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gabrielfrasantosgabrielfrasantos
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add qemu for cortex m4 and m7
1 parent 2a5f046 commit e7af428

31 files changed

Lines changed: 674 additions & 3 deletions

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‎.github/workflows/ci.yml‎

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@@ -58,6 +58,42 @@ jobs:
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with:
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name: test-logs
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path: build/host/Testing/Temporary/
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qemu_arm_tests:
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name: QEMU ARM Tests (${{ matrix.preset }})
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runs-on: ubuntu-latest
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container:
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image: gabrielfrasantos/embedded-devcontainer-cpp:v7.3.0@sha256:4f92e9c86dfc5a9688b6134944e7a40c9eb3c658022ea62dc9e57e4c3b056940
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strategy:
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fail-fast: false
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matrix:
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preset: [qemu-cortex-m4, qemu-cortex-m7]
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steps:
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- name: Configure Git
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run: |
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git config --global url."https://${{ secrets.PRIVATE_REPO_TOKEN }}@github.com/".insteadOf "https://github.com/"
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git config --global url."https://github.com/".insteadOf "git@github.com:"
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git config --global --add safe.directory '*'
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- uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
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with:
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persist-credentials: false
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- uses: hendrikmuhs/ccache-action@d62db5f07c26379fc4b4e0916f098a92573c3b03 # v1.2.23
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with:
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key: ${{ github.job }}-${{ matrix.preset }}
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max-size: 2G
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save: ${{ github.ref == 'refs/heads/main' }}
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- uses: lukka/run-cmake@5d55ea7949e25f69f0ecb516d8d572297e03a956 # v10.9
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with:
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configurePreset: ${{ matrix.preset }}
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buildPreset: ${{ matrix.preset }}-RelWithDebInfo
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testPreset: ${{ matrix.preset }}
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configurePresetAdditionalArgs: "['-DCMAKE_C_COMPILER_LAUNCHER=ccache', '-DCMAKE_CXX_COMPILER_LAUNCHER=ccache']"
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- name: Upload test logs
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if: ${{ failure() }}
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uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a # v7.0.1
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with:
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name: test-logs-${{ matrix.preset }}
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path: build/${{ matrix.preset }}/Testing/Temporary/
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host_build_test:
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name: Host Build & Test
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runs-on: ${{ matrix.os }}

‎CMakeLists.txt‎

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@@ -46,7 +46,16 @@ if (NUMERICAL_TOOLBOX_STANDALONE)
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set(EMIL_BUILD_ECHO_COMPILERS Off CACHE BOOL "" FORCE)
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set(EMIL_ENABLE_DOCKER_TOOLS Off CACHE BOOL "" FORCE)
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if(DEFINED QEMU_MACHINE)
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set(gtest_disable_pthreads ON CACHE BOOL "" FORCE)
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endif()
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FetchContent_MakeAvailable(emil)
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if(DEFINED QEMU_MACHINE)
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function(emil_add_test target)
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endfunction()
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endif()
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endif()
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project(numerical-toolbox LANGUAGES C CXX ASM VERSION 2.0.0) # x-release-please-version
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include(CTest)
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endif()
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include(QemuHelpers)
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if(DEFINED QEMU_MACHINE)
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add_subdirectory(platform/qemu)
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endif()
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add_subdirectory(numerical)
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if (NUMERICAL_TOOLBOX_BUILD_SIMULATOR)

