mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-02-06 11:12:43 +08:00
41451d5422
- the exact same basic model is now a NPS FDM - sim target still woks, it is just an alias to NPS with the proper FDM - the old ocaml files are removed - AHRS and INS are bypassed, since the accelerations are not well calculated by the model
351 lines
11 KiB
Makefile
351 lines
11 KiB
Makefile
# Hey Emacs, this is a -*- makefile -*-
|
|
#
|
|
# Copyright (C) 2004 Pascal Brisset Antoine Drouin
|
|
#
|
|
# This file is part of paparazzi.
|
|
#
|
|
# paparazzi is free software; you can redistribute it and/or modify
|
|
# it under the terms of the GNU General Public License as published by
|
|
# the Free Software Foundation; either version 2, or (at your option)
|
|
# any later version.
|
|
#
|
|
# paparazzi is distributed in the hope that it will be useful,
|
|
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
# GNU General Public License for more details.
|
|
#
|
|
# You should have received a copy of the GNU General Public License
|
|
# along with paparazzi; see the file COPYING. If not, write to
|
|
# the Free Software Foundation, 59 Temple Place - Suite 330,
|
|
# Boston, MA 02111-1307, USA.
|
|
|
|
# The default is to produce a quiet echo of compilation commands
|
|
# Launch with "make Q=''" to get full echo
|
|
Q=@
|
|
|
|
ifeq ($(Q),@)
|
|
MAKEFLAGS += --no-print-directory
|
|
endif
|
|
|
|
PAPARAZZI_SRC ?= $(shell pwd)
|
|
empty=
|
|
space=$(empty) $(empty)
|
|
ifneq ($(findstring $(space),$(PAPARAZZI_SRC)),)
|
|
$(error No spaces allowed in the current directory name)
|
|
endif
|
|
ifeq ($(PAPARAZZI_HOME),)
|
|
PAPARAZZI_HOME=$(PAPARAZZI_SRC)
|
|
endif
|
|
|
|
# export the PAPARAZZI environment to sub-make
|
|
export PAPARAZZI_SRC
|
|
export PAPARAZZI_HOME
|
|
|
|
OCAML=$(shell which ocaml)
|
|
OCAMLRUN=$(shell which ocamlrun)
|
|
BUILD_DATETIME:=$(shell date +%Y%m%d-%H%M%S)
|
|
|
|
# default mktemp in OS X doesn't work, use gmktemp with macports coreutils
|
|
UNAME = $(shell uname -s)
|
|
ifeq ("$(UNAME)","Darwin")
