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387 lines
14 KiB
387 lines
14 KiB
#!/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}' "$1" 2>/dev/null | grep -c "ok installed" |
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} |
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function heading() { |
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echo "$sep" |
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echo $* |
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echo "$sep" |
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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"; then |
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heading "Installing lsb-release" |
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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="python3" # starting from ubuntu 20.04, python isn't symlink to default python interpreter |
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PIP=pip3 |
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if [ ${RELEASE_CODENAME} == 'bionic' ] ; then |
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SITLFML_VERSION="2.4" |
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SITLCFML_VERSION="2.4" |
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PYTHON_V="python" |
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PIP=pip2 |
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elif [ ${RELEASE_CODENAME} == 'buster' ]; then |
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SITLFML_VERSION="2.5" |
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SITLCFML_VERSION="2.5" |
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PYTHON_V="python" |
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PIP=pip2 |
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elif [ ${RELEASE_CODENAME} == 'focal' ] || [ ${RELEASE_CODENAME} == 'ulyssa' ]; 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} == 'jammy' ]; 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} == 'groovy' ] || |
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[ ${RELEASE_CODENAME} == 'hirsute' ] || |
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[ ${RELEASE_CODENAME} == 'bullseye' ] || |
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[ ${RELEASE_CODENAME} == 'impish' ]; then |
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SITLFML_VERSION="2.5" |
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SITLCFML_VERSION="2.5" |
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PYTHON_V="python3" |
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PIP=pip3 |
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else |
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# We assume APT based system, so let's try with apt-cache first. |
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SITLCFML_VERSION=$(apt-cache search -n '^libcsfml-audio' | cut -d" " -f1 | head -1 | grep -Eo '[+-]?[0-9]+([.][0-9]+)?') |
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SITLFML_VERSION=$(apt-cache search -n '^libsfml-audio' | cut -d" " -f1 | head -1 | grep -Eo '[+-]?[0-9]+([.][0-9]+)?') |
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# If we cannot retrieve the number with apt-cache, try a last time with dpkg-query |
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re='^[+-]?[0-9]+([.][0-9]+)?$' |
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if ! [[ $SITLCFML_VERSION =~ $re ]] || ! [[ $SITLFML_VERSION =~ $re ]] ; then |
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# Extract the floating point number that is the version of the libcsfml package. |
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SITLCFML_VERSION=$(dpkg-query --search libcsfml-audio | cut -d":" -f1 | grep libcsfml-audio | head -1 | grep -Eo '[+-]?[0-9]+([.][0-9]+)?') |
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# And same for libsfml-audio. |
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SITLFML_VERSION=$(dpkg-query --search libsfml-audio | cut -d":" -f1 | grep libsfml-audio | head -1 | grep -Eo '[+-]?[0-9]+([.][0-9]+)?') |
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fi |
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fi |
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# Check whether the specific ARM pkg-config package is available or whether we should emulate the effect of installing it. |
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# Check if we need to manually install libtool-bin |
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ARM_PKG_CONFIG_NOT_PRESENT=0 |
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if [ -z "$(apt-cache search -n '^pkg-config-arm-linux-gnueabihf')" ]; then |
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ARM_PKG_CONFIG_NOT_PRESENT=$(dpkg-query --search pkg-config-arm-linux-gnueabihf |& grep -c "dpkg-query:") |
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fi |
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if [ "$ARM_PKG_CONFIG_NOT_PRESENT" -eq 1 ]; then |
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INSTALL_PKG_CONFIG="" |
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# No need to install Ubuntu's pkg-config-arm-linux-gnueabihf, instead install the base pkg-config. |
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$APT_GET install pkg-config |
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if [ -f /usr/share/pkg-config-crosswrapper ]; then |
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# We are on non-Ubuntu so simulate effect of installing pkg-config-arm-linux-gnueabihf. |
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sudo ln -sf /usr/share/pkg-config-crosswrapper /usr/bin/arm-linux-gnueabihf-pkg-config |
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else |
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echo "Warning: unable to link to pkg-config-crosswrapper" |
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fi |
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else |
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# Package is available so install it later. |
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INSTALL_PKG_CONFIG="pkg-config-arm-linux-gnueabihf" |
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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" |
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if [ ${RELEASE_CODENAME} == 'bionic' ]; then |
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# use fixed version for package that drop python2 support |
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PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect flake8==3.7.9 requests==2.27.1 monotonic==1.6 geocoder empy configparser==4.0.2 click==7.1.2 decorator==4.4.2" |
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else |
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PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect flake8 geocoder empy" |
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fi |
