CoCalc -- install-prereqs-ubuntu.sh

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GitHub Repository: Ardupilot/ardupilot
Path: blob/master/Tools/environment_install/install-prereqs-ubuntu.sh
Views: ¹⁷⁹⁸
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#!/usr/bin/env bash
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echo "---------- $0 start ----------"
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set -e
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set -x
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if [ $EUID == 0 ]; then
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    echo "Please do not run this script as root; don't sudo it!"
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    exit 1
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fi
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OPT="/opt"
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# Ardupilot Tools
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ARDUPILOT_TOOLS="Tools/autotest"
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ASSUME_YES=false
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QUIET=false
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sep="##############################################"
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OPTIND=1  # Reset in case getopts has been used previously in the shell.
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while getopts "yq" opt; do
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    case "$opt" in
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        \?)
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            exit 1
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            ;;
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        y)  ASSUME_YES=true
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            ;;
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        q)  QUIET=true
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            ;;
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    esac
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done
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APT_GET="sudo apt-get"
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if $ASSUME_YES; then
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    APT_GET="$APT_GET --assume-yes"
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fi
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if $QUIET; then
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    APT_GET="$APT_GET -qq"
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fi
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# update apt package list
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$APT_GET update
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function package_is_installed() {
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    dpkg-query -W -f='${Status}' "$1" 2>/dev/null | grep -c "ok installed"
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}
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function heading() {
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    echo "$sep"
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    echo $*
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    echo "$sep"
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}
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# Install lsb-release as it is needed to check Ubuntu version
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if ! package_is_installed "lsb-release"; then
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    heading "Installing lsb-release"
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    $APT_GET install lsb-release
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    echo "Done!"
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fi
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# Checking Ubuntu release to adapt software version to install
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RELEASE_CODENAME=$(lsb_release -c -s)
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# translate Mint-codenames to Ubuntu-codenames based on https://www.linuxmint.com/download_all.php
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case ${RELEASE_CODENAME} in
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    wilma)
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        RELEASE_CODENAME='noble'
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        ;;
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    vanessa)
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        RELEASE_CODENAME='jammy'
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        ;;
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    una | uma | ulyssa | ulyana | jolnir)
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        RELEASE_CODENAME='focal'
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        ;;
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    tricia | tina | tessa | tara)
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        RELEASE_CODENAME='bionic'
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        ;;
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    elsie)
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        RELEASE_CODENAME='bullseye'
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        ;;
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esac
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PYTHON_V="python3"  # starting from ubuntu 20.04, python isn't symlink to default python interpreter
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PIP=pip3
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if [ ${RELEASE_CODENAME} == 'bionic' ] ; then
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    echo "ArduPilot no longer supports developing on this operating system that has reached end of standard support."
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    exit 1
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elif [ ${RELEASE_CODENAME} == 'bookworm' ]; then
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    SITLFML_VERSION="2.5"
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    SITLCFML_VERSION="2.5"
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    PYTHON_V="python3"
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    PIP=pip3
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elif [ ${RELEASE_CODENAME} == 'buster' ]; then
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    SITLFML_VERSION="2.5"
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    SITLCFML_VERSION="2.5"
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    PYTHON_V="python3"
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    PIP=pip3
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elif [ ${RELEASE_CODENAME} == 'focal' ]; then
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    SITLFML_VERSION="2.5"
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    SITLCFML_VERSION="2.5"
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    PYTHON_V="python3"
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    PIP=pip3
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elif [ ${RELEASE_CODENAME} == 'jammy' ]; then
