-- ROMFS: Adding boards/px4/fmu-v5/extras/px4_io-v2_default.bin -> /etc/extras/px4_io-v2_default.bin
-- Configuring done
-- Generating done
-- Build files have been written to: /home/me/下载/px4-autopilot-1.15.4/build/px4_fmu-v5_default
[1/1299] Generating git
version header
FAILED: src/lib/
version/build_git_
version.h
cd /home/me/下载/px4-autopilot-1.15.4 && /usr/bin/python3 /home/me/下载/px4-autopilot-1.15.4/src/lib/
version/px_update_git_header.py /home/me/下载/px4-autopilot-1.15.4/build/px4_fmu-v5_default/src/lib/
version/build_git_
version.h --validate
Err
or: the git tag 'c49f4c2142' does not match the expected f
ormat.
The expected f
ormat is 'v<PX4
version>[-<custom
version>]'
<PX4
version>: v<maj
or>.<min
or>.<patch>[-rc<rc>|-beta<beta>|-alpha<alpha>|-dev]
<custom
version>: <maj
or>.<min
or>.<patch>[-rc<rc>|-beta<beta>|-alpha<alpha>|-dev]
Examples:
v1.9.0-rc3
(preferred
)
v1.9.0-beta1
v1.9.0-1.0.0
v1.9.0-1.0.0-alpha2
See also https://docs.px4.io/main/en/dev_setup/building_px4.html#building-f
or-nuttx
[2/1299] Generating ../../../
platforms/nuttx/NuttX/nuttx/.config
ninja: build stopped: subcommand failed.
make: *** [Makefile:227：px4_fmu-v5_default] 错误 1如何修改代码避免此错误############################################################################
#
# Copyright
(c
) 2017 - 2024 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary f
orms, with
or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source
code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary f
orm must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/
or other materials provided with the
# distribution.
# 3. Neither the name PX4 n
or the names of its contribut
ors may be
# used to end
orse
or promote products derived from this software
# without specific pri
or written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUT
ORS
# "AS IS" AND ANY EXPRESS
OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# F
OR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER
OR CONTRIBUT
ORS BE LIABLE F
OR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY,
OR CONSEQUENTIAL DAMAGES
(INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
OR SERVICES; LOSS
# OF USE, DATA,
OR PROFITS;
OR BUSINESS INTERRUPTION
) HOWEVER CAUSED
# AND ON ANY THE
ORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY,
OR T
ORT
(INCLUDING NEGLIGENCE
OR OTHERWISE
) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#=============================================================================
# CMAKE CODING STANDARD F
OR PX4
#
# Structure
# ---------------------------------------------------------------------------
#
# * Common functions should be included in px_base.cmake.
#
# * OS/ board specific fucntions should be include in
# px_impl_${PX4_
PLATFORM}.cmake
#
# F
ormatting
# ---------------------------------------------------------------------------
#
# * Use hard indents to match the px4 source
code.
#
# * All function and script arguments are upper case.
#
# * All local variables are lower case.
#
# * All cmake functions are lowercase.
#
# * F
or else, endif, endfunction, etc, never put the name of the statement
#
# Functions/Macros
# ---------------------------------------------------------------------------
#
# * Use px4_parse_function_args to parse functions and check f
or required
# arguments. Unless there is only one argument in the function and it is clear.
#
# * Never use macros. They allow overwriting global variables and this
# makes variable declarations hard to locate.
#
# * If a target from add_custom_* is set in a function, explicitly pass it
# as an output argument so that the target name is clear to the user.
#
# * Avoid use of global variables in functions. Functions in a nested
# scope may use global variables, but this makes it difficult to
# reuse functions.
#
# Included CMake Files
# ---------------------------------------------------------------------------
#
# * All variables in config files must have the prefix "config_".
#
# * Never set global variables in an included cmake file,
# you may only define functions. This excludes config and Toolchain files.
# This makes it clear to the user when variables are being set
or targets
# are being created.
#
# * Setting a global variable in a CMakeLists.txt file is ok, because
# each CMakeLists.txt file has scope in the current direct
ory and all
# subdirect
ories, so it is not truly global.
