forked from micro-ROS/micro_ros_espidf_component
-
Notifications
You must be signed in to change notification settings - Fork 0
/
libmicroros.mk
118 lines (106 loc) · 5.42 KB
/
libmicroros.mk
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
EXTENSIONS_DIR = $(shell pwd)
UROS_DIR = $(EXTENSIONS_DIR)/micro_ros_src
BUILD_DIR ?= $(EXTENSIONS_DIR)/build
DEBUG ?= 0
ifeq ($(DEBUG), 1)
BUILD_TYPE = Debug
else
BUILD_TYPE = Release
endif
CFLAGS_INTERNAL := $(CFLAGS) -ffunction-sections -fdata-sections
CXXFLAGS_INTERNAL := $(CXXFLAGS) -ffunction-sections -fdata-sections
all: $(EXTENSIONS_DIR)/libmicroros.a
clean:
rm -rf $(EXTENSIONS_DIR)/libmicroros.a; \
rm -rf $(EXTENSIONS_DIR)/include; \
rm -rf $(EXTENSIONS_DIR)/esp32_toolchain.cmake; \
rm -rf $(EXTENSIONS_DIR)/micro_ros_dev; \
rm -rf $(EXTENSIONS_DIR)/micro_ros_src;
$(EXTENSIONS_DIR)/esp32_toolchain.cmake: $(EXTENSIONS_DIR)/esp32_toolchain.cmake.in
rm -f $(EXTENSIONS_DIR)/esp32_toolchain.cmake; \
cat $(EXTENSIONS_DIR)/esp32_toolchain.cmake.in | \
sed "s/@CMAKE_C_COMPILER@/$(subst /,\/,$(CC))/g" | \
sed "s/@CMAKE_CXX_COMPILER@/$(subst /,\/,$(CXX))/g" | \
sed "s/@CFLAGS@/$(subst /,\/,$(CFLAGS_INTERNAL))/g" | \
sed "s/@CXXFLAGS@/$(subst /,\/,$(CXXFLAGS_INTERNAL))/g" | \
sed "s/@IDF_TARGET@/$(subst /,\/,$(IDF_TARGET))/g" | \
sed "s/@IDF_PATH@/$(subst /,\/,$(IDF_PATH))/g" | \
sed "s/@BUILD_CONFIG_DIR@/$(subst /,\/,$(BUILD_DIR)/config)/g" \
> $(EXTENSIONS_DIR)/esp32_toolchain.cmake
$(EXTENSIONS_DIR)/micro_ros_dev/install:
rm -rf micro_ros_dev; \
mkdir micro_ros_dev; cd micro_ros_dev; \
git clone -b foxy https://github.com/ament/ament_cmake src/ament_cmake; \
git clone -b foxy https://github.com/ament/ament_lint src/ament_lint; \
git clone -b foxy https://github.com/ament/ament_package src/ament_package; \
git clone -b foxy https://github.com/ament/googletest src/googletest; \
git clone -b foxy https://github.com/ros2/ament_cmake_ros src/ament_cmake_ros; \
colcon build;
$(EXTENSIONS_DIR)/micro_ros_src/src:
rm -rf micro_ros_src; \
mkdir micro_ros_src; cd micro_ros_src; \
git clone -b foxy https://github.com/eProsima/micro-CDR src/micro-CDR; \
git clone -b foxy https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client; \
git clone -b foxy https://github.com/micro-ROS/rcl src/rcl; \
git clone -b foxy https://github.com/ros2/rclc src/rclc; \
git clone -b foxy https://github.com/micro-ROS/rcutils src/rcutils; \
git clone -b foxy https://github.com/micro-ROS/micro_ros_msgs src/micro_ros_msgs; \
git clone -b foxy https://github.com/micro-ROS/rmw-microxrcedds src/rmw-microxrcedds; \
git clone -b foxy https://github.com/micro-ROS/rosidl_typesupport src/rosidl_typesupport; \
git clone -b foxy https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds; \
git clone -b master https://github.com/ros2/tinydir_vendor src/tinydir_vendor; \
