def buildBootloader():
os.chdir(getScriptDir())
# This might need partner repos enabled
ensureDependencies(['ia32-libs'])
print('Building bootloader')
# Clone RCN's git repository
gitCloneAndEnter('git://github.com/RobertCNelson/Bootloader-Builder.git',
'607af4c206a3f')
# Patch the bootloader
# GPIO mux settings can be found in u-boot/board/ti/beagle/beagle.h
patches = [
'0001-Only-build-for-beagleboard.patch',
'0002-Add-patch-to-change-boot-delay-to-0-seconds.patch',
'0003-Add-patch-to-set-BeagleBoard-xM-pin-mux.patch'
]
patchdir = os.path.realpath(
os.path.join(getScriptDir(), 'patches', 'Bootloader-Builder'))
for patch in patches:
subprocess.call(['git', 'am', os.path.join(patchdir, patch)])
# Build the bootloader
subprocess.call(['./build.sh'])
os.chdir('..')
def buildQemu():
os.chdir(getScriptDir())
# Install dependencies
ensureDependencies(['libglib2.0-dev', 'binfmt-support', 'qemu'])
subprocess.call(['sudo', 'apt-get', '-y', 'build-dep', 'qemu'])
# Clone RCN's git repository
print('Building under Qemu')
gitCloneAndEnter('git://github.com/RobertCNelson/linaro-tools.git', '4a1cb42df6e58')
# Build and install qemu
os.chdir('qemu') # MUST CD INTO DIRECTORY
subprocess.call(['./build_qemu.sh'])
os.chdir('..')
os.chdir('..')
def buildKernel():
os.chdir(getScriptDir())
loadSettings()
# Install dependencies (Ubuntu needs u-boot-tools, Debian needs uboot-mkimage)
ensureDependencies(
['gcc-arm-linux-gnueabi', 'u-boot-tools', 'device-tree-compiler'])
# Clone the linux kernel source tree
print('Cloning the Linux kernel source tree')
linuxDirName = gitCloneAndEnter(
'git://git.kernel.org/pub/scm/linux/kernel/git/stable/linux-stable.git',
'master')
os.chdir('..')
# Clone RCN's git repository
print('Building kernel')
gitCloneAndEnter('git://github.com/RobertCNelson/stable-kernel.git',
'4d82ccd1b2093')
# Configure the kernel build script
shutil.copyfile('system.sh.sample',
'system.sh') # Overwrites existing file
file = open('system.sh', 'a') # Open for appending
file.write('LINUX_GIT=' +
os.path.join(os.path.realpath('..'), linuxDirName) + '\n')
file.write('ZRELADDR=0x80008000' +
'\n') # For TI: OMAP3/4/AM35xx (BB is OMAP3)
#file.write('BUILD_UIMAGE=1' + '\n') # Do I need to build uImage?
file.write('MMC=' + getSetting('mmc') + '\n')
# Pull in Torvalds current master tree before applying local patchset
# This is very useful during an intial 'rc0' merge.
# It is never supported... Enable at your own risk
#file.write('LATEST_GIT=1' + '\n')
file.write(
'LOCAL_PATCH_DIR=' +
os.path.join(os.path.realpath('..'), 'patches', 'stable-kernel') +
'\n')
file.close()
# Adding the CC parameter is a little more complex... we need to seek out
# the config line and uncomment it.
replaceAll('system.sh', '#CC=arm-linux-gnueabi-', 'CC=arm-linux-gnueabi-')
# Build the kernel
subprocess.call(['./build_deb.sh'])
os.chdir('..')
def installRosDeps():
# Make sure our current working dir is the script's location
os.chdir(getScriptDir())
if not os.path.exists('rosdeps'):
os.makedirs('rosdeps')
os.chdir('rosdeps')
# yaml-cpp
# Required by the navigation stack
# If 0.3.0 doesn't work, use https://github.com/wg-debs/yaml_cpp-release (0.2.7)
if not os.path.exists('/usr/local/lib/libyaml-cpp.a'):
if os.path.exists('yaml-cpp'):
subprocess.call(['rm', '-rf', 'yaml-cpp'])
get('http://yaml-cpp.googlecode.com/files/yaml-cpp-0.3.0.tar.gz')
os.chdir('yaml-cpp')
os.makedirs('build')
os.chdir('build')
subprocess.call(['cmake', '..'])
