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| -rw-r--r-- | gnu/local.mk | 1 | ||||
| -rw-r--r-- | gnu/packages/drones.scm | 198 |
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")) |