#
# * All toolchain files should be included in the cmake
# direct
ory and named Toolchain-"name".cmake.
#
# Misc
# ---------------------------------------------------------------------------
#
# * If referencing a string variable, don't put it in quotes.
# Don't do "${PX4_
PLATFORM}" STREQUAL "posix",
# instead type ${PX4_
PLATFORM} STREQUAL "posix". This will throw an
# err
or when ${PX4_
PLATFORM} is not defined instead of silently
# evaluating to false.
#
#=============================================================================
cmake_minimum_required
(VERSION 3.9 FATAL_ERR
OR)
set
(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source direct
ory" F
ORCE
)
set
(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary direct
ory" F
ORCE
)
list
(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake
)
include
(px4_parse_function_args
)
#=============================================================================
# git
#
include
(px4_git
)
execute_process
(
COMMAND git describe --exclude ext/* --always --tags
OUTPUT_VARIABLE PX4_GIT_TAG
OUTPUT_STRIP_TRAILING_WHITESPACE
W
ORKING_DIRECT
ORY ${PX4_SOURCE_DIR}
)
set
(PX4_GIT_TAG "v1.15.4"
)
# git describe to X.Y.Z
version
string
(REPLACE "." ";"
VERSION_LIST ${PX4_GIT_TAG}
)
# maj
or version
list
(GET
VERSION_LIST 0 PX4_
VERSION_MAJ
OR)
string
(REPLACE "v" "" PX4_
VERSION_MAJ
OR ${PX4_
VERSION_MAJ
OR}
)
# min
or version
list
(GET
VERSION_LIST 1 PX4_
VERSION_MIN
OR)
# patch
version
list
(GET
VERSION_LIST 2 PX4_
VERSION_PATCH
)
string
(REPLACE "-" ";" PX4_
VERSION_PATCH ${PX4_
VERSION_PATCH}
)
list
(GET PX4_
VERSION_PATCH 0 PX4_
VERSION_PATCH
)
# # Capture only the hash part after 'g'
string
(REGEX MATCH "g
([a-f0-9]+
)$" GIT_HASH "${PX4_GIT_TAG}"
)
set
(PX4_GIT_HASH ${CMAKE_MATCH_1}
)
define_property
(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
BRIEF_DOCS "PX4 module libs"
FULL_DOCS "List of all PX4 module libraries"
)
define_property
(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
BRIEF_DOCS "PX4 kernel side module libs"
FULL_DOCS "List of all PX4 kernel module libraries"
)
define_property
(GLOBAL PROPERTY PX4_MODULE_PATHS
BRIEF_DOCS "PX4 module paths"
FULL_DOCS "List of paths to all PX4 modules"
)
define_property
(GLOBAL PROPERTY PX4_SRC_FILES
BRIEF_DOCS "src files from all PX4 modules & libs"
FULL_DOCS "SRC files from px4_add_{module,library}"
)
#=============================================================================
# configuration
#
include
(px4_add_module
)
set
(config_module_list
)
set
(config_kernel_list
)
# Find Python
find_package
(PythonInterp 3
)
# We have a custom err
or message to tell users how to install python3.
