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move RTPS to dedicated px4fmu-v{3,4,4pro,5}, posix, sdflight builds #8113

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merged 1 commit into from Oct 17, 2017
Merged

move RTPS to dedicated px4fmu-v{3,4,4pro,5}, posix, sdflight builds #8113

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2 changes: 1 addition & 1 deletion .gitmodules
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Expand Up @@ -35,7 +35,7 @@
path = src/drivers/gps/devices
url = https://github.com/PX4/GpsDrivers.git
[submodule "src/lib/micro-CDR"]
path = src/lib/micro-CDR
path = src/modules/micrortps_bridge/micro-CDR
url = https://github.com/eProsima/micro-CDR.git
[submodule "platforms/nuttx/NuttX/nuttx"]
path = platforms/nuttx/NuttX/nuttx
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16 changes: 0 additions & 16 deletions CMakeLists.txt
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Expand Up @@ -355,22 +355,6 @@ include_directories(${include_dirs})
link_directories(${link_dirs})
add_definitions(${definitions})

#=============================================================================
# RTPS and micro-cdr
#

find_program(FASTRTPSGEN fastrtpsgen PATHS $ENV{FASTRTPSGEN_DIR})
if (FASTRTPSGEN AND (config_rtps_send_topics OR config_rtps_receive_topics))
option(GENERATE_RTPS_BRIDGE "enable RTPS and microCDR" ON)
endif()

if (GENERATE_RTPS_BRIDGE)
# add micro-CDR
message(STATUS "RTPS bridge enabled, send: ${config_rtps_send_topics} receive: ${config_rtps_receive_topics}")
px4_add_git_submodule(TARGET git_micro_cdr PATH src/lib/micro-CDR)
add_subdirectory(src/lib/micro-CDR EXCLUDE_FROM_ALL)
endif()

#=============================================================================
# message, and airframe generation
#
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20 changes: 16 additions & 4 deletions Makefile
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Expand Up @@ -159,21 +159,25 @@ all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
posix: posix_sitl_default
broadcast: posix_sitl_broadcast

# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
.PHONY: all posix broadcast all_nuttx_targets

# Multi- config targets.
eagle_default: posix_eagle_default qurt_eagle_default
eagle_rtps: posix_eagle_rtps qurt_eagle_default
eagle_legacy_default: posix_eagle_legacy qurt_eagle_legacy
excelsior_default: posix_excelsior_default qurt_excelsior_default
excelsior_rtps: posix_excelsior_rtps qurt_excelsior_default
excelsior_legacy_default: posix_excelsior_legacy qurt_excelsior_legacy


# All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
.PHONY: all posix broadcast eagle_default eagle_legacy_default excelsior_legacy_default excelsior_default all_nuttx_targets
.PHONY: eagle_default eagle_rtps eagle_legacy_default
.PHONY: excelsior_default excelsior_rtps excelsior_legacy_default

# Other targets
# --------------------------------------------------------------------

.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware
.PHONY: sizes check quick_check
.PHONY: sizes check quick_check check_rtps

# QGroundControl flashable NuttX firmware
qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware sizes
Expand Down Expand Up @@ -209,6 +213,14 @@ alt_firmware: \
check_s2740vc-v1_default \
sizes

# builds with RTPS
check_rtps: \
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Is the plan to add this to CI? If so, we'll need to check the overhead of building all targets.

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Yes, this is for CI.

check_px4fmu-v3_rtps \
check_px4fmu-v4_rtps \
check_px4fmu-v4pro_rtps \
check_posix_sitl_rtps \
sizes

sizes:
@-find build -name *.elf -type f | xargs size 2> /dev/null || :

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3 changes: 1 addition & 2 deletions Tools/astyle/files_to_check_code_style.sh
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Expand Up @@ -14,9 +14,8 @@ exec find src \
-path src/lib/DriverFramework -prune -o \
-path src/lib/ecl -prune -o \
-path src/lib/matrix -prune -o \
-path src/lib/micro-CDR -prune -o \
-path src/modules/commander -prune -o \
-path src/modules/micrortps_bridge/micrortps_agent -prune -o \
-path src/modules/micrortps_bridge/micro-CDR -prune -o \
-path src/modules/sdlog2 -prune -o \
-path src/modules/systemlib/uthash -prune -o \
-path src/modules/uavcan/libuavcan -prune -o \
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9 changes: 4 additions & 5 deletions cmake/common/px4_git.cmake
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Expand Up @@ -41,7 +41,6 @@ include(common/px4_base)
# utility functions
#
# * px4_add_git_submodule
# * px4_create_git_hash_header
#

