mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
feat(packaging): add voxl2 Debian package build
Add make_package.sh and supporting files to build a .deb package for the voxl2 target, bundling both the ARM64 apps processor binary and Hexagon SLPI DSP library. The package version is derived from the git tag and short commit hash. CI is updated to build and upload the .deb alongside existing .px4 artifacts.
This commit is contained in:
Eric Katzfey
parent
107b708918
commit
48207d11db
15
.github/workflows/build_all_targets.yml
vendored
15
.github/workflows/build_all_targets.yml
vendored
@ -181,6 +181,17 @@ jobs:
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name: px4_${{matrix.group}}_build_artifacts
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path: artifacts/
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- name: Build voxl2 Debian Package
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if: contains(matrix.targets, 'modalai_voxl2')
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run: ./Tools/packaging/voxl2/make_package.sh
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- name: Upload voxl2 Debian Package
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if: contains(matrix.targets, 'modalai_voxl2')
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uses: actions/upload-artifact@v4
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with:
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name: voxl-px4-deb
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path: Tools/packaging/voxl2/*.deb
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- name: Cache Post Build Stats
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if: always()
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run: |
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@ -265,5 +276,7 @@ jobs:
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with:
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draft: true
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prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
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files: artifacts/*.px4
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files: |
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artifacts/*.px4
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artifacts/*.deb
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name: ${{ steps.upload-location.outputs.uploadlocation }}
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169
Tools/packaging/voxl2/make_package.sh
Executable file
169
Tools/packaging/voxl2/make_package.sh
Executable file
@ -0,0 +1,169 @@
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#!/bin/bash
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################################################################################
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# Copyright (c) 2026 ModalAI, Inc. All rights reserved.
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#
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# Builds a Debian package for the voxl2 target from existing build artifacts.
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# Both modalai_voxl2 and modalai_voxl2-slpi must be built before running this.
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#
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# Usage:
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# ./Tools/packaging/voxl2/make_package.sh
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#
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################################################################################
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set -e
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################################################################################
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# Resolve paths - script can be run from anywhere
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################################################################################
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SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
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PX4_DIR="$(cd "$SCRIPT_DIR/../../.." && pwd)"
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PKG_DIR="$SCRIPT_DIR/pkg"
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BOARD_DIR="$PX4_DIR/boards/modalai/voxl2"
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BUILD_APPS="$PX4_DIR/build/modalai_voxl2_default"
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BUILD_SLPI="$PX4_DIR/build/modalai_voxl2-slpi_default"
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################################################################################
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# Check arguments
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################################################################################
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for arg in "$@"; do
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case "$(echo "$arg" | tr '[:upper:]' '[:lower:]')" in
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"-h"|"--help")
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echo ""
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echo " Build a Debian package for the voxl2 target."
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echo " You must build modalai_voxl2 and modalai_voxl2-slpi first."
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echo ""
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echo " Usage:"
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echo " ./Tools/packaging/voxl2/make_package.sh"
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echo ""
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exit 0
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;;
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*)
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echo "Unknown argument: $arg"
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exit 1
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;;
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esac
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done
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################################################################################
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# Derive version from git
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################################################################################
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cd "$PX4_DIR"
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GIT_TAG=$(git describe --tags --abbrev=0 2>/dev/null || echo "0.0.0")
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VERSION=$(echo "$GIT_TAG" | sed 's/^v//')
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SHORT_HASH=$(git rev-parse --short HEAD)
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VERSION="${VERSION}-g${SHORT_HASH}"
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PACKAGE=$(grep "^Package:" "$PKG_DIR/control/control" | cut -d' ' -f 2)
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echo "Package: $PACKAGE"
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echo "Version: $VERSION"
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################################################################################
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# Validate build artifacts
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################################################################################
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MISSING=false
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if [ ! -f "$BUILD_APPS/bin/px4" ]; then
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echo "Error: $BUILD_APPS/bin/px4 not found. Run 'make modalai_voxl2' first."
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MISSING=true
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fi
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if [ ! -f "$BUILD_APPS/bin/px4-alias.sh" ]; then
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echo "Error: $BUILD_APPS/bin/px4-alias.sh not found."
