1 | if(DEFINED FLAIRUSEFILE_INCLUDED) |
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2 | return() |
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3 | endif() |
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4 | |
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5 | SET(FLAIRUSEFILE_INCLUDED true) |
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6 | |
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7 | find_package(LibXml2 REQUIRED) |
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8 | find_package(Xenomai QUIET) |
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9 | |
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10 | if(NOT XENOMAI_FOUND) |
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11 | warn("Xenomai not found, you will not be able to link a real time program") |
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12 | endif() |
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13 | |
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14 | execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpversion |
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15 | OUTPUT_VARIABLE GCC_VERSION) |
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16 | |
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17 | if (GCC_VERSION VERSION_GREATER 4.3 OR GCC_VERSION VERSION_EQUAL 4.3) |
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18 | if (GCC_VERSION VERSION_GREATER 4.7 OR GCC_VERSION VERSION_EQUAL 4.7) |
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19 | ADD_DEFINITIONS("-std=c++11") |
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20 | else() |
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21 | ADD_DEFINITIONS("-std=c++0x") |
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22 | endif() |
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23 | else() |
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24 | message(STATUS "GCC version < 4.3, c+11 is not supported!") |
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25 | endif() |
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26 | |
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27 | #check if we have a flair-hds directory |
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28 | if (DEFINED FOUND_HDS_DIR) |
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29 | SET(FLAIRHDS_LIBRARY_DIR |
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30 | $ENV{FLAIR_ROOT}/flair-hds/bin/lib/${ARCH_DIR} |
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31 | ) |
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32 | endif() |
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33 | |
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34 | SET(FLAIR_INCLUDE_DIR |
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35 | ${LIBXML2_INCLUDE_DIR} |
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36 | ${CMAKE_SYSROOT}/usr/include/opencv1 |
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37 | ${FLAIR_DEV}/include/FlairCore |
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38 | ) |
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39 | SET(FLAIR_LIBRARY_DIR |
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40 | ${FLAIR_BIN}/lib/${ARCH_DIR} |
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41 | ) |
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42 | |
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43 | SET(FLAIR_LIBRARIES |
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44 | ${LIBXML2_LIBRARIES} |
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45 | udt pthread cv cxcore highgui FileLib rt z |
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46 | ) |
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47 | |
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48 | #auto select dependencies |
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49 | IF (FLAIR_USE_SIMULATOR) |
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50 | SET(FLAIR_USE_VRPN TRUE) |
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51 | ENDIF (FLAIR_USE_SIMULATOR) |
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52 | |
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53 | #VRPN for motion capture |
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54 | IF (FLAIR_USE_VRPN) |
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55 | SET(FLAIR_LIBRARIES vrpn ${FLAIR_LIBRARIES}) |
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56 | ENDIF (FLAIR_USE_VRPN) |
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57 | |
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58 | #nmea for GPS |
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59 | IF (FLAIR_USE_GPS) |
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60 | SET(FLAIR_LIBRARIES nmea ${FLAIR_LIBRARIES}) |
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61 | ENDIF (FLAIR_USE_GPS) |
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62 | |
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63 | #core, will be replace by rt or nrt version at the end |
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64 | SET(FLAIR_LIBRARIES FlairCore ${FLAIR_LIBRARIES}) |
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65 | |
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66 | #vision filter lib |
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67 | IF (FLAIR_USE_VISION_FILTER) |
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68 | if(FOUND_HDS_DIR AND ("${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "armv7a-neon" OR "${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "core2-64")) |
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69 | message(${PROJECT_NAME} ": using libdspcv_gpp.a for vision filter") |
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70 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-hds/dev/include/VisionFilter) |
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71 | SET(FLAIR_LIBRARIES ${FLAIRHDS_LIBRARY_DIR}/libVisionFilter.a ${FLAIRHDS_LIBRARY_DIR}/libdspcv_gpp.a ${FLAIR_LIBRARIES}) |
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72 | else() |
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73 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-dev/include/FlairVisionFilter) |
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74 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairVisionFilter.a ${FLAIR_LIBRARIES}) |
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75 | endif() |
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76 | ENDIF (FLAIR_USE_VISION_FILTER) |
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77 | |
