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300 lines
11 KiB
Markdown
300 lines
11 KiB
Markdown
# 1. CMake构建工具使用
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  SDK使用CMake工具构建。
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## 1.1. 安装
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```code
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详见：//tools/cmake/Makefile
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$ cd tools/cmake
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$ make
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$ cmake --version
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cmake version 3.27.4
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```
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## 1.2. SDK构建配置脚本
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* build目录下是基本的配置脚本。
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```code
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build/
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├── cmake
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│ ├── Makefile // 调用cmake命令生成Makefile文件；
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│ └── toolchain
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│ └── linux.toolchain.cmake // 工具链配置文件已经一些全局变量；
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├── global_config.cmake // 配置文件
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└── sdk_config.cmake // 配置文件
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```
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### 1.2.1. //build/cmake/Makefile
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  调用cmake命令生成Makefile文件。
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```code
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all:
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@mkdir -p ../../cmake-shell;\ // 创建cmake输出目录，这一步很关键，所有cmake的中间文件都将会存放在此目录。
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cd ../../cmake-shell;\
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pwd;\
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# 调用cmake命令，并指定工具链配置文件，生成Makefile文件。
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cmake -DCMAKE_TOOLCHAIN_FILE="./build/cmake/toolchain/linux.toolchain.cmake" ..;\
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cd ..
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clean:
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rm -rf ../../cmake-shell
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```
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在根目录执行：make cmake 的时候，即是调用上述Makefile生成Makefile文件。
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### 1.2.2. //build/cmake/toolchain/linux.toolchain.cmake
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  工具链配置文件或者一些跨平台差异化的配置文件。该文件在//build/cmake/Makefile中被指定，当需要交叉编译时，此文件的变量需要被重新配置。
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```code
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INCLUDE(CMakeForceCompiler)
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set(LINUX_TEST "true")
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set(CROSS_COMPILE_PREFIX "") // 工具链前缀
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set(CMAKE_C_COMPILER "${CROSS_COMPILE_PREFIX}gcc") // 配置工具链
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set(CMAKE_CXX_COMPILER "${CROSS_COMPILE_PREFIX}g++") // 配置工具链
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# path to compiler and utilities
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set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
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set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
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set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
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# Name of the target platform
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set(CMAKE_SYSTEM_NAME Linux)
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set(CMAKE_SYSTEM_PROCESSOR arm)
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# Version of the system
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set(CMAKE_SYSTEM_VERSION 1)
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cmake_policy(SET CMP0011 NEW)
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cmake_policy(SET CMP0005 NEW)
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add_definitions(-Wall -O2 -Os)
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add_definitions(-Wno-unused-local-typedefs)
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add_definitions(-Wstrict-aliasing -Wwrite-strings)
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set(TOOLCHAIN_NAME arm-linux-gnueabihf)
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set(TARGET_PLATFORM "linux") // 编译系统平台，Linux表示在PC的ubuntu系统上编译
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set(SUBMODULE_PATH_OF_IPC_SDK "") // 子仓库路面，此处为空，交叉编译时设置
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set(PLATFORM_PATH "${CMAKE_CURRENT_SOURCE_DIR}") // 平台路径
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set(TEST_COVERAGE "true") // 覆盖率报告开关
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add_definitions(-DPLATFORM_PATH=\"${PLATFORM_PATH}\") // 定义一个宏
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set(PROJECT_OUTPUT_FOLDER "output_files") // 编译的目标文件输出目录
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set(CMAKE_INSTALL_PREFIX "${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_OUTPUT_FOLDER}")
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... // 此处省略不同模块的配置参数，一般是一些宏定义；
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```
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### 1.2.3. //CMakeLists.txt
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  SDK跟目录下的第一个CMakeLists.txt文件，cmake命令执行的时候会指定根目录，到此目录下寻找CMakeLists.txt文件作为整个项目的构建起点。
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## 1.3. 重要的配置
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### 1.3.1. 目录设置
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  目录结构都是通过.cmake脚本来配置的。
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#### 1.3.1.1. 源码目录结构配置
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详见：//build/global_config.cmake
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```code
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set(EXEC_OUTPUT_PATH "${PLATFORM_PATH}/${PROJECT_OUTPUT_FOLDER}/bin")
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set(LIBS_OUTPUT_PATH "${PLATFORM_PATH}/${PROJECT_OUTPUT_FOLDER}/libs")
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set(TEST_TOOLS_OUTPUT_PATH "${PLATFORM_PATH}/${PROJECT_OUTPUT_FOLDER}/libs/test_tools")
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set(EXTERNAL_LIBS_OUTPUT_PATH "${PLATFORM_PATH}/${PROJECT_OUTPUT_FOLDER}/libs/external")
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set(TEST_OUTPUT_PATH "${PLATFORM_PATH}/${PROJECT_OUTPUT_FOLDER}/test")
