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357 lines
9.6 KiB
357 lines
9.6 KiB
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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) |
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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 $<TARGET_FILE:px4> ${config_sitl_debugger} ${config_sitl_viewer} ${config_sitl_model} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR} |
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WORKING_DIRECTORY ${SITL_WORKING_DIR} |
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USES_TERMINAL |
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DEPENDS px4 logs_symlink |
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) |
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px4_add_git_submodule(TARGET git_jmavsim PATH "${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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# Estimate an appropriate number of parallel jobs |
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cmake_host_system_information(RESULT AVAILABLE_PHYSICAL_MEMORY QUERY AVAILABLE_PHYSICAL_MEMORY) |
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cmake_host_system_information(RESULT NUMBER_OF_LOGICAL_CORES QUERY NUMBER_OF_LOGICAL_CORES) |
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set(parallel_jobs 1) |
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if(NOT NUMBER_OF_LOGICAL_CORES) |
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include(ProcessorCount) |
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ProcessorCount(NUMBER_OF_LOGICAL_CORES) |
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endif() |
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if(NOT AVAILABLE_PHYSICAL_MEMORY AND NUMBER_OF_LOGICAL_CORES GREATER_EQUAL 4) |
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# Memory estimate unavailable, use N-2 jobs |
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math(EXPR parallel_jobs "${NUMBER_OF_LOGICAL_CORES} - 2") |
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endif() |
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if (AVAILABLE_PHYSICAL_MEMORY) |
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# Allow an additional job for every 1.5GB of available physical memory |
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math(EXPR parallel_jobs "${AVAILABLE_PHYSICAL_MEMORY}/(3*1024/2)") |
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else() |
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set(AVAILABLE_PHYSICAL_MEMORY "?") |
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endif() |
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if(parallel_jobs GREATER NUMBER_OF_LOGICAL_CORES) |
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set(parallel_jobs ${NUMBER_OF_LOGICAL_CORES}) |
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endif() |
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if(parallel_jobs LESS 1) |
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set(parallel_jobs 1) |
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endif() |
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message(DEBUG "${NUMBER_OF_LOGICAL_CORES} logical cores detected and ${AVAILABLE_PHYSICAL_MEMORY} megabytes of memory available. |
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Limiting sitl_gazebo and simulation-ignition concurrent jobs to ${parallel_jobs}") |
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# project to build sitl_gazebo if necessary |
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px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/sitl_gazebo") |
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ExternalProject_Add(sitl_gazebo |
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SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo |
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CMAKE_ARGS |
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-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} |
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-DSEND_ODOMETRY_DATA=ON |
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-DGENERATE_ROS_MODELS=ON |
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BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo |
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INSTALL_COMMAND "" |
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DEPENDS git_gazebo |
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USES_TERMINAL_CONFIGURE true |
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USES_TERMINAL_BUILD true |
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EXCLUDE_FROM_ALL true |
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BUILD_ALWAYS 1 |
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BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${parallel_jobs} |
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) |
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px4_add_git_submodule(TARGET git_ign_gazebo PATH "${PX4_SOURCE_DIR}/Tools/simulation-ignition") |
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ExternalProject_Add(simulation-ignition |
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SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation-ignition |
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CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} |
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BINARY_DIR ${PX4_BINARY_DIR}/build_ign_gazebo |
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INSTALL_COMMAND "" |
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DEPENDS git_ign_gazebo |
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USES_TERMINAL_CONFIGURE true |
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USES_TERMINAL_BUILD true |
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EXCLUDE_FROM_ALL true |
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BUILD_ALWAYS 1 |
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BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${parallel_jobs} |
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) |
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ExternalProject_Add(mavsdk_tests |
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SOURCE_DIR ${PX4_SOURCE_DIR}/test/mavsdk_tests |
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CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} |
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BINARY_DIR ${PX4_BINARY_DIR}/mavsdk_tests |
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INSTALL_COMMAND "" |
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USES_TERMINAL_CONFIGURE true |
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USES_TERMINAL_BUILD true |
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EXCLUDE_FROM_ALL true |
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BUILD_ALWAYS 1 |
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) |
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px4_add_git_submodule(TARGET git_flightgear_bridge PATH "${PX4_SOURCE_DIR}/Tools/flightgear_bridge") |
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ExternalProject_Add(flightgear_bridge |
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SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/flightgear_bridge |
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CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} |
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BINARY_DIR ${PX4_BINARY_DIR}/build_flightgear_bridge |
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INSTALL_COMMAND "" |
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DEPENDS git_flightgear_bridge |
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USES_TERMINAL_CONFIGURE true |
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USES_TERMINAL_BUILD true |
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EXCLUDE_FROM_ALL true |
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BUILD_ALWAYS 1 |
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) |
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px4_add_git_submodule(TARGET git_jsbsim_bridge PATH "${PX4_SOURCE_DIR}/Tools/jsbsim_bridge") |
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ExternalProject_Add(jsbsim_bridge |
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SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/jsbsim_bridge |