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78 | #sensor and actuator lib |
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79 | IF (FLAIR_USE_SENSOR_ACTUATOR) |
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80 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} ${FLAIR_DEV}/include/FlairSensorActuator) |
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81 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairSensorActuator.a nmea ${FLAIR_LIBRARIES}) |
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82 | ENDIF (FLAIR_USE_SENSOR_ACTUATOR) |
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83 | |
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84 | #filter lib |
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85 | IF (FLAIR_USE_FILTER) |
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86 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} ${FLAIR_DEV}/include/FlairFilter) |
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87 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairFilter.a iir ${FLAIR_LIBRARIES}) |
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88 | ENDIF (FLAIR_USE_FILTER) |
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89 | |
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90 | |
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91 | #meta lib |
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92 | IF (FLAIR_USE_META) |
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93 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} ${FLAIR_DEV}/include/FlairMeta) |
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94 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairMeta.a ${FLAIR_LIBRARIES}) |
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95 | ENDIF (FLAIR_USE_META) |
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96 | |
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97 | #simulator lib |
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98 | IF (FLAIR_USE_SIMULATOR) |
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99 | if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "arm") |
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100 | SET(FLAIR_USE_SIMULATOR_GL FALSE) |
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101 | endif() |
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102 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} |
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103 | ${FLAIR_DEV}/include/FlairSimulator |
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104 | ${CMAKE_SYSROOT}/usr/include/irrlicht |
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105 | ) |
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106 | |
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107 | IF (FLAIR_USE_SIMULATOR_GL) |
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108 | ADD_DEFINITIONS("-DGL") |
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109 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairSimulator_gl.a GL ${FLAIR_LIBRARIES} Irrlicht Xxf86vm) |
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110 | else() |
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111 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairSimulator_nogl.a ${FLAIR_LIBRARIES}) |
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112 | endif() |
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113 | ENDIF (FLAIR_USE_SIMULATOR) |
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114 | |
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115 | #set RT or NRT specific libraries |
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116 | set(FLAIR_LIBRARIES_RT ${FLAIR_LIBRARIES} ${XENOMAI_LIBRARIES}) |
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117 | |
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118 | list(FIND FLAIR_LIBRARIES_RT "FlairCore" POS) |
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119 | if(POS GREATER -1) |
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120 | list(REMOVE_AT FLAIR_LIBRARIES_RT ${POS}) |
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121 | list(INSERT FLAIR_LIBRARIES_RT ${POS} "${FLAIR_LIBRARY_DIR}/libFlairCore_rt.a") |
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122 | endif() |
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123 | |
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124 | set(FLAIR_LIBRARIES_NRT ${FLAIR_LIBRARIES}) |
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125 | |
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126 | list(FIND FLAIR_LIBRARIES_NRT "FlairCore" POS) |
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127 | if(POS GREATER -1) |
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128 | list(REMOVE_AT FLAIR_LIBRARIES_NRT ${POS}) |
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129 | list(INSERT FLAIR_LIBRARIES_NRT ${POS} "${FLAIR_LIBRARY_DIR}/libFlairCore_nrt.a") |
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130 | endif() |
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131 | |
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132 | #add ardrone2, bebop or minidrones lib |
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133 | if(FOUND_HDS_DIR AND FLAIR_USE_META AND "${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "armv7a-neon") |
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134 | SET (PARROT_LIB -Wl,--whole-archive ${FLAIRHDS_LIBRARY_DIR}/libFlairArdrone2.a ${FLAIRHDS_LIBRARY_DIR}/libFlairBebop.a -Wl,--no-whole-archive) |
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135 | set(FLAIR_LIBRARIES_NRT ${PARROT_LIB} ${FLAIR_LIBRARIES_NRT} nmea) |
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136 | set(FLAIR_LIBRARIES_RT ${PARROT_LIB} ${FLAIR_LIBRARIES_RT} nmea) |
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137 | endif() |
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138 | if(FOUND_HDS_DIR AND FLAIR_USE_META AND "${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "armv5te") |
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139 | SET (PARROT_LIB -Wl,--whole-archive ${FLAIRHDS_LIBRARY_DIR}/libFlairMinidrones.a ${FLAIRHDS_LIBRARY_DIR}/libFlairMamboEdu.a -Wl,--no-whole-archive) |
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140 | set(FLAIR_LIBRARIES_NRT ${PARROT_LIB} ${FLAIR_LIBRARIES_NRT} nmea) |
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141 | set(FLAIR_LIBRARIES_RT ${PARROT_LIB} ${FLAIR_LIBRARIES_RT} nmea) |
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142 | endif() |
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