PX4編譯文件 Makefile 剖析
當我們執行 cd Firmware進入PX4源碼目錄, 然後make 的時候,我們會看到一串輸出基本如下(第一次編譯會有更多的輸出)
[ 2%] Built target df_driver_framework
[ 3%] Built target lockstep_scheduler
[ 3%] Built target uorb_headers
[ 3%] Built target mixer_gen
[ 3%] Built target mixer_gen_6dof
[ 3%] Built target git_gps_devices
[ 3%] Built target git_ecl
[ 3%] Generating git version header
[ 3%] Built target git_mavlink_v2
[ 3%] Built target logs_symlink
[ 3%] Built target perf
[ 20%] Built target uorb_msgs
[ 24%] Built target work_queue
[ 24%] Built target tinybson
[ 24%] Built target ecl_airdata
[ 24%] Built target ecl_geo
...
[ 87%] Built target modules__ekf2
[ 89%] Built target modules__logger
[ 90%] Built target modules__sensors
[ 90%] Built target drivers__ledsim
[ 91%] Built target FlightTaskAuto
[ 91%] Built target FlightTaskManualAltitude
[ 91%] Built target FlightTaskAutoMapper
[ 91%] Built target modules__simulator
[ 91%] Built target FlightTaskAutoMapper2
[ 93%] Built target modules__mavlink
[ 93%] Built target FlightTaskManualAltitudeSmooth
[ 94%] Built target FlightTaskManualAltitudeSmoothVel
[ 94%] Built target FlightTaskManualPosition
[ 95%] Built target FlightTaskAutoLineSmoothVel
[ 95%] Built target FlightTaskAutoLine
[ 95%] Built target FlightTaskAutoFollowMe
[ 95%] Built target FlightTaskOrbit
[ 95%] Built target drivers__airspeedsim
[ 95%] Built target drivers__accelsim
[ 95%] Built target drivers__barosim
[ 95%] Built target drivers__gpssim
[ 96%] Built target drivers__gyrosim
[ 96%] Built target FlightTaskManualPositionSmoothVel
[ 96%] Built target FlightTaskManualPositionSmooth
[ 97%] Built target FlightTasks
[ 98%] Built target modules__mc_pos_control
[ 98%] Linking CXX executable ../../bin/px4
[ 98%] Built target px4
[100%] Built target examples__dyn_hello
從輸出看來PX4 默認的編譯選項設置了很多的編譯目標, 從輸出中我們可以看到以 modules__ 開頭的 ekf2,logger,mavlink 等,以 drivers__ 開頭的 accelsim,barosim,gpssim 等,以及關鍵的主程序 px4. 這些不同的編譯目標對應着 PX4 飛行棧的不同功能模塊. 當我們在終端輸入 make 並單擊兩次 tab 鍵時時我們得到下面的輸出
$ make
Display all 126 possibilities? (y or n)
aerotenna_ocpoc_ubuntu auav_esc35-v1_default eagle_rtps parrot_bebop_default px4_fmu-v4pro px4_sitl_test
airframe_metadata auav_x21 emlid_navio2_cross posix px4_fmu-v4pro_default python_coverage
airmind_mindpx-v2 auav_x21_default emlid_navio2_native posix_sitl_default px4_fmu-v4pro_rtps qgc_firmware
airmind_mindpx-v2_default av_x-v1 excelsior_default px4_cannode-v1 px4_fmu-v4_rtps quick_check
all av_x-v1_default excelsior_rtps px4_cannode-v1_default px4_fmu-v4_stackcheck rostest
all_config_targets beaglebone_blue_cross format px4_esc-v1 px4_fmu-v5 rostest_run
all_default_targets beaglebone_blue_native gazeboclean px4_esc-v1_default px4_fmu-v5_default scan-build
alt_firmware bitcraze_crazyflie help px4fmu_firmware px4_fmu-v5_fixedwing shellcheck_all
atlflight_cmake_hexagon_bundle bitcraze_crazyflie_default intel_aerofc-v1 px4_fmu-v2 px4_fmu-v5_multicopter sizes
