AP_HAL_QURT: Add Debian packaging script and support files

This commit is contained in:
Eric Katzfey 2024-10-23 00:40:04 -07:00 committed by Andrew Tridgell
parent ab886f1d89
commit 7d3740f79f
4 changed files with 152 additions and 0 deletions

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*.deb
pkg/DEB
pkg/data
pkg/control/control

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#!/bin/bash
set -e # exit on error to prevent bad ipk from being generated
[ $# -eq 2 ] || {
echo "Usage: make_package.sh VEHICLETYPE VEHICLE_BINARY"
exit 1
}
VEHICLETYPE="$1"
VEHICLE_BINARY="$2"
[ -d $VEHICLETYPE ] || {
echo "Vehicle directory $VEHICLETYPE not found"
exit 1
}
# get version numbers
FW_MAJOR=$(grep FW_MAJOR $VEHICLETYPE/version.h | cut -d' ' -f3)
FW_MINOR=$(grep FW_MINOR $VEHICLETYPE/version.h | cut -d' ' -f3)
FW_PATCH=$(grep FW_PATCH $VEHICLETYPE/version.h | cut -d' ' -f3)
GIT_VERSION=$(git rev-parse HEAD | cut -c1-8)
VERSION="${FW_MAJOR}.${FW_MINOR}.${FW_PATCH}-${GIT_VERSION}"
echo "Package Name: " $PACKAGE
echo "version Number: " $VERSION
cd libraries/AP_HAL_QURT/packaging
cat pkg/control/control.in | sed "s/FW_VERSION/$VERSION/g" > pkg/control/control
################################################################################
# variables
################################################################################
PACKAGE=$(cat pkg/control/control | grep "Package" | cut -d' ' -f 2)
DATA_DIR=pkg/data
CONTROL_DIR=pkg/control
DEB_DIR=pkg/DEB
################################################################################
# start with a little cleanup to remove old files
################################################################################
# remove data directory where 'make install' installed to
sudo rm -rf $DATA_DIR
mkdir $DATA_DIR
# remove deb packaging folders
rm -rf $DEB_DIR
################################################################################
## install compiled stuff into data directory
################################################################################
if [ -f ../../../build/QURT/ardupilot ] && \
[ -f ../../../build/QURT/bin/$VEHICLE_BINARY ]; then
# Copy the SLPI DSP AP library
sudo mkdir -p $DATA_DIR/usr/lib/rfsa/adsp
sudo cp ../../../build/QURT/bin/$VEHICLE_BINARY $DATA_DIR/usr/lib/rfsa/adsp/ArduPilot.so
# Install executables
sudo mkdir -p $DATA_DIR/usr/bin
sudo cp ../../../build/QURT/ardupilot $DATA_DIR/usr/bin
sudo cp ../ap_host/service/voxl-ardupilot $DATA_DIR/usr/bin
sudo chmod a+x $DATA_DIR/usr/bin/ardupilot
sudo chmod a+x $DATA_DIR/usr/bin/voxl-ardupilot
# Create necessary directories for ArduPilot operation
sudo mkdir -p $DATA_DIR/data/APM
# Install default parameter files
sudo cp ../../../Tools/Frame_params/ModalAI/*.parm $DATA_DIR/data/APM
sudo mkdir -p $DATA_DIR/etc/systemd/system/
sudo cp ../ap_host/service/voxl-ardupilot.service $DATA_DIR/etc/systemd/system/
else
echo "Error: Build artifacts not found"
exit 1
fi
################################################################################
# make a DEB package
################################################################################
echo "starting building Debian Package"
## make a folder dedicated to Deb building and copy the requires debian-binary file in
mkdir $DEB_DIR
## copy the control stuff in
cp -rf $CONTROL_DIR/ $DEB_DIR/DEBIAN
cp -rf $DATA_DIR/* $DEB_DIR
DEB_NAME="${PACKAGE}_${VEHICLETYPE}_${VERSION}_arm64.deb"
dpkg-deb --build "${DEB_DIR}" "${DEB_NAME}"
echo "DONE"

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Package: voxl-ardupilot
Version: FW_VERSION
Section: devel
Priority: optional
Architecture: arm64
Depends: modalai-slpi(>=1.1.19), libslpi-link
Maintainer: Eric Katzfey <eric.katzfey@modalai.com>
Description: ModalAI ArduPilot flight controller

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#!/bin/bash
# Create directory for APM use
cd /data
mkdir -p APM
chown system:system APM
# Make sure the run scripts are executable
cd /usr/bin
chmod a+x voxl-ardupilot
# Check to see if a DSP test signature exists
if /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then
/bin/echo "Found DSP signature file"
else
/bin/echo "Could not find DSP signature file"
# Look for the DSP signature generation script
if [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
/bin/echo "Attempting to generate the DSP signature file"
# Automatically generate the test signature so that px4 can run on SLPI DSP
/share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh
else
/bin/echo "Could not find the DSP signature file generation script"
fi
fi
# Always flush all changes to disk
/bin/sync
cd -
# try to reload services, but don't fail if it can't
set +e
if [ -f /bin/systemctl ]; then
systemctl daemon-reload
fi
# exit 0 even if systemctl failed
exit 0