参考案例px4cmakelists解读

##Copyright(c)2015PX4DevelopmentTeam.Allrights.#Redistributionanduseinsourceandbinaryforms,withorwithout#modification,arepermittedprovidedthatthefollowingconditions#aremet:##1.Redistributionsofsourcecodemustretaintheabovecopyright notice,thislistofconditionsandthefollowingdier.#2.Redistributionsinbinaryformmustreproducetheabovecopyright notice,thislistofconditionsandthefollowingdierin theationand/orothermaterialsprovidedwith##3.NeitherthenamePX4northenamesofitscontributorsmaybe#usedtoendorseorpromoteproductsderivedfromthissoftware#withoutspecificpriorwrittenpermission.##THISSOFTWAREISPROVIDEDBYTHECOPYRIGHTHOLDERSANDCONTRIBUTORS#"ASIS"ANDANYEXPRESSORIMPLIEDWARRANTIES,INCLUDING,BUTNOT#LIMITEDTO,THEIMPLIEDWARRANTIESOFMERCHANTABILITYANDFITNESS#FORAPARTICULARPURPOSEAREDIED.INNOEVENTSHALLTHE#COPYRIGHTOWNERORCONTRIBUTORSBELIABLEFORANYDIRECT,#AL,SPECIAL, RY,ORCONSEQUENTIALDAMAGES#BUTNOTLIMITEDTO,PROCUREMENTOFSUBSTITUTEGOODSORSERVICES;LOSS#OFUSE,DATA,ORPROFITS;ORBUSINESSINTERRUPTION)HOWEVERCAUSED#ANDONANYTHEORYOFLIABILITY,WHETHERINCONTRACT,#LIABILITY,ORTORT(INCLUDINGNEGLIGENCEOROTHERWISE)ARISINGIN#ANYWAYOUTOFTHEUSEOFTHISSOFTWARE,EVENIFADVISEDOFTHE#POSSIBILITYOFSUCHDAMAGE.#CMAKECODINGSTANDARDFORPX4##*Commonfunctionsshouldbeincludedinpx_base.cmake.#*OS/board tionsshouldbeinclude#######*Usehardindentstomatchthepx4sourcecode.#*Allfunctionandscriptargumentsareuppercase.#*Alllocalvariablesarelowercase.#*Allcmakefunctionsarelowercase.#*Forelse,endif,endfunction,etc,neverputthenameofthe##Insteadoftheveryif(${var}STREQUAL"1")<--conditionnow#dosomthingesifelseif(${var}STREQUAL"2")<--anothercondition#dosomthingelse(${var}STREQUAL"1")<--tagisreferringtonameof#doendif(${var}STREQUAL"1")<--tagisreferringtonameofDoif(${var}STREQUAL"1")<--conditionnow#dosomthingesifelseif(${var}STREQUAL"2")<--anothercondition#dosomthingelse()<--leaveblank#dosomthingendif()<--leave###*Usepx4_parse_function_argstoparsefunctionsandcheckfor oneargument andit #*Neverusemacros.Theyallowoverwritingglobalvariablesandthis makesvariabledeclarationshardtolocate.##*Ifatargetfromadd_custom_*issetinafunction,explicitlypass asanoutputargumentsothatthetargetnameiscleartotheuser.##IncludedCMakeFiles##*Allvariablesinconfigfilesmusthavetheprefix##IncludedCMakeFiles##*Allvariablesinconfigfilesmusthavetheprefix"config_".#*Neversetglobalvariablesinanincludedcmake#youmayonlydefinefunctions.ThisexcludesconfigandToolchainfiles.Thismakesitcleartotheuserwhenvariablesarebeingsetortargetsarebeing#*SettingaglobalvariableinaCMakeLists.txtfileisok,#eachCMakeLists.txtfilehasscopeinthecurrentdirectoryandsubdirecties,soitisnottruly#*Alltoolchainfilesshouldbeincludedinthe##directoryandnamedToolchain-####*Ifreferencingastringvariable,don'tputitin#Don'tdo"${OS}"STREQUALinsteadtype${OS}STREQUAL"posix".Thiswillthrowanerrorwhen${OS}isnotdefinedinsteadofsilentlyevaluatingto#Warning:ChangingthismodifiesCMake'sinternal#andleadstowrongtoolchaincmake_minimum_required(VERSION2.8FATAL_ERROR) cmake_(VERSION从而将cmale的策略版本级别设置为指定的版本。当指定的版本是 2.4或更低时，这条命cmake_(VERSION CMake Use #SET( PILER/usr/bin/clang-3.6)#SET( PILER/usr/bin/clang++-3.6) ## CMAKE_BUILD_TYPE"" CACHESTRING"build 把变量CMAKE_BUILD_TYPE CMakeGUI用来选择一个带有字符串“ buildtype CMAKE_BUILD_TYPEPROPERTYSTRINGS";Debug;Release;RelWithDebInfo;MinSizeRel") #在给定的作用域内设置一个命名的属性。CACHE作用域指定了一个名为CMAKE_BUILD_TYPE的cache中的条目。将其属性值设置为;Debug;Release;RelWithDebInfo;MinSizeRel CACHESTRING"desired 变量CONFIG 赋值为"nuttx_px4fmu-v2_default" ，并且被CMakeGUI用来选择一个带有字符串"desiredconfiguration" RELATIVE 在路径cmake/configs CONFIGPROPERTYSTRINGS${ "numberofthreadstouseforexternalbuild 把变量赋值为4，并且被 CMakeGUI "numberofthreadstouseforexternalbuildprocesses" set(DEBUG_PORT"/dev/ttyACM0"CACHESTRING"debuggingport") DEBUG_PORT赋值为"/dev/ttyACM0" CMakeGUI "debuggingport" #mustcomebeforeprojecttoset CE"_"";" ${CONFIG}) 将变量CONFIG中的 “;”，并输出到变量 0OS) 在config_args 变量OS中（#nuttx 1BOARD) 2LABEL) #default #为 if("${OSSTREQUAL #ifset(DF_TARGETdarwin) set(DF_TARGETlinux) set(DF_TARGET # message(STATUS"${ #输出一个非重要的消息，消息内容为与操作系统，#switchtorosCMakefileifbuildingif(${OS}STREQUAL #如果操作系统 ros操作系统（机器人操作系统），就 else()#otherwiseusetherestofthisfilelist(APPENDCMAKE_MODULE_PATH${ CMAKE_SOURCE_DI}/cmake) #在名为 set(config_module"configs/${ 为config_module #包含路径中的文cmake #展开 所表示CMake的文#thebasicconceptofEcternalProjectissimple:givenanexternalsource toa.tar executethesequenceofcommandsnecessarytobuildandinstallthatsoftwaresothatyoucanrefertoit(include,link,run)fromyourproject.#requirepx4moduleinterface #将变量 foreach(cmd${px4_required_interface}) 遍历px4_required_interface if(NOTCOMMANDmessage(FATAL_ERROR"${config_module}mustimplement${cmd}")) 将变量 的值置为 #遍历 if(NOTDEFINEDmessage(FATAL_ERROR"cmake/${config_module}mustdefine${conf}")#project##project(px4CXXC#本工程的工程名 px4，支持的语言c++，cif(NOT${CMAKE_VERSION}VERSION_LESS3.0.0) cmake_(SETCMP0045NEW)#erroronnon-existenttargetingetpropcmake_(SETCMP0046NEW)#nonon-existenttargetsasdependenciescmake_(SETCMP0025OLD)#stillreportAppleClangasClangif(NOT${CMAKE_VERSION}VERSION_LESScmake_(SETCMP0054NEW)#don'tdereferencequotedvariablesset(version_patchset(version #设置为

