From 699b6a2cb340f4b6ec3979ae7748ff9c56cfdb89 Mon Sep 17 00:00:00 2001
From: James Goppert <jgoppert@users.noreply.github.com>
Date: Fri, 5 Aug 2016 06:23:59 -0400
Subject: [PATCH] Improvements to SITL to make paths more flexible. (#5181)
---
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 => rcS_tests_none_iris} | 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, 642 insertions(+), 671 deletions(-)
delete mode 100644 cmake/ros-CMakeLists.txt
rename posix-configs/SITL/init/{rcS_tests => rcS_tests_none_iris} (100%)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9397b87c99..498b6ba7d8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -121,6 +121,14 @@
# 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 ${PX4_SOURCE_DIR}
+ )
+
# Use clang
#SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
#SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
@@ -155,6 +163,9 @@ message(STATUS "${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")
@@ -163,12 +174,8 @@ if(NOT CMAKE_INSTALL_PREFIX)
endif()
message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
-# switch to ros CMake file if building ros
-if (${OS} STREQUAL "ros")
- include("cmake/ros-CMakeLists.txt")
-else() # otherwise use the rest of this file
-
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
+message(STATUS "cmake module path: ${CMAKE_MODULE_PATH}")
set(config_module "configs/${CONFIG}")
include(${config_module})
@@ -199,6 +206,9 @@ if(DEFINED config_df_driver_list)
message("DF Drivers: ${config_df_driver_list}")
endif()
+# force static lib build
+set(BUILD_SHARED_LIBS OFF)
+
#=============================================================================
# project definition
#
@@ -219,8 +229,22 @@ set(version "${version_major}.${version_minor}.${version_patch}")
set(package-contact "px4users@googlegroups.com")
#=============================================================================
-# programs
+# find programs and packages
#
+
+# 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)
#=============================================================================
@@ -257,7 +281,7 @@ 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 ${CMAKE_SOURCE_DIR}
+ WORKING_DIRECTORY ${PX4_SOURCE_DIR}
COMMAND git submodule deinit -f .
COMMAND rm -rf .git/modules/*
)
@@ -267,12 +291,12 @@ add_custom_target(submodule_clean
#
add_custom_target(check_format
COMMAND Tools/check_code_style.sh
- WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+ WORKING_DIRECTORY ${PX4_SOURCE_DIR}
)
add_custom_target(config
COMMAND cmake-gui .
- WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+ WORKING_DIRECTORY ${PX4_BINARY_DIR}
)
#=============================================================================
@@ -321,7 +345,7 @@ add_custom_target(xml_gen
# external projects
#
-set(ep_base ${CMAKE_BINARY_DIR}/external)
+set(ep_base ${PX4_BINARY_DIR}/external)
set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
# add external project install folders to build
@@ -350,7 +374,7 @@ 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} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
+ add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
else()
add_subdirectory(src/${module})
endif()
@@ -375,7 +399,7 @@ endif()
#=============================================================================
# generate git version
#
-px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
+px4_create_git_hash_header(HEADER ${PX4_BINARY_DIR}/build_git_version.h)
#=============================================================================
# packaging
@@ -394,17 +418,14 @@ set(CPACK_GENERATOR "ZIP")
set(CPACK_PACKAGE_FILE_NAME "${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 ${DPKG_PROGRAM})
- list (APPEND CPACK_GENERATOR "DEB")
- endif()
-endif()
-if (${OS} STREQUAL "posix")
- set(CPACK_SET_DESTDIR "ON")
+ find_program(DPKG_PROGRAM dpkg)
+ if (EXISTS ${DPKG_PROGRAM})
+ list (APPEND CPACK_GENERATOR "DEB")
+ endif()
endif()
include(CPack)
-endif() # ros alternative endif
-
# vim: set noet fenc=utf-8 ff=unix ft=cmake :
diff --git a/Makefile b/Makefile
index f80a24399c..b4a02f8d8c 100644
--- a/Makefile
+++ b/Makefile
@@ -111,20 +111,23 @@ else
BUILD_DIR_SUFFIX :=
endif
+SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
+
# Functions
# --------------------------------------------------------------------
# describe how to build a cmake config
define cmake-build
-+@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) $(ARGS))
++@$(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))
endef
define cmake-build-other
-+@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) $(ARGS))
++@$(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) $(ARGS))
endef
# create empty targets to avoid msgs for targets passed to cmake
@@ -233,14 +236,8 @@ run_sitl_ros: sitl_deprecation
# Other targets
# --------------------------------------------------------------------
-.PHONY: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
-.NOTPARALLEL: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
-
-gazebo_build:
- @mkdir -p build_gazebo
- @if [ ! -e ./build_gazebo/CMakeCache.txt ];then cd build_gazebo && cmake -Wno-dev -G$(PX4_CMAKE_GENERATOR) ../Tools/sitl_gazebo; fi
- @cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS)
- @cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS) sdf
+.PHONY: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+.NOTPARALLEL: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
uavcan_firmware:
ifeq ($(VECTORCONTROL),1)
@@ -302,11 +299,7 @@ unittest: posix_sitl_default
@(cd build_unittest && ctest -j2 --output-on-failure)
