px4_impl_posix_cmake学习

 ############################################################################
 #
 # Copyright (c)  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:
 #
 # . Redistributions of source code must retain the above copyright
 #    notice, this list of conditions and the following disclaimer.
 # . 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.
 # . 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.
 #
 ############################################################################

 #=============================================================================
 #
 #    Defined functions in this file
 #
 #     OS Specific Functions
 #
 #        * px4_posix_add_firmware
 #        * px4_posix_generate_builtin_commands
 #        * px4_posix_add_export
 #        * px4_posix_generate_romfs
 #
 #     Required OS Interface Functions
 #
 #         * px4_os_add_flags
 #        * px4_os_prebuild_targets
 #

 include(common/px4_base)
 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/posix)

 #=============================================================================
 #
 #    px4_posix_generate_builtin_commands
 #
 #    This function generates the builtin_commands.c src for posix
 #
 #    Usage:
 #        px4_posix_generate_builtin_commands(
 #            MODULE_LIST <in-list>
 #            OUT <file>)
 #
 #    Input:
 #        MODULE_LIST    : list of modules
 #
 #    Output:
 #        OUT    : stem of generated apps.cpp/apps.h ("apps")
 #
 #    Example:
 #        px4_posix_generate_builtin_commands(
 #            OUT <generated-src> MODULE_LIST px4_simple_app)
 #
 function(px4_posix_generate_builtin_commands)
     px4_parse_function_args(
         NAME px4_posix_generate_builtin_commands
         ONE_VALUE OUT
         MULTI_VALUE MODULE_LIST
         REQUIRED MODULE_LIST OUT
         ARGN ${ARGN})

     set(builtin_apps_string)
     set(builtin_apps_decl_string)
     set(command_count )
     foreach(module ${MODULE_LIST})
         # default
         set(MAIN_DEFAULT MAIN-NOTFOUND)
         set(STACK_DEFAULT )
         set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
         foreach(property MAIN STACK PRIORITY)
             get_target_property(${property} ${module} ${property})
             if(NOT ${property})
                 set(${property} ${${property}_DEFAULT})
             endif()
         endforeach()
         if (MAIN)
             set(builtin_apps_string
                 "${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
             set(builtin_apps_decl_string
                 "${builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n")
             math(EXPR command_count "${command_count}+1")
         endif()
     endforeach()
     configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.cpp.in ${OUT}.cpp)
     configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.h.in ${OUT}.h)
 endfunction()

 #=============================================================================
 #
 #    px4_os_add_flags
 #
 #    Set the posix build flags.
 #
 #    Usage:
 #        px4_os_add_flags(
 #            C_FLAGS <inout-variable>
 #            CXX_FLAGS <inout-variable>
 #            OPTIMIZATION_FLAGS <inout-variable>
 #            EXE_LINKER_FLAGS <inout-variable>
 #            INCLUDE_DIRS <inout-variable>
 #            LINK_DIRS <inout-variable>
 #            DEFINITIONS <inout-variable>)
 #
 #    Input:
 #        BOARD                    : flags depend on board/posix config
 #
 #    Input/Output: (appends to existing variable)
 #        C_FLAGS                    : c compile flags variable
 #        CXX_FLAGS                : c++ compile flags variable
 #        OPTIMIZATION_FLAGS            : optimization compile flags variable
 #        EXE_LINKER_FLAGS            : executable linker flags variable
 #        INCLUDE_DIRS                : include directories
 #        LINK_DIRS                : link directories
 #        DEFINITIONS                : definitions
 #
 #    Note that EXE_LINKER_FLAGS is not suitable for adding libraries because
 #    these flags are added before any of the object files and static libraries.
 #    Add libraries in src/firmware/posix/CMakeLists.txt.
 #
 #    Example:
 #        px4_os_add_flags(
 #            C_FLAGS CMAKE_C_FLAGS
 #            CXX_FLAGS CMAKE_CXX_FLAGS
 #            OPTIMIZATION_FLAGS optimization_flags
 #            EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS
 #            INCLUDES <list>)
 #
 function(px4_os_add_flags)

     set(inout_vars
         C_FLAGS CXX_FLAGS OPTIMIZATION_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)

     px4_parse_function_args(
         NAME px4_os_add_flags
         ONE_VALUE ${inout_vars} BOARD
         REQUIRED ${inout_vars} BOARD
         ARGN ${ARGN})

     px4_add_common_flags(
         BOARD ${BOARD}
         C_FLAGS ${C_FLAGS}
         CXX_FLAGS ${CXX_FLAGS}
         OPTIMIZATION_FLAGS ${OPTIMIZATION_FLAGS}
         EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}
         INCLUDE_DIRS ${INCLUDE_DIRS}
         LINK_DIRS ${LINK_DIRS}
         DEFINITIONS ${DEFINITIONS})

     set(added_include_dirs
         src/platforms/posix/include
         )