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CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} |
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BINARY_DIR ${PX4_BINARY_DIR}/build_jsbsim_bridge |
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INSTALL_COMMAND "" |
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DEPENDS git_jsbsim_bridge |
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USES_TERMINAL_CONFIGURE true |
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USES_TERMINAL_BUILD true |
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EXCLUDE_FROM_ALL true |
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BUILD_ALWAYS 1 |
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) |
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# create targets for each viewer/model/debugger combination |
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set(viewers |
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none |
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jmavsim |
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gazebo |
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ignition |
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) |
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set(debuggers |
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none |
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gdb |
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lldb |
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valgrind |
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callgrind |
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) |
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set(models |
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none |
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believer |
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boat |
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cloudship |
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glider |
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if750a |
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iris |
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iris_ctrlalloc |
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iris_dual_gps |
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iris_foggy_lidar |
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iris_irlock |
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iris_obs_avoid |
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iris_opt_flow |
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iris_opt_flow_mockup |
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iris_rplidar |
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iris_vision |
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nxp_cupcar |
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plane |
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plane_cam |
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plane_catapult |
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plane_lidar |
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px4vision |
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r1_rover |
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rover |
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shell |
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solo |
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standard_vtol |
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standard_vtol_drop |
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tailsitter |
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techpod |
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tiltrotor |
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typhoon_h480 |
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typhoon_h480_ctrlalloc |
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uuv_bluerov2_heavy |
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uuv_hippocampus |
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) |
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set(worlds |
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none |
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baylands |
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empty |
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ksql_airport |
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mcmillan_airfield |
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sonoma_raceway |
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warehouse |
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windy |
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yosemite |
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) |
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set(all_posix_vmd_make_targets) |
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foreach(viewer ${viewers}) |
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foreach(debugger ${debuggers}) |
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foreach(model ${models}) |
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foreach(world ${worlds}) |
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if(world STREQUAL "none") |
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if(debugger STREQUAL "none") |
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if(model STREQUAL "none") |
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set(_targ_name "${viewer}") |
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else() |
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set(_targ_name "${viewer}_${model}") |
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endif() |
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else() |
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if(model STREQUAL "none") |
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set(_targ_name "${viewer}___${debugger}") |
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else() |
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set(_targ_name "${viewer}_${model}_${debugger}") |
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endif() |
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endif() |
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add_custom_target(${_targ_name} |
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${viewer} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR} |
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WORKING_DIRECTORY ${SITL_WORKING_DIR} |
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USES_TERMINAL |
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DEPENDS logs_symlink |
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) |
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list(APPEND all_posix_vmd_make_targets ${_targ_name}) |
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if(viewer STREQUAL "gazebo") |
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add_dependencies(${_targ_name} px4 sitl_gazebo) |
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elseif(viewer STREQUAL "jmavsim") |
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add_dependencies(${_targ_name} px4 git_jmavsim) |
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elseif(viewer STREQUAL "ignition") |
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add_dependencies(${_targ_name} px4 simulation-ignition) |
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endif() |
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else() |
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if(viewer STREQUAL "gazebo") |
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if(debugger STREQUAL "none") |
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if(model STREQUAL "none") |
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set(_targ_name "${viewer}___${world}") |
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else() |
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set(_targ_name "${viewer}_${model}__${world}") |
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endif() |
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else() |
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if(model STREQUAL "none") |
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set(_targ_name "${viewer}__${debugger}_${world}") |
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else() |
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set(_targ_name "${viewer}_${model}_${debugger}_${world}") |