#=============================================================================
Expand Down Expand Up @@ -71,13 +70,13 @@ function(px4_add_git_submodule)

string(REPLACE "/" "_" NAME ${PATH})

add_custom_command(OUTPUT ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/git_init_${NAME}.stamp
COMMAND bash ${PX4_SOURCE_DIR}/Tools/check_submodules.sh ${PATH}
COMMAND cmake -E touch ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
COMMAND cmake -E touch ${CMAKE_CURRENT_BINARY_DIR}/git_init_${NAME}.stamp
DEPENDS ${PX4_SOURCE_DIR}/.gitmodules ${PATH}/.git
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
COMMENT "git submodule ${PATH}"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
)

add_custom_target(${TARGET} DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp)
add_custom_target(${TARGET} DEPENDS git_init_${NAME}.stamp)
endfunction()
13 changes: 1 addition & 12 deletions cmake/configs/nuttx_mindpx-v2_default.cmake
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Expand Up @@ -134,9 +134,6 @@ set(config_module_list
modules/uORB
modules/dataman

# micro RTPS
modules/micrortps_bridge/micrortps_client

#
# Libraries
#
Expand Down Expand Up @@ -197,12 +194,4 @@ set(config_module_list

# EKF
#examples/ekf_att_pos_estimator
)

set(config_rtps_send_topics
sensor_combined
)

set(config_rtps_receive_topics
sensor_baro
)
)
15 changes: 1 addition & 14 deletions cmake/configs/nuttx_nxphlite-v3_default.cmake
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Expand Up @@ -143,10 +143,6 @@ set(config_module_list
modules/uORB
modules/dataman

# micro RTPS
modules/micrortps_bridge/micrortps_client


#
# Libraries
#
Expand Down Expand Up @@ -214,13 +210,4 @@ set(config_module_list

# EKF
examples/ekf_att_pos_estimator
)


set(config_rtps_send_topics
sensor_combined
)

set(config_rtps_receive_topics
sensor_baro
)
)
13 changes: 1 addition & 12 deletions cmake/configs/nuttx_px4fmu-v3_default.cmake
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Expand Up @@ -138,9 +138,6 @@ set(config_module_list
modules/systemlib/mixer
modules/uORB

# micro RTPS
modules/micrortps_bridge/micrortps_client

#
# Libraries
#
Expand Down Expand Up @@ -207,12 +204,4 @@ set(config_module_list

# EKF
examples/ekf_att_pos_estimator
)

set(config_rtps_send_topics
sensor_combined
)

set(config_rtps_receive_topics
sensor_baro
)
)
5 changes: 5 additions & 0 deletions cmake/configs/nuttx_px4fmu-v3_rtps.cmake
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@@ -0,0 +1,5 @@
include(configs/nuttx_px4fmu-v3_default)

list(APPEND config_module_list
modules/micrortps_bridge
)
13 changes: 1 addition & 12 deletions cmake/configs/nuttx_px4fmu-v4_default.cmake
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Expand Up @@ -139,9 +139,6 @@ set(config_module_list
modules/uORB
modules/dataman

# micro RTPS
modules/micrortps_bridge/micrortps_client

#
# Libraries
#
Expand Down Expand Up @@ -209,12 +206,4 @@ set(config_module_list

# EKF
examples/ekf_att_pos_estimator
)

set(config_rtps_send_topics
sensor_combined
)

set(config_rtps_receive_topics
sensor_baro
)
)
5 changes: 5 additions & 0 deletions cmake/configs/nuttx_px4fmu-v4_rtps.cmake
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@@ -0,0 +1,5 @@
include(configs/nuttx_px4fmu-v4_default)

list(APPEND config_module_list
modules/micrortps_bridge
)
13 changes: 1 addition & 12 deletions cmake/configs/nuttx_px4fmu-v4pro_default.cmake
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Expand Up @@ -139,9 +139,6 @@ set(config_module_list
modules/systemlib/mixer
modules/uORB