|
|
MKTEMP = gmktemp
|
|
else
|
|
MKTEMP = mktemp
|
|
endif
|
|
|
|
#
|
|
# define some paths
|
|
#
|
|
LIB=sw/lib
|
|
STATICINCLUDE=$(PAPARAZZI_HOME)/var/include
|
|
CONF=$(PAPARAZZI_SRC)/conf
|
|
AIRBORNE=sw/airborne
|
|
SIMULATOR=sw/simulator
|
|
COCKPIT=sw/ground_segment/cockpit
|
|
TMTC=sw/ground_segment/tmtc
|
|
GENERATORS=$(PAPARAZZI_SRC)/sw/tools/generators
|
|
JOYSTICK=sw/ground_segment/joystick
|
|
EXT=sw/ext
|
|
TOOLS=sw/tools
|
|
|
|
#
|
|
# build some stuff in subdirs
|
|
# nothing should depend on these...
|
|
#
|
|
PPRZCENTER=sw/supervision
|
|
MISC=sw/ground_segment/misc
|
|
LOGALIZER=sw/logalizer
|
|
|
|
SUBDIRS = $(PPRZCENTER) $(LOGALIZER) sw/tools
|
|
SUBDIRS_EXTRA = $(MISC)
|
|
|
|
#
|
|
# Communication protocol version
|
|
#
|
|
PPRZLINK_LIB_VERSION ?= 2.0
|
|
|
|
#
|
|
# xml files used as input for header generation
|
|
#
|
|
CUSTOM_MESSAGES_XML = $(CONF)/messages.xml
|
|
ABI_XML = $(CONF)/abi.xml
|
|
UBX_XML = $(CONF)/ubx.xml
|
|
MTK_XML = $(CONF)/mtk.xml
|
|
XSENS_XML = $(CONF)/xsens_MTi-G.xml
|
|
|
|
#
|
|
# generated header files
|
|
#
|
|
PPRZLINK_DIR=sw/ext/pprzlink
|
|
PPRZLINK_INSTALL=$(PAPARAZZI_HOME)/var/lib
|
|
MESSAGES_INSTALL=$(PAPARAZZI_HOME)/var
|
|
UBX_PROTOCOL_H=$(STATICINCLUDE)/ubx_protocol.h
|
|
MTK_PROTOCOL_H=$(STATICINCLUDE)/mtk_protocol.h
|
|
XSENS_PROTOCOL_H=$(STATICINCLUDE)/xsens_protocol.h
|
|
ABI_MESSAGES_H=$(STATICINCLUDE)/abi_messages.h
|
|
MAVLINK_DIR=$(STATICINCLUDE)/mavlink/
|
|
MAVLINK_PROTOCOL_H=$(MAVLINK_DIR)protocol.h
|
|
|
|
GEN_HEADERS = $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(ABI_MESSAGES_H)
|
|
|
|
core: ground_segment ext subdirs_extra
|
|
|
|
all: ground_segment ext subdirs_extra $(MAVLINK_PROTOCOL_H)
|
|
|
|
_print_building:
|
|
@echo "------------------------------------------------------------"
|
|
@echo "Building Paparazzi version" $(shell ./paparazzi_version)
|
|
@echo "------------------------------------------------------------"
|
|
|
|
print_build_version:
|
|
@echo "------------------------------------------------------------"
|
|
@echo "Last build Paparazzi version" $(shell cat $(PAPARAZZI_HOME)/var/build_version.txt 2> /dev/null || echo UNKNOWN)
|
|
@echo "------------------------------------------------------------"
|
|
|
|
_save_build_version:
|
|
$(Q)test -d $(PAPARAZZI_HOME)/var || mkdir -p $(PAPARAZZI_HOME)/var
|
|
$(Q)./paparazzi_version > $(PAPARAZZI_HOME)/var/build_version.txt
|
|
|
|
init:
|
|
@[ -d $(PAPARAZZI_HOME) ] || (echo "Copying config example in your $(PAPARAZZI_HOME) directory"; mkdir -p $(PAPARAZZI_HOME); cp -a conf $(PAPARAZZI_HOME); cp -a data $(PAPARAZZI_HOME); mkdir -p $(PAPARAZZI_HOME)/var/maps; mkdir -p $(PAPARAZZI_HOME)/var/include)
|
|
|
|
conf: conf/conf.xml conf/control_panel.xml conf/tools/blacklisted
|
|
|
|
conf/%.xml :conf/%_example.xml
|
|
[ -L $@ ] || [ -f $@ ] || cp $< $@
|
|
|
|
conf/tools/blacklisted: conf/tools/blacklisted_example
|
|
cp conf/tools/blacklisted_example conf/tools/blacklisted
|
|
|
|
ground_segment: _print_building conf libpprz subdirs static
|
|
ground_segment.opt: ground_segment cockpit.opt tmtc.opt
|
|
|
|
static: cockpit tmtc generators sim_static joystick static_h
|
|
|
|
libpprzlink.update:
|
|
$(MAKE) -C $(EXT) pprzlink.update
|
|
|
|
libpprzlink.install:
|
|
$(Q)Q=$(Q) MAKEFLAGS=-j1 DESTDIR=$(PPRZLINK_INSTALL) PPRZLINK_LIB_VERSION=${PPRZLINK_LIB_VERSION} $(MAKE) -C $(PPRZLINK_DIR) libpprzlink-install
