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PX4-Autopilot/msg/CMakeLists.txt
Jacob Dahl 5d8874cd2b fix(gps): split RTCM corrections and moving-baseline uORB topics (#27097) 
* fix(gps): split RTCM corrections and moving-baseline uORB topics

The single gps_inject_data topic served two unrelated purposes:
external fixed-base RTCM corrections (from MAVLink GPS_RTCM_DATA or
UAVCAN RTCMStream) and moving-base-to-rover RTCM 4072. In a
dual-GPS-with-moving-base plus fixed-base setup, the two streams
collided on the same queue and the FMU UAVCAN bridge mirrored
fixed-base RTCM onto the MovingBaselineData CAN message, breaking
rover heading or RTK fix (see PX4/PX4-Autopilot#27088).

Split by role:
- rtcm_corrections    (renamed from gps_inject_data): external RTCM
                       flowing into the vehicle; producers are
                       MAVLink, UAVCAN RTCMStream, and GPS drivers in
                       dump mode.
- rtcm_moving_baseline (new): moving-base GPS output intended for a
                       rover; single producer per vehicle
                       (MAX_INSTANCES = 1).

The GPS driver routes its own RTCM output to the right topic via
GPSHelper::isMovingBase(), and gates the two inbound streams per role
using new GPSHelper virtuals (PX4-GPSDrivers#212):
shouldInjectRTCMCorrections() is true for any configured receiver, so a
UART2 moving-base rover still accepts fixed-base corrections over its
main link; shouldInjectMovingBaseline() is true only for a UART1/CAN
heading rover, since a UART2 rover gets the baseline directly in
hardware and a moving base produces rather than consumes it. That
submodule PR also renames the ambiguous UBXMode fields to name their
UART explicitly (RoverWithMovingBase -> RoverWithMovingBaseUART2,
MovingBase -> MovingBaseUART2).

Septentrio's publish_rtcm_corrections() always publishes to
rtcm_moving_baseline (only the Secondary moving base calls it).
Rover-side consumers (gps, septentrio, uavcan bridge) drain both topics
independently; each topic gets its own stale-link switchover timer so
corrections failover is not suppressed by moving-baseline traffic, or
vice versa.

FMU UAVCAN bridge: two independent drain loops, one per topic. No
more dual-publish of a single uORB message onto both RTCMStream and
MovingBaselineData CAN streams.

CANnode MovingBaselineDataPub subscribes to rtcm_moving_baseline. The
bus_type == UAVCAN check is kept, now purely as a loop guard so a node
with both CANNODE_PUB_MBD and CANNODE_SUB_MBD does not rebroadcast a
peer's moving-baseline data back onto the bus. CANnode RTCMStream
subscriber maps each CAN source node ID to its own rtcm_corrections
instance (one PublicationMulti per source, capped at MAX_INSTANCES) so
multiple CAN RTCM sources (e.g. dual rovers outputting MSM7 for logging
plus a fixed-base feed) land on independent uORB instances instead of
interleaving on one, which would otherwise defeat the consumer's
per-instance stale-link selection.

Depends on PX4-GPSDrivers#212 (submodule bump included).

Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>

* fix(gps): use separate RTCM parsers for corrections and moving baseline

On a rover injecting both fixed-base corrections and moving-baseline RTCM, feeding both streams through a single parser allowed a fragmented frame from one source to be corrupted by bytes interleaved from the other. Reassemble each stream in its own Rtcm3Parser so frames are recovered independently.

Also collapse the two near-identical topics into a single RtcmData.msg published under both rtcm_corrections and rtcm_moving_baseline (the SensorGps pattern), track corrections and moving-baseline injection on separate perf counters so the reported corrections rate is no longer inflated by moving-baseline traffic, and zero-initialize the CAN DeviceId unions before populating their fields.

Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>

* fix(septentrio): avoid bugprone sizeof division on RTCM byte buffer

moving_baseline.data is a uint8_t array, so sizeof(data)/sizeof(data[0]) divides by 1; clang-tidy's bugprone-sizeof-expression flags this as a suspicious sizeof(T)/sizeof(T). Use sizeof(data) directly - the capacity value is unchanged.

Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>

* refactor(gps): use dedicated per-stream RTCM drain functions

rtcm_moving_baseline has a single publisher (instance 0), so its
consumers are now a plain uORB::Subscription instead of a 4-instance
SubscriptionMultiArray, and the per-stream selected-instance and
stale-link timer members it no longer needs are removed.

With each RTCM stream now a fixed type with a single caller, the
templated drain helpers (drain_rtcm_subscriptions, the overloaded
drain_rtcm_to_can) bought nothing, so replace them with dedicated
functions: drainRtcmCorrections()/drainMovingBaseline() in the GPS
driver and the UAVCAN bridge, drain_rtcm_corrections()/
drain_moving_baseline() in Septentrio. The UAVCAN bridge calls
PublishRTCMStream/PublishMovingBaselineData directly instead of through
Forward lambdas.

Rename SeptentrioDriver::publish_rtcm_corrections() to
publish_moving_baseline(): it is only reached from the Secondary
moving-base decode path and only ever emits moving-baseline RTCM.

Corrections-path behavior (instance selection, generation-gap warning,
burst cap, self-injection filter) is unchanged.

Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>

* refactor(gps): rename RTCM inject gate to receiverReady and simplify chunk helper

Rename GPSHelper::shouldInjectRTCMCorrections() to receiverReady(). The
virtual gates injection of both RTCM corrections and moving-baseline, and
for UBX it simply reports whether the receiver is configured, so the name
now describes what it actually gates rather than implying it only concerns
corrections. Bumps the GPS-drivers submodule to the matching rename.

Drop the vestigial message-type template parameter from publish_rtcm_chunks:
both topics share rtcm_data_s, so only the publication type needs templating.

* fix(septentrio): log dropped RTCM uORB generations

Match the gps driver and warn when the RTCM corrections or moving-baseline
subscription skips a uORB generation, so dropped injection data is visible.

* docs(docs): Docs only update to the RtcmData msg

* chore(gps): pin GPSDrivers to merged main

Contains #212 (RTCM/moving-baseline gating virtuals), #213 (X20 CFG-ODO
NAK tolerance), and #215 (SPARTN input enable, best-effort VALSET).

Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>

* fix(septentrio): reassemble RTCM frames per stream before injecting

Both drains wrote raw uORB chunks to the receiver, so a fragmented frame
on one stream could get the other stream's bytes spliced in mid-frame and
corrupt both. Reassemble each stream in its own parser and only write
complete frames, mirroring the gps driver. Injection stats now count
frames instead of uORB chunks.

Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>

* refactor(mavlink)!: remove GPS_RTCM_DATA output stream

GPS_RTCM_DATA is a GCS-to-vehicle correction transport; echoing
rtcm_corrections back out over MAVLink had no consumer and the echo was
lossy anyway (uint8 len and 180-byte payload truncate 300-byte uORB
chunks). Receiving GPS_RTCM_DATA is unchanged.

Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>

---------

Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
2026-07-16 13:23:26 -06:00

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############################################################################
#
# Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
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# modification, are permitted provided that the following conditions
# are met:
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# 1. Redistributions of source code must retain the above copyright
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# the documentation and/or other materials provided with the
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# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
# Support IN_LIST if() operator
cmake_policy(SET CMP0057 NEW)
include(px4_list_make_absolute)
set(msg_files
ActionRequest.msg
ActuatorArmed.msg
ActuatorControlsStatus.msg
ActuatorOutputs.msg
ActuatorServosTrim.msg
ActuatorTest.msg
AdcReport.msg
Airspeed.msg
AirspeedWind.msg
AutotuneAttitudeControlStatus.msg
BatteryInfo.msg
ButtonEvent.msg
CameraCapture.msg
CameraStatus.msg
CameraTrigger.msg
CanInterfaceStatus.msg
CellularStatus.msg
CollisionConstraints.msg
ControlAllocatorStatus.msg
Cpuload.msg
DatamanRequest.msg
DatamanResponse.msg
DebugArray.msg
DebugKeyValue.msg
DebugValue.msg
DebugVect.msg
DeviceInformation.msg
DifferentialPressure.msg
DistanceSensor.msg
DistanceSensorModeChangeRequest.msg
DronecanNodeStatus.msg
Ekf2Timestamps.msg
EscEepromRead.msg
EscEepromWrite.msg
EscReport.msg
EscStatus.msg
EstimatorAidSource1d.msg
EstimatorAidSource2d.msg
EstimatorAidSource3d.msg
EstimatorBias.msg
EstimatorBias3d.msg
EstimatorEventFlags.msg
EstimatorFusionControl.msg
EstimatorGpsStatus.msg
EstimatorInnovations.msg
EstimatorSelectorStatus.msg
EstimatorSensorBias.msg
EstimatorStates.msg
EstimatorStatus.msg
EstimatorStatusFlags.msg
versioned/Event.msg
FigureEightStatus.msg
FailsafeFlags.msg
FailureDetectorStatus.msg
FailureInjection.msg
FlightPhaseEstimation.msg
FollowTarget.msg
FollowTargetEstimator.msg
FollowTargetStatus.msg
FuelTankStatus.msg
FixedWingLateralGuidanceStatus.msg
FixedWingLateralStatus.msg
FixedWingRunwayControl.msg
GeneratorStatus.msg
GeofenceResult.msg
GeofenceStatus.msg
GainCompression.msg
GimbalControls.msg
GimbalDeviceAttitudeStatus.msg
GimbalDeviceInformation.msg
GimbalDeviceSetAttitude.msg
GimbalManagerInformation.msg
GimbalManagerSetAttitude.msg
GimbalManagerSetManualControl.msg
GimbalManagerStatus.msg
GpioConfig.msg
GpioIn.msg
GpioOut.msg
GpioRequest.msg
GpsDump.msg
Gripper.msg
HealthReport.msg
HeaterStatus.msg
HoverThrustEstimate.msg
InputRc.msg
InternalCombustionEngineControl.msg
InternalCombustionEngineStatus.msg
IridiumsbdStatus.msg
IrlockReport.msg
LandingGear.msg
LandingGearWheel.msg
LandingTargetInnovations.msg
LandingTargetPose.msg
LaunchDetectionStatus.msg
LedControl.msg
LoggerStatus.msg
LogMessage.msg
MagnetometerBiasEstimate.msg
MagWorkerData.msg
ManualControlSwitches.msg
MavlinkLog.msg
MavlinkTunnel.msg
MessageFormatRequest.msg
MessageFormatResponse.msg
Mission.msg
MissionResult.msg
MountOrientation.msg
NavigatorMissionItem.msg
NavigatorStatus.msg
NeuralControl.msg
NormalizedUnsignedSetpoint.msg
ObstacleDistance.msg
OffboardControlMode.msg
OnboardComputerStatus.msg
OpenDroneIdArmStatus.msg
OpenDroneIdBasicId.msg
OpenDroneIdOperatorId.msg
OpenDroneIdSelfId.msg
OpenDroneIdSystem.msg
OrbitStatus.msg
OrbTest.msg
