mangle_name(${module} mangled_name)
 	list(APPEND module_libraries ${mangled_name})
-	#message(STATUS "adding module: ${module}")
 endforeach()

 # Keep track of external shared libs required for modules
@@ -484,10 +462,6 @@ set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "mod

 add_subdirectory(src/firmware/${OS})

-#add_dependencies(df_driver_framework nuttx_export_${CONFIG})
-if (NOT "${OS}" STREQUAL "nuttx")
-endif()
-
 if (config_io_board)
 	add_subdirectory(src/modules/px4iofirmware)
 endif()
@@ -495,7 +469,7 @@ endif()
 #=============================================================================
 # generate custom target to print for all executable and module cmake targets
 #
-if(all_posix_cmake_targets)
+if (all_posix_cmake_targets)
 	list(SORT all_posix_cmake_targets)
 	px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
 	add_custom_target(list_cmake_targets
@@ -505,18 +479,13 @@ if(all_posix_cmake_targets)
 		)
 endif()

-#=============================================================================
-# generate git version
-#
-px4_create_git_hash_header()
-
 #=============================================================================
 # packaging
 #
 # Important to having packaging at end of cmake file.
 #
 set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
-set(CPACK_PACKAGE_VERSION ${version})
+set(CPACK_PACKAGE_VERSION ${git_version})
 set(CPACK_PACKAGE_CONTACT ${package-contact})
 set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
 set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
@@ -525,7 +494,7 @@ set(short-description "The px4 autopilot.")
 set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
 set(CPACK_GENERATOR "ZIP")
 set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
-set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${version}")
+set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
 set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
 set(CPACK_PACKAGING_INSTALL_PREFIX "")
 set(CPACK_SET_DESTDIR "OFF")