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    SITLFML_VERSION="2.5"
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    SITLCFML_VERSION="2.5"
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    PYTHON_V="python3"
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    PIP=pip3
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elif [ ${RELEASE_CODENAME} == 'lunar' ]; then
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    SITLFML_VERSION="2.5"
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    SITLCFML_VERSION="2.5"
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    PYTHON_V="python3"
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    PIP=pip3
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elif [ ${RELEASE_CODENAME} == 'mantic' ]; then
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    SITLFML_VERSION="2.5"
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    SITLCFML_VERSION="2.5"
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    PYTHON_V="python3"
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    PIP=pip3
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elif [ ${RELEASE_CODENAME} == 'noble' ]; then
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    SITLFML_VERSION="2.6"
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    SITLCFML_VERSION="2.6"
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    PYTHON_V="python3"
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    PIP=pip3
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elif [ ${RELEASE_CODENAME} == 'oracular' ]; then
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    SITLFML_VERSION="2.6"
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    SITLCFML_VERSION="2.6"
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    PYTHON_V="python3"
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    PIP=pip3
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elif [ ${RELEASE_CODENAME} == 'groovy' ] ||
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         [ ${RELEASE_CODENAME} == 'bullseye' ]; then
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    SITLFML_VERSION="2.5"
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    SITLCFML_VERSION="2.5"
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    PYTHON_V="python3"
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    PIP=pip3
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else
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    # We assume APT based system, so let's try with apt-cache first.
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    SITLCFML_VERSION=$(apt-cache search -n '^libcsfml-audio' | cut -d" " -f1 | head -1 | grep -Eo '[+-]?[0-9]+([.][0-9]+)?')
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    SITLFML_VERSION=$(apt-cache search -n '^libsfml-audio' | cut -d" " -f1 | head -1 | grep -Eo '[+-]?[0-9]+([.][0-9]+)?')
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    # If we cannot retrieve the number with apt-cache, try a last time with dpkg-query
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    re='^[+-]?[0-9]+([.][0-9]+)?$'
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    if ! [[ $SITLCFML_VERSION =~ $re ]] || ! [[ $SITLFML_VERSION =~ $re ]] ; then
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        # Extract the floating point number that is the version of the libcsfml package.
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        SITLCFML_VERSION=$(dpkg-query --search libcsfml-audio | cut -d":" -f1 | grep libcsfml-audio | head -1 | grep -Eo '[+-]?[0-9]+([.][0-9]+)?')
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        # And same for libsfml-audio.
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        SITLFML_VERSION=$(dpkg-query --search libsfml-audio | cut -d":" -f1 | grep libsfml-audio | head -1 | grep -Eo '[+-]?[0-9]+([.][0-9]+)?')
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    fi
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fi
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# Check whether the specific ARM pkg-config package is available or whether we should emulate the effect of installing it.
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# Check if we need to manually install libtool-bin
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ARM_PKG_CONFIG_NOT_PRESENT=0
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if [ -z "$(apt-cache search -n '^pkg-config-arm-linux-gnueabihf')" ]; then
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    ARM_PKG_CONFIG_NOT_PRESENT=$(dpkg-query --search pkg-config-arm-linux-gnueabihf |& grep -c "dpkg-query:")
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fi
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if [ "$ARM_PKG_CONFIG_NOT_PRESENT" -eq 1 ]; then
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    INSTALL_PKG_CONFIG=""
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    # No need to install Ubuntu's pkg-config-arm-linux-gnueabihf, instead install the base pkg-config.
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    $APT_GET install pkg-config
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    if [ -f /usr/share/pkg-config-crosswrapper ]; then
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        # We are on non-Ubuntu so simulate effect of installing pkg-config-arm-linux-gnueabihf.
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        sudo ln -sf /usr/share/pkg-config-crosswrapper /usr/bin/arm-linux-gnueabihf-pkg-config
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    else
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        echo "Warning: unable to link to pkg-config-crosswrapper"
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    fi
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else
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    # Package is available so install it later.
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    INSTALL_PKG_CONFIG="pkg-config-arm-linux-gnueabihf"
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fi
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# Lists of packages to install
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BASE_PKGS="build-essential ccache g++ gawk git make wget valgrind screen python3-pexpect astyle"
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PYTHON_PKGS="future lxml pymavlink pyserial MAVProxy geocoder empy==3.3.4 ptyprocess dronecan"
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PYTHON_PKGS="$PYTHON_PKGS flake8 junitparser wsproto tabulate"
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# add some Python packages required for commonly-used MAVProxy modules and hex file generation:
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if [[ $SKIP_AP_EXT_ENV -ne 1 ]]; then
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    PYTHON_PKGS="$PYTHON_PKGS pygame intelhex"
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fi
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ARM_LINUX_PKGS="g++-arm-linux-gnueabihf $INSTALL_PKG_CONFIG"
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# python-wxgtk packages are added to SITL_PKGS below
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if [ ${RELEASE_CODENAME} == 'bookworm' ] ||