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MISSING=true
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fi
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if [ ! -f "$BUILD_SLPI/platforms/qurt/libpx4.so" ]; then
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echo "Error: $BUILD_SLPI/platforms/qurt/libpx4.so not found. Run 'make modalai_voxl2-slpi' first."
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MISSING=true
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fi
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if $MISSING; then
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exit 1
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fi
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################################################################################
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# Clean old packaging artifacts
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################################################################################
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DATA_DIR="$PKG_DIR/data"
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DEB_DIR="$PKG_DIR/DEB"
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rm -rf "$DATA_DIR"
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rm -rf "$DEB_DIR"
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rm -f "$SCRIPT_DIR"/*.deb
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mkdir -p "$DATA_DIR"
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################################################################################
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# Stage files into data directory
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################################################################################
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# --- Apps processor binary ---
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mkdir -p "$DATA_DIR/usr/bin"
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cp "$BUILD_APPS/bin/px4" "$DATA_DIR/usr/bin/"
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cp "$BUILD_APPS/bin/px4-alias.sh" "$DATA_DIR/usr/bin/"
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chmod a+x "$DATA_DIR/usr/bin/px4"
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chmod a+x "$DATA_DIR/usr/bin/px4-alias.sh"
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# --- SLPI DSP library ---
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mkdir -p "$DATA_DIR/usr/lib/rfsa/adsp"
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cp "$BUILD_SLPI/platforms/qurt/libpx4.so" "$DATA_DIR/usr/lib/rfsa/adsp/"
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# --- Target scripts ---
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for script in voxl-px4 voxl-px4-start voxl-px4-hitl voxl-px4-hitl-start; do
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if [ -f "$BOARD_DIR/target/$script" ]; then
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cp "$BOARD_DIR/target/$script" "$DATA_DIR/usr/bin/"
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chmod a+x "$DATA_DIR/usr/bin/$script"
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fi
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done
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# --- Barometer calibration script ---
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if [ -f "$BOARD_DIR/scripts/baro_temp_cal" ]; then
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cp "$BOARD_DIR/scripts/baro_temp_cal" "$DATA_DIR/usr/bin/"
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chmod a+x "$DATA_DIR/usr/bin/baro_temp_cal"
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fi
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# --- Configuration files ---
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mkdir -p "$DATA_DIR/etc/modalai"
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for config in voxl-px4-fake-imu-calibration.config voxl-px4-hitl-set-default-parameters.config; do
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if [ -f "$BOARD_DIR/target/$config" ]; then
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cp "$BOARD_DIR/target/$config" "$DATA_DIR/etc/modalai/"
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chmod +x "$DATA_DIR/etc/modalai/$config"
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fi
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done
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# --- Systemd service ---
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mkdir -p "$DATA_DIR/etc/systemd/system"
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cp "$PKG_DIR/services/voxl-px4.service" "$DATA_DIR/etc/systemd/system/"
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# --- Build metadata ---
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mkdir -p "$DATA_DIR/data/px4/etc/extras"
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for meta in parameters.json.xz component_general.json.xz actuators.json.xz; do
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if [ -f "$BUILD_APPS/$meta" ]; then
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cp "$BUILD_APPS/$meta" "$DATA_DIR/data/px4/etc/extras/"
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fi
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done
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if [ -f "$BUILD_APPS/events/all_events.json.xz" ]; then
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cp "$BUILD_APPS/events/all_events.json.xz" "$DATA_DIR/data/px4/etc/extras/"
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fi
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# --- Create runtime directories ---
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mkdir -p "$DATA_DIR/data/px4/param"
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################################################################################
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# Build the DEB package
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################################################################################
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mkdir -p "$DEB_DIR"
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cp -rf "$PKG_DIR/control/" "$DEB_DIR/DEBIAN"
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cp -rf "$DATA_DIR/"* "$DEB_DIR/"
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# Write the version into the control file
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sed -i "s/^Version:.*/Version: $VERSION/" "$DEB_DIR/DEBIAN/control"
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DEB_NAME="${PACKAGE}_${VERSION}_arm64.deb"
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dpkg-deb --build "$DEB_DIR" "$SCRIPT_DIR/$DEB_NAME"
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echo ""
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echo "Package built: $SCRIPT_DIR/$DEB_NAME"
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echo "DONE"
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13
Tools/packaging/voxl2/pkg/control/control
Normal file
13
Tools/packaging/voxl2/pkg/control/control
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@ -0,0 +1,13 @@
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Package: voxl-px4
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Version: 0.0.0
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Section: devel
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Priority: optional
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Architecture: arm64
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Depends: libfc-sensor (>=1.0.10),
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voxl-px4-params (>=0.3.10),
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voxl3-system-image(>=0.0.2) | voxl2-system-image(>=1.5.4) | rb5-system-image(>=1.6.2),
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modalai-slpi(>=1.1.16) | modalai-adsp(>=1.0.2)
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Replaces: px4-rb5-flight
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Conflicts: px4-rb5-flight
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Maintainer: Eric Katzfey <eric.katzfey@modalai.com>
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Description: ModalAI PX4 flight controller for VOXL2
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91
Tools/packaging/voxl2/pkg/control/postinst
Executable file
91
Tools/packaging/voxl2/pkg/control/postinst
Executable file
@ -0,0 +1,91 @@
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#!/bin/bash
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################################################################################
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# Post-install script for voxl-px4
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#
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# Creates px4 module symlinks, sets up directories, and handles DSP signatures.
