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Revert "Improvements to SITL to make paths more flexible. (#5181)"

Browse Source 
This reverts commit 699b6a2cb3.
This commit is contained in:
Lorenz Meier
2016-08-05 21:29:49 +02:00
parent bbe3525377
commit 102f5b54d7
72 changed files with 672 additions and 643 deletions
Download Patch File Download Diff File Expand all files Collapse all files
CMakeLists.txt
+22 -43
View File
@@ -121,14 +121,6 @@
# and leads to wrong toolchain detection
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
execute_process(
COMMAND Tools/check_submodules.sh
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
)
# Use clang
#SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
#SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
@@ -163,9 +155,6 @@ message(STATUS "${target_name}")
# Define GNU standard installation directories
include(GNUInstallDirs)
# Add support for external project building
include(ExternalProject)
# Setup install paths
if(NOT CMAKE_INSTALL_PREFIX)
if (${OS} STREQUAL "posix")
@@ -174,8 +163,12 @@ if(NOT CMAKE_INSTALL_PREFIX)
endif()
message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
message(STATUS "cmake module path: ${CMAKE_MODULE_PATH}")
# switch to ros CMake file if building ros
if (${OS} STREQUAL "ros")
include("cmake/ros-CMakeLists.txt")
else() # otherwise use the rest of this file
list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
set(config_module "configs/${CONFIG}")
include(${config_module})
@@ -206,9 +199,6 @@ if(DEFINED config_df_driver_list)
message("DF Drivers: ${config_df_driver_list}")
endif()
# force static lib build
set(BUILD_SHARED_LIBS OFF)
#=============================================================================
# project definition
#
@@ -229,22 +219,8 @@ set(version "${version_major}.${version_minor}.${version_patch}")
set(package-contact "px4users@googlegroups.com")
#=============================================================================
# find programs and packages
# programs
#
# see if catkin was invoked to build this
if (CATKIN_DEVEL_PREFIX)
message(STATUS "catkin ENABLED")
find_package(catkin REQUIRED)
if (catkin_FOUND)
catkin_package()
else()
message(FATAL_ERROR "catkin not found")
endif()
else()
message(STATUS "catkin DISABLED")
endif()
find_package(PythonInterp REQUIRED)
#=============================================================================
@@ -281,7 +257,7 @@ px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
add_custom_target(submodule_clean
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
COMMAND git submodule deinit -f .
COMMAND rm -rf .git/modules/*
)
@@ -291,12 +267,12 @@ add_custom_target(submodule_clean
#
add_custom_target(check_format
COMMAND Tools/check_code_style.sh
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
)
add_custom_target(config
COMMAND cmake-gui .
WORKING_DIRECTORY ${PX4_BINARY_DIR}
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
)
#=============================================================================
@@ -345,7 +321,7 @@ add_custom_target(xml_gen
# external projects
#
set(ep_base ${PX4_BINARY_DIR}/external)
set(ep_base ${CMAKE_BINARY_DIR}/external)
set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
# add external project install folders to build
@@ -374,7 +350,7 @@ foreach(module ${config_module_list})
if(external_module)
STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
else()
add_subdirectory(src/${module})
endif()
@@ -399,7 +375,7 @@ endif()
#=============================================================================
# generate git version
#
px4_create_git_hash_header(HEADER ${PX4_BINARY_DIR}/build_git_version.h)
px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)
#=============================================================================
# packaging
@@ -418,14 +394,17 @@ set(CPACK_GENERATOR "ZIP")
set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${version}")
set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${version}")
set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
set(CPACK_SET_DESTDIR "OFF")
if ("${CMAKE_SYSTEM}" MATCHES "Linux")
find_program(DPKG_PROGRAM dpkg)
if (EXISTS ${DPKG_PROGRAM})
list (APPEND CPACK_GENERATOR "DEB")
endif()
find_program(DPKG_PROGRAM dpkg)
if (EXISTS ${DPKG_PROGRAM})
list (APPEND CPACK_GENERATOR "DEB")
endif()
endif()
if (${OS} STREQUAL "posix")
set(CPACK_SET_DESTDIR "ON")
endif()
include(CPack)
endif() # ros alternative endif
# vim: set noet fenc=utf-8 ff=unix ft=cmake :
Makefile
+20 -13
View File
@@ -111,23 +111,20 @@ else
BUILD_DIR_SUFFIX :=
endif
SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
# Functions
# --------------------------------------------------------------------
# describe how to build a cmake config
define cmake-build
+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
+@(echo "PX4 CONFIG: $(BUILD_DIR)" && cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e ./build_$@$(BUILD_DIR_SUFFIX)/Makefile ]; then rm -rf ./build_$@$(BUILD_DIR_SUFFIX); fi