if
(NOT PYTHONINTERP_FOUND
)
message
(FATAL_ERR
OR "Python 3 not found. Please install Python 3:\n"
" Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
" macOS: brew install python"
)
endif
()
option
(PYTHON_COVERAGE "Python
code coverage" OFF
)
if
(PYTHON_COVERAGE
)
message
(STATUS "python coverage enabled"
)
set
(PYTHON_EXECUTABLE coverage run -p
)
endif
()
include
(px4_config
)
include
(kconfig
)
message
(STATUS "PX4 config: ${PX4_CONFIG}"
)
message
(STATUS "PX4
platform: ${PX4_
PLATFORM}"
)
if
($ENV{CLION_IDE}
)
# CLion automatically executes some compiler commands after configuring the
# project. This would fail on NuttX, as visibility.h tries to
(indirectly
)
# include nuttx/config.h, which at that point does not exist yet
add_definitions
(-DPX4_DISABLE_GCC_POISON
)
endif
()
if
(${PX4_
PLATFORM} STREQUAL "posix"
)
if
(ENABLE_LOCKSTEP_SCHEDULER
)
add_definitions
(-DENABLE_LOCKSTEP_SCHEDULER
)
message
(STATUS "PX4 lockstep: enabled"
)
else
()
message
(STATUS "PX4 lockstep: disabled"
)
endif
()
endif
()
# external modules
set
(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location"
)
if
(NOT EXTERNAL_MODULES_LOCATION STREQUAL ""
)
get_filename_component
(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE
)
endif
()
set_property
(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES
)
include
(platforms/${PX4_
PLATFORM}/cmake/px4_impl_os.cmake
)
list
(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/
platforms/${PX4_
PLATFORM}/cmake
)
if
(EXISTS "${PX4_SOURCE_DIR}/
platforms/${PX4_
PLATFORM}/cmake/init.cmake"
)
include
(init
)
endif
()
#=============================================================================
# project definition
#
project
(px4 CXX C ASM
)
# CMake build type
(Debug Release RelWithDebInfo MinSizeRel Coverage
)
if
(NOT CMAKE_BUILD_TYPE
)
if
(${PX4_
PLATFORM} STREQUAL "nuttx"
)
set
(PX4_BUILD_TYPE "MinSizeRel"
)
else
()
set
(PX4_BUILD_TYPE "RelWithDebInfo"
)
endif
()
set
(CMAKE_BUILD_TYPE ${PX4_BUILD_TYPE} CACHE STRING "Build type" F
ORCE
)
endif
()
if
((CMAKE_BUILD_TYPE STREQUAL "Debug"
) OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"
))
set
(MAX_CUSTOM_OPT_LEVEL -O0
)
elseif
(CMAKE_BUILD_TYPE MATCHES "Sanitizer"
)
set
(MAX_CUSTOM_OPT_LEVEL -O1
)
elseif
(CMAKE_BUILD_TYPE MATCHES "Release"
)
set
(MAX_CUSTOM_OPT_LEVEL -O3
)
else
()
if
(px4_constrained_flash_build
)
set
(MAX_CUSTOM_OPT_LEVEL -Os
)
else
()
set
(MAX_CUSTOM_OPT_LEVEL -O2
)
endif
()
endif
()
set_property
(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehavi
orSanitizer"
)
message
(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}"
)
# Check if LTO option and check if toolchain supp
orts it
if
(LTO
)
include
(CheckIPOSupp
orted
)
check_ipo_supp
orted
()
message
(AUTH
OR_WARNING "LTO enabled: LTO is highly experimental and should not be used in production"
)
set
(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE
)
endif
()
set
(package-contact "px4users@googlegroups.com"
)
set
(CMAKE_CXX_STANDARD 14
)
set
(CMAKE_CXX_STANDARD_REQUIRED ON
)
set
(CMAKE_C_STANDARD 11
)
set
(CMAKE_C_STANDARD_REQUIRED ON
)
set
(CMAKE_EXP
ORT_COMPILE_COMMANDS ON
)
set
(CMAKE_RUNTIME_OUTPUT_DIRECT
ORY ${PX4_BINARY_DIR}
)
set
(CMAKE_RUNTIME_OUTPUT_DIRECT
ORY_DEBUG ${PX4_BINARY_DIR}
)
set
(CMAKE_RUNTIME_OUTPUT_DIRECT
ORY_RELEASE ${PX4_BINARY_DIR}
)
#=============================================================================
# gold linker - use if available
(posix only f
or now
)
if
(${PX4_
PLATFORM} STREQUAL "posix"
)
include
(CMake
DependentOption
)
CMAKE_
DEPENDENT_OPTION
(USE_LD_GOLD
"Use GNU gold linker" ON
"NOT WIN32;NOT APPLE" OFF
)
if
(USE_LD_GOLD
)
execute_process
(COMMAND ${CMAKE_C_COMPILER} -fuse-ld=gold -Wl,--
version ERR
OR_QUIET OUTPUT_VARIABLE LD_
VERSION)
if
("${LD_
VERSION}" MATCHES "GNU gold"
)
set
(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=gold"
)
set
(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fuse-ld=gold"
)
else
()
set
(USE_LD_GOLD OFF
)
endif
()
endif
()
endif
()
#=============================================================================
# Setup install paths
if
(${PX4_
PLATFORM} STREQUAL "posix"
)
