From 102f5b54d7edb11b7913514e1edd081eb4a0d642 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 5 Aug 2016 21:29:49 +0200
Subject: [PATCH] Revert "Improvements to SITL to make paths more flexible.
(#5181)"
This reverts commit 699b6a2cb340f4b6ec3979ae7748ff9c56cfdb89.
---
CMakeLists.txt | 65 ++--
Makefile | 33 +-
Tools/sitl_gazebo | 2 +-
Tools/sitl_run.sh | 83 ++---
cmake/common/px4_base.cmake | 90 ++---
cmake/configs/nuttx_mindpx-v2_default.cmake | 2 +-
.../nuttx_px4-stm32f4discovery_default.cmake | 2 +-
cmake/configs/nuttx_px4fmu-v1_default.cmake | 2 +-
cmake/configs/nuttx_px4fmu-v2_default.cmake | 2 +-
cmake/configs/nuttx_px4fmu-v2_ekf2.cmake | 2 +-
cmake/configs/nuttx_px4fmu-v2_test.cmake | 2 +-
cmake/configs/nuttx_px4fmu-v4_default.cmake | 2 +-
cmake/configs/nuttx_tap-v1_default.cmake | 2 +-
cmake/configs/posix_bebop_default.cmake | 2 +-
cmake/configs/posix_eagle_default.cmake | 4 +-
cmake/configs/posix_eagle_hil.cmake | 4 +-
.../posix_eagle_legacy_driver_default.cmake | 4 +-
cmake/configs/posix_eagle_muorb.cmake | 4 +-
cmake/configs/posix_rpi_cross.cmake | 2 +-
cmake/configs/posix_rpi_native.cmake | 2 +-
cmake/configs/posix_sdflight_default.cmake | 4 +-
cmake/configs/posix_sitl_broadcast.cmake | 2 +-
cmake/configs/posix_sitl_default.cmake | 2 +-
cmake/configs/posix_sitl_replay.cmake | 2 +-
cmake/configs/qurt_eagle_hello.cmake | 4 +-
cmake/configs/qurt_eagle_hil.cmake | 4 +-
.../qurt_eagle_legacy_driver_default.cmake | 4 +-
cmake/configs/qurt_eagle_muorb.cmake | 4 +-
cmake/configs/qurt_eagle_test.cmake | 4 +-
cmake/configs/qurt_eagle_travis.cmake | 4 +-
cmake/configs/qurt_sdflight_default.cmake | 4 +-
cmake/nuttx/px4_impl_nuttx.cmake | 52 +--
cmake/posix/px4_impl_posix.cmake | 4 +-
cmake/qurt/px4_impl_qurt.cmake | 4 +-
cmake/ros-CMakeLists.txt | 334 ++++++++++++++++++
integrationtests/run_tests.bash | 91 ++---
integrationtests/setup_gazebo_ros.bash | 19 +-
launch/mavros_posix_sitl.launch | 13 +-
launch/mavros_posix_tests_iris.launch | 1 -
.../mavros_posix_tests_standard_vtol.launch | 2 +-
launch/posix_sitl.launch | 20 +-
posix-configs/SITL/README.md | 2 +-
posix-configs/SITL/init/rcS_gazebo_iris | 2 +-
.../SITL/init/rcS_gazebo_iris_opt_flow | 2 +-
posix-configs/SITL/init/rcS_gazebo_plane | 2 +-
posix-configs/SITL/init/rcS_gazebo_solo | 2 +-
.../SITL/init/rcS_gazebo_standard_vtol | 2 +-
posix-configs/SITL/init/rcS_gazebo_tailsitter | 2 +-
.../SITL/init/rcS_gazebo_typhoon_h480 | 2 +-
posix-configs/SITL/init/rcS_jmavsim_iris | 2 +-
posix-configs/SITL/init/rcS_lpe_gazebo_iris | 2 +-
.../SITL/init/rcS_lpe_gazebo_iris_opt_flow | 2 +-
posix-configs/SITL/init/rcS_lpe_jmavsim_iris | 2 +-
.../init/{rcS_tests_none_iris => rcS_tests} | 0
posix-configs/SITL/init/rc_iris_ros | 2 +-
src/firmware/nuttx/CMakeLists.txt | 18 +-
src/firmware/nuttx/gdbinit.in | 2 +-
src/firmware/posix/CMakeLists.txt | 88 +----
src/firmware/qurt/CMakeLists.txt | 12 +-
src/lib/rc/rc_tests/CMakeLists.txt | 1 -
src/lib/rc/rc_tests/RCTest.cpp | 4 +-
src/modules/muorb/krait/CMakeLists.txt | 4 +-
src/modules/param/CMakeLists.txt | 4 +-
src/modules/px4iofirmware/CMakeLists.txt | 6 +-
src/modules/systemlib/CMakeLists.txt | 2 +-
src/modules/uavcan/uavcan_servers.hpp | 2 +-
src/platforms/posix/main.cpp | 227 ++----------
src/platforms/posix/px4_layer/CMakeLists.txt | 4 +-
src/platforms/qurt/px4_layer/CMakeLists.txt | 2 +-
src/systemcmds/tests/test_mixer.cpp | 4 +-
src/systemcmds/topic_listener/CMakeLists.txt | 4 +-
unittests/CMakeLists.txt | 14 +-
72 files changed, 671 insertions(+), 642 deletions(-)
create mode 100644 cmake/ros-CMakeLists.txt
rename posix-configs/SITL/init/{rcS_tests_none_iris => rcS_tests} (100%)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 498b6ba7d8..9397b87c99 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -121,14 +121,6 @@
# and leads to wrong toolchain detection
cmake_minimum_required(VERSION 2.8 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 ${PX4_SOURCE_DIR}
- )
-
# Use clang
#SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
#SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
@@ -163,9 +155,6 @@ message(STATUS "${target_name}")
# 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")
@@ -174,8 +163,12 @@ if(NOT CMAKE_INSTALL_PREFIX)
endif()
message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
-message(STATUS "cmake module path: ${CMAKE_MODULE_PATH}")
+# switch to ros CMake file if building ros
+if (${OS} STREQUAL "ros")
+ include("cmake/ros-CMakeLists.txt")
+else() # otherwise use the rest of this file
+
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
set(config_module "configs/${CONFIG}")
include(${config_module})
@@ -206,9 +199,6 @@ if(DEFINED config_df_driver_list)
message("DF Drivers: ${config_df_driver_list}")
endif()
-# force static lib build
-set(BUILD_SHARED_LIBS OFF)
-
#=============================================================================
# project definition
#
@@ -229,22 +219,8 @@ set(version "${version_major}.${version_minor}.${version_patch}")
set(package-contact "px4users@googlegroups.com")
#=============================================================================
-# find programs and packages
+# programs
#
-
-# see if catkin was invoked to build this
-if (CATKIN_DEVEL_PREFIX)
- message(STATUS "catkin ENABLED")
- find_package(catkin REQUIRED)
- if (catkin_FOUND)
- catkin_package()
- else()
- message(FATAL_ERROR "catkin not found")
- endif()
-else()
- message(STATUS "catkin DISABLED")
-endif()
-
find_package(PythonInterp REQUIRED)
#=============================================================================
@@ -281,7 +257,7 @@ px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
add_custom_target(submodule_clean
- WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+ WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
COMMAND git submodule deinit -f .
COMMAND rm -rf .git/modules/*
)
@@ -291,12 +267,12 @@ add_custom_target(submodule_clean
#
add_custom_target(check_format
COMMAND Tools/check_code_style.sh
- WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+ WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
)
add_custom_target(config
COMMAND cmake-gui .
- WORKING_DIRECTORY ${PX4_BINARY_DIR}
+ WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
)
#=============================================================================
@@ -345,7 +321,7 @@ add_custom_target(xml_gen
# external projects
#
-set(ep_base ${PX4_BINARY_DIR}/external)
+set(ep_base ${CMAKE_BINARY_DIR}/external)
set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
# add external project install folders to build
@@ -374,7 +350,7 @@ foreach(module ${config_module_list})
if(external_module)
STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
- add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
+ add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
else()
add_subdirectory(src/${module})
endif()
@@ -399,7 +375,7 @@ endif()
#=============================================================================
# generate git version
#
-px4_create_git_hash_header(HEADER ${PX4_BINARY_DIR}/build_git_version.h)
+px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
#=============================================================================
# packaging
@@ -418,14 +394,17 @@ set(CPACK_GENERATOR "ZIP")
set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${version}")
set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${version}")
set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
-set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
-set(CPACK_SET_DESTDIR "OFF")
if ("${CMAKE_SYSTEM}" MATCHES "Linux")
- find_program(DPKG_PROGRAM dpkg)
- if (EXISTS ${DPKG_PROGRAM})
- list (APPEND CPACK_GENERATOR "DEB")
- endif()
+ find_program(DPKG_PROGRAM dpkg)
+ if (EXISTS ${DPKG_PROGRAM})
+ list (APPEND CPACK_GENERATOR "DEB")
+ endif()
+endif()
+if (${OS} STREQUAL "posix")
+ set(CPACK_SET_DESTDIR "ON")
endif()
include(CPack)
+endif() # ros alternative endif
+
# vim: set noet fenc=utf-8 ff=unix ft=cmake :
diff --git a/Makefile b/Makefile
index b4a02f8d8c..f80a24399c 100644
--- a/Makefile
+++ b/Makefile
@@ -111,23 +111,20 @@ else
BUILD_DIR_SUFFIX :=
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 $(BUILD_DIR) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
-+@(echo "PX4 CONFIG: $(BUILD_DIR)" && cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
++@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e ./build_$@$(BUILD_DIR_SUFFIX)/Makefile ]; then rm -rf ./build_$@$(BUILD_DIR_SUFFIX); fi
++@if [ ! -e ./build_$@$(BUILD_DIR_SUFFIX)/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p ./build_$@$(BUILD_DIR_SUFFIX) && cd ./build_$@$(BUILD_DIR_SUFFIX) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf ./build_$@$(BUILD_DIR_SUFFIX)); fi
++@Tools/check_submodules.sh
++@(echo "PX4 CONFIG: $@$(BUILD_DIR_SUFFIX)" && cd ./build_$@$(BUILD_DIR_SUFFIX) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
endef
define cmake-build-other
-+@$(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) || (cd .. && rm -rf $(BUILD_DIR)); fi
-+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
++@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e ./build_$@/Makefile ]; then rm -rf ./build_$@; fi
++@if [ ! -e ./build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p ./build_$@ && cd ./build_$@ && cmake $(2) -G$(PX4_CMAKE_GENERATOR) || (cd .. && rm -rf ./build_$@); fi
++@(cd ./build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
endef
# create empty targets to avoid msgs for targets passed to cmake
@@ -236,8 +233,14 @@ run_sitl_ros: sitl_deprecation
# Other targets
# --------------------------------------------------------------------
-.PHONY: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
-.NOTPARALLEL: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+.PHONY: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+.NOTPARALLEL: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+
+gazebo_build:
+ @mkdir -p build_gazebo
+ @if [ ! -e ./build_gazebo/CMakeCache.txt ];then cd build_gazebo && cmake -Wno-dev -G$(PX4_CMAKE_GENERATOR) ../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)
@@ -299,7 +302,11 @@ unittest: posix_sitl_default
@(cd build_unittest && ctest -j2 --output-on-failure)
run_tests_posix: posix_sitl_default
- @(cd build_posix_sitl_default/ && ctest -V)
+ @mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/fs/microsd
+ @mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/eeprom
+ @touch build_posix_sitl_default/src/firmware/posix/rootfs/eeprom/parameters
+ @(cd build_posix_sitl_default/src/firmware/posix && ./px4 -d ../../../../posix-configs/SITL/init/rcS_tests | tee test_output)
+ @(cd build_posix_sitl_default/src/firmware/posix && grep --color=always "All tests passed" test_output)
tests: check_unittest run_tests_posix
diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index 9486c331a7..00dcabb1c2 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit 9486c331a758fcadfaa314f6e9e44c36af5f243b
+Subproject commit 00dcabb1c2c001b40713903da1a4a7f71d01ef27
diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index 8dfa2a62c6..6e467c31fd 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -1,29 +1,22 @@
#!/bin/bash
-set -e
-
-echo args: $@
-
-sitl_bin=$1
-rc_script=$2
-debugger=$3
-program=$4
-model=$5
-src_path=$6
-build_path=$7
+rc_script=$1
+debugger=$2
+program=$3
+model=$4
+build_path=$5
+curr_dir=`pwd`
echo SITL ARGS
-
-echo sitl_bin: $sitl_bin
echo rc_script: $rc_script
echo debugger: $debugger
echo program: $program
echo model: $model
-echo src_path: $src_path
echo build_path: $build_path
-working_dir=`pwd`
-sitl_bin=$build_path/src/firmware/posix/px4
+mkdir -p $build_path/src/firmware/posix/rootfs/fs/microsd
+mkdir -p $build_path/src/firmware/posix/rootfs/eeprom
+touch $build_path/src/firmware/posix/rootfs/eeprom/parameters
if [ "$chroot" == "1" ]
then
@@ -42,36 +35,32 @@ fi
if [ "$#" -lt 5 ]
then
- echo usage: sitl_run.sh rc_script debugger program model devel_path
+ echo usage: sitl_run.sh rc_script debugger program model build_path
echo ""
exit 1
fi
-command_exists () {
- type "$1" &> /dev/null ;
-}
-
# kill process names that might stil
# be running from last time
-pgrep gazebo && pkill gazebo
-pgrep px4 && pkill px4
-if command_exists jps
+pkill gazebo
+pkill px4
+jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
+if [ -n "$jmavsim_pid" ]
then
- jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
- if [ -n "$jmavsim_pid" ]
- then
- kill $jmavsim_pid
- fi
+ kill $jmavsim_pid
fi
-cp $src_path/Tools/posix_lldbinit $working_dir/.lldbinit
-cp $src_path/Tools/posix.gdbinit $working_dir/.gdbinit
+set -e
+
+cd $build_path/..
