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