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537 lines
16 KiB
537 lines
16 KiB
#!/bin/bash |
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# script to build the latest binaries for each vehicle type, ready to upload |
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# Andrew Tridgell, March 2013 |
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export PATH=$HOME/prefix/bin:$PATH:/bin:/usr/bin |
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export TMPDIR=$PWD/build.tmp.binaries |
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echo $TMDIR |
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rm -rf $TMPDIR |
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echo "Building in $TMPDIR" |
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date |
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git checkout -f master |
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githash=$(git rev-parse HEAD) |
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hdate=$(date +"%Y-%m/%Y-%m-%d-%H:%m") |
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mkdir -p binaries/$hdate |
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binaries=$PWD/../buildlogs/binaries |
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BASEDIR=$PWD |
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error_count=0 |
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. config.mk |
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board_branch() { |
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board="$1" |
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case $board in |
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apm1|apm2) |
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echo "-AVR" |
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;; |
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*) |
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echo "" |
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;; |
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esac |
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} |
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# add board specific options |
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board_options() { |
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board="$1" |
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case $board in |
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bebop) |
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# bebop needs a static build |
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echo "--static" |
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;; |
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*) |
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echo "" |
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;; |
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esac |
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} |
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waf() { |
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if [ -x ./waf ]; then |
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./waf "$@" |
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else |
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./modules/waf/waf-light "$@" |
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fi |
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} |
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# checkout the right version of the tree |
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checkout() { |
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vehicle="$1" |
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ctag="$2" |
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cboard="$3" |
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cframe="$4" |
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echo "Trying checkout $vehicle $ctag $cboard $cframe" |
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git stash |
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if [ "$ctag" = "latest" ]; then |
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vtag="master" |
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else |
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vtag="$vehicle-$ctag" |
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fi |
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# try frame specific tag |
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if [ -n "$cframe" ]; then |
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vtag2="$vtag-$cframe" |
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git checkout -f "$vtag2" && { |
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echo "Using frame specific tag $vtag2" |
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[ -f $BASEDIR/.gitmodules ] && git submodule update --recursive -f |
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git log -1 |
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return 0 |
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} |
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fi |
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# try board type specific branch extension |
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vtag2="$vtag"$(board_branch $cboard) |
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git checkout -f "$vtag2" && { |
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echo "Using board specific tag $vtag2" |
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[ -f $BASEDIR/.gitmodules ] && git submodule update --recursive -f |
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git log -1 |
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return 0 |
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} |
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git checkout -f "$vtag" && { |
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echo "Using generic tag $vtag" |
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[ -f $BASEDIR/.gitmodules ] && git submodule update --recursive -f |
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git log -1 |
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return 0 |
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} |
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echo "Failed to find tag for $vehicle $ctag $cboard $cframe" |
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return 1 |
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} |
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# check if we should skip this build because we don't |
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# support the board in this release |
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skip_board_waf() { |
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b="$1" |
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if grep -q "$b" $BASEDIR/Tools/ardupilotwaf/boards.py; then |
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return 1 |
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fi |
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echo "Skipping unsupported board $b" |
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return 0 |
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} |
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skip_frame() { |
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sboard=$1 |
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sframe=$2 |
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if [ "$sboard" = "bebop" -o "$sboard" = "aerofc-v1" ]; then |
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if [ "$sframe" != "quad" -a "$sframe" != "none" ]; then |
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return 0 |
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fi |
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fi |
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return 1 |
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} |