+@if [ ! -e ./build_$@$(BUILD_DIR_SUFFIX)/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p ./build_$@$(BUILD_DIR_SUFFIX) && cd ./build_$@$(BUILD_DIR_SUFFIX) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf ./build_$@$(BUILD_DIR_SUFFIX)); fi
+@Tools/check_submodules.sh
+@(echo "PX4 CONFIG: $@$(BUILD_DIR_SUFFIX)" && cd ./build_$@$(BUILD_DIR_SUFFIX) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
endef
define cmake-build-other
+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e ./build_$@/Makefile ]; then rm -rf ./build_$@; fi
+@if [ ! -e ./build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p ./build_$@ && cd ./build_$@ && cmake $(2) -G$(PX4_CMAKE_GENERATOR) || (cd .. && rm -rf ./build_$@); fi
+@(cd ./build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
endef
# create empty targets to avoid msgs for targets passed to cmake
@@ -236,8 +233,14 @@ run_sitl_ros: sitl_deprecation
# Other targets
# --------------------------------------------------------------------
.PHONY: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
.NOTPARALLEL: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
.PHONY: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
.NOTPARALLEL: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
gazebo_build:
@mkdir -p build_gazebo
@if [ ! -e ./build_gazebo/CMakeCache.txt ];then cd build_gazebo && cmake -Wno-dev -G$(PX4_CMAKE_GENERATOR) ../Tools/sitl_gazebo; fi
@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS)
@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS) sdf
uavcan_firmware:
ifeq ($(VECTORCONTROL),1)
@@ -299,7 +302,11 @@ unittest: posix_sitl_default
@(cd build_unittest && ctest -j2 --output-on-failure)
run_tests_posix: posix_sitl_default
@(cd build_posix_sitl_default/ && ctest -V)
@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/fs/microsd
@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/eeprom
@touch build_posix_sitl_default/src/firmware/posix/rootfs/eeprom/parameters
@(cd build_posix_sitl_default/src/firmware/posix && ./px4 -d ../../../../posix-configs/SITL/init/rcS_tests | tee test_output)
@(cd build_posix_sitl_default/src/firmware/posix && grep --color=always "All tests passed" test_output)
tests: check_unittest run_tests_posix
Tools/sitl_gazebo
+1 -1
Submodule Tools/sitl_gazebo updated: 9486c331a7...00dcabb1c2
Tools/sitl_run.sh
+39 -44
View File
@@ -1,29 +1,22 @@
#!/bin/bash
set -e
echo args: $@
sitl_bin=$1
rc_script=$2
debugger=$3
program=$4
model=$5
src_path=$6
build_path=$7
rc_script=$1
debugger=$2
program=$3
model=$4
build_path=$5
curr_dir=`pwd`
echo SITL ARGS
echo sitl_bin: $sitl_bin
echo rc_script: $rc_script
echo debugger: $debugger
echo program: $program
echo model: $model
echo src_path: $src_path
echo build_path: $build_path
working_dir=`pwd`
sitl_bin=$build_path/src/firmware/posix/px4
mkdir -p $build_path/src/firmware/posix/rootfs/fs/microsd
mkdir -p $build_path/src/firmware/posix/rootfs/eeprom
touch $build_path/src/firmware/posix/rootfs/eeprom/parameters
if [ "$chroot" == "1" ]
then
@@ -42,36 +35,32 @@ fi
if [ "$#" -lt 5 ]
then
echo usage: sitl_run.sh rc_script debugger program model devel_path
echo usage: sitl_run.sh rc_script debugger program model build_path
echo ""
exit 1
fi
command_exists () {
type "$1" &> /dev/null ;
}
# kill process names that might stil
# be running from last time
pgrep gazebo && pkill gazebo
pgrep px4 && pkill px4
if command_exists jps
pkill gazebo
pkill px4
jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
if [ -n "$jmavsim_pid" ]
then
jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
if [ -n "$jmavsim_pid" ]
then
kill $jmavsim_pid
fi
kill $jmavsim_pid
fi
cp $src_path/Tools/posix_lldbinit $working_dir/.lldbinit
cp $src_path/Tools/posix.gdbinit $working_dir/.gdbinit
set -e
cd $build_path/..
cp Tools/posix_lldbinit $build_path/src/firmware/posix/.lldbinit
cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit
SIM_PID=0
if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
then
cd $src_path/Tools/jMAVSim
cd Tools/jMAVSim
ant create_run_jar copy_res
cd out/production
java -Djava.ext.dirs= -jar jmavsim_run.jar -udp 127.0.0.1:14560 &
@@ -82,9 +71,15 @@ then
if [ -x "$(command -v gazebo)" ]
then
# Set the plugin path so Gazebo finds our model and sim
source /usr/share/gazebo/setup.sh
source $src_path/integrationtests/setup_gazebo_ros.bash ${src_path} ${build_path}
gzserver --verbose worlds/${model}.world &
export GAZEBO_PLUGIN_PATH=$curr_dir/build_gazebo:${GAZEBO_PLUGIN_PATH}
# Set the model path so Gazebo finds the airframes
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$curr_dir/Tools/sitl_gazebo/models
# The next line would disable online model lookup, can be commented in, in case of unstable behaviour.
# export GAZEBO_MODEL_DATABASE_URI=""
export SITL_GAZEBO_PATH=$curr_dir/Tools/sitl_gazebo
make --no-print-directory gazebo_build
gzserver --verbose $curr_dir/Tools/sitl_gazebo/worlds/${model}.world &
SIM_PID=`echo $!`
if [[ -n "$HEADLESS" ]]; then
@@ -103,17 +98,17 @@ then
