[WIP] NuttX cmake wrapper

.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 = https://github.com/PX4-NuttX/nuttx.git
+[submodule "platforms/nuttx/NuttX/apps"]
+	path = platforms/nuttx/NuttX/apps
+	url = https://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 +109,14 @@ 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}
-	)
+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 +138,6 @@ 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 +168,17 @@ 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}
 	)
 
@@ -206,8 +199,6 @@ px4_add_git_submodule(TARGET git_nuttx PATH "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: ${git_tag}")
@@ -225,16 +216,11 @@ add_definitions(-DBUILD_URI=${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()
 
@@ -361,9 +347,9 @@ 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}")
@@ -381,10 +367,8 @@ 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 +423,6 @@ endif()
 #=============================================================================
 # subdirectories
 #
-set(module_libraries)
 foreach(module ${config_module_list})
 	string(REGEX MATCH "^[./]" external_module ${module})
 	if (external_module)
@@ -449,19 +432,10 @@ 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
 #

Makefile

@@ -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 \
@@ -219,14 +219,14 @@ alt_firmware: \
 checks_bootloaders: \
 	check_esc35-v1_bootloader \
 	check_px4cannode-v1_bootloader \
-	check_px4esc-v1_bootloader \
 	check_px4flow-v2_bootloader \
 	check_s2740vc-v1_bootloader \
-# not fitting in flash	check_zubaxgnss-v1_bootloader \
+	check_px4esc-v1_bootloader \
+	check_zubaxgnss-v1_bootloader \
 	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
@@ -369,7 +369,6 @@ cppcheck: posix_sitl_default
 
 clean:
 	@rm -rf $(SRC_DIR)/build_*/
-	-@$(MAKE) --no-print-directory -C NuttX/nuttx clean
 
 submodulesclean:
 	@git submodule foreach --quiet --recursive git clean -ff -x -d

cmake/common/px4_base.cmake

@@ -198,10 +198,6 @@ function(px4_add_module)
 		REQUIRED MODULE
 		ARGN ${ARGN})
 
-	if (EXTERNAL)
-		px4_mangle_name("${EXTERNAL_MODULES_LOCATION}/src/${MODULE}" MODULE)
-	endif()
-
 	px4_add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
 
 	# set defaults if not set
@@ -219,16 +215,14 @@ function(px4_add_module)
 		if(NOT ${property})
 			set(${property} ${${property}_DEFAULT})
 		endif()
-		set_target_properties(${MODULE} PROPERTIES ${property}
-			${${property}})
+		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
-		${STACK_MAX})
+	set_target_properties(${MODULE} PROPERTIES STACK_MAX ${STACK_MAX})
 
 	if(${OS} STREQUAL "qurt" )
 		set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
@@ -270,7 +264,6 @@ function(px4_add_module)
 			set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
 		endif()
 	endforeach()
-
 endfunction()
 
 #=============================================================================
@@ -481,14 +474,6 @@ function(px4_add_common_flags)
 		-D__STDC_FORMAT_MACROS
 		)
 
-	if (NOT (APPLE AND (${CMAKE_C_COMPILER_ID} MATCHES ".*Clang.*")))
-		set(added_exe_linker_flags
-			-Wl,--warn-common
-			-Wl,--gc-sections
-			#,--print-gc-sections
-			)
-	endif()
-
 	# output
 	foreach(var ${inout_vars})
 		string(TOLOWER ${var} lower_var)
@@ -498,31 +483,6 @@ function(px4_add_common_flags)
 
 endfunction()
 
-#=============================================================================
-#
-#	px4_mangle_name
-#
-#	Convert a path name to a module name
-#
-#	Usage:
-#		px4_mangle_name(dirname newname)
-#
-#	Input:
-#		dirname					: path to module dir
-#
-#	Output:
-#		newname					: module name
-#
-#	Example:
-#		px4_mangle_name(${dirpath} mangled_name)
-#		message(STATUS "module name is ${mangled_name}")
-#
-function(px4_mangle_name dirname newname)
-	set(tmp)
-	string(REPLACE "/" "__" tmp ${dirname})
-	set(${newname} ${tmp} PARENT_SCOPE)
-endfunction()
-
 #=============================================================================
 #
 #	px4_strip_optimization
@@ -590,6 +550,8 @@ function(px4_add_library target)
 	px4_add_optimization_flags_for_target(${target})
 	# 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})
 endfunction()
 
 #=============================================================================

cmake/common/px4_git.cmake

@@ -82,57 +82,3 @@ function(px4_add_git_submodule)
 		DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
 		)
 endfunction()
-
-#=============================================================================
-#
-#	px4_create_git_hash_header
-#
-#	Create a header file containing the git hash of the current tree
-#
-#	Usage:
-#		px4_create_git_hash_header()
-#
-#	Example:
-#		px4_create_git_hash_header()
-#
-function(px4_create_git_hash_header)
-	px4_parse_function_args(
-		NAME px4_create_git_hash_header
-		ARGN ${ARGN})
-
-	set(px4_git_ver_header ${PX4_BINARY_DIR}/build_git_version.h)
-
-	# check if px4 source is a git repo
-	if(EXISTS ${PX4_SOURCE_DIR}/.git)
-		if (IS_DIRECTORY ${PX4_SOURCE_DIR}/.git)
-			# standard git repo
-			set(git_dir_path ${PX4_SOURCE_DIR}/.git)
-		else()
-			# git submodule
-			file(READ ${PX4_SOURCE_DIR}/.git git_dir_path)
-			string(STRIP ${git_dir_path} git_dir_path)
-			string(REPLACE "gitdir: " "" git_dir_path ${git_dir_path})
-			get_filename_component(git_dir_path ${git_dir_path} ABSOLUTE)
-		endif()
-	else()
-		message(FATAL_ERROR "is not a git repository")
-	endif()
-	if(NOT IS_DIRECTORY "${git_dir_path}")
-		message(FATAL_ERROR "${git_dir_path} is not a directory")
-	endif()
-
-	set(deps
-		${PX4_SOURCE_DIR}/Tools/px_update_git_header.py
-		${git_dir_path}/index
-		${git_dir_path}/HEAD)
-
-	add_custom_command(
-		OUTPUT ${px4_git_ver_header}
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_update_git_header.py ${px4_git_ver_header} > ${PX4_BINARY_DIR}/git_header.log
-		DEPENDS ${deps}
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-		COMMENT "Generating git hash header"
-		)
-	set_source_files_properties(${px4_git_ver_header} PROPERTIES GENERATED TRUE)
-	add_custom_target(ver_gen ALL DEPENDS ${px4_git_ver_header})
-endfunction()

cmake/common/px4_metadata.cmake

@@ -73,7 +73,7 @@ function(px4_generate_messages)
 		REQUIRED MSG_FILES OS TARGET
 		ARGN ${ARGN})
 
-	if("${config_nuttx_config}" STREQUAL "bootloader")
+	if("${nuttx_config_type}" STREQUAL "bootloader")
 		# do nothing for bootloaders
 	else()
 
@@ -162,6 +162,12 @@ function(px4_generate_messages)
 			${msg_multi_files_out}
 			${msg_files_out}
 			)
+
+		target_include_directories(${TARGET}
+			PRIVATE ${PX4_SOURCE_DIR}/src/lib/micro-CDR/include
+			PRIVATE ${PX4_BINARY_DIR}/src/lib/micro-CDR/include/microcdr
+			)
+		target_link_libraries(${TARGET} PRIVATE lib__micro-CDR)
     endif()
 endfunction()