Merge ROS into master

1 files changed, 30 insertions, 7 deletions

diff --git a/Makefile b/Makefile
index b17859705..af93504ee 100644
--- a/Makefile
+++ b/Makefile
@@ -104,13 +104,13 @@ DESIRED_FIRMWARES 	 = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
 STAGED_FIRMWARES	 = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
 FIRMWARES		 = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
 
-all:			checksubmodules $(DESIRED_FIRMWARES)
+all:	$(DESIRED_FIRMWARES)
 
 #
 # Copy FIRMWARES into the image directory.
 #
-# XXX copying the .bin files is a hack to work around the PX4IO uploader 
-#     not supporting .px4 files, and it should be deprecated onced that 
+# XXX copying the .bin files is a hack to work around the PX4IO uploader
+#     not supporting .px4 files, and it should be deprecated onced that
 #     is taken care of.
 #
 $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
@@ -124,7 +124,7 @@ $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
 .PHONY: $(FIRMWARES)
 $(BUILD_DIR)%.build/firmware.px4: config   = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
 $(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
-$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
+$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:	checksubmodules generateuorbtopicheaders
 	@$(ECHO) %%%%
 	@$(ECHO) %%%% Building $(config) in $(work_dir)
 	@$(ECHO) %%%%
@@ -152,7 +152,7 @@ $(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
 # Build the NuttX export archives.
 #
 # Note that there are no explicit dependencies extended from these
-# archives. If NuttX is updated, the user is expected to rebuild the 
+# archives. If NuttX is updated, the user is expected to rebuild the
 # archives/build area manually. Likewise, when the 'archives' target is
 # invoked, all archives are always rebuilt.
 #
@@ -226,6 +226,29 @@ updatesubmodules:
 	$(Q) (git submodule init)
 	$(Q) (git submodule update)
 
+MSG_DIR = $(PX4_BASE)msg
+UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
+MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb
+TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
+MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/nuttx/px4_messages
+MULTIPLATFORM_PREFIX = px4_
+TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
+GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
+GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
+
+.PHONY: generateuorbtopicheaders
+generateuorbtopicheaders:
+	@$(ECHO) "Generating uORB topic headers"
+	$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH) $(PYTHON) \
+		$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
+		-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(UORB_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR))
+	@$(ECHO) "Generating multiplatform uORB topic wrapper headers"
+	$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH) $(PYTHON) \
+		$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
+		-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX))
+# clean up temporary files
+	$(Q) (rm -r $(TOPICHEADER_TEMP_DIR))
+
 #
 # Testing targets
 #
@@ -237,12 +260,12 @@ testbuild:
 # Unittest targets. Builds and runs the host-level
 # unit tests.
 .PHONY: tests
-tests:
+tests:	generateuorbtopicheaders
 	$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) unittests)
 
 #
 # Cleanup targets.  'clean' should remove all built products and force
-# a complete re-compilation, 'distclean' should remove everything 
+# a complete re-compilation, 'distclean' should remove everything
 # that's generated leaving only files that are in source control.
 #
 .PHONY:	clean