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# check if we should skip this build because we have already |
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# built this version |
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skip_build() { |
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[ "$FORCE_BUILD" = "1" ] && return 1 |
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buildtag="$1" |
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builddir="$2" |
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bname=$(basename $builddir) |
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ldir=$(dirname $(dirname $(dirname $builddir)))/$buildtag/$bname |
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[ -f $BASEDIR/.gitmodules ] || { |
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echo "Skipping build without submodules" |
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return 0 |
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} |
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[ -d "$ldir" ] || { |
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echo "$ldir doesn't exist - building" |
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return 1 |
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} |
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oldversion=$(cat "$ldir/git-version.txt" | head -1) |
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newversion=$(git log -1 | head -1) |
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[ "$oldversion" = "$newversion" ] && { |
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echo "Skipping build - version match $newversion" |
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return 0 |
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} |
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echo "$ldir needs rebuild" |
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return 1 |
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} |
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addfwversion() { |
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destdir="$1" |
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src="$2" |
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git log -1 > "$destdir/git-version.txt" |
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versionfile="$src/version.h" |
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[ -f $versionfile ] && { |
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shopt -s nullglob |
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version=$(grep 'define.THISFIRMWARE' $versionfile 2> /dev/null | cut -d'"' -f2) |
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echo >> "$destdir/git-version.txt" |
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echo "APMVERSION: $version" >> "$destdir/git-version.txt" |
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python $BASEDIR/Tools/PrintVersion.py $src >"$destdir/firmware-version.txt" |
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} |
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} |
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# copy the built firmware to the right directory |
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copyit() { |
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file="$1" |
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dir="$2" |
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tag="$3" |
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src="$4" |
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bname=$(basename $dir) |
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tdir=$(dirname $(dirname $(dirname $dir)))/$tag/$bname |
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if [ "$tag" = "latest" ]; then |
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mkdir -p "$dir" |
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/bin/cp "$file" "$dir" |
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addfwversion "$dir" "$src" |
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fi |
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echo "Copying $file to $tdir" |
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mkdir -p "$tdir" |
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addfwversion "$tdir" "$src" |
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rsync "$file" "$tdir" |
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} |
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board_extension() { |
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board="$1" |
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case $board in |
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apm1|apm2) |
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echo "hex" |
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;; |
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*) |
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echo "elf" |
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;; |
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esac |
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} |
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# build plane binaries |
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build_arduplane() { |
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tag="$1" |
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echo "Building ArduPlane $tag binaries from $(pwd)" |
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for b in erlebrain2 navio navio2 pxf pxfmini disco; do |
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checkout ArduPlane $tag $b "" || { |
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echo "Failed checkout of ArduPlane $b $tag" |
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error_count=$((error_count+1)) |
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continue |
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} |
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skip_board_waf $b && continue |
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echo "Building ArduPlane $b binaries" |
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ddir=$binaries/Plane/$hdate/$b |
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skip_build $tag $ddir && continue |
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echo "Configuring for $b in $BUILDROOT" |
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waf configure --board $b --out $BUILDROOT clean && waf plane || { |
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echo "Failed build of ArduPlane $b $tag" |
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error_count=$((error_count+1)) |
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continue |
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} |
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copyit $BUILDROOT/$b/bin/arduplane $ddir $tag "ArduPlane" |
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touch $binaries/Plane/$tag |
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done |
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echo "Building ArduPlane PX4 binaries" |
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ddir=$binaries/Plane/$hdate/PX4 |
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checkout ArduPlane $tag PX4 "" || { |
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echo "Failed checkout of ArduPlane PX4 $tag" |
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error_count=$((error_count+1)) |
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checkout ArduPlane "latest" "" "" |
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return |
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} |
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skip_build $tag $ddir || { |
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for v in v1 v2 v3 v4 v4pro; do |
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skip_board_waf px4-$v && continue |