atlflight_cmake_hexagon_fastrpc check intel_aerofc-v1_default px4_fmu-v2_default px4_fmu-v5_rover submodulesclean
atlflight_cmake_hexagon_hexagon_sdk check_format intel_aerofc-v1_rtps px4_fmu-v2_fixedwing px4_fmu-v5_rtps submodulesupdate
atlflight_cmake_hexagon_linux_app check_rtps list_config_targets px4_fmu-v2_lpe px4_fmu-v5_stackcheck tests
atlflight_cmake_hexagon_qurt_flags clang-tidy Makefile px4_fmu-v2_multicopter px4_io-v2 tests_avoidance
atlflight_cmake_hexagon_qurt_lib clang-tidy-fix misc_qgc_extra_firmware px4_fmu-v2_rover px4_io-v2_default tests_coverage
atlflight_eagle clang-tidy-quiet module_documentation px4_fmu-v2_test px4_metadata tests_mission
atlflight_eagle_default clean nxp_fmuk66-v3 px4_fmu-v3 px4_raspberrypi_cross tests_mission_coverage
atlflight_eagle_qurt-default coverity_scan nxp_fmuk66-v3_default px4_fmu-v3_default px4_raspberrypi_native tests_offboard
atlflight_excelsior cppcheck omnibus_f4sd px4_fmu-v3_rtps px4_sitl thiemar_s2740vc-v1
atlflight_excelsior_default distclean omnibus_f4sd_default px4_fmu-v3_stackcheck px4_sitl_default thiemar_s2740vc-v1_default
atlflight_excelsior_qurt-default doxygen parameters_metadata px4_fmu-v4 px4_sitl_default-clang uorb_graphs
auav_esc35-v1 eagle_default parrot_bebop px4_fmu-v4_default px4_sitl_rtps validate_module_configs
可以有很多不同的目標, 在PX4 的官方文檔中比較詳細的介紹了用於Nuttx的 px4_fmu-v*_default (其中 * 可以是2,3,4,5等代表不同的fmu 版本的數字), 以及 px4_sitl_default 用來在本機進行仿真的編譯選項. 面對如此衆多的選項, 本文的目的在於理清各個編譯選項的具體內部操作.
1 PX4 的 Makefile 文件剖析
1.1 Makefile 背景知識
這裏假設讀者有一定的編程經驗, 這一小節簡述 Makefile 的一些基礎概念和語法, 主要是參考了GNU make manual 和 GNU make 項目實戰. Makefile 可以視爲 Make的操作指令文檔, 指導 Make 成一系列的操作. Makefile 的語法雜糅了 c 以及 sh 的特點, 其中包括了基本的邏輯判斷和變量定義語法. Makefile 中最核心的部分是 編譯指導語句
targets: prerequisites
recipes
其中的 targets 是編譯目標, prerequisites 是編譯依賴項 (它可以依賴於其他一些更基礎的依賴項), recipes 是要執行的一系列指令, 這些指令傳給 shell 來執行. Makefile 要求 recipes 行的開頭必須以一個 tab 開頭, 同時如果一行太長的話可以通過 \ 符號進行分割, 下一行同樣必須以 tab 開始, make 會自動把 \ 及上下的空白字符串(空格和tab) 替換爲單個空格. 下面是Makefile 命令速查表.
| Makefile 語法 | 說明 |
|---|---|
| := | 變量賦值, 會遞歸展開 |
| = 或者 define | 變量賦值, 不會遞歸展開 |
| += | 追加, 和 C 語言和 Python 中的 += 類似 |
| error | 打印錯誤信息,並退出 |
| wildcard | 通配符, 例:$(wildcard *.h) 返回匹配到的所有頭文件 |
| firstword | 獲取第一個單詞, 例$(firstword “abcd jijii”) 返回 abcd |
| wordlist | 獲取指定從某個索引到到另一個索引的之間的單詞, 例:$(wordlist 2, 5, “This is a test sentence”), 返回 “is” “a” “test” “sentencce” |
| words | 計算字符串中單詞個數 |
| lastword | 獲取字符串中的最後一個單詞 |
| shell | 在 subshell 中執行命令, 例:$(shell echo “Hello world”) ,會輸出 Hello world |
| subst | 截取字符串 |
| strip | 去掉空格去掉字符串中開頭和結尾的空字符,並將中間的多個連續空字符(如果有的話)合併爲一個空字符 |
| realpath | 獲取文件的路徑 |
| findstring | 在字符串B, 中發現A |
| if | 類似於 C 中的 ? : 語句 |
此外, Makefile 中的.Phony 對象定義爲Targets that do not refer to filles but are just actions are called phony targets (執行一些命令但不生成目標文件的 編譯目標叫做 Phony target).