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   [ ${RELEASE_CODENAME} == 'lunar' ] ||
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   [ ${RELEASE_CODENAME} == 'mantic' ] ||
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   [ ${RELEASE_CODENAME} == 'noble' ] ||
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   [ ${RELEASE_CODENAME} == 'oracular' ]; then
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    # on Lunar (and presumably later releases), we install in venv, below
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    PYTHON_PKGS+=" numpy pyparsing psutil"
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    SITL_PKGS="python3-dev"
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else
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SITL_PKGS="libtool libxml2-dev libxslt1-dev ${PYTHON_V}-dev ${PYTHON_V}-pip ${PYTHON_V}-setuptools ${PYTHON_V}-numpy ${PYTHON_V}-pyparsing ${PYTHON_V}-psutil"
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fi
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193
# add some packages required for commonly-used MAVProxy modules:
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if [[ $SKIP_AP_GRAPHIC_ENV -ne 1 ]]; then
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    if [ ${RELEASE_CODENAME} == 'bookworm' ] ||
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       [ ${RELEASE_CODENAME} == 'lunar' ] ||
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       [ ${RELEASE_CODENAME} == 'mantic' ] ||
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       [ ${RELEASE_CODENAME} == 'noble' ] ||
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       [ ${RELEASE_CODENAME} == 'oracular' ]; then
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        PYTHON_PKGS+=" matplotlib scipy opencv-python pyyaml"
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        SITL_PKGS+=" xterm xfonts-base libcsfml-dev libcsfml-audio${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${SITLFML_VERSION}"
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  else
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  SITL_PKGS="$SITL_PKGS xterm xfonts-base ${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"
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  fi
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fi
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if [[ $SKIP_AP_COV_ENV -ne 1 ]]; then
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  # Coverage utilities
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  COVERAGE_PKGS="lcov gcovr"
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fi
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# ArduPilot official Toolchain for STM32 boards
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function install_arm_none_eabi_toolchain() {
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    # GNU Tools for ARM Embedded Processors
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    # (see https://launchpad.net/gcc-arm-embedded/)
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    ARM_ROOT="gcc-arm-none-eabi-10-2020-q4-major"
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    case $(uname -m) in
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        x86_64)
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            if [ ! -d $OPT/$ARM_ROOT ]; then
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                (
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                    cd $OPT
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                    heading "Installing toolchain for STM32 Boards"
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                    echo "Installing toolchain for STM32 Boards"
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                    echo "Downloading from ArduPilot server"
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                    sudo wget --progress=dot:giga https://firmware.ardupilot.org/Tools/STM32-tools/gcc-arm-none-eabi-10-2020-q4-major-x86_64-linux.tar.bz2
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                    echo "Installing..."
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                    sudo chmod -R 777 gcc-arm-none-eabi-10-2020-q4-major-x86_64-linux.tar.bz2
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                    sudo tar xjf gcc-arm-none-eabi-10-2020-q4-major-x86_64-linux.tar.bz2
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                    echo "... Cleaning"
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                    sudo rm gcc-arm-none-eabi-10-2020-q4-major-x86_64-linux.tar.bz2
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                )
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            fi
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            echo "Registering STM32 Toolchain for ccache"
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            sudo ln -s -f $CCACHE_PATH /usr/lib/ccache/arm-none-eabi-g++
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            sudo ln -s -f $CCACHE_PATH /usr/lib/ccache/arm-none-eabi-gcc
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            echo "Done!";;
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        aarch64)
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            if [ ! -d $OPT/$ARM_ROOT ]; then
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                (
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                    cd $OPT
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                    heading "Installing toolchain for STM32 Boards"
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                    echo "Installing toolchain for STM32 Boards"
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                    echo "Downloading from ArduPilot server"
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                    sudo wget --progress=dot:giga https://firmware.ardupilot.org/Tools/STM32-tools/gcc-arm-none-eabi-10-2020-q4-major-aarch64-linux.tar.bz2
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                    echo "Installing..."
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                    sudo chmod -R 777 gcc-arm-none-eabi-10-2020-q4-major-aarch64-linux.tar.bz2
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                    sudo tar xjf gcc-arm-none-eabi-10-2020-q4-major-aarch64-linux.tar.bz2
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                    echo "... Cleaning"
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                    sudo rm gcc-arm-none-eabi-10-2020-q4-major-aarch64-linux.tar.bz2
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                )
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            fi
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            echo "Registering STM32 Toolchain for ccache"
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            sudo ln -s -f $CCACHE_PATH /usr/lib/ccache/arm-none-eabi-g++
254
            sudo ln -s -f $CCACHE_PATH /usr/lib/ccache/arm-none-eabi-gcc
255
            echo "Done!";;
256
    esac
257
}
258

