1 ############################################################################
2 #
3 # Copyright (c) 2017 PX4 Development Team. All rights reserved.
4 #
5 # Redistribution and use in source and binary forms, with or without
6 # modification, are permitted provided that the following conditions
7 # are met:
8 #
9 # 1. Redistributions of source code must retain the above copyright
10 # notice, this list of conditions and the following disclaimer.
11 # 2. Redistributions in binary form must reproduce the above copyright
12 # notice, this list of conditions and the following disclaimer in
13 # the documentation and/or other materials provided with the
14 # distribution.
15 # 3. Neither the name PX4 nor the names of its contributors may be
16 # used to endorse or promote products derived from this software
17 # without specific prior written permission.
18 #
19 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
20 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
21 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
22 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
23 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
24 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
25 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
26 # OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27 # AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30 # POSSIBILITY OF SUCH DAMAGE.
31 #
32 ############################################################################
33
34 #=============================================================================
35 # CMAKE CODING STANDARD FOR PX4
36 #
37 # Structure
38 # ---------------------------------------------------------------------------
39 #
40 # * Common functions should be included in px_base.cmake.
41 #
42 # * OS/ board specific fucntions should be include in
43 # px_impl_${OS}.cmake or px4_impl_${OS}_${BOARD}.cmake.
44 #
45 # Formatting
46 # ---------------------------------------------------------------------------
47 #
48 # * Use hard indents to match the px4 source code.
49 #
50 # * All function and script arguments are upper case.
51 #
52 # * All local variables are lower case.
53 #
54 # * All cmake functions are lowercase.
55 #
56 # * For else, endif, endfunction, etc, never put the name of the statement
57 #
58 # Functions/Macros
59 # ---------------------------------------------------------------------------
60 #
61 # * Use px4_parse_function_args to parse functions and check for required
62 # arguments. Unless there is only one argument in the function and it is clear.
63 #
64 # * Never use macros. They allow overwriting global variables and this
65 # makes variable declarations hard to locate.
66 #
67 # * If a target from add_custom_* is set in a function, explicitly pass it
68 # as an output argument so that the target name is clear to the user.
69 #
70 # * Avoid use of global variables in functions. Functions in a nested
71 # scope may use global variables, but this makes it difficult to
72 # resuse functions.
73 #
74 # Included CMake Files
75 # ---------------------------------------------------------------------------
76 #
77 # * All variables in config files must have the prefix "config_".
78 #
79 # * Never set global variables in an included cmake file,
80 # you may only define functions. This excludes config and Toolchain files.
81 # This makes it clear to the user when variables are being set or targets
82 # are being created.
83 #
84 # * Setting a global variable in a CMakeLists.txt file is ok, because
85 # each CMakeLists.txt file has scope in the current directory and all
86 # subdirectories, so it is not truly global.
87 #
88 # * All toolchain files should be included in the cmake
89 # directory and named Toolchain-"name".cmake.
90 #
91 # Misc
92 # ---------------------------------------------------------------------------
93 #
94 # * If referencing a string variable, don't put it in quotes.
95 # Don't do "${OS}" STREQUAL "posix",
96 # instead type ${OS} STREQUAL "posix". This will throw an
97 # error when ${OS} is not defined instead of silently
98 # evaluating to false.