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set(PROJECT_ROOT_PATH "${PLATFORM_PATH}")
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set(APPLICATION_SOURCE_PATH "${CMAKE_SOURCE_DIR_IPCSDK}/application") # 应用层目录
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set(MIDDLEWARE_SOURCE_PATH "${CMAKE_SOURCE_DIR_IPCSDK}/middleware") # 中间件层目录
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set(UTILS_SOURCE_PATH "${CMAKE_SOURCE_DIR_IPCSDK}/utils") # 工具层目录
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set(HAL_SOURCE_PATH "${CMAKE_SOURCE_DIR_IPCSDK}/hal") # 硬件抽象层目录
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set(TEST_SOURCE_PATH "${CMAKE_SOURCE_DIR_IPCSDK}/test") # 自动化测试代码/example目录
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set(EXTERNAL_SOURCE_PATH "${CMAKE_SOURCE_DIR_IPCSDK}/external") # 外部依赖库目录
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```
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## 1.4. CMakeLists.txt基本语法
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### 1.4.1. 概述
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  概括性描述就是，只需要告诉CMakeLists.txt文件，构建时包含哪些配置文件，依赖的头文件目录，需要编译的源码文件，依赖的目标目录（如有），输出的目标，依赖的目标（一般是库），CMakeLists.txt即可生成一个Makefile代码来构建这个目标。
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  整个SDK由很多的CMakeLists.txt文件组成，绝大多数的CMakeLists.txt文件负责把该目录的源码编译成一个库，SDK通过链接不同功能的库来构建不同的应用程序。
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```code
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./application/CMakeLists.txt
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./application/HuntingCamera/CMakeLists.txt
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./CMakeLists.txt
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./hal/CMakeLists.txt
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./middleware/AppManager/CMakeLists.txt
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./middleware/CMakeLists.txt
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./test/all/CMakeLists.txt
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./test/application/CMakeLists.txt
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./test/application/HuntingCamera/CMakeLists.txt
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./test/application/MissionManager/CMakeLists.txt
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./test/application/MissionManager/tool/CMakeLists.txt
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./test/application/VersionReleaseTool/CMakeLists.txt
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./test/CMakeLists.txt
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./test/hal/CMakeLists.txt
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./test/hal/tool/CMakeLists.txt
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./test/middleware/AppManager/CMakeLists.txt
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./tools/clang-tidy/CMakeLists.txt
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./utils/CMakeLists.txt
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./utils/Config/CMakeLists.txt
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./utils/ConfigBase/CMakeLists.txt
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```
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### 1.4.2. 一个CMakeLists.txt示例
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  CMakeLists.txt可以通过调用一些shell脚本来完成除编译之外的其它工具，例如：格式化代码。
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```code
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include(${CMAKE_SOURCE_DIR_IPCSDK}/build/global_config.cmake)
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set(EXECUTABLE_OUTPUT_PATH ${EXEC_OUTPUT_PATH}) // 设置可执行文件的输出目录
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set(LIBRARY_OUTPUT_PATH ${LIBS_OUTPUT_PATH}) // 设置库文件的输出目录
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include_directories( // 该目标需要依赖的头文件的目录
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./src
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./include
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${UTILS_SOURCE_PATH}/StatusCode/include
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${UTILS_SOURCE_PATH}/Log/include
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)
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#do not rely on any other library
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#link_directories( // 该目标需要链接依赖的库的目录，因为是目标是库，无需链接，此设置无
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#)
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aux_source_directory(./src SRC_FILES) // 需要编译的源码文件，此处是src目录下的所有文件
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set(TARGET_NAME StatusCode) // 设置输出目标名称
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add_library(${TARGET_NAME} STATIC ${SRC_FILES})
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target_link_libraries(${TARGET_NAME} Log) // 该目标需要依赖的库，这一步很关键，cmake将会根据依赖关系自动去编译需要的依赖库；
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if ("${COMPILE_IMPROVE_SUPPORT}" MATCHES "true")
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add_custom_target( // 静态检测代码
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StatusCode_code_check
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COMMAND ${CLANG_TIDY_EXE}
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-checks='${CLANG_TIDY_CHECKS}'
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--header-filter=.*
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--system-headers=false
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${SRC_FILES}
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${CLANG_TIDY_CONFIG}
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-p ${PLATFORM_PATH}/cmake-shell
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WORKING_DIRECTORY ${UTILS_SOURCE_PATH}/StatusCode
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)
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file(GLOB_RECURSE HEADER_FILES *.h)
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add_custom_target( // 格式化代码
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StatusCode_code_format
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COMMAND ${CLANG_FORMAT_EXE}
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-style=file
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-i ${SRC_FILES} ${HEADER_FILES}
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WORKING_DIRECTORY ${UTILS_SOURCE_PATH}/StatusCode
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)
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add_custom_command(
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TARGET ${TARGET_NAME}
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PRE_BUILD
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COMMAND make StatusCode_code_check
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COMMAND make StatusCode_code_format
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WORKING_DIRECTORY ${PLATFORM_PATH}/cmake-shell/
