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build-moos.sh
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#!/bin/bash
INVOC_ABS_DIR="$(pwd)"
SCRIPT_ABS_DIR="$(cd $(dirname "$0") && pwd -P)"
MOOS_SRC_DIR="${SCRIPT_ABS_DIR}/MOOS"
BUILD_ABS_DIR="${SCRIPT_ABS_DIR}/build/MOOS"
mkdir -p "${BUILD_ABS_DIR}"
BUILD_TYPE="Release"
BUILD_OPTIM="yes"
J_ARGS="-j$(getconf _NPROCESSORS_ONLN)"
BUILD_BOT_CODE_ONLY="OFF"
FORCE_FULL_RASPI_BUILD=""
#-------------------------------------------------------------------
# Check for and handle command-line arguments
#-------------------------------------------------------------------
for ARGI; do
if [ "${ARGI}" = "--help" -o "${ARGI}" = "-h" ] ; then
printf "%s [SWITCHES] \n" $0
printf " --help, -h \n"
printf " --debug, -d \n"
printf " --release, -r \n"
printf "Any other switches passed directly to \"make\" \n"
printf "Recommended: \n"
printf " -jN Speed up compile on multi-core machines. \n"
printf " -k Keep building after failed component. \n"
printf " -m, Only build minimal robot apps \n"
printf " -mx, Turn off build minimal robot apps \n"
printf " clean Clean/remove any previous build. \n"
exit 0;
elif [ "${ARGI}" = "--debug" -o "${ARGI}" = "-d" ] ; then
BUILD_TYPE="Debug"
elif [ "${ARGI}" = "--release" -o "${ARGI}" = "-r" ] ; then
BUILD_TYPE="Release"
elif [ "${ARGI}" = "--minrobot" -o "${ARGI}" = "-m" ] ; then
BUILD_BOT_CODE_ONLY="ON"
elif [ "${ARGI}" = "--minrobotx" -o "${ARGI}" = "-mx" ] ; then
FORCE_FULL_RASPI_BUILD="yes"
elif [ "${ARGI}" = "--j1" -o "${ARGI}" = "-j1" ] ; then
J_ARGS="-j1"
else
CMD_ARGS=$CMD_ARGS" "$ARGI
fi
done
CMD_ARGS+=" "$J_ARGS
#--------------------------------------------------------------
# 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"
fi
fi
fi
echo " SCRIPT_ABS_DIR: " ${SCRIPT_ABS_DIR}
# Setup C and C++ Compiler flags for Mac and Linux.
MOOS_CXX_FLAGS="-Wall -Wextra -Wno-unused-parameter -pedantic -fPIC "
MOOS_CXX_FLAGS="-Wno-c++11-extensions -Wno-deprecated-declarations "
# -Wno-psabi turns off warnings about ABI change between gcc 6 and 7.1
CMAKE_CXX_FLAGS+="-Wno-psabi "
if [ "${BUILD_OPTIM}" = "yes" ] ; then
MOOS_CXX_FLAGS=$MOOS_CXX_FLAGS" -Os"
fi
#-------------------------------------------------------------------
# Clean up old files left behind from in-source builds.
#-------------------------------------------------------------------
find "${MOOS_SRC_DIR}/" -type d -name "CMakeFiles" -exec rm -rf {} +
find "${MOOS_SRC_DIR}/" -type f -name "CMakeCache.txt" -delete
find "${MOOS_SRC_DIR}/" -type f -name "cmake_install.cmake" -delete
find "${MOOS_SRC_DIR}/" -type f -name "Makefile" -delete
find "${MOOS_SRC_DIR}/" -type f -name "UseMOOS*.cmake" -delete
find "${MOOS_SRC_DIR}/" -type f -name "MOOS*Config*.cmake" -delete
find "${MOOS_SRC_DIR}/" -type f -name "*.o" -delete
find "${MOOS_SRC_DIR}/" -type f -name "*.lo" -delete
#===================================================================
# Part #1: BUILD CORE
#===================================================================
mkdir -p "${BUILD_ABS_DIR}/MOOSCore"
cd "${BUILD_ABS_DIR}/MOOSCore"
echo "Invoking cmake..." `pwd`
cmake -DENABLE_EXPORT=ON \
-DUSE_ASYNC_COMMS=ON \
-DTIME_WARP_AGGLOMERATION_CONSTANT=0.4 \
-DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
-DCMAKE_RUNTIME_OUTPUT_DIRECTORY="${SCRIPT_ABS_DIR}/bin" \
-DCMAKE_CXX_FLAGS="${MOOS_CXX_FLAGS}" \
"${MOOS_SRC_DIR}/MOOSCore" \
&& echo "" && echo "Invoking make..." `pwd` && echo "" \
&& make ${CMD_ARGS}
if [ $? -ne 0 ] ; then
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
echo "ERROR! Failed to build MOOSCore"
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
exit 1
fi
#===================================================================
