6 changed files with 429 additions and 0 deletions
@ -0,0 +1,140 @@ |
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#!/bin/bash |
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echo "---------- $0 start ----------" |
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set -e |
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set -x |
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OPT="/opt" |
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BASE_PKGS="build-essential ccache g++ gawk git make wget" |
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PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect" |
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PX4_PKGS="python-argparse openocd flex bison libncurses5-dev \ |
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autoconf texinfo libftdi-dev zlib1g-dev \ |
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zip genromfs python-empy cmake cmake-data" |
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ARM_LINUX_PKGS="g++-arm-linux-gnueabihf pkg-config-arm-linux-gnueabihf" |
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# python-wxgtk packages are added to SITL_PKGS below |
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SITL_PKGS="libtool libxml2-dev libxslt1-dev python-dev python-pip python-setuptools python-matplotlib python-serial python-scipy python-opencv python-numpy python-pyparsing xterm lcov gcovr" |
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ASSUME_YES=false |
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QUIET=false |
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MACHINE_TYPE=$(uname -m) |
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if [ ${MACHINE_TYPE} == 'x86_64' ]; then |
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PX4_PKGS+=" libc6-i386" |
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else |
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echo "no extra pkgs for i386" |
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fi |
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# GNU Tools for ARM Embedded Processors |
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# (see https://launchpad.net/gcc-arm-embedded/) |
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ARM_ROOT="gcc-arm-none-eabi-6-2017-q2-update" |
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ARM_TARBALL="$ARM_ROOT-linux.tar.bz2" |
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ARM_TARBALL_URL="http://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL" |
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|
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# Ardupilot Tools |
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ARDUPILOT_TOOLS="Tools/autotest" |
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|
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function maybe_prompt_user() { |
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if $ASSUME_YES; then |
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return 0 |
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else |
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read -p "$1" |
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if [[ $REPLY =~ ^[Yy]$ ]]; then |
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return 0 |
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else |
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return 1 |
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fi |
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fi |
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} |
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OPTIND=1 # Reset in case getopts has been used previously in the shell. |
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while getopts "y" opt; do |
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case "$opt" in |
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\?) |
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exit 1 |
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;; |
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y) ASSUME_YES=true |
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;; |
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q) QUIET=true |
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;; |
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esac |
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done |
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APT_GET="sudo apt-get" |
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if $ASSUME_YES; then |
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APT_GET="$APT_GET --assume-yes" |
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fi |
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if $QUIET; then |
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APT_GET="$APT_GET -qq" |
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fi |
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if ! dpkg-query -l "lsb-release"; then |
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$APT_GET install lsb-release |
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fi |
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# possibly grab a newer cmake for older ubuntu releases |
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read -r UBUNTU_CODENAME <<<$(lsb_release -c -s) |
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if [ "$UBUNTU_CODENAME" = "precise" ]; then |
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sudo add-apt-repository ppa:george-edison55/precise-backports -y |
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elif [ "$UBUNTU_CODENAME" = "trusty" ]; then |
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sudo add-apt-repository ppa:george-edison55/cmake-3.x -y |
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fi |
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sudo usermod -a -G dialout $USER |
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if dpkg-query -l "modemmanager"; then |
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$APT_GET remove modemmanager |
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fi |
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$APT_GET update |
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if apt-cache search python-wxgtk3.0 | grep wx; then |
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SITL_PKGS+=" python-wxgtk3.0 libtool-bin" |
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else |
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# we only support back to trusty: |
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SITL_PKGS+=" python-wxgtk2.8" |
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fi |
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RP=$(apt-cache search -n '^realpath$') |
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if [ -n "$RP" ]; then |
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BASE_PKGS+=" realpath" |
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fi |
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$APT_GET install $BASE_PKGS $SITL_PKGS $PX4_PKGS $ARM_LINUX_PKGS |
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pip2 -q install --user -U $PYTHON_PKGS |
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if [ ! -d $OPT/$ARM_ROOT ]; then |
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( |
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cd $OPT; |
