simplify param scoping (fix out of tree builds) and fix qurt fc_addon linking

CMakeLists.txt

@@ -397,33 +397,22 @@ execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
 #=============================================================================
 # external modules
 #
+set(external_module_paths)
 if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}")
-	add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules_src)
+	add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules)
 
-	set(config_module_list_external_expanded)
 	foreach(external_module ${config_module_list_external})
-		list(APPEND config_module_list_external_expanded
-			${EXTERNAL_MODULES_LOCATION}/src/${external_module})
+		add_subdirectory(${EXTERNAL_MODULES_LOCATION}/src/${external_module} external_modules/${external_module})
+		list(APPEND external_module_paths ${EXTERNAL_MODULES_LOCATION}/src/${external_module})
 	endforeach()
-	set(config_module_list
-		${config_module_list}
-		${config_module_list_external_expanded}
-		)
 endif()
 
 #=============================================================================
 # subdirectories
 #
 foreach(module ${config_module_list})
-	string(REGEX MATCH "^[./]" external_module ${module})
-	if (external_module)
-		STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
-		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
-		add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
-	else()
-		add_subdirectory(src/${module})
-	endif()
+	add_subdirectory(src/${module})
 endforeach()
 
 add_subdirectory(src/firmware/${OS})

Makefile

@@ -240,8 +240,8 @@ check_%:
 .PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata
 
 parameters_metadata:
-	@python $(SRC_DIR)/Tools/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/Tools/parameters_injected.xml --markdown
-	@python $(SRC_DIR)/Tools/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/Tools/parameters_injected.xml --xml
+	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --markdown
+	@python $(SRC_DIR)/src/modules/systemlib/param/px_process_params.py -s `find $(SRC_DIR)/src -maxdepth 3 -type d` --inject-xml $(SRC_DIR)/src/modules/systemlib/param/parameters_injected.xml --xml
 
 airframe_metadata:
 	@python $(SRC_DIR)/Tools/px_process_airframes.py -v -a $(SRC_DIR)/ROMFS/px4fmu_common/init.d --markdown

cmake/common/px4_base.cmake

@@ -205,12 +205,6 @@ function(px4_add_module)
 	set(STACK_MAIN_DEFAULT 1024)
 	set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)
 
-	# default stack max to stack main
-	if(NOT STACK_MAIN AND STACK)
-		set(STACK_MAIN ${STACK})
-		message(AUTHOR_WARNING "STACK deprecated, USE STACK_MAIN instead!")
-	endif()
-
 	foreach(property MAIN STACK_MAIN PRIORITY)
 		if(NOT ${property})
 			set(${property} ${${property}_DEFAULT})
@@ -227,15 +221,18 @@ function(px4_add_module)
 	if(${OS} STREQUAL "qurt" )
 		set_property(TARGET ${MODULE} PROPERTY POSITION_INDEPENDENT_CODE TRUE)
 	elseif(${OS} STREQUAL "nuttx" )
-		list(APPEND COMPILE_FLAGS -Wframe-larger-than=${STACK_MAX})
+		target_compile_options(${MODULE} PRIVATE -Wframe-larger-than=${STACK_MAX})
 	endif()
 
 	if(MAIN)
-		set_target_properties(${MODULE} PROPERTIES
-			COMPILE_DEFINITIONS PX4_MAIN=${MAIN}_app_main)
-		add_definitions(-DMODULE_NAME="${MAIN}")
+		target_compile_definitions(${MODULE} PRIVATE PX4_MAIN=${MAIN}_app_main)
+		target_compile_definitions(${MODULE} PRIVATE MODULE_NAME="${MAIN}")
 	else()
-		add_definitions(-DMODULE_NAME="${MODULE}")
+		target_compile_definitions(${MODULE} PRIVATE MODULE_NAME="${MODULE}")
+	endif()
+
+	if(COMPILE_FLAGS)
+		target_compile_options(${MODULE} PRIVATE ${COMPILE_FLAGS})
 	endif()
 
 	if(INCLUDES)
@@ -247,7 +244,7 @@ function(px4_add_module)
 	endif()
 
