200 lines
7.5 KiB
Scheme
200 lines
7.5 KiB
Scheme
;;; GNU Guix --- Functional package management for GNU
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;;; Copyright © 2019 Mathieu Othacehe <m.othacehe@gmail.com>
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;;;
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;;; This file is part of GNU Guix.
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;;;
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;;; GNU Guix is free software; you can redistribute it and/or modify it
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;;; under the terms of the GNU General Public License as published by
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;;; the Free Software Foundation; either version 3 of the License, or (at
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;;; your option) any later version.
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;;;
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;;; GNU Guix is distributed in the hope that it will be useful, but
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;;; WITHOUT ANY WARRANTY; without even the implied warranty of
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;;; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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;;; GNU General Public License for more details.
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;;;
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;;; You should have received a copy of the GNU General Public License
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;;; along with GNU Guix. If not, see <http://www.gnu.org/licenses/>.
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(define-module (gnu packages drones)
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#:use-module (guix licenses)
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#:use-module (guix packages)
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#:use-module (gnu packages cross-base)
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#:use-module (gnu packages pkg-config)
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#:use-module (gnu packages python)
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#:use-module (gnu packages python-xyz)
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#:use-module (gnu packages xml)
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#:use-module (guix download)
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#:use-module (guix utils)
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#:use-module (guix git-download)
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#:use-module (guix build-system gnu))
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(define (ardupilot-type->tag type)
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(case type
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((copter) "Copter")
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((plane) "ArduPlane")
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((rover) "Rover")
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(else #f)))
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(define (ardupilot-type->waf-cmd type)
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(symbol->string type))
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(define* (make-ardupilot-firmware #:key name version base32 type board target)
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(package
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(name (string-append name "-" board))
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(version version)
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(source
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(origin
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(method git-fetch)
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(uri (git-reference
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(url "https://github.com/ArduPilot/ardupilot")
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(commit (string-append
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(ardupilot-type->tag type) "-" version))
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;; XXX: Ardupilot includes several git submodules. They should be
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;; avoided but as this is not supported upstream, and not trivial
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;; to fix, keep it this way for now.
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(recursive? #t)))
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(file-name (git-file-name name version))
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(sha256 base32)))
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;; Could also be waf-build-system but every phase has to be rewritten
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;; anyway.
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(build-system gnu-build-system)
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(arguments
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`(#:imported-modules ((gnu build cross-toolchain)
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,@%gnu-build-system-modules)
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#:phases
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(modify-phases %standard-phases
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(delete 'bootstrap)
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;; Remove the root waf script that relies on waf git submodule.
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(add-before 'configure 'setup-waf
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(lambda* (#:key native-inputs inputs #:allow-other-keys)
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(let ((waf (assoc-ref (or native-inputs inputs) "waf")))
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(delete-file "waf")
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(copy-file (string-append waf "/bin/waf") "waf"))
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#t))
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;; When cross-compiling, we do not want to use the default gnu
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;; cross-compiler, so set CROSS_CPATH and CROSS_LIBRARY_PATH
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;; variables ourselves instead.
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(delete 'set-cross-path)
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(add-before 'configure 'set-custom-cross-cpath
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(lambda* (#:key native-inputs inputs #:allow-other-keys)
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((@@ (gnu build cross-toolchain) set-cross-path)
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#:inputs
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`(("libc" . ,(assoc-ref (or native-inputs inputs)
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"ardupilot-cross-libc"))
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("xkernel-headers" .
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,(assoc-ref (or native-inputs inputs)
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"ardupilot-cross-kernel-headers"))))
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;; We need to produce a static binary, so that it can works on
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;; other systems than Guix System. Add a static version of the
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;; cross libc to CROSS_LIBRARY_PATH variable.
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(setenv "CROSS_LIBRARY_PATH"
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(string-append
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(getenv "CROSS_LIBRARY_PATH") ":"
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(assoc-ref (or native-inputs inputs)
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"ardupilot-cross-libc-static") "/lib"))
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#t))
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;; Remove dependencies to 'git'.
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(add-before 'configure 'remove-git
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(lambda* (#:key inputs #:allow-other-keys)
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(substitute* "wscript"
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(("^.*cfg\\.load\\('git_submodule.*$")
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""))
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(substitute* "Tools/ardupilotwaf/boards.py"
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(("^.*GIT_VERSION.*$")
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""))
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#t))
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;; Configure for the given BOARD, and force a static build for
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;; reasons exposed above.
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(replace 'configure
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(lambda* (#:key outputs #:allow-other-keys)
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(invoke "./waf" "configure" "--board" ,board "--static")
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#t))
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(replace 'build
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(lambda* (#:key outputs #:allow-other-keys)
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(invoke "./waf" ,(ardupilot-type->waf-cmd type))
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#t))
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;; Do not run tests as we are always cross-compiling.
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(delete 'check)
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;; Install the produced firmware.
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(replace 'install
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(lambda* (#:key outputs #:allow-other-keys)
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(let* ((out (assoc-ref outputs "out"))
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(bin (string-append out "/bin")))
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(mkdir-p bin)
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(copy-recursively
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(string-append "build/" ,board "/bin") bin))
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#t)))))
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(native-inputs
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`(("waf" ,python-waf)
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("python" ,python)
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("python-future" ,python-future)
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("python-lxml" ,python-lxml)
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;; Packages needed for cross-compiling the firmware.
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("ardupilot-cross-gcc" ,(cross-gcc target
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#:xbinutils
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(cross-binutils target)
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#:libc
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(cross-libc target)))
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("ardupilot-cross-libc" ,(cross-libc target))
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("ardupilot-cross-libc-static" ,(cross-libc target) "static")
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("ardupilot-cross-kernel-headers"
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,@(assoc-ref (package-propagated-inputs
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(cross-libc target))
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"kernel-headers"))
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("ardupilot-cross-binutils" ,(cross-binutils target))
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("ardupilot-cross-pkg-config" ,(parameterize ((%current-target-system
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target))
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pkg-config))))
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(home-page "https://ardupilot.org/")
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(synopsis "Unmanned vehicle autopilot software suite")
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(description "@code{ardupilot} is an unmanned vehicle autopilot software
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suite capable of controlling autonomous:
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@itemize
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@item multirotor drones
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@item fixed-wing and vtol aircraft
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@item helicopters
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@item ground rovers
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@item boats
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@item submarines
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@item antenna trackers
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@end itemize")
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(license gpl3+)))
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(define (make-arducopter-firmware board target)
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(make-ardupilot-firmware
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#:name "arducopter"
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#:version "3.6.11"
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#:base32 (base32 "1zkr2nhkksmrriirs2dnp8a0gcf9rfqw1x86pzhh6w4ciqwpidqn")
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#:type 'copter
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#:board board
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#:target target))
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(define (make-arduplane-firmware board target)
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(make-ardupilot-firmware
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#:name "arduplane"
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#:version "4.0.1"
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#:base32 (base32 "0awafvrppg4ilwpbhw88r5xkbgqrmqypsn6lbzyi6bz0zy5cfhb5")
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#:type 'plane
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#:board board
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#:target target))
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(define-public arducopter-bbbmini
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(make-arducopter-firmware "bbbmini" "arm-linux-gnueabihf"))
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(define-public arduplane-bbbmini
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(make-arduplane-firmware "bbbmini" "arm-linux-gnueabihf"))
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;; Firmware for Bebop and Bebop2 drones.
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(define-public arducopter-bebop
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(make-arducopter-firmware "bebop" "arm-linux-gnueabihf"))
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