+cp Tools/posix_lldbinit $build_path/src/firmware/posix/.lldbinit
+cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit
SIM_PID=0
if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
then
- cd $src_path/Tools/jMAVSim
+ cd Tools/jMAVSim
ant create_run_jar copy_res
cd out/production
java -Djava.ext.dirs= -jar jmavsim_run.jar -udp 127.0.0.1:14560 &
@@ -82,9 +71,15 @@ then
if [ -x "$(command -v gazebo)" ]
then
# Set the plugin path so Gazebo finds our model and sim
- source /usr/share/gazebo/setup.sh
- source $src_path/integrationtests/setup_gazebo_ros.bash ${src_path} ${build_path}
- gzserver --verbose worlds/${model}.world &
+ export GAZEBO_PLUGIN_PATH=$curr_dir/build_gazebo:${GAZEBO_PLUGIN_PATH}
+ # Set the model path so Gazebo finds the airframes
+ export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$curr_dir/Tools/sitl_gazebo/models
+ # The next line would disable online model lookup, can be commented in, in case of unstable behaviour.
+ # export GAZEBO_MODEL_DATABASE_URI=""
+ export SITL_GAZEBO_PATH=$curr_dir/Tools/sitl_gazebo
+ make --no-print-directory gazebo_build
+
+ gzserver --verbose $curr_dir/Tools/sitl_gazebo/worlds/${model}.world &
SIM_PID=`echo $!`
if [[ -n "$HEADLESS" ]]; then
@@ -103,17 +98,17 @@ then
# This is not a simulator, but a log file to replay
# Check if we need to creat a param file to allow user to change parameters
- if ! [ -f "$rootfs/replay_params.txt" ]
+ if ! [ -f "${build_path}/src/firmware/posix/rootfs/replay_params.txt" ]
then
- touch $rootfs/replay_params.txt
+ touch ${build_path}/src/firmware/posix/rootfs/replay_params.txt
fi
fi
-cd $working_dir
+cd $build_path/src/firmware/posix
if [ "$logfile" != "" ]
then
- cp $logfile $rootfs/replay.px4log
+ cp $logfile rootfs/replay.px4log
fi
# Do not exit on failure now from here on because we want the complete cleanup
@@ -122,18 +117,18 @@ set +e
# Start Java simulator
if [ "$debugger" == "lldb" ]
then
- lldb -- $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
+ lldb -- px4 ../../../../${rc_script}_${program}_${model}
elif [ "$debugger" == "gdb" ]
then
- gdb --args $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
+ gdb --args px4 ../../../../${rc_script}_${program}_${model}
elif [ "$debugger" == "ddd" ]
then
- ddd --debugger gdb --args px4 $src_path $src_path/${rc_script}_${program}_${model}
+ ddd --debugger gdb --args px4 ../../../../${rc_script}_${program}_${model}
elif [ "$debugger" == "valgrind" ]
then
- valgrind $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
+ valgrind ./px4 ../../../../${rc_script}_${program}_${model}
else
- $sudo_enabled $sitl_bin $chroot_enabled $src_path $src_path/${rc_script}_${program}_${model}
+ $sudo_enabled ./px4 $chroot_enabled ../../../../${rc_script}_${program}_${model}
fi
if [ "$program" == "jmavsim" ]
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 88f1e57f98..ef05520375 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -136,14 +136,14 @@ function(px4_add_git_submodule)
REQUIRED TARGET PATH
ARGN ${ARGN})
string(REPLACE "/" "_" NAME ${PATH})
- add_custom_command(OUTPUT ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
- WORKING_DIRECTORY ${PX4_SOURCE_DIR}
- COMMAND touch ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
- DEPENDS ${PX4_SOURCE_DIR}/.gitmodules
+ add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
+ WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+ COMMAND touch ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
+ DEPENDS ${CMAKE_SOURCE_DIR}/.gitmodules
)
add_custom_target(${TARGET}
- WORKING_DIRECTORY ${PX4_SOURCE_DIR}
- DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
+ WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+ DEPENDS ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
)
endfunction()
@@ -371,7 +371,7 @@ function(px4_generate_messages)
endif()
# headers
- set(msg_out_path ${PX4_BINARY_DIR}/src/modules/uORB/topics)
+ set(msg_out_path ${CMAKE_BINARY_DIR}/src/modules/uORB/topics)
set(msg_list)
foreach(msg_file ${MSG_FILES})
get_filename_component(msg ${msg_file} NAME_WE)
@@ -389,15 +389,15 @@ function(px4_generate_messages)
-d msg
-o ${msg_out_path}
-e msg/templates/uorb
- -t ${PX4_BINARY_DIR}/topics_temporary_header
+ -t ${CMAKE_BINARY_DIR}/topics_temporary_header
DEPENDS ${DEPENDS} ${MSG_FILES}
- WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+ WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
COMMENT "Generating uORB topic headers"
VERBATIM
)
# !sources
- set(msg_source_out_path ${PX4_BINARY_DIR}/topics_sources)
+ set(msg_source_out_path ${CMAKE_BINARY_DIR}/topics_sources)
set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
foreach(msg ${msg_list})
list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
@@ -410,9 +410,9 @@ function(px4_generate_messages)
-d msg
-o ${msg_source_out_path}
-e msg/templates/uorb
- -t ${PX4_BINARY_DIR}/topics_temporary_sources
+ -t ${CMAKE_BINARY_DIR}/topics_temporary_sources
DEPENDS ${DEPENDS} ${MSG_FILES}
- WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+ WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
COMMENT "Generating uORB topic sources"
VERBATIM
)
@@ -427,7 +427,7 @@ function(px4_generate_messages)
# multi messages for target OS
set(msg_multi_out_path
- ${PX4_BINARY_DIR}/src/platforms/${OS}/px4_messages)
+ ${CMAKE_BINARY_DIR}/src/platforms/${OS}/px4_messages)
set(msg_multi_files_out)
foreach(msg ${msg_list})
list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
@@ -440,10 +440,10 @@ function(px4_generate_messages)
-d msg
-o ${msg_multi_out_path}
-e msg/templates/px4/uorb
- -t ${PX4_BINARY_DIR}/multi_topics_temporary/${OS}
+ -t ${CMAKE_BINARY_DIR}/multi_topics_temporary/${OS}
-p "px4_"
DEPENDS ${DEPENDS} ${MSG_FILES}
- WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+ WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
COMMENT "Generating uORB topic multi headers for ${OS}"
VERBATIM
)
@@ -504,9 +504,9 @@ function(px4_add_upload)
px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",")
add_custom_target(${OUT}
COMMAND ${PYTHON_EXECUTABLE}
- ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
+ ${CMAKE_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
DEPENDS ${BUNDLE}
- WORKING_DIRECTORY ${PX4_BINARY_DIR}
+ WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMENT "uploading ${BUNDLE}"
VERBATIM
USES_TERMINAL
@@ -523,9 +523,9 @@ function(px4_add_adb_push)
ARGN ${ARGN})
add_custom_target(${OUT}
- COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
+ COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
DEPENDS ${DEPENDS}
- WORKING_DIRECTORY ${PX4_BINARY_DIR}
+ WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMENT "uploading ${BUNDLE}"
VERBATIM
USES_TERMINAL
@@ -541,9 +541,9 @@ function(px4_add_adb_push_to_bebop)
ARGN ${ARGN})
add_custom_target(${OUT}
- COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
+ COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
DEPENDS ${DEPENDS}
- WORKING_DIRECTORY ${PX4_BINARY_DIR}
+ WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMENT "uploading ${BUNDLE}"
VERBATIM
USES_TERMINAL
@@ -559,9 +559,9 @@ function(px4_add_scp_push)
ARGN ${ARGN})
add_custom_target(${OUT}
- COMMAND ${PX4_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
+ COMMAND ${CMAKE_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
DEPENDS ${DEPENDS}
- WORKING_DIRECTORY ${PX4_BINARY_DIR}
+ WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMENT "uploading ${BUNDLE}"
VERBATIM
USES_TERMINAL
@@ -761,21 +761,21 @@ function(px4_add_common_flags)
)
set(added_include_dirs
- ${PX4_SOURCE_DIR}/src
- ${PX4_BINARY_DIR}
- ${PX4_BINARY_DIR}/src
- ${PX4_SOURCE_DIR}/src/modules
- ${PX4_SOURCE_DIR}/src/include
- ${PX4_SOURCE_DIR}/src/lib
- ${PX4_SOURCE_DIR}/src/platforms
+ ${CMAKE_SOURCE_DIR}/src
+ ${CMAKE_BINARY_DIR}
+ ${CMAKE_BINARY_DIR}/src
+ ${CMAKE_SOURCE_DIR}/src/modules
+ ${CMAKE_SOURCE_DIR}/src/include
+ ${CMAKE_SOURCE_DIR}/src/lib
+ ${CMAKE_SOURCE_DIR}/src/platforms
# TODO Build/versioning was in Makefile,
# do we need this, how does it work with cmake
- ${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
- ${PX4_BINARY_DIR}
- ${PX4_BINARY_DIR}/src/modules/px4_messages
- ${PX4_BINARY_DIR}/src/modules
- ${PX4_SOURCE_DIR}/mavlink/include/mavlink
- ${PX4_SOURCE_DIR}/src/lib/DriverFramework/framework/include
+ ${CMAKE_SOURCE_DIR}/src/drivers/boards/${BOARD}
+ ${CMAKE_BINARY_DIR}
+ ${CMAKE_BINARY_DIR}/src/modules/px4_messages
+ ${CMAKE_BINARY_DIR}/src/modules
+ ${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
+ ${CMAKE_SOURCE_DIR}/src/lib/DriverFramework/framework/include
)
list(APPEND added_include_dirs
@@ -858,19 +858,19 @@ function(px4_create_git_hash_header)
COMMAND git describe --always --tags
OUTPUT_VARIABLE git_tag
OUTPUT_STRIP_TRAILING_WHITESPACE
- WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+ WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
)
message(STATUS "GIT_TAG = ${git_tag}")
execute_process(
COMMAND git rev-parse --verify HEAD
OUTPUT_VARIABLE git_version
OUTPUT_STRIP_TRAILING_WHITESPACE
- WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+ WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
)
#message(STATUS "GIT_VERSION = ${git_version}")
set(git_version_short)
string(SUBSTRING ${git_version} 1 16 git_version_short)
- configure_file(${PX4_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
+ configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
endfunction()
#=============================================================================
@@ -897,12 +897,12 @@ function(px4_generate_parameters_xml)
ONE_VALUE OUT BOARD
REQUIRED OUT BOARD
ARGN ${ARGN})
- set(path ${PX4_SOURCE_DIR}/src)
+ set(path ${CMAKE_SOURCE_DIR}/src)
file(GLOB_RECURSE param_src_files
- ${PX4_SOURCE_DIR}/src/*params.c
+ ${CMAKE_SOURCE_DIR}/src/*params.c
)
add_custom_command(OUTPUT ${OUT}
- COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
+ COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py
-s ${path} --board CONFIG_ARCH_${BOARD} --xml --inject-xml
DEPENDS ${param_src_files}
)
@@ -944,7 +944,7 @@ function(px4_generate_parameters_source)
set(SCOPE "")
endif()
add_custom_command(OUTPUT ${generated_files}
- COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
+ COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
DEPENDS ${XML} ${DEPS} ${SCOPE}
)
set(${OUT} ${generated_files} PARENT_SCOPE)
@@ -975,10 +975,10 @@ function(px4_generate_airframes_xml)
ONE_VALUE OUT BOARD
REQUIRED OUT BOARD
ARGN ${ARGN})
- set(process_airframes ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
+ set(process_airframes ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
add_custom_command(OUTPUT ${OUT}
COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
- -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
+ -a ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
--board CONFIG_ARCH_BOARD_${BOARD} --xml
)
set(${OUT} ${${OUT}} PARENT_SCOPE)
diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
index 32bbf050fd..41c9d32df8 100644
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -1,6 +1,6 @@
include(nuttx/px4_impl_nuttx)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_uavcan_num_ifaces 2)
diff --git a/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake b/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
index 377a90f335..c71db2fc31 100644
--- a/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
+++ b/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
@@ -1,6 +1,6 @@
include(nuttx/px4_impl_nuttx)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_module_list
#
diff --git a/cmake/configs/nuttx_px4fmu-v1_default.cmake b/cmake/configs/nuttx_px4fmu-v1_default.cmake
index 2c0a5f7315..75f8d054ed 100644