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sudo wget $ARM_TARBALL_URL; |
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sudo tar xjf ${ARM_TARBALL}; |
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sudo rm ${ARM_TARBALL}; |
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) |
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fi |
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SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]})) |
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ARDUPILOT_ROOT=$(realpath "$SCRIPT_DIR/../../") |
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exportline="export PATH=$OPT/$ARM_ROOT/bin:\$PATH"; |
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grep -Fxq "$exportline" ~/.profile 2>/dev/null || { |
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if maybe_prompt_user "Add $OPT/$ARM_ROOT/bin to your PATH [N/y]?" ; then |
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echo $exportline >> ~/.profile |
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eval $exportline |
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else |
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echo "Skipping adding $OPT/$ARM_ROOT/bin to PATH." |
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fi |
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} |
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exportline2="export PATH=$ARDUPILOT_ROOT/$ARDUPILOT_TOOLS:\$PATH"; |
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grep -Fxq "$exportline2" ~/.profile 2>/dev/null || { |
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if maybe_prompt_user "Add $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to your PATH [N/y]?" ; then |
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echo $exportline2 >> ~/.profile |
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eval $exportline2 |
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else |
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echo "Skipping adding $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to PATH." |
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fi |
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} |
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apt-cache search arm-none-eabi |
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( |
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cd $ARDUPILOT_ROOT |
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git submodule update --init --recursive |
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) |
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echo "---------- $0 end ----------" |
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@ -0,0 +1,285 @@ |
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#!/bin/bash |
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echo "---------- $0 start ----------" |
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set -e |
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set -x |
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if [ $EUID == 0 ]; then |
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echo "Please do not run this script as root; don't sudo it!" |
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exit 1 |
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fi |
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OPT="/opt" |
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# Ardupilot Tools |
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ARDUPILOT_TOOLS="Tools/autotest" |
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ASSUME_YES=false |
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QUIET=false |
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sep="##############################################" |
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OPTIND=1 # Reset in case getopts has been used previously in the shell. |
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while getopts "yq" opt; do |
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case "$opt" in |
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\?) |
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exit 1 |
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;; |
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y) ASSUME_YES=true |
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;; |
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q) QUIET=true |
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;; |
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esac |
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done |
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APT_GET="sudo apt-get" |
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if $ASSUME_YES; then |
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APT_GET="$APT_GET --assume-yes" |
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fi |
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if $QUIET; then |
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APT_GET="$APT_GET -qq" |
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fi |
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# update apt package list |
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$APT_GET update |
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function package_is_installed() { |
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dpkg-query -W -f='${Status}' "$1" 2>/dev/null | grep -c "ok installed" |
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} |
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# Install lsb-release as it is needed to check Ubuntu version |
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if package_is_installed "lsb-release" -eq 1; then |
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echo "$sep" |
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echo "Installing lsb-release" |
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echo "$sep" |
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$APT_GET install lsb-release |
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echo "Done!" |
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fi |
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# Checking Ubuntu release to adapt software version to install |
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RELEASE_CODENAME=$(lsb_release -c -s) |
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PYTHON_V="python" # starting from ubuntu 20.04, python isn't symlink to default python interpreter |
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PIP=pip2 |
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if [ ${RELEASE_CODENAME} == 'xenial' ]; then |
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SITLFML_VERSION="2.3v5" |
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SITLCFML_VERSION="2.3" |
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elif [ ${RELEASE_CODENAME} == 'disco' ]; then |
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SITLFML_VERSION="2.5" |
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SITLCFML_VERSION="2.5" |
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elif [ ${RELEASE_CODENAME} == 'eoan' ]; then |
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SITLFML_VERSION="2.5" |
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SITLCFML_VERSION="2.5" |
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elif [ ${RELEASE_CODENAME} == 'focal' ]; then |
