From 3ac7ea22c16876d1fa00938f0e8db4f08932aec2 Mon Sep 17 00:00:00 2001
From: zbr3550 <zbr3550@sina.com>
Date: Fri, 4 Mar 2022 14:21:49 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=B8=80=E4=BA=9B=E7=BC=96?=
 =?UTF-8?q?=E8=AF=91=E8=84=9A=E6=9C=AC?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Tools/autotest/locations.txt             |   1 +
 Tools/environment_install/evt.sh         | 140 +++++++++++
 Tools/environment_install/ubuntu20.04.sh | 285 +++++++++++++++++++++++
 remo-update.sh                           |   1 +
 sitl.sh                                  |   1 +
 sub-update.sh                            |   1 +
 6 files changed, 429 insertions(+)
 create mode 100755 Tools/environment_install/evt.sh
 create mode 100755 Tools/environment_install/ubuntu20.04.sh
 create mode 100755 remo-update.sh
 create mode 100755 sitl.sh
 create mode 100755 sub-update.sh

diff --git a/Tools/autotest/locations.txt b/Tools/autotest/locations.txt
index 68123ddc58..e2a929ff1a 100644
--- a/Tools/autotest/locations.txt
+++ b/Tools/autotest/locations.txt
@@ -1,5 +1,6 @@
 #NAME=latitude,longitude,absolute-altitude,heading
 OSRF0=37.4003371,-122.0800351,0,353
+CYDS=24.6122682,118.0672663,1,0
 OSRF0_PILOTSBOX=37.4003371,-122.0800351,2,270
 CMAC=-35.363261,149.165230,584,353
 CMAC2=-35.362889,149.165221,584,270
diff --git a/Tools/environment_install/evt.sh b/Tools/environment_install/evt.sh
new file mode 100755
index 0000000000..ee90b3bb66
--- /dev/null
+++ b/Tools/environment_install/evt.sh
@@ -0,0 +1,140 @@
+#!/bin/bash
+echo "---------- $0 start ----------"
+set -e
+set -x
+
+OPT="/opt"
+BASE_PKGS="build-essential ccache g++ gawk git make wget"
+PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect"
+PX4_PKGS="python-argparse openocd flex bison libncurses5-dev \
+          autoconf texinfo libftdi-dev zlib1g-dev \
+          zip genromfs python-empy cmake cmake-data"
+ARM_LINUX_PKGS="g++-arm-linux-gnueabihf pkg-config-arm-linux-gnueabihf"
+# python-wxgtk packages are added to SITL_PKGS below
+SITL_PKGS="libtool libxml2-dev libxslt1-dev python-dev python-pip python-setuptools python-matplotlib python-serial python-scipy python-opencv python-numpy python-pyparsing xterm lcov gcovr"
+ASSUME_YES=false
+QUIET=false
+
+MACHINE_TYPE=$(uname -m)
+if [ ${MACHINE_TYPE} == 'x86_64' ]; then
+    PX4_PKGS+=" libc6-i386"
+else
+  echo "no extra pkgs for i386"
+fi
+
+# GNU Tools for ARM Embedded Processors
+# (see https://launchpad.net/gcc-arm-embedded/)
+ARM_ROOT="gcc-arm-none-eabi-6-2017-q2-update"
+ARM_TARBALL="$ARM_ROOT-linux.tar.bz2"
+ARM_TARBALL_URL="http://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL"
+
+# Ardupilot Tools
+ARDUPILOT_TOOLS="Tools/autotest"
+
+function maybe_prompt_user() {
+    if $ASSUME_YES; then
+        return 0
+    else
+        read -p "$1"
+        if [[ $REPLY =~ ^[Yy]$ ]]; then
+            return 0
+        else
+            return 1
+        fi
+    fi
+}
+
+
+OPTIND=1  # Reset in case getopts has been used previously in the shell.
+while getopts "y" opt; do
+    case "$opt" in
+        \?)