--- a/cmake/configs/nuttx_px4fmu-v1_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v1_default.cmake
@@ -1,6 +1,6 @@
include(nuttx/px4_impl_nuttx)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_module_list
#
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 13d02e6d28..c38d726702 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -1,6 +1,6 @@
include(nuttx/px4_impl_nuttx)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_uavcan_num_ifaces 2)
diff --git a/cmake/configs/nuttx_px4fmu-v2_ekf2.cmake b/cmake/configs/nuttx_px4fmu-v2_ekf2.cmake
index e500752214..f43b782045 100644
--- a/cmake/configs/nuttx_px4fmu-v2_ekf2.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_ekf2.cmake
@@ -1,6 +1,6 @@
include(nuttx/px4_impl_nuttx)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_uavcan_num_ifaces 2)
diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake
index 1839d8689d..b72c5a8190 100644
--- a/cmake/configs/nuttx_px4fmu-v2_test.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake
@@ -1,6 +1,6 @@
include(nuttx/px4_impl_nuttx)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_uavcan_num_ifaces 2)
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
index ad746ee426..866e19dc0d 100644
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -1,6 +1,6 @@
include(nuttx/px4_impl_nuttx)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_uavcan_num_ifaces 1)
diff --git a/cmake/configs/nuttx_tap-v1_default.cmake b/cmake/configs/nuttx_tap-v1_default.cmake
index 8a5b8187fb..2dad824901 100644
--- a/cmake/configs/nuttx_tap-v1_default.cmake
+++ b/cmake/configs/nuttx_tap-v1_default.cmake
@@ -1,6 +1,6 @@
include(nuttx/px4_impl_nuttx)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_module_list
#
diff --git a/cmake/configs/posix_bebop_default.cmake b/cmake/configs/posix_bebop_default.cmake
index 72e945db0f..5538ffe35a 100644
--- a/cmake/configs/posix_bebop_default.cmake
+++ b/cmake/configs/posix_bebop_default.cmake
@@ -1,6 +1,6 @@
include(posix/px4_impl_posix)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
add_definitions(
-D__PX4_POSIX_BEBOP
diff --git a/cmake/configs/posix_eagle_default.cmake b/cmake/configs/posix_eagle_default.cmake
index be81961425..3a6dd22755 100644
--- a/cmake/configs/posix_eagle_default.cmake
+++ b/cmake/configs/posix_eagle_default.cmake
@@ -4,9 +4,9 @@
# on the Linux side of the Snapdragon.
include(configs/posix_sdflight_default)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(CONFIG_SHMEM "1")
diff --git a/cmake/configs/posix_eagle_hil.cmake b/cmake/configs/posix_eagle_hil.cmake
index d38da131bd..909bdeecb1 100644
--- a/cmake/configs/posix_eagle_hil.cmake
+++ b/cmake/configs/posix_eagle_hil.cmake
@@ -1,13 +1,13 @@
include(posix/px4_impl_posix)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
# Use build stubs unless explicitly set not to
if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
set(DSPAL_STUBS_ENABLE "1")
endif()
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
set(config_generate_parameters_scope ALL)
diff --git a/cmake/configs/posix_eagle_legacy_driver_default.cmake b/cmake/configs/posix_eagle_legacy_driver_default.cmake
index 534d327f7e..ec172e7602 100644
--- a/cmake/configs/posix_eagle_legacy_driver_default.cmake
+++ b/cmake/configs/posix_eagle_legacy_driver_default.cmake
@@ -1,8 +1,8 @@
include(posix/px4_impl_posix)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(config_generate_parameters_scope ALL)
diff --git a/cmake/configs/posix_eagle_muorb.cmake b/cmake/configs/posix_eagle_muorb.cmake
index f47c421dce..95a5c59beb 100644
--- a/cmake/configs/posix_eagle_muorb.cmake
+++ b/cmake/configs/posix_eagle_muorb.cmake
@@ -1,8 +1,8 @@
include(posix/px4_impl_posix)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(config_generate_parameters_scope ALL)
diff --git a/cmake/configs/posix_rpi_cross.cmake b/cmake/configs/posix_rpi_cross.cmake
index 72896086c6..46243fc361 100644
--- a/cmake/configs/posix_rpi_cross.cmake
+++ b/cmake/configs/posix_rpi_cross.cmake
@@ -1,6 +1,6 @@
include(configs/posix_rpi_common)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
set(CMAKE_PROGRAM_PATH
"${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
diff --git a/cmake/configs/posix_rpi_native.cmake b/cmake/configs/posix_rpi_native.cmake
index b2a54c4f65..e58f370282 100644
--- a/cmake/configs/posix_rpi_native.cmake
+++ b/cmake/configs/posix_rpi_native.cmake
@@ -1,3 +1,3 @@
include(configs/posix_rpi_common)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
diff --git a/cmake/configs/posix_sdflight_default.cmake b/cmake/configs/posix_sdflight_default.cmake
index fc66327184..c43e51974c 100644
--- a/cmake/configs/posix_sdflight_default.cmake
+++ b/cmake/configs/posix_sdflight_default.cmake
@@ -1,8 +1,8 @@
include(posix/px4_impl_posix)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(config_generate_parameters_scope ALL)
diff --git a/cmake/configs/posix_sitl_broadcast.cmake b/cmake/configs/posix_sitl_broadcast.cmake
index 0c7bf4b0a2..9a9029f1c0 100644
--- a/cmake/configs/posix_sitl_broadcast.cmake
+++ b/cmake/configs/posix_sitl_broadcast.cmake
@@ -1,6 +1,6 @@
include(posix/px4_impl_posix)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
drivers/device
diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index 62caa65e72..6fa6d9c0b7 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -1,6 +1,6 @@
include(posix/px4_impl_posix)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
drivers/boards/sitl
diff --git a/cmake/configs/posix_sitl_replay.cmake b/cmake/configs/posix_sitl_replay.cmake
index a20a2d8cfe..3c99cba7a7 100644
--- a/cmake/configs/posix_sitl_replay.cmake
+++ b/cmake/configs/posix_sitl_replay.cmake
@@ -1,6 +1,6 @@
include(posix/px4_impl_posix)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
drivers/device
diff --git a/cmake/configs/qurt_eagle_hello.cmake b/cmake/configs/qurt_eagle_hello.cmake
index db16c17d2a..e1a66ea827 100644
--- a/cmake/configs/qurt_eagle_hello.cmake
+++ b/cmake/configs/qurt_eagle_hello.cmake
@@ -6,9 +6,9 @@ else()
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
endif()
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(config_generate_parameters_scope ALL)
diff --git a/cmake/configs/qurt_eagle_hil.cmake b/cmake/configs/qurt_eagle_hil.cmake
index 9eba5dea83..469432818f 100644
--- a/cmake/configs/qurt_eagle_hil.cmake
+++ b/cmake/configs/qurt_eagle_hil.cmake
@@ -6,9 +6,9 @@ else()
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
endif()
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(config_generate_parameters_scope ALL)
diff --git a/cmake/configs/qurt_eagle_legacy_driver_default.cmake b/cmake/configs/qurt_eagle_legacy_driver_default.cmake
index 852fe55b1f..f0fdb2dee5 100644
--- a/cmake/configs/qurt_eagle_legacy_driver_default.cmake
+++ b/cmake/configs/qurt_eagle_legacy_driver_default.cmake
@@ -10,9 +10,9 @@ set(CONFIG_SHMEM "1")
set(config_generate_parameters_scope ALL)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
add_definitions(
-D__USING_SNAPDRAGON_LEGACY_DRIVER
diff --git a/cmake/configs/qurt_eagle_muorb.cmake b/cmake/configs/qurt_eagle_muorb.cmake
index 2af8ebdfb2..505ffd00cd 100644
--- a/cmake/configs/qurt_eagle_muorb.cmake
+++ b/cmake/configs/qurt_eagle_muorb.cmake
@@ -6,9 +6,9 @@ else()
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
endif()
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(config_generate_parameters_scope ALL)
diff --git a/cmake/configs/qurt_eagle_test.cmake b/cmake/configs/qurt_eagle_test.cmake
index 9131478577..9170b3da47 100644
--- a/cmake/configs/qurt_eagle_test.cmake
+++ b/cmake/configs/qurt_eagle_test.cmake
@@ -6,8 +6,8 @@ else()
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
endif()
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(config_generate_parameters_scope ALL)
diff --git a/cmake/configs/qurt_eagle_travis.cmake b/cmake/configs/qurt_eagle_travis.cmake
index 505635b8bd..16aa788edc 100644
--- a/cmake/configs/qurt_eagle_travis.cmake
+++ b/cmake/configs/qurt_eagle_travis.cmake
@@ -5,9 +5,9 @@ set(CONFIG_SHMEM "1")
# Run a full link with build stubs to make sure qurt target isn't broken
set(QURT_ENABLE_STUBS "1")
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
include(hexagon_sdk)
if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
diff --git a/cmake/configs/qurt_sdflight_default.cmake b/cmake/configs/qurt_sdflight_default.cmake
index 1d30699014..195219f7af 100644
--- a/cmake/configs/qurt_sdflight_default.cmake
+++ b/cmake/configs/qurt_sdflight_default.cmake
@@ -10,9 +10,9 @@ set(CONFIG_SHMEM "1")
set(config_generate_parameters_scope ALL)
-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(config_module_list
#
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index 9a54b6277e..c969263be1 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -95,9 +95,9 @@ function(px4_nuttx_add_firmware)
add_custom_command(OUTPUT ${OUT}
COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
- COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
- --prototype ${PX4_SOURCE_DIR}/Images/${BOARD}.prototype
- --git_identity ${PX4_SOURCE_DIR}
+ COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py
+ --prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype
+ --git_identity ${CMAKE_SOURCE_DIR}
${extra_args}
--image ${EXE}.bin > ${OUT}
DEPENDS ${EXE}
@@ -148,7 +148,7 @@ function(px4_nuttx_generate_builtin_commands)
math(EXPR command_count "${command_count}+1")
endif()
endforeach()
- configure_file(${PX4_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
+ configure_file(${CMAKE_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
${OUT})
endfunction()
@@ -183,17 +183,17 @@ function(px4_nuttx_add_export)
REQUIRED OUT CONFIG THREADS
ARGN ${ARGN})
- set(nuttx_src ${PX4_BINARY_DIR}/${CONFIG}/NuttX)
+ set(nuttx_src ${CMAKE_BINARY_DIR}/${CONFIG}/NuttX)
# patch
add_custom_target(__nuttx_patch_${CONFIG})
- file(GLOB nuttx_patches RELATIVE ${PX4_SOURCE_DIR}
- ${PX4_SOURCE_DIR}/nuttx-patches/*.patch)
+ file(GLOB nuttx_patches RELATIVE ${CMAKE_SOURCE_DIR}
+ ${CMAKE_SOURCE_DIR}/nuttx-patches/*.patch)
foreach(patch ${nuttx_patches})
string(REPLACE "/" "_" patch_name "${patch}-${CONFIG}")
message(STATUS "nuttx-patch: ${patch}")
add_custom_command(OUTPUT nuttx_patch_${patch_name}.stamp
- COMMAND ${PATCH} -p0 -N < ${PX4_SOURCE_DIR}/${patch}
+ COMMAND ${PATCH} -p0 -N < ${CMAKE_SOURCE_DIR}/${patch}
COMMAND ${TOUCH} nuttx_patch_${patch_name}.stamp
DEPENDS ${DEPENDS}
)
@@ -204,7 +204,7 @@ function(px4_nuttx_add_export)
# Read defconfig to see if CONFIG_ARMV7M_STACKCHECK is yes
# note: CONFIG will be BOARD in the future evaluation of ${hw_stack_check_${CONFIG}
- file(STRINGS "${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig"
+ file(STRINGS "${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig"
hw_stack_check_${CONFIG}
REGEX "CONFIG_ARMV7M_STACKCHECK=y"
)
@@ -213,29 +213,29 @@ function(px4_nuttx_add_export)
endif()
# copy and export
- file(RELATIVE_PATH nuttx_cp_src ${PX4_BINARY_DIR} ${PX4_SOURCE_DIR}/NuttX)
- file(GLOB_RECURSE config_files ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
- add_custom_command(OUTPUT ${PX4_BINARY_DIR}/${CONFIG}.export
+ file(RELATIVE_PATH nuttx_cp_src ${CMAKE_BINARY_DIR} ${CMAKE_SOURCE_DIR}/NuttX)
+ file(GLOB_RECURSE config_files ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
+ add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/${CONFIG}.export
COMMAND ${MKDIR} -p ${nuttx_src}
COMMAND rsync -a --delete --exclude=.git ${nuttx_cp_src}/ ${CONFIG}/NuttX/
#COMMAND ${ECHO} Configuring NuttX for ${CONFIG}
COMMAND ${MAKE} --no-print-directory -C${nuttx_src}/nuttx -r --quiet distclean
- COMMAND ${CP} -r ${PX4_SOURCE_DIR}/nuttx-configs/PX4_Warnings.mk ${nuttx_src}/nuttx/