# Part #2: BUILD ESSENTIALS
#===================================================================
mkdir -p "${BUILD_ABS_DIR}/MOOSEssentials"
cd "${BUILD_ABS_DIR}/MOOSEssentials"
echo "Invoking cmake..." `pwd`
cmake -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
-DCMAKE_RUNTIME_OUTPUT_DIRECTORY="${SCRIPT_ABS_DIR}/bin" \
-DCMAKE_CXX_FLAGS="${MOOS_CXX_FLAGS}" \
"${MOOS_SRC_DIR}/MOOSEssentials" \
&& echo"" && echo "Invoking make..." `pwd` && echo"" \
&& make ${CMD_ARGS}
if [ $? -ne 0 ] ; then
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
echo "ERROR! Failed to build MOOSEssentials"
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
exit 2
fi
#===================================================================
# Part #3: BUILD MOOS GUI TOOLS
#===================================================================
printf "+++++++++++++++++++++++++++++++++++++++++++++++++++\n"
printf "MOOS_BUILD_BOT_CODE_ONLY: ${BUILD_BOT_CODE_ONLY} \n"
printf "+++++++++++++++++++++++++++++++++++++++++++++++++++\n"
if [ "${BUILD_BOT_CODE_ONLY}" = "OFF" ] ; then
mkdir -p "${BUILD_ABS_DIR}/MOOSToolsUI"
cd "${BUILD_ABS_DIR}/MOOSToolsUI"
echo "=============================================="
echo "SCRIPT_ABS_DIR:" ${SCRIPT_ABS_DIR}
echo "=============================================="
echo "Invoking cmake..." `pwd`
cmake -DBUILD_CONSOLE_TOOLS=ON \
-DFLTK_SKIP_FLUID=ON \
-DBUILD_GRAPHICAL_TOOLS=ON \
-DBUILD_UPB=ON \
-DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
-DCMAKE_RUNTIME_OUTPUT_DIRECTORY="${SCRIPT_ABS_DIR}/bin" \
-DCMAKE_CXX_FLAGS="${MOOS_CXX_FLAGS}" \
"${MOOS_SRC_DIR}/MOOSToolsUI" \
&& echo "" && echo "Invoking make..." `pwd` && echo "" \
&& make ${CMD_ARGS}
if [ $? -ne 0 ] ; then
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
echo "ERROR! Failed to build MOOSToolsUI"
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
exit 3
fi
fi
#===================================================================
# Part #4: BUILD PROJ4
#===================================================================
mkdir -p "${BUILD_ABS_DIR}/proj-5.2.0"
cd "${BUILD_ABS_DIR}/proj-5.2.0"
# TODO: This will always build PROJ4, even if local OS install performed.
if [ ! -e lib/libproj.a ]; then
echo "Building Proj4. MOOSGeodesy now uses Proj4 with MOOSGeodesy wrapper"
cmake -DCMAKE_INSTALL_PREFIX:PATH=$PWD \
-DBUILD_LIBPROJ_SHARED=OFF \
-DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-DPROJ_TESTS=OFF \
-DBUILD_CCT=OFF \
-DBUILD_CS2CS=OFF \
-DBUILD_GEOD=OFF \
-DBUILD_GIE=OFF \
-DBUILD_NAD2BIN=OFF \
-DBUILD_PROJ=OFF \
"${MOOS_SRC_DIR}/proj-5.2.0" \
&& make -j$(getconf _NPROCESSORS_ONLN) \
&& make install \
&& echo "Done Building Proj4."
if [ $? -ne 0 ] ; then
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
echo "ERROR! Failed to build PROJ4"
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
exit 4
fi
fi
#===================================================================
# Part #5: BUILD MOOS GEODESY
#===================================================================
mkdir -p "${BUILD_ABS_DIR}/MOOSGeodesy"
cd "${BUILD_ABS_DIR}/MOOSGeodesy"
PROJ4_INCLUDE_DIR="${BUILD_ABS_DIR}/proj-5.2.0/include"
PROJ4_LIB_DIR="${BUILD_ABS_DIR}/proj-5.2.0/lib"
echo "PROJ4 LIB DIR: " $PROJ4_LIB_DIR
echo "Invoking cmake..." `pwd`
cmake -DCMAKE_CXX_FLAGS="${MOOS_CXX_FLAGS}" \
-DPROJ4_INCLUDE_DIRS=${PROJ4_INCLUDE_DIR} \
-DPROJ4_LIB_PATH=${PROJ4_LIB_DIR} \
"${MOOS_SRC_DIR}/MOOSGeodesy" \
&& echo "" && echo "Invoking make..." `pwd` && echo "" \
&& make ${CMD_ARGS}
RESULT=$?
if [ $RESULT -ne 0 ] ; then
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
echo "ERROR! Failed to build MOOSGeodesy"
echo "!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!"
exit 5
fi
cd ${INVOC_ABS_DIR}
exit $RESULT