#!/bin/bash echo "---------- $0 start ----------" set -e set -x if [ $EUID == 0 ]; then echo "Please do not run this script as root; don't sudo it!" exit 1 fi OPT="/opt" # Ardupilot Tools ARDUPILOT_TOOLS="Tools/autotest" ASSUME_YES=false QUIET=false sep="##############################################" OPTIND=1 # Reset in case getopts has been used previously in the shell. while getopts "yq" opt; do case "$opt" in \?) exit 1 ;; y) ASSUME_YES=true ;; q) QUIET=true ;; esac done APT_GET="sudo apt-get" if $ASSUME_YES; then APT_GET="$APT_GET --assume-yes" fi if $QUIET; then APT_GET="$APT_GET -qq" fi # update apt package list $APT_GET update function package_is_installed() { dpkg-query -W -f='${Status}' "$1" 2>/dev/null | grep -c "ok installed" } function heading() { echo "$sep" echo $* echo "$sep" } # Install lsb-release as it is needed to check Ubuntu version if package_is_installed "lsb-release" -eq 1; then heading "Installing lsb-release" $APT_GET install lsb-release echo "Done!" fi # Checking Ubuntu release to adapt software version to install RELEASE_CODENAME=$(lsb_release -c -s) PYTHON_V="python" # starting from ubuntu 20.04, python isn't symlink to default python interpreter PIP=pip2 if [ ${RELEASE_CODENAME} == 'xenial' ]; then SITLFML_VERSION="2.3v5" SITLCFML_VERSION="2.3" elif [ ${RELEASE_CODENAME} == 'disco' ]; then SITLFML_VERSION="2.5" SITLCFML_VERSION="2.5" elif [ ${RELEASE_CODENAME} == 'eoan' ]; then SITLFML_VERSION="2.5" SITLCFML_VERSION="2.5" elif [ ${RELEASE_CODENAME} == 'focal' ] || [ ${RELEASE_CODENAME} == 'ulyssa' ]; then SITLFML_VERSION="2.5" SITLCFML_VERSION="2.5" PYTHON_V="python3" PIP=pip3 elif [ ${RELEASE_CODENAME} == 'groovy' ]; then SITLFML_VERSION="2.5" SITLCFML_VERSION="2.5" PYTHON_V="python3" PIP=pip3 elif [ ${RELEASE_CODENAME} == 'trusty' ]; then SITLFML_VERSION="2" SITLCFML_VERSION="2" else SITLFML_VERSION="2.4" SITLCFML_VERSION="2.4" fi # Lists of packages to install BASE_PKGS="build-essential ccache g++ gawk git make wget" PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect flake8" # add some Python packages required for commonly-used MAVProxy modules and hex file generation: if [[ $SKIP_AP_EXT_ENV -ne 1 ]]; then PYTHON_PKGS="$PYTHON_PKGS pygame intelhex" fi ARM_LINUX_PKGS="g++-arm-linux-gnueabihf pkg-config-arm-linux-gnueabihf" # python-wxgtk packages are added to SITL_PKGS below SITL_PKGS="libtool libxml2-dev libxslt1-dev ${PYTHON_V}-dev ${PYTHON_V}-pip ${PYTHON_V}-setuptools ${PYTHON_V}-numpy ${PYTHON_V}-pyparsing" # add some packages required for commonly-used MAVProxy modules: if [[ $SKIP_AP_GRAPHIC_ENV -ne 1 ]]; then SITL_PKGS="$SITL_PKGS xterm ${PYTHON_V}-matplotlib ${PYTHON_V}-serial ${PYTHON_V}-scipy ${PYTHON_V}-opencv libcsfml-dev libcsfml-audio${SITLCFML_VERSION} libcsfml-dev libcsfml-graphics${SITLCFML_VERSION} libcsfml-network${SITLCFML_VERSION} libcsfml-system${SITLCFML_VERSION} libcsfml-window${SITLCFML_VERSION} libsfml-audio${SITLFML_VERSION} libsfml-dev libsfml-graphics${SITLFML_VERSION} libsfml-network${SITLFML_VERSION} libsfml-system${SITLFML_VERSION} libsfml-window${SITLFML_VERSION} ${PYTHON_V}-yaml" fi if [[ $SKIP_AP_COV_ENV -ne 1 ]]; then # Coverage utilities COVERAGE_PKGS="lcov gcovr" fi # ArduPilot official Toolchain for STM32 boards function install_arm_none_eabi_toolchain() { # GNU Tools for ARM Embedded Processors # (see https://launchpad.net/gcc-arm-embedded/) ARM_ROOT="gcc-arm-none-eabi-6-2017-q2-update" ARM_TARBALL="$ARM_ROOT-linux.tar.bz2" ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL" if [ ! -d $OPT/$ARM_ROOT ]; then ( cd $OPT; heading "Installing toolchain for STM32 Boards" echo "Downloading from ArduPilot server" sudo wget $ARM_TARBALL_URL echo "Installing..." sudo tar xjf ${ARM_TARBALL} echo "... Cleaning" sudo rm ${ARM_TARBALL}; ) fi echo "Registering STM32 Toolchain for ccache" sudo ln -s -f $CCACHE_PATH /usr/lib/ccache/arm-none-eabi-g++ sudo ln -s -f $CCACHE_PATH /usr/lib/ccache/arm-none-eabi-gcc echo "Done!" } function maybe_prompt_user() { if $ASSUME_YES; then return 0 else read -p "$1" if [[ $REPLY =~ ^[Yy]$ ]]; then return 0 else return 1 fi fi } heading "Add user to dialout group to allow managing serial