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 | SET(FLAIR_INCLUDE_DIR
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28 | $ENV{FLAIR_ROOT}/flair-install/include/FlairCore
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29 | )
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30 | SET(FLAIR_LIBRARY_DIR
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31 | $ENV{FLAIR_ROOT}/flair-install/lib/${ARCH_DIR}
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32 | )
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33 |
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34 | SET(FLAIR_LIBRARIES
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35 | ${LIBXML2_LIBRARIES}
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36 | udt pthread FileLib rt z
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37 | )
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38 |
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39 | #auto select dependencies
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40 | IF (FLAIR_USE_SIMULATOR)
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41 | SET(FLAIR_USE_VRPN TRUE)
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42 | ENDIF (FLAIR_USE_SIMULATOR)
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43 |
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44 | #VRPN for motion capture
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45 | IF (FLAIR_USE_VRPN)
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46 | SET(FLAIR_LIBRARIES vrpn ${FLAIR_LIBRARIES})
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47 | ENDIF (FLAIR_USE_VRPN)
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48 |
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49 | #nmea for GPS
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50 | IF (FLAIR_USE_GPS)
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51 | SET(FLAIR_LIBRARIES nmea ${FLAIR_LIBRARIES})
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52 | ENDIF (FLAIR_USE_GPS)
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53 |
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54 | #core, will be replace by rt or nrt version at the end
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55 | SET(FLAIR_LIBRARIES FlairCore ${FLAIR_LIBRARIES})
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56 |
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57 | #vision filter lib
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58 | IF (FLAIR_USE_VISION_FILTER)
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59 | if(FOUND_HDS_DIR AND ("${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "armv7a-neon" OR "${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "core2-64"))
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60 | message(${PROJECT_NAME} ": using libdspcv_gpp.a for vision filter")
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61 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-install/include/HdsVisionFilter)
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62 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libHdsVisionFilter.a ${FLAIR_LIBRARY_DIR}/libdspcv_gpp.a ${FLAIR_LIBRARIES})
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63 | else()
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64 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-install/include/FlairVisionFilter)
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65 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairVisionFilter.a ${FLAIR_LIBRARIES})
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66 | endif()
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67 | ENDIF (FLAIR_USE_VISION_FILTER)
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68 |
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69 | #sensor and actuator lib
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70 | IF (FLAIR_USE_SENSOR_ACTUATOR)
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71 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-install/include/FlairSensorActuator)
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72 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairSensorActuator.a nmea ${FLAIR_LIBRARIES})
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73 | if(FOUND_HDS_DIR)
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74 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-install/include/HdsSensorActuator)
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75 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libHdsSensorActuator.a ${FLAIR_LIBRARIES})
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76 | endif()
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77 | if("${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "core2-64")
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78 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARIES} sumo)
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79 | endif()
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80 | ENDIF (FLAIR_USE_SENSOR_ACTUATOR)
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81 |
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82 | #filter lib
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83 | IF (FLAIR_USE_FILTER)
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84 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-install/include/FlairFilter)
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85 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairFilter.a iir ${FLAIR_LIBRARIES})
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86 | ENDIF (FLAIR_USE_FILTER)
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87 |
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88 |
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89 | #meta lib
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90 | IF (FLAIR_USE_META)
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91 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-install/include/FlairMeta)
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92 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairMeta.a ${FLAIR_LIBRARIES})
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93 | ENDIF (FLAIR_USE_META)
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94 |
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95 | #ipc lib
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96 | IF (FLAIR_USE_IPC)
