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Makefile
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Makefile
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############################################################################
#
# Copyright (c) 2015 - 2016 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
#
# We depend on our submodules, so we have to prevent attempts to
# compile without it being present.
ifeq ($(wildcard .git),)
$(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
endif
CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?)
ifneq ($(CMAKE_VER),0)
$(warning Not a valid CMake version or CMake not installed.)
$(warning On Ubuntu, install or upgrade via:)
$(warning )
$(warning 3rd party PPA:)
$(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y)
$(warning sudo apt-get update)
$(warning sudo apt-get install cmake)
$(warning )
$(warning Official website:)
$(warning wget https://cmake.org/files/v3.4/cmake-3.4.3-Linux-x86_64.sh)
$(warning chmod +x cmake-3.4.3-Linux-x86_64.sh)
$(warning sudo mkdir /opt/cmake-3.4.3)
$(warning sudo ./cmake-3.4.3-Linux-x86_64.sh --prefix=/opt/cmake-3.4.3 --exclude-subdir)
$(warning export PATH=/opt/cmake-3.4.3/bin:$$PATH)
$(warning )
$(error Fatal)
endif
# Help
# --------------------------------------------------------------------
# Don't be afraid of this makefile, it is just passing
# arguments to cmake to allow us to keep the wiki pages etc.
# that describe how to build the px4 firmware
# the same even when using cmake instead of make.
#
# Example usage:
#
# make px4fmu-v2_default (builds)
# make px4fmu-v2_default upload (builds and uploads)
# 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
# in that directory with the target upload.
# explicity set default build target
all: px4fmu-v2_default
# Parsing
# --------------------------------------------------------------------
# assume 1st argument passed is the main target, the
# rest are arguments to pass to the makefile generated
# by cmake in the subdirectory
ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
j ?= 4
NINJA_BUILD := $(shell ninja --version 2>/dev/null)
ifdef NINJA_BUILD
PX4_CMAKE_GENERATOR ?= "Ninja"
PX4_MAKE = ninja
PX4_MAKE_ARGS =
else
ifdef SYSTEMROOT
# Windows
PX4_CMAKE_GENERATOR ?= "MSYS Makefiles"
else
PX4_CMAKE_GENERATOR ?= "Unix Makefiles"
endif
PX4_MAKE = make
PX4_MAKE_ARGS = -j$(j) --no-print-directory
endif
# Functions
# --------------------------------------------------------------------
# describe how to build a cmake config
define cmake-build
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(PWD)/build_$@); fi
+@Tools/check_submodules.sh
+@(echo "PX4 CONFIG: $@" && cd $(PWD)/build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
endef
define cmake-build-other
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake $(2) -G$(PX4_CMAKE_GENERATOR) || (cd .. && rm -rf $(PWD)/build_$@); fi
+@(cd $(PWD)/build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
endef
# create empty targets to avoid msgs for targets passed to cmake
define cmake-targ
$(1):
@#
.PHONY: $(1)
endef
define colorecho
@tput setaf 6
@echo $1
@tput sgr0
endef
# ADD CONFIGS HERE
# --------------------------------------------------------------------
# Do not put any spaces between function arguments.
tap-v1_default:
$(call cmake-build,nuttx_tap-v1_default)
px4fmu-v1_default:
$(call cmake-build,nuttx_px4fmu-v1_default)
px4fmu-v2_default:
$(call cmake-build,nuttx_px4fmu-v2_default)
px4fmu-v2_test:
$(call cmake-build,nuttx_px4fmu-v2_test)
px4fmu-v4_default:
$(call cmake-build,nuttx_px4fmu-v4_default)
px4-stm32f4discovery_default:
$(call cmake-build,nuttx_px4-stm32f4discovery_default)
px4fmu-v2_ekf2:
$(call cmake-build,nuttx_px4fmu-v2_ekf2)
mindpx-v2_default:
$(call cmake-build,nuttx_mindpx-v2_default)
posix_sitl_default:
$(call cmake-build,$@)
posix_sitl_lpe:
$(call cmake-build,$@)
posix_sitl_test:
$(call cmake-build,$@)
posix_sitl_replay:
$(call cmake-build,$@)
posix_sitl_broadcast:
$(call cmake-build,$@)
ros_sitl_default:
@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
qurt_eagle_travis:
$(call cmake-build,$@)
qurt_eagle_default:
$(call cmake-build,$@)
posix_eagle_default:
$(call cmake-build,$@)
eagle_default: posix_eagle_default qurt_eagle_default
eagle_legacy_default: posix_eagle_legacy_driver_default qurt_eagle_legacy_driver_default
qurt_eagle_legacy_driver_default:
$(call cmake-build,$@)
posix_eagle_legacy_driver_default:
$(call cmake-build,$@)
qurt_excelsior_default:
$(call cmake-build,$@)
posix_excelsior_default:
$(call cmake-build,$@)
excelsior_default: posix_excelsior_default qurt_excelsior_default
posix_rpi2_default:
$(call cmake-build,$@)
posix_rpi2_release:
$(call cmake-build,$@)
posix_bebop_default:
$(call cmake-build,$@)
posix_navio2_release:
$(call cmake-build,$@)
posix: posix_sitl_default
broadcast: posix_sitl_broadcast
sitl_deprecation:
@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."
