Try adding CMake

* Mavlink generates headers at build time * Ardupilot waf using different tooling and they end up in a different path * Perhaps add a custom target that copies them to the new path that occurs at build time Signed-off-by: Ryan Friedman <[email protected]>
Ryanf55 · Sep 14, 2024 · bd69024 · bd69024
1 parent fc2f518
commit bd69024
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Showing 9 changed files with 231 additions and 14 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -0,0 +1,9 @@
+# cmake -B build -DCONFIG_HAL_BOARD=3
+# cmake --build build
+cmake_minimum_required(VERSION 3.23)
+project(ardupilot)
+
+add_subdirectory(modules/mavlink)
+add_subdirectory(libraries)
+
+
diff --git a/libraries/AP_Common/CMakeLists.txt b/libraries/AP_Common/CMakeLists.txt
@@ -0,0 +1,49 @@
+get_filename_component(_library_path ${CMAKE_CURRENT_SOURCE_DIR} DIRECTORY)
+file(RELATIVE_PATH _lib_name ${_library_path} ${CMAKE_CURRENT_SOURCE_DIR})
+add_library(${_lib_name})
+add_library(${PROJECT_NAME}::${_lib_name} ALIAS ${_lib_name})
+
+# ls -1 *.h
+list(APPEND _headers
+    AP_Common.h
+    AP_ExpandingArray.h
+    AP_FWVersionDefine.h
+    AP_FWVersion.h
+    AP_Test.h
+    Bitmask.h
+    ExpandingString.h
+    float16.h
+    Location.h
+    MultiHeap.h
+    NMEA.h
+    sorting.h
+    time.h
+    TSIndex.h
+)
+# ls -1 *.cpp
+list(APPEND _sources
+    AP_Common.cpp
+    AP_ExpandingArray.cpp
+    AP_FWVersion.cpp
+    c++.cpp
+    ExpandingString.cpp
+    float16.cpp
+    Location.cpp
+    MultiHeap.cpp
+    NMEA.cpp
+    sorting.cpp
+    time.cpp
+)
+target_sources(AP_Common PUBLIC
+   ${_headers}
+PRIVATE
+    ${_sources}
+)
+
+target_link_libraries(${_lib_name} PUBLIC ${PROJECT_NAME}::AP_HAL ${PROJECT_NAME}::GCS_MAVLink)
+
+target_compile_options(${_lib_name}
+    PUBLIC
+        "-fsingle-precision-constant"
+)
+
diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -128,6 +128,7 @@
 
 /* DEFINITIONS FOR BOARDS */
 
+#define CONFIG_HAL_BOARD HAL_BOARD_SITL
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     #include <AP_HAL/board/sitl.h>
 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
@@ -143,9 +144,12 @@
 #elif CONFIG_HAL_BOARD == HAL_BOARD_QURT
     #include <AP_HAL/board/qurt.h>
 #else
-#error "Unknown CONFIG_HAL_BOARD type"
+#define XSTR(x) STR(x)
+#define STR(x) #x
+#error "Unknown CONFIG_HAL_BOARD type of " XSTR(CONFIG_HAL_BOARD)
 #endif
 
+#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_LINUX_NONE
 #ifndef CONFIG_HAL_BOARD_SUBTYPE
 #error "No CONFIG_HAL_BOARD_SUBTYPE set"
 #endif

