cmake only include mavlink where used

cmake/common/px4_base.cmake

@@ -458,7 +458,6 @@ function(px4_add_common_flags)
 		${PX4_BINARY_DIR}
 		${PX4_BINARY_DIR}/src
 		${PX4_BINARY_DIR}/src/modules
-		${PX4_SOURCE_DIR}/mavlink/include/mavlink
 		${PX4_SOURCE_DIR}/src
 		${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
 		${PX4_SOURCE_DIR}/src/include

cmake/posix/px4_impl_posix.cmake

@@ -79,6 +79,7 @@ function(px4_posix_generate_builtin_commands)
 		MULTI_VALUE MODULE_LIST
 		REQUIRED MODULE_LIST OUT
 		ARGN ${ARGN})
+
 	set(builtin_apps_string)
 	set(builtin_apps_decl_string)
 	set(command_count 0)
@@ -101,10 +102,8 @@ function(px4_posix_generate_builtin_commands)
 			math(EXPR command_count "${command_count}+1")
 		endif()
 	endforeach()
-	configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.cpp.in
+	configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.cpp.in ${OUT}.cpp)
-		${OUT}.cpp)
+	configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.h.in ${OUT}.h)
-	configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.h.in
-		${OUT}.h)
 endfunction()
 
 #=============================================================================
@@ -168,137 +167,133 @@ function(px4_os_add_flags)
 		LINK_DIRS ${LINK_DIRS}
 		DEFINITIONS ${DEFINITIONS})
 
-        set(PX4_BASE )
         set(added_include_dirs
-		src/modules/systemlib
+		src/platforms/posix/include
-                src/platforms/posix/include
+		)
-                mavlink/include/mavlink
-                )
 
-# This block sets added_definitions and added_cxx_flags.
+	# This block sets added_definitions and added_cxx_flags.
-if(UNIX AND APPLE)
+	if(UNIX AND APPLE)
-        set(added_definitions
+		set(added_definitions
-		-D__PX4_POSIX
+			-D__PX4_POSIX
-		-D__PX4_DARWIN
+			-D__PX4_DARWIN
-		-D__DF_DARWIN
+			-D__DF_DARWIN
-		-Dnoreturn_function=__attribute__\(\(noreturn\)\)
+			-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 16)
-		list(APPEND added_definitions
-			-DCLOCK_MONOTONIC=1
-			-DCLOCK_REALTIME=0
-			-D__PX4_APPLE_LEGACY
 			)
-	endif()
 
-else()
+		set(added_cxx_flags)
 
-        set(added_definitions
+		if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0)
-		-D__PX4_POSIX
+			message(FATAL_ERROR "PX4 Firmware requires XCode 8 or newer on Mac OS. Version installed on this system: ${CMAKE_CXX_COMPILER_VERSION}")
-		-D__PX4_LINUX
+		endif()
-		-D__DF_LINUX
-		-Dnoreturn_function=__attribute__\(\(noreturn\)\)
-                )
 
-	# Use -pthread For linux/g++.
+		EXEC_PROGRAM(uname ARGS -v  OUTPUT_VARIABLE DARWIN_VERSION)
-	set(added_cxx_flags
+		STRING(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})
-		-pthread
+		# message(STATUS "PX4 Darwin Version: ${DARWIN_VERSION}")
-		)
+		if (DARWIN_VERSION LESS 16)
+			list(APPEND added_definitions
+				-DCLOCK_MONOTONIC=1
+				-DCLOCK_REALTIME=0
+				-D__PX4_APPLE_LEGACY
+				)
+		endif()
 
-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})
+
+		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()
 
-	# Add the toolchain specific flags
+	set(added_exe_linker_flags)
-        set(added_cflags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT})
 
-	list(APPEND added_cxx_flags
+	# This block sets added_c_flags (appends to others).
-		${POSIX_CMAKE_CXX_FLAGS}
+	if ("${BOARD}" STREQUAL "eagle")
-		--sysroot=${HEXAGON_ARM_SYSROOT}
+
+		if ("$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})
 
