mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
de4f594937
The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.
- DriverFramework (src/lib/DriverFramework submodule) completely removed
- added dspal submodule in qurt platform (was brought in via DriverFramework)
- all df wrapper drivers removed
- all boards using df wrapper drivers updated to use in tree equivalents
- unused empty arch/board.h on posix and qurt removed
- unused IOCTLs removed (pub block, priv, etc)
- Integrator delete methods only used from df wrapper drivers
- commander: sensor calibration use "NuttX version" everywhere for now
- sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
- load_mon and top remove from linux boards (unused)
- delete unused PX4_MAIN_FUNCTION
- delete unused getreg32 macro
- delete unused SIOCDEVPRIVATE define
- named each platform tasks consistently
- posix list_devices and list_topics removed (list_files now shows all virtual files)
190 lines
3.7 KiB
CMake
190 lines
3.7 KiB
CMake
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include_directories(${CMAKE_CURRENT_BINARY_DIR})
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get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
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# When building with catkin, do not change CMAKE_RUNTIME_OUTPUT_DIR from
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# CMAKE_CURRENT_BINARY_DIR ''./platforms/posix' to './bin'
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if (NOT CATKIN_DEVEL_PREFIX)
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
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endif()
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set(PX4_SHELL_COMMAND_PREFIX "px4-")
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add_definitions("-DPX4_SHELL_COMMAND_PREFIX=\"${PX4_SHELL_COMMAND_PREFIX}\"")
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px4_posix_generate_builtin_commands(
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OUT apps
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MODULE_LIST ${module_libraries})
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px4_posix_generate_alias(
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OUT ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/px4-alias.sh
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MODULE_LIST ${module_libraries}
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PREFIX ${PX4_SHELL_COMMAND_PREFIX}
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)
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if (("${PX4_BOARD}" MATCHES "atlflight_eagle") OR ("${PX4_BOARD}" MATCHES "atlflight_excelsior"))
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include(fastrpc)
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include(linux_app)
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FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
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LINUX_APP(
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APP_NAME px4
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IDL_NAME px4muorb
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APPS_DEST "/home/linaro"
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SOURCES
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px4muorb_stub.c
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src/px4/common/main.cpp
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apps.cpp
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LINK_LIBS
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-Wl,--start-group
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px4_layer
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parameters
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${module_libraries}
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${FASTRPC_ARM_LIBS}
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pthread m rt
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-Wl,--end-group
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)
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else()
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add_executable(px4
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src/px4/common/main.cpp
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apps.cpp
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)
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target_link_libraries(px4
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PRIVATE
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${module_libraries}
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pthread m
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# horrible circular dependencies that need to be teased apart
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px4_layer px4_platform
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work_queue
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parameters
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)
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if(NOT APPLE)
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target_link_libraries(px4 PRIVATE rt)
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endif()
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target_link_libraries(px4 PRIVATE modules__uORB)
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#=============================================================================
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# install
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#
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# TODO: extend to snapdragon
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# px4 dirs
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install(
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DIRECTORY
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${PROJECT_SOURCE_DIR}/posix-configs
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${PROJECT_SOURCE_DIR}/ROMFS
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${PROJECT_SOURCE_DIR}/test
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${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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DESTINATION
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${PROJECT_NAME}
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USE_SOURCE_PERMISSIONS
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)
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endif()
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# Module Symlinks
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px4_posix_generate_symlinks(
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MODULE_LIST ${module_libraries}
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PREFIX ${PX4_SHELL_COMMAND_PREFIX}
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TARGET px4
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)
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# board defined upload helper
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if(EXISTS "${PX4_BOARD_DIR}/cmake/upload.cmake")
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include(${PX4_BOARD_DIR}/cmake/upload.cmake)
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endif()
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if("${PX4_BOARD}" MATCHES "beaglebone_blue")
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target_link_libraries(px4 PRIVATE robotics_cape)
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elseif("${PX4_BOARD}" MATCHES "emlid_navio2")
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target_link_libraries(px4 PRIVATE atomic)
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elseif("${PX4_BOARD}" MATCHES "sitl")
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include(sitl_target)
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if(BUILD_TESTING)
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include(sitl_tests)
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endif()
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# install
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# px4 dirs
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install(
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DIRECTORY
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${PROJECT_SOURCE_DIR}/integrationtests
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${PROJECT_SOURCE_DIR}/launch
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${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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DESTINATION
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${PROJECT_NAME}
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USE_SOURCE_PERMISSIONS
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)
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# px4 files
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install(
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FILES
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${PROJECT_SOURCE_DIR}/CMakeLists.txt
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${PROJECT_SOURCE_DIR}/package.xml
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DESTINATION
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${PROJECT_NAME}
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)
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# px4 Tools dirs
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install(
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DIRECTORY
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${PROJECT_SOURCE_DIR}/Tools/ecl_ekf
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DESTINATION
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${PROJECT_NAME}/Tools
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USE_SOURCE_PERMISSIONS
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)
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# px4 Tools files
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install(
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PROGRAMS
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${PROJECT_SOURCE_DIR}/Tools/setup_gazebo.bash
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${PROJECT_SOURCE_DIR}/Tools/upload_log.py
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DESTINATION
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${PROJECT_NAME}/Tools
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)
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# sitl_gazebo built plugins
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install(
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DIRECTORY
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${PROJECT_SOURCE_DIR}/build/px4_sitl_default/build_gazebo
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DESTINATION
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${PROJECT_NAME}/build/px4_sitl_default
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FILES_MATCHING
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PATTERN "CMakeFiles" EXCLUDE
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PATTERN "*.so"
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)
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# sitl_gazebo dirs
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install(
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DIRECTORY
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${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/models
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${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/worlds
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DESTINATION
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${PROJECT_NAME}/Tools/sitl_gazebo
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)
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# sitl_gazebo files
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install(
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FILES
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${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/CMakeLists.txt
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${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/package.xml
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DESTINATION
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${PROJECT_NAME}/Tools/sitl_gazebo
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)
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endif()
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