diff --git a/libraries/AP_HAL/CMakeLists.txt b/libraries/AP_HAL/CMakeLists.txt
@@ -0,0 +1,71 @@
+get_filename_component(_library_path ${CMAKE_CURRENT_SOURCE_DIR} DIRECTORY)
+file(RELATIVE_PATH _lib_name ${_library_path} ${CMAKE_CURRENT_SOURCE_DIR})
+add_library(${_lib_name})
+add_library(${PROJECT_NAME}::${_lib_name} ALIAS ${_lib_name})
+
+# ls -1 *.h
+list(APPEND _headers
+    AnalogIn.h
+    AP_HAL_Boards.h
+    AP_HAL.h
+    AP_HAL_Macros.h
+    AP_HAL_Main.h
+    AP_HAL_Namespace.h
+    CANIface.h
+    Device.h
+    DSP.h
+    Flash.h
+    GPIO.h
+    HAL.h
+    I2CDevice.h
+    LogStructure.h
+    OpticalFlow.h
+    RCInput.h
+    RCOutput.h
+    Scheduler.h
+    Semaphores.h
+    SIMState.h
+    SPIDevice.h
+    Storage.h
+    system.h
+    UARTDriver.h
+    Util.h
+    WSPIDevice.h
+)
+# ls -1 *.cpp
+list(APPEND _sources
+    CANIface.cpp
+    Device.cpp
+    DSP.cpp
+    GPIO.cpp
+    HAL.cpp
+    RCOutput.cpp
+    Scheduler.cpp
+    Semaphores.cpp
+    SIMState.cpp
+    Storage.cpp
+    system.cpp
+    UARTDriver.cpp
+    Util.cpp
+)
+target_sources(${_lib_name}
+    PUBLIC
+    FILE_SET
+        HEADERS
+        BASE_DIRS ".."
+        FILES
+            ${_headers}
+PRIVATE
+    ${_sources}
+)
+
+# option(CONFIG_HAL_BOARD "Which board type" "CONFIG_HAL_LINUX")
+target_compile_definitions(${_lib_name}
+    PUBLIC
+        # CONFIG_HAL_BOARD=3
+        CONFIG_HAL_BOARD=HAL_BOARD_SITL
+        CONFIG_HAL_BOARD_SUBTYPE=HAL_BOARD_SUBTYPE_LINUX_NONE
+        __AP_LINE__=__LINE__
+        HAL_LOGGING_ENABLED=0
+        ENABLE_HEAP=1
+)
diff --git a/libraries/AP_HAL/DSP.cpp b/libraries/AP_HAL/DSP.cpp
@@ -18,9 +18,9 @@
 #include <AP_Math/AP_Math.h>
 #include "AP_HAL.h"
 #include "DSP.h"
-#ifndef HAL_NO_UARTDRIVER
-#include <GCS_MAVLink/GCS.h>
-#endif
+// #ifndef HAL_NO_UARTDRIVER
+// #include <GCS_MAVLink/GCS.h>
+// #endif
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <assert.h>
 #endif

diff --git a/libraries/AP_HAL/GPIO.cpp b/libraries/AP_HAL/GPIO.cpp
@@ -2,7 +2,7 @@
 
 #include <AP_HAL/AP_HAL.h>
 
-#include <GCS_MAVLink/GCS.h>
+// #include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -24,10 +24,10 @@ bool AP_HAL::PWMSource::set_pin(int16_t new_pin, const char *subsystem)
 
     if (interrupt_attached) {
         if (!hal.gpio->detach_interrupt(_pin)) {
-            GCS_SEND_TEXT(MAV_SEVERITY_WARNING,
-                          "%s: Failed to detach interrupt from %d",
-                          subsystem,
-                          _pin);
+            // GCS_SEND_TEXT(MAV_SEVERITY_WARNING,
+            //               "%s: Failed to detach interrupt from %d",
+            //               subsystem,
+            //               _pin);
         }
         interrupt_attached = false;
     }
@@ -51,10 +51,10 @@ bool AP_HAL::PWMSource::set_pin(int16_t new_pin, const char *subsystem)
                                 uint32_t),
             AP_HAL::GPIO::INTERRUPT_BOTH)) {
         // failed to attach interrupt
-        GCS_SEND_TEXT(MAV_SEVERITY_WARNING,
-                      "%s: Failed to attach interrupt to %d",
-                      subsystem,
-                      _pin);
+        // GCS_SEND_TEXT(MAV_SEVERITY_WARNING,
+        //               "%s: Failed to attach interrupt to %d",
+        //               subsystem,
+        //               _pin);
         return false;
     }
 

diff --git a/libraries/AP_Mission/AP_Mission.h b/libraries/AP_Mission/AP_Mission.h
@@ -14,7 +14,7 @@
 
