Merge branch 'master' of https://github.com/mavlink/mavlink

.github/workflows/test_and_deploy.yml

@@ -52,6 +52,27 @@ jobs:
         run: |
           ./scripts/test.sh py
 
+  build-cmake-c-example:
+    name: Build cmake C example
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          submodules: 'recursive'
+      - name: Install dependencies
+        run: |
+          sudo apt update
+          sudo apt install -y python3 python3-pip
+      - name: Install MAVLink headers
+        run: |
+          cmake -Bbuild -H. -DCMAKE_INSTALL_PREFIX=install
+          cmake --build build --target install
+      - name: Build example
+        run: |
+          cd examples/c
+          cmake -Bbuild -H. -DCMAKE_PREFIX_PATH=$(pwd)/../../install
+          cmake --build build
+
   node-tests:
     name: Node ${{ matrix.node-version }} test
     runs-on: ubuntu-20.04

.gitignore

@@ -5,6 +5,7 @@ doc/messages
 doc/*.log
 .DS_Store
 build*
+install*
 .nfs*
 share/
 __pycache__

CMakeLists.txt

@@ -1,248 +1,87 @@
-project (mavlink)
-
-if (NOT DEFINED MAVLINK_SOURCE_DIR)
-    set(MAVLINK_SOURCE_DIR ${PROJECT_SOURCE_DIR})
-endif ()
-
-# settings
-cmake_minimum_required (VERSION 2.8.2)
-set(PROJECT_VERSION_MAJOR "1")
-set(PROJECT_VERSION_MINOR "0")
-set(PROJECT_VERSION_PATCH "9")
-set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}")
-set(PROJECT_CONTACT_EMAIL http://groups.google.com/group/mavlink)
-set(PROJECT_CONTACT_VENDOR mavlink)
-set(LIBRARY_VERSION ${PROJECT_VERSION})
-set(LIBRARY_SOVERSION "0.0.0")
-
-# third party 
-# none required
-
-# options
-option(USE_SYSTEM_PYMAVLINK "Generate mavlink files with system-wide installed mavgen" OFF)
-option(WITH_TESTS "Build test programs." OFF)
-option(WITH_BUILD_DEPS "Build dependencies." OFF) # no deps currently to build
-option(WITH_BUILD_STATIC "Build preferring static linking." ON)
-option(INSTALL_PYMAVLINK "Install pymavlink." ON)
-
-# variables
-set(ROOT_THREAD TRUE CACHE INTERNAL "Is this the top level of the recursion?")
-
-# modules
-list(APPEND CMAKE_MODULE_PATH ${MAVLINK_SOURCE_DIR}/cmake ${MAVLINK_SOURCE_DIR}/cmake/arkcmake)
-include(DefineCMakeDefaults)
-include(CheckIncludeFiles)
-include(CheckFunctionExists)
-include(CheckSymbolExists)
-include(CheckLibraryExists)
-#include(CheckTypeSize)
-#include(CheckPrototypeExists)
-#include(CheckCXXSourceCompiles)
-#include(CheckCSourceCompiles)
-include(ExternalProjectWithFilename)
-
-if (UNIX)
-    include(GNUInstallDirs)
-    set(LIB_INSTALL_DIR "lib${LIB_SUFFIX}" CACHE PATH "Installation path for libraries")
-endif ()
-
-
-# spawn new cmake to build deps
-if (WITH_BUILD_DEPS AND ROOT_THREAD)
-    execute_process(COMMAND ${CMAKE_COMMAND} "${MAVLINK_SOURCE_DIR}"
-        "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}"
-        "-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}"
-        "-DWITH_BUILD_DEPS=${WITH_BUILD_DEPS}"
-        "-DWITH_BUILD_STATIC=${WITH_BUILD_STATIC}"
-        "-DWITH_TESTS=${WITH_TESTS}"
-        "-DROOT_THREAD=FALSE"
-        RESULT_VARIABLE ERROR)
-    if (ERROR)
-        message(FATAL_ERROR "error, recursing loop returned error code: ${ERROR}")
-    endif()
-    message("** Making dependencies")
-    execute_process(COMMAND ${CMAKE_MAKE_PROGRAM} "-j4" "-f${CMAKE_BINARY_DIR}/Makefile")
-    message("** Configuring ${PROJECT_NAME}")
-endif()
-
-# external projects find path
-if(NOT EP_BASE_DIR)
-    set(EP_BASE_DIR "${CMAKE_BINARY_DIR}/CMakeExternals")
-endif()
-set_property(DIRECTORY PROPERTY EP_BASE ${EP_BASE_DIR})
-set(EP_INSTALL_DIR "${EP_BASE_DIR}/Install")
-list(APPEND CMAKE_FIND_ROOT_PATH ${EP_BASE_DIR})
-
-# prefer static packages if building static library
-message("** Finding libraries")
-if (WITH_BUILD_STATIC)
-    # prefer static libs
-    if(WIN32)
-        set(CMAKE_FIND_LIBRARY_SUFFIXES .lib .a ${CMAKE_FIND_LIBRARY_SUFFIXES})
-    else()
-        set(CMAKE_FIND_LIBRARY_SUFFIXES .a ${CMAKE_FIND_LIBRARY_SUFFIXES})
-    endif()
-endif()
-
-# find libraries with cmake modules
-if(${CMAKE_VERSION} VERSION_LESS 3.12)
-  option(USE_PYTHON3 "Use python3 to build MAVLink" OFF)
-else()
-  option(USE_PYTHON3 "Use python3 to build MAVLink" ON)
-endif()
-
-if(USE_PYTHON3)
-  find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
-  set(PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
-  set(PYTHON_SITELIB ${Python3_SITELIB})  
-else()
-  find_package(PythonInterp)
-  set(PYTHON_SITELIB ${CMAKE_INSTALL_LIBDIR}/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages)
-endif()
-
-# enable languages
-if (WITH_TESTS)
-    enable_language(C)
-    enable_language(CXX)
-    include(DefineCompilerFlags)
-endif()
-
-# build dependencies
-if (WITH_BUILD_DEPS AND (NOT ROOT_THREAD) )
-    message("** Configuring dependencies")
+cmake_minimum_required(VERSION 3.13)
 
