mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
move src/firmware/ to platforms
This commit is contained in:
Daniel Agar
150
platforms/posix/CMakeLists.txt
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150
platforms/posix/CMakeLists.txt
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@@ -0,0 +1,150 @@
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include (common/px4_upload)
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include_directories(${CMAKE_CURRENT_BINARY_DIR})
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get_property(module_libraries GLOBAL PROPERTY PX4_LIBRARIES)
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px4_posix_generate_builtin_commands(
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OUT apps
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MODULE_LIST ${module_libraries})
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# Define build target
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set(APP_NAME px4)
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set(MAIN_SRC ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp)
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set(UPLOAD_NAME upload)
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if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
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include(fastrpc)
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include(linux_app)
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FASTRPC_STUB_GEN(../qurt/px4muorb.idl)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes -Wno-missing-declarations")
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LINUX_APP(
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APP_NAME ${APP_NAME}
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IDL_NAME px4muorb
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APPS_DEST "/home/linaro"
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SOURCES
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px4muorb_stub.c
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${MAIN_SRC}
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apps.cpp
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LINK_LIBS
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-Wl,--start-group
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${module_libraries}
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${df_driver_libs}
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${FASTRPC_ARM_LIBS}
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pthread m rt
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-Wl,--end-group
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)
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px4_add_adb_push(OUT ${UPLOAD_NAME}
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OS ${OS}
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BOARD ${BOARD}
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FILES $<TARGET_FILE:${APP_NAME}>
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${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
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DEPENDS ${APP_NAME}
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DEST /home/linaro)
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elseif ("${BOARD}" STREQUAL "rpi")
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px4_add_executable(${APP_NAME}
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${MAIN_SRC}
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apps.cpp
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)
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target_link_libraries(${APP_NAME}
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-Wl,--start-group
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${module_libraries}
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df_driver_framework
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${df_driver_libs}
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pthread m rt
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-Wl,--end-group
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)
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file(GLOB RPI_CONFIG_FILES ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config)
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px4_add_scp_push(OUT ${UPLOAD_NAME}
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OS ${OS}
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BOARD ${BOARD}
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FILES $<TARGET_FILE:${APP_NAME}>
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${RPI_CONFIG_FILES}
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${PX4_SOURCE_DIR}/ROMFS
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DEPENDS ${APP_NAME}
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DEST /home/pi)
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elseif ("${BOARD}" STREQUAL "bebop")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -static")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")
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px4_add_executable(${APP_NAME}
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${MAIN_SRC}
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apps.cpp
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)
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if (NOT APPLE)
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target_link_libraries(${APP_NAME}
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-Wl,--start-group
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${module_libraries}
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${df_driver_libs}
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pthread m rt
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-Wl,--end-group
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)
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else()
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target_link_libraries(${APP_NAME}
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${module_libraries}
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${df_driver_libs}
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pthread m
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)
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endif()
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px4_add_adb_push_to_bebop(OUT ${UPLOAD_NAME}
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OS ${OS}
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BOARD ${BOARD}
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FILES $<TARGET_FILE:px4>.stripped
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DEPENDS px4
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DEST /usr/bin)
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elseif ("${BOARD}" STREQUAL "sitl")
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include(sitl_target)
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if(BUILD_TESTING)
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include(sitl_tests)
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endif()
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else()
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px4_add_executable(${APP_NAME}
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${MAIN_SRC}
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apps.cpp
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)
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if (NOT APPLE)
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target_link_libraries(${APP_NAME}
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-Wl,--start-group
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${module_libraries}
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${df_driver_libs}
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pthread m rt
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-Wl,--end-group
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)
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else()
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target_link_libraries(${APP_NAME}
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${module_libraries}
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${df_driver_libs}
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pthread m
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)
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endif()
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endif()