 #include "AP_Mission_config.h"
 
-#include <GCS_MAVLink/GCS_MAVLink.h>
+// #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_Common/Location.h>

diff --git a/libraries/CMakeLists.txt b/libraries/CMakeLists.txt
@@ -0,0 +1,3 @@
+add_subdirectory(AP_HAL)
+add_subdirectory(AP_Common)
+add_subdirectory(GCS_MAVLink)
diff --git a/libraries/GCS_MAVLink/CMakeLists.txt b/libraries/GCS_MAVLink/CMakeLists.txt
@@ -0,0 +1,81 @@
+
+get_filename_component(_library_path ${CMAKE_CURRENT_SOURCE_DIR} DIRECTORY)
+unset(_lib_name)
+file(RELATIVE_PATH _lib_name ${_library_path} ${CMAKE_CURRENT_SOURCE_DIR})
+add_library(${_lib_name})
+add_library(${PROJECT_NAME}::${_lib_name} ALIAS ${_lib_name})
+
+# ls -1 *.h
+list(APPEND _headers
+    ap_message.h
+    GCS_config.h
+    GCS_Dummy.h
+    GCS.h
+    GCS_MAVLink.h
+    MAVLink_routing.h
+    MissionItemProtocol_Fence.h
+    MissionItemProtocol.h
+    MissionItemProtocol_Rally.h
+    MissionItemProtocol_Waypoints.h
+)
+# ls -1 *.cpp
+list(APPEND _sources
+    GCS_Common.cpp
+    GCS.cpp
+    GCS_DeviceOp.cpp
+    GCS_Dummy.cpp
+    GCS_Fence.cpp
+    GCS_FTP.cpp
+    GCS_MAVLink.cpp
+    GCS_Param.cpp
+    GCS_Rally.cpp
+    GCS_serial_control.cpp
+    GCS_ServoRelay.cpp
+    GCS_Signing.cpp
+    MAVLink_routing.cpp
+    MissionItemProtocol.cpp
+    MissionItemProtocol_Fence.cpp
+    MissionItemProtocol_Rally.cpp
+    MissionItemProtocol_Waypoints.cpp
+)
+target_sources(${_lib_name}
+    PUBLIC
+    FILE_SET
+        HEADERS
+        BASE_DIRS ".."
+        FILES
+            ${_headers}
+PRIVATE
+    ${_sources}
+)
+
+option(CONFIG_HAL_BOARD "Which board type" 3)
+
+set(_mavlink_bindir ${PROJECT_BINARY_DIR}/modules/mavlink)
+set(_mavlink_incdir ${_mavlink_bindir}/ardu_include)
+target_include_directories(${_lib_name}
+    PUBLIC
+        ${_mavlink_incdir}
+        # $<BUILD_INTERFACE:>
+)
+include(CMakePrintHelpers)
+
+cmake_print_properties(TARGETS ${_lib_name} PROPERTIES
+                       INCLUDE_DIRECTORIES)
+
+# target_link_libraries(${_lib_name} PUBLIC common.xml-v2.0) # This doesn't work
+
+add_dependencies(${_lib_name} _mavlink_intermediate)
+
+add_custom_target(_mavlink_intermediate DEPENDS common.xml-v2.0 all-xml-v1.0) # Unclear how to get all.xml
+
+add_custom_command(
+  TARGET _mavlink_intermediate
+  POST_BUILD
+  COMMAND ${CMAKE_COMMAND} -E copy_directory
+    ${_mavlink_bindir}/include
+    ${_mavlink_incdir}/include/mavlink # The weird include path in ArduPilot source code.
+)
+
+# have build/modules/mavlink/ include/v2.0/common/version.h
+# need build/modules/mavlink/ include/mavlink/v2.0/common/version.h