{
    // See https://go.microsoft.com/fwlink/?LinkId=733558
    // for the documentation about the tasks.json format
    "version": "2.0.0",
    "tasks": [
        {
            "label": "jmavsim build",
            "type": "shell",
            "command": "ant create_run_jar copy_res",
            "options": {
                "cwd": "${workspaceRoot}/Tools/jMAVSim"
            },
            "problemMatcher": [],
            "presentation":{
                "echo": true,
                "reveal": "never",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
                "clear": true
            }
        },
        {
            "label": "jmavsim",
            "type": "shell",
            "dependsOn": "jmavsim build",
            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
            "options": {
                "cwd": "${workspaceRoot}/Tools/jMAVSim/out/production",
                "env": {
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
            "isBackground": true,
            "presentation": {
                "echo": true,
                "reveal": "never",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
                "clear": true
            },
            "problemMatcher": [
                {
                    "pattern": [
                        {
                            "regexp": ".",
                            "file": 1,
                            "location": 2,
                            "message": 3
                        }
                    ],
                    "background": {
                        "activeOnStart": true,
                        "beginsPattern": ".",
                        "endsPattern": ".",
                    }
                }
            ]
        },
        {
            "label": "jmavsim kill",
            "type": "shell",
            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
            "presentation": {
                "echo": false,
                "reveal": "never",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
                "clear": true
            },
            "problemMatcher": []
        },
        {
            "label": "gazebo build",
            "type": "shell",
            "command": "make px4_sitl_default sitl_gazebo",
            "options": {
                "cwd": "${workspaceRoot}"
            },
            "problemMatcher": [],
            "presentation":{
                "echo": true,
                "reveal": "never",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
                "clear": true
            }
        },
        {
            "label": "gazebo iris",
            "type": "shell",
            "dependsOn": "gazebo build",
            "options": {
                "cwd": "${workspaceRoot}",
                "env": {
                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/iris.world",
            "isBackground": true,
            "presentation": {
                "echo": true,
                "reveal": "never",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
                "clear": true
            },
            "problemMatcher": [
                {
                    "pattern": [
                        {
                            "regexp": ".",
                            "file": 1,
                            "location": 2,
                            "message": 3
                        }
                    ],
                    "background": {
                        "activeOnStart": true,
                        "beginsPattern": ".",
                        "endsPattern": ".",
                    }
                }
            ]
        },
        {
            "label": "gazebo plane",
            "type": "shell",
            "dependsOn": "gazebo build",
            "options": {
                "cwd": "${workspaceRoot}",
                "env": {
                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/plane.world",
            "isBackground": true,
            "presentation": {
                "echo": true,
                "reveal": "never",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
                "clear": true
            },
            "problemMatcher": [
                {
                    "pattern": [
                        {
                            "regexp": ".",
                            "file": 1,
                            "location": 2,
                            "message": 3
                        }
                    ],
                    "background": {
                        "activeOnStart": true,
                        "beginsPattern": ".",
                        "endsPattern": ".",
                    }
                }
            ]
        },
        {
            "label": "gazebo standard_vtol",
            "type": "shell",
            "dependsOn": "gazebo build",
            "options": {
                "cwd": "${workspaceRoot}",
                "env": {
                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/standard_vtol.world",
            "isBackground": true,
            "presentation": {
                "echo": true,
                "reveal": "never",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
                "clear": true
            },
            "problemMatcher": [
                {
                    "pattern": [
                        {
                            "regexp": ".",
                            "file": 1,
                            "location": 2,
                            "message": 3
                        }
                    ],
                    "background": {
                        "activeOnStart": true,
                        "beginsPattern": ".",
                        "endsPattern": ".",
                    }
                }
            ]
        },
        {
            "label": "gazebo tailsitter",
            "type": "shell",
            "dependsOn": "gazebo build",
            "options": {
                "cwd": "${workspaceRoot}",
                "env": {
                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
            "command": "gzserver --verbose ${workspaceRoot}/Tools/sitl_gazebo/worlds/tailsitter.world",
            "isBackground": true,
            "presentation": {
                "echo": true,
                "reveal": "never",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
                "clear": true
            },
            "problemMatcher": [
                {
                    "pattern": [
                        {
                            "regexp": ".",
                            "file": 1,
                            "location": 2,
                            "message": 3
                        }
                    ],
                    "background": {
                        "activeOnStart": true,
                        "beginsPattern": ".",
                        "endsPattern": ".",
                    }
                }
            ]
        },
        {
            "label": "gazebo client",
            "type": "shell",
            "dependsOn": "gazebo build",
            "options": {
                "cwd": "${workspaceRoot}",
                "env": {
                    "GAZEBO_PLUGIN_PATH": "${workspaceRoot}/build/px4_sitl_default/build_gazebo",
                    "GAZEBO_MODEL_PATH": "${workspaceRoot}/Tools/sitl_gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
            "command": "gzclient --verbose",
            "isBackground": true,
            "presentation": {
                "echo": true,
                "reveal": "never",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
                "clear": true
            },
            "problemMatcher": [
                {
                    "pattern": [
                        {
                            "regexp": ".",
                            "file": 1,
                            "location": 2,
                            "message": 3
                        }
                    ],
                    "background": {
                        "activeOnStart": true,
                        "beginsPattern": ".",
                        "endsPattern": ".",
                    }
                }
            ]
        },
        {
            "label": "gazebo kill",
            "type": "shell",
            "command": "killall gzserver",
            "presentation": {
                "echo": false,
                "reveal": "never",
                "focus": false,
                "panel": "shared",
                "showReuseMessage": false,
                "clear": true
            },
            "problemMatcher": []
        },
        {
            "label": "mavlink shell",
            "type": "shell",
            "command": "./Tools/mavlink_shell.py",
            "options": {
                "cwd": "${workspaceRoot}"
            },
            "presentation": {
                "echo": true,
                "reveal": "always",
                "focus": true,
                "panel": "new",
                "showReuseMessage": false,
                "clear": false
            },
            "problemMatcher": []
        },
        {
            "label": "miniterm.py",
            "type": "shell",
            "command": "miniterm.py --raw - 57600",
            "options": {
                "cwd": "${workspaceRoot}"
            },
            "presentation": {
                "echo": true,
                "reveal": "always",
                "focus": true,
                "panel": "new",
                "showReuseMessage": false,
                "clear": false
            },
            "problemMatcher": []
        }
    ]
}