cmake remove circular linking and reorganize

- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link

platforms/posix/CMakeLists.txt

@@ -3,7 +3,7 @@ add_subdirectory(src)
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
-get_property(module_libraries GLOBAL PROPERTY PX4_LIBRARIES)
+get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
 
 px4_posix_generate_builtin_commands(
 	OUT apps
@@ -46,23 +46,19 @@ else()
 		apps.cpp
 		)
 
-	if (APPLE)
-		target_link_libraries(px4
+	target_link_libraries(px4
+		PRIVATE
 			${module_libraries}
 			df_driver_framework
 			${df_driver_libs}
 			pthread m
-		)
-	else()
-		target_link_libraries(px4
-			-Wl,--start-group
-				${module_libraries}
-				df_driver_framework
-				${df_driver_libs}
-				pthread m rt
-			-Wl,--end-group
-		)
+	)
+
+	if (NOT APPLE)
+		target_link_libraries(px4 PRIVATE rt)
 	endif()
+
+	target_link_libraries(px4 PRIVATE modules__uORB)
 endif()
 
 if ("${BOARD}" STREQUAL "rpi")
@@ -99,5 +95,3 @@ endif()
 install(TARGETS px4 DESTINATION ${CMAKE_INSTALL_BINDIR})
 install(DIRECTORY ${PROJECT_SOURCE_DIR}/ROMFS DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
 install(DIRECTORY ${PROJECT_SOURCE_DIR}/posix-configs DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
-
-

platforms/posix/cmake/px4_impl_os.cmake

@@ -164,21 +164,19 @@ function(px4_os_add_flags)
 		LINK_DIRS ${LINK_DIRS}
 		DEFINITIONS ${DEFINITIONS})
 
-        set(added_include_dirs
-		platforms/posix/include
-		)
-
-	# This block sets added_definitions and added_cxx_flags.
 	set(added_c_flags)
 	set(added_cxx_flags)
 	set(added_exe_linker_flags)
-	set(added_definitions
+
+	add_definitions(
 		-D__PX4_POSIX
 		-Dnoreturn_function=__attribute__\(\(noreturn\)\)
 		)
+		
+	include_directories(platforms/posix/include)
 
 	if(UNIX AND APPLE)
-		list(APPEND added_definitions
+		add_definitions(
 			-D__PX4_DARWIN
 			-D__DF_DARWIN
 			)
@@ -191,7 +189,7 @@ function(px4_os_add_flags)
 		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
+			add_definitions(
 				-DCLOCK_MONOTONIC=1
 				-DCLOCK_REALTIME=0
 				-D__PX4_APPLE_LEGACY
@@ -199,14 +197,14 @@ function(px4_os_add_flags)
 		endif()
 
 	elseif(CYGWIN)
-		list(APPEND added_definitions
+		add_definitions(
 			-D__PX4_CYGWIN
 			-D_GNU_SOURCE
 			-D__USE_LINUX_IOCTL_DEFS
 			-U __CUSTOM_FILE_IO__
 			)
 	else()
-		list(APPEND added_definitions
+		add_definitions(
 			-D__PX4_LINUX
 			-D__DF_LINUX
 			)
@@ -316,5 +314,6 @@ function(px4_os_prebuild_targets)
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})
 
-	add_custom_target(${OUT} DEPENDS uorb_headers)
+	add_library(${OUT} INTERFACE)
+	add_dependencies(${OUT} DEPENDS uorb_headers)
 endfunction()

platforms/posix/src/px4_layer/CMakeLists.txt

@@ -45,17 +45,16 @@ if("${CONFIG_SHMEM}" STREQUAL "1")
 	set(EXTRA_DEPENDS generate_px4muorb_stubs)
 endif()
 
-px4_add_module(
-	MODULE platforms__posix__px4_layer
-	COMPILE_FLAGS
-	SRCS
-		px4_posix_impl.cpp
-		px4_posix_tasks.cpp
-		px4_sem.cpp
-		lib_crc32.c
-		drv_hrt.c
-		${SHMEM_SRCS}
-	DEPENDS
-		platforms__common
-		${EXTRA_DEPENDS}
-	)
+add_library(px4_layer
+	px4_posix_impl.cpp
+	px4_posix_tasks.cpp
+	px4_sem.cpp
+	lib_crc32.c
+	drv_hrt.c
+	${SHMEM_SRCS}
+)
+target_link_libraries(px4_layer PRIVATE work_queue)
+
+if (EXTRA_DEPENDS)
+	add_dependencies(px4_layer ${EXTRA_DEPENDS})
+endif()

platforms/posix/src/px4_layer/px4_posix_impl.cpp

@@ -46,7 +46,7 @@
 #include <signal.h>
 #include <errno.h>
 #include <unistd.h>
-#include <systemlib/param/param.h>
+#include <parameters/param.h>
 #include "hrt_work.h"
 #include <drivers/drv_hrt.h>
 #include "px4_time.h"

platforms/posix/src/px4_layer/shmem_posix.c

@@ -48,7 +48,7 @@
 #include <sys/mman.h>
 #include <sys/ioctl.h>
 
-#include "systemlib/param/param.h"
+#include <parameters/param.h>
 
 #include <shmem.h>
 #include "px4muorb.h"