- COMMAND ${CP} -r ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
+ COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/PX4_Warnings.mk ${nuttx_src}/nuttx/
+ COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
COMMAND cd ${nuttx_src}/nuttx/tools && ./configure.sh ${CONFIG}/nsh && cd ..
#COMMAND ${ECHO} Exporting NuttX for ${CONFIG}
COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -j${THREADS} -r CONFIG_ARCH_BOARD=${CONFIG} export > nuttx_build.log
- COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${PX4_BINARY_DIR}/${CONFIG}.export
+ COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${CMAKE_BINARY_DIR}/${CONFIG}.export
DEPENDS ${config_files} ${DEPENDS}
- WORKING_DIRECTORY ${PX4_BINARY_DIR}
+ WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMENT "Building NuttX for ${CONFIG}")
# extract
add_custom_command(OUTPUT nuttx_export_${CONFIG}.stamp
COMMAND ${RM} -rf ${nuttx_src}/nuttx-export
- COMMAND ${UNZIP} -q ${PX4_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
+ COMMAND ${UNZIP} -q ${CMAKE_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
COMMAND ${TOUCH} nuttx_export_${CONFIG}.stamp
- DEPENDS ${DEPENDS} ${PX4_BINARY_DIR}/${CONFIG}.export)
+ DEPENDS ${DEPENDS} ${CMAKE_BINARY_DIR}/${CONFIG}.export)
add_custom_target(${OUT}
DEPENDS nuttx_export_${CONFIG}.stamp)
@@ -308,16 +308,16 @@ function(px4_nuttx_add_romfs)
REQUIRED OUT ROOT
ARGN ${ARGN})
- set(romfs_temp_dir ${PX4_BINARY_DIR}/tmp/${ROOT})
- set(romfs_src_dir ${PX4_SOURCE_DIR}/${ROOT})
- set(romfs_autostart ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
- set(romfs_pruner ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py)
- set(bin_to_obj ${PX4_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
+ set(romfs_temp_dir ${CMAKE_BINARY_DIR}/tmp/${ROOT})
+ set(romfs_src_dir ${CMAKE_SOURCE_DIR}/${ROOT})
+ set(romfs_autostart ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
+ set(romfs_pruner ${CMAKE_SOURCE_DIR}/Tools/px_romfs_pruner.py)
+ set(bin_to_obj ${CMAKE_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
set(extras_dir ${CMAKE_CURRENT_BINARY_DIR}/extras)
file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*)
- set(cmake_test ${PX4_SOURCE_DIR}/cmake/test/cmake_tester.py)
+ set(cmake_test ${CMAKE_SOURCE_DIR}/cmake/test/cmake_tester.py)
set(extras)
@@ -346,7 +346,7 @@ function(px4_nuttx_add_romfs)
#COMMAND cmake -E remove_directory ${romfs_temp_dir}
COMMAND ${PYTHON_EXECUTABLE} ${bin_to_obj}
--ld ${LD} --c_flags ${CMAKE_C_FLAGS}
- --include_path "${PX4_SOURCE_DIR}/src/include"
+ --include_path "${CMAKE_SOURCE_DIR}/src/include"
--c_compiler ${CMAKE_C_COMPILER}
--nm ${NM} --objcopy ${OBJCOPY}
--obj romfs.o
@@ -414,7 +414,7 @@ function(px4_os_add_flags)
LINK_DIRS ${LINK_DIRS}
DEFINITIONS ${DEFINITIONS})
- set(nuttx_export_dir ${PX4_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
+ set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
set(added_include_dirs
${nuttx_export_dir}/include
${nuttx_export_dir}/include/cxx
diff --git a/cmake/posix/px4_impl_posix.cmake b/cmake/posix/px4_impl_posix.cmake
index 7786097c4c..d661bfa5eb 100644
--- a/cmake/posix/px4_impl_posix.cmake
+++ b/cmake/posix/px4_impl_posix.cmake
@@ -49,7 +49,7 @@
#
include(common/px4_base)
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/posix)
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/posix)
#=============================================================================
#
@@ -101,7 +101,7 @@ function(px4_posix_generate_builtin_commands)
math(EXPR command_count "${command_count}+1")
endif()
endforeach()
- configure_file(${PX4_SOURCE_DIR}/cmake/posix/apps.h_in
+ configure_file(${CMAKE_SOURCE_DIR}/cmake/posix/apps.h_in
${OUT})
endfunction()
diff --git a/cmake/qurt/px4_impl_qurt.cmake b/cmake/qurt/px4_impl_qurt.cmake
index f5387c515e..efb1135d7b 100644
--- a/cmake/qurt/px4_impl_qurt.cmake
+++ b/cmake/qurt/px4_impl_qurt.cmake
@@ -50,7 +50,7 @@
#
include(common/px4_base)
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/qurt)
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)
#=============================================================================
#
@@ -95,7 +95,7 @@ function(px4_qurt_generate_builtin_commands)
math(EXPR command_count "${command_count}+1")
endif()
endforeach()
- configure_file(${PX4_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
+ configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
endfunction()
#=============================================================================
diff --git a/cmake/ros-CMakeLists.txt b/cmake/ros-CMakeLists.txt
new file mode 100644
index 0000000000..67870b1e2c
--- /dev/null
+++ b/cmake/ros-CMakeLists.txt
@@ -0,0 +1,334 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(px4)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+add_definitions(-D__PX4_ROS)
+add_definitions(-D__EXPORT=)
+add_definitions(-DMAVLINK_DIALECT=common)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ rospy
+ std_msgs
+ geometry_msgs
+ message_generation
+ cmake_modules
+ gazebo_msgs
+ sensor_msgs
+ mav_msgs
+ libmavconn
+ tf
+)
+find_package(Eigen REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependencies might have been
+## pulled in transitively but can be declared for certainty nonetheless:
+## * add a build_depend tag for "message_generation"
+## * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+ FILES
+ actuator_armed.msg
+ actuator_controls.msg
+ commander_state.msg
+ control_state.msg
+ distance_sensor.msg
+ manual_control_setpoint.msg
+ mc_virtual_rates_setpoint.msg
+ offboard_control_mode.msg
+ parameter_update.msg
+ position_setpoint.msg
+ position_setpoint_triplet.msg
+ rc_channels.msg
+ ros/actuator_controls_0.msg
+ ros/actuator_controls_virtual_mc.msg
+ vehicle_attitude.msg
+ vehicle_attitude_setpoint.msg
+ vehicle_control_mode.msg
+ vehicle_force_setpoint.msg
+ vehicle_global_velocity_setpoint.msg
+ vehicle_local_position.msg
+ vehicle_local_position_setpoint.msg
+ vehicle_rates_setpoint.msg
+ vehicle_status.msg
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+ DEPENDENCIES
+ std_msgs
+ gazebo_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+ INCLUDE_DIRS src/include
+ LIBRARIES px4
+ CATKIN_DEPENDS message_runtime roscpp rospy std_msgs libmavconn
+ DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+ ${catkin_INCLUDE_DIRS}
+ src/platforms
+ src/platforms/ros/px4_messages
+ src/include
+ src/modules
+ ${CMAKE_BINARY_DIR}/src/modules
+ src/
+ src/lib
+ src/lib/matrix
+ ${EIGEN_INCLUDE_DIRS}
+ integrationtests
+)
+
+## generate multiplatform wrapper headers
+## note that the message header files are generated as in any ROS project with generate_messages()
+set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
+set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
+set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
+set(MULTIPLATFORM_PREFIX px4_)
+add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_files.py
+ --headers -d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
+ -t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
+
+## Declare a cpp library
+add_library(px4
+ src/platforms/ros/px4_ros_impl.cpp
+ src/platforms/ros/perf_counter.cpp
+ src/platforms/ros/geo.cpp
+ src/lib/mathlib/math/Limits.cpp
+ src/modules/systemlib/circuit_breaker.cpp
+)
+add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
+
+target_link_libraries(px4
+ ${catkin_LIBRARIES}
+)
+
+## Declare a test publisher
+add_executable(publisher
+ src/examples/publisher/publisher_main.cpp
+ src/examples/publisher/publisher_example.cpp)
+add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
+target_link_libraries(publisher
+ ${catkin_LIBRARIES}
+ px4
+)
+
+## Declare a test subscriber
+add_executable(subscriber
+ src/examples/subscriber/subscriber_main.cpp
+ src/examples/subscriber/subscriber_example.cpp)
+add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
+target_link_libraries(subscriber
+ ${catkin_LIBRARIES}
+ px4
+)
+
+## MC Attitude Control
+add_executable(mc_att_control
+ src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
+ src/modules/mc_att_control_multiplatform/mc_att_control.cpp
+ src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
+add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mc_att_control
+ ${catkin_LIBRARIES}
+ px4
+)
+
+## MC Position Control
+add_executable(mc_pos_control
+ src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
+ src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp)
+add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mc_pos_control
+ ${catkin_LIBRARIES}
+ px4
+)
+
+## Attitude Estimator dummy
+add_executable(attitude_estimator
+ src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
+add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(attitude_estimator
+ ${catkin_LIBRARIES}
+ px4
+)
+
+## Position Estimator dummy
+add_executable(position_estimator
+ src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
+add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(position_estimator
+ ${catkin_LIBRARIES}
+ px4
+)
+
+## Manual input
+add_executable(manual_input
+ src/platforms/ros/nodes/manual_input/manual_input.cpp)
+add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(manual_input
+ ${catkin_LIBRARIES}
+ px4
+)
+
+## Multicopter Mixer dummy
+add_executable(mc_mixer
+ src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp)
+add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mc_mixer
+ ${catkin_LIBRARIES}
+ px4
+)
+
+## Commander dummy
+add_executable(commander
+ src/platforms/ros/nodes/commander/commander.cpp)
+add_dependencies(commander ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(commander
+ ${catkin_LIBRARIES}
+ px4
+)
+
+## Mavlink dummy
+add_executable(mavlink
+ src/platforms/ros/nodes/mavlink/mavlink.cpp)
+add_dependencies(mavlink ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mavlink
+ ${catkin_LIBRARIES}
+ px4
+)
+
+## Offboard Position Setpoint Demo
+add_executable(demo_offboard_position_setpoints
+ src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp)
+add_dependencies(demo_offboard_position_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(demo_offboard_position_setpoints
+ ${catkin_LIBRARIES}
+ px4
+)
+
+## Offboard Attitude Setpoint Demo
+add_executable(demo_offboard_attitude_setpoints
+ src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp)
+add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(demo_offboard_attitude_setpoints
+ ${catkin_LIBRARIES}
+ px4
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS ${PROJECT_NAME}
+ ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+
+## Tests on multiplatform SITL (deprecated) have been moved to POSIX SITL
+#if(CATKIN_ENABLE_TESTING)
+# find_package(rostest REQUIRED)
+# add_rostest(integrationtests/demo_tests/direct_tests.launch)
+# add_rostest(integrationtests/demo_tests/mavros_tests.launch)
+#endif()
diff --git a/integrationtests/run_tests.bash b/integrationtests/run_tests.bash
index 61569a1a73..2a3a4c2a0d 100755
--- a/integrationtests/run_tests.bash
+++ b/integrationtests/run_tests.bash
@@ -5,27 +5,26 @@
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
set -e
-# handle cleaning command
-do_clean=true
-if [ "$1" = "-o" ]
+if [ "$#" -lt 1 ]
then
- echo not cleaning
- do_clean=false
+ echo usage: run_tests.bash firmware_src_dir
+ echo ""
+ exit 1
fi
-# determine the directory of the source given the directory of this script
-pushd `dirname $0` > /dev/null
-SCRIPTPATH=`pwd`
-popd > /dev/null
-ORIG_SRC=$(dirname $SCRIPTPATH)
-
-# set paths
-JOB_DIR=$(dirname $ORIG_SRC)
-CATKIN_DIR=$JOB_DIR/catkin
-BUILD_DIR=$CATKIN_DIR/build/px4
-SRC_DIR=${CATKIN_DIR}/src/px4
+SRC_DIR=$1
+JOB_DIR=$SRC_DIR/..