 	# join list variables to get ready to send to compiler
-	foreach(prop LINK_FLAGS COMPILE_FLAGS)
+	foreach(prop LINK_FLAGS)
 		if(${prop})
 			px4_join(OUT ${prop} LIST ${${prop}} GLUE " ")
 		endif()
@@ -259,7 +256,7 @@ function(px4_add_module)
 	if(COMPILE_FLAGS AND ${_no_optimization_for_target})
 		px4_strip_optimization(COMPILE_FLAGS ${COMPILE_FLAGS})
 	endif()
-	foreach (prop COMPILE_FLAGS LINK_FLAGS STACK_MAIN MAIN PRIORITY)
+	foreach (prop LINK_FLAGS STACK_MAIN MAIN PRIORITY)
 		if (${prop})
 			set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
 		endif()

src/modules/systemlib/param/CMakeLists.txt

@@ -51,7 +51,10 @@ endif()
 set(module_list)
 if (DISABLE_PARAMS_MODULE_SCOPING)
 	# search all directories with .c files (potentially containing parameters)
-	file(GLOB_RECURSE new_list ${PX4_SOURCE_DIR}/src/*.c)
+	file(GLOB_RECURSE new_list
+		${PX4_SOURCE_DIR}/src/*.c
+		${external_module_paths}
+		)
 	foreach(file_path ${new_list})
 		get_filename_component(dir_path ${file_path} PATH)
 		list(APPEND module_list "${dir_path}")
@@ -61,17 +64,21 @@ else()
 	foreach(module ${config_module_list})
 		list(APPEND module_list ${PX4_SOURCE_DIR}/src/${module})
 	endforeach()
+	list(APPEND module_list
+		${external_module_paths}
+		)
 endif()
 
 set(parameters_xml ${PX4_BINARY_DIR}/parameters.xml)
 file(GLOB_RECURSE param_src_files ${PX4_SOURCE_DIR}/src/*params.c)
 add_custom_command(OUTPUT ${parameters_xml}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
-		-s ${module_list} ${EXTERNAL_MODULES_LOCATION}
-		--board CONFIG_ARCH_${BOARD} --xml --inject-xml
+	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_process_params.py
+		--src-path ${module_list}
+		--xml ${parameters_xml}
+		--inject-xml ${CMAKE_CURRENT_SOURCE_DIR}/parameters_injected.xml
 		--overrides ${PARAM_DEFAULT_OVERRIDES}
-	DEPENDS ${param_src_files} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
-	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		#--verbose
+	DEPENDS ${param_src_files} px_process_params.py parameters_injected.xml
 	COMMENT "Generating parameters.xml"
 )
 add_custom_target(parameters_xml DEPENDS ${parameters_xml})
@@ -82,12 +89,10 @@ add_custom_command(OUTPUT px4_parameters.c px4_parameters.h
 		--xml ${parameters_xml} --dest ${CMAKE_CURRENT_BINARY_DIR}
 	DEPENDS
 		${PX4_BINARY_DIR}/parameters.xml
-		${CMAKE_CURRENT_SOURCE_DIR}/px_generate_params.py
-		${CMAKE_CURRENT_SOURCE_DIR}/templates/px4_parameters.c.jinja
-		${CMAKE_CURRENT_SOURCE_DIR}/templates/px4_parameters.h.jinja
+		px_generate_params.py
+		templates/px4_parameters.c.jinja
+		templates/px4_parameters.h.jinja
 	)
-set_source_files_properties(px4_parameters.c PROPERTIES GENERATED TRUE)
-set_source_files_properties(px4_parameters.h PROPERTIES GENERATED TRUE)
 
 px4_add_module(
 	MODULE modules__systemlib__param
@@ -102,4 +107,3 @@ px4_add_module(
 	DEPENDS
 		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/platforms/qurt/fc_addon/mpu_spi/CMakeLists.txt

@@ -41,29 +41,19 @@ else()
 	set(FC_ADDON $ENV{FC_ADDON})
 endif()
 
