forked from cesar.alejandro/oscillation_ctrl
210 lines
6.0 KiB
Plaintext
210 lines
6.0 KiB
Plaintext
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set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/tmp)
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file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
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file(MAKE_DIRECTORY ${SITL_WORKING_DIR}/rootfs)
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# add a symlink to the logs dir to make it easier to find them
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add_custom_command(OUTPUT ${PX4_BINARY_DIR}/logs
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COMMAND ${CMAKE_COMMAND} -E create_symlink ${SITL_WORKING_DIR}/rootfs/log logs
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WORKING_DIRECTORY ${PX4_BINARY_DIR})
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add_custom_target(logs_symlink DEPENDS ${PX4_BINARY_DIR}/logs)
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add_dependencies(px4 logs_symlink)
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add_custom_target(run_config
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COMMAND Tools/sitl_run.sh
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$<TARGET_FILE:px4>
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${config_sitl_debugger}
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${config_sitl_viewer}
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${config_sitl_model}
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${PX4_SOURCE_DIR}
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${PX4_BINARY_DIR}
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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USES_TERMINAL
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DEPENDS px4 logs_symlink
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)
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px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/sitl_gazebo")
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px4_add_git_submodule(TARGET git_jmavsim PATH "${PX4_SOURCE_DIR}/Tools/jMAVSim")
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px4_add_git_submodule(TARGET git_flightgear_bridge PATH "${PX4_SOURCE_DIR}/Tools/flightgear_bridge")
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# Add support for external project building
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include(ExternalProject)
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# project to build sitl_gazebo if necessary
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ExternalProject_Add(sitl_gazebo
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SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo
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CMAKE_ARGS
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-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
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-DSEND_ODOMETRY_DATA=ON
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BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
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INSTALL_COMMAND ""
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DEPENDS
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git_gazebo
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USES_TERMINAL_CONFIGURE true
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USES_TERMINAL_BUILD true
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EXCLUDE_FROM_ALL true
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BUILD_ALWAYS 1
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BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j2
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)
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ExternalProject_Add(mavsdk_tests
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SOURCE_DIR ${PX4_SOURCE_DIR}/test/mavsdk_tests
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CMAKE_ARGS
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-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
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BINARY_DIR ${PX4_BINARY_DIR}/mavsdk_tests
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INSTALL_COMMAND ""
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USES_TERMINAL_CONFIGURE true
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USES_TERMINAL_BUILD true
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EXCLUDE_FROM_ALL true
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BUILD_ALWAYS 1
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)
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ExternalProject_Add(flightgear_bridge
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SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/flightgear_bridge
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CMAKE_ARGS
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-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
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BINARY_DIR ${PX4_BINARY_DIR}/build_flightgear_bridge
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INSTALL_COMMAND ""
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DEPENDS
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git_flightgear_bridge
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USES_TERMINAL_CONFIGURE true
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USES_TERMINAL_BUILD true
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EXCLUDE_FROM_ALL true
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BUILD_ALWAYS 1
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)
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# create targets for each viewer/model/debugger combination
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set(viewers none jmavsim gazebo)
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set(debuggers none ide gdb lldb ddd valgrind callgrind)
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set(models none shell
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if750a iris iris_dual_gps iris_opt_flow iris_opt_flow_mockup iris_vision iris_rplidar iris_irlock iris_obs_avoid iris_rtps px4vision solo typhoon_h480
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plane plane_cam plane_catapult plane_lidar
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standard_vtol tailsitter tiltrotor
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rover r1_rover boat cloudship spiri spiri_with_tether
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uuv_hippocampus)
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set(worlds none empty baylands ksql_airport mcmillan_airfield sonoma_raceway warehouse windy)
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set(all_posix_vmd_make_targets)
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foreach(viewer ${viewers})
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foreach(debugger ${debuggers})
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foreach(model ${models})
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foreach(world ${worlds})
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if (world STREQUAL "none")
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if (debugger STREQUAL "none")
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if (model STREQUAL "none")
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set(_targ_name "${viewer}")
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else()
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set(_targ_name "${viewer}_${model}")
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endif()
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else()
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if (model STREQUAL "none")
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set(_targ_name "${viewer}___${debugger}")
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else()
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set(_targ_name "${viewer}_${model}_${debugger}")
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endif()
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endif()
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add_custom_target(${_targ_name}
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
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$<TARGET_FILE:px4>
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${debugger}
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${viewer}
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${model}
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${world}
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${PX4_SOURCE_DIR}
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${PX4_BINARY_DIR}
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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USES_TERMINAL
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DEPENDS
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logs_symlink
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)
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list(APPEND all_posix_vmd_make_targets ${_targ_name})
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if (viewer STREQUAL "gazebo")
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add_dependencies(${_targ_name} px4 sitl_gazebo)
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elseif(viewer STREQUAL "jmavsim")
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add_dependencies(${_targ_name} px4 git_jmavsim)
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endif()
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else()
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if (viewer STREQUAL "gazebo")
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if (debugger STREQUAL "none")
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if (model STREQUAL "none")
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set(_targ_name "${viewer}___${world}")
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else()
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set(_targ_name "${viewer}_${model}__${world}")
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endif()
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else()
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if (model STREQUAL "none")
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set(_targ_name "${viewer}__${debugger}_${world}")
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else()
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set(_targ_name "${viewer}_${model}_${debugger}_${world}")
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endif()
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endif()
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add_custom_target(${_targ_name}
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
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$<TARGET_FILE:px4>
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${debugger}
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${viewer}
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${model}
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${world}
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${PX4_SOURCE_DIR}
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${PX4_BINARY_DIR}
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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USES_TERMINAL
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DEPENDS
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logs_symlink
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)
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list(APPEND all_posix_vmd_make_targets ${_targ_name})
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add_dependencies(${_targ_name} px4 sitl_gazebo)
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endif()
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endif()
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endforeach()
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endforeach()
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endforeach()
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endforeach()
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#add flighgear targets
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if( ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
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set(models
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rascal
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rascal-electric
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tf-g1
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tf-r1
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)
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set(all_posix_vmd_make_targets)
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foreach(model ${models})
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set(_targ_name "flightgear_${model}")
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add_custom_target(${_targ_name}
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
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$<TARGET_FILE:px4>
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none
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flightgear
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${model}
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none
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${PX4_SOURCE_DIR}
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${PX4_BINARY_DIR}
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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USES_TERMINAL
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DEPENDS
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logs_symlink
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)
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add_dependencies(${_targ_name} px4 flightgear_bridge)
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list(APPEND all_posix_vmd_make_targets ${_targ_name})
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endforeach()
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endif()
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string(REPLACE ";" "," posix_vmd_make_target_list "${all_posix_vmd_make_targets}")
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add_custom_target(list_vmd_make_targets
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COMMAND sh -c "printf \"${posix_vmd_make_target_list}\\n\""
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COMMENT "List of acceptable '${PX4_BOARD}' <viewer_model_debugger> targets:"
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VERBATIM
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)
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# vscode launch.json
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if(${PX4_BOARD_LABEL} MATCHES "replay")
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_replay.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
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else()
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configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/launch_sim.json.in ${PX4_SOURCE_DIR}/.vscode/launch.json COPYONLY)
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endif()
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