subprocess.call(['make'])
subprocess.call(['sudo', 'make', 'install'])
os.chdir('..')
os.chdir('..')
subprocess.call(['rm', '-rf', 'yaml-cpp'])
# ros-fuerte-pcl
# Required by the perception_pcl stack
if not os.path.exists('/usr/local/lib/libpcl_common.so'):
# Install build dependencies (others may be required)
subprocess.call(['sudo', 'apt-get', 'install', 'libflann-dev'])
if os.path.exists('pcl'):
subprocess.call(['rm', '-rf', 'pcl'])
gitCloneAndEnter('git://github.com/wg-debs/pcl.git', 'master')
os.makedirs('build')
os.chdir('build')
subprocess.call(['cmake', '-DUSE_ROS=ON', '..'])
subprocess.call(['make'])
subprocess.call(['sudo', 'make', 'install'])
os.chdir('..')
os.chdir('..')
subprocess.call(['rm', '-rf', 'pcl'])
# All done
os.chdir('..')
subprocess.call(['rm', '-rf', 'rosdeps'])
def installRosDeps():
# Make sure our current working dir is the script's location
os.chdir(getScriptDir())
if not os.path.exists('rosdeps'):
os.makedirs('rosdeps')
os.chdir('rosdeps')
# yaml-cpp
# Required by the navigation stack
# If 0.3.0 doesn't work, use https://github.com/wg-debs/yaml_cpp-release (0.2.7)
if not os.path.exists('/usr/local/lib/libyaml-cpp.a'):
if os.path.exists('yaml-cpp'):
subprocess.call(['rm', '-rf', 'yaml-cpp'])
get('http://yaml-cpp.googlecode.com/files/yaml-cpp-0.3.0.tar.gz')
os.chdir('yaml-cpp')
os.makedirs('build')
os.chdir('build')
subprocess.call(['cmake', '..'])
subprocess.call(['make'])
subprocess.call(['sudo', 'make', 'install'])
os.chdir('..')
os.chdir('..')
subprocess.call(['rm', '-rf', 'yaml-cpp'])
# ros-fuerte-pcl
# Required by the perception_pcl stack
if not os.path.exists('/usr/local/lib/libpcl_common.so'):
# Install build dependencies (others may be required)
subprocess.call(['sudo', 'apt-get', 'install', 'libflann-dev'])
if os.path.exists('pcl'):
subprocess.call(['rm', '-rf', 'pcl'])
gitCloneAndEnter('git://github.com/wg-debs/pcl.git', 'master')
os.makedirs('build')
os.chdir('build')
subprocess.call(['cmake', '-DUSE_ROS=ON', '..'])
subprocess.call(['make'])
subprocess.call(['sudo', 'make', 'install'])
os.chdir('..')
os.chdir('..')
subprocess.call(['rm', '-rf', 'pcl'])
# All done
os.chdir('..')
subprocess.call(['rm', '-rf', 'rosdeps'])
def buildKernel():
os.chdir(getScriptDir())
loadSettings()
# Install dependencies (Ubuntu needs u-boot-tools, Debian needs uboot-mkimage)
ensureDependencies(["gcc-arm-linux-gnueabi", "u-boot-tools", "device-tree-compiler"])
# Clone the linux kernel source tree
print("Cloning the Linux kernel source tree")
linuxDirName = gitCloneAndEnter("git://git.kernel.org/pub/scm/linux/kernel/git/stable/linux-stable.git", "master")
os.chdir("..")