# This is not a simulator, but a log file to replay
# Check if we need to creat a param file to allow user to change parameters
if ! [ -f "$rootfs/replay_params.txt" ]
if ! [ -f "${build_path}/src/firmware/posix/rootfs/replay_params.txt" ]
then
touch $rootfs/replay_params.txt
touch ${build_path}/src/firmware/posix/rootfs/replay_params.txt
fi
fi
cd $working_dir
cd $build_path/src/firmware/posix
if [ "$logfile" != "" ]
then
cp $logfile $rootfs/replay.px4log
cp $logfile rootfs/replay.px4log
fi
# Do not exit on failure now from here on because we want the complete cleanup
@@ -122,18 +117,18 @@ set +e
# Start Java simulator
if [ "$debugger" == "lldb" ]
then
lldb -- $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
lldb -- px4 ../../../../${rc_script}_${program}_${model}
elif [ "$debugger" == "gdb" ]
then
gdb --args $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
gdb --args px4 ../../../../${rc_script}_${program}_${model}
elif [ "$debugger" == "ddd" ]
then
ddd --debugger gdb --args px4 $src_path $src_path/${rc_script}_${program}_${model}
ddd --debugger gdb --args px4 ../../../../${rc_script}_${program}_${model}
elif [ "$debugger" == "valgrind" ]
then
valgrind $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
valgrind ./px4 ../../../../${rc_script}_${program}_${model}
else
$sudo_enabled $sitl_bin $chroot_enabled $src_path $src_path/${rc_script}_${program}_${model}
$sudo_enabled ./px4 $chroot_enabled ../../../../${rc_script}_${program}_${model}
fi
if [ "$program" == "jmavsim" ]
cmake/common/px4_base.cmake
+45 -45
View File
@@ -136,14 +136,14 @@ function(px4_add_git_submodule)
REQUIRED TARGET PATH
ARGN ${ARGN})
string(REPLACE "/" "_" NAME ${PATH})
add_custom_command(OUTPUT ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
COMMAND touch ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
DEPENDS ${PX4_SOURCE_DIR}/.gitmodules
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
COMMAND touch ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
DEPENDS ${CMAKE_SOURCE_DIR}/.gitmodules
)
add_custom_target(${TARGET}
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
DEPENDS ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
)
endfunction()
@@ -371,7 +371,7 @@ function(px4_generate_messages)
endif()
# headers
set(msg_out_path ${PX4_BINARY_DIR}/src/modules/uORB/topics)
set(msg_out_path ${CMAKE_BINARY_DIR}/src/modules/uORB/topics)
set(msg_list)
foreach(msg_file ${MSG_FILES})
get_filename_component(msg ${msg_file} NAME_WE)
@@ -389,15 +389,15 @@ function(px4_generate_messages)
-d msg
-o ${msg_out_path}
-e msg/templates/uorb
-t ${PX4_BINARY_DIR}/topics_temporary_header
-t ${CMAKE_BINARY_DIR}/topics_temporary_header
DEPENDS ${DEPENDS} ${MSG_FILES}
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
COMMENT "Generating uORB topic headers"
VERBATIM
)
# !sources
set(msg_source_out_path ${PX4_BINARY_DIR}/topics_sources)
set(msg_source_out_path ${CMAKE_BINARY_DIR}/topics_sources)
set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
foreach(msg ${msg_list})
list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
@@ -410,9 +410,9 @@ function(px4_generate_messages)
-d msg
-o ${msg_source_out_path}
-e msg/templates/uorb
-t ${PX4_BINARY_DIR}/topics_temporary_sources
-t ${CMAKE_BINARY_DIR}/topics_temporary_sources
DEPENDS ${DEPENDS} ${MSG_FILES}
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
COMMENT "Generating uORB topic sources"
VERBATIM
)
@@ -427,7 +427,7 @@ function(px4_generate_messages)
# multi messages for target OS
set(msg_multi_out_path
${PX4_BINARY_DIR}/src/platforms/${OS}/px4_messages)
${CMAKE_BINARY_DIR}/src/platforms/${OS}/px4_messages)
set(msg_multi_files_out)
foreach(msg ${msg_list})
list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
@@ -440,10 +440,10 @@ function(px4_generate_messages)
-d msg
-o ${msg_multi_out_path}
-e msg/templates/px4/uorb
-t ${PX4_BINARY_DIR}/multi_topics_temporary/${OS}
-t ${CMAKE_BINARY_DIR}/multi_topics_temporary/${OS}
-p "px4_"
DEPENDS ${DEPENDS} ${MSG_FILES}
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
COMMENT "Generating uORB topic multi headers for ${OS}"
VERBATIM
)
@@ -504,9 +504,9 @@ function(px4_add_upload)
px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",")
add_custom_target(${OUT}
COMMAND ${PYTHON_EXECUTABLE}
${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
${CMAKE_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
DEPENDS ${BUNDLE}
WORKING_DIRECTORY ${PX4_BINARY_DIR}
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMENT "uploading ${BUNDLE}"
VERBATIM
USES_TERMINAL
@@ -523,9 +523,9 @@ function(px4_add_adb_push)
ARGN ${ARGN})
add_custom_target(${OUT}
COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
DEPENDS ${DEPENDS}
WORKING_DIRECTORY ${PX4_BINARY_DIR}
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMENT "uploading ${BUNDLE}"
VERBATIM
USES_TERMINAL
@@ -541,9 +541,9 @@ function(px4_add_adb_push_to_bebop)
ARGN ${ARGN})
add_custom_target(${OUT}
COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
