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build-ivp.sh
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build-ivp.sh
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#!/bin/bash
#---------------------------------------------------------
# Script: build-ivp.sh
# By: Mike Benjamin
#---------------------------------------------------------
# Part 1: Define global script variables
#---------------------------------------------------------
BUILD_DEBUG="yes"
BUILD_OPTIM="yes"
CLEAN="no"
CMD_ARGS="-j$(getconf _NPROCESSORS_ONLN)"
BUILD_WITH_UTM="-DUSE_UTM=ON"
# By default, all code is built
BUILD_BOT_CODE_ONLY="OFF"
BUILD_GUI_CODE="ON"
FORCE_FULL_RASPI_BUILD=""
#---------------------------------------------------------
# Part 2: Handle Command Line Arguments
#---------------------------------------------------------
for ARGI; do
if [ "${ARGI}" = "--help" -o "${ARGI}" = "-h" ]; then
echo "build-ivp.sh [OPTIONS] [MAKE ARGS] "
echo "Options: "
echo " --help, -h "
echo " --nodebug "
echo " Do not include the -g compiler flag "
echo " --noopt "
echo " Do not include the -Os compiler flag "
echo " --fast, -f "
echo " Do not include the -Os, -g compiler flags "
echo " --nogui, -n "
echo " Do not build GUI related apps "
echo " --utm_off, -u "
echo " Do not build wit UTM for Geodesy "
echo " --minrobot, -m "
echo " Only build minimal robot apps "
echo " (Even smaller subset than with --nogui) "
echo " --minrobotx, -mx "
echo " Override min-robot default on Raspbian "
echo " --clean, -c "
echo " Invokes make clean and removes build/* "
echo " "
echo "By default, all code is built, and the debug and "
echo "optimization compiler flags are invoked. "
echo " "
echo "Note: "
echo " By default -jN is provided to make to utilize up to N "
echo " processors in the build. This can be overridden simply "
echo " by using -j1 on the command line instead. This will give "
echo " more reasonable output if there should be a build error. "
exit 0
elif [ "${ARGI}" = "--nodebug" ]; then
BUILD_DEBUG="no"
elif [ "${ARGI}" = "--noopt" ]; then
BUILD_OPTIM="no"
elif [ "${ARGI}" = "--utm_off" -o "${ARGI}" = "-u" ]; then
BUILD_WITH_UTM="-DUSE_UTM=OFF"
elif [ "${ARGI}" = "--fast" -o "${ARGI}" = "-f" ]; then
BUILD_DEBUG="no"
BUILD_OPTIM="no"
elif [ "${ARGI}" = "--clean" -o "${ARGI}" = "-c" ]; then
CLEAN="yes"
elif [ "${ARGI}" = "--nogui" -o "${ARGI}" = "-n" ]; then
BUILD_GUI_CODE="OFF"
elif [ "${ARGI}" = "--minrobot" -o "${ARGI}" = "-m" ]; then
BUILD_BOT_CODE_ONLY="ON"
BUILD_GUI_CODE="OFF"
elif [ "${ARGI}" = "--minrobotx" -o "${ARGI}" = "-mx" ]; then
FORCE_FULL_RASPI_BUILD="yes"
else
if [ "$CMD_ARGS" = "" ]; then
CMD_ARGS=$ARGI
else
CMD_ARGS=$CMD_ARGS" "$ARGI
fi
fi
done
#--------------------------------------------------------------
# Part 3: If this is Raspbian and minrobot not selected, and
# no explicit override given with -mx, CONFIRM first
#--------------------------------------------------------------
command -v raspi-gpio
if [ "$?" = "0" -a "${BUILD_BOT_CODE_ONLY}" = "OFF" ]; then
if [ ! "${FORCE_FULL_RASPI_BUILD}" = "yes" ]; then
echo "Pi OS detected without --minrobotx or -mx selected."
