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cmake remove circular linking and reorganize

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- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link
This commit is contained in:
Daniel Agar
2018-04-11 15:10:51 -04:00
parent a8bc3d187f
commit ea3acb7121
576 changed files with 1406 additions and 2014 deletions
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113
CMakeLists.txt
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@@ -69,7 +69,7 @@
#
# * Avoid use of global variables in functions. Functions in a nested
# scope may use global variables, but this makes it difficult to
# resuse functions.
# reuse functions.
#
# Included CMake Files
# ---------------------------------------------------------------------------
@@ -99,18 +99,12 @@
#
#=============================================================================
# Warning: Changing this modifies CMake's internal workings
# and leads to wrong toolchain detection
cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
#=============================================================================
# git
@@ -124,14 +118,16 @@ execute_process(
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
)
px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
define_property(GLOBAL PROPERTY PX4_LIBRARIES
BRIEF_DOCS "PX4 libs"
define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
BRIEF_DOCS "PX4 module libs"
FULL_DOCS "List of all PX4 module libraries"
)
define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
BRIEF_DOCS "PX4 module paths"
FULL_DOCS "List of paths to all PX4 modules"
)
#=============================================================================
# configuration
#
@@ -142,10 +138,6 @@ 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 ${configs})
set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
@@ -155,22 +147,14 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
endif()
include(platforms/${OS}/cmake/px4_impl_os.cmake)
include(configs/${CONFIG})
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${OS}/cmake)
include(platforms/${OS}/cmake/px4_impl_os.cmake)
set(config_module "configs/${CONFIG}")
include(${config_module})
include(common/coverage)
include(common/sanitizers)
# CMake build type
# Debug Release RelWithDebInfo MinSizeRel Coverage
# CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
if (NOT CMAKE_BUILD_TYPE)
if (${OS} STREQUAL "nuttx")
set(PX4_BUILD_TYPE "MinSizeRel")
elseif (${OS} STREQUAL "bebop")
set(PX4_BUILD_TYPE "MinSizeRel")
else()
set(PX4_BUILD_TYPE "RelWithDebInfo")
endif()
@@ -180,12 +164,10 @@ endif()
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
#=============================================================================
message(STATUS "PX4 VERSION: ${git_tag}")
message(STATUS "CONFIG: ${target_name}")
message(STATUS "CONFIG: ${CONFIG}")
message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
#=============================================================================
@@ -195,20 +177,23 @@ project(px4 CXX C ASM)
set(package-contact "px4users@googlegroups.com")
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_C_STANDARD 99)
set(CMAKE_C_STANDARD_REQUIRED ON)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
#=============================================================================
# The URL for the elf file for crash logging
if (DEFINED ENV{BUILD_URI})
set(BUILD_URI $ENV{BUILD_URI})
else()
set(BUILD_URI "localhost")
endif()
add_definitions(-DBUILD_URI=${BUILD_URI})
# Setup install paths
if (${OS} STREQUAL "posix")
include(common/coverage)
include(common/sanitizers)
# Define GNU standard installation directories
include(GNUInstallDirs)
@@ -229,20 +214,17 @@ set(px4_required_interface
)
foreach(cmd ${px4_required_interface})
if (NOT COMMAND ${cmd})
message(FATAL_ERROR "${config_module} must implement ${cmd}")
message(FATAL_ERROR "${CONFIG} must implement ${cmd}")
endif()
endforeach()
set(px4_required_config config_module_list)
foreach(conf ${px4_required_config})
if (NOT DEFINED ${conf})
message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
message(FATAL_ERROR "cmake/${CONFIG} must define ${conf}")
endif()
endforeach()
# force static lib build
set(BUILD_SHARED_LIBS OFF)
#=============================================================================
# ccache
#
@@ -250,7 +232,6 @@ option(CCACHE "Use ccache if available" ON)
find_program(CCACHE_PROGRAM ccache)
if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
else()
endif()
#=============================================================================
@@ -271,23 +252,10 @@ endif()
find_package(PythonInterp REQUIRED)
px4_find_python_module(jinja2 REQUIRED)
#=============================================================================
# generate compile command database
#
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
#=============================================================================
# check required toolchain variables
#
# PX4 requires c++11
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
# PX4 requires c99
set(CMAKE_C_STANDARD 99)
set(CMAKE_C_STANDARD_REQUIRED ON)
set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
foreach(var ${required_variables})
if (NOT ${var})
@@ -335,24 +303,20 @@ px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker
px4_join(OUT CMAKE_C_FLAGS LIST "${CMAKE_C_FLAGS};${c_flags};${optimization_flags}" GLUE " ")
px4_join(OUT CMAKE_CXX_FLAGS LIST "${CMAKE_CXX_FLAGS};${cxx_flags};${optimization_flags}" GLUE " ")
include_directories(${include_dirs} ${CMAKE_CURRENT_BINARY_DIR}/src/modules/systemlib/param)
link_directories(${link_dirs})
add_definitions(${definitions})
#=============================================================================
# message, and airframe generation
#
include(common/px4_metadata)
add_subdirectory(msg)
add_subdirectory(msg EXCLUDE_FROM_ALL)
px4_generate_airframes_xml(BOARD ${BOARD})
#=============================================================================
# DriverFramework
#
px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
add_subdirectory(src/lib/DriverFramework/framework)
# List the DriverFramework drivers
if (DEFINED config_df_driver_list)
@@ -369,7 +333,6 @@ endforeach()
#=============================================================================
# external projects
#
set(ep_base ${PX4_BINARY_DIR}/external)
set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
@@ -397,12 +360,22 @@ endif()
#=============================================================================
# subdirectories
#
add_subdirectory(src/platforms/common)
add_library(parameters_interface INTERFACE)
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
add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
foreach(module ${config_module_list})
add_subdirectory(src/${module})
endforeach()
# must be the last module before firmware
add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
target_link_libraries(parameters_interface INTERFACE parameters)
# firmware added last to generate the builtin for included modules
add_subdirectory(platforms/${OS})
#=============================================================================
@@ -450,14 +423,14 @@ set(CPACK_PACKAGE_CONTACT ${package-contact})
set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
set(short-description "The px4 autopilot.")
set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
set(CPACK_GENERATOR "ZIP")
set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
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")
if ("${CMAKE_SYSTEM}" MATCHES "Linux")
find_program(DPKG_PROGRAM dpkg)
if (EXISTS ${DPKG_PROGRAM})
@@ -465,5 +438,3 @@ if ("${CMAKE_SYSTEM}" MATCHES "Linux")
endif()
endif()
include(CPack)
# vim: set noet fenc=utf-8 ff=unix ft=cmake :