DEPENDS ${DEPENDS}
WORKING_DIRECTORY ${PX4_BINARY_DIR}
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMENT "uploading ${BUNDLE}"
VERBATIM
USES_TERMINAL
@@ -559,9 +559,9 @@ function(px4_add_scp_push)
ARGN ${ARGN})
add_custom_target(${OUT}
COMMAND ${PX4_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
COMMAND ${CMAKE_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
DEPENDS ${DEPENDS}
WORKING_DIRECTORY ${PX4_BINARY_DIR}
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMENT "uploading ${BUNDLE}"
VERBATIM
USES_TERMINAL
@@ -761,21 +761,21 @@ function(px4_add_common_flags)
)
set(added_include_dirs
${PX4_SOURCE_DIR}/src
${PX4_BINARY_DIR}
${PX4_BINARY_DIR}/src
${PX4_SOURCE_DIR}/src/modules
${PX4_SOURCE_DIR}/src/include
${PX4_SOURCE_DIR}/src/lib
${PX4_SOURCE_DIR}/src/platforms
${CMAKE_SOURCE_DIR}/src
${CMAKE_BINARY_DIR}
${CMAKE_BINARY_DIR}/src
${CMAKE_SOURCE_DIR}/src/modules
${CMAKE_SOURCE_DIR}/src/include
${CMAKE_SOURCE_DIR}/src/lib
${CMAKE_SOURCE_DIR}/src/platforms
# TODO Build/versioning was in Makefile,
# do we need this, how does it work with cmake
${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
${PX4_BINARY_DIR}
${PX4_BINARY_DIR}/src/modules/px4_messages
${PX4_BINARY_DIR}/src/modules
${PX4_SOURCE_DIR}/mavlink/include/mavlink
${PX4_SOURCE_DIR}/src/lib/DriverFramework/framework/include
${CMAKE_SOURCE_DIR}/src/drivers/boards/${BOARD}
${CMAKE_BINARY_DIR}
${CMAKE_BINARY_DIR}/src/modules/px4_messages
${CMAKE_BINARY_DIR}/src/modules
${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
${CMAKE_SOURCE_DIR}/src/lib/DriverFramework/framework/include
)
list(APPEND added_include_dirs
@@ -858,19 +858,19 @@ function(px4_create_git_hash_header)
COMMAND git describe --always --tags
OUTPUT_VARIABLE git_tag
OUTPUT_STRIP_TRAILING_WHITESPACE
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
)
message(STATUS "GIT_TAG = ${git_tag}")
execute_process(
COMMAND git rev-parse --verify HEAD
OUTPUT_VARIABLE git_version
OUTPUT_STRIP_TRAILING_WHITESPACE
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
)
#message(STATUS "GIT_VERSION = ${git_version}")
set(git_version_short)
string(SUBSTRING ${git_version} 1 16 git_version_short)
configure_file(${PX4_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
endfunction()
#=============================================================================
@@ -897,12 +897,12 @@ function(px4_generate_parameters_xml)
ONE_VALUE OUT BOARD
REQUIRED OUT BOARD
ARGN ${ARGN})
set(path ${PX4_SOURCE_DIR}/src)
set(path ${CMAKE_SOURCE_DIR}/src)
file(GLOB_RECURSE param_src_files
${PX4_SOURCE_DIR}/src/*params.c
${CMAKE_SOURCE_DIR}/src/*params.c
)
add_custom_command(OUTPUT ${OUT}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py
-s ${path} --board CONFIG_ARCH_${BOARD} --xml --inject-xml
DEPENDS ${param_src_files}
)
@@ -944,7 +944,7 @@ function(px4_generate_parameters_source)
set(SCOPE "")
endif()
add_custom_command(OUTPUT ${generated_files}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
DEPENDS ${XML} ${DEPS} ${SCOPE}
)
set(${OUT} ${generated_files} PARENT_SCOPE)
@@ -975,10 +975,10 @@ function(px4_generate_airframes_xml)
ONE_VALUE OUT BOARD
REQUIRED OUT BOARD
ARGN ${ARGN})
set(process_airframes ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
set(process_airframes ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
add_custom_command(OUTPUT ${OUT}
COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
-a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
-a ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
--board CONFIG_ARCH_BOARD_${BOARD} --xml
)
set(${OUT} ${${OUT}} PARENT_SCOPE)
cmake/configs/nuttx_mindpx-v2_default.cmake
+1 -1
View File
@@ -1,6 +1,6 @@
include(nuttx/px4_impl_nuttx)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_uavcan_num_ifaces 2)
cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
+1 -1
View File
@@ -1,6 +1,6 @@
include(nuttx/px4_impl_nuttx)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_module_list
#
cmake/configs/nuttx_px4fmu-v1_default.cmake
+1 -1
View File
@@ -1,6 +1,6 @@
include(nuttx/px4_impl_nuttx)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_module_list
#
cmake/configs/nuttx_px4fmu-v2_default.cmake
+1 -1
View File
@@ -1,6 +1,6 @@
include(nuttx/px4_impl_nuttx)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_uavcan_num_ifaces 2)
cmake/configs/nuttx_px4fmu-v2_ekf2.cmake
+1 -1
View File
@@ -1,6 +1,6 @@
include(nuttx/px4_impl_nuttx)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_uavcan_num_ifaces 2)
cmake/configs/nuttx_px4fmu-v2_test.cmake
+1 -1
View File
@@ -1,6 +1,6 @@
include(nuttx/px4_impl_nuttx)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_uavcan_num_ifaces 2)
cmake/configs/nuttx_px4fmu-v4_default.cmake
+1 -1
View File
@@ -1,6 +1,6 @@
include(nuttx/px4_impl_nuttx)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_uavcan_num_ifaces 1)
cmake/configs/nuttx_tap-v1_default.cmake
+1 -1
View File
@@ -1,6 +1,6 @@
include(nuttx/px4_impl_nuttx)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_module_list