run_sitl_quad: sitl_deprecation
run_sitl_plane: sitl_deprecation
run_sitl_ros: sitl_deprecation
# Other targets
# --------------------------------------------------------------------
.PHONY: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
.NOTPARALLEL: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
gazebo_build:
@mkdir -p build_gazebo
@if [ ! -e $(PWD)/build_gazebo/CMakeCache.txt ];then cd build_gazebo && cmake -Wno-dev -G$(PX4_CMAKE_GENERATOR) $(PWD)/Tools/sitl_gazebo; fi
@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS)
@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS) sdf
uavcan_firmware:
ifeq ($(VECTORCONTROL),1)
$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6")
@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
endif
checks_defaults: \
check_px4fmu-v1_default \
check_px4fmu-v2_default \
check_mindpx-v2_default \
check_px4-stm32f4discovery_default \
check_tap-v1_default \
checks_bootloaders: \
checks_tests: \
check_px4fmu-v2_test
checks_alts: \
check_px4fmu-v2_ekf2 \
checks_uavcan: \
check_px4fmu-v4_default_and_uavcan
checks_sitls: \
check_posix_sitl_default \
check_posix_sitl_test \
checks_last: \
check_unittest \
check_format \
check: checks_defaults checks_tests checks_alts checks_uavcan checks_bootloaders checks_sitls checks_last
check_format:
$(call colorecho,"Checking formatting with astyle")
@./Tools/fix_code_style.sh
@./Tools/check_code_style_all.sh
check_%:
@echo
$(call colorecho,"Building" $(subst check_,,$@))
@$(MAKE) --no-print-directory $(subst check_,,$@)
@echo
check_px4fmu-v4_default: uavcan_firmware
check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default
@echo
ifeq ($(VECTORCONTROL),1)
@echo "Cleaning up vectorcontrol firmware"
@rm -rf vectorcontrol
@rm -rf ROMFS/px4fmu_common/uavcan
endif
unittest: posix_sitl_test
$(call cmake-build-other,unittest, ../unittests)
@(cd build_unittest && ctest -j2 --output-on-failure)
tests: posix_sitl_test unittest
test_onboard_sitl:
@HEADLESS=1 make posix_sitl_test gazebo_iris
# QGroundControl flashable firmware
qgc_firmware: \
check_px4fmu-v1_default \
check_px4fmu-v2_default \
check_mindpx-v2_default \
check_px4fmu-v4_default_and_uavcan \
check_format
extra_firmware: \
check_px4-stm32f4discovery_default \
check_px4fmu-v2_test \
check_px4fmu-v2_ekf2
package_firmware:
@zip --junk-paths Firmware.zip `find . -name \*.px4`
clean:
@rm -rf build_*/
@(cd NuttX/nuttx && make clean)
submodulesclean:
@git submodule sync --recursive
@git submodule deinit -f .
@git submodule update --init --recursive --force
distclean: submodulesclean
@git clean -ff -x -d -e ".project" -e ".cproject"
# targets handled by cmake
cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim replay \
jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_iris_opt_flow gazebo_tailsitter \
gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane gazebo_solo gazebo_typhoon_h480
$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
.PHONY: clean
CONFIGS:=$(shell ls cmake/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