+            exit 1
+            ;;
+        y)  ASSUME_YES=true
+            ;;
+        q)  QUIET=true
+            ;;
+    esac
+done
+
+APT_GET="sudo apt-get"
+if $ASSUME_YES; then
+    APT_GET="$APT_GET --assume-yes"
+fi
+if $QUIET; then
+    APT_GET="$APT_GET -qq"
+fi
+
+if ! dpkg-query -l "lsb-release"; then
+    $APT_GET install lsb-release
+fi
+# possibly grab a newer cmake for older ubuntu releases
+read -r UBUNTU_CODENAME <<<$(lsb_release -c -s)
+if [ "$UBUNTU_CODENAME" = "precise" ]; then
+    sudo add-apt-repository ppa:george-edison55/precise-backports -y
+elif [ "$UBUNTU_CODENAME" = "trusty" ]; then
+    sudo add-apt-repository ppa:george-edison55/cmake-3.x -y
+fi
+
+sudo usermod -a -G dialout $USER
+
+if dpkg-query -l "modemmanager"; then
+    $APT_GET remove modemmanager
+fi
+$APT_GET update
+
+if apt-cache search python-wxgtk3.0 | grep wx; then
+    SITL_PKGS+=" python-wxgtk3.0 libtool-bin"
+else
+    # we only support back to trusty:
+    SITL_PKGS+=" python-wxgtk2.8"
+fi
+
+RP=$(apt-cache search -n '^realpath$')
+if [ -n "$RP" ]; then
+    BASE_PKGS+=" realpath"
+fi
+
+$APT_GET install $BASE_PKGS $SITL_PKGS $PX4_PKGS $ARM_LINUX_PKGS
+pip2 -q install --user -U $PYTHON_PKGS
+
+if [ ! -d $OPT/$ARM_ROOT ]; then
+    (
+        cd $OPT;
+        sudo wget $ARM_TARBALL_URL;
+        sudo tar xjf ${ARM_TARBALL};
+        sudo rm ${ARM_TARBALL};
+    )
+fi
+
+SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]}))
+ARDUPILOT_ROOT=$(realpath "$SCRIPT_DIR/../../")
+
+exportline="export PATH=$OPT/$ARM_ROOT/bin:\$PATH";
+grep -Fxq "$exportline" ~/.profile 2>/dev/null || {
+    if maybe_prompt_user "Add $OPT/$ARM_ROOT/bin to your PATH [N/y]?" ; then
+        echo $exportline >> ~/.profile
+        eval $exportline
+    else
+        echo "Skipping adding $OPT/$ARM_ROOT/bin to PATH."
+    fi
+}
+
+exportline2="export PATH=$ARDUPILOT_ROOT/$ARDUPILOT_TOOLS:\$PATH";
+grep -Fxq "$exportline2" ~/.profile 2>/dev/null || {
+    if maybe_prompt_user "Add $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to your PATH [N/y]?" ; then
+        echo $exportline2 >> ~/.profile
+        eval $exportline2
+    else
+        echo "Skipping adding $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to PATH."
+    fi
+}
+
+apt-cache search arm-none-eabi
+
+(
+ cd $ARDUPILOT_ROOT
+ git submodule update --init --recursive
+)
+echo "---------- $0 end ----------"
diff --git a/Tools/environment_install/ubuntu20.04.sh b/Tools/environment_install/ubuntu20.04.sh
new file mode 100755
index 0000000000..49ccd1f2e5
--- /dev/null
+++ b/Tools/environment_install/ubuntu20.04.sh
@@ -0,0 +1,285 @@
+#!/bin/bash
+echo "---------- $0 start ----------"
+set -e
+set -x
+
+if [ $EUID == 0 ]; then
+    echo "Please do not run this script as root; don't sudo it!"
+    exit 1
+fi
+
+OPT="/opt"
+# Ardupilot Tools
+ARDUPILOT_TOOLS="Tools/autotest"
+
+ASSUME_YES=false
+QUIET=false
+sep="##############################################"
+
+OPTIND=1  # Reset in case getopts has been used previously in the shell.
+while getopts "yq" opt; do
+    case "$opt" in
+        \?)