1.2 PX4 Makefile 文本剖析
這裏爲了引用方便, 在每段代碼前面都保留了在文件中的行號. 首先前面的以 # 開頭的32行是 Copyright 部分, 基本上是 BSD 協議的內容. 之後是 Makefile 代碼的正文部分, 首先是檢查當前目錄是否是 git repo, 以確保源碼的依賴關係沒有被破壞, 可以在編譯的過程中子模塊的下載可以順利進行.
34 # Enforce the presence of the GIT repository
35 #
36 # We depend on our submodules, so we have to prevent attempts to
37 # compile without it being present.
38 ifeq ($(wildcard .git),)
39 $(error YOU HAVE TO USE GIT TO DOWNLOAD THIS REPOSITORY. ABORTING.)
40 endif
接下來是幫助說明, 意思就是不要害怕這個 Makefile, 這個 Makefile 文件主要是用來向 cmake 傳參的, 並列出了二次開發可能主要用到的 make px4_fmu-v2_default 等幾個指令.
42 # Help
43 # --------------------------------------------------------------------
44 # Don't be afraid of this makefile, it is just passing
45 # arguments to cmake to allow us to keep the wiki pages etc.
46 # that describe how to build the px4 firmware
47 # the same even when using cmake instead of make.
48 #
49 # Example usage:
50 #
51 # make px4_fmu-v2_default (builds)
52 # make px4_fmu-v2_default upload (builds and uploads)
53 # make px4_fmu-v2_default test (builds and tests)
54 #
55 # This tells cmake to build the nuttx px4_fmu-v2 default config in the
56 # directory build/px4_fmu-v2_default and then call make
57 # in that directory with the target upload.```
接下來設置默認的編譯目標, make 把遇到的第一個編譯目標設置成默認目標, 這裏的 target 是 all, 而prerequisites 是 px4_sitl_default,同時這裏沒有 recipes 部分, 對於沒有 recipes 的編譯目標, make 則總會嘗試去更新他的依賴項, 這裏是 px4_sitl_default
59 # explicity set default build target
60 all: px4_sitl_default
接下來是利用 subst 函數生成一個空格, subst 函數的用法爲 $(subst 模式字符串, 替換字符串, 原始字符串), 在原始字符串中搜索模式字符串並用替換字符串替換.
62 # define a space character to be able to explicitly find it in strings
63 space := $(subst ,, )
這裏通過make 的環境變量 $(MAKECMDGOALS)獲取用戶制定的編譯目標, 並通過 $(firstword $(MAKECMDGOALS)) 函數獲取第一個值, 用$(wordlist 2,$(words $(MAKECMDGOALS)), $(MAKECMDGOALS)) 第一個之外的其他目標值. 例如在終端中輸入 > make px4_sitl_default gazebo 時, FIRST_ARG 將獲取到px4_sitl_default , 而ARGS 將獲取到 gazebo
65 # Parsing
66 # --------------------------------------------------------------------
67 # assume 1st argument passed is the main target, the
68 # rest are arguments to pass to the makefile generated
69 # by cmake in the subdirectory
70 FIRST_ARG := $(firstword $(MAKECMDGOALS))
71 ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
j 選項是設置開多少 jobs 進行 Make 並行執行
72 j ?= 4
接着設置是否用構建工具 ninja 生成 CMake 文件. ifndf... else ... endif 含義爲如果沒有定義則執行, 否則執行... ,而ifdef... else... endif 則反之. 由於默認沒有設置 NO_NINJA_BUILD 所以會嘗試設置編譯生成器爲Ninja. 如果嘗試失敗了,則在 windows 上編譯生成器目標會設置爲 MSYS Makefiles, 在 Linux 上則會編譯生成器目標會設置爲Unix Makefiles. Ninja 是一個比 Make 要輕量級的編譯系統.
