gnu: Add ardupilot.

* gnu/local.mk (GNU_SYSTEM_MODULES): Add drones.scm.
* gnu/packages/drones.scm: New file.

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"))