|
|
|
|
libpprz: libpprzlink.update libpprzlink.install _save_build_version
|
|
$(MAKE) -C $(LIB)/ocaml
|
|
|
|
cockpit: libpprz
|
|
$(MAKE) -C $(COCKPIT)
|
|
|
|
cockpit.opt: libpprz
|
|
$(MAKE) -C $(COCKPIT) opt
|
|
|
|
tmtc: libpprz
|
|
$(MAKE) -C $(TMTC)
|
|
|
|
tmtc.opt: libpprz
|
|
$(MAKE) -C $(TMTC) opt
|
|
|
|
generators: libpprz
|
|
$(MAKE) -C $(GENERATORS)
|
|
|
|
joystick: libpprz
|
|
$(MAKE) -C $(JOYSTICK)
|
|
|
|
sim_static: libpprz
|
|
$(MAKE) -C $(SIMULATOR)
|
|
|
|
ext:
|
|
$(MAKE) -C $(EXT)
|
|
$(MAKE) -C $(TOOLS)/bluegiga_usb_dongle
|
|
|
|
opencv_bebop:
|
|
$(MAKE) -C $(EXT) opencv_bebop
|
|
|
|
#
|
|
# make misc subdirs
|
|
#
|
|
subdirs: $(SUBDIRS)
|
|
subdirs_extra: $(SUBDIRS_EXTRA)
|
|
|
|
$(MISC): ext
|
|
|
|
$(SUBDIRS): libpprz
|
|
$(MAKE) -C $@
|
|
|
|
$(SUBDIRS_EXTRA): libpprz
|
|
$(MAKE) -C $@
|
|
|
|
$(PPRZCENTER): libpprz
|
|
|
|
$(LOGALIZER): libpprz
|
|
|
|
static_h: pprzlink_protocol $(GEN_HEADERS)
|
|
|
|
pprzlink_protocol : libpprz
|
|
$(Q)test -d $(STATICINCLUDE) || mkdir -p $(STATICINCLUDE)
|
|
$(Q)test -d $(STATICLIB) || mkdir -p $(STATICLIB)
|
|
ifeq ("$(wildcard $(CUSTOM_MESSAGES_XML))","")
|
|
@echo GENERATE $@ with default messages
|
|
$(Q)Q=$(Q) MESSAGES_INSTALL=$(MESSAGES_INSTALL) VALIDATE_XML=FALSE PPRZLINK_LIB_VERSION=${PPRZLINK_LIB_VERSION} $(MAKE) -C $(PPRZLINK_DIR) pymessages
|
|
else
|
|
@echo GENERATE $@ with custome messages from $(CUSTOM_MESSAGES_XML)
|
|
$(Q)Q=$(Q) MESSAGES_XML=$(CUSTOM_MESSAGES_XML) MESSAGES_INSTALL=$(MESSAGES_INSTALL) PPRZLINK_LIB_VERSION=${PPRZLINK_LIB_VERSION} $(MAKE) -C $(PPRZLINK_DIR) pymessages
|
|
endif
|
|
|
|
|
|
$(UBX_PROTOCOL_H) : $(UBX_XML) generators
|
|
@echo GENERATE $@
|
|
$(eval $@_TMP := $(shell $(MKTEMP)))
|
|
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_ubx.out $< > $($@_TMP)
|
|
$(Q)mv $($@_TMP) $@
|
|
$(Q)chmod a+r $@
|
|
|
|
$(MTK_PROTOCOL_H) : $(MTK_XML) generators
|
|
@echo GENERATE $@
|
|
$(eval $@_TMP := $(shell $(MKTEMP)))
|
|
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_mtk.out $< > $($@_TMP)
|
|
$(Q)mv $($@_TMP) $@
|
|
$(Q)chmod a+r $@
|
|
|
|
$(XSENS_PROTOCOL_H) : $(XSENS_XML) generators
|
|
@echo GENERATE $@
|
|
$(eval $@_TMP := $(shell $(MKTEMP)))
|
|
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_xsens.out $< > $($@_TMP)
|
|
$(Q)mv $($@_TMP) $@
|
|
$(Q)chmod a+r $@
|
|
|
|
$(ABI_MESSAGES_H) : $(ABI_XML) generators
|
|
@echo GENERATE $@
|
|
$(eval $@_TMP := $(shell $(MKTEMP)))
|
|
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) $(GENERATORS)/gen_abi.out $< airborne > $($@_TMP)
|
|
$(Q)mv $($@_TMP) $@
|
|
$(Q)chmod a+r $@
|
|
|
|
$(MAVLINK_PROTOCOL_H) :
|
|
$(Q)make -C $(PAPARAZZI_HOME)/sw/ext mavlink
|
|
|
|
#
|
|
# code generation for aircrafts from xml files
|
|
#
|
|
include Makefile.ac
|
|
|
|
ac_h ac fbw ap: static conf generators ext
|
|
|
|
sim: sim_static
|
|
|
|
|
|
#
|
|
# doxygen html documentation
|
|
#
|
|
dox:
|
|
$(Q)PAPARAZZI_HOME=$(PAPARAZZI_HOME) sw/tools/doxygen_gen/gen_modules_doc.py -pv
|
|
$(Q)PAPARAZZI_HOME=$(PAPARAZZI_HOME) sw/tools/doxygen_gen/gen_messages_doc.py -pv
|
|
@echo "Generationg doxygen html documentation in doc/generated/html"
|
|
$(Q)( cat Doxyfile ; echo "PROJECT_NUMBER=$(./paparazzi_version)"; echo "QUIET=YES") | doxygen -
|
|
@echo "Done. Open doc/generated/html/index.html in your browser to view it."