run_tests_posix: posix_sitl_default
- @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)
+ @(cd build_posix_sitl_default/ && ctest -V)
tests: check_unittest run_tests_posix
diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index 00dcabb1c2..9486c331a7 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit 00dcabb1c2c001b40713903da1a4a7f71d01ef27
+Subproject commit 9486c331a758fcadfaa314f6e9e44c36af5f243b
diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index 6e467c31fd..8dfa2a62c6 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -1,22 +1,29 @@
#!/bin/bash
-rc_script=$1
-debugger=$2
-program=$3
-model=$4
-build_path=$5
-curr_dir=`pwd`
+set -e
+
+echo args: $@
+
+sitl_bin=$1
+rc_script=$2
+debugger=$3
+program=$4
+model=$5
+src_path=$6
+build_path=$7
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
-mkdir -p $build_path/src/firmware/posix/rootfs/fs/microsd
-mkdir -p $build_path/src/firmware/posix/rootfs/eeprom
-touch $build_path/src/firmware/posix/rootfs/eeprom/parameters
+working_dir=`pwd`
+sitl_bin=$build_path/src/firmware/posix/px4
if [ "$chroot" == "1" ]
then
@@ -35,32 +42,36 @@ fi
if [ "$#" -lt 5 ]
then
- echo usage: sitl_run.sh rc_script debugger program model build_path
+ echo usage: sitl_run.sh rc_script debugger program model devel_path
echo ""
exit 1
fi
+command_exists () {
+ type "$1" &> /dev/null ;
+}
+
# kill process names that might stil
# be running from last time
-pkill gazebo
-pkill px4
-jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
-if [ -n "$jmavsim_pid" ]
+pgrep gazebo && pkill gazebo
+pgrep px4 && pkill px4
+if command_exists jps
then
- kill $jmavsim_pid
+ jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
+ if [ -n "$jmavsim_pid" ]
+ then
+ kill $jmavsim_pid
+ fi
fi
-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
+cp $src_path/Tools/posix_lldbinit $working_dir/.lldbinit
+cp $src_path/Tools/posix.gdbinit $working_dir/.gdbinit
SIM_PID=0
if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
then
- cd Tools/jMAVSim
+ cd $src_path/Tools/jMAVSim
ant create_run_jar copy_res
cd out/production
java -Djava.ext.dirs= -jar jmavsim_run.jar -udp 127.0.0.1:14560 &
@@ -71,15 +82,9 @@ then
if [ -x "$(command -v gazebo)" ]
then
# Set the plugin path so Gazebo finds our model and sim
- 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 &
+ source /usr/share/gazebo/setup.sh
+ source $src_path/integrationtests/setup_gazebo_ros.bash ${src_path} ${build_path}
+ gzserver --verbose worlds/${model}.world &
SIM_PID=`echo $!`
if [[ -n "$HEADLESS" ]]; then
@@ -98,17 +103,17 @@ 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 "${build_path}/src/firmware/posix/rootfs/replay_params.txt" ]
+ if ! [ -f "$rootfs/replay_params.txt" ]
then
- touch ${build_path}/src/firmware/posix/rootfs/replay_params.txt
+ touch $rootfs/replay_params.txt
fi
fi
-cd $build_path/src/firmware/posix
+cd $working_dir
if [ "$logfile" != "" ]
then
- cp $logfile rootfs/replay.px4log
+ cp $logfile $rootfs/replay.px4log
fi
# Do not exit on failure now from here on because we want the complete cleanup
@@ -117,18 +122,18 @@ set +e
# Start Java simulator
if [ "$debugger" == "lldb" ]
then
- lldb -- px4 ../../../../${rc_script}_${program}_${model}
+ lldb -- $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
elif [ "$debugger" == "gdb" ]
then
- gdb --args px4 ../../../../${rc_script}_${program}_${model}
+ gdb --args $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
elif [ "$debugger" == "ddd" ]
then
- ddd --debugger gdb --args px4 ../../../../${rc_script}_${program}_${model}
+ ddd --debugger gdb --args px4 $src_path $src_path/${rc_script}_${program}_${model}
elif [ "$debugger" == "valgrind" ]
then
- valgrind ./px4 ../../../../${rc_script}_${program}_${model}
+ valgrind $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
else
- $sudo_enabled ./px4 $chroot_enabled ../../../../${rc_script}_${program}_${model}
+ $sudo_enabled $sitl_bin $chroot_enabled $src_path $src_path/${rc_script}_${program}_${model}
fi
if [ "$program" == "jmavsim" ]
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index ef05520375..88f1e57f98 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 ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
- WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
- COMMAND touch ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
- DEPENDS ${CMAKE_SOURCE_DIR}/.gitmodules
+ add_custom_command(OUTPUT ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
+ WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+ COMMAND touch ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
+ DEPENDS ${PX4_SOURCE_DIR}/.gitmodules
)
add_custom_target(${TARGET}
- WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
- DEPENDS ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
+ WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+ DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
)
endfunction()
@@ -371,7 +371,7 @@ function(px4_generate_messages)
endif()
# headers
- set(msg_out_path ${CMAKE_BINARY_DIR}/src/modules/uORB/topics)
+ set(msg_out_path ${PX4_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 ${CMAKE_BINARY_DIR}/topics_temporary_header
+ -t ${PX4_BINARY_DIR}/topics_temporary_header
DEPENDS ${DEPENDS} ${MSG_FILES}
- WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+ WORKING_DIRECTORY ${PX4_SOURCE_DIR}
COMMENT "Generating uORB topic headers"
VERBATIM
)
# !sources
- set(msg_source_out_path ${CMAKE_BINARY_DIR}/topics_sources)
+ set(msg_source_out_path ${PX4_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 ${CMAKE_BINARY_DIR}/topics_temporary_sources
