############################################################################

 #

 # Copyright (c)  PX4 Development Team. All rights reserved.

 #

 # Redistribution and use in source and binary forms, with or without

 # modification, are permitted provided that the following conditions

 # are met:

 #

 # . Redistributions of source code must retain the above copyright

 #    notice, this list of conditions and the following disclaimer.

 # . Redistributions in binary form 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.

 # . Neither the name PX4 nor the names of its contributors may be

 #    used to endorse or promote products derived from this software

 #    without specific prior written permission.

 #

 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS

 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR 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 THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT

 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN

 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

 # POSSIBILITY OF SUCH DAMAGE.

 #

 ############################################################################

 #=============================================================================

 #

 #    Defined functions in this file

 #

 #     OS Specific Functions

 #

 #        * px4_posix_add_firmware

 #        * px4_posix_generate_builtin_commands

 #        * px4_posix_add_export

 #        * px4_posix_generate_romfs

 #

 #     Required OS Interface Functions

 #

 #         * px4_os_add_flags

 #        * px4_os_prebuild_targets

 #

 include(common/px4_base)

 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/posix)

 #=============================================================================

 #

 #    px4_posix_generate_builtin_commands

 #

 #    This function generates the builtin_commands.c src for posix

 #

 #    Usage:

 #        px4_posix_generate_builtin_commands(

 #            MODULE_LIST <in-list>

 #            OUT <file>)

 #

 #    Input:

 #        MODULE_LIST    : list of modules

 #

 #    Output:

 #        OUT    : stem of generated apps.cpp/apps.h ("apps")

 #

 #    Example:

 #        px4_posix_generate_builtin_commands(

 #            OUT <generated-src> MODULE_LIST px4_simple_app)

 #

 function(px4_posix_generate_builtin_commands)

     px4_parse_function_args(

         NAME px4_posix_generate_builtin_commands

         ONE_VALUE OUT

         MULTI_VALUE MODULE_LIST

         REQUIRED MODULE_LIST OUT

         ARGN ${ARGN})

     set(builtin_apps_string)

     set(builtin_apps_decl_string)

     set(command_count )

     foreach(module ${MODULE_LIST})

         # default

         set(MAIN_DEFAULT MAIN-NOTFOUND)

         set(STACK_DEFAULT )

         set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)

         foreach(property MAIN STACK PRIORITY)

             get_target_property(${property} ${module} ${property})

             if(NOT ${property})

                 set(${property} ${${property}_DEFAULT})

             endif()

         endforeach()

         if (MAIN)

             set(builtin_apps_string

                 "${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")

             set(builtin_apps_decl_string

                 "${builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n")

             math(EXPR command_count "${command_count}+1")

         endif()

     endforeach()

     configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.cpp.in ${OUT}.cpp)

     configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.h.in ${OUT}.h)

 endfunction()

 #=============================================================================

 #

 #    px4_os_add_flags

 #

 #    Set the posix build flags.

 #

 #    Usage:

 #        px4_os_add_flags(

 #            C_FLAGS <inout-variable>

 #            CXX_FLAGS <inout-variable>

 #            OPTIMIZATION_FLAGS <inout-variable>

 #            EXE_LINKER_FLAGS <inout-variable>

 #            INCLUDE_DIRS <inout-variable>

 #            LINK_DIRS <inout-variable>

 #            DEFINITIONS <inout-variable>)

 #

 #    Input:

 #        BOARD                    : flags depend on board/posix config

 #

 #    Input/Output: (appends to existing variable)

 #        C_FLAGS                    : c compile flags variable

 #        CXX_FLAGS                : c++ compile flags variable

 #        OPTIMIZATION_FLAGS            : optimization compile flags variable

 #        EXE_LINKER_FLAGS            : executable linker flags variable

 #        INCLUDE_DIRS                : include directories

 #        LINK_DIRS                : link directories

 #        DEFINITIONS                : definitions

 #

 #    Note that EXE_LINKER_FLAGS is not suitable for adding libraries because

 #    these flags are added before any of the object files and static libraries.

 #    Add libraries in src/firmware/posix/CMakeLists.txt.

 #

 #    Example:

 #        px4_os_add_flags(

 #            C_FLAGS CMAKE_C_FLAGS

 #            CXX_FLAGS CMAKE_CXX_FLAGS

 #            OPTIMIZATION_FLAGS optimization_flags

 #            EXE_LINKER_FLAG CMAKE_EXE_LINKER_FLAGS

 #            INCLUDES <list>)

 #

 function(px4_os_add_flags)

     set(inout_vars

         C_FLAGS CXX_FLAGS OPTIMIZATION_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)

     px4_parse_function_args(

         NAME px4_os_add_flags

         ONE_VALUE ${inout_vars} BOARD

         REQUIRED ${inout_vars} BOARD

         ARGN ${ARGN})

     px4_add_common_flags(

         BOARD ${BOARD}

         C_FLAGS ${C_FLAGS}

         CXX_FLAGS ${CXX_FLAGS}

         OPTIMIZATION_FLAGS ${OPTIMIZATION_FLAGS}

         EXE_LINKER_FLAGS ${EXE_LINKER_FLAGS}

         INCLUDE_DIRS ${INCLUDE_DIRS}

         LINK_DIRS ${LINK_DIRS}

         DEFINITIONS ${DEFINITIONS})

     set(added_include_dirs

         src/platforms/posix/include

         )

