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-rw-r--r--gnu/packages/drones.scm199
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diff --git a/gnu/packages/drones.scm b/gnu/packages/drones.scm
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--- a/gnu/packages/drones.scm
+++ /dev/null
@@ -1,199 +0,0 @@
-;;; 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 (gnu packages xml)
- #: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"))
generated by cgit v1.2.3 (git 2.45.2) at 2024-07-02 06:25:29 +0000