+ -t ${PX4_BINARY_DIR}/topics_temporary_sources
DEPENDS ${DEPENDS} ${MSG_FILES}
- WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+ WORKING_DIRECTORY ${PX4_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
- ${CMAKE_BINARY_DIR}/src/platforms/${OS}/px4_messages)
+ ${PX4_BINARY_DIR}/src/platforms/${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 ${CMAKE_BINARY_DIR}/multi_topics_temporary/${OS}
+ -t ${PX4_BINARY_DIR}/multi_topics_temporary/${OS}
-p "px4_"
DEPENDS ${DEPENDS} ${MSG_FILES}
- WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+ WORKING_DIRECTORY ${PX4_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}
- ${CMAKE_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
+ ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
DEPENDS ${BUNDLE}
- WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+ WORKING_DIRECTORY ${PX4_BINARY_DIR}
COMMENT "uploading ${BUNDLE}"
VERBATIM
USES_TERMINAL
@@ -523,9 +523,9 @@ function(px4_add_adb_push)
ARGN ${ARGN})
add_custom_target(${OUT}
- COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
+ COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
DEPENDS ${DEPENDS}
- WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+ WORKING_DIRECTORY ${PX4_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 ${CMAKE_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
+ COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
DEPENDS ${DEPENDS}
- WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+ WORKING_DIRECTORY ${PX4_BINARY_DIR}
COMMENT "uploading ${BUNDLE}"
VERBATIM
USES_TERMINAL
@@ -559,9 +559,9 @@ function(px4_add_scp_push)
ARGN ${ARGN})
add_custom_target(${OUT}
- COMMAND ${CMAKE_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
+ COMMAND ${PX4_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
DEPENDS ${DEPENDS}
- WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+ WORKING_DIRECTORY ${PX4_BINARY_DIR}
COMMENT "uploading ${BUNDLE}"
VERBATIM
USES_TERMINAL
@@ -761,21 +761,21 @@ function(px4_add_common_flags)
)
set(added_include_dirs
- ${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
+ ${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
# TODO Build/versioning was in Makefile,
# do we need this, how does it work with cmake
- ${CMAKE_SOURCE_DIR}/src/drivers/boards/${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
+ ${PX4_SOURCE_DIR}/src/drivers/boards/${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
)
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 ${CMAKE_SOURCE_DIR}
+ WORKING_DIRECTORY ${PX4_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 ${CMAKE_SOURCE_DIR}
+ WORKING_DIRECTORY ${PX4_SOURCE_DIR}
)
#message(STATUS "GIT_VERSION = ${git_version}")
set(git_version_short)
string(SUBSTRING ${git_version} 1 16 git_version_short)
- configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
+ configure_file(${PX4_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 ${CMAKE_SOURCE_DIR}/src)
+ set(path ${PX4_SOURCE_DIR}/src)
file(GLOB_RECURSE param_src_files
- ${CMAKE_SOURCE_DIR}/src/*params.c
+ ${PX4_SOURCE_DIR}/src/*params.c
)
add_custom_command(OUTPUT ${OUT}
- COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py
+ COMMAND ${PYTHON_EXECUTABLE} ${PX4_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} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
+ COMMAND ${PYTHON_EXECUTABLE} ${PX4_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 ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
+ set(process_airframes ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
add_custom_command(OUTPUT ${OUT}
COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
- -a ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
+ -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
--board CONFIG_ARCH_BOARD_${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 41c9d32df8..32bbf050fd 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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_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 c71db2fc31..377a90f335 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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_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 75f8d054ed..2c0a5f7315 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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_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 c38d726702..13d02e6d28 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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_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 f43b782045..e500752214 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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_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 b72c5a8190..1839d8689d 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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_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 866e19dc0d..ad746ee426 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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_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 2dad824901..8a5b8187fb 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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_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 5538ffe35a..72e945db0f 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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_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 3a6dd22755..be81961425 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 ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_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 909bdeecb1..d38da131bd 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 ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_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 ec172e7602..534d327f7e 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 ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_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 95a5c59beb..f47c421dce 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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_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 46243fc361..72896086c6 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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