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echo "Building plane for px4-$v in $BUILDROOT" |
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waf configure --board $b --out $BUILDROOT clean && waf plane || { |
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echo "Failed build of ArduPlane PX4 $tag for $v" |
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error_count=$((error_count+1)) |
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continue |
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} |
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cp -f $BUILDROOT/px4-$v/bin/arduplane.px4 ArduPlane-$v.px4 || { |
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echo "Failed build copy of ArduPlane PX4 $tag for $v" |
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error_count=$((error_count+1)) |
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continue |
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} |
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copyit ArduPlane-$v.px4 $ddir $tag "ArduPlane" |
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done |
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} |
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checkout ArduPlane "latest" "" "" |
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} |
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# build copter binaries |
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build_arducopter() { |
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tag="$1" |
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echo "Building ArduCopter $tag binaries from $(pwd)" |
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# work out what frames to build by looking for FRAME_CLASS parameter |
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checkout ArduCopter $tag "" "" |
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frames="none heli" |
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echo "Building frames: $frames" |
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checkout ArduCopter "latest" "" "" |
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for b in erlebrain2 navio navio2 pxf pxfmini bebop aerofc-v1; do |
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echo "Building board: $b" |
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for f in $frames; do |
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if [ "$f" = "none" ]; then |
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framesuffix="" |
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else |
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framesuffix="-$f" |
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fi |
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echo "Building frame $f for board $b" |
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checkout ArduCopter $tag $b $f || { |
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echo "Failed checkout of ArduCopter $b $tag $f" |
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error_count=$((error_count+1)) |
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continue |
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} |
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skip_board_waf $b && continue |
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echo "Building ArduCopter $tag $b binaries $f" |
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ddir=$binaries/Copter/$hdate/$b$framesuffix |
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skip_build $tag $ddir && continue |
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skip_frame $b $f && continue |
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options=$(board_options $b) |
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waf configure --board $b $options --out $BUILDROOT clean && \ |
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waf build --targets bin/arducopter$framesuffix || { |
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echo "Failed build of ArduCopter $b$framesuffix $tag" |
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error_count=$((error_count+1)) |
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continue |
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} |
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extension="" |
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if [ -f $BUILDROOT/$b/bin/arducopter${framesuffix}.px4 ]; then |
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extension=".px4" |
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fi |
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copyit $BUILDROOT/$b/bin/arducopter${framesuffix}${extension} $ddir $tag "ArduCopter" |
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touch $binaries/Copter/$tag |
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done |
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done |
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for f in $frames; do |
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echo "Building frame $f for board PX4" |
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if [ "$f" = "none" ]; then |
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framesuffix="" |
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else |
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framesuffix="-$f" |
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fi |
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checkout ArduCopter $tag PX4 $f || { |
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echo "Failed checkout of ArduCopter PX4 $tag $f" |
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error_count=$((error_count+1)) |
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checkout ArduCopter "latest" "" "" |
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continue |
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} |
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rm -rf ../Build.ArduCopter |
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echo "Building ArduCopter $tag PX4$framesuffix binaries" |
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ddir="$binaries/Copter/$hdate/PX4$framesuffix" |
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skip_build $tag $ddir && continue |
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for v in v1 v2 v3 v4 v4pro; do |
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skip_board_waf px4-$v && continue |
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waf configure --board $b --out $BUILDROOT clean && \ |
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waf build --target bin/arducopter$framesuffix || { |
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echo "Failed build of ArduCopter$framesuffix PX4 $tag for $v" |
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error_count=$((error_count+1)) |
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continue |
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} |
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cp -f $BUILDROOT/px4-$v/bin/arducopter"$framesuffix".px4 ArduCopter-$v.px4 || { |
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echo "Failed build copy of ArduCopter$framesuffix PX4 $tag for $v" |
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error_count=$((error_count+1)) |
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continue |
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} |
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copyit ArduCopter-$v.px4 $ddir $tag "ArduCopter" |
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done |
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done |
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checkout ArduCopter "latest" "" "" |
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} |
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# build rover binaries |
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build_rover() { |
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tag="$1" |