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#=============================================================================
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# install
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#
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install(TARGETS px4 DESTINATION ${CMAKE_INSTALL_BINDIR})
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install(DIRECTORY ${PROJECT_SOURCE_DIR}/ROMFS DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
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install(DIRECTORY ${PROJECT_SOURCE_DIR}/posix-configs DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
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add_custom_command(OUTPUT ${APP_NAME}.stripped
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COMMAND ${STRIP_TOOL} -R .comment -R .gnu.version -o $<TARGET_FILE:px4>.stripped $<TARGET_FILE:px4>
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DEPENDS px4
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)
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add_custom_target(strip DEPENDS "${APP_NAME}.stripped")
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155
platforms/posix/cmake/sitl_target.cmake
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155
platforms/posix/cmake/sitl_target.cmake
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@@ -0,0 +1,155 @@
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function(px4_add_sitl_app)
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px4_parse_function_args(NAME px4_add_sitl_app
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ONE_VALUE APP_NAME MAIN_SRC UPLOAD_NAME
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REQUIRED APP_NAME MAIN_SRC
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ARGN ${ARGN}
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)
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px4_add_executable(${APP_NAME}
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${MAIN_SRC}
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apps.cpp
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)
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if (NOT APPLE)
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target_link_libraries(${APP_NAME}
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-Wl,--start-group
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${module_libraries}
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${df_driver_libs}
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pthread m rt
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-Wl,--end-group
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)
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else()
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target_link_libraries(${APP_NAME}
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${module_libraries}
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${df_driver_libs}
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pthread m
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)
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endif()
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endfunction()
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#=============================================================================
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# sitl run targets
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#
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set(SITL_RUNNER_MAIN_CPP ${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp)
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px4_add_sitl_app(APP_NAME px4
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UPLOAD_NAME upload
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MAIN_SRC ${SITL_RUNNER_MAIN_CPP}
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)
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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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# 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/fs/microsd/log logs
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WORKING_DIRECTORY ${PX4_BINARY_DIR})
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add_custom_target(logs_symlink DEPENDS ${PX4_BINARY_DIR}/logs)
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add_custom_target(run_config
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COMMAND Tools/sitl_run.sh
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$<TARGET_FILE:px4>
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${config_sitl_rcS_dir}
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${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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# 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 ${PX4_SOURCE_DIR}/Tools/sitl_gazebo
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CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
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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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)
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set_target_properties(sitl_gazebo PROPERTIES EXCLUDE_FROM_ALL TRUE)
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ExternalProject_Add_Step(sitl_gazebo forceconfigure
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DEPENDEES update
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DEPENDERS configure
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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 replay)
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set(debuggers none ide gdb lldb ddd valgrind callgrind)
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set(models none iris iris_opt_flow iris_rplidar standard_vtol plane solo tailsitter typhoon_h480 rover hippocampus)
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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 ${models})
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if (debugger STREQUAL "none")
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if (model STREQUAL "none")
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set(_targ_name "${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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if (debugger STREQUAL "ide" AND viewer STREQUAL "gazebo")
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set(SITL_RUNNER_SOURCE_DIR ${PX4_SOURCE_DIR})
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set(SITL_RUNNER_MODEL_FILE ${PX4_SOURCE_DIR}/${config_sitl_rcS_dir}/${model})
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set(SITL_RUNNER_WORKING_DIRECTORY ${SITL_WORKING_DIR})
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configure_file(${PX4_SOURCE_DIR}/src/platforms/posix/sitl_runner_main.cpp.in sitl_runner_main_${model}.cpp @ONLY)
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px4_add_sitl_app(APP_NAME px4_${model}
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UPLOAD_NAME upload_${model}
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MAIN_SRC ${CMAKE_CURRENT_BINARY_DIR}/sitl_runner_main_${model}.cpp
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)
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set_target_properties(px4_${model} PROPERTIES EXCLUDE_FROM_ALL TRUE)
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endif()
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add_custom_target(${_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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${config_sitl_rcS_dir}
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${debugger}
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${viewer}
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${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
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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} sitl_gazebo)
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if (viewer STREQUAL "gazebo")
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add_dependencies(${_targ_name} px4_${model})
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endif()
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elseif(viewer STREQUAL "jmavsim")
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add_dependencies(${_targ_name} git_jmavsim)
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endif()
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endforeach()
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endforeach()