echo "[y] Continue with full build"
echo "[M] Continue with minrobot build"
echo -n "Continue? [y/M] "
read ANSWER
if [ ! "${ANSWER}" = "y" ]; then
BUILD_BOT_CODE_ONLY="ON"
BUILD_GUI_CODE="OFF"
fi
fi
fi
#---------------------------------------------------------
# Part 4: Set Compiler flags
#---------------------------------------------------------
CMAKE_CXX_FLAGS="-Wall -Wextra -Wno-unused-parameter "
CMAKE_CXX_FLAGS+="-Wno-missing-field-initializers -pedantic -fPIC "
# -Wno-psabi turns off warnings about ABI change between gcc 6 and 7.1
CMAKE_CXX_FLAGS+="-Wno-psabi "
if [ "${BUILD_DEBUG}" = "yes" ] ; then
CMAKE_CXX_FLAGS=$CMAKE_CXX_FLAGS" -g"
fi
if [ "${BUILD_OPTIM}" = "yes" ] ; then
CMAKE_CXX_FLAGS=$CMAKE_CXX_FLAGS" -Os"
fi
echo "Compiler flags: ${CMAKE_CXX_FLAGS} "
#---------------------------------------------------------
# Part 5
#---------------------------------------------------------
INVOC_ABS_DIR="$(pwd)"
SCRIPT_ABS_DIR="$(cd $(dirname "$0") && pwd -P)"
BLD_ABS_DIR="${SCRIPT_ABS_DIR}/build"
LIB_ABS_DIR="${SCRIPT_ABS_DIR}/lib"
BIN_ABS_DIR="${SCRIPT_ABS_DIR}/bin"
SRC_ABS_DIR="${SCRIPT_ABS_DIR}/ivp/src"
echo "Built files will be placed into these directories: "
echo " Intermediate build files: ${BLD_ABS_DIR} "
echo " Libraries: ${LIB_ABS_DIR} "
echo " Programs: ${BIN_ABS_DIR} "
mkdir -p "${BLD_ABS_DIR}"
mkdir -p "${LIB_ABS_DIR}"
mkdir -p "${BIN_ABS_DIR}"
cd "${BLD_ABS_DIR}"
#---------------------------------------------------------
# Part 6: For back compatability, if user has environment var
# IVP_BUILD_GUI_CODE set to "OFF" then honor it here
# as if --nogui it were set on the command line
#---------------------------------------------------------
if [ "${IVP_BUILD_GUI_CODE}" = "OFF" ] ; then
BUILD_GUI_CODE="OFF"
echo "IVP GUI Apps will not be built since the "
echo "IVP_BUILD_GUI_CODE environment var is OFF "
fi
echo "BUILD_GUI_CODE = ${BUILD_GUI_CODE} "
#---------------------------------------------------------
# Part 7: Invoke CMake
#---------------------------------------------------------
echo "Invoking cmake..."
echo "BUILD_BOT_CODE_ONLY: ${BUILD_BOT_CODE_ONLY} "
cmake -DIVP_BUILD_GUI_CODE=${BUILD_GUI_CODE} \
-DFLTK_SKIP_FLUID=ON \
-DIVP_BUILD_BOT_CODE_ONLY=${BUILD_BOT_CODE_ONLY} \
-DIVP_LIB_DIRECTORY="${LIB_ABS_DIR}" \
-DIVP_BIN_DIRECTORY="${BIN_ABS_DIR}" \
-DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" \
${BUILD_WITH_UTM} \
${IVP_CMAKE_FLAGS} \
"${SRC_ABS_DIR}"
#---------------------------------------------------------
# Part 8: Invoke Make
#---------------------------------------------------------
echo "Invoking make ${CMD_ARGS}"
RESULT=0
if [ "${CLEAN}" = "yes" -o "${CMD_ARGS}" = "clean" ] ; then
echo "CLEANING...."
make clean
RESULT=$?
cd ${INVOCATION_ABS_DIR}
rm -rf build/*
else
echo "=============================" >> ~/.moos-ivp-args
echo "1" ${CMD_ARGS} >> ~/.moos-ivp-args
echo "2" ${BUILD_GUI_CODE} >> ~/.moos-ivp-args
echo "3" ${BUILD_BOT_CODE_ONLY} >> ~/.moos-ivp-args
echo "4" ${LIB_ABS_DIR} >> ~/.moos-ivp-args
echo "5" ${BIN_ABS_DIR} >> ~/.moos-ivp-args
echo "6" ${CMAKE_CXX_FLAGS} >> ~/.moos-ivp-args
echo "7" ${BUILD_WITH_UTM} >> ~/.moos-ivp-args
echo "8" ${IVP_CMAKE_FLAGS} >> ~/.moos-ivp-args
make ${CMD_ARGS}
RESULT=$?
fi
cd ${INVOC_ABS_DIR}
exit $RESULT