OrbTestLarge.msg
OrbTestMedium.msg
ParameterResetRequest.msg
ParameterSetUsedRequest.msg
ParameterSetValueRequest.msg
ParameterSetValueResponse.msg
ParameterUpdate.msg
Ping.msg
PositionControllerLandingStatus.msg
PositionControllerStatus.msg
PositionSetpoint.msg
PositionSetpointTriplet.msg
PowerButtonState.msg
PowerMonitor.msg
PpsCapture.msg
PurePursuitStatus.msg
PwmInput.msg
Px4ioStatus.msg
QshellReq.msg
QshellRetval.msg
RadioStatus.msg
RangingBeacon.msg
RateCtrlStatus.msg
RcChannels.msg
RcParameterMap.msg
RoverAttitudeSetpoint.msg
RoverAttitudeStatus.msg
RoverPositionSetpoint.msg
RoverRateSetpoint.msg
RoverRateStatus.msg
RoverSpeedSetpoint.msg
RoverSpeedStatus.msg
RoverSteeringSetpoint.msg
RoverThrottleSetpoint.msg
Rpm.msg
RtcmData.msg
RtlStatus.msg
RtlTimeEstimate.msg
SatelliteInfo.msg
SensorAccel.msg
SensorAccelFifo.msg
SensorBaro.msg
SensorCombined.msg
SensorCorrection.msg
SensorGnssRelative.msg
SensorGnssStatus.msg
SensorGps.msg
SensorGyro.msg
SensorGyroFft.msg
SensorGyroFifo.msg
SensorHygrometer.msg
SensorMag.msg
SensorOpticalFlow.msg
SensorPreflightMag.msg
SensorSelection.msg
SensorsStatus.msg
SensorsStatusImu.msg
SensorTemp.msg
SensorUwb.msg
SensorAirflow.msg
SystemPower.msg
TakeoffStatus.msg
TaskStackInfo.msg
TecsStatus.msg
TelemetryStatus.msg
TiltrotorExtraControls.msg
TimesyncStatus.msg
TrajectorySetpoint6dof.msg
TransponderReport.msg
TuneControl.msg
UavcanParameterRequest.msg
UavcanParameterValue.msg
UlogStream.msg
UlogStreamAck.msg
VehicleAcceleration.msg
VehicleAirData.msg
VehicleConstraints.msg
VehicleControlMode.msg
VehicleImu.msg
VehicleImuStatus.msg
VehicleLocalPositionSetpoint.msg
VehicleMagnetometer.msg
VehicleOpticalFlow.msg
VehicleOpticalFlowVel.msg
VehicleRoi.msg
VehicleThrustSetpoint.msg
VehicleTorqueSetpoint.msg
VelocityLimits.msg
Vtx.msg
WheelEncoders.msg
YawEstimatorStatus.msg
versioned/ActuatorMotors.msg
versioned/ActuatorServos.msg
versioned/AirspeedValidated.msg
versioned/ArmingCheckReply.msg
versioned/ArmingCheckRequest.msg
versioned/AuxGlobalPosition.msg
versioned/BatteryStatus.msg
versioned/ConfigOverrides.msg
versioned/FixedWingLateralSetpoint.msg
versioned/FixedWingLongitudinalSetpoint.msg
versioned/GotoSetpoint.msg
versioned/HomePosition.msg
versioned/LateralControlConfiguration.msg
versioned/LongitudinalControlConfiguration.msg
versioned/ManualControlSetpoint.msg
versioned/ModeCompleted.msg
versioned/RaptorInput.msg
versioned/RaptorStatus.msg
versioned/RegisterExtComponentReply.msg
versioned/RegisterExtComponentRequest.msg
versioned/SetpointConfig.msg
versioned/SetpointConfigReply.msg
versioned/TrajectorySetpoint.msg
versioned/UnregisterExtComponent.msg
versioned/VehicleAngularVelocity.msg
versioned/VehicleAttitude.msg
versioned/VehicleAttitudeSetpoint.msg
versioned/VehicleCommandAck.msg
versioned/VehicleCommand.msg
versioned/VehicleGlobalPosition.msg
versioned/VehicleLandDetected.msg
versioned/VehicleLocalPosition.msg
versioned/VehicleOdometry.msg
versioned/VehicleRatesSetpoint.msg
versioned/VehicleStatus.msg
versioned/VtolVehicleStatus.msg
versioned/Wind.msg
)
list(SORT msg_files)
if(CONFIG_NAVIGATOR_ADSB)
list(APPEND msg_files
DetectAndAvoid.msg
DetectAndAvoidMostUrgent.msg)
endif()
if(CONFIG_MODULES_VISION_TARGET_ESTIMATOR)
list(APPEND msg_files
TargetGnss.msg
VteInput.msg
VtePosition.msg
VteOrientation.msg
VteAidSource1d.msg
VteAidSource3d.msg
VteBiasInitStatus.msg
FiducialMarkerPosReport.msg
FiducialMarkerYawReport.msg
PrecLandStatus.msg)
endif()
px4_list_make_absolute(msg_files ${CMAKE_CURRENT_SOURCE_DIR} ${msg_files})