# Clone RCN's git repository
print("Building kernel")
gitCloneAndEnter("git://github.com/RobertCNelson/stable-kernel.git", "4d82ccd1b2093")
# Configure the kernel build script
shutil.copyfile("system.sh.sample", "system.sh") # Overwrites existing file
file = open("system.sh", "a") # Open for appending
file.write("LINUX_GIT=" + os.path.join(os.path.realpath(".."), linuxDirName) + "\n")
file.write("ZRELADDR=0x80008000" + "\n") # For TI: OMAP3/4/AM35xx (BB is OMAP3)
# file.write('BUILD_UIMAGE=1' + '\n') # Do I need to build uImage?
file.write("MMC=" + getSetting("mmc") + "\n")
# Pull in Torvalds current master tree before applying local patchset
# This is very useful during an intial 'rc0' merge.
# It is never supported... Enable at your own risk
# file.write('LATEST_GIT=1' + '\n')
file.write("LOCAL_PATCH_DIR=" + os.path.join(os.path.realpath(".."), "patches", "stable-kernel") + "\n")
file.close()
# Adding the CC parameter is a little more complex... we need to seek out
# the config line and uncomment it.
replaceAll("system.sh", "#CC=arm-linux-gnueabi-", "CC=arm-linux-gnueabi-")
# Build the kernel
subprocess.call(["./build_deb.sh"])
os.chdir("..")
def buildBootloader():
os.chdir(getScriptDir())
# This might need partner repos enabled
ensureDependencies(['ia32-libs'])
print('Building bootloader')
# Clone RCN's git repository
gitCloneAndEnter('git://github.com/RobertCNelson/Bootloader-Builder.git', '607af4c206a3f')
# Patch the bootloader
# GPIO mux settings can be found in u-boot/board/ti/beagle/beagle.h
patches = [
'0001-Only-build-for-beagleboard.patch',
'0002-Add-patch-to-change-boot-delay-to-0-seconds.patch',
'0003-Add-patch-to-set-BeagleBoard-xM-pin-mux.patch']
patchdir = os.path.realpath(os.path.join(getScriptDir(), 'patches', 'Bootloader-Builder'))
for patch in patches:
subprocess.call(['git', 'am', os.path.join(patchdir, patch)])
# Build the bootloader
subprocess.call(['./build.sh'])
os.chdir('..')
def buildImage():
os.chdir(getScriptDir())
loadSettings()
# Look for a kernel image
imgpath = False # Discovered image goes here
for path in ['images', os.path.join('stable-kernel', 'deploy')]:
if not os.path.exists(path):
continue
files = sorted(os.listdir(path), reverse=True)
for f in files:
if f.endswith('.deb') and 'image' in f:
imgpath = os.path.realpath(os.path.join(path, f))
print('Found kernel image: ' + imgpath)
print('rootstock will use this local image instead of http://rcn-ee.net')
break
if imgpath:
break
# Clone RCN's git repository
print('Building Ubuntu image')
gitCloneAndEnter('git://github.com/RobertCNelson/omap-image-builder.git', '73e92f5cef5d3')
#subprocess.call(['git', 'reset', '--hard', 'HEAD'])
patches = [
'0001-Only-build-Precise-image.patch',
'0002-Include-additional-packages-specified-in-settings.xm.patch',
'0003-Force-MAC-address.patch',
'0004-Remove-text-from-etc-flash-kernel.conf.patch',
'0005-Copy-keys-to-the-new-filesystem.patch']
if imgpath:
patches.append('0006-Primary-kernel-is-on-local-filesystem.patch')
if False:
patches.append('0007-Run-script-to-install-ros.patch')
for p in patches:
subprocess.call(['git', 'am', os.path.join(getScriptDir(), 'patches',
'omap-image-builder', p)])
#subprocess.call(['git', 'checkout', 'v2012.4-1', '-b', 'v2012.4-1'])
# Configure image builder
replaceAll('build_image.sh', 'FQDN="arm"', 'FQDN="' + getSetting('fqdn') + '"')
replaceAll('build_image.sh', 'USER_LOGIN="******"', 'USER_LOGIN="******"')
replaceAll('build_image.sh', 'USER_PASS="******"', 'USER_PASS="******"')
replaceAll('build_image.sh', 'USER_NAME="Demo User"', 'USER_NAME="' + getSetting('name') + '"')
replaceAll('var/pkg_list.sh', '__MECANUM_PACKAGES__', ','.join(getSetting('packages')))
if imgpath:
# Kernel image, e.g. linux-image-3.2.18-x12_1.0precise_armhf.deb
replaceAll('build_image.sh', '__KERNEL_DEB_FILE__', imgpath)
replaceAll('tools/fixup.sh', 'DE:AD:BE:EF:CA:FE', getSetting('macaddress'))
# Attempt to copy our ssh keys to the new filesystem
try:
id_rsa = open(getScriptDir() + '../../ssh_keys/id_rsa', 'r')
rsa_private = id_rsa.read()
id_rsa.close()
id_rsa_pub = open(getScriptDir() + '../../ssh_keys/id_rsa.pub', 'r')
rsa_public = id_rsa_pub.read()
id_rsa_pub.close()
if (len(rsa_private) and len(rsa_public)):
replaceAll('tools/fixup.sh', '#USER_NAME=__USER_NAME__', 'USER_NAME="' + getSetting('username') + '"')
replaceAll('tools/fixup.sh', '__RSA_PRIVATE__', rsa_private)
replaceAll('tools/fixup.sh', '__RSA_PUBLIC__', rsa_public)
except:
pass
# Build the image
subprocess.call(['./build_image.sh'])
os.chdir('..')