set(CMAKE_PROGRAM_PATH
"${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 e58f370282..b2a54c4f65 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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
diff --git a/cmake/configs/posix_sdflight_default.cmake b/cmake/configs/posix_sdflight_default.cmake
index c43e51974c..fc66327184 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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_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 9a9029f1c0..0c7bf4b0a2 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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_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 6fa6d9c0b7..62caa65e72 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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_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 3c99cba7a7..a20a2d8cfe 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 ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_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 e1a66ea827..db16c17d2a 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 ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_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 469432818f..9eba5dea83 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 ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_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 f0fdb2dee5..852fe55b1f 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 ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_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 505ffd00cd..2af8ebdfb2 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 ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_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 9170b3da47..9131478577 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 ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+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(config_generate_parameters_scope ALL)
diff --git a/cmake/configs/qurt_eagle_travis.cmake b/cmake/configs/qurt_eagle_travis.cmake
index 16aa788edc..505635b8bd 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 ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_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 195219f7af..1d30699014 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 ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_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 c969263be1..9a54b6277e 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} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py
- --prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype
- --git_identity ${CMAKE_SOURCE_DIR}
+ COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
+ --prototype ${PX4_SOURCE_DIR}/Images/${BOARD}.prototype
+ --git_identity ${PX4_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(${CMAKE_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
+ configure_file(${PX4_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 ${CMAKE_BINARY_DIR}/${CONFIG}/NuttX)
+ set(nuttx_src ${PX4_BINARY_DIR}/${CONFIG}/NuttX)
# patch
add_custom_target(__nuttx_patch_${CONFIG})
- file(GLOB nuttx_patches RELATIVE ${CMAKE_SOURCE_DIR}
- ${CMAKE_SOURCE_DIR}/nuttx-patches/*.patch)
+ file(GLOB nuttx_patches RELATIVE ${PX4_SOURCE_DIR}
+ ${PX4_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 < ${CMAKE_SOURCE_DIR}/${patch}
+ COMMAND ${PATCH} -p0 -N < ${PX4_SOURCE_DIR}/${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 "${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig"
+ file(STRINGS "${PX4_SOURCE_DIR}/nuttx-configs/${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 ${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
+ 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
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 ${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 ${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 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 ${CMAKE_BINARY_DIR}/${CONFIG}.export
+ COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${PX4_BINARY_DIR}/${CONFIG}.export
DEPENDS ${config_files} ${DEPENDS}
- WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+ WORKING_DIRECTORY ${PX4_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 ${CMAKE_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
+ COMMAND ${UNZIP} -q ${PX4_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
COMMAND ${TOUCH} nuttx_export_${CONFIG}.stamp
- DEPENDS ${DEPENDS} ${CMAKE_BINARY_DIR}/${CONFIG}.export)
+ DEPENDS ${DEPENDS} ${PX4_BINARY_DIR}/${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 ${CMAKE_BINARY_DIR}/tmp/${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(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(extras_dir ${CMAKE_CURRENT_BINARY_DIR}/extras)
file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*)