+BUILD=posix_sitl_default
+# TODO
+ROS_TEST_RESULT_DIR=/root/.ros/test_results/px4
+ROS_LOG_DIR=/root/.ros/log
+PX4_LOG_DIR=${SRC_DIR}/build_${BUILD}/src/firmware/posix/rootfs/fs/microsd/log
+TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
+# BAGS=/root/.ros
+# CHARTS=/root/.ros/charts
+# EXPORT_CHARTS=/sitl/testing/export_charts.py
-echo setting up ROS paths
+# source ROS env
if [ -f /opt/ros/indigo/setup.bash ]
then
source /opt/ros/indigo/setup.bash
@@ -36,57 +35,26 @@ else
echo "could not find /opt/ros/{ros-distro}/setup.bash"
exit 1
fi
-export ROS_HOME=$JOB_DIR/.ros
-export ROS_LOG_DIR=$ROS_HOME/log
-export ROS_TEST_RESULT_DIR=$ROS_HOME/test_results/px4
-
-PX4_LOG_DIR=$ROS_HOME/rootfs/fs/microsd/log
-TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
-
-# TODO
-# BAGS=$ROS_HOME
-# CHARTS=$ROS_HOME/charts
-# EXPORT_CHARTS=/sitl/testing/export_charts.py
+source $SRC_DIR/integrationtests/setup_gazebo_ros.bash $SRC_DIR
-echo setting up gazebo paths
-source /usr/share/gazebo/setup.sh
-source $SCRIPTPATH/setup_gazebo_ros.bash ${SRC_DIR} ${BUILD_DIR}
+echo "deleting previous test results ($TEST_RESULT_TARGET_DIR)"
+if [ -d ${TEST_RESULT_TARGET_DIR} ]; then
+ rm -r ${TEST_RESULT_TARGET_DIR}
+fi
-if $do_clean
-then
- echo cleaning
- rm -rf $CATKIN_DIR
- rm -rf $ROS_HOME
- rm -rf $TEST_RESULT_TARGET_DIR
-else
- echo skipping clean step
+# FIXME: Firmware compilation seems to CD into this directory (/root/Firmware)
+# when run from "run_container.bash". Why?
+if [ -d /root/Firmware ]; then
+ rm /root/Firmware
fi
+ln -s ${SRC_DIR} /root/Firmware
echo "=====> compile ($SRC_DIR)"
-mkdir -p $ROS_HOME
-mkdir -p $CATKIN_DIR/src
-mkdir -p $TEST_RESULT_TARGET_DIR
-if ! [ -d $SRC_DIR ]
-then
- ln -s $ORIG_SRC $SRC_DIR
- ln -s $ORIG_SRC/Tools/sitl_gazebo ${CATKIN_DIR}/src/mavlink_sitl_gazebo
-fi
-cd $CATKIN_DIR
-catkin_make
-. ./devel/setup.bash
+cd $SRC_DIR
+make ${BUILD}
+make --no-print-directory gazebo_build
echo "<====="
-# print paths to user
-echo -e "JOB_DIR\t\t: $JOB_DIR"
-echo -e "ROS_HOME\t: $ROS_HOME"
-echo -e "CATKIN_DIR\t: $CATKIN_DIR"
-echo -e "BUILD_DIR\t: $BUILD_DIR"
-echo -e "SRC_DIR\t\t: $SRC_DIR"
-echo -e "ROS_TEST_RESULT_DIR\t: $ROS_TEST_RESULT_DIR"
-echo -e "ROS_LOG_DIR\t\t: $ROS_LOG_DIR"
-echo -e "PX4_LOG_DIR\t\t: $PX4_LOG_DIR"
-echo -e "TEST_RESULT_TARGET_DIR\t: $TEST_RESULT_TARGET_DIR"
-
# don't exit on error anymore from here on (because single tests or exports might fail)
set +e
echo "=====> run tests"
@@ -105,6 +73,7 @@ echo "=====> process test results"
# done
echo "copy build test results to job directory"
+mkdir -p ${TEST_RESULT_TARGET_DIR}
cp -r $ROS_TEST_RESULT_DIR/* ${TEST_RESULT_TARGET_DIR}
cp -r $ROS_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
cp -r $PX4_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
diff --git a/integrationtests/setup_gazebo_ros.bash b/integrationtests/setup_gazebo_ros.bash
index 8cc4a5c58b..6c22bbe192 100755
--- a/integrationtests/setup_gazebo_ros.bash
+++ b/integrationtests/setup_gazebo_ros.bash
@@ -4,24 +4,19 @@
#
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-if [ "$#" != 2 ]
+if [ "$#" -lt 1 ]
then
- echo usage: source setup_gazebo_ros.bash src_dir build_dir
+ echo usage: source setup_gazebo_ros.bash firmware_src_dir
echo ""
return 1
fi
SRC_DIR=$1
-BUILD_DIR=$2
# setup Gazebo env and update package path
-export GAZEBO_RESOURCE_PATH=${SRC_DIR}/Tools/sitl_gazebo:${GAZEBO_RESOURCE_PATH}
-export GAZEBO_MODEL_PATH=${SRC_DIR}/Tools/sitl_gazebo/models:${GAZEBO_MODEL_PATH}
-export GAZEBO_PLUGIN_PATH=${BUILD_DIR}/build_gazebo:${GAZEBO_PLUGIN_PATH}
-export LD_LIBRARY_PATH=${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/:${BUILD_DIR}/build_gazebo:${LD_LIBRARY_PATH}:
+export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/models
+export GAZEBO_PLUGIN_PATH=${SRC_DIR}/build_gazebo:${GAZEBO_PLUGIN_PATH}
+export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/
+export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:${SRC_DIR}
export GAZEBO_MODEL_DATABASE_URI=""
-
-echo -e "GAZEBO_RESOURCE_PATH $GAZEBO_RESOURCE_PATH"
-echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"
-echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
-echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"
+export SITL_GAZEBO_PATH=$SRC_DIR/Tools/sitl_gazebo
diff --git a/launch/mavros_posix_sitl.launch b/launch/mavros_posix_sitl.launch
index 29793e10f8..558f3bbadb 100644
--- a/launch/mavros_posix_sitl.launch
+++ b/launch/mavros_posix_sitl.launch
@@ -1,25 +1,18 @@
<launch>
-
<!-- MAVROS posix SITL environment launch script -->
- <arg name="vehicle" default="iris"/>
- <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
- <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
- <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/rcS_gazebo_$(arg vehicle)"/>
-
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="ns" default="/"/>
+ <arg name="world" default="iris"/>
<arg name="build" default="posix_sitl_default"/>
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
<include file="$(find px4)/launch/posix_sitl.launch">
- <arg name="world" value="$(arg world)"/>
- <arg name="vehicle" value="$(arg vehicle)"/>
- <arg name="rcS" value="$(arg rcS)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="ns" value="$(arg ns)"/>
+ <arg name="world" value="$(arg world)"/>
<arg name="build" value="$(arg build)"/>
</include>
@@ -29,5 +22,3 @@
<arg name="fcu_url" value="$(arg fcu_url)"/>
</include>
</launch>
-
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
diff --git a/launch/mavros_posix_tests_iris.launch b/launch/mavros_posix_tests_iris.launch
index 8112f6f1f6..235acda6f2 100644
--- a/launch/mavros_posix_tests_iris.launch
+++ b/launch/mavros_posix_tests_iris.launch
@@ -9,7 +9,6 @@
<arg name="ns" value="$(arg ns)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
- <arg name="vehicle" value="iris"/>
</include>
<group ns="$(arg ns)">
diff --git a/launch/mavros_posix_tests_standard_vtol.launch b/launch/mavros_posix_tests_standard_vtol.launch
index b20f4801c4..d5aa9e285e 100644
--- a/launch/mavros_posix_tests_standard_vtol.launch
+++ b/launch/mavros_posix_tests_standard_vtol.launch
@@ -9,7 +9,7 @@
<arg name="ns" value="$(arg ns)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
- <arg name="vehicle" value="standard_vtol"/>
+ <arg name="world" value="standard_vtol"/>
</include>
<group ns="$(arg ns)">
diff --git a/launch/posix_sitl.launch b/launch/posix_sitl.launch
index 6c2d2da649..9895ee9d43 100644
--- a/launch/posix_sitl.launch
+++ b/launch/posix_sitl.launch
@@ -1,31 +1,19 @@
<launch>
-
<!-- Posix SITL environment launch script -->
- <arg name="vehicle" default="iris"/>
- <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
- <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
- <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/rcS_gazebo_$(arg vehicle)"/>
-
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="ns" default="/"/>
+ <arg name="world" default="iris"/>
<arg name="build" default="posix_sitl_default"/>
- <node name="sitl" pkg="px4" type="px4" output="screen"
- args="$(find px4) $(arg rcS)">
+ <node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo $(arg world) $(find px4)/build_$(arg build)">
+ <env name="no_sim" value="1" />
</node>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
- <arg name="world_name" value="$(arg world)" />
+ <arg name="world_name" value="$(find px4)/Tools/sitl_gazebo/worlds/$(arg world).world" />
</include>
-
- <node name="$(anon vehicle_spawn)" output="screen" pkg="gazebo_ros" type="spawn_model"
- args="-sdf -file $(arg sdf) -model $(arg vehicle)"/>
-
-
</launch>
-
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
diff --git a/posix-configs/SITL/README.md b/posix-configs/SITL/README.md
index a98a6515fa..2588c4b09b 100644
--- a/posix-configs/SITL/README.md
+++ b/posix-configs/SITL/README.md
@@ -105,5 +105,5 @@ param set RC_MAP_POSCTL_SW 7
param set RC_MAP_RETURN_SW 8
param set MC_PITCHRATE_P 0.05
param set MC_ROLLRATE_P 0.05
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
```
diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris
index 6b93b86c2e..d985929601 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_gazebo_iris
@@ -60,7 +60,7 @@ navigator start
ekf2 start
mc_pos_control start
mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
diff --git a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
index 44060e1b52..2be4900b81 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
+++ b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
@@ -59,7 +59,7 @@ attitude_estimator_q start
position_estimator_inav start
mc_pos_control start
mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
diff --git a/posix-configs/SITL/init/rcS_gazebo_plane b/posix-configs/SITL/init/rcS_gazebo_plane
index bc837d2acd..b4f40ce2dd 100644
--- a/posix-configs/SITL/init/rcS_gazebo_plane
+++ b/posix-configs/SITL/init/rcS_gazebo_plane
@@ -47,7 +47,7 @@ ekf2 start
fw_pos_control_l1 start
fw_att_control start
land_detector start fixedwing
-mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/plane_sitl.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
diff --git a/posix-configs/SITL/init/rcS_gazebo_solo b/posix-configs/SITL/init/rcS_gazebo_solo
index 8701609064..008261b6ec 100644
--- a/posix-configs/SITL/init/rcS_gazebo_solo
+++ b/posix-configs/SITL/init/rcS_gazebo_solo