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echo "Building APMrover2 $tag binaries from $(pwd)" |
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pushd APMrover2 |
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for b in apm1 apm2; do |
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echo "Building APMrover2 $tag $b binaries" |
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checkout APMrover2 $tag $b "" || continue |
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skip_board_waf $b && continue |
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ddir=$binaries/Rover/$hdate/$b |
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skip_build $tag $ddir && continue |
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make clean || continue |
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make $b -j4 || { |
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echo "Failed build of APMrover2 $b $tag" |
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error_count=$((error_count+1)) |
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continue |
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} |
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extension=$(board_extension $b) |
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copyit $BUILDROOT/APMrover2.$extension $ddir $tag "APMrover2" |
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touch $binaries/Rover/$tag |
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done |
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popd |
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for b in erlebrain2 navio navio2 pxf pxfmini; do |
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echo "Building APMrover2 $tag $b binaries" |
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checkout APMrover2 $tag $b "" || continue |
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skip_board_waf $b && continue |
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ddir=$binaries/Rover/$hdate/$b |
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skip_build $tag $ddir && continue |
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waf configure --board $b --out $BUILDROOT clean rover || { |
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echo "Failed build of APMrover2 $b $tag" |
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error_count=$((error_count+1)) |
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continue |
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} |
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copyit $BUILDROOT/$b/bin/ardurover $ddir $tag "APMrover2" |
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touch $binaries/Rover/$tag |
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done |
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echo "Building APMrover2 $tag PX4 binaries" |
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ddir=$binaries/Rover/$hdate/PX4 |
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checkout APMrover2 $tag PX4 "" || { |
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checkout APMrover2 "latest" "" "" |
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return |
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} |
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skip_build $tag $ddir || { |
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for v in v1 v2 v3 v4 v4pro; do |
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skip_board_waf px4-$v && continue |
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echo "Building rover for px4-$v in $BUILDROOT" |
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waf configure --board $b --out $BUILDROOT clean && waf rover || { |
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echo "Failed build of rover PX4 $tag for $v" |
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error_count=$((error_count+1)) |
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continue |
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} |
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cp -f $BUILDROOT/px4-$v/bin/ardurover.px4 APMrover2-$v.px4 || { |
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echo "Failed build copy of rover PX4 $tag for $v" |
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error_count=$((error_count+1)) |
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continue |
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} |
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copyit APMrover2-$v.px4 $ddir $tag "APMrover2" |
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done |
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} |
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checkout APMrover2 "latest" "" "" |
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} |
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# build antenna tracker binaries |
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build_antennatracker() { |
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tag="$1" |
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echo "Building AntennaTracker $tag binaries from $(pwd)" |
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pushd AntennaTracker |
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for b in apm2; do |
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echo "Building AntennaTracker $tag $b binaries" |
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checkout AntennaTracker $tag $b "" || continue |
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ddir=$binaries/AntennaTracker/$hdate/$b |
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skip_build $tag $ddir && continue |
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make clean || continue |
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make $b -j4 || { |
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echo "Failed build of AntennaTracker $b $tag" |
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error_count=$((error_count+1)) |
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continue |
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} |
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extension=$(board_extension $b) |
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copyit $BUILDROOT/AntennaTracker.$extension $ddir $tag "AntennaTracker" |
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touch $binaries/AntennaTracker/$tag |
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done |
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popd |
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for b in navio navio2; do |
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checkout AntennaTracker $tag $b "" || { |
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echo "Failed checkout of AntennaTracker $b $tag" |
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error_count=$((error_count+1)) |
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continue |
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} |
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skip_board_waf $b && continue |
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echo "Building AntennaTracker $tag $b binaries" |
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ddir=$binaries/AntennaTracker/$hdate/$b |
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skip_build $tag $ddir && continue |
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waf configure --board $b --out $BUILDROOT clean antennatracker || { |
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echo "Failed build of AntennaTracker $b $tag" |
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error_count=$((error_count+1)) |
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continue |
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} |
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copyit $BUILDROOT/$b/bin/antennatracker $ddir $tag "AntennaTracker" |
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touch $binaries/AntennaTracker/$tag |