-add_library(libmpu9x50 SHARED IMPORTED GLOBAL)
-set_target_properties(libmpu9x50 PROPERTIES IMPORTED_LOCATION ${FC_ADDON}/flight_controller/hexagon/libs/libmpu9x50.so)
-
-include_directories(
-	${FC_ADDON}/flight_controller/hexagon/inc
-	)
+add_library(mpu9x50 SHARED IMPORTED GLOBAL)
+set_target_properties(mpu9x50 PROPERTIES IMPORTED_LOCATION ${FC_ADDON}/flight_controller/hexagon/libs/libmpu9x50.so)
 
 px4_add_module(
 	MODULE platforms__qurt__fc_addon__mpu_spi
 	MAIN mpu9x50
 	STACK_MAIN 1200
-	COMPILE_FLAGS
+	INCLUDES
+		${FC_ADDON}/flight_controller/hexagon/inc
 	SRCS
 		mpu9x50_main.cpp
 		mpu9x50_params.c
 	DEPENDS
 		platforms__common
 	)
-
-set(module_external_libraries
-	${module_external_libraries}
-	libmpu9x50
-	CACHE INTERNAL "module_external_libraries"
-	)
-
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+target_link_libraries(platforms__qurt__fc_addon__mpu_spi PRIVATE mpu9x50)

src/platforms/qurt/fc_addon/rc_receiver/CMakeLists.txt

@@ -41,30 +41,19 @@ else()
 	set(FC_ADDON $ENV{FC_ADDON})
 endif()
 
-include_directories(
-	${FC_ADDON}/flight_controller/hexagon/inc
-	)
-
-add_library(librc_receiver SHARED IMPORTED GLOBAL)
-set_target_properties(librc_receiver PROPERTIES IMPORTED_LOCATION ${FC_ADDON}/flight_controller/hexagon/libs/librc_receiver.so)
+add_library(rc_receiver SHARED IMPORTED GLOBAL)
+set_target_properties(rc_receiver PROPERTIES IMPORTED_LOCATION ${FC_ADDON}/flight_controller/hexagon/libs/librc_receiver.so)
 
 px4_add_module(
-        MODULE platforms__qurt__fc_addon__rc_receiver
-        MAIN rc_receiver
+	MODULE platforms__qurt__fc_addon__rc_receiver
+	MAIN rc_receiver
 	STACK_MAIN 1200
-        COMPILE_FLAGS
+	INCLUDES
+		${FC_ADDON}/flight_controller/hexagon/inc
         SRCS
                 rc_receiver_main.cpp
 		rc_receiver_params.c
-
         DEPENDS
                 platforms__common
         )
-
-set(module_external_libraries
-	${module_external_libraries}
-	librc_receiver
-	CACHE INTERNAL "module_external_libraries"
-	)
-
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+target_link_libraries(platforms__qurt__fc_addon__rc_receiver PRIVATE rc_receiver)

src/platforms/qurt/fc_addon/uart_esc/CMakeLists.txt

@@ -41,30 +41,19 @@ else()
 	set(FC_ADDON $ENV{FC_ADDON})
 endif()
 
-include_directories(
-	${FC_ADDON}/flight_controller/hexagon/inc
-	)
-
-add_library(libuart_esc SHARED IMPORTED GLOBAL)
-set_target_properties(libuart_esc PROPERTIES IMPORTED_LOCATION ${FC_ADDON}/flight_controller/hexagon/libs/libuart_esc.so)
+add_library(uart_esc SHARED IMPORTED GLOBAL)
+set_target_properties(uart_esc PROPERTIES IMPORTED_LOCATION ${FC_ADDON}/flight_controller/hexagon/libs/libuart_esc.so)
 
 px4_add_module(
-        MODULE platforms__qurt__fc_addon__uart_esc
-        MAIN uart_esc
+	MODULE platforms__qurt__fc_addon__uart_esc
+	MAIN uart_esc
 	STACK_MAIN 1200
-        COMPILE_FLAGS
-        SRCS
-                uart_esc_main.cpp
+	INCLUDES
+		${FC_ADDON}/flight_controller/hexagon/inc
+	SRCS
+		uart_esc_main.cpp
 		uart_esc_params.c
-
-        DEPENDS
-                platforms__common
-        )
-
-set(module_external_libraries
-	${module_external_libraries}
-	libuart_esc
-	CACHE INTERNAL "module_external_libraries"
+	DEPENDS
+		platforms__common
 	)
-
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
+target_link_libraries(platforms__qurt__fc_addon__uart_esc PRIVATE uart_esc)