99 #
100 #=============================================================================
101
102 if (${CMAKE_VERSION} VERSION_LESS 3.1.0) //判断cmake版本不能低于3.1.0
103 message("Not a valid CMake version")
104 message("On Ubuntu >= 16.04, install or upgrade via:")
105 message(" sudo apt-get install cmake")
106 message("")
107 message("Official website: https://cmake.org/download/")
108 message(FATAL_ERROR "Update CMake and try again" )
109 endif()
110
111 # Warning: Changing this modifies CMake's internal workings
112 # and leads to wrong toolchain detection
113 cmake_minimum_required(VERSION 3.1 FATAL_ERROR)
114
115 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}") //设置PX4源文件目录，CMAKE_CURRENT_SOURCE_DIR当前的源文件目录
116 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}") //设置运行程序目录，这个是cmake当前正在build的目录
117
118 execute_process( //执行一个或多个子进程
119 COMMAND Tools/check_submodules.sh //运行了tools/check_submodules.sh
120 WORKING_DIRECTORY ${PX4_SOURCE_DIR} //execute_process的测试目录WORKING_DIRECTORY上面shell运行目录设为PX4_SOURCE_DIR是上面设置的
121 )
122
123 #=============================================================================
124 # configuration
125 #
126 # must come before project to set toolchain
127
128 set(CONFIG "posix_sitl_default" CACHE STRING "desired configuration") //这里设置了CONFIG为"posix_sitl_default"设置了CACHE STRING的话，可以在cmake-gui中看到名字"desired configurration"
129
130 string(REPLACE "_" ";" config_args ${CONFIG}) //把CONFIG中的"_"替换成";"并保存到config_args(不知道为什么小写,所以config_args应该是posix;sitl;default
131 list(GET config_args 0 OS) //把config_args第一个参数放到OS中
132 list(GET config_args 1 BOARD) //第二个参数放到BORAD
133 list(GET config_args 2 LABEL) //第三个参数放到LABEL中
134 set(target_name "${OS}-${BOARD}-${LABEL}") //然后把target设置成OS-BORAD-LABEL。那我觉得用string(REPLACE "_" "-" target_name ${CONFIG})应该也可以实现
135
136 file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake") //GLOB_RECURSE可以在所有子目录(cmake/configs)中找到*cmake文件并和cmake/configs组合存到config中？
137 set_property(CACHE CONFIG PROPERTY STRINGS ${configs}) //这里的CONFIG在文档中是entry不知道干什么的，config设置到STRINGS中？
138
139 set(THREADS "4" CACHE STRING "number of threads to use for external build processes") //THREADS设为4
140 set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port") //DEBG_PORT设为"dev/ttyACM0"
141 set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location") //EXTERNAL_MODULES_LOCATION为"",后面可以翻译为“外部模块源位置？”
142
143 if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "") //如果EXTERNAL_MODULE_LOCATION不是""
144 get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE) //变成绝对路径
145 endif()
146
147 list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake") //把${PX4_SOURCE_DIR/cmake加进 CMAKE_MODULE_PATH中
148 message(STATUS "CMAKE_MODULE_PATH: ${CMAKE_MODULE_PATH}") //再显示出来CMAKE_MODULE_PATH中
149 set(config_module "configs/${CONFIG}") //又设置了config_module "configs/${CONFIG}"
150 include(${config_module}) //这里包含了其他目录下的cmake list文件
151
152 include(common/coverage)
153 include(common/sanitizers)
154
155 # CMake build type
156 # Debug Release RelWithDebInfo MinSizeRel Coverage
157 if (NOT CMAKE_BUILD_TYPE) //如果CMAKE_BUILD_TYPE非空
158 if (${OS} STREQUAL "nuttx") //如果OS为nuttx
159 set(PX4_BUILD_TYPE "MinSizeRel") //PX4_BUILD_TYPE设置为MinSizeRe1
160 elseif (${OS} STREQUAL "bebop") //如果OS为bebop
161 set(PX4_BUILD_TYPE "MinSizeRel") //PX4_BUILD_TYPE设置为MinSizeRe1
162 else()
163 set(PX4_BUILD_TYPE "RelWithDebInfo") //其他设置为RelWithDebInfo
164 endif()
165
166 set(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" FORCE) //把PX4_BUILD_TYPE写入CMAKE_BUILD_TYPE
167 endif()
168
169 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage") //设置CMAKE_BUILD_TYPE条目属性为"Debug;Release;RelWidthDebInfo;MiniSizeRel;Coverage"
170
171 message(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
172
173
174 #=============================================================================
175 # git
176 #
177 include(common/px4_git) //这里应该包含了common/px4_git.cmake
178
179 execute_process(
180 COMMAND git describe --always --tags //运行git describe --always --tags
181 OUTPUT_VARIABLE git_tag //会保存输出到git_tag
182 OUTPUT_STRIP_TRAILING_WHITESPACE
183 WORKING_DIRECTORY ${PX4_SOURCE_DIR} //git工作目录
184 )