74 NINJA_BIN := ninja
75 ifndef NO_NINJA_BUILD
76 NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
77
78 ifndef NINJA_BUILD
79 NINJA_BIN := ninja-build
80 NINJA_BUILD := $(shell $(NINJA_BIN) --version 2>/dev/null)
81 endif
82 endif
83
84 ifdef NINJA_BUILD
85 PX4_CMAKE_GENERATOR := Ninja
86 PX4_MAKE := $(NINJA_BIN)
87
88 ifdef VERBOSE
89 PX4_MAKE_ARGS := -v
90 else
91 PX4_MAKE_ARGS :=
92 endif
93 else
94 ifdef SYSTEMROOT
95 # Windows
96 PX4_CMAKE_GENERATOR := "MSYS\ Makefiles"
97 else
98 PX4_CMAKE_GENERATOR := "Unix\ Makefiles"
99 endif
100 PX4_MAKE = $(MAKE)
101 PX4_MAKE_ARGS = -j$(j) --no-print-directory
102 endif
然後, 獲取了源碼所在的路徑, 首先用 lastword 函數獲取了當前的 Makefile 的名稱, 然後用realpath 獲取了這個 Makefile 的完整路徑, 最後調用 shell 的 dirname 命令獲取了文件的目錄路徑.
104 SRC_DIR := $(shell dirname "$(realpath $(lastword $(MAKEFILE_LIST)))")
接下來設置了 $BUILD_DIR_SUFFIX變量, 上面註釋說"依據是否定義了環境變量 replay 來決定build 目錄是否加後綴", 爲什麼要有 replay 目前還不清楚…
106 # check if replay env variable is set & set build dir accordingly
107 ifdef replay
108 BUILD_DIR_SUFFIX := _replay
109 else
110 BUILD_DIR_SUFFIX :=
111 endif
接下來給 cmake 添加了一些選項. 包括是否包括外部模塊, 及 cmake 的build 的類型
113 # additional config parameters passed to cmake
114 ifdef EXTERNAL_MODULES_LOCATION
115 CMAKE_ARGS += -DEXTERNAL_MODULES_LOCATION:STRING=$(EXTERNAL_MODULES_LOCATION)
116 endif
117
118 ifdef PX4_CMAKE_BUILD_TYPE
119 CMAKE_ARGS += -DCMAKE_BUILD_TYPE=${PX4_CMAKE_BUILD_TYPE}
120 else
121
122 # Address Sanitizer
123 ifdef PX4_ASAN
124 CMAKE_ARGS += -DCMAKE_BUILD_TYPE=AddressSanitizer
125 endif
126
127 # Memory Sanitizer
128 ifdef PX4_MSAN
129 CMAKE_ARGS += -DCMAKE_BUILD_TYPE=MemorySanitizer
130 endif
131
132 # Thread Sanitizer
133 ifdef PX4_TSAN
134 CMAKE_ARGS += -DCMAKE_BUILD_TYPE=ThreadSanitizer
135 endif
136
137 # Undefined Behavior Sanitizer
138 ifdef PX4_UBSAN
139 CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
140 endif
141
142 endif
接着這裏定義了兩個函數, 第一個是後面編譯各個選項時主要用到的 cmake-build, 另一個是用來檢查之前的cmake 編譯生成的 cache 是否和當前的編譯選項一致的cmake-cache-check. 在cmake-build 中調用了cmake-cache-check 來確定是否需要重新生成目錄和編譯配置文件.
