1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
|
;;; GNU Guix --- Functional package management for GNU
;;; Copyright © 2019 Mathieu Othacehe <m.othacehe@gmail.com>
;;;
;;; This file is part of GNU Guix.
;;;
;;; GNU Guix is free software; you can redistribute it and/or modify it
;;; under the terms of the GNU General Public License as published by
;;; the Free Software Foundation; either version 3 of the License, or (at
;;; your option) any later version.
;;;
;;; GNU Guix is distributed in the hope that it will be useful, but
;;; WITHOUT ANY WARRANTY; without even the implied warranty of
;;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
;;; GNU General Public License for more details.
;;;
;;; You should have received a copy of the GNU General Public License
;;; along with GNU Guix. If not, see <http://www.gnu.org/licenses/>.
(define-module (gnu packages drones)
#:use-module (guix licenses)
#:use-module (guix packages)
#:use-module (gnu packages cross-base)
#:use-module (gnu packages pkg-config)
#:use-module (gnu packages python)
#:use-module (gnu packages python-xyz)
#:use-module (gnu packages xml)
#:use-module (guix download)
#:use-module (guix utils)
#:use-module (guix git-download)
#:use-module (guix build-system gnu))
(define (ardupilot-type->tag type)
(case type
((copter) "Copter")
((plane) "ArduPlane")
((rover) "Rover")
(else #f)))
(define (ardupilot-type->waf-cmd type)
(symbol->string type))
(define* (make-ardupilot-firmware #:key name version base32 type board target)
(package
(name (string-append name "-" board))
(version version)
(source
(origin
(method git-fetch)
(uri (git-reference
(url "https://github.com/ArduPilot/ardupilot")
(commit (string-append
(ardupilot-type->tag type) "-" version))
;; XXX: Ardupilot includes several git submodules. They should be
;; avoided but as this is not supported upstream, and not trivial
;; to fix, keep it this way for now.
(recursive? #t)))
(file-name (git-file-name name version))
(sha256 base32)))
;; Could also be waf-build-system but every phase has to be rewritten
;; anyway.
(build-system gnu-build-system)
(arguments
`(#:imported-modules ((gnu build cross-toolchain)
,@%gnu-build-system-modules)
#:phases
(modify-phases %standard-phases
(delete 'bootstrap)
;; Remove the root waf script that relies on waf git submodule.
(add-before 'configure 'setup-waf
(lambda* (#:key native-inputs inputs #:allow-other-keys)
(let ((waf (assoc-ref (or native-inputs inputs) "waf")))
(delete-file "waf")
(copy-file (string-append waf "/bin/waf") "waf"))
#t))
;; When cross-compiling, we do not want to use the default gnu
;; cross-compiler, so set CROSS_CPATH and CROSS_LIBRARY_PATH
;; variables ourselves instead.
(delete 'set-cross-path)
(add-before 'configure 'set-custom-cross-cpath
(lambda* (#:key native-inputs inputs #:allow-other-keys)
((@@ (gnu build cross-toolchain) set-cross-path)
#:inputs
`(("libc" . ,(assoc-ref (or native-inputs inputs)
"ardupilot-cross-libc"))
("xkernel-headers" .
,(assoc-ref (or native-inputs inputs)
"ardupilot-cross-kernel-headers"))))
;; We need to produce a static binary, so that it can works on
;; other systems than Guix System. Add a static version of the
;; cross libc to CROSS_LIBRARY_PATH variable.
(setenv "CROSS_LIBRARY_PATH"
(string-append
(getenv "CROSS_LIBRARY_PATH") ":"
(assoc-ref (or native-inputs inputs)
"ardupilot-cross-libc-static") "/lib"))
#t))
;; Remove dependencies to 'git'.
(add-before 'configure 'remove-git
(lambda* (#:key inputs #:allow-other-keys)
(substitute* "wscript"
(("^.*cfg\\.load\\('git_submodule.*$")
""))
(substitute* "Tools/ardupilotwaf/boards.py"
(("^.*GIT_VERSION.*$")
""))
#t))
;; Configure for the given BOARD, and force a static build for
;; reasons exposed above.
(replace 'configure
(lambda* (#:key outputs #:allow-other-keys)
(invoke "./waf" "configure" "--board" ,board "--static")
#t))
(replace 'build
(lambda* (#:key outputs #:allow-other-keys)
(invoke "./waf" ,(ardupilot-type->waf-cmd type))
#t))
;; Do not run tests as we are always cross-compiling.
(delete 'check)
;; Install the produced firmware.
(replace 'install
(lambda* (#:key outputs #:allow-other-keys)
(let* ((out (assoc-ref outputs "out"))
(bin (string-append out "/bin")))
(mkdir-p bin)
(copy-recursively
(string-append "build/" ,board "/bin") bin))
#t)))))
(native-inputs
`(("waf" ,python-waf)
("python" ,python)
("python-future" ,python-future)
("python-lxml" ,python-lxml)
;; Packages needed for cross-compiling the firmware.
("ardupilot-cross-gcc" ,(cross-gcc target
#:xbinutils
(cross-binutils target)
#:libc
(cross-libc target)))
("ardupilot-cross-libc" ,(cross-libc target))
("ardupilot-cross-libc-static" ,(cross-libc target) "static")
("ardupilot-cross-kernel-headers"
,@(assoc-ref (package-propagated-inputs
(cross-libc target))
"kernel-headers"))
("ardupilot-cross-binutils" ,(cross-binutils target))
("ardupilot-cross-pkg-config" ,(parameterize ((%current-target-system
target))
pkg-config))))
(home-page "https://ardupilot.org/")
(synopsis "Unmanned vehicle autopilot software suite")
(description "@code{ardupilot} is an unmanned vehicle autopilot software
suite capable of controlling autonomous:
@itemize
@item multirotor drones
@item fixed-wing and vtol aircraft
@item helicopters
@item ground rovers
@item boats
@item submarines
@item antenna trackers
@end itemize")
(license gpl3+)))
(define (make-arducopter-firmware board target)
(make-ardupilot-firmware
#:name "arducopter"
#:version "3.6.11"
#:base32 (base32 "1zkr2nhkksmrriirs2dnp8a0gcf9rfqw1x86pzhh6w4ciqwpidqn")
#:type 'copter
#:board board
#:target target))
(define (make-arduplane-firmware board target)
(make-ardupilot-firmware
#:name "arduplane"
#:version "4.0.1"
#:base32 (base32 "0awafvrppg4ilwpbhw88r5xkbgqrmqypsn6lbzyi6bz0zy5cfhb5")
#:type 'plane
#:board board
#:target target))
(define-public arducopter-bbbmini
(make-arducopter-firmware "bbbmini" "arm-linux-gnueabihf"))
(define-public arduplane-bbbmini
(make-arduplane-firmware "bbbmini" "arm-linux-gnueabihf"))
;; Firmware for Bebop and Bebop2 drones.
(define-public arducopter-bebop
(make-arducopter-firmware "bebop" "arm-linux-gnueabihf"))
|