@@ -57,7 +57,7 @@ navigator start
ekf2 start
mc_pos_control start
mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
diff --git a/posix-configs/SITL/init/rcS_gazebo_standard_vtol b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
index d90ddfa891..a1f448bb58 100644
--- a/posix-configs/SITL/init/rcS_gazebo_standard_vtol
+++ b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
@@ -69,7 +69,7 @@ mc_pos_control start
mc_att_control start
fw_pos_control_l1 start
fw_att_control start
-mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
diff --git a/posix-configs/SITL/init/rcS_gazebo_tailsitter b/posix-configs/SITL/init/rcS_gazebo_tailsitter
index 04d3a2b2f2..2ba72c5b8c 100644
--- a/posix-configs/SITL/init/rcS_gazebo_tailsitter
+++ b/posix-configs/SITL/init/rcS_gazebo_tailsitter
@@ -60,7 +60,7 @@ mc_pos_control start
mc_att_control start
fw_pos_control_l1 start
fw_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
diff --git a/posix-configs/SITL/init/rcS_gazebo_typhoon_h480 b/posix-configs/SITL/init/rcS_gazebo_typhoon_h480
index 8713c62f74..87c620c750 100644
--- a/posix-configs/SITL/init/rcS_gazebo_typhoon_h480
+++ b/posix-configs/SITL/init/rcS_gazebo_typhoon_h480
@@ -59,7 +59,7 @@ navigator start
ekf2 start
mc_pos_control start
mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/hexa_x.main.mix
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
diff --git a/posix-configs/SITL/init/rcS_jmavsim_iris b/posix-configs/SITL/init/rcS_jmavsim_iris
index 64cf0a19a1..26db22d8f0 100644
--- a/posix-configs/SITL/init/rcS_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_jmavsim_iris
@@ -61,7 +61,7 @@ navigator start
ekf2 start
mc_pos_control start
mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
diff --git a/posix-configs/SITL/init/rcS_lpe_gazebo_iris b/posix-configs/SITL/init/rcS_lpe_gazebo_iris
index 59b11d1c5e..9c84018e98 100644
--- a/posix-configs/SITL/init/rcS_lpe_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_lpe_gazebo_iris
@@ -60,7 +60,7 @@ attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_w.main.mix
mavlink start -u 14556 -r 4000000
mavlink start -u 14557 -r 4000000 -m onboard -o 14540
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
diff --git a/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow b/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
index 759831595a..c1a6a2eae5 100644
--- a/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
+++ b/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
@@ -69,7 +69,7 @@ attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_w.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
diff --git a/posix-configs/SITL/init/rcS_lpe_jmavsim_iris b/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
index 286cb13f9c..106d032275 100644
--- a/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
@@ -61,7 +61,7 @@ attitude_estimator_q start
local_position_estimator start
mc_pos_control start
mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink start -u 14556 -r 2000000
mavlink start -u 14557 -r 2000000 -m onboard -o 14540
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
diff --git a/posix-configs/SITL/init/rcS_tests_none_iris b/posix-configs/SITL/init/rcS_tests
similarity index 100%
rename from posix-configs/SITL/init/rcS_tests_none_iris
rename to posix-configs/SITL/init/rcS_tests
diff --git a/posix-configs/SITL/init/rc_iris_ros b/posix-configs/SITL/init/rc_iris_ros
index 2aa41cdbc8..ca1cf0961e 100644
--- a/posix-configs/SITL/init/rc_iris_ros
+++ b/posix-configs/SITL/init/rc_iris_ros
@@ -60,7 +60,7 @@ attitude_estimator_q start
position_estimator_inav start
mc_pos_control_m start
mc_att_control_m start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
mavlink start -u 14556 -r 2000000
mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
diff --git a/src/firmware/nuttx/CMakeLists.txt b/src/firmware/nuttx/CMakeLists.txt
index 4d27d2758b..53988b43cf 100644
--- a/src/firmware/nuttx/CMakeLists.txt
+++ b/src/firmware/nuttx/CMakeLists.txt
@@ -10,7 +10,7 @@ add_executable(firmware_nuttx
builtin_commands.c)
-set(nuttx_export_dir ${PX4_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
+set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
set(link_libs
romfs apps nuttx m gcc
@@ -20,7 +20,7 @@ if(NOT ${BOARD} STREQUAL "sim")
list(APPEND link_libs nosys)
set(main_link_flags
"-T${nuttx_export_dir}/build/ld.script"
- "-Wl,-Map=${PX4_BINARY_DIR}/${BOARD}/main.map"
+ "-Wl,-Map=${CMAKE_BINARY_DIR}/${BOARD}/main.map"
)
px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
set_target_properties(firmware_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
@@ -43,12 +43,12 @@ add_custom_target(check_weak
if(NOT ${BOARD} STREQUAL "sim")
if (config_io_board)
- set(extras "${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}.bin")
+ set(extras "${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}.bin")
endif()
set(romfs_dir "ROMFS/px4fmu_common")
if (${BOARD} STREQUAL "tap-v1")
- set(romfs_dir "ROMFS/tap_common")
+ set(romfs_dir "ROMFS/tap_common")
endif()
if (${BOARD} STREQUAL "px4fmu-v2" AND ${LABEL} STREQUAL "test")
set(romfs_dir "ROMFS/px4fmu_test")
@@ -68,8 +68,8 @@ if(NOT ${BOARD} STREQUAL "sim")
px4_nuttx_add_firmware(OUT ${fw_file}
BOARD ${BOARD}
EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
- PARAM_XML ${PX4_BINARY_DIR}/parameters.xml
- AIRFRAMES_XML ${PX4_BINARY_DIR}/airframes.xml
+ PARAM_XML ${CMAKE_BINARY_DIR}/parameters.xml
+ AIRFRAMES_XML ${CMAKE_BINARY_DIR}/airframes.xml
)
configure_file(gdbinit.in .gdbinit)
@@ -94,21 +94,21 @@ if(NOT ${BOARD} STREQUAL "sim")
add_custom_target(debug_io
COMMAND ${GDB}
- ${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
+ ${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
DEPENDS firmware_nuttx
${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
add_custom_target(debug_io_tui
COMMAND ${GDBTUI}
- ${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
+ ${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
DEPENDS firmware_nuttx
${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
add_custom_target(debug_io_ddd
COMMAND ${DDD} --debugger ${GDB}
- ${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
+ ${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
DEPENDS firmware_nuttx
${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
diff --git a/src/firmware/nuttx/gdbinit.in b/src/firmware/nuttx/gdbinit.in
index fd1b1c451e..e820673b21 100644
--- a/src/firmware/nuttx/gdbinit.in
+++ b/src/firmware/nuttx/gdbinit.in
@@ -4,4 +4,4 @@ attach 1
monitor vector_catch disable hard
set mem inaccessible-by-default off
set print pretty
-source ${PX4_SOURCE_DIR}/Debug/PX4
+source ${CMAKE_SOURCE_DIR}/Debug/PX4
diff --git a/src/firmware/posix/CMakeLists.txt b/src/firmware/posix/CMakeLists.txt
index 58ab449b5a..3e8e8b5227 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -18,7 +18,7 @@ if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
APPS_DEST "/home/linaro"
SOURCES
px4muorb_stub.c
- ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
+ ${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
apps.h
LINK_LIBS
-Wl,--start-group
@@ -33,14 +33,14 @@ if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
OS ${OS}
BOARD ${BOARD}
FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
- ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
+ ${CMAKE_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
DEPENDS px4
DEST /home/linaro)
elseif ("${BOARD}" STREQUAL "rpi")
add_executable(px4
- ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
+ ${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
apps.h
)
@@ -57,7 +57,7 @@ elseif ("${BOARD}" STREQUAL "rpi")
OS ${OS}
BOARD ${BOARD}
FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
- ${PX4_SOURCE_DIR}/posix-configs/rpi/px4.config
+ ${CMAKE_SOURCE_DIR}/posix-configs/rpi/px4.config
DEPENDS px4
DEST /home/pi)
@@ -67,7 +67,7 @@ elseif ("${BOARD}" STREQUAL "bebop")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
add_executable(px4
- ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
+ ${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
apps.h
)
@@ -91,14 +91,14 @@ elseif ("${BOARD}" STREQUAL "bebop")
OS ${OS}
BOARD ${BOARD}
FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
- ${PX4_SOURCE_DIR}/posix-configs/bebop/px4.config
+ ${CMAKE_SOURCE_DIR}/posix-configs/bebop/px4.config
DEPENDS px4
DEST /usr/bin)
else()
add_executable(px4
- ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
+ ${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
apps.h
)
if (NOT APPLE)
@@ -118,43 +118,17 @@ else()
endif()
endif()
-#=============================================================================
-# sitl run targets
-#
-
-set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/tmp)
-file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
-
add_custom_target(run_config
- COMMAND Tools/sitl_run.sh
- "$<TARGET_FILE:px4>"
- "${config_sitl_rcS}"
- "${config_sitl_debugger}"
- "${config_sitl_viewer}"
- "${config_sitl_model}"
- "${PX4_SOURCE_DIR}"
- "${PX4_BINARY_DIR}"
- WORKING_DIRECTORY ${SITL_WORKING_DIR}
+ COMMAND Tools/sitl_run.sh "${config_sitl_rcS}" "${config_sitl_debugger}"
+ "${config_sitl_viewer}" "${config_sitl_model}" "${CMAKE_BINARY_DIR}"
+ WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
USES_TERMINAL
)
add_dependencies(run_config px4)
-# project to build sitl_gazebo if necessary
