NuttX upgrade cmake wrapper (#7873)

* NuttX cmake

* px4_macros:Pass the stringified predicate as second arg to static assert

   CC_ASSERT mapes to the c++ static_assert or provides the same
   funtionality for c via the other macros. The c++ static assert
   takes 2 argumants the prdicate and a message. This fixes the
   lacking second argument.

* Updated nuttx and apps submodule to upstream nuttx 7.21+==master

   This is the latest uptake of upstream nuttx and apps.

* ROMFS generate with xxd instead of objcopy

* delete nuttx-patches

* NuttX update submodules to latest px4_nuttx-master

* fix nuttx apps and board dependency

* docker_run update to latest container 2017-08-29

* cmake ROMFS portable sed usage

* NuttX update submodules to latest px4_nuttx-master

.gitmodules

@@ -4,9 +4,6 @@
 [submodule "mavlink/include/mavlink/v2.0"]
 	path = mavlink/include/mavlink/v2.0
 	url = https://github.com/mavlink/c_library_v2.git
-[submodule "NuttX"]
-	path = NuttX
-	url = https://github.com/PX4/PX4NuttX.git
 [submodule "src/modules/uavcan/libuavcan"]
 	path = src/modules/uavcan/libuavcan
 	url = https://github.com/UAVCAN/libuavcan.git
@@ -40,3 +37,9 @@
 [submodule "src/lib/micro-CDR"]
 	path = src/lib/micro-CDR
 	url = https://github.com/eProsima/micro-CDR.git
+[submodule "platforms/nuttx/NuttX/nuttx"]
+	path = platforms/nuttx/NuttX/nuttx
+	url = git@github.com:PX4-NuttX/nuttx.git
+[submodule "platforms/nuttx/NuttX/apps"]
+	path = platforms/nuttx/NuttX/apps
+	url = git@github.com:PX4-NuttX/apps.git

CMakeLists.txt

@@ -99,14 +99,8 @@
 #
 #=============================================================================
 
-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")
-	message("")
-	message("Official website: https://cmake.org/download/")
-	message(FATAL_ERROR "Update CMake and try again" )
-endif()
+# check submodules before we do anything
+execute_process(COMMAND Tools/check_submodules.sh WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
 
 # Warning: Changing this modifies CMake's internal workings
 # and leads to wrong toolchain detection
@@ -115,15 +109,18 @@ cmake_minimum_required(VERSION 3.1 FATAL_ERROR)
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
 
-execute_process(
-	COMMAND Tools/check_submodules.sh
-	WORKING_DIRECTORY ${PX4_SOURCE_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})
+
+define_property(GLOBAL PROPERTY PX4_LIBRARIES
+                 BRIEF_DOCS "PX4 libs"
+                 FULL_DOCS "List of all PX4 module libraries"
+                 )
 
 #=============================================================================
 # configuration
 #
-# must come before project to set toolchain
 
 set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration")
 
@@ -145,7 +142,6 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 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})
 
@@ -176,16 +172,17 @@ message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
 #
 include(common/px4_git)
 
+# version info from git
 execute_process(
-	COMMAND git describe --always --tags
-	OUTPUT_VARIABLE git_tag
-	OUTPUT_STRIP_TRAILING_WHITESPACE
+	COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
+	OUTPUT_VARIABLE version
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
 execute_process(
-	COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR}
-	OUTPUT_VARIABLE git_version
+	COMMAND git describe --always --tags
+	OUTPUT_VARIABLE git_tag
+	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
@@ -202,12 +199,10 @@ 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_nuttx PATH "platforms/nuttx/NuttX")
 px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
 px4_add_git_submodule(TARGET git_micro_cdr PATH "src/lib/micro-CDR")
 
-px4_create_git_hash_header()
-
 #=============================================================================
 
 message(STATUS "PX4 VERSION: ${git_tag}")
@@ -225,18 +220,12 @@ add_definitions(-DBUILD_URI=${BUILD_URI})
 # Define GNU standard installation directories
 include(GNUInstallDirs)
 
-# Add support for external project building
-include(ExternalProject)
-
 # Setup install paths
-if (NOT CMAKE_INSTALL_PREFIX)
-	if (${OS} STREQUAL "posix")
+if (${OS} STREQUAL "posix")
+	if (NOT CMAKE_INSTALL_PREFIX)
 		set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE)
 	endif()
 endif()
-if (CMAKE_INSTALL_PREFIX)
-	message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
-endif()
 
 #=============================================================================
 # require px4 module interface
@@ -361,12 +350,11 @@ px4_os_add_flags(
 	LINK_DIRS link_dirs
 	DEFINITIONS definitions)
 
-px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
-px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags};${optimization_flags}" GLUE " ")
-px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags};${optimization_flags}" GLUE " ")
+px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${CMAKE_EXE_LINKER_FLAGS};${exe_linker_flags}" GLUE " ")
+px4_join(OUT CMAKE_C_FLAGS LIST "${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(${include_dirs})
-#message("INCLUDE_DIRS=${include_dirs}")
 link_directories(${link_dirs})
 add_definitions(${definitions})
 