     # This block sets added_definitions and added_cxx_flags.

     if(UNIX AND APPLE)

         set(added_definitions

             -D__PX4_POSIX

             -D__PX4_DARWIN

             -D__DF_DARWIN

             -Dnoreturn_function=__attribute__\(\(noreturn\)\)

             )

         set(added_cxx_flags)

         if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0)

             message(FATAL_ERROR "PX4 Firmware requires XCode 8 or newer on Mac OS. Version installed on this system: ${CMAKE_CXX_COMPILER_VERSION}")

         endif()

         EXEC_PROGRAM(uname ARGS -v  OUTPUT_VARIABLE DARWIN_VERSION)

         STRING(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})

         # message(STATUS "PX4 Darwin Version: ${DARWIN_VERSION}")

         if (DARWIN_VERSION LESS )

             list(APPEND added_definitions

                 -DCLOCK_MONOTONIC=

                 -DCLOCK_REALTIME=

                 -D__PX4_APPLE_LEGACY

                 )

         endif()

     else()

         set(added_definitions

             -D__PX4_POSIX

             -D__PX4_LINUX

             -D__DF_LINUX

             -Dnoreturn_function=__attribute__\(\(noreturn\)\)

             )

         # Use -pthread For linux/g++.

         set(added_cxx_flags

             -pthread

             )

     endif()

     set(added_exe_linker_flags)

     # This block sets added_c_flags (appends to others).

     if ("${BOARD}" STREQUAL "eagle")

         if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")

             message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")

         else()

             set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})

         endif()

         # Add the toolchain specific flags

         set(added_cflags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT})

         list(APPEND added_cxx_flags

             ${POSIX_CMAKE_CXX_FLAGS}

             --sysroot=${HEXAGON_ARM_SYSROOT}

             )

         list(APPEND added_exe_linker_flags

             -Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/usr/lib

             -Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib

             --sysroot=${HEXAGON_ARM_SYSROOT}

             )

     # This block sets added_c_flags (appends to others).

     elseif ("${BOARD}" STREQUAL "excelsior")

         if ("$ENV{HEXAGON_ARM_SYSROOT}" STREQUAL "")

             message(FATAL_ERROR "HEXAGON_ARM_SYSROOT not set")

         else()

             set(HEXAGON_ARM_SYSROOT $ENV{HEXAGON_ARM_SYSROOT})

         endif()

         # Add the toolchain specific flags

         set(added_cflags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096  -mfloat-abi=softfp -mfpu=neon -mthumb-interwork)

         list(APPEND added_cxx_flags

             ${POSIX_CMAKE_CXX_FLAGS}

             --sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096  -mfloat-abi=softfp -mfpu=neon -mthumb-interwork

             )

         list(APPEND added_exe_linker_flags

             -Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib32-apq8096/usr/lib

             -Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib32-apq8096/lib

             --sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096  -mfloat-abi=softfp -mfpu=neon -mthumb-interwork

             )

     elseif ("${BOARD}" STREQUAL "rpi")

         SET(RPI_COMPILE_FLAGS

             -mcpu=cortex-a53

             -mfpu=neon

             -mfloat-abi=hard

         )

         LIST(APPEND added_c_flags ${RPI_COMPILE_FLAGS})

         LIST(APPEND added_cxx_flags ${RPI_COMPILE_FLAGS})

         FIND_PROGRAM(CXX_COMPILER_PATH ${CMAKE_CXX_COMPILER})

         GET_FILENAME_COMPONENT(CXX_COMPILER_PATH ${CXX_COMPILER_PATH} DIRECTORY)

         GET_FILENAME_COMPONENT(CXX_COMPILER_PATH "${CXX_COMPILER_PATH}/../" ABSOLUTE)

         IF ("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang")

             set(CLANG_COMPILE_FLAGS

                 --target=arm-pc-linux-gnueabihf

                 -ccc-gcc-name arm-linux-gnueabihf-gcc

                 --sysroot=${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc

                 -I${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/include/

             )

             set(added_c_flags ${POSIX_CMAKE_C_FLAGS} ${CLANG_COMPILE_FLAGS})

             list(APPEND added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS} ${CLANG_COMPILE_FLAGS})

             list(APPEND added_exe_linker_flags ${POSIX_CMAKE_EXE_LINKER_FLAGS} ${CLANG_COMPILE_FLAGS}

                 -B${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib

                 -L${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib

             )

         ENDIF()

     endif()

     # output

     foreach(var ${inout_vars})

         string(TOLOWER ${var} lower_var)

         #message(STATUS "posix: set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)")

         set(${${var}} ${${${var}}} ${added_${lower_var}} PARENT_SCOPE)

     endforeach()

 endfunction()

 #=============================================================================

 #

 #    px4_os_prebuild_targets

 #

 #    This function generates os dependent targets

 #

 #    Usage:

 #        px4_os_prebuild_targets(

 #            OUT <out-list_of_targets>

 #            BOARD <in-string>

 #            )

 #

 #    Input:

 #        BOARD         : board

 #        THREADS     : number of threads for building

 #

 #    Output:

 #        OUT    : the target list

 #

 #    Example:

 #        px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)

 #

 function(px4_os_prebuild_targets)

     px4_parse_function_args(

             NAME px4_os_prebuild_targets

             ONE_VALUE OUT BOARD THREADS

             REQUIRED OUT BOARD

             ARGN ${ARGN})

     add_custom_target(${OUT})

 endfunction()