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155 lines
4.4 KiB
155 lines
4.4 KiB
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function(px4_add_sitl_app) |
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px4_parse_function_args(NAME px4_add_sitl_app |
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ONE_VALUE APP_NAME MAIN_SRC UPLOAD_NAME |
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REQUIRED APP_NAME MAIN_SRC |
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ARGN ${ARGN} |
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) |
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px4_add_executable(${APP_NAME} |
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${MAIN_SRC} |
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apps.cpp |
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) |
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if (NOT APPLE) |
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target_link_libraries(${APP_NAME} |
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-Wl,--start-group |
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${module_libraries} |
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${df_driver_libs} |
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pthread m rt |
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-Wl,--end-group |
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) |
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else() |
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target_link_libraries(${APP_NAME} |
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${module_libraries} |
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${df_driver_libs} |
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pthread m |
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) |
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endif() |
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endfunction() |
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#============================================================================= |
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# sitl run targets |
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# |
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set(SITL_RUNNER_MAIN_CPP ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp) |
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px4_add_sitl_app(APP_NAME px4 |
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UPLOAD_NAME upload |
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MAIN_SRC ${SITL_RUNNER_MAIN_CPP} |
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) |
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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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# 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/fs/microsd/log logs |
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WORKING_DIRECTORY ${PX4_BINARY_DIR}) |
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add_custom_target(logs_symlink DEPENDS ${PX4_BINARY_DIR}/logs) |
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add_custom_target(run_config |
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COMMAND Tools/sitl_run.sh |
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$<TARGET_FILE:px4> |
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${config_sitl_rcS_dir} |
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${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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SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo |
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CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} |
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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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) |
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set_target_properties(sitl_gazebo PROPERTIES EXCLUDE_FROM_ALL TRUE) |
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ExternalProject_Add_Step(sitl_gazebo forceconfigure |
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DEPENDEES update |
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DEPENDERS configure |
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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 replay) |
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set(debuggers none ide gdb lldb ddd valgrind callgrind) |
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set(models none iris iris_opt_flow iris_rplidar standard_vtol plane solo tailsitter typhoon_h480 rover hippocampus) |
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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 ${models}) |
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if (debugger STREQUAL "none") |
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if (model STREQUAL "none") |
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set(_targ_name "${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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if (debugger STREQUAL "ide" AND viewer STREQUAL "gazebo") |
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set(SITL_RUNNER_SOURCE_DIR ${PX4_SOURCE_DIR}) |
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set(SITL_RUNNER_MODEL_FILE ${PX4_SOURCE_DIR}/${config_sitl_rcS_dir}/${model}) |
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set(SITL_RUNNER_WORKING_DIRECTORY ${SITL_WORKING_DIR}) |
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configure_file(${PX4_SOURCE_DIR}/src/platforms/posix/sitl_runner_main.cpp.in sitl_runner_main_${model}.cpp @ONLY) |
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px4_add_sitl_app(APP_NAME px4_${model} |
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UPLOAD_NAME upload_${model} |
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MAIN_SRC ${CMAKE_CURRENT_BINARY_DIR}/sitl_runner_main_${model}.cpp |
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) |
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set_target_properties(px4_${model} PROPERTIES EXCLUDE_FROM_ALL TRUE) |
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endif() |
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add_custom_target(${_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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${config_sitl_rcS_dir} |
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${debugger} |
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${viewer} |
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${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 |
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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} sitl_gazebo) |
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if (viewer STREQUAL "gazebo") |
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add_dependencies(${_targ_name} px4_${model}) |
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endif() |
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elseif(viewer STREQUAL "jmavsim") |
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add_dependencies(${_targ_name} git_jmavsim) |
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endif() |
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endforeach() |
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endforeach() |
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endforeach() |
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px4_join(OUT posix_vmd_make_target_list LIST ${all_posix_vmd_make_targets} GLUE "\\n") |
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add_custom_target(list_vmd_make_targets |
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COMMAND sh -c "printf \"${posix_vmd_make_target_list}\\n\"" |
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COMMENT "List of acceptable '${CONFIG}' <viewer_model_debugger> targets:" |
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VERBATIM |
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)
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