‎CMakePresets.json‎

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@@ -56,6 +56,34 @@
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"NUMERICAL_TOOLBOX_BUILD_TESTS": false,
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"NUMERICAL_TOOLBOX_BUILD_SIMULATOR": false
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}
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},
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{
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"name": "qemu-cortex-m4",
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"displayName": "QEMU Cortex-M4 Tests",
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"inherits": "defaults",
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"toolchainFile": "${sourceDir}/build/${presetName}/_deps/emil-src/cmake/toolchain-arm-gcc-m4-fpv4-sp-d16.cmake",
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"generator": "Ninja Multi-Config",
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"cacheVariables": {
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"CMAKE_CONFIGURATION_TYPES": "RelWithDebInfo",
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"NUMERICAL_TOOLBOX_BUILD_TESTS": "On",
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"NUMERICAL_TOOLBOX_BUILD_SIMULATOR": "Off",
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"QEMU_MACHINE": "mps2-an386",
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"CMAKE_CXX_FLAGS": "-DGTEST_HAS_STREAM_REDIRECTION=0 -DGTEST_HAS_POSIX_RE=0 -D_POSIX_C_SOURCE=200112L"
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}
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},
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{
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"name": "qemu-cortex-m7",
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"displayName": "QEMU Cortex-M7 Tests",
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"inherits": "defaults",
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"toolchainFile": "${sourceDir}/build/${presetName}/_deps/emil-src/cmake/toolchain-arm-gcc-m7-fpv5-d16.cmake",
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"generator": "Ninja Multi-Config",
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"cacheVariables": {
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"CMAKE_CONFIGURATION_TYPES": "RelWithDebInfo",
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"NUMERICAL_TOOLBOX_BUILD_TESTS": "On",
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"NUMERICAL_TOOLBOX_BUILD_SIMULATOR": "Off",
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"QEMU_MACHINE": "mps2-an500",
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"CMAKE_CXX_FLAGS": "-DGTEST_HAS_STREAM_REDIRECTION=0 -DGTEST_HAS_POSIX_RE=0 -D_POSIX_C_SOURCE=200112L"
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}
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}
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],
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"buildPresets": [
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"name": "integration-Debug",
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"configuration": "Debug",
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"configurePreset": "integration"
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},
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{
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"name": "qemu-cortex-m4-RelWithDebInfo",
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"configuration": "RelWithDebInfo",
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"configurePreset": "qemu-cortex-m4",
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"targets": [
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"numerical.analysis_test",
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"numerical.analysis.windowing_test",
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"numerical.control_analysis_test",
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"numerical.controllers_test",
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"numerical.estimators.offline_test",
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"numerical.estimators.online_test",
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"numerical.filters.active_test",
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"numerical.filters.passive_test",
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"numerical.math_test",
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"numerical.neural_network.activation_test",
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"numerical.neural_network.layer_test",
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"numerical.neural_network.losses_test",
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"numerical.neural_network.model_test",
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"numerical.nonlinear_control_test",
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"numerical.optimization_test",
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"numerical.regularization_test",
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"numerical.robust_control_test",
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"numerical.solvers_test"
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]
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},
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{
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"name": "qemu-cortex-m7-RelWithDebInfo",
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"configuration": "RelWithDebInfo",
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"configurePreset": "qemu-cortex-m7",
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"targets": [
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"numerical.analysis_test",
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"numerical.analysis.windowing_test",
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"numerical.control_analysis_test",
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"numerical.controllers_test",
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"numerical.estimators.offline_test",
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"numerical.estimators.online_test",
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"numerical.filters.active_test",
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"numerical.filters.passive_test",
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"numerical.math_test",
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"numerical.neural_network.activation_test",
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"numerical.neural_network.layer_test",
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"numerical.neural_network.losses_test",
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"numerical.neural_network.model_test",
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"numerical.nonlinear_control_test",
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"numerical.optimization_test",
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"numerical.regularization_test",
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"numerical.robust_control_test",
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"numerical.solvers_test"
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]
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}
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],
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"testPresets": [
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"configurePreset": "integration",
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"configuration": "Debug",
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"inherits": "defaults"
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},
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{
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"name": "qemu-cortex-m4",
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"configurePreset": "qemu-cortex-m4",
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"configuration": "RelWithDebInfo",
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"inherits": "defaults"
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},
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{
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"name": "qemu-cortex-m7",
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"configurePreset": "qemu-cortex-m7",
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"configuration": "RelWithDebInfo",
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"inherits": "defaults"
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}
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]
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}

‎cmake/QemuHelpers.cmake‎

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function(numerical_add_qemu_test target)
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if(NOT DEFINED QEMU_MACHINE)
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return()
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endif()
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target_link_libraries(${target} PRIVATE platform_qemu_startup)
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target_link_libraries(${target} PRIVATE -lrdimon)
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add_test(
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NAME qemu.${target}
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COMMAND qemu-system-arm
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-machine ${QEMU_MACHINE}
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-nographic
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-semihosting-config enable=on,target=native
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-kernel $<TARGET_FILE:${target}>
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)
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set_tests_properties(qemu.${target} PROPERTIES TIMEOUT 120)
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endfunction()

‎numerical/analysis/test/CMakeLists.txt‎

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@@ -8,6 +8,8 @@ target_link_libraries(numerical.analysis_test PUBLIC
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numerical.math_test_helper
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)
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numerical_add_qemu_test(numerical.analysis_test)
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target_sources(numerical.analysis_test PRIVATE
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TestConvolutionCorrelation.cpp
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TestDecibels.cpp

‎numerical/analysis/test/TestPowerDensitySpectrum.cpp‎

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@@ -60,7 +60,7 @@ TYPED_TEST(TestPowerSpectralDensity, when_input_smaller_than_fft_size_throws_ass
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for (std::size_t i = 0; i < this->length - 1; ++i)
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input.push_back(TypeParam(0.1f));
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EXPECT_DEATH(this->powerDensitySpectrum->Calculate(input), "");
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EXPECT_DEATH_IF_SUPPORTED(this->powerDensitySpectrum->Calculate(input), "");
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}
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TYPED_TEST(TestPowerSpectralDensity, output_size_equals_half_segment_size_plus_one)

‎numerical/analysis/windowing/test/CMakeLists.txt‎

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@@ -7,6 +7,8 @@ target_link_libraries(numerical.analysis.windowing_test PUBLIC
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numerical.analysis.windowing
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)
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numerical_add_qemu_test(numerical.analysis.windowing_test)
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target_sources(numerical.analysis.windowing_test PRIVATE
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TestWindowing.cpp
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)

‎numerical/control_analysis/test/CMakeLists.txt‎

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@@ -8,6 +8,8 @@ target_link_libraries(numerical.control_analysis_test PUBLIC
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numerical.math_test_helper
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numerical_add_qemu_test(numerical.control_analysis_test)
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target_sources(numerical.control_analysis_test PRIVATE
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TestContinuousToDiscrete.cpp
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TestControllabilityObservability.cpp

‎numerical/controllers/implementations/test/CMakeLists.txt‎

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@@ -8,6 +8,8 @@ target_link_libraries(numerical.controllers_test PUBLIC
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numerical.math_test_helper
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)
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numerical_add_qemu_test(numerical.controllers_test)
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target_sources(numerical.controllers_test PRIVATE
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TestBangBangHysteresis.cpp
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TestFeedforward2Dof.cpp

‎numerical/estimators/offline/test/CMakeLists.txt‎

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@@ -7,6 +7,8 @@ target_link_libraries(numerical.estimators.offline_test PUBLIC
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numerical.estimators.offline
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numerical_add_qemu_test(numerical.estimators.offline_test)
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target_sources(numerical.estimators.offline_test PRIVATE
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TestExpectationMaximization.cpp
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TestLinearRegression.cpp

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