REQUIRED)#查找并加载外来的工程设置，如果没有找到的化就终止Cmake过程cmake ## #为当前及其下级 的Gtest可以用于C/C++代 下的Makefile文件，将提供的 sample文件替换为我们自己的 make生成可执行的测试文件。）#checkrequiredtoolchainvariables #检测工具链所需的变量是否存在，否则停止 foreach(var${required_variables})if(NOTmessage(FATAL_ERROR"Toolchain/configmustdefine${var}")#git px4_add_git_submodule(TARGETgit_genmsgPATH"Tools/genmsg")px4_add_git_submodule(TARGETgit_gencppPATH"Tools/gencpp") px4_add_git_submodule(TARGETgit_gtestPATH"unittets/gtest")px4_add_git_submodule(TARGETgit_uavcanPATH"src/modules/uavcan/libuavcan")px4_add_git_submodule(TARGETgit_nuttxPATH"NuttX")px4_add_git_submodule(TARGETgit_dspalPATH"src/lib/dspal")px4_add_git_submodule(TARGETgit_driverframeworkPATHpx4_add_git_submodule(TARGETgit_eclPATH"src/lib/ecl")px4_add_git_submodule(TARGETgit_jmavsimPATH"Tools/jMAVSim")px4_add_git_submodule(TARGETgit_gazeboPATH"Tools/sitl_gazebo")px4_add_git_submodule(TARGETgit_matrixPATH"src/lib/matrix")#添加 COMMANDgitsubmoduledeinit-f.COMMANDrm-rf.git/modules/* #在指定 下上述指#misctargets #创建目 #创建目 BOARDTHREADS${THREAD}#构建所需的线程 #生 #buildflags BOARDC_FLAGSc_flagsINCLUDE_DIRSinclude_dirsLINK_DIRSlink_dirsDEFINITIONSdefinitions)#设置操作系统的缺省 px4_join(OUTCMAKE_EXE_LINKER_FLAGSLIST"${exe_linker_flags}"GLUE"px4_join(OUTCMAKE_C_FLAGSLIST"${c_flags}"GLUE"")px4_join(OUTCMAKE_CXX_FLAGSLIST"${cxx_flags}"GLUE"")#向目标中添加一个带有分隔符 （原型在

# # #提供设 -D... sourcecode ##file(GLOB_RECURSEmsg_filesmsg/*.msg) #在msg路径下匹配所有扩展名为 MSG_FILES${msg_files}OS)px4_generate_parameters_xml(OUTparameters.xmlBOARD${BOARD})px4_generate_airframes_xml(OUTairframes.xmlBOARD${BOARD}) 和 可以 set(ep_base #为 赋值。set_property(DIRECTORYPROPERTYEP_BASE${ep_base}) 的对象EP_BASE #addexternalprojectinstallfoldersto ##addt