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################################################################################
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set -e
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################################################################################
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# Create px4 module symlinks from px4-alias.sh
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################################################################################
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cd /usr/bin
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if [ -f px4-alias.sh ]; then
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# Auto-generate symlinks from the alias file produced by the build.
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# Each alias line looks like: alias <name>='px4-<module> ...'
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# We extract the px4-<module> part and create a symlink to the px4 binary.
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grep "^alias " px4-alias.sh | grep -v "^alias set=" | \
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sed -n "s/^alias [^=]*='\\(px4-[^ ']*\\).*/\\1/p" | \
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sort -u | while read -r MODULE; do
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ln -f -s px4 "$MODULE"
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done
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echo "Created px4 module symlinks"
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else
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echo "Warning: px4-alias.sh not found, skipping symlink creation"
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fi
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################################################################################
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# Platform detection
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################################################################################
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PLATFORM="M0197"
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if [ -x /usr/bin/voxl-platform ]; then
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PLATFORM=$(/usr/bin/voxl-platform 2>/dev/null || echo "M0197")
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fi
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if [ "$PLATFORM" = "M0052" ]; then
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echo "Error: M0052 is no longer supported"
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exit 1
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fi
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echo "Platform: $PLATFORM"
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################################################################################
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# Create runtime directories
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################################################################################
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mkdir -p /data/px4/param
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mkdir -p /data/px4/slpi
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if [ "$PLATFORM" = "M0197" ]; then
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chown fastrpc:fastrpc /data/px4/slpi
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else
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chown system:system /data/px4/slpi
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fi
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################################################################################
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# DSP test signature
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################################################################################
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SIG_SCRIPT_DIR=/share/modalai/qrb5165-slpi-test-sig
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if [ "$PLATFORM" = "M0197" ]; then
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SIG_SCRIPT_DIR=/share/modalai/qcs6490-slpi-test-sig
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fi
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if /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &>/dev/null; then
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echo "Found DSP signature file"
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else
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echo "DSP signature file not found"
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if [ -f "$SIG_SCRIPT_DIR/generate-test-sig.sh" ]; then
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echo "Generating DSP signature..."
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"$SIG_SCRIPT_DIR/generate-test-sig.sh"
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else
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echo "Warning: DSP signature generation script not found at $SIG_SCRIPT_DIR"
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fi
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fi
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################################################################################
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# Cleanup and reload
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################################################################################
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# Remove legacy config file
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rm -f /etc/modalai/voxl-px4.config
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sync
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# Reload systemd if available
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set +e
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if [ -f /bin/systemctl ]; then
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systemctl daemon-reload
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fi
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exit 0
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13
Tools/packaging/voxl2/pkg/services/voxl-px4.service
Normal file
13
Tools/packaging/voxl2/pkg/services/voxl-px4.service
Normal file
@ -0,0 +1,13 @@
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[Unit]
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Description=px4
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After=sscrpcd.service
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Requires=sscrpcd.service
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[Service]
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ExecStartPre=/bin/sleep 2
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ExecStart=/usr/bin/voxl-px4
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ExecStopPost=/usr/bin/voxl-reset-slpi
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Restart=on-failure
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[Install]
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WantedBy=multi-user.target
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