def buildImage():
os.chdir(getScriptDir())
loadSettings()
# Look for a kernel image
imgpath = False # Discovered image goes here
for path in ['images', os.path.join('stable-kernel', 'deploy')]:
if not os.path.exists(path):
continue
files = sorted(os.listdir(path), reverse=True)
for f in files:
if f.endswith('.deb') and 'image' in f:
imgpath = os.path.realpath(os.path.join(path, f))
print('Found kernel image: ' + imgpath)
print(
'rootstock will use this local image instead of http://rcn-ee.net'
)
break
if imgpath:
break
# Clone RCN's git repository
print('Building Ubuntu image')
gitCloneAndEnter('git://github.com/RobertCNelson/omap-image-builder.git',
'73e92f5cef5d3')
#subprocess.call(['git', 'reset', '--hard', 'HEAD'])
patches = [
'0001-Only-build-Precise-image.patch',
'0002-Include-additional-packages-specified-in-settings.xm.patch',
'0003-Force-MAC-address.patch',
'0004-Remove-text-from-etc-flash-kernel.conf.patch',
'0005-Copy-keys-to-the-new-filesystem.patch'
]
if imgpath:
patches.append('0006-Primary-kernel-is-on-local-filesystem.patch')
if False:
patches.append('0007-Run-script-to-install-ros.patch')
for p in patches:
subprocess.call([
'git', 'am',
os.path.join(getScriptDir(), 'patches', 'omap-image-builder', p)
])
#subprocess.call(['git', 'checkout', 'v2012.4-1', '-b', 'v2012.4-1'])
# Configure image builder
replaceAll('build_image.sh', 'FQDN="arm"',
'FQDN="' + getSetting('fqdn') + '"')
replaceAll('build_image.sh', 'USER_LOGIN="******"',
'USER_LOGIN="******"')
replaceAll('build_image.sh', 'USER_PASS="******"',
'USER_PASS="******"')
replaceAll('build_image.sh', 'USER_NAME="Demo User"',
'USER_NAME="' + getSetting('name') + '"')
replaceAll('var/pkg_list.sh', '__MECANUM_PACKAGES__',
','.join(getSetting('packages')))
if imgpath:
# Kernel image, e.g. linux-image-3.2.18-x12_1.0precise_armhf.deb
replaceAll('build_image.sh', '__KERNEL_DEB_FILE__', imgpath)
replaceAll('tools/fixup.sh', 'DE:AD:BE:EF:CA:FE', getSetting('macaddress'))
# Attempt to copy our ssh keys to the new filesystem
try:
id_rsa = open(getScriptDir() + '../../ssh_keys/id_rsa', 'r')
rsa_private = id_rsa.read()
id_rsa.close()
id_rsa_pub = open(getScriptDir() + '../../ssh_keys/id_rsa.pub', 'r')
rsa_public = id_rsa_pub.read()
id_rsa_pub.close()
if (len(rsa_private) and len(rsa_public)):
replaceAll('tools/fixup.sh', '#USER_NAME=__USER_NAME__',
'USER_NAME="' + getSetting('username') + '"')
replaceAll('tools/fixup.sh', '__RSA_PRIVATE__', rsa_private)
replaceAll('tools/fixup.sh', '__RSA_PUBLIC__', rsa_public)
except:
pass
# Build the image
subprocess.call(['./build_image.sh'])
os.chdir('..')
