/
CMakeLists.txt
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CMakeLists.txt
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############################################################################
#
# Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
set(MAVLINK_DIALECT "development") # standard, development, etc
# force mavlink dialect to standard if flash constrained
if(px4_constrained_flash_build)
set(MAVLINK_DIALECT "standard")
endif()
set(MAVLINK_GIT_DIR "${CMAKE_CURRENT_LIST_DIR}/mavlink")
set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")
file(RELATIVE_PATH MAVLINK_GIT_DIR_RELATIVE ${CMAKE_SOURCE_DIR} ${MAVLINK_GIT_DIR})
px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${MAVLINK_GIT_DIR}")
add_custom_command(
OUTPUT ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${MAVLINK_DIALECT}.h
COMMAND
${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
--lang C --wire-protocol 2.0
#--no-validate
#--strict-units
--output ${MAVLINK_LIBRARY_DIR}
${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT}.xml
DEPENDS
git_mavlink_v2
${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT}.xml
COMMENT "Generating Mavlink ${MAVLINK_DIALECT}: ${MAVLINK_GIT_DIR_RELATIVE}/message_definitions/v1.0/${MAVLINK_DIALECT}.xml"
USES_TERMINAL
)
add_custom_target(mavlink_c_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${MAVLINK_DIALECT}.h)
# mavlink header only library
add_library(mavlink_c INTERFACE)
target_sources(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${MAVLINK_DIALECT}.h)
set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${MAVLINK_DIALECT}.h PROPERTIES GENERATED true)
target_include_directories(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR} ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT})
target_compile_options(mavlink_c INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
px4_add_module(
MODULE modules__mavlink
MAIN mavlink
COMPILE_FLAGS
-Wno-enum-compare # ROTATION <-> MAV_SENSOR_ROTATION
#-DDEBUG_BUILD
SRCS
mavlink.c
mavlink_command_sender.cpp
mavlink_events.cpp
mavlink_ftp.cpp
mavlink_log_handler.cpp
mavlink_main.cpp
mavlink_messages.cpp
mavlink_mission.cpp
mavlink_parameters.cpp
mavlink_rate_limiter.cpp
mavlink_receiver.cpp
mavlink_shell.cpp
mavlink_simple_analyzer.cpp
mavlink_stream.cpp
mavlink_timesync.cpp
mavlink_ulog.cpp
MavlinkStatustextHandler.cpp
tune_publisher.cpp
MODULE_CONFIG
module.yaml
DEPENDS
airspeed
component_general_json # for checksums.h
drivers_accelerometer
drivers_gyroscope
drivers_magnetometer
conversion
sensor_calibration
geo
mavlink_c
tunes
version
UNITY_BUILD
)
if(PX4_TESTING)
add_subdirectory(mavlink_tests)
endif()
px4_add_unit_gtest(SRC MavlinkStatustextHandlerTest.cpp
INCLUDES ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}
COMPILE_FLAGS
-Wno-address-of-packed-member # TODO: fix in c_library_v2
LINKLIBS modules__mavlink
)
if(CONFIG_NET AND "${PX4_PLATFORM}" MATCHES "nuttx")
target_link_libraries(modules__mavlink PRIVATE nuttx_apps) # netlib_get_ipv4netmask
endif()