- set(cmake_test ${CMAKE_SOURCE_DIR}/cmake/test/cmake_tester.py)
+ set(cmake_test ${PX4_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 ${CMAKE_C_FLAGS}
- --include_path "${CMAKE_SOURCE_DIR}/src/include"
+ --include_path "${PX4_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 ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
+ set(nuttx_export_dir ${PX4_BINARY_DIR}/${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 d661bfa5eb..7786097c4c 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 ${CMAKE_SOURCE_DIR}/cmake/posix)
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/posix)
#=============================================================================
#
@@ -101,7 +101,7 @@ function(px4_posix_generate_builtin_commands)
math(EXPR command_count "${command_count}+1")
endif()
endforeach()
- configure_file(${CMAKE_SOURCE_DIR}/cmake/posix/apps.h_in
+ configure_file(${PX4_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 efb1135d7b..f5387c515e 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 ${CMAKE_SOURCE_DIR}/cmake/qurt)
+list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/qurt)
#=============================================================================
#
@@ -95,7 +95,7 @@ function(px4_qurt_generate_builtin_commands)
math(EXPR command_count "${command_count}+1")
endif()
endforeach()
- configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
+ configure_file(${PX4_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
endfunction()
#=============================================================================
diff --git a/cmake/ros-CMakeLists.txt b/cmake/ros-CMakeLists.txt
deleted file mode 100644
index 67870b1e2c..0000000000
--- a/cmake/ros-CMakeLists.txt
+++ /dev/null
@@ -1,334 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(px4)
-set(CMAKE_CXX_FLAGS "${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 ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
-
-## Tests on multiplatform SITL (deprecated) have been moved to POSIX SITL
-#if(CATKIN_ENABLE_TESTING)
-# find_package(rostest REQUIRED)
-# add_rostest(integrationtests/demo_tests/direct_tests.launch)
-# add_rostest(integrationtests/demo_tests/mavros_tests.launch)
-#endif()
diff --git a/integrationtests/run_tests.bash b/integrationtests/run_tests.bash
index 2a3a4c2a0d..61569a1a73 100755
--- a/integrationtests/run_tests.bash
+++ b/integrationtests/run_tests.bash
@@ -5,26 +5,27 @@
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
set -e
-if [ "$#" -lt 1 ]
+# handle cleaning command
+do_clean=true
+if [ "$1" = "-o" ]
then
- echo usage: run_tests.bash firmware_src_dir
- echo ""
- exit 1
+ echo not cleaning
+ do_clean=false
fi
-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
+# 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 $SCRIPTPATH)
-# source ROS env
+# set paths
+JOB_DIR=$(dirname $ORIG_SRC)
+CATKIN_DIR=$JOB_DIR/catkin
+BUILD_DIR=$CATKIN_DIR/build/px4
+SRC_DIR=${CATKIN_DIR}/src/px4
+
+echo setting up ROS paths
if [ -f /opt/ros/indigo/setup.bash ]
then
source /opt/ros/indigo/setup.bash
@@ -35,26 +36,57 @@ else
echo "could not find /opt/ros/{ros-distro}/setup.bash"
exit 1
fi
-source $SRC_DIR/integrationtests/setup_gazebo_ros.bash $SRC_DIR
+export ROS_HOME=$JOB_DIR/.ros
+export ROS_LOG_DIR=$ROS_HOME/log
+export ROS_TEST_RESULT_DIR=$ROS_HOME/test_results/px4
-echo "deleting previous test results ($TEST_RESULT_TARGET_DIR)"
-if [ -d ${TEST_RESULT_TARGET_DIR} ]; then
- rm -r ${TEST_RESULT_TARGET_DIR}
-fi
+PX4_LOG_DIR=$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
-# 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
+echo setting up gazebo paths
+source /usr/share/gazebo/setup.sh
+source $SCRIPTPATH/setup_gazebo_ros.bash ${SRC_DIR} ${BUILD_DIR}
+
+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
fi
-ln -s ${SRC_DIR} /root/Firmware
echo "=====> compile ($SRC_DIR)"
-cd $SRC_DIR
-make ${BUILD}
-make --no-print-directory gazebo_build
+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
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"
@@ -73,7 +105,6 @@ 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/* ${TEST_RESULT_TARGET_DIR}
diff --git a/integrationtests/setup_gazebo_ros.bash b/integrationtests/setup_gazebo_ros.bash
index 6c22bbe192..8cc4a5c58b 100755
--- a/integrationtests/setup_gazebo_ros.bash
+++ b/integrationtests/setup_gazebo_ros.bash
@@ -4,19 +4,24 @@
#
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-if [ "$#" -lt 1 ]
+if [ "$#" != 2 ]
then
- echo usage: source setup_gazebo_ros.bash firmware_src_dir
+ echo usage: source setup_gazebo_ros.bash src_dir build_dir
echo ""
return 1
fi
SRC_DIR=$1
+BUILD_DIR=$2
# setup Gazebo env and update package path
-export GAZEBO_MODEL_PATH=${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}:${SRC_DIR}
+export GAZEBO_RESOURCE_PATH=${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_DATABASE_URI=""
-export SITL_GAZEBO_PATH=$SRC_DIR/Tools/sitl_gazebo
+
+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 $LD_LIBRARY_PATH"
diff --git a/launch/mavros_posix_sitl.launch b/launch/mavros_posix_sitl.launch
index 558f3bbadb..29793e10f8 100644
--- a/launch/mavros_posix_sitl.launch
+++ b/launch/mavros_posix_sitl.launch
@@ -1,18 +1,25 @@
<launch>
+
<!-- MAVROS posix SITL environment launch script -->
+ <arg name="vehicle" default="iris"/>
+ <arg name="world" default="$(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>
@@ -22,3 +29,5 @@
<arg name="fcu_url" value="$(arg fcu_url)"/>
</include>
</launch>
+
+<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
diff --git a/launch/mavros_posix_tests_iris.launch b/launch/mavros_posix_tests_iris.launch