144 # Functions
145 # --------------------------------------------------------------------
146 # describe how to build a cmake config
147 define cmake-build
148 @$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
149 @# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
150 @$(call cmake-cache-check)
151 @# make sure to start from scratch when switching from GNU Make to Ninja
152 @if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
153 @# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
154 @if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
155 mkdir -p $(BUILD_DIR) \
156 && cd $(BUILD_DIR) \
157 && cmake "$(SRC_DIR)" -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) \
158 || (rm -rf $(BUILD_DIR)); \
159 fi
160 @# run the build for the specified target
161 @cmake --build $(BUILD_DIR) -- $(PX4_MAKE_ARGS) $(ARGS)
162 endef
163
164 # check if the options we want to build with in CMAKE_ARGS match the ones which are already configured in the cache inside BUILD_DIR
165 define cmake-cache-check
166 @# change to build folder which fails if it doesn't exist and CACHED_CMAKE_OPTIONS stays empty
167 @# fetch all previously configured and cached options from the build folder and transform them into the OPTION=VALUE format without type (e.g. :BOOL)
168 @$(eval CACHED_CMAKE_OPTIONS = $(shell cd $(BUILD_DIR) 2>/dev/null && cmake -L 2>/dev/null | sed -n 's/\([^[:blank:]]*\):[^[:blank:]]*\(=[^[:blank:]]*\)/\1\2/gp' ))
169 @# transform the options in CMAKE_ARGS into the OPTION=VALUE format without -D
170 @$(eval DESIRED_CMAKE_OPTIONS = $(shell echo $(CMAKE_ARGS) | sed -n 's/-D\([^[:blank:]]*=[^[:blank:]]*\)/\1/gp' ))
171 @# find each currently desired option in the already cached ones making sure the complete configured string value is the same
172 @$(eval VERIFIED_CMAKE_OPTIONS = $(foreach option,$(DESIRED_CMAKE_OPTIONS),$(strip $(findstring $(option)$(space),$(CACHED_CMAKE_OPTIONS)))))
173 @# if the complete list of desired options is found in the list of verified options we don't need to reconfigure and CMAKE_CACHE_CHECK stays empty
174 @$(eval CMAKE_CACHE_CHECK = $(if $(findstring $(DESIRED_CMAKE_OPTIONS),$(VERIFIED_CMAKE_OPTIONS)),,y))
175 endef
下面給則定義了一個帶顏色echo 的函數 colorecho
177 COLOR_BLUE = \033[0;94m
178 NO_COLOR = \033[m
179
180 define colorecho
181 +@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
182 endef
獲取所有的飛控的編譯文件
184 # Get a list of all config targets boards/*/*.cmake
185 ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's/boards\///' | sed -e 's/\.cmake//' | sed -e 's/\//_/g' | sort)
186
接着定義了所有編譯選項的默認編譯方式和以_default結尾的編譯選項的編譯方式.
191 # All targets.
192 $(ALL_CONFIG_TARGETS):
193 @$(eval PX4_CONFIG = $@)
194 @$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
195 @$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
196
197 # Filter for only default targets to allow omiting the "_default" postfix
198 CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
199 $(CONFIG_TARGETS_DEFAULT):
200 @$(eval PX4_CONFIG = $@_default)
201 @$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
202 @$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
203
204 all_config_targets: $(ALL_CONFIG_TARGETS)
205 all_default_targets: $(CONFIG_TARGETS_DEFAULT)
定義了一個輔助函數, 和固件編譯配置
209 # board reorganization deprecation warnings (2018-11-22)
210 define deprecation_warning
211 $(warning $(1) has been deprecated and will be removed, please use $(2)!)
212 endef
213
214 px4fmu-%_default:
215 $(call deprecation_warning, ${@},$(subst px4fmu,px4_fmu,$@))
216 $(MAKE) $(subst px4fmu,px4_fmu, $@)
217
218 posix_sitl_default:
219 $(call deprecation_warning, ${@},px4_sitl_default)
220 $(MAKE) px4_sitl_default
221
222 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
223 .PHONY: all posix px4_sitl_default all_config_targets all_default_targets
針對eagle 和 excelsior 的編譯配置選項
225 # Multi- config targets.
