Teach the PX4 build system how to handle pre-built libraries.

1 files changed, 62 insertions, 14 deletions

diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index 497e79237..6b09e6ec3 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -180,18 +180,6 @@ EXTRA_CLEANS		 =
 # Modules
 ################################################################################
 
-#
-# We don't actually know what a module is called; all we have is a path fragment
-# that we can search for, and where we expect to find a module.mk file.
-#
-# As such, we replicate the successfully-found path inside WORK_DIR for the
-# module's build products in order to keep modules separated from each other.
-#
-# XXX If this becomes unwieldy or breaks for other reasons, we will need to 
-#     move to allocating directory names and keeping tabs on makefiles via
-#     the directory name. That will involve arithmetic (it'd probably be time
-#     for GMSL).
-
 # where to look for modules
 MODULE_SEARCH_DIRS	+= $(WORK_DIR) $(MODULE_SRC) $(PX4_MODULE_SRC)
 
@@ -249,6 +237,66 @@ $(MODULE_CLEANS):
 	clean
 
 ################################################################################
+# Libraries
+################################################################################
+
+# where to look for libraries
+LIBRARY_SEARCH_DIRS	+= $(WORK_DIR) $(MODULE_SRC) $(PX4_MODULE_SRC)
+
+# sort and unique the library list
+LIBRARIES		:= $(sort $(LIBRARIES))
+
+# locate the first instance of a library by full path or by looking on the
+# library search path
+define LIBRARY_SEARCH
+	$(firstword $(abspath $(wildcard $(1)/library.mk)) \
+		$(abspath $(foreach search_dir,$(LIBRARY_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/library.mk))) \
+		MISSING_$1)
+endef
+
+# make a list of library makefiles and check that we found them all
+LIBRARY_MKFILES		:= $(foreach library,$(LIBRARIES),$(call LIBRARY_SEARCH,$(library)))
+MISSING_LIBRARIES	:= $(subst MISSING_,,$(filter MISSING_%,$(LIBRARY_MKFILES)))
+ifneq ($(MISSING_LIBRARIES),)
+$(error Can't find library(s): $(MISSING_LIBRARIES))
+endif
+
+# Make a list of the archive files we expect to build from libraries
+# Note that this path will typically contain a double-slash at the WORK_DIR boundary; this must be
+# preserved as it is used below to get the absolute path for the library.mk file correct.
+#
+LIBRARY_LIBS		:= $(foreach path,$(dir $(LIBRARY_MKFILES)),$(WORK_DIR)$(path)library.a)
+
+# rules to build module objects
+.PHONY: $(LIBRARY_LIBS)
+$(LIBRARY_LIBS):	relpath = $(patsubst $(WORK_DIR)%,%,$@)
+$(LIBRARY_LIBS):	mkfile = $(patsubst %library.a,%library.mk,$(relpath))
+$(LIBRARY_LIBS):	workdir = $(@D)
+$(LIBRARY_LIBS):	$(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
+	$(Q) $(MKDIR) -p $(workdir)
+	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)library.mk \
+		-C $(workdir) \
+		LIBRARY_WORK_DIR=$(workdir) \
+		LIBRARY_LIB=$@ \
+		LIBRARY_MK=$(mkfile) \
+		LIBRARY_NAME=$(lastword $(subst /, ,$(workdir))) \
+		library
+
+# make a list of phony clean targets for modules
+LIBRARY_CLEANS		:= $(foreach path,$(dir $(LIBRARY_MKFILES)),$(WORK_DIR)$(path)/clean)
+
+# rules to clean modules
+.PHONY: $(LIBRARY_CLEANS)
+$(LIBRARY_CLEANS):	relpath = $(patsubst $(WORK_DIR)%,%,$@)
+$(LIBRARY_CLEANS):	mkfile = $(patsubst %clean,%library.mk,$(relpath))
+$(LIBRARY_CLEANS):
+	@$(ECHO) %% cleaning using $(mkfile)
+	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)library.mk \
+	LIBRARY_WORK_DIR=$(dir $@) \
+	LIBRARY_MK=$(mkfile) \
+	clean
+
+################################################################################
 # NuttX libraries and paths
 ################################################################################
 
@@ -420,8 +468,8 @@ $(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
 $(PRODUCT_BIN):		$(PRODUCT_ELF)
 	$(call SYM_TO_BIN,$<,$@)
 
-$(PRODUCT_ELF):		$(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
-	$(call LINK,$@,$(OBJS) $(MODULE_OBJS))
+$(PRODUCT_ELF):		$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
+	$(call LINK,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
 
 #
 # Utility rules