mirror of https://github.com/ArduPilot/ardupilot
135 lines
4.2 KiB
CMake
135 lines
4.2 KiB
CMake
cmake_minimum_required(VERSION 3.20)
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project(ardupilot_sitl)
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# --------------------------------------------------------------------------- #
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# Find dependencies.
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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# --------------------------------------------------------------------------- #
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# Add custom targets to configure and build ardupilot.
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# TODO(srmainwaring): add cache variables for vehicle type, debug etc.
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# set(ARDUPILOT_VEHICLE "copter" CACHE STRING "Vehicle type")
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option(ARDUPILOT_DISABLE_NETWORKING "Disable the networking API code" OFF)
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option(ARDUPILOT_DISABLE_SCRIPTING "Disable the scripting API code" OFF)
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option(ARDUPILOT_DISABLE_WATCHDOG "Build with watchdog disabled" OFF)
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option(ARDUPILOT_ENABLE_DDS "Enable the DDS client" ON)
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option(ARDUPILOT_ENABLE_NETWORKING_TESTS "Enable the networking test code" OFF)
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option(ARDUPILOT_ENABLE_PPP "Enable PPP networking" OFF)
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# NOTE: look for `waf` and set source and build directories to top level.
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# ${PROJECT_SOURCE_DIR} = ./Tools/ros2/ardupilot
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#
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cmake_path(SET ARDUPILOT_ROOT NORMALIZE ${PROJECT_SOURCE_DIR}/../../..)
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find_program(WAF_COMMAND waf HINTS ${ARDUPILOT_ROOT})
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message(STATUS "WAF_COMMAND: ${WAF_COMMAND}")
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# Set the build config.
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set(WAF_CONFIG $<$<OR:$<CONFIG:Debug>,$<CONFIG:RelWithDebInfo>>:"--debug">)
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set(WAF_DISABLE_NETWORKING $<$<BOOL:${ARDUPILOT_DISABLE_NETWORKING}>:"--disable-networking">)
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set(WAF_DISABLE_SCRIPTING $<$<BOOL:${ARDUPILOT_DISABLE_SCRIPTING}>:"--disable-scripting">)
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set(WAF_DISABLE_WATCHDOG $<$<BOOL:${ARDUPILOT_DISABLE_WATCHDOG}>:"--disable-watchdog">)
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set(WAF_ENABLE_DDS $<$<BOOL:${ARDUPILOT_ENABLE_DDS}>:"--enable-dds">)
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set(WAF_ENABLE_NETWORKING_TESTS $<$<BOOL:${ARDUPILOT_ENABLE_NETWORKING_TESTS}>:"--enable-networking-tests">)
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set(WAF_ENABLE_PPP $<$<BOOL:${ARDUPILOT_ENABLE_PPP}>:"--enable-ppp">)
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add_custom_target(ardupilot_configure ALL
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${WAF_COMMAND} configure --board sitl
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${WAF_CONFIG}
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${WAF_DISABLE_NETWORKING}
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${WAF_DISABLE_SCRIPTING}
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${WAF_DISABLE_WATCHDOG}
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${WAF_ENABLE_DDS}
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${WAF_ENABLE_NETWORKING_TESTS}
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${WAF_ENABLE_PPP}
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WORKING_DIRECTORY ${ARDUPILOT_ROOT}
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)
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add_custom_target(ardupilot_build ALL
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${WAF_COMMAND} build --enable-dds ${WAF_CONFIG}
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WORKING_DIRECTORY ${ARDUPILOT_ROOT}
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)
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add_dependencies(ardupilot_build ardupilot_configure)
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# --------------------------------------------------------------------------- #
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# Install.
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# Install executables.
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install(PROGRAMS
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${ARDUPILOT_ROOT}/build/sitl/bin/antennatracker
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${ARDUPILOT_ROOT}/build/sitl/bin/arducopter
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${ARDUPILOT_ROOT}/build/sitl/bin/arducopter-heli
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${ARDUPILOT_ROOT}/build/sitl/bin/arduplane
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${ARDUPILOT_ROOT}/build/sitl/bin/ardurover
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${ARDUPILOT_ROOT}/build/sitl/bin/ardusub
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${ARDUPILOT_ROOT}/build/sitl/bin/blimp
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DESTINATION bin/
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)
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# Install libs.
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install(DIRECTORY
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${ARDUPILOT_ROOT}/build/sitl/lib
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DESTINATION ./
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)
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# Install launch files.
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install(DIRECTORY
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launch
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DESTINATION share/${PROJECT_NAME}/
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)
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# Install DDS profile.
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install(FILES
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${ARDUPILOT_ROOT}/libraries/AP_DDS/dds_xrce_profile.xml
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DESTINATION share/${PROJECT_NAME}/config
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)
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# Install additional default params.
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install(DIRECTORY
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config/default_params
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DESTINATION share/${PROJECT_NAME}/config
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)
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# Install autotest default params.
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install(DIRECTORY
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${ARDUPILOT_ROOT}/Tools/autotest/default_params
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DESTINATION share/${PROJECT_NAME}/config/
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)
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# Install Python package.
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ament_python_install_package(${PROJECT_NAME}
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PACKAGE_DIR src/${PROJECT_NAME}
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)
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# --------------------------------------------------------------------------- #
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# build tests
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if(BUILD_TESTING)
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# Add linters.
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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# Add python tests.
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find_package(ament_cmake_pytest REQUIRED)
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set(_pytest_tests
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# Add tests here, for example:
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# tests/test_a.py
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)
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foreach(_test_path ${_pytest_tests})
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get_filename_component(_test_name ${_test_path} NAME_WE)
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ament_add_pytest_test(${_test_name} ${_test_path}
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APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
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TIMEOUT 60
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WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
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)
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endforeach()
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endif()
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# --------------------------------------------------------------------------- #
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# Call last.
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ament_package()
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