+            exit 1
+            ;;
+        y)  ASSUME_YES=true
+            ;;
+        q)  QUIET=true
+            ;;
+    esac
+done
+
+APT_GET="sudo apt-get"
+if $ASSUME_YES; then
+    APT_GET="$APT_GET --assume-yes"
+fi
+if $QUIET; then
+    APT_GET="$APT_GET -qq"
+fi
+
+# update apt package list
+$APT_GET update
+
+function package_is_installed() {
+    dpkg-query -W -f='${Status}' "$1" 2>/dev/null | grep -c "ok installed"
+}
+
+# Install lsb-release as it is needed to check Ubuntu version
+if package_is_installed "lsb-release" -eq 1; then
+    echo "$sep"
+    echo "Installing lsb-release"
+    echo "$sep"
+    $APT_GET install lsb-release
+    echo "Done!"
+fi
+
+# Checking Ubuntu release to adapt software version to install
+RELEASE_CODENAME=$(lsb_release -c -s)
+PYTHON_V="python"  # starting from ubuntu 20.04, python isn't symlink to default python interpreter
+PIP=pip2
+
+if [ ${RELEASE_CODENAME} == 'xenial' ]; then
+    SITLFML_VERSION="2.3v5"
+    SITLCFML_VERSION="2.3"
+elif [ ${RELEASE_CODENAME} == 'disco' ]; then
+    SITLFML_VERSION="2.5"
+    SITLCFML_VERSION="2.5"
+elif [ ${RELEASE_CODENAME} == 'eoan' ]; then
+    SITLFML_VERSION="2.5"
+    SITLCFML_VERSION="2.5"
+elif [ ${RELEASE_CODENAME} == 'focal' ]; then
+    SITLFML_VERSION="2.5"
+    SITLCFML_VERSION="2.5"
+    PYTHON_V="python3"
+    PIP=pip3
+elif [ ${RELEASE_CODENAME} == 'trusty' ]; then
+    SITLFML_VERSION="2"
+    SITLCFML_VERSION="2"
+else
+    SITLFML_VERSION="2.4"
+    SITLCFML_VERSION="2.4"
+fi
+
+# Lists of packages to install
+BASE_PKGS="build-essential ccache g++ gawk git make wget cmake"
+PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect"
+# add some Python packages required for commonly-used MAVProxy modules and hex file generation:
+if [[ $SKIP_AP_EXT_ENV -ne 1 ]]; then
+  PYTHON_PKGS="$PYTHON_PKGS pygame intelhex"
+fi
+ARM_LINUX_PKGS="g++-arm-linux-gnueabihf pkg-config-arm-linux-gnueabihf"
+# python-wxgtk packages are added to SITL_PKGS below
+SITL_PKGS="libtool libxml2-dev libxslt1-dev ${PYTHON_V}-dev ${PYTHON_V}-pip ${PYTHON_V}-setuptools ${PYTHON_V}-numpy ${PYTHON_V}-pyparsing"
+# add some packages required for commonly-used MAVProxy modules:
+if [[ $SKIP_AP_GRAPHIC_ENV -ne 1 ]]; then
+  SITL_PKGS="$SITL_PKGS xterm ${PYTHON_V}-matplotlib ${PYTHON_V}-serial ${PYTHON_V}-scipy ${PYTHON_V}-opencv libcsfml-dev libcsfml-audio${SITLCFML_VERSION} libcsfml-dev libcsfml-graphics${SITLCFML_VERSION} libcsfml-network${SITLCFML_VERSION} libcsfml-system${SITLCFML_VERSION} libcsfml-window${SITLCFML_VERSION} libsfml-audio${SITLFML_VERSION} libsfml-dev libsfml-graphics${SITLFML_VERSION} libsfml-network${SITLFML_VERSION} libsfml-system${SITLFML_VERSION} libsfml-window${SITLFML_VERSION} ${PYTHON_V}-yaml"
+fi
+if [[ $SKIP_AP_COV_ENV -ne 1 ]]; then
+  # Coverage utilities
+  COVERAGE_PKGS="lcov gcovr"
+fi
+
+# ArduPilot official Toolchain for STM32 boards
+function install_arm_none_eabi_toolchain() {
+  # GNU Tools for ARM Embedded Processors
+  # (see https://launchpad.net/gcc-arm-embedded/)
+  ARM_ROOT="gcc-arm-none-eabi-6-2017-q2-update"
+  ARM_TARBALL="$ARM_ROOT-linux.tar.bz2"
+  ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL"
+  if [ ! -d $OPT/$ARM_ROOT ]; then
+    (
+        cd $OPT;
+        echo "$sep"
+        echo "Installing toolchain for STM32 Boards"
+        echo "$sep"
+        echo "Downloading from ArduPilot server"
+        sudo proxychains wget $ARM_TARBALL_URL
+        echo "Installing..."
