mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 14:03:34 +08:00
184 lines
7.5 KiB
CMake
184 lines
7.5 KiB
CMake
############################################################################
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#
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# Copyright (c) 2017 PX4 Development Team. 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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# RTPS and micro-cdr
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#
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find_program(FASTRTPSGEN fastrtpsgen PATHS $ENV{FASTRTPSGEN_DIR})
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if(NOT FASTRTPSGEN)
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message(FATAL_ERROR "Unable to find fastrtpsgen")
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else()
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execute_process(
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COMMAND $ENV{FASTRTPSGEN_DIR}fastrtpsgen -version
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OUTPUT_VARIABLE FASTRTPSGEN_VERSION
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OUTPUT_STRIP_TRAILING_WHITESPACE
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ERROR_QUIET
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)
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message(STATUS "${FASTRTPSGEN_VERSION}")
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endif()
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if (EXISTS "${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_message_ids.yaml")
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set(config_rtps_send_topics)
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execute_process(
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_classifier.py -sa
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OUTPUT_VARIABLE config_rtps_send_topics
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)
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set(config_rtps_send_alias_topics "")
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string(FIND ${config_rtps_send_topics} "alias" found_send_alias)
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if (NOT ${found_send_alias} EQUAL "-1")
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STRING(REGEX REPLACE ".*alias " "" config_rtps_send_alias_topics "${config_rtps_send_topics}")
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STRING(REPLACE ", " ";" config_rtps_send_alias_topics "${config_rtps_send_alias_topics}")
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STRING(REPLACE "\n" "" config_rtps_send_alias_topics "${config_rtps_send_alias_topics}")
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STRING(REGEX REPLACE " alias.*" "" config_rtps_send_topics "${config_rtps_send_topics}")
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endif()
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STRING(REGEX REPLACE ", " ";" config_rtps_send_topics "${config_rtps_send_topics}")
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STRING(REGEX REPLACE "\n" "" config_rtps_send_topics "${config_rtps_send_topics}")
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set(config_rtps_receive_topics)
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execute_process(
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_classifier.py -ra
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OUTPUT_VARIABLE config_rtps_receive_topics
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)
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set(config_rtps_receive_alias_topics "")
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string(FIND ${config_rtps_receive_topics} "alias" found_receive_alias)
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if (NOT ${found_receive_alias} EQUAL "-1")
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STRING(REGEX REPLACE ".*alias " "" config_rtps_receive_alias_topics "${config_rtps_receive_topics}")
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STRING(REPLACE ", " ";" config_rtps_receive_alias_topics "${config_rtps_receive_alias_topics}")
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STRING(REPLACE "\n" "" config_rtps_receive_alias_topics "${config_rtps_receive_alias_topics}")
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STRING(REGEX REPLACE " alias.*" "" config_rtps_receive_topics "${config_rtps_receive_topics}")
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endif()
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STRING(REPLACE ", " ";" config_rtps_receive_topics "${config_rtps_receive_topics}")
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STRING(REPLACE "\n" "" config_rtps_receive_topics "${config_rtps_receive_topics}")
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endif()
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if (FASTRTPSGEN AND (config_rtps_send_topics OR config_rtps_receive_topics))
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option(GENERATE_RTPS_BRIDGE "enable RTPS and microCDR" ON)
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endif()
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if (GENERATE_RTPS_BRIDGE)
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add_subdirectory(micrortps_client)
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###############################################################################
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# micro-cdr serialization
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###############################################################################
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include(px4_git)
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px4_add_git_submodule(TARGET git_micro_cdr PATH micro-CDR)
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set(UCDR_SUPERBUILD CACHE BOOL "Disable micro-CDR superbuild compilation.")
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add_subdirectory(micro-CDR)
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set(msg_out_path_microcdr ${PX4_BINARY_DIR}/uORB_microcdr/topics)
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set(msg_source_out_path_microcdr ${CMAKE_CURRENT_BINARY_DIR}/topics_microcdr_sources)
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set(uorb_headers_microcdr)
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set(uorb_sources_microcdr)
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# send topic files
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STRING(REGEX REPLACE ";" ", " send_list "${config_rtps_send_topics};${config_rtps_send_alias_topics}")
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message(STATUS "RTPS send: ${send_list}")
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set(send_topic_files)
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foreach(topic ${config_rtps_send_topics})
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list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
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list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h)
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list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp)
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endforeach()
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# receive topic files
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STRING(REGEX REPLACE ";" ", " rcv_list "${config_rtps_receive_topics};${config_rtps_receive_alias_topics}")
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message(STATUS "RTPS receive: ${rcv_list}")
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set(receive_topic_files)
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foreach(topic ${config_rtps_receive_topics})
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list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
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list(APPEND uorb_headers_microcdr ${msg_out_path_microcdr}/${topic}.h)
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list(APPEND uorb_sources_microcdr ${msg_source_out_path_microcdr}/${topic}.cpp)
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endforeach()
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list(REMOVE_DUPLICATES uorb_headers_microcdr)
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list(REMOVE_DUPLICATES uorb_sources_microcdr)
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# Generate uORB serialization headers
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add_custom_command(OUTPUT ${uorb_headers_microcdr}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/px_generate_uorb_topic_files.py
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--headers
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-f ${send_topic_files} ${receive_topic_files}
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-i ${PX4_SOURCE_DIR}/msg/
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-o ${msg_out_path_microcdr}
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-e ${PX4_SOURCE_DIR}/msg/templates/uorb_microcdr
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-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers_microcdr
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-q
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DEPENDS
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${receive_topic_files}
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${send_topic_files}
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${PX4_SOURCE_DIR}/msg/tools/px_generate_uorb_topic_files.py
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COMMENT "Generating uORB microcdr topic headers"
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VERBATIM
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)
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add_custom_target(uorb_headers_microcdr_gen DEPENDS ${uorb_headers_microcdr})
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# Generate uORB serialization sources
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add_custom_command(OUTPUT ${uorb_sources_microcdr}
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COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/px_generate_uorb_topic_files.py
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--sources
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-f ${send_topic_files} ${receive_topic_files}
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-i ${PX4_SOURCE_DIR}/msg/
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-o ${msg_source_out_path_microcdr}
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-e ${PX4_SOURCE_DIR}/msg/templates/uorb_microcdr
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-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources_microcdr
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-q
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DEPENDS
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${receive_topic_files}
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${send_topic_files}
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${PX4_SOURCE_DIR}/msg/tools/px_generate_uorb_topic_files.py
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COMMENT "Generating uORB microcdr topic sources"
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VERBATIM
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)
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px4_add_library(uorb_msgs_microcdr ${uorb_sources_microcdr})
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add_dependencies(uorb_msgs_microcdr
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uorb_headers_microcdr_gen
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git_micro_cdr
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microcdr
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)
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add_dependencies(microcdr prebuild_targets)
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# microCDR
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target_include_directories(uorb_msgs_microcdr
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PUBLIC
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${CMAKE_CURRENT_SOURCE_DIR}/micro-CDR/include
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${CMAKE_CURRENT_BINARY_DIR}/micro-CDR/include
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${CMAKE_CURRENT_BINARY_DIR}/micro-CDR/include/microcdr
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)
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target_link_libraries(uorb_msgs_microcdr PRIVATE microcdr)
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endif()
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