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SITLFML_VERSION="2.5" |
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SITLCFML_VERSION="2.5" |
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PYTHON_V="python3" |
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PIP=pip3 |
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elif [ ${RELEASE_CODENAME} == 'trusty' ]; then |
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SITLFML_VERSION="2" |
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SITLCFML_VERSION="2" |
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else |
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SITLFML_VERSION="2.4" |
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SITLCFML_VERSION="2.4" |
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fi |
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# Lists of packages to install |
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BASE_PKGS="build-essential ccache g++ gawk git make wget cmake" |
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PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect" |
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# add some Python packages required for commonly-used MAVProxy modules and hex file generation: |
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if [[ $SKIP_AP_EXT_ENV -ne 1 ]]; then |
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PYTHON_PKGS="$PYTHON_PKGS pygame intelhex" |
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fi |
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ARM_LINUX_PKGS="g++-arm-linux-gnueabihf pkg-config-arm-linux-gnueabihf" |
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# python-wxgtk packages are added to SITL_PKGS below |
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SITL_PKGS="libtool libxml2-dev libxslt1-dev ${PYTHON_V}-dev ${PYTHON_V}-pip ${PYTHON_V}-setuptools ${PYTHON_V}-numpy ${PYTHON_V}-pyparsing" |
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# add some packages required for commonly-used MAVProxy modules: |
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if [[ $SKIP_AP_GRAPHIC_ENV -ne 1 ]]; then |
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SITL_PKGS="$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" |
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fi |
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if [[ $SKIP_AP_COV_ENV -ne 1 ]]; then |
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# Coverage utilities |
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COVERAGE_PKGS="lcov gcovr" |
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fi |
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|
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# ArduPilot official Toolchain for STM32 boards |
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function install_arm_none_eabi_toolchain() { |
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# GNU Tools for ARM Embedded Processors |
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# (see https://launchpad.net/gcc-arm-embedded/) |
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ARM_ROOT="gcc-arm-none-eabi-6-2017-q2-update" |
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ARM_TARBALL="$ARM_ROOT-linux.tar.bz2" |
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ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL" |
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if [ ! -d $OPT/$ARM_ROOT ]; then |
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( |
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cd $OPT; |
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echo "$sep" |
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echo "Installing toolchain for STM32 Boards" |
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echo "$sep" |
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echo "Downloading from ArduPilot server" |
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sudo proxychains wget $ARM_TARBALL_URL |
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echo "Installing..." |
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sudo tar xjf ${ARM_TARBALL} |
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echo "... Cleaning" |
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sudo rm ${ARM_TARBALL}; |
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) |
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fi |
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echo "Registering STM32 Toolchain for ccache" |
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sudo ln -s -f $CCACHE_PATH /usr/lib/ccache/arm-none-eabi-g++ |
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sudo ln -s -f $CCACHE_PATH /usr/lib/ccache/arm-none-eabi-gcc |
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echo "Done!" |
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} |
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function maybe_prompt_user() { |
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if $ASSUME_YES; then |
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return 0 |
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else |
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read -p "$1" |
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if [[ $REPLY =~ ^[Yy]$ ]]; then |
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return 0 |
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else |
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return 1 |
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fi |
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fi |
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} |
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|
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# possibly grab a newer cmake for older ubuntu releases |
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if [ ${RELEASE_CODENAME} == "precise" ]; then |
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sudo add-apt-repository ppa:george-edison55/precise-backports -y |
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$APT_GET update |
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elif [ ${RELEASE_CODENAME} == "trusty" ]; then |
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sudo add-apt-repository ppa:george-edison55/cmake-3.x -y |
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$APT_GET update |
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fi |
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|
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echo "$sep" |
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echo "Add user to dialout group to allow managing serial ports" |
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echo "$sep" |
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sudo usermod -a -G dialout $USER |
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echo "Done!" |
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|
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# Add back python symlink to python interpreter on Ubuntu >= 20.04 |
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if [ ${RELEASE_CODENAME} == 'focal' ]; then |
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BASE_PKGS+=" python-is-python3" |
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SITL_PKGS+=" libpython3-stdlib" # for argparse |