+        sudo tar xjf ${ARM_TARBALL}
+        echo "... Cleaning"
+        sudo rm ${ARM_TARBALL};
+    )
+  fi
+  echo "Registering STM32 Toolchain for ccache"
+  sudo ln -s -f $CCACHE_PATH /usr/lib/ccache/arm-none-eabi-g++
+  sudo ln -s -f $CCACHE_PATH /usr/lib/ccache/arm-none-eabi-gcc
+  echo "Done!"
+}
+
+function maybe_prompt_user() {
+    if $ASSUME_YES; then
+        return 0
+    else
+        read -p "$1"
+        if [[ $REPLY =~ ^[Yy]$ ]]; then
+            return 0
+        else
+            return 1
+        fi
+    fi
+}
+
+# possibly grab a newer cmake for older ubuntu releases
+if [ ${RELEASE_CODENAME} == "precise" ]; then
+    sudo add-apt-repository ppa:george-edison55/precise-backports -y
+    $APT_GET update
+elif [ ${RELEASE_CODENAME} == "trusty" ]; then
+    sudo add-apt-repository ppa:george-edison55/cmake-3.x -y
+    $APT_GET update
+fi
+
+echo "$sep"
+echo "Add user to dialout group to allow managing serial ports"
+echo "$sep"
+sudo usermod -a -G dialout $USER
+echo "Done!"
+
+# Add back python symlink to python interpreter on Ubuntu >= 20.04
+if [ ${RELEASE_CODENAME} == 'focal' ]; then
+    BASE_PKGS+=" python-is-python3"
+    SITL_PKGS+=" libpython3-stdlib" # for argparse
+else
+  SITL_PKGS+=" python-argparse"
+fi
+
+# Check for graphical package for MAVProxy
+if [[ $SKIP_AP_GRAPHIC_ENV -ne 1 ]]; then
+  if [ ${RELEASE_CODENAME} == 'focal' ]; then
+    SITL_PKGS+=" python3-wxgtk4.0"
+    SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libjpeg8-dev libpng16-16 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev"  # for pygame
+  elif apt-cache search python-wxgtk3.0 | grep wx; then
+      SITL_PKGS+=" python-wxgtk3.0"
+  else
+      # we only support back to trusty:
+      SITL_PKGS+=" python-wxgtk2.8"
+      SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libjpeg8-dev libpng12-0 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev"  # for pygame
+  fi
+fi
+
+# Check if we need to manually install realpath
+RP=$(apt-cache search -n '^realpath$')
+if [ -n "$RP" ]; then
+    BASE_PKGS+=" realpath"
+fi
+
+# Check if we need to manually install libtool-bin
+LBTBIN=$(apt-cache search -n '^libtool-bin')
+if [ -n "$LBTBIN" ]; then
+    SITL_PKGS+=" libtool-bin"
+fi
+
+# Install all packages
+$APT_GET install $BASE_PKGS $SITL_PKGS $PX4_PKGS $ARM_LINUX_PKGS $COVERAGE_PKGS
+proxychains $PIP install --user -U $PYTHON_PKGS
+
+if [[ -z "${DO_AP_STM_ENV}" ]] && maybe_prompt_user "Install ArduPilot STM32 toolchain [N/y]?" ; then
+    DO_AP_STM_ENV=1
+fi
+
+echo "$sep"
+echo "Removing modemmanager package that could conflict with firmware uploading"
+echo "$sep"
+if package_is_installed "modemmanager" -eq 1; then
+    $APT_GET remove modemmanager
+fi
+echo "Done!"