#
cmake/configs/posix_bebop_default.cmake
+1 -1
View File
@@ -1,6 +1,6 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
add_definitions(
-D__PX4_POSIX_BEBOP
cmake/configs/posix_eagle_default.cmake
+2 -2
View File
@@ -4,9 +4,9 @@
# on the Linux side of the Snapdragon.
include(configs/posix_sdflight_default)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(CONFIG_SHMEM "1")
cmake/configs/posix_eagle_hil.cmake
+2 -2
View File
@@ -1,13 +1,13 @@
include(posix/px4_impl_posix)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
# Use build stubs unless explicitly set not to
if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
set(DSPAL_STUBS_ENABLE "1")
endif()
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
set(config_generate_parameters_scope ALL)
cmake/configs/posix_eagle_legacy_driver_default.cmake
+2 -2
View File
@@ -1,8 +1,8 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(config_generate_parameters_scope ALL)
cmake/configs/posix_eagle_muorb.cmake
+2 -2
View File
@@ -1,8 +1,8 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(config_generate_parameters_scope ALL)
cmake/configs/posix_rpi_cross.cmake
+1 -1
View File
@@ -1,6 +1,6 @@
include(configs/posix_rpi_common)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
set(CMAKE_PROGRAM_PATH
"${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
cmake/configs/posix_rpi_native.cmake
+1 -1
View File
@@ -1,3 +1,3 @@
include(configs/posix_rpi_common)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
cmake/configs/posix_sdflight_default.cmake
+2 -2
View File
@@ -1,8 +1,8 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(config_generate_parameters_scope ALL)
cmake/configs/posix_sitl_broadcast.cmake
+1 -1
View File
@@ -1,6 +1,6 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
drivers/device
cmake/configs/posix_sitl_default.cmake
+1 -1
View File
@@ -1,6 +1,6 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
drivers/boards/sitl
cmake/configs/posix_sitl_replay.cmake
+1 -1
View File
@@ -1,6 +1,6 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
drivers/device
cmake/configs/qurt_eagle_hello.cmake
+2 -2
View File
@@ -6,9 +6,9 @@ else()
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
endif()
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(config_generate_parameters_scope ALL)
cmake/configs/qurt_eagle_hil.cmake
+2 -2
View File
@@ -6,9 +6,9 @@ else()
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
endif()
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(config_generate_parameters_scope ALL)
cmake/configs/qurt_eagle_legacy_driver_default.cmake
+2 -2
View File
@@ -10,9 +10,9 @@ set(CONFIG_SHMEM "1")
set(config_generate_parameters_scope ALL)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
add_definitions(
-D__USING_SNAPDRAGON_LEGACY_DRIVER
cmake/configs/qurt_eagle_muorb.cmake
+2 -2
View File
@@ -6,9 +6,9 @@ else()
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
endif()
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(config_generate_parameters_scope ALL)
cmake/configs/qurt_eagle_test.cmake
+2 -2
View File
@@ -6,8 +6,8 @@ else()
set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
endif()
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(config_generate_parameters_scope ALL)
cmake/configs/qurt_eagle_travis.cmake
+2 -2
View File
@@ -5,9 +5,9 @@ set(CONFIG_SHMEM "1")
# Run a full link with build stubs to make sure qurt target isn't broken
set(QURT_ENABLE_STUBS "1")
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
include(hexagon_sdk)
if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
cmake/configs/qurt_sdflight_default.cmake
+2 -2
View File
@@ -10,9 +10,9 @@ set(CONFIG_SHMEM "1")
set(config_generate_parameters_scope ALL)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
set(config_module_list
#
cmake/nuttx/px4_impl_nuttx.cmake
+26 -26
View File
@@ -95,9 +95,9 @@ function(px4_nuttx_add_firmware)
add_custom_command(OUTPUT ${OUT}
COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
--prototype ${PX4_SOURCE_DIR}/Images/${BOARD}.prototype
--git_identity ${PX4_SOURCE_DIR}
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py
--prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype
--git_identity ${CMAKE_SOURCE_DIR}
${extra_args}
--image ${EXE}.bin > ${OUT}
DEPENDS ${EXE}
@@ -148,7 +148,7 @@ function(px4_nuttx_generate_builtin_commands)
math(EXPR command_count "${command_count}+1")
endif()
endforeach()
configure_file(${PX4_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
configure_file(${CMAKE_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
${OUT})
endfunction()
@@ -183,17 +183,17 @@ function(px4_nuttx_add_export)
REQUIRED OUT CONFIG THREADS
ARGN ${ARGN})
set(nuttx_src ${PX4_BINARY_DIR}/${CONFIG}/NuttX)
set(nuttx_src ${CMAKE_BINARY_DIR}/${CONFIG}/NuttX)
# patch
add_custom_target(__nuttx_patch_${CONFIG})
file(GLOB nuttx_patches RELATIVE ${PX4_SOURCE_DIR}
${PX4_SOURCE_DIR}/nuttx-patches/*.patch)
file(GLOB nuttx_patches RELATIVE ${CMAKE_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/nuttx-patches/*.patch)
foreach(patch ${nuttx_patches})
string(REPLACE "/" "_" patch_name "${patch}-${CONFIG}")
message(STATUS "nuttx-patch: ${patch}")
add_custom_command(OUTPUT nuttx_patch_${patch_name}.stamp
COMMAND ${PATCH} -p0 -N < ${PX4_SOURCE_DIR}/${patch}
COMMAND ${PATCH} -p0 -N < ${CMAKE_SOURCE_DIR}/${patch}
COMMAND ${TOUCH} nuttx_patch_${patch_name}.stamp
DEPENDS ${DEPENDS}
)
@@ -204,7 +204,7 @@ function(px4_nuttx_add_export)
# Read defconfig to see if CONFIG_ARMV7M_STACKCHECK is yes
# note: CONFIG will be BOARD in the future evaluation of ${hw_stack_check_${CONFIG}
file(STRINGS "${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig"
file(STRINGS "${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig"
hw_stack_check_${CONFIG}
REGEX "CONFIG_ARMV7M_STACKCHECK=y"
)
@@ -213,29 +213,29 @@ function(px4_nuttx_add_export)
endif()
# copy and export
file(RELATIVE_PATH nuttx_cp_src ${PX4_BINARY_DIR} ${PX4_SOURCE_DIR}/NuttX)
file(GLOB_RECURSE config_files ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
add_custom_command(OUTPUT ${PX4_BINARY_DIR}/${CONFIG}.export
file(RELATIVE_PATH nuttx_cp_src ${CMAKE_BINARY_DIR} ${CMAKE_SOURCE_DIR}/NuttX)
file(GLOB_RECURSE config_files ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/${CONFIG}.export
COMMAND ${MKDIR} -p ${nuttx_src}
COMMAND rsync -a --delete --exclude=.git ${nuttx_cp_src}/ ${CONFIG}/NuttX/
#COMMAND ${ECHO} Configuring NuttX for ${CONFIG}
COMMAND ${MAKE} --no-print-directory -C${nuttx_src}/nuttx -r --quiet distclean
COMMAND ${CP} -r ${PX4_SOURCE_DIR}/nuttx-configs/PX4_Warnings.mk ${nuttx_src}/nuttx/
COMMAND ${CP} -r ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/PX4_Warnings.mk ${nuttx_src}/nuttx/
COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
COMMAND cd ${nuttx_src}/nuttx/tools && ./configure.sh ${CONFIG}/nsh && cd ..