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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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if [ ${RELEASE_CODENAME} == 'bionic' ]; then |
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PYTHON_PKGS="$PYTHON_PKGS pygame==2.0.3 intelhex" |
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else |
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PYTHON_PKGS="$PYTHON_PKGS pygame intelhex" |
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fi |
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fi |
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ARM_LINUX_PKGS="g++-arm-linux-gnueabihf $INSTALL_PKG_CONFIG" |
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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 ${PYTHON_V}-psutil" |
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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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# 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-10-2020-q4-major" |
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case $(uname -m) in |
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x86_64) |
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if [ ! -d $OPT/$ARM_ROOT ]; then |
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( |
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cd $OPT |
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heading "Installing toolchain for STM32 Boards" |
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echo "Installing toolchain for STM32 Boards" |
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echo "Downloading from ArduPilot server" |
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sudo wget --progress=dot:giga https://firmware.ardupilot.org/Tools/STM32-tools/gcc-arm-none-eabi-10-2020-q4-major-x86_64-linux.tar.bz2 |
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echo "Installing..." |
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sudo chmod -R 777 gcc-arm-none-eabi-10-2020-q4-major-x86_64-linux.tar.bz2 |
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sudo tar xjf gcc-arm-none-eabi-10-2020-q4-major-x86_64-linux.tar.bz2 |
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echo "... Cleaning" |
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sudo rm gcc-arm-none-eabi-10-2020-q4-major-x86_64-linux.tar.bz2 |
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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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aarch64) |
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if [ ! -d $OPT/$ARM_ROOT ]; then |
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( |
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cd $OPT |
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heading "Installing toolchain for STM32 Boards" |
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echo "Installing toolchain for STM32 Boards" |
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echo "Downloading from ArduPilot server" |
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sudo wget --progress=dot:giga https://firmware.ardupilot.org/Tools/STM32-tools/gcc-arm-none-eabi-10-2020-q4-major-aarch64-linux.tar.bz2 |
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echo "Installing..." |
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sudo chmod -R 777 gcc-arm-none-eabi-10-2020-q4-major-aarch64-linux.tar.bz2 |
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sudo tar xjf gcc-arm-none-eabi-10-2020-q4-major-aarch64-linux.tar.bz2 |
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echo "... Cleaning" |
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sudo rm gcc-arm-none-eabi-10-2020-q4-major-aarch64-linux.tar.bz2 |
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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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esac |
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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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heading "Add user to dialout group to allow managing serial ports" |
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sudo usermod -a -G dialout $USER |
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echo "Done!" |
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# Add back python symlink to python interpreter on Ubuntu >= 20.04 |
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if [ ${RELEASE_CODENAME} == 'focal' ] || |
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[ ${RELEASE_CODENAME} == 'ulyssa' ]; |
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then |
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BASE_PKGS+=" python-is-python3" |
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SITL_PKGS+=" libpython3-stdlib" # for argparse |
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elif [ ${RELEASE_CODENAME} == 'groovy' ] || |
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[ ${RELEASE_CODENAME} == 'hirsute' ] || |
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[ ${RELEASE_CODENAME} == 'bullseye' ] || |
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[ ${RELEASE_CODENAME} == 'jammy' ] || |
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[ ${RELEASE_CODENAME} == 'impish' ]; 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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# 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} == 'bullseye' ]; then |
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SITL_PKGS+=" libjpeg62-turbo-dev" |
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elif [ ${RELEASE_CODENAME} == 'groovy' ] || |
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[ ${RELEASE_CODENAME} == 'hirsute' ] || |
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[ ${RELEASE_CODENAME} == 'focal' ] || |
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[ ${RELEASE_CODENAME} == 'ulyssa' ]; then |
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SITL_PKGS+=" libjpeg8-dev" |
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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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elif apt-cache search python3-wxgtk4.0 | grep wx; then |
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# see below |
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: |
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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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if [ ${RELEASE_CODENAME} == 'bullseye' ] || |
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[ ${RELEASE_CODENAME} == 'groovy' ] || |
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[ ${RELEASE_CODENAME} == 'hirsute' ] || |
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[ ${RELEASE_CODENAME} == 'focal' ] || |
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[ ${RELEASE_CODENAME} == 'ulyssa' ] || |
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[ ${RELEASE_CODENAME} == 'jammy' ] || |