if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
# Check that the msg directory and the CMakeLists.txt file exists
if(EXISTS ${EXTERNAL_MODULES_LOCATION}/msg/CMakeLists.txt)
add_subdirectory(${EXTERNAL_MODULES_LOCATION}/msg external_msg)
# Add each of the external message files to the global msg_files list
foreach(external_msg_file ${config_msg_list_external})
list(APPEND msg_files ${EXTERNAL_MODULES_LOCATION}/msg/${external_msg_file})
endforeach()
endif()
endif()
# headers
set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
set(ucdr_out_path ${PX4_BINARY_DIR}/uORB/ucdr)
set(msg_source_out_path ${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
set(uorb_headers)
set(uorb_sources)
set(uorb_ucdr_headers)
set(uorb_json_files)
foreach(msg_file ${msg_files})
get_filename_component(msg ${msg_file} NAME_WE)
# Pascal case to snake case (MsgFile -> msg_file)
string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" msg "${msg}")
string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" msg "${msg}")
string(TOLOWER "${msg}" msg)
list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
list(APPEND uorb_ucdr_headers ${ucdr_out_path}/${msg}.h)
list(APPEND uorb_json_files ${msg_source_out_path}/${msg}.json)
endforeach()
# set parent scope msg_files for ROS
set(msg_files ${msg_files} PARENT_SCOPE)
# Generate uORB headers
add_custom_command(
OUTPUT
${uorb_headers}
${msg_out_path}/uORBTopics.hpp
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
--headers
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
-o ${msg_out_path}
-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
DEPENDS
${msg_files}
${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.h.em
${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.hpp.em
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB topic headers"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_custom_target(uorb_headers DEPENDS ${uorb_headers})
add_custom_command(
OUTPUT
${uorb_json_files}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
--json
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
-o ${msg_source_out_path}
-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
DEPENDS
${msg_files}
${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.json.em
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB json files"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_custom_target(uorb_json_files DEPENDS ${uorb_json_files})
set(uorb_message_fields_cpp_file ${msg_source_out_path}/uORBMessageFieldsGenerated.cpp)
set(uorb_message_fields_header_file ${msg_out_path}/uORBMessageFieldsGenerated.hpp)
add_custom_command(
OUTPUT
${uorb_message_fields_cpp_file}
${uorb_message_fields_header_file}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py
-f ${uorb_json_files}
--source-output-file ${uorb_message_fields_cpp_file}
--header-output-file ${uorb_message_fields_header_file}
DEPENDS
${uorb_json_files}
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py
COMMENT "Generating uORB compressed fields"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
# Generate microcdr headers
add_custom_command(
OUTPUT ${uorb_ucdr_headers}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
--headers
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
-o ${ucdr_out_path}
-e ${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr
DEPENDS
${msg_files}
${PX4_SOURCE_DIR}/Tools/msg/templates/ucdr/msg.h.em