#COMMAND ${ECHO} Exporting NuttX for ${CONFIG}
COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -j${THREADS} -r CONFIG_ARCH_BOARD=${CONFIG} export > nuttx_build.log
COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${PX4_BINARY_DIR}/${CONFIG}.export
COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${CMAKE_BINARY_DIR}/${CONFIG}.export
DEPENDS ${config_files} ${DEPENDS}
WORKING_DIRECTORY ${PX4_BINARY_DIR}
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
COMMENT "Building NuttX for ${CONFIG}")
# extract
add_custom_command(OUTPUT nuttx_export_${CONFIG}.stamp
COMMAND ${RM} -rf ${nuttx_src}/nuttx-export
COMMAND ${UNZIP} -q ${PX4_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
COMMAND ${UNZIP} -q ${CMAKE_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
COMMAND ${TOUCH} nuttx_export_${CONFIG}.stamp
DEPENDS ${DEPENDS} ${PX4_BINARY_DIR}/${CONFIG}.export)
DEPENDS ${DEPENDS} ${CMAKE_BINARY_DIR}/${CONFIG}.export)
add_custom_target(${OUT}
DEPENDS nuttx_export_${CONFIG}.stamp)
@@ -308,16 +308,16 @@ function(px4_nuttx_add_romfs)
REQUIRED OUT ROOT
ARGN ${ARGN})
set(romfs_temp_dir ${PX4_BINARY_DIR}/tmp/${ROOT})
set(romfs_src_dir ${PX4_SOURCE_DIR}/${ROOT})
set(romfs_autostart ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
set(romfs_pruner ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py)
set(bin_to_obj ${PX4_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
set(romfs_temp_dir ${CMAKE_BINARY_DIR}/tmp/${ROOT})
set(romfs_src_dir ${CMAKE_SOURCE_DIR}/${ROOT})
set(romfs_autostart ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
set(romfs_pruner ${CMAKE_SOURCE_DIR}/Tools/px_romfs_pruner.py)
set(bin_to_obj ${CMAKE_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
set(extras_dir ${CMAKE_CURRENT_BINARY_DIR}/extras)
file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*)
set(cmake_test ${PX4_SOURCE_DIR}/cmake/test/cmake_tester.py)
set(cmake_test ${CMAKE_SOURCE_DIR}/cmake/test/cmake_tester.py)
set(extras)
@@ -346,7 +346,7 @@ function(px4_nuttx_add_romfs)
#COMMAND cmake -E remove_directory ${romfs_temp_dir}
COMMAND ${PYTHON_EXECUTABLE} ${bin_to_obj}
--ld ${LD} --c_flags ${CMAKE_C_FLAGS}
--include_path "${PX4_SOURCE_DIR}/src/include"
--include_path "${CMAKE_SOURCE_DIR}/src/include"
--c_compiler ${CMAKE_C_COMPILER}
--nm ${NM} --objcopy ${OBJCOPY}
--obj romfs.o
@@ -414,7 +414,7 @@ function(px4_os_add_flags)
LINK_DIRS ${LINK_DIRS}
DEFINITIONS ${DEFINITIONS})
set(nuttx_export_dir ${PX4_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
set(added_include_dirs
${nuttx_export_dir}/include
${nuttx_export_dir}/include/cxx
cmake/posix/px4_impl_posix.cmake
+2 -2
View File
@@ -49,7 +49,7 @@
#
include(common/px4_base)
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/posix)
list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/posix)
#=============================================================================
#
@@ -101,7 +101,7 @@ function(px4_posix_generate_builtin_commands)
math(EXPR command_count "${command_count}+1")
endif()
endforeach()
configure_file(${PX4_SOURCE_DIR}/cmake/posix/apps.h_in
configure_file(${CMAKE_SOURCE_DIR}/cmake/posix/apps.h_in
${OUT})
endfunction()
cmake/qurt/px4_impl_qurt.cmake
+2 -2
View File
@@ -50,7 +50,7 @@
#
include(common/px4_base)
list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/qurt)
list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)
#=============================================================================
#
@@ -95,7 +95,7 @@ function(px4_qurt_generate_builtin_commands)
math(EXPR command_count "${command_count}+1")
endif()
endforeach()
configure_file(${PX4_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
endfunction()
#=============================================================================
cmake/ros-CMakeLists.txt
+334
View File
@@ -0,0 +1,334 @@
cmake_minimum_required(VERSION 2.8.3)
project(px4)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-D__PX4_ROS)
add_definitions(-D__EXPORT=)
add_definitions(-DMAVLINK_DIALECT=common)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
geometry_msgs
message_generation
cmake_modules
gazebo_msgs
sensor_msgs
mav_msgs
libmavconn
tf
)
find_package(Eigen REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(
FILES
actuator_armed.msg
actuator_controls.msg
commander_state.msg
control_state.msg
distance_sensor.msg
manual_control_setpoint.msg
mc_virtual_rates_setpoint.msg
offboard_control_mode.msg
parameter_update.msg
position_setpoint.msg
position_setpoint_triplet.msg
rc_channels.msg
ros/actuator_controls_0.msg
ros/actuator_controls_virtual_mc.msg
vehicle_attitude.msg
vehicle_attitude_setpoint.msg
vehicle_control_mode.msg
vehicle_force_setpoint.msg
vehicle_global_velocity_setpoint.msg
vehicle_local_position.msg
vehicle_local_position_setpoint.msg
vehicle_rates_setpoint.msg
vehicle_status.msg
)
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
gazebo_msgs
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS src/include
LIBRARIES px4
CATKIN_DEPENDS message_runtime roscpp rospy std_msgs libmavconn
DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
${catkin_INCLUDE_DIRS}
src/platforms
src/platforms/ros/px4_messages