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endforeach()
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px4_join(OUT posix_vmd_make_target_list LIST ${all_posix_vmd_make_targets} GLUE "\\n")
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add_custom_target(list_vmd_make_targets
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COMMAND sh -c "printf \"${posix_vmd_make_target_list}\\n\""
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COMMENT "List of acceptable '${CONFIG}' <viewer_model_debugger> targets:"
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VERBATIM
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)
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111
platforms/posix/cmake/sitl_tests.cmake
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111
platforms/posix/cmake/sitl_tests.cmake
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@@ -0,0 +1,111 @@
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#=============================================================================
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# tests
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#
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# TODO: find a way to keep this in sync with tests_main
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set(tests
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autodeclination
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bson
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commander
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controllib
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conv
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dataman
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file2
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float
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gpio
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hrt
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hysteresis
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int
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mathlib
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matrix
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mavlink
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mc_pos_control
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mixer
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param
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parameters
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perf
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rc
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servo
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sf0x
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sleep
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uorb
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versioning
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)
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if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
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list(REMOVE_ITEM tests
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hysteresis
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mixer
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uorb
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)
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endif()
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foreach(test_name ${tests})
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configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/tests_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/tests_${test_name}_generated)
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add_test(NAME ${test_name}
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
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$<TARGET_FILE:px4>
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posix-configs/SITL/init/test
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none
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none
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tests_${test_name}_generated
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${PX4_SOURCE_DIR}
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${PX4_BINARY_DIR}
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WORKING_DIRECTORY ${SITL_WORKING_DIR})
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set_tests_properties(${test_name} PROPERTIES FAIL_REGULAR_EXPRESSION "${test_name} FAILED")
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set_tests_properties(${test_name} PROPERTIES PASS_REGULAR_EXPRESSION "${test_name} PASSED")
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endforeach()
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# run arbitrary commands
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set(test_cmds
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hello
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hrt_test
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muorb_test
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vcdev_test
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wqueue_test
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)
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foreach(cmd_name ${test_cmds})
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configure_file(${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_template.in ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/cmd_${cmd_name}_generated)
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add_test(NAME posix_${cmd_name}
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
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$<TARGET_FILE:px4>
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posix-configs/SITL/init/test
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none
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none
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cmd_${cmd_name}_generated
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${PX4_SOURCE_DIR}
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${PX4_BINARY_DIR}
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WORKING_DIRECTORY ${SITL_WORKING_DIR})
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set_tests_properties(posix_${cmd_name} PROPERTIES PASS_REGULAR_EXPRESSION "Shutting down")
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endforeach()
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add_custom_target(test_results
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COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test
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DEPENDS px4
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USES_TERMINAL
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COMMENT "Running tests in sitl"
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WORKING_DIRECTORY ${PX4_BINARY_DIR})
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set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE)
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if (CMAKE_BUILD_TYPE STREQUAL Coverage)
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setup_target_for_coverage(test_coverage "${CMAKE_CTEST_COMMAND} --output-on-failure -T Test" coverage.info)
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endif()
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add_custom_target(test_results_junit
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COMMAND xsltproc ${PX4_SOURCE_DIR}/Tools/CTest2JUnit.xsl Testing/`head -n 1 < Testing/TAG`/Test.xml > JUnitTestResults.xml
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DEPENDS test_results
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COMMENT "Converting ctest output to junit xml"
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WORKING_DIRECTORY ${PX4_BINARY_DIR})
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set_target_properties(test_results_junit PROPERTIES EXCLUDE_FROM_ALL TRUE)
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add_custom_target(test_cdash_submit
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COMMAND ${CMAKE_CTEST_COMMAND} -D Experimental
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USES_TERMINAL
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WORKING_DIRECTORY ${PX4_BINARY_DIR})
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set_target_properties(test_cdash_submit PROPERTIES EXCLUDE_FROM_ALL TRUE)
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||||
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