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290 lines
8.0 KiB
290 lines
8.0 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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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 "${PX4_SOURCE_DIR}/Tools/jMAVSim") |
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px4_add_git_submodule(TARGET git_flightgear_bridge PATH "${PX4_SOURCE_DIR}/Tools/flightgear_bridge") |
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px4_add_git_submodule(TARGET git_jsbsim_bridge PATH "${PX4_SOURCE_DIR}/Tools/jsbsim_bridge") |
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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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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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BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo |
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INSTALL_COMMAND "" |
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DEPENDS |
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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> |
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) |
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ExternalProject_Add(mavsdk_tests |
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SOURCE_DIR ${PX4_SOURCE_DIR}/test/mavsdk_tests |
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CMAKE_ARGS |
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-DCMAKE_INSTALL_PREFIX=${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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ExternalProject_Add(flightgear_bridge |
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SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/flightgear_bridge |
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CMAKE_ARGS |
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-DCMAKE_INSTALL_PREFIX=${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 |
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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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ExternalProject_Add(jsbsim_bridge |
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SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/jsbsim_bridge |
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CMAKE_ARGS |
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-DCMAKE_INSTALL_PREFIX=${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 |
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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 none jmavsim gazebo) |
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set(debuggers none ide gdb lldb ddd valgrind callgrind) |
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set(models none shell |
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if750a iris iris_dual_gps iris_opt_flow iris_opt_flow_mockup iris_vision iris_rplidar iris_irlock iris_obs_avoid iris_rtps px4vision solo typhoon_h480 |
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plane plane_cam plane_catapult plane_lidar techpod |
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standard_vtol tailsitter tiltrotor |
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rover r1_rover boat cloudship |
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uuv_hippocampus uuv_bluerov2_heavy) |
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set(worlds none empty baylands ksql_airport mcmillan_airfield sonoma_raceway warehouse windy) |
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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 ${PX4_SOURCE_DIR}/Tools/sitl_run.sh |
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$<TARGET_FILE:px4> |
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${debugger} |
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${viewer} |
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${model} |
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${world} |
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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 |
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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(${_targ_name} px4 git_jmavsim) |
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endif() |
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else() |
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if (viewer STREQUAL "gazebo") |
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if (debugger STREQUAL "none") |
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if (model STREQUAL "none") |
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set(_targ_name "${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 ${PX4_SOURCE_DIR}/Tools/sitl_run.sh |
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$<TARGET_FILE:px4> |
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${debugger} |
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${viewer} |
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${model} |
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${world} |
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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 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 none rascal quadrotor_x hexarotor_x malolo) |
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set(worlds_jsbsim none LSZH) |
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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 ${PX4_SOURCE_DIR}/Tools/sitl_run.sh |
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$<TARGET_FILE:px4> |
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${debugger} |
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jsbsim |
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${model} |
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"LSZH" |
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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 |
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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 ${PX4_SOURCE_DIR}/Tools/sitl_run.sh |
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$<TARGET_FILE:px4> |
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${debugger} |
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jsbsim |
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${model} |
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${world} |
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${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 |
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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 ${PX4_SOURCE_DIR}/Tools/sitl_run.sh |
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$<TARGET_FILE:px4> |
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none |
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flightgear |
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${model} |
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none |
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${PX4_SOURCE_DIR} |
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${PX4_BINARY_DIR} |
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WORKING_DIRECTORY ${SITL_WORKING_DIR} |
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USES_TERMINAL |
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DEPENDS |
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logs_symlink |
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) |
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add_dependencies(${_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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