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Daniel Agar authoredDaniel Agar authored
Makefile 14.56 KiB
############################################################################
#
# Copyright (c) 2015 - 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
#
# 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
# 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: posix_sitl_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
FIRST_ARG := $(firstword $(MAKECMDGOALS))
ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
j ?= 4
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 $(MAKEFILE_LIST))))
# check if replay env variable is set & set build dir accordingly
ifdef replay
BUILD_DIR_SUFFIX := _replay
else
BUILD_DIR_SUFFIX :=
endif
# NuttX verbose output
ifdef VN
export PX4_NUTTX_BUILD_VERBOSE=1
export V=1
endif
# NuttX verbose patches output
ifdef VNP
export PX4_NUTTX_PATCHES_VERBOSE=1
endif
# additional config parameters passed to cmake
CMAKE_ARGS :=
ifdef EXTERNAL_MODULES_LOCATION
CMAKE_ARGS := -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
endif
ifdef PX4_CMAKE_BUILD_TYPE
CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
endif
# Functions
# --------------------------------------------------------------------
# describe how to build a cmake config
define cmake-build
+@$(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)" -DCONFIG=$(1) $(CMAKE_ARGS) || (rm -rf $(BUILD_DIR)); fi
+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
endef
define colorecho
+@tput setaf 6
+@echo $1
+@tput sgr0
endef
# Get a list of all config targets.
ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed -e 's:^.*/::' | sort))
# Strip off leading nuttx_
NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS)))
# ADD CONFIGS HERE
# --------------------------------------------------------------------
# Do not put any spaces between function arguments.
# All targets.
$(ALL_CONFIG_TARGETS):
$(call cmake-build,$@,$(SRC_DIR))
# Abbreviated config targets.
# nuttx_ is left off by default; provide a rule to allow that.
$(NUTTX_CONFIG_TARGETS):
$(call cmake-build,nuttx_$@,$(SRC_DIR))
all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
posix: posix_sitl_default
broadcast: posix_sitl_broadcast
# Multi- config targets.
eagle_default: posix_eagle_default qurt_eagle_default
eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
excelsior_default: posix_excelsior_default qurt_excelsior_default
excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy
# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
.PHONY: all posix broadcast eagle_default eagle_legacy_default excelsior_legacy_default excelsior_default all_nuttx_targets
# Other targets
# --------------------------------------------------------------------
.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware checks_bootloaders sizes check quick_check
# QGroundControl flashable NuttX firmware
qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes
# px4fmu NuttX firmware
px4fmu_firmware: \
check_px4fmu-v1_default \
check_px4fmu-v2_default \
check_px4fmu-v3_default \
check_px4fmu-v4_default \
check_px4fmu-v4pro_default \
check_px4fmu-v5_default \
sizes
misc_qgc_extra_firmware: \
check_aerocore2_default \
check_aerofc-v1_default \
check_auav-x21_default \
check_crazyflie_default \
check_mindpx-v2_default \
check_px4fmu-v2_lpe \
check_tap-v1_default \
sizes
# Other NuttX firmware
alt_firmware: \ check_px4-stm32f4discovery_default \
check_px4cannode-v1_default \
check_px4esc-v1_default \
check_px4nucleoF767ZI-v1_default \
check_s2740vc-v1_default \
sizes
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 \
sizes
sizes:
@-find build_* -name firmware_nuttx -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
# quick_check builds a single nuttx and posix target, runs testing, and checks the style
quick_check: check_posix_sitl_default check_px4fmu-v3_default tests check_format
check_%:
@echo
$(call colorecho,"Building" $(subst check_,,$@))
@$(MAKE) --no-print-directory $(subst check_,,$@)
@echo
# Documentation
# --------------------------------------------------------------------
.PHONY: parameters_metadata airframe_metadata px4_metadata
parameters_metadata: posix_sitl_default
@python $(SRC_DIR)/Tools/px_process_params.py -s $(SRC_DIR)/src --markdown
airframe_metadata:
@python ${SRC_DIR}/Tools/px_process_airframes.py -v -a ${SRC_DIR}/ROMFS/px4fmu_common/init.d --markdown
@python ${SRC_DIR}/Tools/px_process_airframes.py -v -a ${SRC_DIR}/ROMFS/px4fmu_common/init.d --xml
px4_metadata: parameters_metadata airframe_metadata
# S3 upload helpers
# --------------------------------------------------------------------
# s3cmd uses these ENV variables
# AWS_ACCESS_KEY_ID
# AWS_SECRET_ACCESS_KEY
# AWS_S3_BUCKET
.PHONY: s3put_firmware s3put_qgc_firmware s3put_px4fmu_firmware s3put_misc_qgc_extra_firmware s3put_metadata s3put_scan-build s3put_cppcheck s3put_coverage
Firmware.zip:
@rm -rf Firmware.zip
@zip --junk-paths Firmware.zip `find . -name \*.px4`
s3put_firmware: Firmware.zip
$(SRC_DIR)/Tools/s3put.sh 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 "{}" \;
s3put_misc_qgc_extra_firmware: misc_qgc_extra_firmware
@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 parameters.md
s3put_scan-build: scan-build
@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/
# Astyle
# --------------------------------------------------------------------
.PHONY: check_format format
check_format:
$(call colorecho,"Checking formatting with astyle")
@$(SRC_DIR)/Tools/check_code_style_all.sh
@git diff --check
format:
$(call colorecho,"Formatting with astyle")
@$(SRC_DIR)/Tools/check_code_style_all.sh --fix
# Testing
# --------------------------------------------------------------------
.PHONY: run_tests_posix tests tests_coverage
run_tests_posix:
$(MAKE) --no-print-directory posix_sitl_default test_results
tests: run_tests_posix
tests_coverage:
@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
coveralls_upload:
@cpp-coveralls --include src/ \
--exclude=src/lib/DriverFramework \
--exclude=src/lib/ecl \
--exclude=src/lib/Matrix \
--exclude=src/modules/uavcan/libuavcan \
--root . --build-root build_posix_sitl_default/ --follow-symlinks
codecov_upload:
@/bin/bash -c "bash <(curl -s https://codecov.io/bash)"
# static analyzers (scan-build, clang-tidy, cppcheck)
# --------------------------------------------------------------------
.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
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 $(SRC_DIR)/build_posix_sitl_default-scan-build
clang-tidy: posix_sitl_default-clang
@cd build_posix_sitl_default-clang && run-clang-tidy-4.0.py -header-filter=".*\.hpp" -j$(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 .
# 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 .
# TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
cppcheck: posix_sitl_default
@cppcheck -i$(SRC_DIR)/src/examples --std=c++11 --std=c99 --std=posix --project=build_posix_sitl_default/compile_commands.json --xml-version=2 2> cppcheck-result.xml
@cppcheck-htmlreport --source-encoding=ascii --file=cppcheck-result.xml --report-dir=cppcheck --source-dir=$(SRC_DIR)/src/
# Cleanup
# --------------------------------------------------------------------
.PHONY: clean submodulesclean distclean
clean:
@rm -rf $(SRC_DIR)/build_*/
-@$(MAKE) --no-print-directory -C NuttX/nuttx clean
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
gazeboclean:
@rm -rf ~/.gazebo/*
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 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
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) $(NUTTX_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|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 $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done