259
function maybe_prompt_user() {
260
    if $ASSUME_YES; then
261
        return 0
262
    else
263
        read -p "$1"
264
        if [[ $REPLY =~ ^[Yy]$ ]]; then
265
            return 0
266
        else
267
            return 1
268
        fi
269
    fi
270
}
271

272
heading "Add user to dialout group to allow managing serial ports"
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sudo usermod -a -G dialout $USER
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echo "Done!"
275

276
# Add back python symlink to python interpreter on Ubuntu >= 20.04
277
if [ ${RELEASE_CODENAME} == 'focal' ];
278
then
279
    BASE_PKGS+=" python-is-python3"
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    SITL_PKGS+=" libpython3-stdlib" # for argparse
281
elif [ ${RELEASE_CODENAME} == 'groovy' ] ||
282
         [ ${RELEASE_CODENAME} == 'bullseye' ] ||
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         [ ${RELEASE_CODENAME} == 'jammy' ]; then
284
    BASE_PKGS+=" python-is-python3"
285
    SITL_PKGS+=" libpython3-stdlib" # for argparse
286
elif [ ${RELEASE_CODENAME} == 'bookworm' ]; then
287
    SITL_PKGS+=" libpython3-stdlib" # for argparse
288
elif [ ${RELEASE_CODENAME} == 'lunar' ]; then
289
    SITL_PKGS+=" libpython3-stdlib" # for argparse
290
elif [ ${RELEASE_CODENAME} == 'buster' ]; then
291
    SITL_PKGS+=" libpython3-stdlib" # for argparse
292
elif [ ${RELEASE_CODENAME} != 'mantic' ] &&
293
     [ ${RELEASE_CODENAME} != 'noble' ] && 
294
     [ ${RELEASE_CODENAME} != 'oracular' ]; then
295
    SITL_PKGS+=" python-argparse"
296
fi
297

298
# Check for graphical package for MAVProxy
299
if [[ $SKIP_AP_GRAPHIC_ENV -ne 1 ]]; then
300
  if [ ${RELEASE_CODENAME} == 'bullseye' ] ||
301
         [ ${RELEASE_CODENAME} == 'buster' ]; then
302
    SITL_PKGS+=" libjpeg62-turbo-dev"
303
  elif [ ${RELEASE_CODENAME} == 'groovy' ] ||
304
           [ ${RELEASE_CODENAME} == 'focal' ]; then
305
    SITL_PKGS+=" libjpeg8-dev"
306
  elif [ ${RELEASE_CODENAME} == 'bookworm' ]; then
307
    SITL_PKGS+=" libgtk-3-dev libwxgtk3.2-dev "
308
  elif [ ${RELEASE_CODENAME} == 'lunar' ]; then
309
    SITL_PKGS+=" libgtk-3-dev libwxgtk3.2-dev "
310
  elif [ ${RELEASE_CODENAME} == 'mantic' ]; then
311
    SITL_PKGS+=" libgtk-3-dev libwxgtk3.2-dev "
312
    # see below
313
  elif [ ${RELEASE_CODENAME} == 'noble' ]; then
314
    SITL_PKGS+=" libgtk-3-dev libwxgtk3.2-dev "
315
    # see below
316
  elif [ ${RELEASE_CODENAME} == 'oracular' ]; then
317
    SITL_PKGS+=" libgtk-3-dev libwxgtk3.2-dev "
318
    # see below
319
  elif apt-cache search python-wxgtk3.0 | grep wx; then
320
      SITL_PKGS+=" python-wxgtk3.0"
321
  elif apt-cache search python3-wxgtk4.0 | grep wx; then
322
      # see below
323
      :
324
  else
325
      # we only support back to trusty:
326
      SITL_PKGS+=" python-wxgtk2.8"
327
      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
328
  fi
329

330
  if [ ${RELEASE_CODENAME} == 'bookworm' ]; then
331
      PYTHON_PKGS+=" opencv-python"
332
      SITL_PKGS+=" python3-wxgtk4.0"
333
      SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libpng16-16 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev"  # for pygame
334
  elif [ ${RELEASE_CODENAME} == 'lunar' ]; then
335
      PYTHON_PKGS+=" wxpython opencv-python"
336
      SITL_PKGS+=" python3-wxgtk4.0"
337
      SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libpng16-16 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev"  # for pygame
338
  elif [ ${RELEASE_CODENAME} == 'mantic' ] ||
339
       [ ${RELEASE_CODENAME} == 'noble' ] ||
340
       [ ${RELEASE_CODENAME} == 'oracular' ]; then
341
      PYTHON_PKGS+=" wxpython opencv-python"
342
      SITL_PKGS+=" python3-wxgtk4.0"
343
      SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libpng16-16 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev"  # for pygame
344
  elif [ ${RELEASE_CODENAME} == 'bullseye' ] ||
345
         [ ${RELEASE_CODENAME} == 'groovy' ] ||
346
         [ ${RELEASE_CODENAME} == 'buster' ] ||
347
         [ ${RELEASE_CODENAME} == 'focal' ] ||
348
         [ ${RELEASE_CODENAME} == 'jammy' ]; then
349
    SITL_PKGS+=" python3-wxgtk4.0"
350
    SITL_PKGS+=" fonts-freefont-ttf libfreetype6-dev libpng16-16 libportmidi-dev libsdl-image1.2-dev libsdl-mixer1.2-dev libsdl-ttf2.0-dev libsdl1.2-dev"  # for pygame
351
  fi
352
fi
353

