From d7c8acd15c48eb11a1bf0fdba01338648116515c Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 28 Jan 2016 22:27:49 +0100
Subject: [PATCH] CMake: Add replay config
---
cmake/configs/posix_sitl_replay.cmake | 62 +++++++++++++++++++++++++
posix-configs/SITL/init/rcS_replay_iris | 4 ++
src/firmware/posix/CMakeLists.txt | 2 +-
3 files changed, 67 insertions(+), 1 deletion(-)
create mode 100644 cmake/configs/posix_sitl_replay.cmake
create mode 100644 posix-configs/SITL/init/rcS_replay_iris
diff --git a/cmake/configs/posix_sitl_replay.cmake b/cmake/configs/posix_sitl_replay.cmake
new file mode 100644
index 0000000000..6ad18cf8db
--- /dev/null
+++ b/cmake/configs/posix_sitl_replay.cmake
@@ -0,0 +1,62 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+
+set(config_module_list
+ drivers/device
+ drivers/boards/sitl
+ platforms/common
+ platforms/posix/px4_layer
+ platforms/posix/work_queue
+ systemcmds/param
+ systemcmds/ver
+ systemcmds/perf
+ modules/uORB
+ modules/param
+ modules/systemlib
+ modules/ekf2
+ modules/ekf2_replay
+ modules/sdlog2
+ modules/controllib
+ lib/mathlib
+ lib/mathlib/math/filter
+ lib/conversion
+ lib/ecl
+ lib/external_lgpl
+ lib/geo
+ lib/geo_lookup
+ )
+
+set(config_extra_builtin_cmds
+ serdis
+ sercon
+ )
+
+set(config_sitl_rcS
+ posix-configs/SITL/init/rcS
+ CACHE FILEPATH "init script for sitl"
+ )
+
+set(config_sitl_viewer
+ replay
+ CACHE STRING "viewer for sitl"
+ )
+set_property(CACHE config_sitl_viewer
+ PROPERTY STRINGS "replay;none")
+
+set(config_sitl_debugger
+ disable
+ CACHE STRING "debugger for sitl"
+ )
+set_property(CACHE config_sitl_debugger
+ PROPERTY STRINGS "disable;gdb;lldb")
+
+
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+ MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+ MAIN "serdis" STACK "2048")
diff --git a/posix-configs/SITL/init/rcS_replay_iris b/posix-configs/SITL/init/rcS_replay_iris
new file mode 100644
index 0000000000..c973cd0034
--- /dev/null
+++ b/posix-configs/SITL/init/rcS_replay_iris
@@ -0,0 +1,4 @@
+uorb start
+ekf2 start --replay
+sleep 2
+ekf2_replay start replay.px4log
diff --git a/src/firmware/posix/CMakeLists.txt b/src/firmware/posix/CMakeLists.txt
index 9f0569f9c9..8aee420dd2 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -57,7 +57,7 @@ add_custom_target(run_config
)
add_dependencies(run_config mainapp)
-foreach(viewer none jmavsim gazebo)
+foreach(viewer none jmavsim gazebo replay)
foreach(debugger none gdb lldb ddd valgrind)
foreach(model none iris iris_opt_flow tailsitter standard_vtol)
if (debugger STREQUAL "none")
--
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