# This makes it possible to dynamically load
code which depends on symbols
# inside the px4 executable.
set
(CMAKE_POSITION_IN
DEPENDENT_
CODE ON
)
set
(CMAKE_ENABLE_EXP
ORTS ON
)
if
(CMAKE_BUILD_TYPE MATCHES "Coverage"
)
include
(coverage
)
endif
()
include
(sanitizers
)
# Define GNU standard installation direct
ories
include
(GNUInstallDirs
)
if
(NOT CMAKE_INSTALL_PREFIX
)
set
(CMAKE_INSTALL_PREFIX "/usr" CACHE PATH "Install path prefix" F
ORCE
)
endif
()
endif
()
include
(ccache
)
#=============================================================================
# get chip and chip manufacturer
#
px4_os_determine_build_chip
()
if
(NOT PX4_CHIP_MANUFACTURER
)
message
(FATAL_ERR
OR "px4_os_determine_build_chip
() needs to set PX4_CHIP_MANUFACTURER"
)
endif
()
if
(NOT PX4_CHIP
)
message
(FATAL_ERR
OR "px4_os_determine_build_chip
() needs to set PX4_CHIP"
)
endif
()
#=============================================================================
# build flags
#
include
(px4_add_common_flags
)
px4_add_common_flags
()
px4_os_add_flags
()
#=============================================================================
# board cmake init
(optional
)
#
if
(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake
)
include
(${PX4_BOARD_DIR}/cmake/init.cmake
)
endif
()
#=============================================================================
# message, and airframe generation
#
include
(px4_metadata
)
add_subdirect
ory
(msg EXCLUDE_FROM_ALL
)
px4_generate_airframes_xml
(BOARD ${PX4_BOARD}
)
#=============================================================================
# external projects
#
set
(ep_base ${PX4_BINARY_DIR}/external
)
set_property
(DIRECT
ORY PROPERTY EP_BASE ${ep_base}
)
# add external project install folders to build
# add the direct
ories so cmake won't warn
execute_process
(COMMAND ${CMAKE_COMMAND} -E make_direct
ory ${ep_base}
)
execute_process
(COMMAND ${CMAKE_COMMAND} -E make_direct
ory ${ep_base}/Install
)
execute_process
(COMMAND ${CMAKE_COMMAND} -E make_direct
ory ${ep_base}/Install/lib
)
link_direct
ories
(${ep_base}/Install/lib
)
execute_process
(COMMAND ${CMAKE_COMMAND} -E make_direct
ory ${ep_base}/Install/include
)
include_direct
ories
(${ep_base}/Install/include
)
#=============================================================================
# external modules
#
set
(external_module_paths
)
if
(NOT EXTERNAL_MODULES_LOCATION STREQUAL ""
)
message
(STATUS "External modules: ${EXTERNAL_MODULES_LOCATION}"
)
add_subdirect
ory
("${EXTERNAL_MODULES_LOCATION}/src" external_modules
)
f
oreach
(external_module ${config_module_list_external}
)
add_subdirect
ory
(${EXTERNAL_MODULES_LOCATION}/src/${external_module} external_modules/${external_module}
)
list
(APPEND external_module_paths ${EXTERNAL_MODULES_LOCATION}/src/${external_module}
)
endf
oreach
()
endif
()
#=============================================================================
# Testing - Automatic unit and integration testing with CTest
#
# optionally enable cmake testing
(supp
orted only on posix
)
option
(CMAKE_TESTING "Configure test targets" OFF
)
if
(${PX4_CONFIG} STREQUAL "px4_sitl_test"
)
set
(CMAKE_TESTING ON
)
endif
()
if
(CMAKE_TESTING
)
include
(CTest
) # sets BUILD_TESTING variable
endif
()
# enable test filtering to run only specific tests with the ctest -R regex functionality
set
(TESTFILTER "" CACHE STRING "Filter string f
or ctest to selectively only run specific tests
