From 9cb6de80107bbbde5a360248c320171153ab9d2f Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 24 Jan 2023 13:56:24 -0500
Subject: [PATCH] simulation: relax jmavsim java requirements (finding
 vecmath.jar)

---
 .../sitl_targets_jmavsim.cmake                | 65 +++++++++----------
 1 file changed, 29 insertions(+), 36 deletions(-)

diff --git a/src/modules/simulation/simulator_mavlink/sitl_targets_jmavsim.cmake b/src/modules/simulation/simulator_mavlink/sitl_targets_jmavsim.cmake
index 5e175aa454..7585fac325 100644
--- a/src/modules/simulation/simulator_mavlink/sitl_targets_jmavsim.cmake
+++ b/src/modules/simulation/simulator_mavlink/sitl_targets_jmavsim.cmake
@@ -4,45 +4,38 @@ find_package(Java)
 
 if(JAVA_ANT_PATH AND Java_JAVAC_EXECUTABLE AND Java_JAVA_EXECUTABLE)
 
-	include(UseJava)
+	px4_add_git_submodule(TARGET git_jmavsim PATH "${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim")
 
-	find_jar(LIBVECMATH_JAR
-		"vecmath"
+	add_custom_target(jmavsim_run_symlink
+		COMMAND ${CMAKE_COMMAND} -E create_symlink ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jmavsim_run.sh ${PX4_BINARY_DIR}/rootfs/jmavsim_run.sh
+		BYPRODUCTS ${PX4_BINARY_DIR}/rootfs/jmavsim_run.sh
 	)
 
-	if(LIBVECMATH_JAR)
-		px4_add_git_submodule(TARGET git_jmavsim PATH "${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim")
+	# build_jmavsim
+	add_custom_command(
+		OUTPUT ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim/out/production/jmavsim_run.jar
+		COMMAND ${JAVA_ANT_PATH} create_run_jar copy_res
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim/
+		USES_TERMINAL
+		DEPENDS git_jmavsim jmavsim_run_symlink
+		COMMENT "building jMAVSim"
+	)
+	add_custom_target(build_jmavsim
+		DEPENDS
+			${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim/out/production/jmavsim_run.jar
+			jmavsim_run_symlink
+	)
 
-		add_custom_target(jmavsim_run_symlink ALL
-			COMMAND ${CMAKE_COMMAND} -E create_symlink ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jmavsim_run.sh ${PX4_BINARY_DIR}/rootfs/jmavsim_run.sh
-			BYPRODUCTS ${PX4_BINARY_DIR}/rootfs/jmavsim_run.sh
-		)
-
-		# build_jmavsim
-		add_custom_command(
-			OUTPUT ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim/out/production/jmavsim_run.jar
-			COMMAND ${JAVA_ANT_PATH} create_run_jar copy_res
-			WORKING_DIRECTORY ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim/
-			USES_TERMINAL
-			DEPENDS git_jmavsim jmavsim_run_symlink
-			COMMENT "building jMAVSim"
-		)
-		add_custom_target(build_jmavsim DEPENDS ${PX4_SOURCE_DIR}/Tools/simulation/jmavsim/jMAVSim/out/production/jmavsim_run.jar)
-
-		# launch helper
-		add_custom_target(jmavsim_iris
-			COMMAND ${CMAKE_COMMAND} -E env PX4_SYS_AUTOSTART=10017 $<TARGET_FILE:px4>
-			WORKING_DIRECTORY ${SITL_WORKING_DIR}
-			USES_TERMINAL
-			DEPENDS
-				px4 git_jmavsim build_jmavsim jmavsim_run_symlink
-				${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/10017_jmavsim_iris
-			COMMENT "launching px4 jmavsim_iris (SYS_AUTOSTART=10017)"
-		)
-		add_custom_target(jmavsim DEPENDS jmavsim_iris) # alias
-
-	else()
-		#message(WARNING "jMAVSim requires vecmath.jar, which is not available in your system. Please install it.")
-	endif()
+	# launch helper
+	add_custom_target(jmavsim_iris
+		COMMAND ${CMAKE_COMMAND} -E env PX4_SYS_AUTOSTART=10017 $<TARGET_FILE:px4>
+		WORKING_DIRECTORY ${SITL_WORKING_DIR}
+		USES_TERMINAL
+		DEPENDS
+			px4 git_jmavsim build_jmavsim jmavsim_run_symlink
+			${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/10017_jmavsim_iris
+		COMMENT "launching px4 jmavsim_iris (SYS_AUTOSTART=10017)"
+	)
+	add_custom_target(jmavsim DEPENDS jmavsim_iris) # alias
 
 endif()