-	list(APPEND added_exe_linker_flags
+		FIND_PROGRAM(CXX_COMPILER_PATH ${CMAKE_CXX_COMPILER})
-		-Wl,-rpath-link,${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 "")
+		GET_FILENAME_COMPONENT(CXX_COMPILER_PATH ${CXX_COMPILER_PATH} DIRECTORY)
-		message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")
+		GET_FILENAME_COMPONENT(CXX_COMPILER_PATH "${CXX_COMPILER_PATH}/../" ABSOLUTE)
-	else()
+
-		set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})
+		IF ("${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()
 
-	# 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()
-else()
-endif()
-
 	# output
 	foreach(var ${inout_vars})
 		string(TOLOWER ${var} lower_var)

cmake/qurt/px4_impl_qurt.cmake

@@ -172,11 +172,11 @@ function(px4_os_add_flags)
                 )
 
         set(added_definitions
-                -D__PX4_QURT
+		-D__PX4_QURT
 		-D__DF_QURT # For DriverFramework
 		-D__PX4_POSIX
 		-D__QAIC_SKEL_EXPORT=__EXPORT
-                )
+		)
 
 	# Add the toolchain specific flags
         set(added_cflags)

src/drivers/pwm_out_rc_in/CMakeLists.txt

@@ -30,6 +30,9 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
+
 px4_add_module(
 	MODULE drivers__pwm_out_rc_in
 	MAIN pwm_out_rc_in

src/drivers/snapdragon_rc_pwm/CMakeLists.txt

@@ -30,6 +30,9 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
+
 px4_add_module(
 	MODULE drivers__snapdragon_rc_pwm
 	MAIN snapdragon_rc_pwm

src/modules/mavlink/CMakeLists.txt

@@ -30,6 +30,9 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
+
 px4_add_module(
 	MODULE modules__mavlink
 	MAIN mavlink

src/modules/mavlink/mavlink_tests/CMakeLists.txt

@@ -30,6 +30,9 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
+
 px4_add_module(
 	MODULE modules__mavlink__mavlink_tests
 	MAIN mavlink_tests

src/modules/simulator/CMakeLists.txt

@@ -31,6 +31,8 @@
 #
 ############################################################################
 
+include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
+
 option(ENABLE_UART_RC_INPUT "Enable RC Input from UART mavlink connection" OFF)
 
 if(ENABLE_UART_RC_INPUT)

src/modules/uavcan/CMakeLists.txt

@@ -48,6 +48,7 @@ add_definitions(
 add_subdirectory(libuavcan EXCLUDE_FROM_ALL)
 add_dependencies(uavcan platforms__nuttx)
 
+include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
 include_directories(libuavcan/libuavcan/include)
 include_directories(libuavcan/libuavcan/include/dsdlc_generated)
 include_directories(libuavcan/libuavcan_drivers/posix/include)

src/platforms/posix/drivers/accelsim/CMakeLists.txt

@@ -30,6 +30,9 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
+
 px4_add_module(
 	MODULE platforms__posix__drivers__accelsim
 	MAIN accelsim

src/platforms/posix/drivers/airspeedsim/CMakeLists.txt

@@ -30,6 +30,9 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
+
 px4_add_module(
 	MODULE platforms__posix__drivers__airspeedsim
 	MAIN measairspeedsim

src/platforms/posix/drivers/barosim/CMakeLists.txt

@@ -30,6 +30,9 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
+
 px4_add_module(
 	MODULE platforms__posix__drivers__barosim
 	MAIN barosim

src/platforms/posix/drivers/gpssim/CMakeLists.txt

@@ -30,6 +30,9 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
+
 px4_add_module(
 	MODULE platforms__posix__drivers__gpssim
 	MAIN gpssim

src/platforms/posix/drivers/gyrosim/CMakeLists.txt

@@ -30,6 +30,9 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
+
 px4_add_module(
 	MODULE platforms__posix__drivers__gyrosim
 	MAIN gyrosim