-    # add external projects
+project(mavlink)
 
-    # none required currently
+find_package(Python COMPONENTS Interpreter REQUIRED)
 
-    set(CMAKE_DEFAULT_ARGS
-        -DEP_BASE_DIR=${EP_BASE_DIR}
-        -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
-        -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
-        )
-
-    # terminate non root cmake thread
-    return()
+# We automatically install the pip dependencies locally below.
+# Therefore, we check whether pip is available here.
+execute_process(
+    COMMAND ${Python_EXECUTABLE} -m pip -V
+    RESULT_VARIABLE EXIT_CODE
+    OUTPUT_QUIET
+)
+if (NOT ${EXIT_CODE} EQUAL 0)
+    message(FATAL_ERROR "Python pip not found, pip is required")
 endif()
 
-# configure
-#check_include_files(string.h HAVE_STRING_H)
-#check_function_exists(memcopy HAVE_MEMCOPY)
-#check_symbol_exists(LC_MESSAGES "locale.h" HAVE_LC_MESSAGES) 
-#check_library_exists(pthread  attachNode "" HAVE_PTHREAD)
-
-# config files
-configure_file(config.h.in config.h)
-install(FILES ${CMAKE_BINARY_DIR}/config.h DESTINATION include/${PROJECT_NAME} COMPONENT Dev)
-
-# mavgen location for mavlink generation
-set(mavgen_EXECUTABLE_WITH_PYTHON_INVOCATION ${CMAKE_COMMAND} -E env "PYTHONPATH=$ENV{PYTHONPATH}:${CMAKE_CURRENT_SOURCE_DIR}" ${PYTHON_EXECUTABLE} -m pymavlink.tools.mavgen)
-if(USE_SYSTEM_PYMAVLINK)
-    find_program (
-        mavgen_EXECUTABLE
-        NAMES mavgen mavgen.py
-    )
-
-    # Fallback to Python invocation, if not found.
-    if (mavgen_EXECUTABLE-NOTFOUND)
-        set(mavgen_EXECUTABLE ${mavgen_EXECUTABLE_WITH_PYTHON_INVOCATION})
-    endif()
-else()
-    set(mavgen_EXECUTABLE ${mavgen_EXECUTABLE_WITH_PYTHON_INVOCATION})
-endif()
-message(STATUS "mavgen_EXECUTABLE: ${mavgen_EXECUTABLE}")
-
-macro(generateMavlink version definitions)
-    foreach(definition ${definitions})
-        set(targetName ${definition}-v${version})
-        set(definitionAbsPath ${MAVLINK_SOURCE_DIR}/message_definitions/v1.0/${definition})
-        message(STATUS "processing: ${definitionAbsPath}")
-        add_custom_command( 
-            OUTPUT ${targetName}-stamp
-            COMMAND ${mavgen_EXECUTABLE} --lang=C
-                                         --wire-protocol=${version}
-                                         --output=include/v${version}
-                                         ${definitionAbsPath}
-            COMMAND touch ${targetName}-stamp
-        )
-        add_custom_target(${targetName} ALL DEPENDS ${targetName}-stamp)
-    endforeach()
-endmacro()
-
-# build
-set(v1.0Definitions
-    ASLUAV.xml
-    ardupilotmega.xml
-    common.xml
-    matrixpilot.xml
-    minimal.xml
-    paparazzi.xml
-    python_array_test.xml
-    test.xml
-    ualberta.xml
-    )
-generateMavlink("1.0" "${v1.0Definitions}")
-generateMavlink("2.0" "${v1.0Definitions}")
-
-# testing
-if (BUILD_TEST)
-    if (UNIX) 
-        include_directories(${CMAKE_BINARY_DIR}/include/v1.0/common)
-        # TODO fix udp example
