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ardupilot/Tools/scripts/build_binaries.sh

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