226 eagle_default: atlflight_eagle_default atlflight_eagle_qurt-default
227 eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
228
229 excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt-default
230 excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
231
232 .PHONY: eagle_default eagle_rtps
233 .PHONY: excelsior_default excelsior_rtps
分別設置 gqc 可以上傳固件的編譯選項
238 .PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware check_rtps
239
240 # QGroundControl flashable NuttX firmware
241 qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
242
243 # px4fmu NuttX firmware
244 px4fmu_firmware: \
245 check_px4_io-v2_default \
246 check_px4_fmu-v2_default \
247 check_px4_fmu-v3_default \
248 check_px4_fmu-v4_default \
249 check_px4_fmu-v4pro_default \
250 check_px4_fmu-v5_default \
251 sizes
252
253 misc_qgc_extra_firmware: \
254 check_nxp_fmuk66-v3_default \
255 check_intel_aerofc-v1_default \
256 check_auav_x21_default \
257 check_bitcraze_crazyflie_default \
258 check_airmind_mindpx-v2_default \
259 check_px4_fmu-v2_lpe \
260 sizes
261
262 # Other NuttX firmware
263 alt_firmware: \
264 check_px4_cannode-v1_default \
265 check_px4_esc-v1_default \
266 check_auav_esc35-v1_default \
267 check_thiemar_s2740vc-v1_default \
268 sizes
269
270 # builds with RTPS
271 check_rtps: \
272 check_px4_fmu-v3_rtps \
273 check_px4_fmu-v4_rtps \
274 check_px4_fmu-v4pro_rtps \
275 check_px4_sitl_rtps \
276 sizes
獲取 elf 文件的大小
278 .PHONY: sizes check quick_check check_rtps uorb_graphs
279
280 sizes:
281 @-find build -name *.elf -type f | xargs size 2> /dev/null || :
定義編譯測試
283 # All default targets that don't require a special build environment
284 check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format
285
286 # quick_check builds a single nuttx and posix target, runs testing, and checks the style
287 quick_check: check_px4_sitl_test check_px4_fmu-v5_default tests check_format
288
289 check_%:
290 @echo
291 $(call colorecho,'Building' $(subst check_,,$@))
292 @$(MAKE) --no-print-directory $(subst check_,,$@)
293 @echo
創建uorb消息的訂閱發佈圖
295 uorb_graphs:
296 @./Tools/uorb_graph/create_from_startupscript.sh
297 @./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
298 @$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
299 @$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
300 @$(MAKE) --no-print-directory px4_sitl_default uorb_graph
下面是依據源碼生成文檔的編譯選項
307 # Documentation
308 # --------------------------------------------------------------------
309 .PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
310
311 parameters_metadata:
312 @$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
313
314 airframe_metadata:
315 @$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
316
317 module_documentation:
318 @$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
319
320 px4_metadata: parameters_metadata airframe_metadata module_documentation
321
322 doxygen:
323 @mkdir -p "$(SRC_DIR)"/build/doxygen
324 @cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
325 @$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
326 @touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
格式化代碼
328 # Astyle
329 # --------------------------------------------------------------------
330 .PHONY: check_format format
331
332 check_format:
333 $(call colorecho,'Checking formatting with astyle')
334 @"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh
335 @cd "$(SRC_DIR)" && git diff --check
336
337 format:
338 $(call colorecho,'Formatting with astyle')
339 @"$(SRC_DIR)"/Tools/astyle/check_code_style_all.sh --fix
一些測試編譯配置
41 # Testing
342 # --------------------------------------------------------------------
343 .PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard tests_avoidance
344 .PHONY: rostest python_coverage
345
346 tests:
347 $(eval CMAKE_ARGS += -DCONFIG=px4_sitl_test)
348 $(eval CMAKE_ARGS += -DTESTFILTER=$(TESTFILTER))
349 $(eval ARGS += test_results)
350 $(eval ASAN_OPTIONS += color=always:check_initialization_order=1:detect_stack_use_after_return=1)
351 $(eval UBSAN_OPTIONS += color=always)
352 $(call cmake-build,px4_sitl_test)
353
354 tests_coverage:
355 @$(MAKE) clean
356 @$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
357 @echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"
358
359 rostest: px4_sitl_default
360 @$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
361
362 tests_mission: rostest
363 @"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
364
365 rostest_run: px4_sitl_default
366 @$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
367 @"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
368
369 tests_mission_coverage:
370 @$(MAKE) clean
371 @$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