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB topic ucdr headers"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_custom_target(uorb_ucdr_headers DEPENDS ${uorb_ucdr_headers})
# Generate uORB sources
add_custom_command(
OUTPUT
${uorb_sources}
${msg_source_out_path}/uORBTopics.cpp
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
--sources
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
-o ${msg_source_out_path}
-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
DEPENDS
${msg_files}
${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.cpp.em
${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/uORBTopics.cpp.em
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB topic sources"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_library(uorb_msgs ${uorb_headers} ${msg_out_path}/uORBTopics.hpp ${uorb_sources} ${msg_source_out_path}/uORBTopics.cpp ${uorb_message_fields_cpp_file})
target_link_libraries(uorb_msgs PRIVATE m)
add_dependencies(uorb_msgs prebuild_targets uorb_headers)
if(CONFIG_LIB_CDRSTREAM)
set(uorb_cdr_idl)
set(uorb_cdr_msg)
set(uorb_cdr_hash)
set(uorb_cdr_idl_uorb)
set(idl_include_path ${PX4_BINARY_DIR}/uORB/idl)
set(idl_out_path ${idl_include_path}/px4/msg)
set(idl_rihs01_out_path ${idl_include_path}/px4)
set(idl_uorb_path ${PX4_BINARY_DIR}/msg/px4/msg)
# Make sure that CycloneDDS has been checkout out
execute_process(COMMAND git submodule sync src/lib/cdrstream/cyclonedds
WORKING_DIRECTORY ${PX4_SOURCE_DIR} )
execute_process(COMMAND git submodule update --init --force src/lib/cdrstream/cyclonedds
WORKING_DIRECTORY ${PX4_SOURCE_DIR} )
# CycloneDDS-tools doesn't ship with the cdrstream-desc feature thus we've to compile idlc from source
MESSAGE(STATUS "Configuring idlc :" ${CMAKE_CURRENT_BINARY_DIR}/idlc)
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc)
execute_process(COMMAND ${CMAKE_COMMAND} ${PX4_SOURCE_DIR}/src/lib/cdrstream/cyclonedds
-DCMAKE_C_COMPILER=/usr/bin/gcc
-DCMAKE_C_COMPILER_LAUNCHER=ccache
-DCMAKE_CXX_COMPILER_LAUNCHER=ccache
-DCMAKE_C_FLAGS=-Wno-maybe-uninitialized\ -Wno-unused-parameter
-DBUILD_EXAMPLES=OFF
-DENABLE_SSL=OFF
-DENABLE_SECURITY=OFF
-DBUILD_DDSPERF=OFF
-DENABLE_LTO=OFF
-DENABLE_LIFESPAN=OFF
-DENABLE_DEADLINE_MISSED=OFF
-DENABLE_NETWORK_PARTITIONS=oFF
-DENABLE_SOURCE_SPECIFIC_MULTICAST=oFF
-DENABLE_IPV6=OFF
-DENABLE_TYPE_DISCOVERY=OFF
-DENABLE_TOPIC_DISCOVERY=oFF
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc
RESULT_VARIABLE CMD_ERROR
OUTPUT_FILE CMD_OUTPUT )
MESSAGE(STATUS "Building idlc :" ${CMAKE_CURRENT_BINARY_DIR}/idlc)
execute_process(COMMAND ${CMAKE_COMMAND} --build . --target idlc
WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idlc
RESULT_VARIABLE CMD_ERROR
OUTPUT_FILE CMD_OUTPUT )
list(APPEND CMAKE_PROGRAM_PATH "${CMAKE_CURRENT_BINARY_DIR}/idlc/bin")
# Copy .msg files
foreach(msg_file ${msg_files})
get_filename_component(msg ${msg_file} NAME_WE)
configure_file(${msg_file} ${idl_out_path}/${msg}.msg COPYONLY)
list(APPEND uorb_cdr_idl ${idl_out_path}/${msg}.idl)
list(APPEND uorb_cdr_msg ${idl_out_path}/${msg}.msg)
list(APPEND uorb_cdr_hash ${idl_out_path}/${msg}.json)
list(APPEND uorb_cdr_idl_uorb ${idl_uorb_path}/${msg}.h)
endforeach()
# Generate IDL from .msg using rosidl_adapter
# Note this a submodule inside PX4 hence no ROS2 installation required
add_custom_command(
OUTPUT ${uorb_cdr_idl}
COMMAND ${CMAKE_COMMAND}
-E env "PYTHONPATH=${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_adapter:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_cli"