index 235acda6f2..8112f6f1f6 100644
--- a/launch/mavros_posix_tests_iris.launch
+++ b/launch/mavros_posix_tests_iris.launch
@@ -9,6 +9,7 @@
<arg name="ns" value="$(arg ns)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
+ <arg name="vehicle" value="iris"/>
</include>
<group ns="$(arg ns)">
diff --git a/launch/mavros_posix_tests_standard_vtol.launch b/launch/mavros_posix_tests_standard_vtol.launch
index d5aa9e285e..b20f4801c4 100644
--- a/launch/mavros_posix_tests_standard_vtol.launch
+++ b/launch/mavros_posix_tests_standard_vtol.launch
@@ -9,7 +9,7 @@
<arg name="ns" value="$(arg ns)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
- <arg name="world" value="standard_vtol"/>
+ <arg name="vehicle" value="standard_vtol"/>
</include>
<group ns="$(arg ns)">
diff --git a/launch/posix_sitl.launch b/launch/posix_sitl.launch
index 9895ee9d43..6c2d2da649 100644
--- a/launch/posix_sitl.launch
+++ b/launch/posix_sitl.launch
@@ -1,19 +1,31 @@
<launch>
+
<!-- Posix SITL environment launch script -->
+ <arg name="vehicle" default="iris"/>
+ <arg name="world" default="$(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 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 name="sitl" pkg="px4" type="px4" output="screen"
+ args="$(find px4) $(arg rcS)">
</node>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
- <arg name="world_name" value="$(find px4)/Tools/sitl_gazebo/worlds/$(arg world).world" />
+ <arg name="world_name" value="$(arg world)" />
</include>
+
+ <node name="$(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 2588c4b09b..a98a6515fa 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 d985929601..6b93b86c2e 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 2be4900b81..44060e1b52 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 b4f40ce2dd..bc837d2acd 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 008261b6ec..8701609064 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 a1f448bb58..d90ddfa891 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 2ba72c5b8c..04d3a2b2f2 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 87c620c750..8713c62f74 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 26db22d8f0..64cf0a19a1 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 9c84018e98..59b11d1c5e 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 /usr/share/px4/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_lpe_gazebo_iris_opt_flow b/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
index c1a6a2eae5..759831595a 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 /usr/share/px4/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_lpe_jmavsim_iris b/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
index 106d032275..286cb13f9c 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 /usr/share/px4/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_tests b/posix-configs/SITL/init/rcS_tests_none_iris
similarity index 100%
rename from posix-configs/SITL/init/rcS_tests
rename to posix-configs/SITL/init/rcS_tests_none_iris
diff --git a/posix-configs/SITL/init/rc_iris_ros b/posix-configs/SITL/init/rc_iris_ros
index ca1cf0961e..2aa41cdbc8 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 53988b43cf..4d27d2758b 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 ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
+set(nuttx_export_dir ${PX4_BINARY_DIR}/${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=${CMAKE_BINARY_DIR}/${BOARD}/main.map"
+ "-Wl,-Map=${PX4_BINARY_DIR}/${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 ${BOARD} STREQUAL "sim")
if (config_io_board)
- set(extras "${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}.bin")
+ set(extras "${PX4_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 ${CMAKE_BINARY_DIR}/parameters.xml
- AIRFRAMES_XML ${CMAKE_BINARY_DIR}/airframes.xml
+ PARAM_XML ${PX4_BINARY_DIR}/parameters.xml
+ AIRFRAMES_XML ${PX4_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}
- ${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
+ ${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
DEPENDS firmware_nuttx
${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
add_custom_target(debug_io_tui
COMMAND ${GDBTUI}
- ${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
+ ${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
DEPENDS firmware_nuttx
${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
)
add_custom_target(debug_io_ddd
COMMAND ${DDD} --debugger ${GDB}
- ${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
+ ${PX4_BINARY_DIR}/src/modules/px4iofirmware/${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 e820673b21..fd1b1c451e 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 ${CMAKE_SOURCE_DIR}/Debug/PX4
+source ${PX4_SOURCE_DIR}/Debug/PX4
diff --git a/src/firmware/posix/CMakeLists.txt b/src/firmware/posix/CMakeLists.txt
index 3e8e8b5227..58ab449b5a 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -18,7 +18,7 @@ if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
APPS_DEST "/home/linaro"
SOURCES
px4muorb_stub.c
- ${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
+ ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
apps.h
LINK_LIBS
-Wl,--start-group
@@ -33,14 +33,14 @@ if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
OS ${OS}
BOARD ${BOARD}
FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
- ${CMAKE_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
+ ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
DEPENDS px4
DEST /home/linaro)
elseif ("${BOARD}" STREQUAL "rpi")
add_executable(px4
