mirror of https://github.com/ArduPilot/ardupilot
511 lines
15 KiB
Bash
Executable File
511 lines
15 KiB
Bash
Executable File
#!/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=$PATH:/bin:/usr/bin
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export TMPDIR=$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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tag="$2"
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board="$3"
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frame="$4"
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echo "Trying checkout $vehicle $tag $board $frame"
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git stash
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if [ "$tag" = "latest" ]; then
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vtag="master"
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else
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vtag="$vehicle-$tag"
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fi
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# try frame specific tag
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if [ -n "$frame" ]; then
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vtag2="$vtag-$frame"
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git checkout -f "$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 $board)
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git checkout -f "$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 $tag $board $frame"
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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() {
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b="$1"
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if grep -q "$b" ../mk/targets.mk; 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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# 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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board=$1
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frame=$2
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if [ "$board" = "bebop" ]; then
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if [ "$frame" != "quad" ]; then
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return 0
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fi
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fi
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return 1
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}
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# check if we should skip this build because we have already
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# built this version
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skip_build() {
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[ "$FORCE_BUILD" = "1" ] && return 1
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tag="$1"
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ddir="$2"
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bname=$(basename $ddir)
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ldir=$(dirname $(dirname $(dirname $ddir)))/$tag/$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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pushd ArduPlane
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for b in apm1 apm2; 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 $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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make clean || continue
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make $b -j4 || {
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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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extension=$(board_extension $b)
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copyit $BUILDROOT/ArduPlane.$extension $ddir $tag
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touch $binaries/Plane/$tag
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done
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popd
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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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waf configure --board $b --out $BUILDROOT clean 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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pushd ArduPlane
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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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popd
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return
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}
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skip_build $tag $ddir || {
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for v in v1 v2 v4; do
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make px4-clean
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make px4-$v -j2 || {
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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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checkout ArduPlane "latest" "" ""
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popd
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return
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}
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done
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copyit ArduPlane-v1.px4 $ddir $tag &&
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copyit ArduPlane-v2.px4 $ddir $tag &&
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test ! -f ArduPlane-v4.px4 || copyit ArduPlane-v4.px4 $ddir $tag
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if [ "$tag" = "latest" ]; then
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copyit px4io-v1.bin $binaries/PX4IO/$hdate/PX4IO $tag
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copyit px4io-v1.elf $binaries/PX4IO/$hdate/PX4IO $tag
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copyit px4io-v2.bin $binaries/PX4IO/$hdate/PX4IO $tag
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copyit px4io-v2.elf $binaries/PX4IO/$hdate/PX4IO $tag
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fi
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}
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checkout ArduPlane "latest" "" ""
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popd
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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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frames="quad tri hexa y6 octa octa-quad heli"
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for b in erlebrain2 navio navio2 pxf pxfmini bebop; do
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for f in $frames; do
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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 $b binaries $f"
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ddir=$binaries/Copter/$hdate/$b-$f
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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 $BUILDROOT clean \
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build --targets bin/arducopter-$f || {
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echo "Failed build of ArduCopter $b-$f $tag"
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error_count=$((error_count+1))
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continue
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}
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copyit $BUILDROOT/$b/bin/arducopter-$f $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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pushd ArduCopter
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for f in $frames; do
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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 PX4-$f binaries"
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ddir="$binaries/Copter/$hdate/PX4-$f"
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skip_build $tag $ddir && continue
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for v in v1 v2 v4; do
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make px4-clean
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make px4-$v-$f -j2 || {
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echo "Failed build of ArduCopter 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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done
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copyit ArduCopter-v1.px4 $ddir $tag &&
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copyit ArduCopter-v2.px4 $ddir $tag &&
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test ! -f ArduCopter-v4.px4 || copyit ArduCopter-v4.px4 $ddir $tag
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done
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checkout ArduCopter "latest" "" ""
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popd
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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 $b binaries"
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checkout APMrover2 $tag $b "" || continue
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skip_board $b && continue
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ddir=$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
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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 $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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pushd APMrover2
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echo "Building APMrover2 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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popd
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return
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}
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skip_build $tag $ddir || {
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for v in v1 v2 v4; do
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make px4-clean
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make px4-$v -j2 || {
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echo "Failed build of APMrover2 PX4 $tag"
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error_count=$((error_count+1))
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checkout APMrover2 "latest" "" ""
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popd
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return
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}
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done
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copyit APMrover2-v1.px4 $binaries/Rover/$hdate/PX4 $tag &&
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copyit APMrover2-v2.px4 $binaries/Rover/$hdate/PX4 $tag &&
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test ! -f APMrover2-v4.px4 || copyit APMrover2-v4.px4 $binaries/Rover/$hdate/PX4 $tag
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}
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checkout APMrover2 "latest" "" ""
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popd
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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 $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
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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 $b binaries"
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ddir=$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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pushd AntennaTracker
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echo "Building AntennaTracker 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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popd
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return
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}
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skip_build $tag $ddir || {
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for v in v1 v2 v4; do
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make px4-clean
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make px4-$v -j2 || {
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echo "Failed build of AntennaTracker PX4 $tag"
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error_count=$((error_count+1))
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checkout AntennaTracker "latest" "" ""
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popd
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return
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}
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done
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copyit AntennaTracker-v1.px4 $binaries/AntennaTracker/$hdate/PX4 $tag &&
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copyit AntennaTracker-v2.px4 $binaries/AntennaTracker/$hdate/PX4 $tag &&
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test ! -f AntennaTracker-v4.px4 || copyit AntennaTracker-v4.px4 $binaries/AntennaTracker/$hdate/PX4 $tag
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}
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checkout AntennaTracker "latest" "" ""
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popd
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}
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[ -f .gitmodules ] && {
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git submodule init
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git submodule update --recursive -f
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}
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export BUILDROOT="$TMPDIR/binaries.build"
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rm -rf $BUILDROOT
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# make sure PX4 is rebuilt from scratch
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for d in ArduPlane ArduCopter APMrover2 AntennaTracker; do
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pushd $d
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make px4-clean || exit 1
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popd
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done
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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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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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