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else |
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SITL_PKGS+=" python-argparse" |
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fi |
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|
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# Check for graphical package for MAVProxy |
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if [[ $SKIP_AP_GRAPHIC_ENV -ne 1 ]]; then |
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if [ ${RELEASE_CODENAME} == 'focal' ]; then |
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SITL_PKGS+=" python3-wxgtk4.0" |
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SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libjpeg8-dev libpng16-16 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev" # for pygame |
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elif apt-cache search python-wxgtk3.0 | grep wx; then |
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SITL_PKGS+=" python-wxgtk3.0" |
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else |
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# we only support back to trusty: |
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SITL_PKGS+=" python-wxgtk2.8" |
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SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libjpeg8-dev libpng12-0 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev" # for pygame |
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fi |
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fi |
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|
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# Check if we need to manually install realpath |
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RP=$(apt-cache search -n '^realpath$') |
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if [ -n "$RP" ]; then |
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BASE_PKGS+=" realpath" |
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fi |
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|
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# Check if we need to manually install libtool-bin |
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LBTBIN=$(apt-cache search -n '^libtool-bin') |
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if [ -n "$LBTBIN" ]; then |
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SITL_PKGS+=" libtool-bin" |
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fi |
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|
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# Install all packages |
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$APT_GET install $BASE_PKGS $SITL_PKGS $PX4_PKGS $ARM_LINUX_PKGS $COVERAGE_PKGS |
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proxychains $PIP install --user -U $PYTHON_PKGS |
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|
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if [[ -z "${DO_AP_STM_ENV}" ]] && maybe_prompt_user "Install ArduPilot STM32 toolchain [N/y]?" ; then |
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DO_AP_STM_ENV=1 |
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fi |
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|
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echo "$sep" |
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echo "Removing modemmanager package that could conflict with firmware uploading" |
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echo "$sep" |
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if package_is_installed "modemmanager" -eq 1; then |
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$APT_GET remove modemmanager |
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|
fi |
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echo "Done!" |
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|
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CCACHE_PATH=$(which ccache) |
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if [[ $DO_AP_STM_ENV -eq 1 ]]; then |
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install_arm_none_eabi_toolchain |
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fi |
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|
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echo "$sep" |
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echo "Check if we are inside docker environment..." |
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echo "$sep" |
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IS_DOCKER=false |
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if [[ -f /.dockerenv ]] || grep -Eq '(lxc|docker)' /proc/1/cgroup ; then |
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IS_DOCKER=true |
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fi |
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echo "Done!" |
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|
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SHELL_LOGIN=".profile" |
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if $IS_DOCKER; then |
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echo "Inside docker, we add the tools path into .bashrc directly" |
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SHELL_LOGIN=".bashrc" |
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fi |
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|
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echo "$sep" |
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echo "Adding ArduPilot Tools to environment" |
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echo "$sep" |
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|
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SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]})) |
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ARDUPILOT_ROOT=$(realpath "$SCRIPT_DIR/../../") |
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exportline="export PATH=$OPT/$ARM_ROOT/bin:\$PATH"; |
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grep -Fxq "$exportline" ~/$SHELL_LOGIN 2>/dev/null || { |
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if maybe_prompt_user "Add $OPT/$ARM_ROOT/bin to your PATH [N/y]?" ; then |
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|
echo $exportline >> ~/$SHELL_LOGIN |
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|
eval $exportline |
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|
else |
||||||
|
echo "Skipping adding $OPT/$ARM_ROOT/bin to PATH." |
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|
fi |
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|
} |
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|
|
||||||
|
exportline2="export PATH=$ARDUPILOT_ROOT/$ARDUPILOT_TOOLS:\$PATH"; |
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|
grep -Fxq "$exportline2" ~/$SHELL_LOGIN 2>/dev/null || { |
||||||
|
if maybe_prompt_user "Add $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to your PATH [N/y]?" ; then |
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|
echo $exportline2 >> ~/$SHELL_LOGIN |
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|
eval $exportline2 |
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|
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 ----------" |
||||||
@ -0,0 +1 @@ |
|||||||
|
./Tools/autotest/sim_vehicle.py -j4 -L CYDS --console --map -v ArduCopter |
||||||
Loading…
Reference in new issue