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endif() |
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endif() |
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add_custom_target(${_targ_name} |
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> ${debugger} ${viewer} ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR} |
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WORKING_DIRECTORY ${SITL_WORKING_DIR} |
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USES_TERMINAL |
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DEPENDS logs_symlink |
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) |
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list(APPEND all_posix_vmd_make_targets ${_targ_name}) |
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add_dependencies(${_targ_name} px4 sitl_gazebo) |
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endif() |
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endif() |
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endforeach() |
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endforeach() |
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endforeach() |
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endforeach() |
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# create targets for jsbsim |
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set(models_jsbsim |
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none |
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rascal |
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quadrotor_x |
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hexarotor_x |
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malolo |
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) |
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set(worlds_jsbsim |
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none |
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LSZH |
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) |
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foreach(debugger ${debuggers}) |
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foreach(model ${models_jsbsim}) |
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foreach(world ${worlds_jsbsim}) |
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if(world STREQUAL "none") |
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if(debugger STREQUAL "none") |
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if(model STREQUAL "none") |
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set(_targ_name "jsbsim") |
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else() |
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set(_targ_name "jsbsim_${model}") |
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endif() |
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else() |
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if(model STREQUAL "none") |
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set(_targ_name "jsbsim__${debugger}_${world}") |
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else() |
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set(_targ_name "jsbsim_${model}_${debugger}_${world}") |
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endif() |
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endif() |
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add_custom_target(${_targ_name} |
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> ${debugger} jsbsim ${model} "LSZH" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR} |
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WORKING_DIRECTORY ${SITL_WORKING_DIR} |
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USES_TERMINAL |
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DEPENDS logs_symlink |
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) |
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list(APPEND all_posix_vmd_make_targets ${_targ_name}) |
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add_dependencies(${_targ_name} px4 jsbsim_bridge) |
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else() |
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if(debugger STREQUAL "none") |
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if(model STREQUAL "none") |
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set(_targ_name "jsbsim___${world}") |
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else() |
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set(_targ_name "jsbsim_${model}__${world}") |
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endif() |
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else() |
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if(model STREQUAL "none") |
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set(_targ_name "jsbsim___${debugger}_${world}") |
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else() |
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set(_targ_name "jsbsim_${model}_${debugger}_${world}") |
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endif() |
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endif() |
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add_custom_target(${_targ_name} |
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> ${debugger} jsbsim ${model} ${world} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR} |
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WORKING_DIRECTORY ${SITL_WORKING_DIR} |
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USES_TERMINAL |
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DEPENDS logs_symlink |
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) |
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list(APPEND all_posix_vmd_make_targets ${_targ_name}) |
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add_dependencies(${_targ_name} px4 jsbsim_bridge) |
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endif() |
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endforeach() |
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endforeach() |
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endforeach() |
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# add flighgear targets |
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if(ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no") |
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set(models |
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rascal |
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rascal-electric |
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tf-g1 |
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tf-r1 |
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) |
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set(all_posix_vmd_make_targets) |
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foreach(model ${models}) |
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set(_targ_name "flightgear_${model}") |
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add_custom_target(${_targ_name} |
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> none flightgear ${model} none ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR} |
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WORKING_DIRECTORY ${SITL_WORKING_DIR} |
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USES_TERMINAL |
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DEPENDS logs_symlink |
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) |
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add_dependencies(${_targ_name} px4 flightgear_bridge) |
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list(APPEND all_posix_vmd_make_targets ${_targ_name}) |
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endforeach() |
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endif() |
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string(REPLACE ";" "," posix_vmd_make_target_list "${all_posix_vmd_make_targets}") |
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add_custom_target(list_vmd_make_targets |
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COMMAND sh -c "printf \"${posix_vmd_make_target_list}\\n\"" |
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COMMENT "List of acceptable '${PX4_BOARD}' <viewer_model_debugger> targets:" |
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VERBATIM |
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)
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