185
186 execute_process(
187 COMMAND Tools/tag_to_version.py --root ${PX4_SOURCE_DIR} 运行Tools/tag_tp_version.py --root .....
188 OUTPUT_VARIABLE git_version
189 WORKING_DIRECTORY ${PX4_SOURCE_DIR}
190 )
191
192 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon") //添加git submodule目标
193 px4_add_git_submodule(TARGET git_driverframework PATH "src/lib/DriverFramework")
194 px4_add_git_submodule(TARGET git_ecl PATH "src/lib/ecl")
195 px4_add_git_submodule(TARGET git_gazebo PATH "Tools/sitl_gazebo")
196 px4_add_git_submodule(TARGET git_gazebo_flow PATH "Tools/sitl_gazebo/external/OpticalFlow")
197 px4_add_git_submodule(TARGET git_gazebo_klt PATH "Tools/sitl_gazebo/external/OpticalFlow/external/klt_feature_tracker")
198 px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
199 px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
200 px4_add_git_submodule(TARGET git_gps_devices PATH "src/drivers/gps/devices")
201 px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
202 px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
203 px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
204 px4_add_git_submodule(TARGET git_mavlink2 PATH "mavlink/include/mavlink/v2.0")
205 px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
206 px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
207
208 px4_create_git_hash_header()
209
210 #=============================================================================
211
212 message(STATUS "PX4 VERSION: ${git_tag}")
213 message(STATUS "CONFIG: ${target_name}")
214
215 # The URL for the elf file for crash logging //elf文件crash log的URL(uniform resource locator)
216 if (DEFINED ENV{BUILD_URI}) //确定ENV{BUILD_URI}是否被定义
217 set(BUILD_URI $ENV{BUILD_URI})
218 else()
219 set(BUILD_URI "localhost") //设置BUILD_URI为localhost
220 endif()
221
222 add_definitions(-DBUILD_URI=${BUILD_URI}) //定义了一个BUILD_URI宏
223
224 # Define GNU standard installation directories //确定GNU标准安装目录
225 include(GNUInstallDirs)
226
227 # Add support for external project building //增加外部项目构建支持
228 include(ExternalProject)
229
230 # Setup install paths //设置install路径
231 if (NOT CMAKE_INSTALL_PREFIX) //如果没有CMAKE_INSTALL_PREFIX
232 if (${OS} STREQUAL "posix") //posix系统
233 set(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" FORCE) //CMAKE_INSTALL_PREFIX是"/user"
234 endif()
235 endif()
236 if (CMAKE_INSTALL_PREFIX) //输出CMAKE_INSTALL_PREFIX
237 message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")
238 endif()
239
240 #=============================================================================
241 # require px4 module interface //要求px4模块接口
242 set(px4_required_interface
243 px4_os_prebuild_targets
244 px4_os_add_flags
245 )
246 foreach(cmd ${px4_required_interface}) //轮询px4_required_interface
247 if (NOT COMMAND ${cmd}) //如果里面没有COMMAND指令
248 message(FATAL_ERROR "${config_module} must implement ${cmd}")
249 endif()
250 endforeach()
251
252 set(px4_required_config config_module_list)
253 foreach(conf ${px4_required_config}) //又设置了conf，判断参数是否被定义
254 if (NOT DEFINED ${conf})
255 message(FATAL_ERROR "cmake/${config_module} must define ${conf}")
256 endif()
257 endforeach()
258
259 # force static lib build //强制静态库build
260 set(BUILD_SHARED_LIBS OFF) //关闭共享库
261
262 #=============================================================================
263 # ccache //高速编译工具
264 #
265 option(CCACHE "Use ccache if available" OFF)
266 find_program(CCACHE_PROGRAM ccache)
267 if (CCACHE AND CCACHE_PROGRAM)
268 message(STATUS "Enabled ccache: ${CCACHE_PROGRAM}")
269 set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
270 endif()
271
272 #=============================================================================
273 # project definition //项目定义
274 #
275 project(px4 CXX C ASM) //项目名px4 语言cxx c asm
276
277 set(package-contact "px4users@googlegroups.com") //这是联系方式？
278
279 #=============================================================================
280 # find programs and packages //寻找程序和包
281 #
282
283 # see if catkin was invoked to build this //如果魏国catkin构建这个