-ExternalProject_Add(sitl_gazebo
- SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo
- CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
- BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
- INSTALL_COMMAND ""
- )
-set_target_properties(sitl_gazebo PROPERTIES EXCLUDE_FROM_ALL TRUE)
-
-# create targets for each viewer/model/debugger combination
-set(viewers none jmavsim gazebo replay)
-set(debuggers none gdb lldb ddd valgrind)
-set(models none iris iris_opt_flow tailsitter standard_vtol plane solo typhoon_h480)
-foreach(viewer ${viewers})
- foreach(debugger ${debuggers})
- foreach(model ${models})
+foreach(viewer none jmavsim gazebo replay)
+ foreach(debugger none gdb lldb ddd valgrind)
+ foreach(model none iris iris_opt_flow tailsitter standard_vtol plane solo typhoon_h480)
if (debugger STREQUAL "none")
if (model STREQUAL "none")
set(_targ_name "${viewer}")
@@ -169,20 +143,13 @@ foreach(viewer ${viewers})
endif()
endif()
add_custom_target(${_targ_name}
- COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
- $<TARGET_FILE:px4>
- ${config_sitl_rcS}
- ${debugger}
- ${viewer}
- ${model}
- ${PX4_SOURCE_DIR}
- ${PX4_BINARY_DIR}
- WORKING_DIRECTORY ${SITL_WORKING_DIR}
+ COMMAND Tools/sitl_run.sh "${config_sitl_rcS}"
+ "${debugger}"
+ "${viewer}" "${model}" "${CMAKE_BINARY_DIR}"
+ WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
USES_TERMINAL
)
- if (viewer STREQUAL "gazebo")
- add_dependencies(${_targ_name} sitl_gazebo)
- endif()
+ add_dependencies(${_targ_name} px4)
endforeach()
endforeach()
endforeach()
@@ -191,25 +158,8 @@ endforeach()
# install
#
-install(TARGETS px4 DESTINATION ${CMAKE_INSTALL_BINDIR})
+install(TARGETS px4 DESTINATION bin)
install(DIRECTORY ${PROJECT_SOURCE_DIR}/ROMFS DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
install(DIRECTORY ${PROJECT_SOURCE_DIR}/posix-configs DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
-#=============================================================================
-# tests
-#
-
-add_test(NAME rcS_tests
- COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
- $<TARGET_FILE:px4>
- posix-configs/SITL/init/rcS_tests
- none
- none
- none
- ${PX4_SOURCE_DIR}
- ${PX4_BINARY_DIR}
- WORKING_DIRECTORY ${SITL_WORKING_DIR})
-set_tests_properties(rcS_tests PROPERTIES
- PASS_REGULAR_EXPRESSION "All tests passed")
-
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/firmware/qurt/CMakeLists.txt b/src/firmware/qurt/CMakeLists.txt
index 2e30c6aa8d..81be14afc5 100644
--- a/src/firmware/qurt/CMakeLists.txt
+++ b/src/firmware/qurt/CMakeLists.txt
@@ -1,4 +1,4 @@
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
include(fastrpc)
include(qurt_lib)
@@ -7,7 +7,7 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes")
px4_qurt_generate_builtin_commands(
- OUT ${PX4_BINARY_DIR}/apps.h
+ OUT ${CMAKE_BINARY_DIR}/apps.h
MODULE_LIST ${module_libraries})
FASTRPC_STUB_GEN(px4muorb.idl)
@@ -20,8 +20,8 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
${FASTRPC_DSP_INCLUDES}
)
add_executable(px4
- ${PX4_BINARY_DIR}/src/firmware/qurt/px4muorb_skel.c
- ${PX4_BINARY_DIR}/apps.h)
+ ${CMAKE_BINARY_DIR}/src/firmware/qurt/px4muorb_skel.c
+ ${CMAKE_BINARY_DIR}/apps.h)
target_link_libraries(px4
-Wl,--start-group
@@ -40,7 +40,7 @@ else()
QURT_LIB(LIB_NAME px4
IDL_NAME px4muorb
SOURCES
- ${PX4_BINARY_DIR}/apps.h
+ ${CMAKE_BINARY_DIR}/apps.h
LINK_LIBS
${module_libraries}
${target_libraries}
@@ -54,7 +54,7 @@ else()
BOARD ${BOARD}
FILES ${CMAKE_CURRENT_BINARY_DIR}/libpx4.so
${CMAKE_CURRENT_BINARY_DIR}/libpx4muorb_skel.so
- ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/px4.config
+ ${CMAKE_SOURCE_DIR}/posix-configs/eagle/flight/px4.config
DEPENDS px4 px4muorb_skel
DEST /usr/share/data/adsp)
endif()
diff --git a/src/lib/rc/rc_tests/CMakeLists.txt b/src/lib/rc/rc_tests/CMakeLists.txt
index 8a5be79ec2..42a5a1b1ba 100644
--- a/src/lib/rc/rc_tests/CMakeLists.txt
+++ b/src/lib/rc/rc_tests/CMakeLists.txt
@@ -40,5 +40,4 @@ px4_add_module(
DEPENDS
platforms__common
)
-
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/lib/rc/rc_tests/RCTest.cpp b/src/lib/rc/rc_tests/RCTest.cpp
index 14119835f5..d7a834d5c8 100644
--- a/src/lib/rc/rc_tests/RCTest.cpp
+++ b/src/lib/rc/rc_tests/RCTest.cpp
@@ -16,7 +16,7 @@
#if !defined(CONFIG_ARCH_BOARD_SITL)
#define TEST_DATA_PATH "/fs/microsd"
#else
-#define TEST_DATA_PATH "./src/lib/rc/rc_tests/test_data/"
+#define TEST_DATA_PATH "../../../../src/lib/rc/rc_tests/test_data/"
#endif
extern "C" __EXPORT int rc_tests_main(int argc, char *argv[]);
@@ -51,8 +51,8 @@ bool RCTest::dsmTest(void)
FILE *fp;
fp = fopen(filepath, "rt");
- warnx("loading data from: %s", filepath);
ut_test(fp != nullptr);
+ //warnx("loading data from: %s", filepath);
float f;
unsigned x;
diff --git a/src/modules/muorb/krait/CMakeLists.txt b/src/modules/muorb/krait/CMakeLists.txt
index ad05492026..b9e054e3e7 100644
--- a/src/modules/muorb/krait/CMakeLists.txt
+++ b/src/modules/muorb/krait/CMakeLists.txt
@@ -30,10 +30,10 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
include(hexagon_sdk)
-include_directories(${PX4_BINARY_DIR}/src/firmware/posix)
+include_directories(${CMAKE_BINARY_DIR}/src/firmware/posix)
include_directories(${HEXAGON_SDK_INCLUDES})
px4_add_module(
diff --git a/src/modules/param/CMakeLists.txt b/src/modules/param/CMakeLists.txt
index 3f64a9826c..b3148baab1 100644
--- a/src/modules/param/CMakeLists.txt
+++ b/src/modules/param/CMakeLists.txt
@@ -34,8 +34,8 @@
include_directories(${CMAKE_CURRENT_BINARY_DIR})
px4_generate_parameters_source(OUT param_files
- XML ${PX4_BINARY_DIR}/parameters.xml
- SCOPE ${PX4_SOURCE_DIR}/cmake/configs/${OS}_${BOARD}_${LABEL}.cmake
+ XML ${CMAKE_BINARY_DIR}/parameters.xml
+ SCOPE ${CMAKE_SOURCE_DIR}/cmake/configs/${OS}_${BOARD}_${LABEL}.cmake
DEPS xml_gen
)
diff --git a/src/modules/px4iofirmware/CMakeLists.txt b/src/modules/px4iofirmware/CMakeLists.txt
index 67183999eb..ab2778711c 100644
--- a/src/modules/px4iofirmware/CMakeLists.txt
+++ b/src/modules/px4iofirmware/CMakeLists.txt
@@ -63,7 +63,7 @@ px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
include_directories(
${include_dirs}
- ${PX4_BINARY_DIR}/src/modules/systemlib/mixer
+ ${CMAKE_BINARY_DIR}/src/modules/systemlib/mixer
.
)
link_directories(${link_dirs})
@@ -117,10 +117,10 @@ add_dependencies(${fw_io_name}
mixer_gen
)
-set(nuttx_export_dir ${PX4_BINARY_DIR}/${config_io_board}/NuttX/nuttx-export)
+set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${config_io_board}/NuttX/nuttx-export)
set(main_link_flags
"-T${nuttx_export_dir}/build/ld.script"
- "-Wl,-Map=${PX4_BINARY_DIR}/${config_io_board}/main.map"
+ "-Wl,-Map=${CMAKE_BINARY_DIR}/${config_io_board}/main.map"
)
px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
set_target_properties(${fw_io_name} PROPERTIES LINK_FLAGS ${main_link_flags})
diff --git a/src/modules/systemlib/CMakeLists.txt b/src/modules/systemlib/CMakeLists.txt
index 91f405d605..7277ee3ca1 100644
--- a/src/modules/systemlib/CMakeLists.txt
+++ b/src/modules/systemlib/CMakeLists.txt
@@ -32,7 +32,7 @@
############################################################################
# for generated files
-include_directories(${PX4_BINARY_DIR}/src/modules/param)
+include_directories(${CMAKE_BINARY_DIR}/src/modules/param)
set(SRCS
perf_counter.c
diff --git a/src/modules/uavcan/uavcan_servers.hpp b/src/modules/uavcan/uavcan_servers.hpp
index 47131f2ec6..17e94cd311 100644
--- a/src/modules/uavcan/uavcan_servers.hpp
+++ b/src/modules/uavcan/uavcan_servers.hpp
@@ -70,7 +70,7 @@
/**
* A UAVCAN Server Sub node.
*/
-class __EXPORT UavcanServers
+class UavcanServers
{
static constexpr unsigned NumIfaces = 1; // UAVCAN_STM32_NUM_IFACES
diff --git a/src/platforms/posix/main.cpp b/src/platforms/posix/main.cpp
index ac0520c858..646b94610f 100644
--- a/src/platforms/posix/main.cpp
+++ b/src/platforms/posix/main.cpp
@@ -50,7 +50,6 @@
#include "px4_middleware.h"
#include "DriverFramework.hpp"
#include <termios.h>
-#include <sys/stat.h>
namespace px4
{
@@ -63,12 +62,6 @@ typedef int (*px4_main_t)(int argc, char *argv[]);
#define CMD_BUFF_SIZE 100
-#ifdef PATH_MAX
-const unsigned path_max_len = PATH_MAX;
-#else
-const unsigned path_max_len = 1024;
-#endif
-
static bool _ExitFlag = false;
static struct termios orig_term;
@@ -92,96 +85,6 @@ extern "C" {
}
}
-static inline bool fileExists(const string &name)
-{
- struct stat buffer;
- return (stat(name.c_str(), &buffer) == 0);
-}
-
-static inline bool dirExists(const string &path)
-{
- struct stat info;
-
- if (stat(path.c_str(), &info) != 0) {
- return false;
-
- } else if (info.st_mode & S_IFDIR) {
- return true;
-
- } else {
- return false;
- }
-}
-
-static inline void touch(const string &name)
-{
- fstream fs;
- fs.open(name, ios::out);
- fs.close();
-}
-
-static int mkpath(const char *path, mode_t mode);
-
-static int do_mkdir(const char *path, mode_t mode)
-{
- struct stat st;
- int status = 0;
-
- if (stat(path, &st) != 0) {
- /* Directory does not exist. EEXIST for race condition */
- if (mkdir(path, mode) != 0 && errno != EEXIST) {
- status = -1;
- }
-
- } else if (!S_ISDIR(st.st_mode)) {
- errno = ENOTDIR;
- status = -1;
- }
-
- return (status);
-}
-
-/**
-** mkpath - ensure all directories in path exist
-** Algorithm takes the pessimistic view and works top-down to ensure
-** each directory in path exists, rather than optimistically creating
-** the last element and working backwards.