@@ -381,10 +369,8 @@ px4_generate_messages(TARGET msg_gen
 	MSG_FILES ${msg_files}
 	OS ${OS}
 	INCLUDES ${msg_include_paths}
-	DEPENDS git_genmsg git_gencpp git_micro_cdr prebuild_targets
+	DEPENDS prebuild_targets
 	)
-include_directories("${PX4_SOURCE_DIR}/src/lib/micro-CDR/include"
-					"${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr")
 
 px4_generate_airframes_xml(BOARD ${BOARD})
 
@@ -439,7 +425,6 @@ endif()
 #=============================================================================
 # subdirectories
 #
-set(module_libraries)
 foreach(module ${config_module_list})
 	string(REGEX MATCH "^[./]" external_module ${module})
 	if (external_module)
@@ -449,19 +434,10 @@ foreach(module ${config_module_list})
 	else()
 		add_subdirectory(src/${module})
 	endif()
-	px4_mangle_name(${module} mangled_name)
-	list(APPEND module_libraries ${mangled_name})
 endforeach()
 
-# Keep track of external shared libs required for modules
-set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "module_external_libraries")
-
 add_subdirectory(src/firmware/${OS})
 
-if (config_io_board)
-	add_subdirectory(src/modules/px4iofirmware)
-endif()
-
 #=============================================================================
 # generate custom target to print for all executable and module cmake targets
 #

Debug/poor-mans-profiler.sh

@@ -77,7 +77,7 @@ do
     shift
 done
 
-[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build_px4fmu-v4_default/src/firmware/nuttx/firmware_nuttx"
+[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build/px4fmu-v4_default/src/firmware/nuttx/firmware_nuttx"
 
 #
 # Temporary files

Makefile

@@ -53,7 +53,7 @@ endif
 # make px4fmu-v2_default test 		(builds and tests)
 #
 # This tells cmake to build the nuttx px4fmu-v2 default config in the
-# directory build_nuttx_px4fmu-v2_default and then call make
+# directory build/nuttx_px4fmu-v2_default and then call make
 # in that directory with the target upload.
 
 #  explicity set default build target
@@ -132,7 +132,7 @@ endif
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
++@$(eval BUILD_DIR = $(SRC_DIR)/build/$@$(BUILD_DIR_SUFFIX))
 +@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
 +@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2)  -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=$(1) $(CMAKE_ARGS) || (rm -rf $(BUILD_DIR)); fi
 +@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
@@ -189,7 +189,7 @@ qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes
 
 # px4fmu NuttX firmware
 px4fmu_firmware: \
-	check_px4fmu-v1_default \
+	check_px4io-v2_default \
 	check_px4fmu-v2_default \
 	check_px4fmu-v3_default \
 	check_px4fmu-v4_default \
@@ -228,7 +228,7 @@ checks_bootloaders: \
 	sizes
 
 sizes:
-	@-find build_* -name firmware_nuttx -type f | xargs size 2> /dev/null || :
+	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
 
 # All default targets that don't require a special build environment
 check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware checks_bootloaders tests check_format
@@ -276,25 +276,25 @@ s3put_firmware: Firmware.zip
 s3put_qgc_firmware: s3put_px4fmu_firmware s3put_misc_qgc_extra_firmware
 
 s3put_px4fmu_firmware: px4fmu_firmware
-	@find $(SRC_DIR)/build_* -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
+	@find $(SRC_DIR)/build -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
 
 s3put_misc_qgc_extra_firmware: misc_qgc_extra_firmware
-	@find $(SRC_DIR)/build_* -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
+	@find $(SRC_DIR)/build -name "*.px4" -exec $(SRC_DIR)/Tools/s3put.sh "{}" \;
 
 s3put_metadata: px4_metadata
 	@$(SRC_DIR)/Tools/s3put.sh airframes.md
 	@$(SRC_DIR)/Tools/s3put.sh airframes.xml
-	@$(SRC_DIR)/Tools/s3put.sh build_posix_sitl_default/parameters.xml
+	@$(SRC_DIR)/Tools/s3put.sh build/posix_sitl_default/parameters.xml
 	@$(SRC_DIR)/Tools/s3put.sh parameters.md
 
 s3put_scan-build: scan-build
-	@cd $(SRC_DIR) && ./Tools/s3put.sh `find build_scan-build -mindepth 1 -maxdepth 1 -type d`/
+	@cd $(SRC_DIR) && ./Tools/s3put.sh `find build/scan-build -mindepth 1 -maxdepth 1 -type d`/
 
 s3put_cppcheck: cppcheck
 	@cd $(SRC_DIR) && ./Tools/s3put.sh cppcheck/
 
 s3put_coverage: tests_coverage
-	@cd $(SRC_DIR) && ./Tools/s3put.sh build_posix_sitl_default/coverage-html/
+	@cd $(SRC_DIR) && ./Tools/s3put.sh build/posix_sitl_default/coverage-html/
 
