Makefile

############################################################################
#
# Copyright (c) 2017 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in
#    the documentation and/or other materials provided with the
#    distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
#    used to endorse or promote products derived from this software
#    without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################

# Enforce the presence of the GIT repository
ifeq ($(wildcard .git),)
    $(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
endif

all: \
	esc35-v1 \
	px4cannode-v1 \
	px4esc-v1 \
	px4flow-v2 \
	s2740vc-v1 \
	zubaxgnss-v1 \
	sizes

FIRST_ARG := $(firstword $(MAKECMDGOALS))
ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))

NINJA_BIN := ninja
ifndef NO_NINJA_BUILD
	NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)

	ifndef NINJA_BUILD
		NINJA_BIN := ninja-build
		NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
	endif
endif

ifdef NINJA_BUILD
	PX4_CMAKE_GENERATOR := Ninja
	PX4_MAKE := $(NINJA_BIN)

	ifdef VERBOSE
		PX4_MAKE_ARGS := -v
	else
		PX4_MAKE_ARGS :=
	endif
else
	ifdef SYSTEMROOT
		# Windows
		PX4_CMAKE_GENERATOR := "MSYS\ Makefiles"
	else
		PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
	endif
	PX4_MAKE = $(MAKE)
	PX4_MAKE_ARGS = -j$(j) --no-print-directory
endif

SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))

# Functions
# --------------------------------------------------------------------
# describe how to build a cmake config
define cmake-build
+@$(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)" -DBOARD=$(1) $(CMAKE_ARGS) || (rm -rf $(BUILD_DIR)); fi
+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
endef

# Get a list of all config targets.
ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/configs" -name '*.cmake' -print | sed  -e 's:^.*/::' | sort))

# ADD CONFIGS HERE
# --------------------------------------------------------------------
#  Do not put any spaces between function arguments.

# All targets.
$(ALL_CONFIG_TARGETS):
	$(call cmake-build,$@,$(SRC_DIR))

# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
.PHONY: all sizes

sizes:
	@-find build -name *.elf -type f | xargs size 2> /dev/null || :

# Cleanup
# --------------------------------------------------------------------
.PHONY: clean submodulesclean distclean

clean:
	@rm -rf $(SRC_DIR)/build

submodulesclean:
	@git submodule foreach --quiet --recursive git clean -ff -x -d
	@git submodule update --quiet --init --recursive --force || true
	@git submodule sync --recursive
	@git submodule update --init --recursive --force

submodulesupdate:
	@git submodule update --quiet --init --recursive || true
	@git submodule sync --recursive
	@git submodule update --init --recursive

distclean: submodulesclean gazeboclean
	@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea"

# --------------------------------------------------------------------

# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
%:
	$(if $(filter $(FIRST_ARG),$@), \
		$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)

CONFIGS:=$(shell ls configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")

#help:
#	@echo
#	@echo "Type 'make ' and hit the tab key twice to see a list of the available"
#	@echo "build configurations."
#	@echo

empty :=
space := $(empty) $(empty)

# Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
help:
	@echo "Usage: $(MAKE) <target>"
	@echo "Where <target> is one of:"
	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '^(Makefile)'
	@echo
	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."

# Print a list of all config targets.
list_config_targets:
	@for targ in $(ALL_CONFIG_TARGETS); do echo $$targ; done