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set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/tmp)
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file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
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file(MAKE_DIRECTORY ${SITL_WORKING_DIR}/rootfs)
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# add a symlink to the logs dir to make it easier to find them
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add_custom_command(OUTPUT ${PX4_BINARY_DIR}/logs
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COMMAND ${CMAKE_COMMAND} -E create_symlink ${SITL_WORKING_DIR}/rootfs/log logs
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WORKING_DIRECTORY ${PX4_BINARY_DIR})
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add_custom_target(logs_symlink DEPENDS ${PX4_BINARY_DIR}/logs)
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add_dependencies(px4 logs_symlink)
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add_custom_target(run_config
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COMMAND Tools/sitl_run.sh
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$<TARGET_FILE:px4>
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${config_sitl_debugger}
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${config_sitl_viewer}
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${config_sitl_model}
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${PX4_SOURCE_DIR}
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${PX4_BINARY_DIR}
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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USES_TERMINAL
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DEPENDS px4 logs_symlink
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)
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px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/sitl_gazebo")
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px4_add_git_submodule(TARGET git_jmavsim PATH "${PX4_SOURCE_DIR}/Tools/jMAVSim")
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# Add support for external project building
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include(ExternalProject)
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# project to build sitl_gazebo if necessary
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ExternalProject_Add(sitl_gazebo
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|
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SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo
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|
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CMAKE_ARGS
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|
|
-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
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|
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-DSEND_VISION_ESTIMATION_DATA=ON
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|
|
BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
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|
|
INSTALL_COMMAND ""
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|
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DEPENDS
|
|
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|
|
git_gazebo
|
|
|
|
|
)
|
|
|
|
|
set_target_properties(sitl_gazebo PROPERTIES EXCLUDE_FROM_ALL TRUE)
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|
ExternalProject_Add_Step(sitl_gazebo forceconfigure
|
|
|
|
|
DEPENDEES update
|
|
|
|
|
DEPENDERS configure
|
|
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|
|
ALWAYS 1
|
|
|
|
|
)
|
|
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|
|
|
|
|
# create targets for each viewer/model/debugger combination
|
|
|
|
|
set(viewers none jmavsim gazebo)
|
|
|
|
|
set(debuggers none ide gdb lldb ddd valgrind callgrind)
|
|
|
|
|
set(models none shell
|
|
|
|
|
if750a iris iris_opt_flow iris_vision iris_rplidar iris_irlock iris_obs_avoid solo typhoon_h480
|
|
|
|
|
plane
|
|
|
|
|
standard_vtol tailsitter tiltrotor
|
|
|
|
|
hippocampus rover)
|
|
|
|
|
set(all_posix_vmd_make_targets)
|
|
|
|
|
foreach(viewer ${viewers})
|
|
|
|
|
foreach(debugger ${debuggers})
|
|
|
|
|
foreach(model ${models})
|
|
|
|
|
if (debugger STREQUAL "none")
|
|
|
|
|
if (model STREQUAL "none")
|
|
|
|
|
set(_targ_name "${viewer}")
|
|
|
|
|
else()
|
|
|
|
|
set(_targ_name "${viewer}_${model}")
|
|
|
|
|
endif()
|
|
|
|
|
else()
|
|
|
|
|
if (model STREQUAL "none")
|
|
|
|
|
set(_targ_name "${viewer}___${debugger}")
|
|
|
|
|
else()
|
|
|
|
|
set(_targ_name "${viewer}_${model}_${debugger}")
|
|
|
|
|
endif()
|
|
|
|
|
endif()
|
|
|
|
|
|
|
|
|
|
add_custom_target(${_targ_name}
|
|
|
|
|
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
|
|
|
|
|
$<TARGET_FILE:px4>
|
|
|
|
|
${debugger}
|
|
|
|
|
${viewer}
|
|
|
|
|
${model}
|
|
|
|
|
${PX4_SOURCE_DIR}
|
|
|
|
|
${PX4_BINARY_DIR}
|
|
|
|
|
WORKING_DIRECTORY ${SITL_WORKING_DIR}
|
|
|
|
|
USES_TERMINAL
|
|
|
|
|
DEPENDS
|
|
|
|
|
logs_symlink
|
|
|
|
|
)
|
|
|
|
|
list(APPEND all_posix_vmd_make_targets ${_targ_name})
|
|
|
|
|
if (viewer STREQUAL "gazebo")
|
|
|
|
|
add_dependencies(${_targ_name} px4 sitl_gazebo)
|
|
|
|
|
elseif(viewer STREQUAL "jmavsim")
|
|
|
|
|
add_dependencies(${_targ_name} px4 git_jmavsim)
|
|
|
|
|
endif()
|
|
|
|
|
endforeach()
|
|
|
|
|
endforeach()
|
|
|
|
|
endforeach()
|
|
|
|
|
|
|
|
|
|
string(REPLACE ";" "," posix_vmd_make_target_list "${all_posix_vmd_make_targets}")
|
|
|
|
|
|
|
|
|
|
add_custom_target(list_vmd_make_targets
|
|
|
|
|
COMMAND sh -c "printf \"${posix_vmd_make_target_list}\\n\""
|
|
|
|
|
COMMENT "List of acceptable '${PX4_BOARD}' <viewer_model_debugger> targets:"
|
|
|
|
|
VERBATIM
|
|
|
|
|
)
|