git clone -b foxy https://github.com/ros2/rosidl src/rosidl; \
git clone -b foxy https://github.com/ros2/rmw src/rmw; \
git clone -b foxy https://github.com/ros2/rcl_interfaces src/rcl_interfaces; \
git clone -b foxy https://github.com/ros2/rosidl_defaults src/rosidl_defaults; \
git clone -b foxy https://github.com/ros2/unique_identifier_msgs src/unique_identifier_msgs; \
git clone -b foxy https://github.com/ros2/common_interfaces src/common_interfaces; \
git clone -b foxy https://github.com/ros2/test_interface_files src/test_interface_files; \
git clone -b foxy https://github.com/ros2/rmw_implementation src/rmw_implementation; \
git clone -b foxy_microros https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing src/ros2_tracing; \
touch src/rosidl/rosidl_typesupport_introspection_c/COLCON_IGNORE; \
touch src/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE; \
touch src/rclc/rclc_examples/COLCON_IGNORE; \
touch src/rcl/rcl_yaml_param_parser/COLCON_IGNORE; \
cp -rf ../extra_packages src/extra_packages || :;
$(EXTENSIONS_DIR)/micro_ros_src/install: $(EXTENSIONS_DIR)/esp32_toolchain.cmake $(EXTENSIONS_DIR)/micro_ros_dev/install $(EXTENSIONS_DIR)/micro_ros_src/src
cd $(UROS_DIR); \
. ../micro_ros_dev/install/local_setup.sh; \
colcon build \
--merge-install \
--packages-ignore-regex=.*_cpp \
--metas $(EXTENSIONS_DIR)/colcon.meta $(APP_COLCON_META) \
--cmake-args \
"--no-warn-unused-cli" \
-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=OFF \
-DTHIRDPARTY=ON \
-DBUILD_SHARED_LIBS=OFF \
-DBUILD_TESTING=OFF \
-DCMAKE_BUILD_TYPE=$(BUILD_TYPE) \
-DCMAKE_TOOLCHAIN_FILE=$(EXTENSIONS_DIR)/esp32_toolchain.cmake \
-DCMAKE_VERBOSE_MAKEFILE=OFF; \
patch_atomic:$(EXTENSIONS_DIR)/micro_ros_src/install
# Workaround https://github.com/micro-ROS/micro_ros_espidf_component/issues/18
ifeq ($(IDF_TARGET),$(filter $(IDF_TARGET),esp32s2 esp32c3))
echo $(UROS_DIR)/atomic_workaround; \
mkdir $(UROS_DIR)/atomic_workaround; cd $(UROS_DIR)/atomic_workaround; \
$(AR) x $(UROS_DIR)/install/lib/librcutils.a; \
$(STRIP) atomic_64bits.c.obj --strip-symbol=__atomic_fetch_add_8; \
$(AR) rc -s librcutils.a *.obj; \
cp -rf librcutils.a $(UROS_DIR)/install/lib/librcutils.a; \
rm -rf $(UROS_DIR)/atomic_workaround; \
cd ..;
endif
$(EXTENSIONS_DIR)/libmicroros.a: $(EXTENSIONS_DIR)/micro_ros_src/install patch_atomic
mkdir -p $(UROS_DIR)/libmicroros; cd $(UROS_DIR)/libmicroros; \
for file in $$(find $(UROS_DIR)/install/lib/ -name '*.a'); do \
folder=$$(echo $$file | sed -E "s/(.+)\/(.+).a/\2/"); \
mkdir -p $$folder; cd $$folder; $(AR) x $$file; \
for f in *; do \
mv $$f ../$$folder-$$f; \
done; \
cd ..; rm -rf $$folder; \
done ; \
$(AR) rc -s libmicroros.a *.obj; cp libmicroros.a $(EXTENSIONS_DIR); \
cd ..; rm -rf libmicroros; \
cp -R $(UROS_DIR)/install/include $(EXTENSIONS_DIR)/include;