372 @$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
373 @"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
374 @$(MAKE) --no-print-directory px4_sitl_default generate_coverage
375
376 tests_offboard: rostest
377 @"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
378 @"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_posctl.test
379
380 tests_avoidance: rostest
381 @"$(SRC_DIR)"/test/rostest_avoidance_run.sh mavros_posix_test_avoidance.test
382
383 python_coverage:
384 @mkdir -p "$(SRC_DIR)"/build/python_coverage
385 @cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
386 @$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage
387 @$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_airframes
388 @$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_parameters
389 #@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage module_documentation # TODO: fix within coverage.py
390 @coverage combine `find . -name .coverage\*`
391 @coverage report -m
靜態編譯分析
394 # static analyzers (scan-build, clang-tidy, cppcheck)
395 # --------------------------------------------------------------------
396 .PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
397 .PHONY: cppcheck shellcheck_all validate_module_configs
398
399 scan-build:
400 @export CCC_CC=clang
401 @export CCC_CXX=clang++
402 @rm -rf "$(SRC_DIR)"/build/px4_sitl_default-scan-build
403 @rm -rf "$(SRC_DIR)"/build/scan-build/report_latest
404 @mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-scan-build
405 @cd "$(SRC_DIR)"/build/px4_sitl_default-scan-build && scan-build cmake "$(SRC_DIR)" -GNinja -DCONFIG=px4_sitl_default
406 @scan-build -o "$(SRC_DIR)"/build/scan-build cmake --build "$(SRC_DIR)"/build/px4_sitl_default-scan-build
407 @find "$(SRC_DIR)"/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" "$(SRC_DIR)"/build/scan-build/report_latest \;
408
409 px4_sitl_default-clang:
410 @mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang
411 @cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
412 @$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
413
414 clang-tidy: px4_sitl_default-clang
415 @cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
416
417 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
418 # % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
419 clang-tidy-fix: px4_sitl_default-clang
420 @cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .
421
422 # modified version of run-clang-tidy.py to return error codes and only output relevant results
423 clang-tidy-quiet: px4_sitl_default-clang
424 @cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
425
426 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
427 cppcheck: px4_sitl_default
428 @mkdir -p "$(SRC_DIR)"/build/cppcheck
429 @cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
430 @cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/
431
432 shellcheck_all:
433 @"$(SRC_DIR)"/Tools/run-shellcheck.sh "$(SRC_DIR)"/ROMFS/px4fmu_common/
434 @make px4_fmu-v5_default shellcheck
435
436 validate_module_configs:
437 @find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
438
clean 選項, 主要用來清理上一次的編譯結果
439 # Cleanup
440 # --------------------------------------------------------------------
441 .PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
442
443 clean:
444 @rm -rf "$(SRC_DIR)"/build
445
446 submodulesclean:
447 @git submodule foreach --quiet --recursive git clean -ff -x -d
448 @git submodule update --quiet --init --recursive --force || true
449 @git submodule sync --recursive
450 @git submodule update --init --recursive --force
451
452 submodulesupdate:
453 @git submodule update --quiet --init --recursive || true
454 @git submodule sync --recursive
455 @git submodule update --init --recursive
456
457 gazeboclean:
458 @rm -rf ~/.gazebo/*
459
460 distclean: gazeboclean
461 @git submodule deinit -f .
462 @git clean -ff -x -d -e ".project" -e ".cproject" -e ".idea" -e ".settings" -e ".vscode"
幫助文件, 列出所有可以選的編譯選項
464 # Help / Error
465 # --------------------------------------------------------------------
466
467 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
468 %:
469 $(if $(filter $(FIRST_ARG),$@), \
470 $(error "$@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)
471
472 # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
473 help:
474 @echo "Usage: $(MAKE) <target>"
475 @echo "Where <target> is one of:"
476 @$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
477 awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
478 egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
479 @echo
480 @echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
481 @echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
482
483 # Print a list of all config targets.
