From 64b7e8fb9e74f75755cb0ddff12bc06ddc6cc469 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir.emn@gmail.com>
Date: Sun, 29 Mar 2020 16:57:48 +0200
Subject: [PATCH] Tools: prereqs-ubuntu: cleanup and improvements

reorder install
remove unneeded package
make install verbose
add environment variable to control what to install
register STM toolchain on CCache

Tools: install-prereqs-ubuntu.sh: only update package list once

Tools: install-prereqs-ubuntu.sh: move STM toolchain registery into install step

Tools: install-prereqs-ubuntu.sh: use right comparison for variable value

Tools: install-prereqs-ubuntu.sh: always check for libtool-bin

Tools: install-prereqs-ubuntu.sh: Add support for Ubuntu 20.04

Add a selection for python version
ass python symlink for ubuntu 20.04
Move python-argparse out of default list as it install python2 version

Tools: install-prereqs-ubuntu.sh:Tools: Check python version for python3 distro

Tools: install-prereqs-ubuntu.sh: install pygame requirements

Tools: install-prereqs-ubuntu.sh: check for docker envirement and use .bashrc instead of .profile

Tools: install-prereqs-ubuntu.sh: add bash completion by default

Tools: install-prereqs-ubuntu.sh: better ccache management

Tools: install-prereqs-ubuntu.sh: Correct package installation for trusty
---
 .../install-prereqs-ubuntu.sh                 | 272 +++++++++++++-----
 1 file changed, 196 insertions(+), 76 deletions(-)

diff --git a/Tools/environment_install/install-prereqs-ubuntu.sh b/Tools/environment_install/install-prereqs-ubuntu.sh
index 90efd6d0b4e2aa..f9caabd6b6c17a 100755
--- a/Tools/environment_install/install-prereqs-ubuntu.sh
+++ b/Tools/environment_install/install-prereqs-ubuntu.sh
@@ -9,7 +9,49 @@ if [ $EUID == 0 ]; then
 fi
 
 OPT="/opt"
+# Ardupilot Tools
+ARDUPILOT_TOOLS="Tools/autotest"
+
+ASSUME_YES=false
+QUIET=false
+sep="##############################################"
+
+OPTIND=1  # Reset in case getopts has been used previously in the shell.
+while getopts "yq" opt; do
+    case "$opt" in
+        \?)
+            exit 1
+            ;;
+        y)  ASSUME_YES=true
+            ;;
+        q)  QUIET=true
+            ;;
+    esac
+done
+
+APT_GET="sudo apt-get"
+if $ASSUME_YES; then
+    APT_GET="$APT_GET --assume-yes"
+fi
+if $QUIET; then
+    APT_GET="$APT_GET -qq"
+fi
+
+# update apt package list
+$APT_GET update
+
+# Install lsb-release as it is needed to check Ubuntu version
+if ! dpkg-query -l "lsb-release"; then
+    echo "$sep"
+    echo "Installing lsb-release"
+    echo "$sep"
+    $APT_GET install lsb-release
+    echo "Done!"
+fi
+
+# Checking Ubuntu release to adapt software version to install
 RELEASE_CODENAME=$(lsb_release -c -s)
+PYTHON_V="python"  # starting from ubuntu 20.04, python isn't symlink to default python interpreter
 if [ ${RELEASE_CODENAME} == 'xenial' ]; then
     SITLFML_VERSION="2.3v5"
     SITLCFML_VERSION="2.3"
@@ -19,42 +61,63 @@ elif [ ${RELEASE_CODENAME} == 'disco' ]; then
 elif [ ${RELEASE_CODENAME} == 'eoan' ]; then
     SITLFML_VERSION="2.5"
     SITLCFML_VERSION="2.5"
+elif [ ${RELEASE_CODENAME} == 'focal' ]; then
+    SITLFML_VERSION="2.5"
+    SITLCFML_VERSION="2.5"
+    PYTHON_V="python3"
+elif [ ${RELEASE_CODENAME} == 'trusty' ]; then
+    SITLFML_VERSION="2"
+    SITLCFML_VERSION="2"
 else
     SITLFML_VERSION="2.4"
     SITLCFML_VERSION="2.4"
 fi
 