-        #add_executable(mavlink_udp examples/linux/mavlink_udp.c)
-    endif()
+if (NOT MAVLINK_DIALECT)
+    set(MAVLINK_DIALECT common)
 endif()
+message(STATUS "MAVLink dialect: ${MAVLINK_DIALECT}")
 
-# install files
-install(DIRECTORY ${CMAKE_BINARY_DIR}/include/ DESTINATION include/${PROJECT_NAME} COMPONENT Dev FILES_MATCHING PATTERN "*.h*")
-install(DIRECTORY ${CMAKE_BINARY_DIR}/src/ DESTINATION share/${PROJECT_NAME} COMPONENT Dev FILES_MATCHING PATTERN "*.c*")
-install(DIRECTORY ${MAVLINK_SOURCE_DIR}/share/${PROJECT_NAME} DESTINATION share COMPONENT Dev FILES_MATCHING PATTERN "*.c*")
-if (INSTALL_PYMAVLINK)
-    if (UNIX)
-        install(DIRECTORY ${MAVLINK_SOURCE_DIR}/pymavlink DESTINATION ${PYTHON_SITELIB} COMPONENT Dev)
-    else ()
-        install(DIRECTORY ${MAVLINK_SOURCE_DIR}/pymavlink DESTINATION "share/pyshared" COMPONENT Dev)
-    endif ()
+if (NOT MAVLINK_VERSION)
+    set(MAVLINK_VERSION 2.0)
 endif()
+message(STATUS "MAVLink version: ${MAVLINK_VERSION}")
+
+set(EXAMPLE_HEADER ${CMAKE_CURRENT_BINARY_DIR}/include/mavlink/${MAVLINK_DIALECT}/mavlink.h)
+
+add_custom_command(OUTPUT ${EXAMPLE_HEADER}
+    COMMAND ${Python_EXECUTABLE}
+        -m pip install -r pymavlink/requirements.txt --upgrade -t ${CMAKE_CURRENT_BINARY_DIR}/pip-dependencies/
+        COMMAND ${CMAKE_COMMAND} -E env "PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}/pip-dependencies/" ${Python_EXECUTABLE}
+        -m pymavlink.tools.mavgen
+        --lang=C
+        --wire-protocol=${MAVLINK_VERSION}
+        --output ${CMAKE_CURRENT_BINARY_DIR}/include/mavlink/
+        message_definitions/v1.0/${MAVLINK_DIALECT}.xml
+        WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    DEPENDS message_definitions/v1.0/${MAVLINK_DIALECT}.xml
+    COMMENT "Generating C headers")
+
+# Unfortunately, the dependencies don't work for INTERFACE libraries.
+# The only way I could make it work is to add ALL which means it
+# will do the file generation every time even when nothing has changed.
+add_custom_target(generate_c_headers
+    ALL
+    DEPENDS ${EXAMPLE_HEADER})
+
+add_library(mavlink INTERFACE)
+
+add_dependencies(mavlink generate_c_headers)
+
+include(GNUInstallDirs)
+
+target_include_directories(mavlink
+    INTERFACE
+    $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
+)
+
+install(TARGETS mavlink
+    EXPORT MAVLinkTargets
+    PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)
+
+install(DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/include/mavlink"
+    DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}"
+    FILES_MATCHING PATTERN "*.h"
+)
+
+install(EXPORT MAVLinkTargets
+    FILE MAVLinkTargets.cmake
+    NAMESPACE MAVLink::
+    DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/MAVLink
+)
+
+# For the build tree
+configure_file(MAVLinkConfig.cmake.in
+    "${PROJECT_BINARY_DIR}/MAVLinkConfig.cmake" @ONLY)
+# For the install tree
+configure_file(MAVLinkConfig.cmake.in
+    "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/MAVLinkConfig.cmake" @ONLY)
 
