mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-05 05:01:36 +08:00
simulation organization and cleanup
- new modules/simulation directory to collect all simulators and related modules - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc - simulation module renamed to simulator_mavlink - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator) - ignition_simulator renamed to simulator_ignition_bridge - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world) - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
This commit is contained in:
Daniel Agar
@@ -1,418 +0,0 @@
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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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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 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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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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)
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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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iris
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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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omnicopter
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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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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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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(${_targ_name} px4 git_jmavsim)
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endif()
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else()
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if(viewer STREQUAL "gazebo")
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if(debugger STREQUAL "none")
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if(model STREQUAL "none")
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set(_targ_name "${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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# create targets for sihsim
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set(models_sih
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none
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airplane
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quadx
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xvert
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)
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set(worlds_sih
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none
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)
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foreach(debugger ${debuggers})
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foreach(model ${models_sih})
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foreach(world ${worlds_sih})
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if(world STREQUAL "none")
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if(debugger STREQUAL "none")
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if(model STREQUAL "none")
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set(_targ_name "sihsim")
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else()
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set(_targ_name "sihsim_${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 "sihsim__${debugger}_${world}")
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else()
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set(_targ_name "sihsim_${model}_${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} sihsim ${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 ${_targ_name})
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else()
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if(debugger STREQUAL "none")
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if(model STREQUAL "none")
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set(_targ_name "sihsim___${world}")
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else()
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set(_targ_name "sihsim_${model}__${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 "sihsim___${debugger}_${world}")
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else()
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set(_targ_name "sihsim_${model}_${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} sihsim ${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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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-g2
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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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# Ignition Gazebo
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add_custom_target(ignition_x3
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> none ignition x3 empty ${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_custom_target(ignition_x4
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh $<TARGET_FILE:px4> none ignition x4 empty ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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USES_TERMINAL
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||||
DEPENDS logs_symlink
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)
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|
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string(REPLACE ";" "," posix_vmd_make_target_list "${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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@@ -121,16 +121,9 @@ sanitizer_fail_test_on_error(sitl-imu_filtering)
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# Dynamic module loading test
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add_test(NAME dyn
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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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none
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test_dyn_hello
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none
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${PX4_SOURCE_DIR}
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${PX4_BINARY_DIR}
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$<TARGET_FILE:examples__dyn_hello>
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WORKING_DIRECTORY ${SITL_WORKING_DIR})
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COMMAND $<TARGET_FILE:px4> -s "${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_dyn_hello"
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WORKING_DIRECTORY ${PX4_BINARY_DIR}/src/examples/dyn_hello
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)
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set_tests_properties(dyn PROPERTIES PASS_REGULAR_EXPRESSION "1: PASSED")
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sanitizer_fail_test_on_error(dyn)
|
||||
|
||||
|
||||
Reference in New Issue
Block a user