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Makefile
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Makefile
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############################################################################
#
# Copyright (c) 2015 - 2016 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
# Enforce the presence of the GIT repository
#
# We depend on our submodules, so we have to prevent attempts to
# compile without it being present.
ifeq ($(wildcard .git),)
$(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
endif
CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?)
ifneq ($(CMAKE_VER),0)
$(warning Not a valid CMake version or CMake not installed.)
$(warning On Ubuntu 16.04, install or upgrade via:)
$(warning )
$(warning 3rd party PPA:)
$(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y)
$(warning sudo apt-get update)
$(warning sudo apt-get install cmake)
$(warning )
$(warning Official website:)
$(warning wget https://cmake.org/files/v3.4/cmake-3.4.3-Linux-x86_64.sh)
$(warning chmod +x cmake-3.4.3-Linux-x86_64.sh)
$(warning sudo mkdir /opt/cmake-3.4.3)
$(warning sudo ./cmake-3.4.3-Linux-x86_64.sh --prefix=/opt/cmake-3.4.3 --exclude-subdir)
$(warning export PATH=/opt/cmake-3.4.3/bin:$$PATH)
$(warning )
$(error Fatal)
endif
# Help
# --------------------------------------------------------------------
# Don't be afraid of this makefile, it is just passing
# arguments to cmake to allow us to keep the wiki pages etc.
# that describe how to build the px4 firmware
# the same even when using cmake instead of make.
#
# Example usage:
#
# make px4fmu-v2_default (builds)
# make px4fmu-v2_default upload (builds and uploads)
# make px4fmu-v2_default test (builds and tests)
#
# This tells cmake to build the nuttx px4fmu-v2 default config in the
# directory build_nuttx_px4fmu-v2_default and then call make
# in that directory with the target upload.
# explicity set default build target
all: posix_sitl_default
# Parsing
# --------------------------------------------------------------------
# assume 1st argument passed is the main target, the
# rest are arguments to pass to the makefile generated
# by cmake in the subdirectory
FIRST_ARG := $(firstword $(MAKECMDGOALS))
ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
j ?= 4
ifndef NO_NINJA_BUILD
NINJA_BUILD := $(shell ninja --version 2>/dev/null)
endif
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
# check if replay env variable is set & set build dir accordingly
ifdef replay
BUILD_DIR_SUFFIX := _replay
else
BUILD_DIR_SUFFIX :=
endif
# additional config parameters passed to cmake
CMAKE_ARGS :=
ifdef EXTERNAL_MODULES_LOCATION
CMAKE_ARGS := -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
endif
SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
# Functions
# --------------------------------------------------------------------
# describe how to build a cmake config
define cmake-build
+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) $(CMAKE_ARGS) || (cd .. && rm -rf $(BUILD_DIR)); fi
+@echo "PX4 CONFIG: $(BUILD_DIR)"
+@$(PX4_MAKE) -C "$(BUILD_DIR)" $(PX4_MAKE_ARGS) $(ARGS)
endef
define cmake-build-other
+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
+@$(PX4_MAKE) -C "$(BUILD_DIR)" $(PX4_MAKE_ARGS) $(ARGS)
endef
define colorecho
@tput setaf 6
@echo $1
@tput sgr0
endef
# Get a list of all config targets.
ALL_CONFIG_TARGETS := $(basename $(shell find "$(SRC_DIR)/cmake/configs" ! -name '*_common*' ! -name '*_sdflight_*' -name '*.cmake' -print | sed -e 's:^.*/::' | sort))
# Strip off leading nuttx_
NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGETS)))
# ADD CONFIGS HERE
# --------------------------------------------------------------------
# Do not put any spaces between function arguments.
# All targets.
$(ALL_CONFIG_TARGETS):
$(call cmake-build,$@)
# Abbreviated config targets.
# nuttx_ is left off by default; provide a rule to allow that.
$(NUTTX_CONFIG_TARGETS):
$(call cmake-build,nuttx_$@)
all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
posix: posix_sitl_default
broadcast: posix_sitl_broadcast
# Multi- config targets.
eagle_default: posix_eagle_default qurt_eagle_default
eagle_legacy_default: posix_eagle_legacy_driver_default qurt_eagle_legacy_driver_default
excelsior_default: posix_excelsior_default qurt_excelsior_default
# Deprecated config targets.
ros_sitl_default:
@echo "This target is deprecated. Use make 'posix_sitl_default gazebo' instead."
