From 289aab06bc8c008b41e9b517510b0cc43e92151b Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Fri, 24 Feb 2017 18:25:50 -0500
Subject: [PATCH] scripts: Add Sub

---
 Tools/scripts/build_all.sh         |  9 ++++++
 Tools/scripts/build_all_vrbrain.sh |  7 ++++-
 Tools/scripts/build_binaries.sh    | 49 +++++++++++++++++++++++++++++-
 Tools/scripts/generate-manifest.py |  5 +--
 4 files changed, 66 insertions(+), 4 deletions(-)

diff --git a/Tools/scripts/build_all.sh b/Tools/scripts/build_all.sh
index d90a9eaa50..ecdbbdd618 100755
--- a/Tools/scripts/build_all.sh
+++ b/Tools/scripts/build_all.sh
@@ -47,6 +47,15 @@ for b in sitl; do
 done
 popd
 
+echo "Testing ArduSub build"
+pushd ArduSub
+for b in sitl linux; do
+    pwd
+    make clean
+    make $b -j4
+done
+popd
+
 pushd Tools/Replay
 make clean
 make
diff --git a/Tools/scripts/build_all_vrbrain.sh b/Tools/scripts/build_all_vrbrain.sh
index 92b16c4653..863c6c909a 100755
--- a/Tools/scripts/build_all_vrbrain.sh
+++ b/Tools/scripts/build_all_vrbrain.sh
@@ -8,7 +8,7 @@
 set -e
 set -x
 
-for d in ArduPlane ArduCopter APMrover2; do
+for d in ArduPlane ArduCopter APMrover2 ArduSub; do
     pushd $d
     make vrbrain-clean
     popd
@@ -29,4 +29,9 @@ pushd APMrover2
 make vrbrain
 popd
 
+echo "Testing ArduSub build"
+pushd ArduSub
+make vrbrain
+popd
+
 exit 0
diff --git a/Tools/scripts/build_binaries.sh b/Tools/scripts/build_binaries.sh
index 7fce52b67b..ad927c801d 100755
--- a/Tools/scripts/build_binaries.sh
+++ b/Tools/scripts/build_binaries.sh
@@ -501,6 +501,52 @@ build_antennatracker() {
     popd
 }
 
+# build ardusub binaries
+build_ardusub() {
+    tag="$1"
+    echo "Building ArduSub $tag binaries from $(pwd)"
+    for b in erlebrain2 navio navio2 pxf pxfmini; do
+        echo "Building ArduSub $tag $b binaries"
+        checkout ArduSub $tag $b "" || continue
+        skip_board_waf $b && continue
+        ddir=$binaries/Sub/$hdate/$b
+        skip_build $tag $ddir && continue
+        waf configure --board $b --out $BUILDROOT clean sub || {
+            echo "Failed build of ArduSub $b $tag"
+            error_count=$((error_count+1))
+            continue
+        }
+        copyit $BUILDROOT/$b/bin/ardusub $ddir $tag "ArduSub"
+        touch $binaries/Sub/$tag
+    done
+    pushd ArduSub
+    echo "Building ArduSub $tag PX4 binaries"
+    ddir=$binaries/Sub/$hdate/PX4
+    checkout ArduSub $tag PX4 "" || {
+        checkout ArduSub "latest" "" ""
+        popd
+        return
+    }
+    skip_build $tag $ddir || {
+        for v in v1 v2 v3 v4; do
+            make px4-clean
+            make px4-$v -j2 || {
+                echo "Failed build of ArduSub PX4 $tag"
+                error_count=$((error_count+1))
+                checkout ArduSub "latest" "" ""
+                popd
+                return
+            }
+        done
+        copyit ArduSub-v1.px4 $binaries/Sub/$hdate/PX4 $tag &&
+        copyit ArduSub-v2.px4 $binaries/Sub/$hdate/PX4 $tag &&
+        test ! -f ArduSub-v3.px4 || copyit ArduSub-v3.px4 $binaries/Sub/$hdate/PX4 $tag &&
+        test ! -f ArduSub-v4.px4 || copyit ArduSub-v4.px4 $binaries/Sub/$hdate/PX4 $tag 
+    }
+    checkout ArduSub "latest" "" ""
+    popd
+}
+
 [ -f .gitmodules ] && {
     git submodule init
     git submodule update --recursive -f
@@ -510,7 +556,7 @@ export BUILDROOT="$TMPDIR/binaries.build"
 rm -rf $BUILDROOT
 
 # make sure PX4 is rebuilt from scratch
-for d in ArduPlane ArduCopter APMrover2 AntennaTracker; do
+for d in ArduPlane ArduCopter APMrover2 AntennaTracker ArduSub; do
          pushd $d
          make px4-clean || exit 1
          popd
@@ -521,6 +567,7 @@ for build in stable beta latest; do
     build_arducopter $build
     build_rover $build
     build_antennatracker $build
+    build_ardusub $build
 done
 
 rm -rf $TMPDIR
diff --git a/Tools/scripts/generate-manifest.py b/Tools/scripts/generate-manifest.py
index 39ec840b42..cbbd3fc21e 100755
--- a/Tools/scripts/generate-manifest.py
+++ b/Tools/scripts/generate-manifest.py
@@ -46,6 +46,7 @@ class ManifestGenerator():
             "AntennaTracker": "ANTENNA_TRACKER",
             "Rover": "GROUND_ROVER",
             "PX4IO": "ARDUPILOT_PX4IO",
+            "Sub": "SUBMARINE"
         }
         if frame in frame_to_mavlink_dict:
             return frame_to_mavlink_dict[frame]
@@ -60,7 +61,7 @@ class ManifestGenerator():
     def looks_like_binaries_directory(self, dir):
         '''returns True if dir looks like it is a build_binaries.sh output directory'''
         for entry in os.listdir(dir):
-            if entry in {"AntennaTracker", "Copter", "Plane", "Rover"}:
+            if entry in {"AntennaTracker", "Copter", "Plane", "Rover", "Sub"}:
                 return True
         return False
 
@@ -201,7 +202,7 @@ class ManifestGenerator():
         xfirmwares = dict()
 
         # used to listdir basedir here, but since this is also a web document root, there's a lot of other stuff accumulated...
-        vehicletypes = [ 'AntennaTracker', 'Copter', 'Plane', 'PX4IO', 'Rover' ]
+        vehicletypes = [ 'AntennaTracker', 'Copter', 'Plane', 'PX4IO', 'Rover', 'Sub' ]
         for vehicletype in vehicletypes:
             vdir = os.listdir(os.path.join(basedir, vehicletype))
             for firstlevel in vdir: