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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Revert "Implement the way to run posix simulator directly from IDE without the need to reconfigure command lines, but use runner created via CMake"
This reverts commit fff493474356f34c32075cc4f67e50d787efa7a2.
This commit is contained in:
Lorenz Meier
parent
4cb9903561
commit
1926c7bca7
@ -135,15 +135,6 @@ then
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elif [ "$debugger" == "valgrind" ]
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then
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valgrind $sitl_command
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elif [ "$debugger" == "ide" ]
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then
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echo "######################################################################"
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echo
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echo "PX4 simulator not started, use your IDE to start PX4_${model} target."
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echo "Hit enter to quit..."
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echo
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echo "######################################################################"
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read
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else
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$sitl_command
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fi
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@ -4,137 +4,122 @@ px4_posix_generate_builtin_commands(
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OUT apps
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MODULE_LIST ${module_libraries})
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if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
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function(px4_add_sitl_app)
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px4_parse_function_args(
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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 ${ARGN})
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include(fastrpc)
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include(linux_app)
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if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
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FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
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include(fastrpc)
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include(linux_app)
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FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes -Wno-missing-declarations")
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LINUX_APP(
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APP_NAME ${APP_NAME}
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IDL_NAME px4muorb
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APPS_DEST "/home/linaro"
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SOURCES
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px4muorb_stub.c
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${MAIN_SRC}
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apps.cpp
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LINK_LIBS
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-Wl,--start-group
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${module_libraries}
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${df_driver_libs}
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${FASTRPC_ARM_LIBS}
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pthread m rt
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-Wl,--end-group
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)
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px4_add_adb_push(OUT ${UPLOAD_NAME}
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OS ${OS}
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BOARD ${BOARD}
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FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
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${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
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DEPENDS ${APP_NAME}
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DEST /home/linaro)
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elseif ("${BOARD}" STREQUAL "rpi")
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px4_add_executable(${APP_NAME}
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${MAIN_SRC}
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes -Wno-missing-declarations")
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LINUX_APP(
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APP_NAME px4
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IDL_NAME px4muorb
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APPS_DEST "/home/linaro"
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SOURCES
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px4muorb_stub.c
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${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
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apps.cpp
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)
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target_link_libraries(${APP_NAME}
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LINK_LIBS
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-Wl,--start-group
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${module_libraries}
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${df_driver_libs}
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${FASTRPC_ARM_LIBS}
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pthread m rt
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-Wl,--end-group
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)
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px4_add_adb_push(OUT upload
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OS ${OS}
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BOARD ${BOARD}
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FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
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${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
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DEPENDS px4
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DEST /home/linaro)
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elseif ("${BOARD}" STREQUAL "rpi")
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px4_add_executable(px4
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${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
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apps.cpp
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)
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target_link_libraries(px4
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-Wl,--start-group
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${module_libraries}
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df_driver_framework
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${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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file(GLOB RPI_CONFIG_FILES ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config)
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px4_add_scp_push(OUT upload
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OS ${OS}
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BOARD ${BOARD}
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FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
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${RPI_CONFIG_FILES}
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${PX4_SOURCE_DIR}/ROMFS
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DEPENDS px4
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DEST /home/pi)
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elseif ("${BOARD}" STREQUAL "bebop")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -static")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
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px4_add_executable(px4
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${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
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apps.cpp
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)
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if (NOT APPLE)
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target_link_libraries(px4
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-Wl,--start-group
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${module_libraries}
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df_driver_framework
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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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file(GLOB RPI_CONFIG_FILES ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config)
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px4_add_scp_push(OUT ${UPLOAD_NAME}
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OS ${OS}
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BOARD ${BOARD}
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FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
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${RPI_CONFIG_FILES}
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${PX4_SOURCE_DIR}/ROMFS
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DEPENDS ${APP_NAME}
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DEST /home/pi)
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elseif ("${BOARD}" STREQUAL "bebop")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -static")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
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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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px4_add_adb_push_to_bebop(OUT ${UPLOAD_NAME}
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OS ${OS}
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BOARD ${BOARD}
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FILES ${CMAKE_CURRENT_BINARY_DIR}/${APP_NAME}
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DEPENDS ${APP_NAME}
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DEST /usr/bin)
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else()
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px4_add_executable(${APP_NAME}
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${MAIN_SRC}
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apps.cpp
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target_link_libraries(px4
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${module_libraries}
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${df_driver_libs}
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pthread m
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)
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if (NOT APPLE)
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target_link_libraries(${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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endif()
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endfunction()
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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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px4_add_adb_push_to_bebop(OUT upload
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OS ${OS}
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BOARD ${BOARD}
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FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
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DEPENDS px4
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DEST /usr/bin)
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else()
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px4_add_executable(px4
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${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
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apps.cpp
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)
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if (NOT APPLE)
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target_link_libraries(px4
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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(px4
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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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endif()
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#=============================================================================
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# sitl run targets
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#
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@ -167,7 +152,7 @@ set_target_properties(sitl_gazebo PROPERTIES EXCLUDE_FROM_ALL TRUE)
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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)
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set(debuggers none gdb lldb ddd valgrind)
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set(models none iris iris_opt_flow tailsitter standard_vtol plane solo typhoon_h480)
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set(all_posix_vmd_make_targets)
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foreach(viewer ${viewers})
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@ -186,20 +171,6 @@ foreach(viewer ${viewers})
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set(_targ_name "${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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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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@ -286,13 +286,7 @@ static void set_cpu_scaling()
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#endif
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}
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#ifdef __PX4_SITL_MAIN_OVERRIDE
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int SITL_MAIN(int argc, char **argv);
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int SITL_MAIN(int argc, char **argv)
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#else
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int main(int argc, char **argv)
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#endif
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{
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bool daemon_mode = false;
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bool chroot_on = false;
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@ -1,53 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2015 Anton Matosov. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file sitl_runner_main.cpp
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* Basic shell to execute px4 with specific model
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*
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* @author Anton Matosov <anton.matosov@gmail.com>
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*/
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#include <unistd.h>
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#define __PX4_SITL_MAIN_OVERRIDE
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#include "@SITL_RUNNER_MAIN_CPP@"
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int main(int argc, const char **argv)
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{
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if (chdir("@SITL_RUNNER_WORKING_DIRECTORY@") != 0) {
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PX4_ERR("Failed to change current directory to @SITL_RUNNER_WORKING_DIRECTORY@. error %i", errno);
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return errno;
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}
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const char *argsOverride[] = {argv[0], "@SITL_RUNNER_SOURCE_DIR@", "@SITL_RUNNER_MODEL_FILE@"};
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return SITL_MAIN(sizeof(argsOverride) / sizeof(argsOverride[0]), (char**)argsOverride);
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}
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