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done |
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echo "Building AntennaTracker $tag PX4 binaries" |
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ddir=$binaries/AntennaTracker/$hdate/PX4 |
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checkout AntennaTracker $tag PX4 "" || { |
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checkout AntennaTracker "latest" "" "" |
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return |
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} |
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skip_build $tag $ddir || { |
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for v in v1 v2 v3 v4 v4pro; do |
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skip_board_waf px4-$v && continue |
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echo "Building antennatracker for px4-$v in $BUILDROOT" |
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waf configure --board $b --out $BUILDROOT clean && waf antennatracker || { |
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echo "Failed build of antennatracker PX4 $tag for $v" |
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error_count=$((error_count+1)) |
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continue |
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} |
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cp -f $BUILDROOT/px4-$v/bin/antennatracker.px4 AntennaTracker-$v.px4 || { |
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echo "Failed build copy of antennatracker PX4 $tag for $v" |
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error_count=$((error_count+1)) |
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continue |
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} |
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copyit AntennaTracker-$v.px4 $ddir $tag "AntennaTracker" |
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done |
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} |
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checkout AntennaTracker "latest" "" "" |
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} |
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# build ardusub binaries |
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build_ardusub() { |
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tag="$1" |
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echo "Building ArduSub $tag binaries from $(pwd)" |
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for b in erlebrain2 navio navio2 pxf pxfmini; do |
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echo "Building ArduSub $tag $b binaries" |
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checkout ArduSub $tag $b "" || continue |
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skip_board_waf $b && continue |
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ddir=$binaries/Sub/$hdate/$b |
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skip_build $tag $ddir && continue |
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waf configure --board $b --out $BUILDROOT clean sub || { |
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echo "Failed build of ArduSub $b $tag" |
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error_count=$((error_count+1)) |
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continue |
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} |
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copyit $BUILDROOT/$b/bin/ardusub $ddir $tag "ArduSub" |
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touch $binaries/Sub/$tag |
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done |
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echo "Building ArduSub $tag PX4 binaries" |
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ddir=$binaries/Sub/$hdate/PX4 |
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checkout ArduSub $tag PX4 "" || { |
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checkout ArduSub "latest" "" "" |
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return |
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} |
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skip_build $tag $ddir || { |
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for v in v1 v2 v3 v4 v4pro; do |
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skip_board_waf px4-$v && continue |
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echo "Building ArduSub for px4-$v in $BUILDROOT" |
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waf configure --board $b --out $BUILDROOT clean && waf sub || { |
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echo "Failed build of ArduSub PX4 $tag for $v" |
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error_count=$((error_count+1)) |
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continue |
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} |
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cp -f $BUILDROOT/px4-$v/bin/ardusub.px4 ArduSub-$v.px4 || { |
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echo "Failed build copy of ArduSub PX4 $tag for $v" |
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error_count=$((error_count+1)) |
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continue |
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} |
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copyit ArduSub-$v.px4 $ddir $tag "ArduSub" |
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done |
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} |
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checkout ArduSub "latest" "" "" |
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} |
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[ -f .gitmodules ] && { |
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git submodule init |
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git submodule update --recursive -f |
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} |
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export BUILDROOT="$TMPDIR/binaries.build" |
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rm -rf $BUILDROOT |
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for build in stable beta latest; do |
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build_arduplane $build |
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build_arducopter $build |
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build_rover $build |
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build_antennatracker $build |
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build_ardusub $build |
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done |
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rm -rf $TMPDIR |
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if ./Tools/scripts/generate_manifest.py $binaries http://firmware.ardupilot.org >$binaries/manifest.json.new; then |
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echo "Manifest generation succeeded" |
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# provide a pre-compressed manifest. For reference, a 7M manifest |
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# "gzip -9"s to 300k in 1 second, "xz -e"s to 80k in 26 seconds |
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gzip -9 <$binaries/manifest.json.new >$binaries/manifest.json.gz.new |
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mv $binaries/manifest.json.new $binaries/manifest.json |
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mv $binaries/manifest.json.gz.new $binaries/manifest.json.gz |
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else |
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echo "Manifest generation failed" |
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fi |
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exit $error_count
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