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