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ekf2: fix symforce cmake code generation targets #23220

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ekf2: fix symforce cmake code generation targets #23220

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61 changes: 24 additions & 37 deletions src/modules/ekf2/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -33,43 +33,19 @@

add_subdirectory(Utility)

option(EKF2_SYMFORCE_GEN "ekf2 generate symforce output" OFF)
option(EKF2_SYMFORCE_GEN "ekf2 generate symforce output" ON)

# Symforce code generation TODO:fixme
# Symforce code generation
execute_process(
COMMAND ${PYTHON_EXECUTABLE} -m symforce.symbolic
RESULT_VARIABLE PYTHON_SYMFORCE_EXIT_CODE
OUTPUT_QUIET
)

# for now only provide symforce target helper if derivation.py generation isn't default
if((NOT CONFIG_EKF2_MAGNETOMETER) OR (NOT CONFIG_EKF2_WIND))
set(EKF2_SYMFORCE_GEN ON)
endif()

set(EKF_DERIVATION_SRC_DIR ${CMAKE_CURRENT_SOURCE_DIR}/EKF/python/ekf_derivation)

set(EKF_GENERATED_FILES ${EKF_DERIVATION_SRC_DIR}/generated/state.h)
set(EKF_GENERATED_DERIVATION_INCLUDE_PATH "${EKF_DERIVATION_SRC_DIR}/..")

if(EKF2_SYMFORCE_GEN AND (${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0))

# regenerate default in tree
add_custom_command(
OUTPUT
${EKF_DERIVATION_SRC_DIR}/generated/predict_covariance.h
${EKF_DERIVATION_SRC_DIR}/generated/state.h
COMMAND
${PYTHON_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py
DEPENDS
${EKF_DERIVATION_SRC_DIR}/derivation.py
${EKF_DERIVATION_SRC_DIR}/utils/derivation_utils.py

WORKING_DIRECTORY ${EKF_DERIVATION_SRC_DIR}
COMMENT "Symforce code generation (default)"
USES_TERMINAL
)

# generate to build directory
set(EKF_DERIVATION_DST_DIR ${CMAKE_CURRENT_BINARY_DIR}/ekf_derivation)
file(MAKE_DIRECTORY ${EKF_DERIVATION_DST_DIR})
Expand All @@ -91,28 +67,37 @@ if(EKF2_SYMFORCE_GEN AND (${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0))

add_custom_command(
OUTPUT
${EKF_DERIVATION_DST_DIR}/generated/predict_covariance.h
${EKF_DERIVATION_DST_DIR}/generated/state.h
${EKF_GENERATED_FILES}
COMMAND
${PYTHON_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py ${SYMFORCE_ARGS}
DEPENDS
${EKF_DERIVATION_SRC_DIR}/derivation.py
${EKF_DERIVATION_SRC_DIR}/utils/derivation_utils.py

WORKING_DIRECTORY ${EKF_DERIVATION_DST_DIR}
COMMENT "Symforce code generation"
USES_TERMINAL
COMMENT "ekf2 symforce code generation"
#USES_TERMINAL
)



add_custom_target(ekf2_symforce_generate
DEPENDS
${EKF_DERIVATION_SRC_DIR}/generated/predict_covariance.h
${EKF_DERIVATION_DST_DIR}/generated/predict_covariance.h
else()
# generation disabled or symforce not available, use pre-generated default files in tree (src/modules/ekf2/EKF/python/ekf_derivation/generated)
set(EKF_GENERATED_FILES ${EKF_DERIVATION_SRC_DIR}/generated/state.h)
set(EKF_GENERATED_DERIVATION_INCLUDE_PATH "${EKF_DERIVATION_SRC_DIR}/..")
endif()

# symforce in tree code generation helper
if(${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0)
# regenerate default symforce output in tree (src/modules/ekf2/EKF/python/ekf_derivation/generated)
add_custom_target(ekf2_generate_symforce_default
COMMAND ${PYTHON_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py
DEPENDS ${EKF_DERIVATION_SRC_DIR}/derivation.py
WORKING_DIRECTORY ${EKF_DERIVATION_SRC_DIR}
COMMENT "Symforce code generation (default)"
USES_TERMINAL
)
endif()

add_custom_target(ekf_symforce_generated DEPENDS ${EKF_GENERATED_FILES})

set(EKF_LIBS)
set(EKF_SRCS)
list(APPEND EKF_SRCS
Expand Down Expand Up @@ -257,9 +242,11 @@ px4_add_module(
px4_work_queue
world_magnetic_model

ekf_symforce_generated
${EKF_LIBS}
bias_estimator
output_predictor

UNITY_BUILD
)

Expand Down
2 changes: 1 addition & 1 deletion src/modules/ekf2/EKF/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -142,7 +142,7 @@ add_library(ecl_EKF
${EKF_SRCS}
)

add_dependencies(ecl_EKF prebuild_targets)
add_dependencies(ecl_EKF prebuild_targets ekf_symforce_generated)
target_include_directories(ecl_EKF PUBLIC ${EKF_GENERATED_DERIVATION_INCLUDE_PATH})

target_link_libraries(ecl_EKF
Expand Down
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