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Makefile
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Makefile
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############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
# Enforce the presence of the GIT repository
#
# We depend on our submodules, so we have to prevent attempts to
# compile without it being present.
ifeq ($(wildcard .git),)
$(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
endif
CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?)
ifneq ($(CMAKE_VER),0)
$(warning Not a valid CMake version or CMake not installed.)
$(warning On Ubuntu, install or upgrade via:)
$(warning )
$(warning 3rd party PPA:)
$(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y)
$(warning sudo apt-get update)
$(warning sudo apt-get install cmake)
$(warning )
$(warning Official website:)
$(warning wget https://cmake.org/files/v3.3/cmake-3.3.2-Linux-x86_64.sh)
$(warning chmod +x cmake-3.3.2-Linux-x86_64.sh)
$(warning sudo mkdir /opt/cmake-3.3.2)
$(warning sudo ./cmake-3.3.2-Linux-x86_64.sh --prefix=/opt/cmake-3.3.2 --exclude-subdir)
$(warning export PATH=/opt/cmake-3.3.2/bin:$$PATH)
$(warning )
$(error Fatal)
endif
# Help
# --------------------------------------------------------------------
# Don't be afraid of this makefile, it is just passing
# arguments to cmake to allow us to keep the wiki pages etc.
# that describe how to build the px4 firmware
# the same even when using cmake instead of make.
#
# Example usage:
#
# make px4fmu-v2_default (builds)
# make px4fmu-v2_default upload (builds and uploads)
# make px4fmu-v2_default test (builds and tests)
#
# This tells cmake to build the nuttx px4fmu-v2 default config in the
# directory build_nuttx_px4fmu-v2_default and then call make
# in that directory with the target upload.
# explicity set default build target
all: px4fmu-v2_default
# Parsing
# --------------------------------------------------------------------
# assume 1st argument passed is the main target, the
# rest are arguments to pass to the makefile generated
# by cmake in the subdirectory
ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
j ?= 4
NINJA_BUILD := $(shell ninja --version 2>/dev/null)
ifdef NINJA_BUILD
PX4_CMAKE_GENERATOR ?= "Ninja"
PX4_MAKE = ninja
PX4_MAKE_ARGS =
else
ifdef SYSTEMROOT
# Windows
PX4_CMAKE_GENERATOR ?= "MSYS Makefiles"
else
PX4_CMAKE_GENERATOR ?= "Unix Makefiles"
endif
PX4_MAKE = make
PX4_MAKE_ARGS = -j$(j) --no-print-directory
endif
# Functions
# --------------------------------------------------------------------
# describe how to build a cmake config
define cmake-build
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(PWD)/build_$@/Makefile ]; then rm -rf $(PWD)/build_$@; fi
+@if [ ! -e $(PWD)/build_$@/CMakeCache.txt ]; then git submodule update --init --recursive --force && mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1); fi
+$(PX4_MAKE) -C $(PWD)/build_$@ $(PX4_MAKE_ARGS) $(ARGS)
endef
# create empty targets to avoid msgs for targets passed to cmake
define cmake-targ
$(1):
@#
.PHONY: $(1)
endef
# ADD CONFIGS HERE
# --------------------------------------------------------------------
# Do not put any spaces between function arguments.
px4fmu-v1_default:
$(call cmake-build,nuttx_px4fmu-v1_default)
px4fmu-v2_default:
$(call cmake-build,nuttx_px4fmu-v2_default)
px4fmu-v4_default:
$(call cmake-build,nuttx_px4fmu-v4_default)
px4fmu-v2_simple:
$(call cmake-build,nuttx_px4fmu-v2_simple)
px4fmu-v2_lpe:
$(call cmake-build,nuttx_px4fmu-v2_lpe)
nuttx_sim_simple:
$(call cmake-build,$@)
posix_sitl_simple:
$(call cmake-build,$@)
posix_sitl_lpe:
$(call cmake-build,$@)
ros_sitl_simple:
$(call cmake-build,$@)
qurt_eagle_travis:
$(call cmake-build,$@)
qurt_eagle_release:
$(call cmake-build,$@)
posix_eagle_release:
$(call cmake-build,$@)
posix: posix_sitl_simple
posix_sitl_default: posix_sitl_simple
ros: ros_sitl_simple
sitl_deprecation:
@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."
sitl_quad: sitl_deprecation
sitl_plane: sitl_deprecation
sitl_ros: sitl_deprecation
# Other targets
# --------------------------------------------------------------------
check_format:
@./Tools/check_code_style.sh
clean:
@rm -rf build_*/
@(cd NuttX && git clean -d -f -x)
@(cd src/modules/uavcan/libuavcan && git clean -d -f -x)
# targets handled by cmake
cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim \
jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_tailsitter
$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
.PHONY: clean
CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
# Future:
#$(CONFIGS):
## @cd Build/$@ && cmake ../.. -DCONFIG=$@
# @cd Build/$@ && make
#
#clean-all:
# @rm -rf Build/*
#
#help:
# @echo
# @echo "Type 'make ' and hit the tab key twice to see a list of the available"
# @echo "build configurations."
# @echo