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Tools: ros2: add cmake options to ardupilot_sitl 

- Add options for networking and PPP to match waf configure flags

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
This commit is contained in:
Rhys Mainwaring 2024-02-09 20:41:31 +00:00 committed by Peter Barker
parent 3f34eb12b0
commit e58dd0de73
1 changed files with 21 additions and 1 deletions
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22
Tools/ros2/ardupilot_sitl/CMakeLists.txt
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@ -12,6 +12,13 @@ find_package(ament_cmake_python REQUIRED)
# TODO(srmainwaring): add cache variables for vehicle type, debug etc.
# set(ARDUPILOT_VEHICLE "copter" CACHE STRING "Vehicle type")
option(ARDUPILOT_DISABLE_NETWORKING "Disable the networking API code" OFF)
option(ARDUPILOT_DISABLE_SCRIPTING "Disable the scripting API code" OFF)
option(ARDUPILOT_DISABLE_WATCHDOG "Build with watchdog disabled" OFF)
option(ARDUPILOT_ENABLE_DDS "Enable the DDS client" ON)
option(ARDUPILOT_ENABLE_NETWORKING_TESTS "Enable the networking test code" OFF)
option(ARDUPILOT_ENABLE_PPP "Enable PPP networking" OFF)
# NOTE: look for `waf` and set source and build directories to top level.
# ${PROJECT_SOURCE_DIR} = ./Tools/ros2/ardupilot
#
@ -22,9 +29,22 @@ message(STATUS "WAF_COMMAND: ${WAF_COMMAND}")
# Set the build config.
set(WAF_CONFIG $<$<OR:$<CONFIG:Debug>,$<CONFIG:RelWithDebInfo>>:"--debug">)
set(WAF_DISABLE_NETWORKING $<$<BOOL:${ARDUPILOT_DISABLE_NETWORKING}>:"--disable-networking">)
set(WAF_DISABLE_SCRIPTING $<$<BOOL:${ARDUPILOT_DISABLE_SCRIPTING}>:"--disable-scripting">)
set(WAF_DISABLE_WATCHDOG $<$<BOOL:${ARDUPILOT_DISABLE_WATCHDOG}>:"--disable-watchdog">)
set(WAF_ENABLE_DDS $<$<BOOL:${ARDUPILOT_ENABLE_DDS}>:"--enable-dds">)
set(WAF_ENABLE_NETWORKING_TESTS $<$<BOOL:${ARDUPILOT_ENABLE_NETWORKING_TESTS}>:"--enable-networking-tests">)
set(WAF_ENABLE_PPP $<$<BOOL:${ARDUPILOT_ENABLE_PPP}>:"--enable-ppp">)
add_custom_target(ardupilot_configure ALL
${WAF_COMMAND} configure --board sitl --enable-dds ${WAF_CONFIG}
${WAF_COMMAND} configure --board sitl
${WAF_CONFIG}
${WAF_DISABLE_NETWORKING}
${WAF_DISABLE_SCRIPTING}
${WAF_DISABLE_WATCHDOG}
${WAF_ENABLE_DDS}
${WAF_ENABLE_NETWORKING_TESTS}
${WAF_ENABLE_PPP}
WORKING_DIRECTORY ${ARDUPILOT_ROOT}
)