- ${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
+ ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
apps.h
)
@@ -57,7 +57,7 @@ elseif ("${BOARD}" STREQUAL "rpi")
OS ${OS}
BOARD ${BOARD}
FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
- ${CMAKE_SOURCE_DIR}/posix-configs/rpi/px4.config
+ ${PX4_SOURCE_DIR}/posix-configs/rpi/px4.config
DEPENDS px4
DEST /home/pi)
@@ -67,7 +67,7 @@ elseif ("${BOARD}" STREQUAL "bebop")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
add_executable(px4
- ${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
+ ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
apps.h
)
@@ -91,14 +91,14 @@ elseif ("${BOARD}" STREQUAL "bebop")
OS ${OS}
BOARD ${BOARD}
FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
- ${CMAKE_SOURCE_DIR}/posix-configs/bebop/px4.config
+ ${PX4_SOURCE_DIR}/posix-configs/bebop/px4.config
DEPENDS px4
DEST /usr/bin)
else()
add_executable(px4
- ${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
+ ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
apps.h
)
if (NOT APPLE)
@@ -118,17 +118,43 @@ else()
endif()
endif()
+#=============================================================================
+# sitl run targets
+#
+
+set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/tmp)
+file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
+
add_custom_target(run_config
- COMMAND Tools/sitl_run.sh "${config_sitl_rcS}" "${config_sitl_debugger}"
- "${config_sitl_viewer}" "${config_sitl_model}" "${CMAKE_BINARY_DIR}"
- WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+ COMMAND Tools/sitl_run.sh
+ "$<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}
USES_TERMINAL
)
add_dependencies(run_config px4)
-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)
+# 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 ${models})
if (debugger STREQUAL "none")
if (model STREQUAL "none")
set(_targ_name "${viewer}")
@@ -143,13 +169,20 @@ foreach(viewer none jmavsim gazebo replay)
endif()
endif()
add_custom_target(${_targ_name}
- COMMAND Tools/sitl_run.sh "${config_sitl_rcS}"
- "${debugger}"
- "${viewer}" "${model}" "${CMAKE_BINARY_DIR}"
- WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+ 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 ${SITL_WORKING_DIR}
USES_TERMINAL
)
- add_dependencies(${_targ_name} px4)
+ if (viewer STREQUAL "gazebo")
+ add_dependencies(${_targ_name} sitl_gazebo)
+ endif()
endforeach()
endforeach()
endforeach()
@@ -158,8 +191,25 @@ endforeach()
# install
#
-install(TARGETS px4 DESTINATION bin)
+install(TARGETS px4 DESTINATION ${CMAKE_INSTALL_BINDIR})
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 81be14afc5..2e30c6aa8d 100644
--- a/src/firmware/qurt/CMakeLists.txt
+++ b/src/firmware/qurt/CMakeLists.txt
@@ -1,4 +1,4 @@
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_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 ${CMAKE_BINARY_DIR}/apps.h
+ OUT ${PX4_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
- ${CMAKE_BINARY_DIR}/src/firmware/qurt/px4muorb_skel.c
- ${CMAKE_BINARY_DIR}/apps.h)
+ ${PX4_BINARY_DIR}/src/firmware/qurt/px4muorb_skel.c
+ ${PX4_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
- ${CMAKE_BINARY_DIR}/apps.h
+ ${PX4_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
- ${CMAKE_SOURCE_DIR}/posix-configs/eagle/flight/px4.config
+ ${PX4_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 42a5a1b1ba..8a5be79ec2 100644
--- a/src/lib/rc/rc_tests/CMakeLists.txt
+++ b/src/lib/rc/rc_tests/CMakeLists.txt
@@ -40,4 +40,5 @@ 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 d7a834d5c8..14119835f5 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 b9e054e3e7..ad05492026 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 ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
include(hexagon_sdk)
-include_directories(${CMAKE_BINARY_DIR}/src/firmware/posix)
+include_directories(${PX4_BINARY_DIR}/src/firmware/posix)
include_directories(${HEXAGON_SDK_INCLUDES})
px4_add_module(
diff --git a/src/modules/param/CMakeLists.txt b/src/modules/param/CMakeLists.txt
index b3148baab1..3f64a9826c 100644
--- a/src/modules/param/CMakeLists.txt
+++ b/src/modules/param/CMakeLists.txt
@@ -34,8 +34,8 @@
include_directories(${CMAKE_CURRENT_BINARY_DIR})
px4_generate_parameters_source(OUT param_files
- XML ${CMAKE_BINARY_DIR}/parameters.xml
- SCOPE ${CMAKE_SOURCE_DIR}/cmake/configs/${OS}_${BOARD}_${LABEL}.cmake
+ XML ${PX4_BINARY_DIR}/parameters.xml
+ SCOPE ${PX4_SOURCE_DIR}/cmake/configs/${OS}_${BOARD}_${LABEL}.cmake
DEPS xml_gen
)
diff --git a/src/modules/px4iofirmware/CMakeLists.txt b/src/modules/px4iofirmware/CMakeLists.txt
index ab2778711c..67183999eb 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}
- ${CMAKE_BINARY_DIR}/src/modules/systemlib/mixer
+ ${PX4_BINARY_DIR}/src/modules/systemlib/mixer
.
)
link_directories(${link_dirs})
@@ -117,10 +117,10 @@ add_dependencies(${fw_io_name}
mixer_gen
)
-set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${config_io_board}/NuttX/nuttx-export)
+set(nuttx_export_dir ${PX4_BINARY_DIR}/${config_io_board}/NuttX/nuttx-export)
set(main_link_flags
"-T${nuttx_export_dir}/build/ld.script"
- "-Wl,-Map=${CMAKE_BINARY_DIR}/${config_io_board}/main.map"
+ "-Wl,-Map=${PX4_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 ${main_link_flags})
diff --git a/src/modules/systemlib/CMakeLists.txt b/src/modules/systemlib/CMakeLists.txt
index 7277ee3ca1..91f405d605 100644
--- a/src/modules/systemlib/CMakeLists.txt
+++ b/src/modules/systemlib/CMakeLists.txt
@@ -32,7 +32,7 @@
############################################################################
# for generated files
-include_directories(${CMAKE_BINARY_DIR}/src/modules/param)