src/include
src/modules
${CMAKE_BINARY_DIR}/src/modules
src/
src/lib
src/lib/matrix
${EIGEN_INCLUDE_DIRS}
integrationtests
)
## generate multiplatform wrapper headers
## note that the message header files are generated as in any ROS project with generate_messages()
set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
set(MULTIPLATFORM_PREFIX px4_)
add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_files.py
--headers -d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
## Declare a cpp library
add_library(px4
src/platforms/ros/px4_ros_impl.cpp
src/platforms/ros/perf_counter.cpp
src/platforms/ros/geo.cpp
src/lib/mathlib/math/Limits.cpp
src/modules/systemlib/circuit_breaker.cpp
)
add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
target_link_libraries(px4
${catkin_LIBRARIES}
)
## Declare a test publisher
add_executable(publisher
src/examples/publisher/publisher_main.cpp
src/examples/publisher/publisher_example.cpp)
add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
target_link_libraries(publisher
${catkin_LIBRARIES}
px4
)
## Declare a test subscriber
add_executable(subscriber
src/examples/subscriber/subscriber_main.cpp
src/examples/subscriber/subscriber_example.cpp)
add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
target_link_libraries(subscriber
${catkin_LIBRARIES}
px4
)
## MC Attitude Control
add_executable(mc_att_control
src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
src/modules/mc_att_control_multiplatform/mc_att_control.cpp
src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(mc_att_control
${catkin_LIBRARIES}
px4
)
## MC Position Control
add_executable(mc_pos_control
src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp)
add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(mc_pos_control
${catkin_LIBRARIES}
px4
)
## Attitude Estimator dummy
add_executable(attitude_estimator
src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(attitude_estimator
${catkin_LIBRARIES}
px4
)
## Position Estimator dummy
add_executable(position_estimator
src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(position_estimator
${catkin_LIBRARIES}
px4
)
## Manual input
add_executable(manual_input
src/platforms/ros/nodes/manual_input/manual_input.cpp)
add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(manual_input
${catkin_LIBRARIES}
px4
)
## Multicopter Mixer dummy
add_executable(mc_mixer
src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp)
add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(mc_mixer
${catkin_LIBRARIES}
px4
)
## Commander dummy
add_executable(commander
src/platforms/ros/nodes/commander/commander.cpp)
add_dependencies(commander ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(commander
${catkin_LIBRARIES}
px4
)
## Mavlink dummy
add_executable(mavlink
src/platforms/ros/nodes/mavlink/mavlink.cpp)
add_dependencies(mavlink ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(mavlink
${catkin_LIBRARIES}
px4
)
## Offboard Position Setpoint Demo
add_executable(demo_offboard_position_setpoints
src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp)
add_dependencies(demo_offboard_position_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(demo_offboard_position_setpoints
${catkin_LIBRARIES}
px4
)
## Offboard Attitude Setpoint Demo
add_executable(demo_offboard_attitude_setpoints
src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp)
add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(demo_offboard_attitude_setpoints
${catkin_LIBRARIES}
px4
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
## Tests on multiplatform SITL (deprecated) have been moved to POSIX SITL
#if(CATKIN_ENABLE_TESTING)
# find_package(rostest REQUIRED)
# add_rostest(integrationtests/demo_tests/direct_tests.launch)
# add_rostest(integrationtests/demo_tests/mavros_tests.launch)
#endif()
integrationtests/run_tests.bash
+31 -62
View File
@@ -5,27 +5,26 @@
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
set -e
# handle cleaning command
do_clean=true
if [ "$1" = "-o" ]
if [ "$#" -lt 1 ]
then
echo not cleaning
do_clean=false
echo usage: run_tests.bash firmware_src_dir
echo ""
exit 1
fi
# determine the directory of the source given the directory of this script
pushd `dirname $0` > /dev/null
SCRIPTPATH=`pwd`
popd > /dev/null
ORIG_SRC=$(dirname $SCRIPTPATH)
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=$JOB_DIR/test_results
# BAGS=/root/.ros
# CHARTS=/root/.ros/charts
# EXPORT_CHARTS=/sitl/testing/export_charts.py
# set paths
JOB_DIR=$(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
# source ROS env
if [ -f /opt/ros/indigo/setup.bash ]
then
source /opt/ros/indigo/setup.bash
@@ -36,57 +35,26 @@ else
echo "could not find /opt/ros/{ros-distro}/setup.bash"
exit 1
fi
export ROS_HOME=$JOB_DIR/.ros
export ROS_LOG_DIR=$ROS_HOME/log
export ROS_TEST_RESULT_DIR=$ROS_HOME/test_results/px4
source $SRC_DIR/integrationtests/setup_gazebo_ros.bash $SRC_DIR
PX4_LOG_DIR=$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
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 $TEST_RESULT_TARGET_DIR
else
echo skipping clean step
echo "deleting previous test results ($TEST_RESULT_TARGET_DIR)"