ports" sudo usermod -a -G dialout $USER echo "Done!" # Add back python symlink to python interpreter on Ubuntu >= 20.04 if [ ${RELEASE_CODENAME} == 'focal' ] || [ ${RELEASE_CODENAME} == 'ulyssa' ]; then BASE_PKGS+=" python-is-python3" SITL_PKGS+=" libpython3-stdlib" # for argparse elif [ ${RELEASE_CODENAME} == 'groovy' ]; then BASE_PKGS+=" python-is-python3" SITL_PKGS+=" libpython3-stdlib" # for argparse else SITL_PKGS+=" python-argparse" fi # Check for graphical package for MAVProxy if [[ $SKIP_AP_GRAPHIC_ENV -ne 1 ]]; then if [ ${RELEASE_CODENAME} == 'groovy' ]; then SITL_PKGS+=" python3-wxgtk4.0" SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libjpeg8-dev libpng16-16 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev" # for pygame elif [ ${RELEASE_CODENAME} == 'focal' ] || [ ${RELEASE_CODENAME} == 'ulyssa' ]; then SITL_PKGS+=" python3-wxgtk4.0" SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libjpeg8-dev libpng16-16 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev" # for pygame elif apt-cache search python-wxgtk3.0 | grep wx; then SITL_PKGS+=" python-wxgtk3.0" else # we only support back to trusty: SITL_PKGS+=" python-wxgtk2.8" SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libjpeg8-dev libpng12-0 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev" # for pygame fi fi # Check if we need to manually install realpath RP=$(apt-cache search -n '^realpath$') if [ -n "$RP" ]; then BASE_PKGS+=" realpath" fi # Check if we need to manually install libtool-bin LBTBIN=$(apt-cache search -n '^libtool-bin') if [ -n "$LBTBIN" ]; then SITL_PKGS+=" libtool-bin" fi # Install all packages $APT_GET install $BASE_PKGS $SITL_PKGS $PX4_PKGS $ARM_LINUX_PKGS $COVERAGE_PKGS $PIP install --user -U $PYTHON_PKGS if [[ -z "${DO_AP_STM_ENV}" ]] && maybe_prompt_user "Install ArduPilot STM32 toolchain [N/y]?" ; then DO_AP_STM_ENV=1 fi heading "Removing modemmanager package that could conflict with firmware uploading" if package_is_installed "modemmanager" -eq 1; then $APT_GET remove modemmanager fi echo "Done!" CCACHE_PATH=$(which ccache) if [[ $DO_AP_STM_ENV -eq 1 ]]; then install_arm_none_eabi_toolchain fi heading "Check if we are inside docker environment..." IS_DOCKER=false if [[ -f /.dockerenv ]] || grep -Eq '(lxc|docker)' /proc/1/cgroup ; then IS_DOCKER=true fi echo "Done!" SHELL_LOGIN=".profile" if $IS_DOCKER; then echo "Inside docker, we add the tools path into .bashrc directly" SHELL_LOGIN=".bashrc" fi heading "Adding ArduPilot Tools to environment" SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]})) ARDUPILOT_ROOT=$(realpath "$SCRIPT_DIR/../../") exportline="export PATH=$OPT/$ARM_ROOT/bin:\$PATH"; grep -Fxq "$exportline" ~/$SHELL_LOGIN 2>/dev/null || { if maybe_prompt_user "Add $OPT/$ARM_ROOT/bin to your PATH [N/y]?" ; then echo $exportline >> ~/$SHELL_LOGIN eval $exportline else echo "Skipping adding $OPT/$ARM_ROOT/bin to PATH." fi } exportline2="export PATH=$ARDUPILOT_ROOT/$ARDUPILOT_TOOLS:\$PATH"; grep -Fxq "$exportline2" ~/$SHELL_LOGIN 2>/dev/null || { if maybe_prompt_user "Add $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to your PATH [N/y]?" ; then echo $exportline2 >> ~/$SHELL_LOGIN eval $exportline2 else echo "Skipping adding $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to PATH." fi } if [[ $SKIP_AP_COMPLETION_ENV -ne 1 ]]; then exportline3="source $ARDUPILOT_ROOT/Tools/completion/completion.bash"; grep -Fxq "$exportline3" ~/$SHELL_LOGIN 2>/dev/null || { if maybe_prompt_user "Add ArduPilot Bash Completion to your bash shell [N/y]?" ; then echo $exportline3 >> ~/.bashrc eval $exportline3 else echo "Skipping adding ArduPilot Bash Completion." fi } fi exportline4="export PATH=/usr/lib/ccache:\$PATH"; grep -Fxq "$exportline4" ~/$SHELL_LOGIN 2>/dev/null || { if maybe_prompt_user "Append CCache to your PATH [N/y]?" ; then echo $exportline4 >> ~/$SHELL_LOGIN eval $exportline4 else echo "Skipping appending CCache to PATH." fi } echo "Done!" if [[ $SKIP_AP_GIT_CHECK -ne 1 ]]; then if [ -d ".git" ]; then heading "Update git submodules" cd $ARDUPILOT_ROOT git submodule update --init --recursive echo "Done!" fi fi echo "---------- $0 end ----------"