-BASE_PKGS="build-essential ccache g++ gawk git make wget"
+# Lists of packages to install
+BASE_PKGS="build-essential ccache g++ gawk git make wget cmake"
 PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect"
 # add some Python packages required for commonly-used MAVProxy modules and hex file generation:
-PYTHON_PKGS="$PYTHON_PKGS pygame intelhex"
-PX4_PKGS="python-argparse openocd flex bison libncurses5-dev \
-          autoconf texinfo libftdi-dev zlib1g-dev \
-          zip genromfs python-empy cmake cmake-data"
+if [[ $SKIP_AP_EXT_ENV -ne 1 ]]; then
+  PYTHON_PKGS="$PYTHON_PKGS pygame intelhex"
+fi
 ARM_LINUX_PKGS="g++-arm-linux-gnueabihf pkg-config-arm-linux-gnueabihf"
 # python-wxgtk packages are added to SITL_PKGS below
-SITL_PKGS="libtool libxml2-dev libxslt1-dev python-dev python-pip python-setuptools python-matplotlib python-serial python-scipy python-opencv python-numpy python-pyparsing xterm lcov gcovr"
+SITL_PKGS="libtool libxml2-dev libxslt1-dev ${PYTHON_V}-dev ${PYTHON_V}-pip ${PYTHON_V}-setuptools ${PYTHON_V}-numpy ${PYTHON_V}-pyparsing"
 # add some packages required for commonly-used MAVProxy modules:
-SITL_PKGS="$SITL_PKGS libcsfml-dev libcsfml-audio${SITLCFML_VERSION} libcsfml-dev libcsfml-graphics${SITLCFML_VERSION} libcsfml-network${SITLCFML_VERSION} libcsfml-system${SITLCFML_VERSION} libcsfml-window${SITLCFML_VERSION} libsfml-audio${SITLFML_VERSION} libsfml-dev libsfml-graphics${SITLFML_VERSION} libsfml-network${SITLFML_VERSION} libsfml-system${SITLFML_VERSION} libsfml-window${SITLFML_VERSION} python-yaml python3-yaml"
-
-ASSUME_YES=false
-QUIET=false
-
-MACHINE_TYPE=$(uname -m)
-if [ ${MACHINE_TYPE} == 'x86_64' ]; then
-    PX4_PKGS+=" libc6-i386"
-else
-  echo "no extra pkgs for i386"
+if [[ $SKIP_AP_GRAPHIC_ENV -ne 1 ]]; then
+  SITL_PKGS="$SITL_PKGS xterm ${PYTHON_V}-matplotlib ${PYTHON_V}-serial ${PYTHON_V}-scipy ${PYTHON_V}-opencv libcsfml-dev libcsfml-audio${SITLCFML_VERSION} libcsfml-dev libcsfml-graphics${SITLCFML_VERSION} libcsfml-network${SITLCFML_VERSION} libcsfml-system${SITLCFML_VERSION} libcsfml-window${SITLCFML_VERSION} libsfml-audio${SITLFML_VERSION} libsfml-dev libsfml-graphics${SITLFML_VERSION} libsfml-network${SITLFML_VERSION} libsfml-system${SITLFML_VERSION} libsfml-window${SITLFML_VERSION} ${PYTHON_V}-yaml"
+fi
+if [[ $SKIP_AP_COV_ENV -ne 1 ]]; then
+  # Coverage utilities
+  COVERAGE_PKGS="lcov gcovr"
 fi
 
-# GNU Tools for ARM Embedded Processors
-# (see https://launchpad.net/gcc-arm-embedded/)
-ARM_ROOT="gcc-arm-none-eabi-6-2017-q2-update"
-ARM_TARBALL="$ARM_ROOT-linux.tar.bz2"
-ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL"
-
-# Ardupilot Tools
-ARDUPILOT_TOOLS="Tools/autotest"
+# ArduPilot official Toolchain for STM32 boards
+function install_arm_none_eabi_toolchain() {
+  # GNU Tools for ARM Embedded Processors
+  # (see https://launchpad.net/gcc-arm-embedded/)
+  ARM_ROOT="gcc-arm-none-eabi-6-2017-q2-update"
+  ARM_TARBALL="$ARM_ROOT-linux.tar.bz2"
+  ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL"
+  if [ ! -d $OPT/$ARM_ROOT ]; then
+    (
+        cd $OPT;
+        echo "$sep"
+        echo "Installing toolchain for STM32 Boards"
+        echo "$sep"
+        echo "Downloading from ArduPilot server"
+        sudo wget $ARM_TARBALL_URL
+        echo "Installing..."
+        sudo tar xjf ${ARM_TARBALL}
+        echo "... Cleaning"
+        sudo rm ${ARM_TARBALL};
+    )
+  fi
+  echo "Registering STM32 Toolchain for ccache"
+  sudo ln -s $CCACHE_PATH /usr/lib/ccache/arm-none-eabi-g++
+  sudo ln -s $CCACHE_PATH /usr/lib/ccache/arm-none-eabi-gcc
+  echo "Done!"
+}
 
 function maybe_prompt_user() {
     if $ASSUME_YES; then
@@ -69,78 +132,109 @@ function maybe_prompt_user() {
     fi
 }
 