-configure_file(pc.in ${PROJECT_NAME}.pc)
 install(FILES
-    ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.pc
-    DESTINATION lib${LIB_SUFFIX}/pkgconfig COMPONENT Dev
-    )
-
-### packaging
-
-# apple bundle icon
-if (APPLE)
-    # set how it shows up in Info.plist
-    set(MACOSX_BUNDLE_ICON_FILE mavlink.icns)
-    # set where in the bundle to put the icns file
-    set_source_files_properties(cmake/mavlink.icns PROPERTIES MACOSX_PACKAGE_LOCATION Resources)
-    # include the icns file in the target
-    #list(APPEND MAVLINKGUI_SRCS cmake/mavlink.icns)
-endif()
-
-# set NSIS image
-if (WIN32)
-    set(CPACK_PACKAGE_ICON "${MAVLINK_SOURCE_DIR}/cmake/mavlink.bmp")
-endif()
-
-# add file extensions and set resource files
-configure_file("COPYING" "COPYING.txt" COPYONLY)
-configure_file("README.md" "README.md" COPYONLY)
-set(CPACK_RESOURCE_FILE_LICENSE "${MAVLINK_SOURCE_DIR}/COPYING")
-set(CPACK_RESOURCE_FILE_README "${MAVLINK_SOURCE_DIR}/README.md")
-set(CPACK_PACKAGE_DESCRIPTION_FILE "${CPACK_RESOURCE_FILE_README}")
-set(CPACK_RESOURCE_FILE_WELCOME "${MAVLINK_SOURCE_DIR}/cmake/WELCOME.txt")
-set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "mavlink message marshalling library")
-set(CPACK_PACKAGE_VENDOR ${PROJECT_CONTACT_VENDOR})
-set(CPACK_PACKAGE_CONTACT "${PROJECT_CONTACT_EMAIL}")
-set(CPACK_PACKAGE_VERSION ${PROJECT_VERSION})
-set(CPACK_SET_DESTDIR TRUE)
-set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PROJECT_VERSION}")
-set(CPACK_COMPONENTS_GROUPING "ALL_COMPONENTS_IN_ONE")
-include(CPack)
-
-
-# vim:sw=4:ts=4:expandtab
+    "${PROJECT_BINARY_DIR}/${CMAKE_FILES_DIRECTORY}/MAVLinkConfig.cmake"
+    DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/MAVLink
+)

MAVLinkConfig.cmake.in

@@ -0,0 +1,3 @@
+get_filename_component(MAVLINK_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+include("${MAVLINK_CMAKE_DIR}/MAVLinkTargets.cmake")
+