Germany/hunting
7
0
Fork 0
Code Issues Pull Requests Actions Packages Projects 1 Releases Wiki Activity
fd9395dd89
hunting/doc/cmake_guide.md
Fancy code 39ab107f7d Improve:include cleaner.
2024-06-17 20:45:59 +08:00

11 KiB
Raw Blame History

1. CMake构建工具使用

  SDK使用CMake工具构建。

1.1. 安装

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。
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。

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。


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

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。

./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。


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。


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)