if [ -d ${TEST_RESULT_TARGET_DIR} ]; then
rm -r ${TEST_RESULT_TARGET_DIR}
fi
# FIXME: Firmware compilation seems to CD into this directory (/root/Firmware)
# when run from "run_container.bash". Why?
if [ -d /root/Firmware ]; then
rm /root/Firmware
fi
ln -s ${SRC_DIR} /root/Firmware
echo "=====> compile ($SRC_DIR)"
mkdir -p $ROS_HOME
mkdir -p $CATKIN_DIR/src
mkdir -p $TEST_RESULT_TARGET_DIR
if ! [ -d $SRC_DIR ]
then
ln -s $ORIG_SRC $SRC_DIR
ln -s $ORIG_SRC/Tools/sitl_gazebo ${CATKIN_DIR}/src/mavlink_sitl_gazebo
fi
cd $CATKIN_DIR
catkin_make
. ./devel/setup.bash
cd $SRC_DIR
make ${BUILD}
make --no-print-directory gazebo_build
echo "<====="
# print paths to user
echo -e "JOB_DIR\t\t: $JOB_DIR"
echo -e "ROS_HOME\t: $ROS_HOME"
echo -e "CATKIN_DIR\t: $CATKIN_DIR"
echo -e "BUILD_DIR\t: $BUILD_DIR"
echo -e "SRC_DIR\t\t: $SRC_DIR"
echo -e "ROS_TEST_RESULT_DIR\t: $ROS_TEST_RESULT_DIR"
echo -e "ROS_LOG_DIR\t\t: $ROS_LOG_DIR"
echo -e "PX4_LOG_DIR\t\t: $PX4_LOG_DIR"
echo -e "TEST_RESULT_TARGET_DIR\t: $TEST_RESULT_TARGET_DIR"
# don't exit on error anymore from here on (because single tests or exports might fail)
set +e
echo "=====> run tests"
@@ -105,6 +73,7 @@ echo "=====> process test results"
# done
echo "copy build test results to job directory"
mkdir -p ${TEST_RESULT_TARGET_DIR}
cp -r $ROS_TEST_RESULT_DIR/* ${TEST_RESULT_TARGET_DIR}
cp -r $ROS_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
cp -r $PX4_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
integrationtests/setup_gazebo_ros.bash
+7 -12
View File
@@ -4,24 +4,19 @@
#
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
if [ "$#" != 2 ]
if [ "$#" -lt 1 ]
then
echo usage: source setup_gazebo_ros.bash src_dir build_dir
echo usage: source setup_gazebo_ros.bash firmware_src_dir
echo ""
return 1
fi
SRC_DIR=$1
BUILD_DIR=$2
# setup Gazebo env and update package path
export GAZEBO_RESOURCE_PATH=${SRC_DIR}/Tools/sitl_gazebo:${GAZEBO_RESOURCE_PATH}
export GAZEBO_MODEL_PATH=${SRC_DIR}/Tools/sitl_gazebo/models:${GAZEBO_MODEL_PATH}
export GAZEBO_PLUGIN_PATH=${BUILD_DIR}/build_gazebo:${GAZEBO_PLUGIN_PATH}
export LD_LIBRARY_PATH=${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/:${BUILD_DIR}/build_gazebo:${LD_LIBRARY_PATH}:
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/models
export GAZEBO_PLUGIN_PATH=${SRC_DIR}/build_gazebo:${GAZEBO_PLUGIN_PATH}
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:${SRC_DIR}
export GAZEBO_MODEL_DATABASE_URI=""
echo -e "GAZEBO_RESOURCE_PATH $GAZEBO_RESOURCE_PATH"
echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"
echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"
export SITL_GAZEBO_PATH=$SRC_DIR/Tools/sitl_gazebo
launch/mavros_posix_sitl.launch
+2 -11
View File
@@ -1,25 +1,18 @@
<launch>
<!-- MAVROS posix SITL environment launch script -->
<arg name="vehicle" default="iris"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/rcS_gazebo_$(arg vehicle)"/>
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="ns" default="/"/>
<arg name="world" default="iris"/>
<arg name="build" default="posix_sitl_default"/>
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
<include file="$(find px4)/launch/posix_sitl.launch">
<arg name="world" value="$(arg world)"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="rcS" value="$(arg rcS)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="ns" value="$(arg ns)"/>
<arg name="world" value="$(arg world)"/>
<arg name="build" value="$(arg build)"/>
</include>
@@ -29,5 +22,3 @@
<arg name="fcu_url" value="$(arg fcu_url)"/>
</include>
</launch>
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
launch/mavros_posix_tests_iris.launch
-1
View File
@@ -9,7 +9,6 @@
<arg name="ns" value="$(arg ns)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="iris"/>
</include>
<group ns="$(arg ns)">
launch/mavros_posix_tests_standard_vtol.launch
+1 -1
View File
@@ -9,7 +9,7 @@
<arg name="ns" value="$(arg ns)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="vehicle" value="standard_vtol"/>
<arg name="world" value="standard_vtol"/>
</include>
<group ns="$(arg ns)">
launch/posix_sitl.launch
+4 -16
View File
@@ -1,31 +1,19 @@
<launch>
<!-- Posix SITL environment launch script -->
<arg name="vehicle" default="iris"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
<arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/rcS_gazebo_$(arg vehicle)"/>
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="ns" default="/"/>
<arg name="world" default="iris"/>
<arg name="build" default="posix_sitl_default"/>
<node name="sitl" pkg="px4" type="px4" output="screen"
args="$(find px4) $(arg rcS)">
<node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo $(arg world) $(find px4)/build_$(arg build)">
<env name="no_sim" value="1" />
</node>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="world_name" value="$(arg world)" />
<arg name="world_name" value="$(find px4)/Tools/sitl_gazebo/worlds/$(arg world).world" />
</include>
<node name="$(anon vehicle_spawn)" output="screen" pkg="gazebo_ros" type="spawn_model"
args="-sdf -file $(arg sdf) -model $(arg vehicle)"/>
</launch>
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
posix-configs/SITL/README.md
+1 -1
View File
@@ -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
```
posix-configs/SITL/init/rcS_gazebo_iris
+1 -1
View File
@@ -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
posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
+1 -1
View File
@@ -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
posix-configs/SITL/init/rcS_gazebo_plane
+1 -1
View File
@@ -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
posix-configs/SITL/init/rcS_gazebo_solo
+1 -1
View File
@@ -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
posix-configs/SITL/init/rcS_gazebo_standard_vtol
+1 -1
View File
@@ -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
posix-configs/SITL/init/rcS_gazebo_tailsitter
+1 -1
View File
@@ -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
posix-configs/SITL/init/rcS_gazebo_typhoon_h480
+1 -1
View File
@@ -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
posix-configs/SITL/init/rcS_jmavsim_iris
+1 -1
View File
@@ -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

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