284 if (CATKIN_DEVEL_PREFIX)
285 message(STATUS "catkin ENABLED")
286 find_package(catkin REQUIRED)
287 if (catkin_FOUND)
288 catkin_package()
289 else()
290 message(FATAL_ERROR "catkin not found")
291 endif()
292 endif()
293
294 find_package(PythonInterp REQUIRED)
295 px4_find_python_module(jinja2 REQUIRED)
296
297 #=============================================================================
298 # cmake testing //cmake测试
299 #
300 enable_testing()
301 include(CTest)
302
303 #=============================================================================
304 # generate compile command database 生成编译命令数据库
305 #
306 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
307
308 #=============================================================================
309 # check required toolchain variables //确认工具链的值
310 #
311
312 # PX4 requires c++11 //px4需要c++11
313 set(CMAKE_CXX_STANDARD 11)
314 set(CMAKE_CXX_STANDARD_REQUIRED ON)
315
316 # PX4 requires c99 //需要c99
317 set(CMAKE_C_STANDARD 99)
318 set(CMAKE_C_STANDARD_REQUIRED ON)
319
320 set(required_variables CMAKE_C_COMPILER_ID CMAKE_CXX_COMPILER_ID)
321 foreach(var ${required_variables})
322 if (NOT ${var})
323 message(FATAL_ERROR "Toolchain/config must define ${var}")
324 endif()
325 endforeach()
326
327 # print full c compiler version //打印c编译器版本
328 execute_process(COMMAND ${CMAKE_C_COMPILER} --version
329 OUTPUT_VARIABLE c_compiler_version
330 OUTPUT_STRIP_TRAILING_WHITESPACE
331 )
332 STRING(REGEX MATCH "[^\n]*" c_compiler_version_short ${c_compiler_version})
333 message(STATUS "C compiler: ${c_compiler_version_short}")
334
335 # print full c++ compiler version //打印c++编译器版本
336 execute_process(COMMAND ${CMAKE_CXX_COMPILER} --version
337 OUTPUT_VARIABLE cxx_compiler_version
338 OUTPUT_STRIP_TRAILING_WHITESPACE
339 )
340 STRING(REGEX MATCH "[^\n]*" cxx_compiler_version_short ${cxx_compiler_version})
341 message(STATUS "C++ compiler: ${cxx_compiler_version_short}")
342
343 #=============================================================================
344 # external libraries //外部库
345 #
346 px4_os_prebuild_targets(OUT prebuild_targets
347 BOARD ${BOARD}
348 THREADS ${THREADS})
349
350 #=============================================================================
351 # build flags //构建的flags
352 #
353 px4_os_add_flags( //这里没看懂
354 BOARD ${BOARD}
355 C_FLAGS c_flags
356 CXX_FLAGS cxx_flags
357 OPTIMIZATION_FLAGS optimization_flags
358 EXE_LINKER_FLAGS exe_linker_flags
359 INCLUDE_DIRS include_dirs
360 LINK_DIRS link_dirs
361 DEFINITIONS definitions)
362
363 px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
364 px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags};${optimization_flags}" GLUE " ")
365 px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags};${optimization_flags}" GLUE " ")
366
367 include_directories(${include_dirs}) //包含都文件路径
368 #message("INCLUDE_DIRS=${include_dirs}")
369 link_directories(${link_dirs})
370 add_definitions(${definitions}) //增加定义
371
372 #=============================================================================
373 # message, and airframe generation //消息和生成机身
374 #
375
376 include(common/px4_metadata) //包含px4_metadata.cmake
377
378 add_subdirectory(msg) //增加一个子目录msg目录
379 px4_generate_messages(TARGET msg_gen
380 MSG_FILES ${msg_files}
381 OS ${OS}
382 INCLUDES ${msg_include_paths}
383 DEPENDS git_genmsg git_gencpp prebuild_targets
384 )
385
386 px4_generate_airframes_xml(BOARD ${BOARD})
387
388 #=============================================================================
389 # DriverFramework
390 #
391
392 # List the DriverFramework drivers
393 if (DEFINED config_df_driver_list)
394 message("DF Drivers: ${config_df_driver_list}")
395 endif()
396
397 set(df_driver_libs)
398 foreach(driver ${config_df_driver_list}) //把驱动的目录加进去了
399 add_subdirectory(src/lib/DriverFramework/drivers/${driver})
400 list(APPEND df_driver_libs df_${driver})
401 message("Adding DF driver: ${driver}")
402 endforeach()
403