484 list_config_targets:
485 @for targ in $(patsubst %_default,%[_default],$(ALL_CONFIG_TARGETS)); do echo $$targ; done
2 “make px4_sitl_default” 背後發生了什麼
首先 make 命令讀入參數 px4_sitl_default, 同時讀入當前目錄下的Makefile, 在Makefile 中搜尋px4_sitl_default 編譯配置條目, 找到了$(ALL_CONFIG_TARGET), 這裏的$(ALL_CONFIG_TARGET) 包含了所有的編譯配置文件, 但是下面的$(CONFIG_TARGETS_DEFAULT) 也包含了 px4_sitl_default, 基於Makefile 規範, 後面出現的規則會覆蓋之前出現的規則, 所以px4_stil_default 的 recipes 爲
200 @$(eval PX4_CONFIG = $@_default)
201 @$(eval CMAKE_ARGS += -DCONFIG=$(PX4_CONFIG))
202 @$(call cmake-build,$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
其中$@ 代表的是工作目標, 這裏即px4_sitl, 第一句爲設置 PX4_CONFIG 的值爲px4_sitl_default, 第二句爲添加編譯選項-DCONFIG=px4_sitl_default , 第三句爲調用 cmake-build 函數, 並傳入參數$(PX4_CONFIG)$(BUILD_DIR_SUFFIX), 由於$(BUILD_DIR_SUFFIX) 的值爲空, 則傳入的參數爲px4_sitl_default. cmake_build 的定義再次附錄如下,
147 define cmake-build
148 @$(eval BUILD_DIR = "$(SRC_DIR)/build/$(1)")
149 @# check if the desired cmake configuration matches the cache then CMAKE_CACHE_CHECK stays empty
150 @$(call cmake-cache-check)
151 @# make sure to start from scratch when switching from GNU Make to Ninja
152 @if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
153 @# only excplicitly configure the first build, if cache file already exists the makefile will rerun cmake automatically if necessary
154 @if [ ! -e $(BUILD_DIR)/CMakeCache.txt ] || [ $(CMAKE_CACHE_CHECK) ]; then \
155 mkdir -p $(BUILD_DIR) \
156 && cd $(BUILD_DIR) \
157 && cmake "$(SRC_DIR)" -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) \
158 || (rm -rf $(BUILD_DIR)); \
159 fi
160 @# run the build for the specified target
161 @cmake --build $(BUILD_DIR) -- $(PX4_MAKE_ARGS) $(ARGS)
162 endef
第一句首先設置 BUILD_DIR 爲 $(SRC_DIR)/build/$(1), 即path/to/Firmware/build/px4_sitl_default, 其中$(1) 引用了第一個參數, 即px4_sitl_default; 第二句解釋了第三句的主要功能是檢查是否之前編譯過該目標, 如果沒有或者和上一次編譯該目標的一些編譯選項設置的不一樣就設置 就創建該BUILD_DIR 這裏是 path/to/Firmware/build/px4_sitl_default, 並進入, 然後執行cmake "/path/to/source/" -G"Ninja" -DCONFIG=px4_sitl_default 來讀取CMakeLists.txt 生成Ninja 的編譯配置文件; 第四句主要是清理編譯目標文件; 第五到十一句判斷當前是否需要生成編譯配置文件; 第十二到第十三句執行cmake --build /path/to/Firmware/build/px4_sitl_default --, 其中 $(PX4_MAKE_ARGS) 和 $(ARGS) 並替換成了空值. 在執行完這些之後，我們可以執行
$ cd build/px4_sitl_default
$ ninja gazebo
發現結果和make px4_sitl_default gazebo 結果一樣, 整個編譯過程大概是 Make 調用了 CMake, 然後CMake 調用了Ninja 讀取 CMakeLists.txt 文件生成編譯配置文件, 然後CMake 再調用 Ninja 進行編譯.
>>> 下一步 CMakeLists.txt分析