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