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97 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR} $ENV{FLAIR_ROOT}/flair-install/include/FlairIpc)
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98 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairIpc.a ${FLAIR_LIBRARIES})
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99 | ENDIF (FLAIR_USE_IPC)
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100 |
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101 | #simulator lib
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102 | IF (FLAIR_USE_SIMULATOR)
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103 | if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "arm")
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104 | SET(FLAIR_USE_SIMULATOR_GL FALSE)
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105 | endif()
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106 | SET(FLAIR_INCLUDE_DIR ${FLAIR_INCLUDE_DIR}
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107 | $ENV{FLAIR_ROOT}/flair-install/include/FlairSimulator
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108 | ${CMAKE_SYSROOT}/usr/include/irrlicht
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109 | )
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110 |
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111 | IF (FLAIR_USE_SIMULATOR_GL)
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112 | ADD_DEFINITIONS("-DGL")
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113 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairSimulator_gl.a GL ${FLAIR_LIBRARIES} Irrlicht)
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114 | else()
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115 | SET(FLAIR_LIBRARIES ${FLAIR_LIBRARY_DIR}/libFlairSimulator_nogl.a ${FLAIR_LIBRARIES})
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116 | endif()
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117 | ENDIF (FLAIR_USE_SIMULATOR)
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118 |
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119 | #set RT or NRT specific libraries
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120 | set(FLAIR_LIBRARIES_RT ${FLAIR_LIBRARIES} ${XENOMAI_LIBRARIES})
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121 |
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122 | list(FIND FLAIR_LIBRARIES_RT "FlairCore" POS)
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123 | if(POS GREATER -1)
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124 | list(REMOVE_AT FLAIR_LIBRARIES_RT ${POS})
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125 | list(INSERT FLAIR_LIBRARIES_RT ${POS} "${FLAIR_LIBRARY_DIR}/libFlairCore_rt.a")
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126 | endif()
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127 |
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128 | set(FLAIR_LIBRARIES_NRT ${FLAIR_LIBRARIES})
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129 |
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130 | list(FIND FLAIR_LIBRARIES_NRT "FlairCore" POS)
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131 | if(POS GREATER -1)
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132 | list(REMOVE_AT FLAIR_LIBRARIES_NRT ${POS})
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133 | list(INSERT FLAIR_LIBRARIES_NRT ${POS} "${FLAIR_LIBRARY_DIR}/libFlairCore_nrt.a")
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134 | endif()
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135 |
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136 | #add arch specific uav lib lib
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137 | if(FOUND_HDS_DIR AND FLAIR_USE_META AND "${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "core2-64")
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138 | SET (AERO_LIB -Wl,--whole-archive ${FLAIR_LIBRARY_DIR}/libFlairIntelAero.a -Wl,--no-whole-archive)
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139 | set(FLAIR_LIBRARIES_NRT ${AERO_LIB} ${FLAIR_LIBRARIES_NRT} nmea)
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140 | set(FLAIR_LIBRARIES_RT ${AERO_LIB} ${FLAIR_LIBRARIES_RT} nmea)
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141 | endif()
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142 |
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143 | if(FOUND_HDS_DIR AND FLAIR_USE_META AND "${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "armv7a-neon")
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144 | SET (PARROT_LIB -Wl,--whole-archive ${FLAIR_LIBRARY_DIR}/libFlairArdrone2.a ${FLAIR_LIBRARY_DIR}/libFlairBebop.a -Wl,--no-whole-archive)
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145 | set(FLAIR_LIBRARIES_NRT ${PARROT_LIB} ${FLAIR_LIBRARIES_NRT} nmea)
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146 | set(FLAIR_LIBRARIES_RT ${PARROT_LIB} ${FLAIR_LIBRARIES_RT} nmea)
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147 | endif()
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148 | if(FOUND_HDS_DIR AND FLAIR_USE_META AND "${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "armv5te")
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149 | SET (PARROT_LIB -Wl,--whole-archive ${FLAIR_LIBRARY_DIR}/libFlairMinidrones.a ${FLAIR_LIBRARY_DIR}/libFlairMamboEdu.a -Wl,--no-whole-archive)
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150 | set(FLAIR_LIBRARIES_NRT ${PARROT_LIB} ${FLAIR_LIBRARIES_NRT} nmea)
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151 | set(FLAIR_LIBRARIES_RT ${PARROT_LIB} ${FLAIR_LIBRARIES_RT} nmea)
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152 | endif()
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153 | if(FOUND_HDS_DIR AND FLAIR_USE_META AND "${CMAKE_SYSTEM_PROCESSOR_DEFAULTTUNE}" MATCHES "cortexa8hf-neon")
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154 | SET (BEAGLE_LIB -Wl,--whole-archive ${FLAIR_LIBRARY_DIR}/libFlairBeagleBlue.a -Wl,--no-whole-archive)
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155 | set(FLAIR_LIBRARIES_NRT ${BEAGLE_LIB} ${FLAIR_LIBRARIES_NRT})
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156 | set(FLAIR_LIBRARIES_RT ${BEAGLE_LIB} ${FLAIR_LIBRARIES_RT})
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157 | endif()
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