-*/
-static int mkpath(const char *path, mode_t mode)
-{
- char *pp;
- char *sp;
- int status;
- char *copypath = strdup(path);
-
- status = 0;
- pp = copypath;
-
- while (status == 0 && (sp = strchr(pp, '/')) != 0) {
- if (sp != pp) {
- /* Neither root nor double slash in path */
- *sp = '\0';
- status = do_mkdir(copypath, mode);
- *sp = '/';
- }
-
- pp = sp + 1;
- }
-
- if (status == 0) {
- status = do_mkdir(path, mode);
- }
-
- free(copypath);
- return (status);
-}
-
-static string pwd()
-{
- char temp[path_max_len];
- return (getcwd(temp, path_max_len) ? string(temp) : string(""));
-}
-
static void print_prompt()
{
cout.flush();
@@ -231,13 +134,12 @@ static void run_cmd(const vector<string> &appargs, bool exit_on_fail, bool silen
static void usage()
{
- cout << "./px4 [-d] data_directory startup_config [-h]" << endl;
+ cout << "./px4 [-d] [startup_config] -h" << std::endl;
cout << " -d - Optional flag to run the app in daemon mode and does not listen for user input." <<
- endl;
- cout << " This is needed if px4 is intended to be run as a upstart job on linux" << endl;
- cout << "<data_directory> - directory where romfs and posix-configs are located" << endl;
- cout << "<startup_config> - config file for starting/stopping px4 modules" << endl;
- cout << " -h - help/usage information" << endl;
+ std::endl;
+ cout << " This is needed if px4 is intended to be run as a upstart job on linux" << std::endl;
+ cout << "<startup_config> - config file for starting/stopping px4 modules" << std::endl;
+ cout << " -h - help/usage information" << std::endl;
}
static void process_line(string &line, bool exit_on_fail)
@@ -300,131 +202,52 @@ int main(int argc, char **argv)
set_cpu_scaling();
int index = 1;
- string commands_file = "";
- int positional_arg_count = 0;
- string data_path = "";
- string node_name = "";
+ char *commands_file = nullptr;
- // parse arguments
while (index < argc) {
- //cout << "arg: " << index << " : " << argv[index] << endl;
-
if (argv[index][0] == '-') {
// the arg starts with -
- if (strncmp(argv[index], "-d", 2) == 0) {
+ if (strcmp(argv[index], "-d") == 0) {
daemon_mode = true;
- } else if (strncmp(argv[index], "-h", 2) == 0) {
+ } else if (strcmp(argv[index], "-h") == 0) {
usage();
return 0;
- } else if (strncmp(argv[index], "-c", 2) == 0) {
+ } else if (strcmp(argv[index], "-c") == 0) {
chroot_on = true;
} else {
- PX4_ERR("Unknown/unhandled parameter: %s", argv[index]);
+ PX4_WARN("Unknown/unhandled parameter: %s", argv[index]);
return 1;
}
- } else if (!strncmp(argv[index], "__", 2)) {
- //cout << "ros argument" << endl;
-
- // ros arguments
- if (!strncmp(argv[index], "__name:=", 8)) {
- string name_arg = argv[index];
- node_name = name_arg.substr(8);
- cout << "node name: " << node_name << endl;
- }
-
} else {
- //cout << "positional argument" << endl;
-
- positional_arg_count += 1;
-
- if (positional_arg_count == 1) {
- data_path = argv[index];
- cout << "data path: " << data_path << endl;
+ // this is an argument that does not have '-' prefix; treat it like a file name
+ ifstream infile(argv[index]);
- } else if (positional_arg_count == 2) {
+ if (infile.good()) {
+ infile.close();
commands_file = argv[index];
- cout << "commands file: " << commands_file << endl;
+
+ } else {
+ PX4_WARN("Error opening file: %s", argv[index]);
+ return -1;
}
}
++index;
}
- if (positional_arg_count != 2) {
- PX4_ERR("Error expected 2 position arguments, got %d", positional_arg_count);
- usage();
- return -1;
- }
-
- if (commands_file.size() < 1) {
- PX4_ERR("Error commands file not specified");
- return -1;
- }
-
- if (!fileExists(commands_file)) {
- PX4_ERR("Error opening commands file, does not exist: %s", commands_file.c_str());
- return -1;
- }
-
- // create sym-links
- vector<string> path_sym_links;
- path_sym_links.push_back("ROMFS");
- path_sym_links.push_back("posix-configs");
- path_sym_links.push_back("src");
-
- for (int i = 0; i < path_sym_links.size(); i++) {
- string path_sym_link = path_sym_links[i];
- //cout << "path sym link: " << path_sym_link << endl;
- string src_path = data_path + "/" + path_sym_link;
- string dest_path = pwd() + "/" + path_sym_link;
-
- PX4_DEBUG("Creating symlink %s -> %s", src_path.c_str(), dest_path.c_str());
-
- if (dirExists(path_sym_link)) { continue; }
-
- // create sym-links
- int ret = symlink(src_path.c_str(), dest_path.c_str());
-
- if (ret != 0) {
- PX4_ERR("Error creating symlink %s -> %s",
- src_path.c_str(), dest_path.c_str());
- return ret;
-
- } else {
- PX4_DEBUG("Successfully created symlink %s -> %s",
- src_path.c_str(), dest_path.c_str());
- }
- }
-
- // setup rootfs
- const string eeprom_path = "./rootfs/eeprom/";
- const string microsd_path = "./rootfs/fs/microsd/";
- if (!fileExists(eeprom_path + "parameters")) {
- cout << "creating new parameters file" << endl;
- mkpath(eeprom_path.c_str(), S_IRUSR | S_IWUSR | S_IXUSR);
- touch(eeprom_path + "parameters");
- }
-
- if (!fileExists(microsd_path + "dataman")) {
- cout << "creating new dataman file" << endl;
- mkpath(microsd_path.c_str(), S_IRUSR | S_IWUSR | S_IXUSR);
- touch(microsd_path + "dataman");
- }
-
- // initialize
DriverFramework::Framework::initialize();
px4::init_once();
px4::init(argc, argv, "px4");
// if commandfile is present, process the commands from the file
- if (commands_file.size() != 0) {
- ifstream infile(commands_file.c_str());
+ if (commands_file != nullptr) {
+ ifstream infile(commands_file);
if (infile.is_open()) {
for (string line; getline(infile, line, '\n');) {
@@ -438,7 +261,7 @@ int main(int argc, char **argv)
}
} else {
- PX4_ERR("Error opening commands file: %s", commands_file.c_str());
+ PX4_WARN("Error opening file: %s", commands_file);
}
}
@@ -447,6 +270,12 @@ int main(int argc, char **argv)
// this is not an attempt to secure the environment,
// rather, to replicate a deployed file system.
+#ifdef PATH_MAX
+ const unsigned path_max_len = PATH_MAX;
+#else
+ const unsigned path_max_len = 1024;
+#endif
+
char pwd_path[path_max_len];
const char *folderpath = "/rootfs/";
@@ -590,5 +419,3 @@ int main(int argc, char **argv)
return OK;
}
-
-/* vim: set noet fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
diff --git a/src/platforms/posix/px4_layer/CMakeLists.txt b/src/platforms/posix/px4_layer/CMakeLists.txt
index fa1eed4ffc..344621c694 100644
--- a/src/platforms/posix/px4_layer/CMakeLists.txt
+++ b/src/platforms/posix/px4_layer/CMakeLists.txt
@@ -32,10 +32,10 @@
############################################################################
if("${CONFIG_SHMEM}" STREQUAL "1")
- set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
include(hexagon_sdk)
- include_directories(${PX4_BINARY_DIR}/src/firmware/posix)
+ include_directories(${CMAKE_BINARY_DIR}/src/firmware/posix)
include_directories(${HEXAGON_SDK_INCLUDES})
list(APPEND SHMEM_SRCS
shmem_posix.c
diff --git a/src/platforms/qurt/px4_layer/CMakeLists.txt b/src/platforms/qurt/px4_layer/CMakeLists.txt
index ed6e56790a..38dbd8a46f 100644
--- a/src/platforms/qurt/px4_layer/CMakeLists.txt
+++ b/src/platforms/qurt/px4_layer/CMakeLists.txt
@@ -30,7 +30,7 @@
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
include(hexagon_sdk)
include_directories(${HEXAGON_8074_INCLUDES})
diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp
index da2cff5d5a..88c37d6e9c 100644
--- a/src/systemcmds/tests/test_mixer.cpp
+++ b/src/systemcmds/tests/test_mixer.cpp
@@ -90,7 +90,7 @@ int test_mixer(int argc, char *argv[])
#if !defined(CONFIG_ARCH_BOARD_SITL)
const char *filename = "/etc/mixers/IO_pass.mix";
#else
- const char *filename = "ROMFS/px4fmu_test/mixers/IO_pass.mix";
+ const char *filename = "../../../../ROMFS/px4fmu_test/mixers/IO_pass.mix";
#endif
//PX4_INFO("loading: %s", filename);
@@ -400,7 +400,7 @@ int test_mixer(int argc, char *argv[])
#if !defined(CONFIG_ARCH_BOARD_SITL)
filename = "/etc/mixers/quad_test.mix";
#else
- filename = "ROMFS/px4fmu_test/mixers/quad_test.mix";
+ filename = "../../../../ROMFS/px4fmu_test/mixers/quad_test.mix";
#endif
load_mixer_file(filename, &buf[0], sizeof(buf));
diff --git a/src/systemcmds/topic_listener/CMakeLists.txt b/src/systemcmds/topic_listener/CMakeLists.txt
index bb955490bc..0984e546e3 100644
--- a/src/systemcmds/topic_listener/CMakeLists.txt
+++ b/src/systemcmds/topic_listener/CMakeLists.txt
@@ -32,14 +32,14 @@
############################################################################
add_custom_command(OUTPUT topic_listener.cpp
- COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/generate_listener.py ${PX4_SOURCE_DIR} > topic_listener.cpp
+ COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/generate_listener.py ${CMAKE_SOURCE_DIR} > topic_listener.cpp
DEPENDS msg_gen
)
add_custom_target(generate_topic_listener
DEPENDS
topic_listener.cpp
- ${PX4_SOURCE_DIR}/Tools/generate_listener.py)
+ ${CMAKE_SOURCE_DIR}/Tools/generate_listener.py)
px4_add_module(
MODULE systemcmds__topic_listener
diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index b6664b26e8..9df3adcce3 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -13,19 +13,15 @@ enable_testing()
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Werror -std=gnu99 -g")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -std=c++11 -g -fno-exceptions -fno-rtti -fno-threadsafe-statics")
-if (NOT PX4_SOURCE_DIR)
- set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/..")
-endif()
-
-set(GTEST_DIR ${PX4_SOURCE_DIR}/unittests/googletest)
+set(GTEST_DIR ${CMAKE_SOURCE_DIR}/googletest)
add_subdirectory(${GTEST_DIR})
include_directories(${GTEST_DIR}/include)
-set(PX4_SRC ${PX4_SOURCE_DIR}/src)
+set(PX4_SRC ${CMAKE_SOURCE_DIR}/../src)
set(PX4_SITL_BUILD ${PX4_SRC}/../build_posix_sitl_default)
-include_directories(${PX4_SOURCE_DIR})
+include_directories(${CMAKE_SOURCE_DIR})
include_directories(${PX4_SITL_BUILD}/src)
include_directories(${PX4_SITL_BUILD}/src/modules)
include_directories(${PX4_SITL_BUILD}/src/modules/param)
@@ -98,7 +94,7 @@ target_include_directories(px4_platform PUBLIC ${PX4_SRC}/platforms/posix/work_q
# check
add_custom_target(check
COMMAND ${CMAKE_CTEST_COMMAND} -j2 --output-on-failure
- WORKING_DIR ${PX4_BINARY_DIR}
+ WORKING_DIR ${CMAKE_BINARY_DIR}
USES_TERMINAL)
# add_gtest
@@ -109,7 +105,7 @@ function(add_gtest)
else()
target_link_libraries(${test_name} gtest_main pthread rt px4_platform)
endif()
- add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${PX4_SOURCE_DIR})
+ add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
add_dependencies(check ${test_name})
endforeach()
endfunction()
--
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