 # Astyle
 # --------------------------------------------------------------------
@@ -327,7 +327,7 @@ coveralls_upload:
 		--exclude=src/lib/ecl \
 		--exclude=src/lib/Matrix \
 		--exclude=src/modules/uavcan/libuavcan \
-		--root . --build-root build_posix_sitl_default/ --follow-symlinks
+		--root . --build-root build/posix_sitl_default/ --follow-symlinks
 
 codecov_upload:
 	@/bin/bash -c "bash <(curl -s https://codecov.io/bash)"
@@ -337,41 +337,40 @@ codecov_upload:
 .PHONY: posix_sitl_default-clang scan-build clang-tidy clang-tidy-fix clang-tidy-quiet cppcheck
 
 posix_sitl_default-clang:
-	@mkdir -p $(SRC_DIR)/build_posix_sitl_default-clang
-	@cd $(SRC_DIR)/build_posix_sitl_default-clang && cmake .. -GNinja -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
-	@cd $(SRC_DIR)/build_posix_sitl_default-clang && ninja
+	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-clang
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && cmake $(SRC_DIR) -GNinja -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
+	@cd $(SRC_DIR)/build/posix_sitl_default-clang && ninja
 
 scan-build:
 	@export CCC_CC=clang
 	@export CCC_CXX=clang++
-	@mkdir -p $(SRC_DIR)/build_posix_sitl_default-scan-build
-	@cd $(SRC_DIR)/build_posix_sitl_default-scan-build && scan-build cmake .. -GNinja -DCONFIG=posix_sitl_default
-	@scan-build -o $(SRC_DIR)/build_scan-build cmake --build $(SRC_DIR)/build_posix_sitl_default-scan-build
+	@mkdir -p $(SRC_DIR)/build/posix_sitl_default-scan-build
+	@cd $(SRC_DIR)/build/posix_sitl_default-scan-build && scan-build cmake .. -GNinja -DCONFIG=posix_sitl_default
+	@scan-build -o $(SRC_DIR)/build/scan-build cmake --build $(SRC_DIR)/build/posix_sitl_default-scan-build
 
 clang-tidy: posix_sitl_default-clang
-	@cd build_posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .
+	@cd build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
 clang-tidy-fix: posix_sitl_default-clang
-	@cd build_posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p .
+	@cd build/posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(j) -fix -p .
 
 # modified version of run-clang-tidy.py to return error codes and only output relevant results
 clang-tidy-quiet: posix_sitl_default-clang
-	@cd build_posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
+	@cd build/posix_sitl_default-clang && $(SRC_DIR)/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: posix_sitl_default
-	@cppcheck -i$(SRC_DIR)/src/examples --std=c++11 --std=c99 --std=posix --project=build_posix_sitl_default/compile_commands.json --xml-version=2 2> cppcheck-result.xml
+	@cppcheck -i$(SRC_DIR)/src/examples --std=c++11 --std=c99 --std=posix --project=build/posix_sitl_default/compile_commands.json --xml-version=2 2> cppcheck-result.xml
 	@cppcheck-htmlreport --source-encoding=ascii --file=cppcheck-result.xml --report-dir=cppcheck --source-dir=$(SRC_DIR)/src/
 
 # Cleanup
 # --------------------------------------------------------------------
 .PHONY: clean submodulesclean distclean
 
 clean:
-	@rm -rf $(SRC_DIR)/build_*/
-	-@$(MAKE) --no-print-directory -C NuttX/nuttx clean
+	@rm -rf $(SRC_DIR)/build
 
 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d

ROMFS/CMakeLists.txt

@@ -0,0 +1,45 @@
+
+message(STATUS "ROMFS: ${config_romfs_root}")
+
+set(romfs_temp_dir ${PX4_BINARY_DIR}/ROMFS/${config_romfs_root})
+set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
+
+# directory setup
+# copy all romfs files, process airframes, prune comments
+file(GLOB_RECURSE init_airframes ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/*/[1-9]*)
+add_custom_command(OUTPUT ${romfs_temp_dir}/init.d/rcS ${romfs_temp_dir}/init.d/rc.autostart
+	COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		-a ${romfs_temp_dir}/init.d
+		-s ${romfs_temp_dir}/init.d/rc.autostart
+		--board ${BOARD}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py
+		--folder ${romfs_temp_dir} --board ${BOARD}
+	DEPENDS
+		${romfs_src_files}
+		${init_airframes}
+		${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d/rcS
+		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	)
+
+set(romfs_dependencies)
+list(APPEND romfs_dependencies
+	${romfs_temp_dir}/init.d/rcS
+	${romfs_temp_dir}/init.d/rc.autostart
+	)
+
+# create romfs.bin
+add_custom_command(OUTPUT romfs.img
+	COMMAND ${GENROMFS} -f romfs.img -d ${romfs_temp_dir} -V "NSHInitVol" -v > romfs.txt 2>&1
+	DEPENDS ${romfs_dependencies}
+	)
+
+# create romfs.o
+add_custom_command(OUTPUT nsh_romfsimg.c
+	COMMAND xxd -i romfs.img nsh_romfsimg.c
+	COMMAND sed 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && mv nsh_romfsimg.c.tmp nsh_romfsimg.c
+	DEPENDS romfs.img
+	)
+
+add_library(romfs STATIC nsh_romfsimg.c)
+set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)