_sitl_deprecation:
@echo "Deprecated. Use 'make posix_sitl_default jmavsim' or"
@echo "'make posix_sitl_default gazebo' if Gazebo is preferred."
run_sitl_quad: _sitl_deprecation
run_sitl_plane: _sitl_deprecation
run_sitl_ros: _sitl_deprecation
# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
.PHONY: all posix broadcast eagle_default eagle_legacy_default excelsior_default run_sitl_quad run_sitl_plane run_sitl_ros all_nuttx_targets
# Other targets
# --------------------------------------------------------------------
.PHONY: uavcan_firmware check check_format format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
.NOTPARALLEL:
# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
.PHONY: checks_defaults checks_bootloaders checks_tests checks_alts checks_uavcan checks_sitls checks_last quick_check tests extra_firmware
uavcan_firmware:
ifeq ($(VECTORCONTROL),1)
$(call colorecho,"Downloading and building Vector control (FOC) firmware for the S2740VC and PX4ESC 1.6")
@(rm -rf vectorcontrol && git clone --quiet --depth 1 https://github.com/thiemar/vectorcontrol.git && cd vectorcontrol && BOARD=s2740vc_1_0 make --silent --no-print-directory && BOARD=px4esc_1_6 make --silent --no-print-directory && ../Tools/uavcan_copy.sh)
endif
check_px4fmu-v4_default: uavcan_firmware
check_px4fmu-v4_default_and_uavcan: check_px4fmu-v4_default
@echo
ifeq ($(VECTORCONTROL),1)
@echo "Cleaning up vectorcontrol firmware"
@rm -rf vectorcontrol
@rm -rf ROMFS/px4fmu_common/uavcan
endif
# All default targets that don't require a special build environment (currently built on semaphore-ci)
check: check_px4fmu-v1_default \
check_px4fmu-v2_default \
check_px4fmu-v2_test \
check_px4fmu-v4_default_and_uavcan \
check_mindpx-v2_default \
check_posix_sitl_default \
check_tap-v1_default \
check_aerofc-v1_default \
check_px4-stm32f4discovery_default \
check_crazyflie_default \
check_tests \
check_format
# quick_check builds a single nuttx and posix target, runs testing, and checks the style
quick_check: check_posix_sitl_default check_px4fmu-v4_default check_tests check_format
check_format:
$(call colorecho,"Checking formatting with astyle")
@./Tools/check_code_style_all.sh
@git diff --check
format:
$(call colorecho,"Formatting with astyle")
@./Tools/check_code_style_all.sh --fix
check_%:
@echo
$(call colorecho,"Building" $(subst check_,,$@))
@$(MAKE) --no-print-directory $(subst check_,,$@)
@echo
unittest: posix_sitl_default
$(call cmake-build-other,unittest, ../unittests)
@(cd build_unittest && ctest -j2 --output-on-failure)
run_tests_posix: posix_sitl_default
@(cd build_posix_sitl_default/ && ctest -V)
tests: check_unittest run_tests_posix
# QGroundControl flashable firmware (currently built by travis-ci)
qgc_firmware: \
check_px4fmu-v1_default \
check_px4fmu-v2_default \
check_px4fmu-v3_default \
check_px4fmu-v4_default_and_uavcan \
check_mindpx-v2_default \
check_tap-v1_default \
check_format
package_firmware:
@zip --junk-paths Firmware.zip `find . -name \*.px4`
clean:
@rm -rf build_*/
-@$(MAKE) -C NuttX/nuttx clean
submodulesclean:
@git submodule sync --recursive
@git submodule deinit -f .
@git submodule update --init --recursive --force
distclean: submodulesclean clean
@git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea"
# All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
%:
$(if $(filter $(FIRST_ARG),$@), \
$(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
.PHONY: clean
CONFIGS:=$(shell ls cmake/configs | sed -e "s~.*/~~" | sed -e "s~\..*~~")
#help:
# @echo
# @echo "Type 'make ' and hit the tab key twice to see a list of the available"
# @echo "build configurations."
# @echo
empty :=
space := $(empty) $(empty)
# Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
help:
@echo "Usage: $(MAKE) <target>"
@echo "Where <target> is one of:"
@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS) $(NUTTX_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
@echo
@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
# Print a list of all config targets.
list_config_targets:
@for targ in $(patsubst nuttx_%,[nuttx_]%,$(ALL_CONFIG_TARGETS)); do echo $$targ; done