-
-OPTIND=1  # Reset in case getopts has been used previously in the shell.
-while getopts "y" opt; do
-    case "$opt" in
-        \?)
-            exit 1
-            ;;
-        y)  ASSUME_YES=true
-            ;;
-        q)  QUIET=true
-            ;;
-    esac
-done
-
-APT_GET="sudo apt-get"
-if $ASSUME_YES; then
-    APT_GET="$APT_GET --assume-yes"
-fi
-if $QUIET; then
-    APT_GET="$APT_GET -qq"
-fi
-
-if ! dpkg-query -l "lsb-release"; then
-    $APT_GET install lsb-release
-fi
 # possibly grab a newer cmake for older ubuntu releases
-read -r UBUNTU_CODENAME <<<$(lsb_release -c -s)
-if [ "$UBUNTU_CODENAME" = "precise" ]; then
+if [ ${RELEASE_CODENAME} == "precise" ]; then
     sudo add-apt-repository ppa:george-edison55/precise-backports -y
-elif [ "$UBUNTU_CODENAME" = "trusty" ]; then
+    $APT_GET update
+elif [ ${RELEASE_CODENAME} == "trusty" ]; then
     sudo add-apt-repository ppa:george-edison55/cmake-3.x -y
+    $APT_GET update
 fi
 
+echo "$sep"
+echo "Add user to dialout group to allow managing serial ports"
+echo "$sep"
 sudo usermod -a -G dialout $USER
+echo "Done!"
 
+echo "$sep"
+echo "Removing modemmanager package that could conflict with firmware uploading"
+echo "$sep"
 if dpkg-query -l "modemmanager"; then
     $APT_GET remove modemmanager
 fi
-$APT_GET update
+echo "Done!"
 
-if apt-cache search python-wxgtk3.0 | grep wx; then
-    SITL_PKGS+=" python-wxgtk3.0 libtool-bin"
+# Add back python symlink to python interpreter on Ubuntu >= 20.04
+if [ ${RELEASE_CODENAME} == 'focal' ]; then
+    BASE_PKGS+=" python-is-python3"
+    SITL_PKGS+=" libpython3-stdlib" # for argparse
 else
-    # we only support back to trusty:
-    SITL_PKGS+=" python-wxgtk2.8"
+  SITL_PKGS+=" python-argparse"
+fi
+
+# Check for graphical package for MAVProxy
+if [[ $SKIP_AP_GRAPHIC_ENV -ne 1 ]]; then
+  if [ ${RELEASE_CODENAME} == 'focal' ]; then
+    SITL_PKGS+=" python3-wxgtk4.0"
+    SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libjpeg8-dev libpng16-16 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev"  # for pygame
+  elif apt-cache search python-wxgtk3.0 | grep wx; then
+      SITL_PKGS+=" python-wxgtk3.0"
+  else
+      # we only support back to trusty:
+      SITL_PKGS+=" python-wxgtk2.8"
+      SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libjpeg8-dev libpng12-0 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev"  # for pygame
+  fi
 fi
 
+# Check if we need to manually install realpath
 RP=$(apt-cache search -n '^realpath$')
 if [ -n "$RP" ]; then
     BASE_PKGS+=" realpath"
 fi
 
-$APT_GET install $BASE_PKGS $SITL_PKGS $PX4_PKGS $ARM_LINUX_PKGS
-pip2 -q install --user -U $PYTHON_PKGS
+# Check if we need to manually install libtool-bin
+LBTBIN=$(apt-cache search -n '^libtool-bin')
+if [ -n "$LBTBIN" ]; then
+    SITL_PKGS+=" libtool-bin"
+fi
 
+# Install all packages
+$APT_GET install $BASE_PKGS $SITL_PKGS $PX4_PKGS $ARM_LINUX_PKGS $COVERAGE_PKGS
+# Check python version for distro that don't have python2 support by default
+PYTHON_VERSION_MAJOR=$(python -c"import sys; print(sys.version_info.major)")
+if [ "$PYTHON_VERSION_MAJOR" -eq 2 ]; then
+    pip2 install --user -U $PYTHON_PKGS
+elif [ "$PYTHON_VERSION_MAJOR" -eq 3 ]; then
+    pip3 install --user -U $PYTHON_PKGS
+else
+    echo "Unknown python version: $PYTHON_VERSION_MAJOR"
+fi
 