(ctest -R
)"
)
# if testing is enabled download and configure gtest
list
(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/
)
include
(px4_add_gtest
)
if
(BUILD_TESTING
)
include
(gtest
)
add_custom_target
(test_results
COMMAND GTEST_COL
OR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
DEPENDS
px4
examples__dyn_hello
USES_TERMINAL
COMMENT "Running tests"
W
ORKING_DIRECT
ORY ${PX4_BINARY_DIR}
)
set_target_properties
(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE
)
endif
()
#=============================================================================
# subdirect
ories
#
add_library
(parameters_interface INTERFACE
)
add_library
(kernel_parameters_interface INTERFACE
)
add_library
(events_interface INTERFACE
)
add_library
(kernel_events_interface INTERFACE
)
include
(px4_add_library
)
add_subdirect
ory
(src/lib EXCLUDE_FROM_ALL
)
add_subdirect
ory
(platforms/${PX4_
PLATFORM}/src/px4
)
add_subdirect
ory
(platforms EXCLUDE_FROM_ALL
)
if
(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt"
)
add_subdirect
ory
(${PX4_BOARD_DIR}
)
endif
()
f
oreach
(module ${config_module_list}
)
add_subdirect
ory
(src/${module}
)
endf
oreach
()
# add events lib after modules and libs as it needs to know all source files
(PX4_SRC_FILES
)
add_subdirect
ory
(src/lib/events EXCLUDE_FROM_ALL
)
# metadata needs PX4_MODULE_CONFIG_FILES
add_subdirect
ory
(src/lib/metadata EXCLUDE_FROM_ALL
)
# must be the last module bef
ore firmware
add_subdirect
ory
(src/lib/parameters EXCLUDE_FROM_ALL
)
if
(${PX4_
PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT
)
target_link_libraries
(parameters_interface INTERFACE usr_parameters
)
target_link_libraries
(kernel_parameters_interface INTERFACE parameters
)
target_link_libraries
(events_interface INTERFACE usr_events
)
target_link_libraries
(kernel_events_interface INTERFACE events
)
else
()
target_link_libraries
(parameters_interface INTERFACE parameters
)
target_link_libraries
(events_interface INTERFACE events
)
endif
()
# firmware added last to generate the builtin f
or included modules
add_subdirect
ory
(platforms/${PX4_
PLATFORM}
)
#=============================================================================
# u
ORB graph generation: add a custom target 'u
orb_graph'
#
set
(u
orb_graph_config ${PX4_BOARD}
)
set
(graph_module_list ""
)
f
oreach
(module ${config_module_list}
)
set
(graph_module_list "${graph_module_list}" "--src-path" "src/${module}"
)
endf
oreach
()
add_custom_command
(OUTPUT ${u
orb_graph_config}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/u
orb_graph/create.py
${graph_module_list} --src-path src/lib
--merge-depends
--exclude-path src/examples
--exclude-path src/lib/parameters # FIXME: enable & fix
--file ${PX4_SOURCE_DIR}/Tools/u
orb_graph/graph_${u
orb_graph_config}
W
ORKING_DIRECT
ORY ${PX4_SOURCE_DIR}
COMMENT "Generating u
ORB graph"
)
add_custom_target
(u
orb_graph DEPENDS ${u
orb_graph_config}
)
include
(bloaty
)
include
(doxygen
)
include
(metadata
)
include
(package
)
# install python requirements using configured python
add_custom_target
(install_python_requirements
COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
USES_TERMINAL
)
if
(EXISTS "${PX4_SOURCE_DIR}/
platforms/${PX4_
PLATFORM}/cmake/finalize.cmake"
)
include
(finalize
)
endif
()
本文探讨了如何将显式依赖于特定版本或平台的代码通过宏或函数进行封装的方法，以此来提高代码的可读性和健壮性。通过这种方式，高级代码可以调用这些封装好的函数，而无需关心底层细节。
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