+
+CCACHE_PATH=$(which ccache)
+if [[ $DO_AP_STM_ENV -eq 1 ]]; then
+  install_arm_none_eabi_toolchain
+fi
+
+echo "$sep"
+echo "Check if we are inside docker environment..."
+echo "$sep"
+IS_DOCKER=false
+if [[ -f /.dockerenv ]] || grep -Eq '(lxc|docker)' /proc/1/cgroup ; then
+    IS_DOCKER=true
+fi
+echo "Done!"
+
+SHELL_LOGIN=".profile"
+if $IS_DOCKER; then
+    echo "Inside docker, we add the tools path into .bashrc directly"
+    SHELL_LOGIN=".bashrc"
+fi
+
+echo "$sep"
+echo "Adding ArduPilot Tools to environment"
+echo "$sep"
+
+SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]}))
+ARDUPILOT_ROOT=$(realpath "$SCRIPT_DIR/../../")
+exportline="export PATH=$OPT/$ARM_ROOT/bin:\$PATH";
+grep -Fxq "$exportline" ~/$SHELL_LOGIN 2>/dev/null || {
+    if maybe_prompt_user "Add $OPT/$ARM_ROOT/bin to your PATH [N/y]?" ; then
+        echo $exportline >> ~/$SHELL_LOGIN
+        eval $exportline
+    else
+        echo "Skipping adding $OPT/$ARM_ROOT/bin to PATH."
+    fi
+}
+
+exportline2="export PATH=$ARDUPILOT_ROOT/$ARDUPILOT_TOOLS:\$PATH";
+grep -Fxq "$exportline2" ~/$SHELL_LOGIN 2>/dev/null || {
+    if maybe_prompt_user "Add $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to your PATH [N/y]?" ; then
+        echo $exportline2 >> ~/$SHELL_LOGIN
+        eval $exportline2
+    else
+        echo "Skipping adding $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to PATH."
+    fi
+}
+
+exportline3="source $ARDUPILOT_ROOT/Tools/completion/completion.bash";
+grep -Fxq "$exportline3" ~/$SHELL_LOGIN 2>/dev/null || {
+    if maybe_prompt_user "Add ArduPilot Bash Completion to your bash shell [N/y]?" ; then
+        echo $exportline3 >> ~/.bashrc
+        eval $exportline3
+    else
+        echo "Skipping adding ArduPilot Bash Completion."
+    fi
+}
+
+
+exportline4="export PATH=/usr/lib/ccache:\$PATH";
+grep -Fxq "$exportline4" ~/$SHELL_LOGIN 2>/dev/null || {
+    if maybe_prompt_user "Append CCache to your PATH [N/y]?" ; then
+        echo $exportline4 >> ~/$SHELL_LOGIN
+        eval $exportline4
+    else
+        echo "Skipping appending CCache to PATH."
+    fi
+}
+echo "Done!"
+
+if [[ $SKIP_AP_GIT_CHECK -ne 1 ]]; then
+  if [ -d ".git" ]; then
+    echo "$sep"
+    echo "Update git submodules"
+    echo "$sep"
+    cd $ARDUPILOT_ROOT
+    proxychains git submodule update --init --recursive
+    echo "Done!"
+  fi
+fi
+echo "---------- $0 end ----------"
diff --git a/remo-update.sh b/remo-update.sh
new file mode 100755
index 0000000000..59c8d19de6
--- /dev/null
+++ b/remo-update.sh
@@ -0,0 +1 @@
+git remote update nzeg -p
diff --git a/sitl.sh b/sitl.sh
new file mode 100755
index 0000000000..68405a1405
--- /dev/null
+++ b/sitl.sh
@@ -0,0 +1 @@
+./Tools/autotest/sim_vehicle.py  -j4 -L CYDS --console --map -v ArduCopter
diff --git a/sub-update.sh b/sub-update.sh
new file mode 100755
index 0000000000..5a11673d8a
--- /dev/null
+++ b/sub-update.sh
@@ -0,0 +1 @@
+git submodule update