# micro RTPS
modules/micrortps_bridge/micrortps_client

#
# Libraries
#
Expand Down Expand Up @@ -208,12 +205,4 @@ set(config_module_list

# EKF
#examples/ekf_att_pos_estimator
)

set(config_rtps_send_topics
sensor_combined
)

set(config_rtps_receive_topics
sensor_baro
)
)
5 changes: 5 additions & 0 deletions cmake/configs/nuttx_px4fmu-v4pro_rtps.cmake
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@@ -0,0 +1,5 @@
include(configs/nuttx_px4fmu-v4pro_default)

list(APPEND config_module_list
modules/micrortps_bridge
)
13 changes: 1 addition & 12 deletions cmake/configs/nuttx_px4fmu-v5_default.cmake
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Expand Up @@ -139,9 +139,6 @@ set(config_module_list
modules/systemlib/mixer
modules/uORB

# micro RTPS
modules/micrortps_bridge/micrortps_client

#
# Libraries
#
Expand Down Expand Up @@ -209,12 +206,4 @@ set(config_module_list

# EKF
#examples/ekf_att_pos_estimator
)

set(config_rtps_send_topics
sensor_combined
)

set(config_rtps_receive_topics
sensor_baro
)
)
5 changes: 5 additions & 0 deletions cmake/configs/nuttx_px4fmu-v5_rtps.cmake
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@@ -0,0 +1,5 @@
include(configs/nuttx_px4fmu-v4_default)

list(APPEND config_module_list
modules/micrortps_bridge
)
13 changes: 1 addition & 12 deletions cmake/configs/posix_sdflight_default.cmake
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Expand Up @@ -66,9 +66,6 @@ set(config_module_list
modules/commander
modules/navigator

# micro RTPS
modules/micrortps_bridge/micrortps_client

lib/controllib
lib/mathlib
lib/mathlib/math/filter
Expand All @@ -86,12 +83,4 @@ set(config_module_list
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
)

set(config_rtps_send_topics
sensor_baro
)

set(config_rtps_receive_topics
sensor_combined
)
)
5 changes: 1 addition & 4 deletions cmake/configs/posix_sdflight_legacy.cmake
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Expand Up @@ -58,9 +58,6 @@ set(config_module_list
modules/commander
modules/navigator

# micro RTPS
modules/micrortps_bridge/micrortps_client

lib/controllib
lib/mathlib
lib/mathlib/math/filter
Expand All @@ -78,4 +75,4 @@ set(config_module_list
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
)
)
5 changes: 5 additions & 0 deletions cmake/configs/posix_sdflight_rtps.cmake
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@@ -0,0 +1,5 @@
include(configs/posix_sdflight_default)

list(APPEND config_module_list
modules/micrortps_bridge
)
38 changes: 7 additions & 31 deletions cmake/configs/posix_sitl_default.cmake
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Expand Up @@ -114,9 +114,6 @@ set(config_module_list
modules/systemlib/mixer
modules/uORB

# micro RTPS
modules/micrortps_bridge/micrortps_client

#
# Libraries
#
Expand Down Expand Up @@ -189,39 +186,18 @@ set(config_module_list

# EKF
examples/ekf_att_pos_estimator

# micro-RTPS
)

set(config_rtps_send_topics
sensor_baro
)

set(config_rtps_receive_topics
sensor_combined
)

# Default config_sitl_rcS_dir (posix_sitl_default), this is overwritten later
# for the config posix_sitl_efk2 and set again, explicitly, for posix_sitl_lpe,
# which are based on posix_sitl_default.
set(config_sitl_rcS_dir
posix-configs/SITL/init/ekf2
CACHE INTERNAL "init script dir for sitl"
)

set(config_sitl_viewer
jmavsim
CACHE STRING "viewer for sitl"
)
set_property(CACHE config_sitl_viewer
PROPERTY STRINGS "jmavsim;none")

set(config_sitl_debugger
disable
CACHE STRING "debugger for sitl"
)
set_property(CACHE config_sitl_debugger
PROPERTY STRINGS "disable;gdb;lldb")
set(config_sitl_rcS_dir posix-configs/SITL/init/ekf2 CACHE INTERNAL "init script dir for sitl")

set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")

set(config_sitl_debugger disable CACHE STRING "debugger for sitl")
set_property(CACHE config_sitl_debugger PROPERTY STRINGS "disable;gdb;lldb")

# If the environment variable 'replay' is defined, we are building with replay
# support. In this case, we enable the orb publisher rules.
Expand Down