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)
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endif()
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define_file_name(${TARGET_NAME}) // 该函数实现log库打印时，可打印文件名
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file(GLOB_RECURSE INSTALL_HEADER_FILES include/*.h)
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install(FILES ${INSTALL_HEADER_FILES} DESTINATION include) // 拷贝头文件到安装目录
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```
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### 1.4.3. 通过CMakeLists.txt构建开源库
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  通过CMakeLists.txt构建开源库，可以自动关联第三方的依赖库，编译的时候自动按需编译对应的开源库。
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```code
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include(${CMAKE_SOURCE_DIR_IPCSDK}/build/global_config.cmake)
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include(build/config_base.cmake)
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set(EXECUTABLE_OUTPUT_PATH ${EXEC_OUTPUT_PATH})
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set(LIBRARY_OUTPUT_PATH ${LIBS_OUTPUT_PATH})
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include_directories(
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./src
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./include
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${UTILS_SOURCE_PATH}/StatusCode/include
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${UTILS_SOURCE_PATH}/Log/include
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${EXTERNAL_SOURCE_PATH}/libconfig/libconfig-1.7.3/lib
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)
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# link_directories(
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# ${EXTERNAL_SOURCE_PATH}/libconfig/libconfig-1.7.3/lib/.libs
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# )
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aux_source_directory(./src SRC_FILES)
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set(TARGET_NAME ConfigBase)
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add_library(${TARGET_NAME} STATIC ${SRC_FILES})
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target_link_libraries(${TARGET_NAME} StatusCode Log libconfig.a)
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if ("${COMPILE_IMPROVE_SUPPORT}" MATCHES "true")
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add_custom_target(
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ConfigBase_code_check
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COMMAND ${CLANG_TIDY_EXE}
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-checks='${CLANG_TIDY_CHECKS}'
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--header-filter=.*
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--system-headers=false
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${SRC_FILES}
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${CLANG_TIDY_CONFIG}
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-p ${PLATFORM_PATH}/cmake-shell
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WORKING_DIRECTORY ${UTILS_SOURCE_PATH}/ConfigBase
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)
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add_custom_command(
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TARGET ${TARGET_NAME}
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PRE_BUILD
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COMMAND make ConfigBase_code_check
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WORKING_DIRECTORY ${PLATFORM_PATH}/cmake-shell/
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)
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file(GLOB_RECURSE HEADER_FILES *.h)
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add_custom_target(
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ConfigBase_code_format
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COMMAND ${CLANG_FORMAT_EXE}
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-style=file
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-i ${SRC_FILES} ${HEADER_FILES}
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WORKING_DIRECTORY ${UTILS_SOURCE_PATH}/ConfigBase
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)
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add_custom_command(
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TARGET ${TARGET_NAME}
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PRE_BUILD
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COMMAND make ConfigBase_code_check
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COMMAND make ConfigBase_code_format
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WORKING_DIRECTORY ${PLATFORM_PATH}/cmake-shell/
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)
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endif()
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# build libconfig before make libConfigBase.a
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add_custom_command(
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# OUTPUT ${EXTERNAL_SOURCE_PATH}/libconfig/libconfig-1.7.3/lib/.libs/libconfig.a
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OUTPUT ${EXTERNAL_LIBS_OUTPUT_PATH}/libconfig.a // 创建这个开源库输出文件的生成方法
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COMMAND echo "Build libconfig-1.7.3. COMPILE_HOST = ${COMPILE_HOST}"
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# COMMAND tar zxvf libconfig-1.7.3.tar.gz
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COMMAND sh build_libconfig.sh ${TARGET_PLATFORM} ${COMPILE_HOST}
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# 把生成的开源库拷贝到输出目录
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COMMAND mv ${EXTERNAL_SOURCE_PATH}/libconfig/libconfig-1.7.3/lib/.libs/libconfig.a ${EXTERNAL_LIBS_OUTPUT_PATH}/libconfig.a
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WORKING_DIRECTORY ${EXTERNAL_SOURCE_PATH}/libconfig/
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)
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add_custom_target(
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libconfig.a // 创建一个库目标
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# DEPENDS ${EXTERNAL_SOURCE_PATH}/libconfig/libconfig-1.7.3/lib/.libs/libconfig.a
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DEPENDS ${EXTERNAL_LIBS_OUTPUT_PATH}/libconfig.a // 这个目标依赖开源库的编译输出文件
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)
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define_file_name(${TARGET_NAME})
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config_owner(${TARGET_NAME})
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file(GLOB_RECURSE INSTALL_HEADER_FILES include/*.h)
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install(FILES ${INSTALL_HEADER_FILES} DESTINATION include)
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```
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