404 #=============================================================================
405 # external projects //外部工程
406 #
407
408 set(ep_base ${PX4_BINARY_DIR}/external)
409 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
410
411 # add external project install folders to build //增加外部工程安装文件到build
412 link_directories(${ep_base}/Install/lib)
413 include_directories(${ep_base}/Install/include)
414 # add the directories so cmake won't warn //增加目录使cmake不会警告
415 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/lib)
416 execute_process(COMMAND cmake -E make_directory ${ep_base}/Install/include)
417
418 #=============================================================================
419 # external modules //外部模块
420 #
421 if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
422 message(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}")
423 add_subdirectory("${EXTERNAL_MODULES_LOCATION}/src" external_modules_src)
424
425 set(config_module_list_external_expanded)
426 foreach(external_module ${config_module_list_external})
427 list(APPEND config_module_list_external_expanded
428 ${EXTERNAL_MODULES_LOCATION}/src/${external_module})
429 endforeach()
430 set(config_module_list
431 ${config_module_list}
432 ${config_module_list_external_expanded}
433 )
434 endif()
435
436 #=============================================================================
437 # subdirectories //子目录
438 #
439 set(module_libraries)
440 foreach(module ${config_module_list})
441 string(REGEX MATCH "^[./]" external_module ${module})
442 if (external_module)
443 STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
444 STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
445 add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
446 else()
447 add_subdirectory(src/${module})
448 endif()
449 px4_mangle_name(${module} mangled_name)
450 list(APPEND module_libraries ${mangled_name})
451 endforeach()
452
453 # Keep track of external shared libs required for modules //track模块需要的外部共享库lib
454 set(module_external_libraries "${module_external_libraries}" CACHE INTERNAL "module_external_libraries")
455
456 add_subdirectory(src/firmware/${OS})
457
458 if (config_io_board)
459 add_subdirectory(src/modules/px4iofirmware)
460 endif()
461
462 #=============================================================================
463 # generate custom target to print for all executable and module cmake targets //这里开始编译生成了？
464 #
465 if (all_posix_cmake_targets)
466 list(SORT all_posix_cmake_targets)
467 px4_join(OUT posix_cmake_target_list LIST ${all_posix_cmake_targets} GLUE "\\n")
468 add_custom_target(list_cmake_targets
469 COMMAND sh -c "printf \"${posix_cmake_target_list}\\n\""
470 COMMENT "List of cmake targets that can be matched by PX4_NO_OPTIMIZATION:"
471 VERBATIM
472 )
473 endif()
474
475 #=============================================================================
476 # packaging //打包程序
477 #
478 # Important to having packaging at end of cmake file. //cmake文件结尾的重要打包工具
479 #
480 set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${CONFIG})
481 set(CPACK_PACKAGE_VERSION ${git_version})
482 set(CPACK_PACKAGE_CONTACT ${package-contact})
483 set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
484 set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
485 set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
486 set(short-description "The px4 autopilot.")
487 set(CPACK_DEBIAN_PACKAGE_DESCRIPTION ${short-description})
488 set(CPACK_GENERATOR "ZIP")
489 set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${git_tag}")
490 set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${git_version}")
491 set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
492 set(CPACK_PACKAGING_INSTALL_PREFIX "")
493 set(CPACK_SET_DESTDIR "OFF")
494 if ("${CMAKE_SYSTEM}" MATCHES "Linux")
495 find_program(DPKG_PROGRAM dpkg)
496 if (EXISTS ${DPKG_PROGRAM})
497 list (APPEND CPACK_GENERATOR "DEB")
498 endif()
499 endif()
500 include(CPack)
501
502 # vim: set noet fenc=utf-8 ff=unix ft=cmake :