+include_directories(${PX4_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 17e94cd311..47131f2ec6 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 UavcanServers
+class __EXPORT 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 646b94610f..ac0520c858 100644
--- a/src/platforms/posix/main.cpp
+++ b/src/platforms/posix/main.cpp
@@ -50,6 +50,7 @@
#include "px4_middleware.h"
#include "DriverFramework.hpp"
#include <termios.h>
+#include <sys/stat.h>
namespace px4
{
@@ -62,6 +63,12 @@ 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;
@@ -85,6 +92,96 @@ 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();
@@ -134,12 +231,13 @@ static void run_cmd(const vector<string> &appargs, bool exit_on_fail, bool silen
static void usage()
{
- cout << "./px4 [-d] [startup_config] -h" << std::endl;
+ cout << "./px4 [-d] data_directory startup_config [-h]" << endl;
cout << " -d - Optional flag to run the app in daemon mode and does not listen for user input." <<
- 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;
+ 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;
}
static void process_line(string &line, bool exit_on_fail)
@@ -202,52 +300,131 @@ int main(int argc, char **argv)
set_cpu_scaling();
int index = 1;
- char *commands_file = nullptr;
+ string commands_file = "";
+ int positional_arg_count = 0;
+ string data_path = "";
+ string node_name = "";
+ // parse arguments
while (index < argc) {
+ //cout << "arg: " << index << " : " << argv[index] << endl;
+
if (argv[index][0] == '-') {
// the arg starts with -
- if (strcmp(argv[index], "-d") == 0) {
+ if (strncmp(argv[index], "-d", 2) == 0) {
daemon_mode = true;
- } else if (strcmp(argv[index], "-h") == 0) {
+ } else if (strncmp(argv[index], "-h", 2) == 0) {
usage();
return 0;
- } else if (strcmp(argv[index], "-c") == 0) {
+ } else if (strncmp(argv[index], "-c", 2) == 0) {
chroot_on = true;
} else {
- PX4_WARN("Unknown/unhandled parameter: %s", argv[index]);
+ PX4_ERR("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 {
- // this is an argument that does not have '-' prefix; treat it like a file name
- ifstream infile(argv[index]);
+ //cout << "positional argument" << endl;
- if (infile.good()) {
- infile.close();
- commands_file = argv[index];
+ positional_arg_count += 1;
- } else {
- PX4_WARN("Error opening file: %s", argv[index]);
- return -1;
+ if (positional_arg_count == 1) {
+ data_path = argv[index];
+ cout << "data path: " << data_path << endl;
+
+ } else if (positional_arg_count == 2) {
+ commands_file = argv[index];
+ cout << "commands file: " << commands_file << endl;
}
}
++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 != nullptr) {
- ifstream infile(commands_file);
+ if (commands_file.size() != 0) {
+ ifstream infile(commands_file.c_str());
if (infile.is_open()) {
for (string line; getline(infile, line, '\n');) {
@@ -261,7 +438,7 @@ int main(int argc, char **argv)
}
} else {
- PX4_WARN("Error opening file: %s", commands_file);
+ PX4_ERR("Error opening commands file: %s", commands_file.c_str());
}
}
@@ -270,12 +447,6 @@ 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/";
@@ -419,3 +590,5 @@ 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 344621c694..fa1eed4ffc 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 ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
include(hexagon_sdk)
- include_directories(${CMAKE_BINARY_DIR}/src/firmware/posix)
+ include_directories(${PX4_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 38dbd8a46f..ed6e56790a 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 ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_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 88c37d6e9c..da2cff5d5a 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 0984e546e3..bb955490bc 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} ${CMAKE_SOURCE_DIR}/Tools/generate_listener.py ${CMAKE_SOURCE_DIR} > topic_listener.cpp
+ COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/generate_listener.py ${PX4_SOURCE_DIR} > topic_listener.cpp
DEPENDS msg_gen
)
add_custom_target(generate_topic_listener
DEPENDS
topic_listener.cpp
- ${CMAKE_SOURCE_DIR}/Tools/generate_listener.py)
+ ${PX4_SOURCE_DIR}/Tools/generate_listener.py)
px4_add_module(
MODULE systemcmds__topic_listener
diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
index 9df3adcce3..b6664b26e8 100644
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -13,15 +13,19 @@ enable_testing()
set(CMAKE_C_FLAGS "${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 ${CMAKE_SOURCE_DIR}/googletest)
+set(GTEST_DIR ${PX4_SOURCE_DIR}/unittests/googletest)
add_subdirectory(${GTEST_DIR})
include_directories(${GTEST_DIR}/include)
-set(PX4_SRC ${CMAKE_SOURCE_DIR}/../src)
+set(PX4_SRC ${PX4_SOURCE_DIR}/src)
set(PX4_SITL_BUILD ${PX4_SRC}/../build_posix_sitl_default)
-include_directories(${CMAKE_SOURCE_DIR})
+include_directories(${PX4_SOURCE_DIR})
include_directories(${PX4_SITL_BUILD}/src)
include_directories(${PX4_SITL_BUILD}/src/modules)
include_directories(${PX4_SITL_BUILD}/src/modules/param)
@@ -94,7 +98,7 @@ 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 ${CMAKE_BINARY_DIR}
+ WORKING_DIR ${PX4_BINARY_DIR}
USES_TERMINAL)
# add_gtest
@@ -105,7 +109,7 @@ function(add_gtest)
else()
target_link_libraries(${test_name} gtest_main pthread rt px4_platform)
endif()
- add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
+ add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${PX4_SOURCE_DIR})
add_dependencies(check ${test_name})
endforeach()
endfunction()
--
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