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[ ${RELEASE_CODENAME} == 'impish' ]; then |
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SITL_PKGS+=" python3-wxgtk4.0" |
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SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libpng16-16 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev" # for pygame |
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fi |
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fi |
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# Check if we need to manually install realpath |
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RP=$(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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# 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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# 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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# Update Pip and Setuptools on old distro |
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if [ ${RELEASE_CODENAME} == 'bionic' ]; then |
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# use fixed version for package that drop python2 support |
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$PIP install --user -U pip==20.3 setuptools==44.0.0 |
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fi |
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$PIP install --user -U $PYTHON_PKGS |
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if [[ -z "${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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heading "Removing modemmanager and brltty package that could conflict with firmware uploading" |
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if package_is_installed "modemmanager"; then |
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$APT_GET remove modemmanager |
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fi |
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if package_is_installed "brltty"; then |
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$APT_GET remove brltty |
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fi |
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echo "Done!" |
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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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heading "Check if we are inside docker environment..." |
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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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SHELL_LOGIN=".profile" |
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if $IS_DOCKER; then |
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echo "Inside docker, we add the tools path into .bashrc directly" |
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SHELL_LOGIN=".ardupilot_env" |
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echo "# ArduPilot env file. Need to be loaded by your Shell." > ~/$SHELL_LOGIN |
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fi |
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heading "Adding ArduPilot Tools to environment" |
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SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]})) |
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ARDUPILOT_ROOT=$(realpath "$SCRIPT_DIR/../../") |
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if [[ $DO_AP_STM_ENV -eq 1 ]]; then |
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exportline="export PATH=$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 |
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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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fi |
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exportline2="export PATH=$ARDUPILOT_ROOT/$ARDUPILOT_TOOLS:\$PATH"; |
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grep -Fxq "$exportline2" ~/$SHELL_LOGIN 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 $exportline2 >> ~/$SHELL_LOGIN |
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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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if [[ $SKIP_AP_COMPLETION_ENV -ne 1 ]]; then |
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exportline3="source $ARDUPILOT_ROOT/Tools/completion/completion.bash"; |
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grep -Fxq "$exportline3" ~/$SHELL_LOGIN 2>/dev/null || { |
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if maybe_prompt_user "Add ArduPilot Bash Completion to your bash shell [N/y]?" ; then |
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echo $exportline3 >> ~/.bashrc |
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eval $exportline3 |
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else |
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echo "Skipping adding ArduPilot Bash Completion." |
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fi |
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} |
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fi |
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exportline4="export PATH=/usr/lib/ccache:\$PATH"; |
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grep -Fxq "$exportline4" ~/$SHELL_LOGIN 2>/dev/null || { |
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if maybe_prompt_user "Append CCache to your PATH [N/y]?" ; then |
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echo $exportline4 >> ~/$SHELL_LOGIN |
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eval $exportline4 |
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else |
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echo "Skipping appending CCache to PATH." |
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fi |
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} |
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echo "Done!" |
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if [[ $SKIP_AP_GIT_CHECK -ne 1 ]]; then |
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if [ -d ".git" ]; then |
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heading "Update git submodules" |
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cd $ARDUPILOT_ROOT |
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git submodule update --init --recursive |
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echo "Done!" |
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fi |
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fi |
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if $IS_DOCKER; then |
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echo "Finalizing ArduPilot env for Docker" |
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echo "source ~/.ardupilot_env">> ~/.bashrc |
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fi |
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echo "---------- $0 end ----------"
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