${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/msg2idl.py
${uorb_cdr_msg}
DEPENDS
${uorb_cdr_msg}
git_cyclonedds
COMMENT "Generating IDL from uORB topic headers"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
file(CREATE_LINK ${idl_rihs01_out_path} ${idl_include_path}/px4_msgs SYMBOLIC)
# Generate IDL from .msg using rosidl_adapter
# Note this is a submodule inside PX4 hence no ROS2 installation required
add_custom_command(
OUTPUT ${uorb_cdr_hash}
COMMAND ${CMAKE_COMMAND}
-E env "PYTHONPATH=${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_adapter:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_cli:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_parser:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_generator_type_description"
${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/idl2rihs01.py
--output-dir ${idl_rihs01_out_path}
${uorb_cdr_idl}
DEPENDS
${uorb_cdr_idl}
git_cyclonedds
COMMENT "Generating RIHS01 hashes from IDL"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
# Generate C definitions from IDL
set(CYCLONEDDS_DIR ${PX4_SOURCE_DIR}/src/lib/cdrstream/cyclonedds)
include("${CYCLONEDDS_DIR}/cmake/Modules/Generate.cmake")
idlc_generate(TARGET uorb_cdrstream
FEATURES "cdrstream-desc"
FILES ${uorb_cdr_idl}
INCLUDES ${idl_include_path}
BASE_DIR ${idl_include_path}
WARNINGS no-implicit-extensibility no-unsupported-annotations)
target_link_libraries(uorb_cdrstream INTERFACE cdr)
# Generate and overwrite IDL header with custom headers for uORB operatability
# We typedef the IDL struct the uORB struct so that the IDL offset calculate
# the offset of internal uORB struct for serialization/deserialization
# In the future we might want to turn this around let the IDL struct be the leading ABI
# However we need to remove the padding for logging and remove the re-ordering of fields
add_custom_target(
uorb_idl_header
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
--uorb-idl-header
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/versioned
-o ${idl_uorb_path}
-e ${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream
DEPENDS
uorb_cdrstream
${msg_files}
${uorb_cdr_hash}
${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream/uorb_idl_header.h.em
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB compatible IDL headers"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_dependencies(uorb_msgs uorb_idl_header)
# Compile all CDR compatible message defnitions
target_link_libraries(uorb_msgs PRIVATE uorb_cdrstream )
endif()
if(CONFIG_MODULES_ZENOH)
# The Zenoh Kconfig.topics catalog is generated into the build tree in
# cmake/kconfig.cmake (it must exist before Kconfig is parsed). Here we only
# generate the per-board publisher/subscriber factory.
add_custom_command(
OUTPUT
${PX4_BINARY_DIR}/src/modules/zenoh/uorb_pubsub_factory.hpp
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
--zenoh-pub-sub
-f ${msg_files}
-o ${PX4_BINARY_DIR}/src/modules/zenoh/
-e ${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh
--rihs ${idl_rihs01_out_path}
DEPENDS
${msg_files}
${uorb_cdr_hash}
${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em
${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
COMMENT "Generating Zenoh Topic Code"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_library(zenoh_topics ${PX4_BINARY_DIR}/src/modules/zenoh/uorb_pubsub_factory.hpp)
set_target_properties(zenoh_topics PROPERTIES LINKER_LANGUAGE CXX)
endif()
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