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SITL sihsim make airframes simulator specific

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This commit is contained in:
Daniel Agar
2023-01-04 17:44:03 -05:00
parent 95a6eba36c
commit 75125da34c
7 changed files with 46 additions and 11 deletions
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src/modules/simulation/simulator_sih/CMakeLists.txt
+37 -1
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@@ -54,9 +54,45 @@ if(PX4_PLATFORM MATCHES "posix")
xvert
)
# find corresponding airframes
file(GLOB sihsim_airframes
RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_sihsim_*
)
# remove any .post files
foreach(sihsim_airframe IN LISTS sihsim_airframes)
if(sihsim_airframe MATCHES ".post")
list(REMOVE_ITEM sihsim_airframes ${sihsim_airframe})
endif()
endforeach()
list(REMOVE_DUPLICATES sihsim_airframes)
foreach(model ${models})
# match model to airframe
set(airframe_model_only)
set(airframe_sys_autostart)
set(sihsim_airframe_found)
foreach(sihsim_airframe IN LISTS sihsim_airframes)
string(REGEX REPLACE ".*_sihsim_" "" airframe_model_only ${sihsim_airframe})
string(REGEX REPLACE "_sihsim_.*" "" airframe_sys_autostart ${sihsim_airframe})
if(model STREQUAL ${airframe_model_only})
set(sihsim_airframe_found ${sihsim_airframe})
break()
endif()
endforeach()
if(sihsim_airframe_found)
#message(STATUS "sihsim model: ${model} (${airframe_model_only}), airframe: ${sihsim_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
else()
message(WARNING "sihsim missing model: ${model} (${airframe_model_only}), airframe: ${sihsim_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
endif()
add_custom_target(sihsim_${model}
COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} PX4_SIMULATOR=sihsim $<TARGET_FILE:px4>
COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=sihsim_${model} PX4_SIMULATOR=sihsim $<TARGET_FILE:px4>
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
DEPENDS px4