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-rw-r--r--gnu/local.mk1
-rw-r--r--gnu/packages/drones.scm198
2 files changed, 199 insertions, 0 deletions
diff --git a/gnu/local.mk b/gnu/local.mk
index 61dfbb9d5b..9d1028a5be 100644
--- a/gnu/local.mk
+++ b/gnu/local.mk
@@ -159,6 +159,7 @@ GNU_SYSTEM_MODULES = \
%D%/packages/docbook.scm \
%D%/packages/docker.scm \
%D%/packages/documentation.scm \
+ %D%/packages/drones.scm \
%D%/packages/dunst.scm \
%D%/packages/dvtm.scm \
%D%/packages/easyrpg.scm \
diff --git a/gnu/packages/drones.scm b/gnu/packages/drones.scm
new file mode 100644
index 0000000000..18b2621e4a
--- /dev/null
+++ b/gnu/packages/drones.scm
@@ -0,0 +1,198 @@
+;;; 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 (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"))