mirror of
https://github.com/CopterExpress/clover.git
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24e516b898
We assume there won't be more than one FMU connected to the Raspberry Pi at any given time.
118 lines
5.0 KiB
Bash
Executable File
118 lines
5.0 KiB
Bash
Executable File
#! /usr/bin/env bash
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#
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# Script for build the image. Used builder script of the target repo
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# For build: docker run --privileged -it --rm -v /dev:/dev -v $(pwd):/builder/repo smirart/builder
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#
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# Copyright (C) 2018 Copter Express Technologies
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#
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# Author: Artem Smirnov <urpylka@gmail.com>
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#
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set -e # Exit immidiately on non-zero result
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SOURCE_IMAGE="https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2018-06-29/2018-06-27-raspbian-stretch-lite.zip"
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export DEBIAN_FRONTEND=${DEBIAN_FRONTEND:='noninteractive'}
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export LANG=${LANG:='C.UTF-8'}
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export LC_ALL=${LC_ALL:='C.UTF-8'}
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echo_stamp() {
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# TEMPLATE: echo_stamp <TEXT> <TYPE>
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# TYPE: SUCCESS, ERROR, INFO
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# More info there https://www.shellhacks.com/ru/bash-colors/
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TEXT="$(date '+[%Y-%m-%d %H:%M:%S]') $1"
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TEXT="\e[1m$TEXT\e[0m" # BOLD
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case "$2" in
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SUCCESS)
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TEXT="\e[32m${TEXT}\e[0m";; # GREEN
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ERROR)
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TEXT="\e[31m${TEXT}\e[0m";; # RED
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*)
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TEXT="\e[34m${TEXT}\e[0m";; # BLUE
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esac
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echo -e ${TEXT}
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}
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BUILDER_DIR="/builder"
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REPO_DIR="${BUILDER_DIR}/repo"
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SCRIPTS_DIR="${REPO_DIR}/builder"
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IMAGES_DIR="${REPO_DIR}/images"
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[[ ! -d ${SCRIPTS_DIR} ]] && (echo_stamp "Directory ${SCRIPTS_DIR} doesn't exist" "ERROR"; exit 1)
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[[ ! -d ${IMAGES_DIR} ]] && mkdir ${IMAGES_DIR} && echo_stamp "Directory ${IMAGES_DIR} was created successful" "SUCCESS"
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if [[ -z ${TRAVIS_TAG} ]]; then IMAGE_VERSION="$(cd ${REPO_DIR}; git log --format=%h -1)"; else IMAGE_VERSION="${TRAVIS_TAG}"; fi
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# IMAGE_VERSION="${TRAVIS_TAG:=$(cd ${REPO_DIR}; git log --format=%h -1)}"
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REPO_URL="$(cd ${REPO_DIR}; git remote --verbose | grep origin | grep fetch | cut -f2 | cut -d' ' -f1 | sed 's/git@github\.com\:/https\:\/\/github.com\//')"
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REPO_NAME="$(basename -s '.git' ${REPO_URL})"
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IMAGE_NAME="${REPO_NAME}_${IMAGE_VERSION}.img"
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IMAGE_PATH="${IMAGES_DIR}/${IMAGE_NAME}"
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get_image() {
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# TEMPLATE: get_image <IMAGE_PATH> <RPI_DONWLOAD_URL>
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local BUILD_DIR=$(dirname $1)
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local RPI_ZIP_NAME=$(basename $2)
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local RPI_IMAGE_NAME=$(echo ${RPI_ZIP_NAME} | sed 's/zip/img/')
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if [ ! -e "${BUILD_DIR}/${RPI_ZIP_NAME}" ]; then
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echo_stamp "Downloading original Linux distribution"
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wget --progress=dot:giga -O ${BUILD_DIR}/${RPI_ZIP_NAME} $2
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echo_stamp "Downloading complete" "SUCCESS" \
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else echo_stamp "Linux distribution already donwloaded"; fi
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echo_stamp "Unzipping Linux distribution image" \
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&& unzip -p ${BUILD_DIR}/${RPI_ZIP_NAME} ${RPI_IMAGE_NAME} > $1 \
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&& echo_stamp "Unzipping complete" "SUCCESS" \
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|| (echo_stamp "Unzipping was failed!" "ERROR"; exit 1)
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}
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get_image ${IMAGE_PATH} ${SOURCE_IMAGE}
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# Make free space
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${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH} max '7G'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/init_rpi.sh' '/root/'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/hardware_setup.sh' '/root/'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-init.sh' ${IMAGE_VERSION} ${SOURCE_IMAGE}
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# Copy cloned repository to the image
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# Include dotfiles in globs (asterisks)
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shopt -s dotglob
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for dir in ${REPO_DIR}/*; do
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# Don't try to copy image into itself
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if [[ $dir != *"images" ]]; then
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy $dir '/home/pi/catkin_ws/src/clever/'
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fi;
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done
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# Monkey
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey' '/root/'
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# Butterfly
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.service' '/lib/systemd/system/'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/butterfly.socket' '/lib/systemd/system/'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/monkey.service' '/lib/systemd/system/'
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# software install
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-software.sh'
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# network setup
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-network.sh'
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# If RPi then use a one thread to build a ROS package on RPi, else use all
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[[ $(arch) == 'armv7l' ]] && NUMBER_THREADS=1 || NUMBER_THREADS=$(nproc --all)
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# Clever
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/clever.service' '/lib/systemd/system/'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.env' '/lib/systemd/system/'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/roscore.service' '/lib/systemd/system/'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-rosdep-clever.yaml' '/etc/ros/rosdep/'
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# ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clever.rosinstall' '/home/pi/ros_catkin_ws/'
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# Add PX4 udev rules
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/99-pixhawk.rules' '/lib/udev/rules.d/'
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
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${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'
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${BUILDER_DIR}/image-resize.sh ${IMAGE_PATH}
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