-if [ ! -d $OPT/$ARM_ROOT ]; then
-    (
-        cd $OPT;
-        sudo wget $ARM_TARBALL_URL;
-        sudo tar xjf ${ARM_TARBALL};
-        sudo rm ${ARM_TARBALL};
-    )
+if [[ -z "${DO_AP_STM_ENV}" ]] && maybe_prompt_user "Install ArduPilot STM32 toolchain [N/y]?" ; then
+    DO_AP_STM_ENV=1
+fi
+
+CCACHE_PATH=$(which ccache)
+if [[ $DO_AP_STM_ENV -eq 1 ]]; then
+  install_arm_none_eabi_toolchain
 fi
 
+echo "$sep"
+echo "Check if we are inside docker environment..."
+echo "$sep"
+IS_DOCKER=false
+if [[ -f /.dockerenv ]] || grep -Eq '(lxc|docker)' /proc/1/cgroup ; then
+    IS_DOCKER=true
+fi
+echo "Done!"
+
+SHELL_LOGIN=".profile"
+if $IS_DOCKER; then
+    echo "Inside docker, we add the tools path into .bashrc directly"
+    SHELL_LOGIN=".bashrc"
+fi
+
+echo "$sep"
+echo "Adding ArduPilot Tools to environment"
+echo "$sep"
+
 SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]}))
 ARDUPILOT_ROOT=$(realpath "$SCRIPT_DIR/../../")
-
 exportline="export PATH=$OPT/$ARM_ROOT/bin:\$PATH";
-grep -Fxq "$exportline" ~/.profile 2>/dev/null || {
+grep -Fxq "$exportline" ~/$SHELL_LOGIN 2>/dev/null || {
     if maybe_prompt_user "Add $OPT/$ARM_ROOT/bin to your PATH [N/y]?" ; then
-        echo $exportline >> ~/.profile
+        echo $exportline >> ~/$SHELL_LOGIN
         eval $exportline
     else
         echo "Skipping adding $OPT/$ARM_ROOT/bin to PATH."
@@ -148,19 +242,45 @@ grep -Fxq "$exportline" ~/.profile 2>/dev/null || {
 }
 
 exportline2="export PATH=$ARDUPILOT_ROOT/$ARDUPILOT_TOOLS:\$PATH";
-grep -Fxq "$exportline2" ~/.profile 2>/dev/null || {
+grep -Fxq "$exportline2" ~/$SHELL_LOGIN 2>/dev/null || {
     if maybe_prompt_user "Add $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to your PATH [N/y]?" ; then
-        echo $exportline2 >> ~/.profile
+        echo $exportline2 >> ~/$SHELL_LOGIN
         eval $exportline2
     else
         echo "Skipping adding $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to PATH."
     fi
 }
 
-apt-cache search arm-none-eabi
+exportline3="source $ARDUPILOT_ROOT/Tools/completion/completion.bash";
+grep -Fxq "$exportline3" ~/$SHELL_LOGIN 2>/dev/null || {
+    if maybe_prompt_user "Add ArduPilot Bash Completion to your bash shell [N/y]?" ; then
+        echo $exportline3 >> ~/.bashrc
+        eval $exportline3
+    else
+        echo "Skipping adding ArduPilot Bash Completion."
+    fi
+}
+
+
+exportline4="export PATH=/usr/lib/ccache:\$PATH";
+grep -Fxq "$exportline4" ~/$SHELL_LOGIN 2>/dev/null || {
+    if maybe_prompt_user "Append CCache to your PATH [N/y]?" ; then
+        echo $exportline4 >> ~/$SHELL_LOGIN
+        eval $exportline4
+    else
+        echo "Skipping appending CCache to PATH."
+    fi
+}
+echo "Done!"
 
-(
- cd $ARDUPILOT_ROOT
- git submodule update --init --recursive
-)
+if [[ $SKIP_AP_GIT_CHECK -ne 1 ]]; then
+  if [ -d ".git" ]; then
+    echo "$sep"
+    echo "Update git submodules"
+    echo "$sep"
+    cd $ARDUPILOT_ROOT
+    git submodule update --init --recursive
+    echo "Done!"
+  fi
+fi
 echo "---------- $0 end ----------"