forked from Archive/PX4-Autopilot
224 lines
6.7 KiB
CMake
224 lines
6.7 KiB
CMake
############################################################################
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#
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# Copyright (c) 2015-2018 ECL 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 ECL 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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cmake_minimum_required(VERSION 3.0)
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project(ECL CXX)
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if (NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "Build type" FORCE)
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message(STATUS "set build type to ${CMAKE_BUILD_TYPE}")
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endif()
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set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage")
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execute_process(
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COMMAND git describe --always --tags
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OUTPUT_VARIABLE git_tag
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OUTPUT_STRIP_TRAILING_WHITESPACE
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WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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)
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message(STATUS "PX4 ECL: Very lightweight Estimation & Control Library ${git_tag}")
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set(CMAKE_CXX_STANDARD 11)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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# code coverage support
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option(COV_HTML "Display html for coverage" OFF)
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option(ECL_ASAN "Enable ECL address sanitizer" OFF)
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set(CMAKE_CXX_FLAGS_COVERAGE
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"--coverage -fprofile-arcs -ftest-coverage -fno-default-inline -fno-inline -fno-inline-small-functions -fno-elide-constructors"
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CACHE STRING "Flags used by the C++ compiler during coverage builds" FORCE)
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set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
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"--coverage -ftest-coverage -lgcov"
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CACHE STRING "Flags used for linking binaries during coverage builds" FORCE)
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mark_as_advanced(CMAKE_CXX_FLAGS_COVERAGE CMAKE_C_FLAGS_COVERAGE CMAKE_EXE_LINKER_FLAGS_COVERAGE)
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set(ECL_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR} CACHE string "ECL source location" FORCE)
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if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
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# ECL standalone build
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add_definitions(-DECL_STANDALONE)
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set(ECL_STANDALONE 1)
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add_custom_target(prebuild_targets)
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if(MSVC)
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add_compile_options(
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/W4
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/WX
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/D_USE_MATH_DEFINES
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/wd4100 # warning C4100: unreferenced formal parameter
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/wd4244 # warning C4244: '=': conversion from 'double' to 'int32_t', possible loss of data
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)
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elseif(CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX)
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add_compile_options(
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-pedantic
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-Wall
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-Wextra
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-Werror
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-Wno-unused-parameter
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-Wno-missing-field-initializers # ignore for GCC 4.8 support
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)
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endif()
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# testing
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include(CTest)
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enable_testing()
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if(BUILD_TESTING)
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add_custom_target(check
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COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure -C Debug
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DEPENDS ecl_EKF
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USES_TERMINAL
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)
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option(EKF_PYTHON_TESTS "Build the EKF python tests" OFF)
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if (EKF_PYTHON_TESTS)
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# swig requires -fPIC
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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endif()
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endif()
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# fetch latest matrix from github
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include(ExternalProject)
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ExternalProject_Add(matrix
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GIT_REPOSITORY "https://github.com/PX4/Matrix.git"
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UPDATE_COMMAND ""
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PATCH_COMMAND ""
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CONFIGURE_COMMAND ""
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BUILD_COMMAND ""
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INSTALL_COMMAND ""
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)
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add_dependencies(prebuild_targets matrix)
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include_directories(${CMAKE_BINARY_DIR}/matrix-prefix/src/matrix)
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# mathlib only needed in standalone build
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add_subdirectory(mathlib)
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endif()
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# santiziers (ASAN)
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if(ECL_ASAN)
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message(STATUS "ecl address sanitizer enabled ")
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# environment variables
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# ASAN_OPTIONS=detect_stack_use_after_return=1
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# ASAN_OPTIONS=check_initialization_order=1
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add_compile_options(
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-fsanitize=address
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-g3
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-O1
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-fno-omit-frame-pointer
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)
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set(CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS} -fsanitize=address)
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endif()
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add_subdirectory(airdata)
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add_subdirectory(attitude_fw)
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add_subdirectory(EKF)
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add_subdirectory(geo)
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add_subdirectory(geo_lookup)
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add_subdirectory(l1)
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add_subdirectory(tecs)
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add_subdirectory(validation)
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#=============================================================================
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# Coverage
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#
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if (${CMAKE_BUILD_TYPE} STREQUAL "Coverage")
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add_custom_target(coverage
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COMMAND ${CMAKE_CTEST_COMMAND}
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COMMAND lcov --capture --directory . --output-file coverage.info
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COMMAND lcov --remove coverage.info '/usr/*' --output-file coverage.info # filter out system
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COMMAND lcov --remove coverage.info 'build/coverage_build/EKF/swig/*' --output-file coverage.info
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COMMAND lcov --summary coverage.info
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WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
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DEPENDS check
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)
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add_custom_target(coverage_html
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COMMAND genhtml coverage.info --output-directory out
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WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
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DEPENDS coverage
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)
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endif()
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#=============================================================================
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# Doxygen
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#
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# Only in standalone build
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if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
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option(BUILD_DOXYGEN "Build doxygen documentation" OFF)
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if (BUILD_DOXYGEN)
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find_package(Doxygen)
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if (DOXYGEN_FOUND)
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# set input and output files
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set(DOXYGEN_IN ${CMAKE_CURRENT_SOURCE_DIR}/docs/Doxyfile.in)
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set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
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# request to configure the file
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configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
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# note the option ALL which allows to build the docs together with the application
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add_custom_target(doxygen ALL
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COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
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WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
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COMMENT "Generating documentation with Doxygen"
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DEPENDS
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VERBATIM
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USES_TERMINAL
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)
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else()
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message(FATAL_ERROR "Doxygen needs to be installed to generate documentation")
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endif()
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endif()
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endif()
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