mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-15 18:03:35 +08:00
Implement the way to run posix simulator directly from IDE without the need to reconfigure command lines, but use runner created via CMake
Steps to debug: * Run gazebo (or any other sim) server and client viewers via the terminal: `make posix_sitl_default gazebo_none_ide` * In your IDE select `px4_<mode>` target you want to debug (e.g. `px4_iris`) * Start debug session directly from IDE This approach significantly reduces the debug cycle time because simulator (e.g. gazebo) is always running in background and you only re-run px4 process which is very light.
This commit is contained in:
Anton Matosov
committed by
Lorenz Meier
Lorenz Meier
parent
b79e4ab506
commit
6d3116e30b
@@ -4,122 +4,137 @@ 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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include(fastrpc)
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include(linux_app)
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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 ${ARGN})
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FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
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if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
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set(CMAKE_C_FLAGS "${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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${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
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apps.cpp
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LINK_LIBS
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-Wl,--start-group
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${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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include(fastrpc)
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include(linux_app)
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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 ${CMAKE_CURRENT_BINARY_DIR}/px4
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FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
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set(CMAKE_C_FLAGS "${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 px4
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DEST /home/linaro)
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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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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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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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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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${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
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apps.cpp
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)
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if (NOT APPLE)
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target_link_libraries(px4
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target_link_libraries(${APP_NAME}
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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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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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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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${MAIN_SRC}
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apps.cpp
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)
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if (NOT APPLE)
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target_link_libraries(${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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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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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 ${SITL_RUNNER_MAIN_CPP}
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)
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if (NOT APPLE)
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target_link_libraries(px4
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-Wl,--start-group
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${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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@@ -152,7 +167,7 @@ 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 gdb lldb ddd valgrind)
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set(debuggers none ide 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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@@ -171,6 +186,20 @@ 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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