|
|
|
|
#
|
|
# Cleaning
|
|
#
|
|
|
|
clean:
|
|
$(Q)rm -fr dox build-stamp configure-stamp conf/%gconf.xml
|
|
$(Q)rm -f $(GEN_HEADERS)
|
|
$(Q)MESSAGES_INSTALL=$(MESSAGES_INSTALL) $(MAKE) -C $(PPRZLINK_DIR) uninstall
|
|
$(Q)rm -fr $(MAVLINK_DIR)
|
|
$(Q)find . -mindepth 2 -name Makefile -a ! -path "./sw/ext/*" -exec sh -c 'echo "Cleaning {}"; $(MAKE) -C `dirname {}` $@' \;
|
|
$(Q)$(MAKE) -C $(EXT) clean
|
|
$(Q)find . -name '*~' -exec rm -f {} \;
|
|
$(Q)find . -name '*.pyc' -exec rm -f {} \;
|
|
$(Q)find . -name 'Cargo.lock' -exec rm -f {} \;
|
|
|
|
cleanspaces:
|
|
find sw -path sw/ext -prune -o -type f -name '*.[ch]' -exec sed -i {} -e 's/[ \t]*$$//' \;
|
|
find sw -path sw/ext -prune -o -type f -name '*.py' -exec sed -i {} -e 's/[ \t]*$$//' \;
|
|
find conf -name '*.makefile' -exec sed -i {} -e 's/[ \t]*$$//' ';'
|
|
find . -path ./sw/ext -prune -o -name Makefile -exec sed -i {} -e 's/[ \t]*$$//' ';'
|
|
find sw -name '*.ml' -o -name '*.mli' -exec sed -i {} -e 's/[ \t]*$$//' ';'
|
|
find conf -name '*.xml' -exec sed -i {} -e 's/[ \t]*$$//' ';'
|
|
|
|
distclean : dist_clean
|
|
dist_clean :
|
|
@echo "Warning: This removes all non-repository files. This means you will loose your aircraft list, your maps, your logfiles, ... if you want this, then run: make dist_clean_irreversible"
|
|
|
|
dist_clean_irreversible: clean
|
|
rm -rf conf/conf.xml conf/controlpanel.xml
|
|
rm -rf var
|
|
|
|
ab_clean:
|
|
find sw/airborne -name '*~' -exec rm -f {} \;
|
|
|
|
|
|
#
|
|
# Tests
|
|
#
|
|
test: test_math test_examples test_modules
|
|
|
|
# subset of airframes for coverity test to pass the limited build time on travis
|
|
test_coverity: all
|
|
CONF_XML=conf/conf_tests_coverity.xml prove tests/aircrafts/
|
|
|
|
# test AggieAir conf
|
|
test_aggieair: all
|
|
CONF_XML=conf/airframes/AGGIEAIR/aggieair_conf.xml prove tests/aircrafts/
|
|
|
|
# test Open UAS conf
|
|
test_openuas: all
|
|
CONF_XML=conf/userconf/OPENUAS/openuas_conf.xml prove tests/aircrafts/
|
|
|
|
# test TU Delft conf
|
|
test_tudelft: all
|
|
CONF_XML=conf/userconf/tudelft/conf.xml prove tests/aircrafts/
|
|
CONF_XML=conf/userconf/tudelft/delfly_conf.xml prove tests/aircrafts/
|
|
CONF_XML=conf/userconf/tudelft/course_conf.xml prove tests/aircrafts/
|
|
CONF_XML=conf/userconf/tudelft/guido_conf.xml prove tests/aircrafts/
|
|
|
|
# test GVF conf
|
|
test_gvf: all
|
|
CONF_XML=conf/userconf/GVF/gvf_conf.xml prove tests/aircrafts/
|
|
|
|
|
|
# compiles all aircrafts in conf_tests.xml
|
|
test_examples: all
|
|
CONF_XML=conf/conf_tests.xml prove tests/aircrafts/
|
|
|
|
# test compilation of modules
|
|
test_modules: all
|
|
prove -v tests/modules/test_modules.py
|
|
|
|
test_all_confs: all opencv_bebop
|
|
$(Q)$(eval $CONFS:=$(shell ./find_confs.py))
|
|
@echo "************\nFound $(words $($CONFS)) config files: $($CONFS)"
|
|
$(Q)$(foreach conf,$($CONFS),echo "\n************\nTesting all aircrafts in conf: $(conf)\n************" && (CONF_XML=$(conf) prove tests/aircrafts/ || echo "failed $(conf)" >> TEST_ALL_CONFS_FAILED);) test -f TEST_ALL_CONFS_FAILED && cat TEST_ALL_CONFS_FAILED && rm -f TEST_ALL_CONFS_FAILED && exit 1; exit 0
|
|
|
|
# run some math tests that don't need whole paparazzi to be built
|
|
test_math:
|
|
make -C tests/math
|
|
|
|
.PHONY: all print_build_version _print_building _save_build_version init dox ground_segment ground_segment.opt \
|
|
subdirs $(SUBDIRS) conf ext libpprz libpprzlink.update libpprzlink.install cockpit cockpit.opt tmtc tmtc.opt generators\
|
|
static sim_static opencv_bebop\
|
|
clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible \
|
|
test test_examples test_math test_all_confs
|