     # This block sets added_definitions and added_cxx_flags.
     if(UNIX AND APPLE)
         set(added_definitions
             -D__PX4_POSIX
             -D__PX4_DARWIN
             -D__DF_DARWIN
             -Dnoreturn_function=__attribute__\(\(noreturn\)\)
             )

         set(added_cxx_flags)

         if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0)
             message(FATAL_ERROR "PX4 Firmware requires XCode 8 or newer on Mac OS. Version installed on this system: ${CMAKE_CXX_COMPILER_VERSION}")
         endif()

         EXEC_PROGRAM(uname ARGS -v  OUTPUT_VARIABLE DARWIN_VERSION)
         STRING(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})
         # message(STATUS "PX4 Darwin Version: ${DARWIN_VERSION}")
         if (DARWIN_VERSION LESS )
             list(APPEND added_definitions
                 -DCLOCK_MONOTONIC=
                 -DCLOCK_REALTIME=
                 -D__PX4_APPLE_LEGACY
                 )
         endif()

     else()

         set(added_definitions
             -D__PX4_POSIX
             -D__PX4_LINUX
             -D__DF_LINUX
             -Dnoreturn_function=__attribute__\(\(noreturn\)\)
             )

         # Use -pthread For linux/g++.
         set(added_cxx_flags
             -pthread
             )

     endif()

     set(added_exe_linker_flags)

     # This block sets added_c_flags (appends to others).
     if ("${BOARD}" STREQUAL "eagle")

         if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
             message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
         else()
             set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
         endif()

         # Add the toolchain specific flags
         set(added_cflags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT})

         list(APPEND added_cxx_flags
             ${POSIX_CMAKE_CXX_FLAGS}
             --sysroot=${HEXAGON_ARM_SYSROOT}
             )

         list(APPEND added_exe_linker_flags
             -Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/usr/lib
             -Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib
             --sysroot=${HEXAGON_ARM_SYSROOT}
             )
     # This block sets added_c_flags (appends to others).
     elseif ("${BOARD}" STREQUAL "excelsior")

         if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")
             message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
         else()
             set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
         endif()

         # Add the toolchain specific flags

         set(added_cflags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096  -mfloat-abi=softfp -mfpu=neon -mthumb-interwork)

         list(APPEND added_cxx_flags
             ${POSIX_CMAKE_CXX_FLAGS}
             --sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096  -mfloat-abi=softfp -mfpu=neon -mthumb-interwork

             )

         list(APPEND added_exe_linker_flags
             -Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib32-apq8096/usr/lib
             -Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib32-apq8096/lib

             --sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096  -mfloat-abi=softfp -mfpu=neon -mthumb-interwork

             )
     elseif ("${BOARD}" STREQUAL "rpi")
         SET(RPI_COMPILE_FLAGS
             -mcpu=cortex-a53
             -mfpu=neon
             -mfloat-abi=hard
         )
         LIST(APPEND added_c_flags ${RPI_COMPILE_FLAGS})
         LIST(APPEND added_cxx_flags ${RPI_COMPILE_FLAGS})

         FIND_PROGRAM(CXX_COMPILER_PATH ${CMAKE_CXX_COMPILER})

         GET_FILENAME_COMPONENT(CXX_COMPILER_PATH ${CXX_COMPILER_PATH} DIRECTORY)
         GET_FILENAME_COMPONENT(CXX_COMPILER_PATH "${CXX_COMPILER_PATH}/../" ABSOLUTE)

         IF ("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang")
             set(CLANG_COMPILE_FLAGS
                 --target=arm-pc-linux-gnueabihf
                 -ccc-gcc-name arm-linux-gnueabihf-gcc
                 --sysroot=${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc
                 -I${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/include/
             )

             set(added_c_flags ${POSIX_CMAKE_C_FLAGS} ${CLANG_COMPILE_FLAGS})
             list(APPEND added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS} ${CLANG_COMPILE_FLAGS})
             list(APPEND added_exe_linker_flags ${POSIX_CMAKE_EXE_LINKER_FLAGS} ${CLANG_COMPILE_FLAGS}
                 -B${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib
                 -L${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib
             )
         ENDIF()
     endif()

     # output
     foreach(var ${inout_vars})
         string(TOLOWER ${var} lower_var)
         #message(STATUS "posix: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")
         set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)
     endforeach()

 endfunction()

 #=============================================================================
 #
 #    px4_os_prebuild_targets
 #
 #    This function generates os dependent targets
 #
 #    Usage:
 #        px4_os_prebuild_targets(
 #            OUT <out-list_of_targets>
 #            BOARD <in-string>
 #            )
 #
 #    Input:
 #        BOARD         : board
 #        THREADS     : number of threads for building
 #
 #    Output:
 #        OUT    : the target list
 #
 #    Example:
 #        px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
 #
 function(px4_os_prebuild_targets)
     px4_parse_function_args(
             NAME px4_os_prebuild_targets
             ONE_VALUE OUT BOARD THREADS
             REQUIRED OUT BOARD
             ARGN ${ARGN})
     add_custom_target(${OUT})
 endfunction()