354
# Check if we need to manually install realpath
355
RP=$(apt-cache search -n '^realpath$')
356
if [ -n "$RP" ]; then
357
    BASE_PKGS+=" realpath"
358
fi
359

360
# Check if we need to manually install libtool-bin
361
LBTBIN=$(apt-cache search -n '^libtool-bin')
362
if [ -n "$LBTBIN" ]; then
363
    SITL_PKGS+=" libtool-bin"
364
fi
365

366
SITL_PKGS+=" ppp"
367

368
# Install all packages
369
$APT_GET install $BASE_PKGS $SITL_PKGS $PX4_PKGS $ARM_LINUX_PKGS $COVERAGE_PKGS
370

371
if [[ $SKIP_AP_GRAPHIC_ENV -ne 1 ]]; then
372
    # If xfonts-base was just installed, you need to rebuild the font information cache.
373
    # https://discuss.ardupilot.org/t/using-the-gdb-window-on-a-high-dpi-display/128150/2
374
    fc-cache
375
fi
376

377
heading "Check if we are inside docker environment..."
378
IS_DOCKER=false
379
if [[ ${AP_DOCKER_BUILD:-0} -eq 1 ]] || [[ -f /.dockerenv ]] || grep -Eq '(lxc|docker)' /proc/1/cgroup ; then
380
    IS_DOCKER=true
381
fi
382
echo "Done!"
383

384
SHELL_LOGIN=".profile"
385
if $IS_DOCKER; then
386
    echo "Inside docker, we add the tools path into .bashrc directly"
387
    SHELL_LOGIN=".ardupilot_env"
388
    echo "# ArduPilot env file. Need to be loaded by your Shell." > ~/$SHELL_LOGIN
389
fi
390

391
PIP_USER_ARGUMENT="--user"
392

393
# create a Python venv on more recent releases:
394
PYTHON_VENV_PACKAGE=""
395
if [ ${RELEASE_CODENAME} == 'bookworm' ] ||
396
   [ ${RELEASE_CODENAME} == 'lunar' ] ||
397
   [ ${RELEASE_CODENAME} == 'mantic' ]; then
398
    PYTHON_VENV_PACKAGE=python3.11-venv
399
elif [ ${RELEASE_CODENAME} == 'noble' ]; then
400
    PYTHON_VENV_PACKAGE=python3.12-venv
401
elif [ ${RELEASE_CODENAME} == 'oracular' ]; then
402
    PYTHON_VENV_PACKAGE=python3.12-venv
403
fi
404

405
if [ -n "$PYTHON_VENV_PACKAGE" ]; then
406
    $APT_GET install $PYTHON_VENV_PACKAGE
407
    python3 -m venv --system-site-packages $HOME/venv-ardupilot
408

409
    # activate it:
410
    SOURCE_LINE="source $HOME/venv-ardupilot/bin/activate"
411
    $SOURCE_LINE
412
    PIP_USER_ARGUMENT=""
413

414
    if [[ -z "${DO_PYTHON_VENV_ENV}" ]] && maybe_prompt_user "Make ArduPilot venv default for python [N/y]?" ; then
415
        DO_PYTHON_VENV_ENV=1
416
    fi
417

418
    if [[ $DO_PYTHON_VENV_ENV -eq 1 ]]; then
419
        echo $SOURCE_LINE >> ~/$SHELL_LOGIN
420
    else
421
        echo "Please use \`$SOURCE_LINE\` to activate the ArduPilot venv"
422
    fi
423
fi
424

425
# try update packaging, setuptools and wheel before installing pip package that may need compilation
426
SETUPTOOLS="setuptools"
427
if [ ${RELEASE_CODENAME} == 'focal' ]; then
428
    SETUPTOOLS=setuptools==70.3.0
429
fi
430
$PIP install $PIP_USER_ARGUMENT -U pip packaging $SETUPTOOLS wheel
431

432
if [ "$GITHUB_ACTIONS" == "true" ]; then
433
    PIP_USER_ARGUMENT+=" --progress-bar off"
434
fi
435

436
if [ ${RELEASE_CODENAME} == 'bookworm' ] ||
437
   [ ${RELEASE_CODENAME} == 'lunar' ] ||
438
   [ ${RELEASE_CODENAME} == 'mantic' ] ||
439
   [ ${RELEASE_CODENAME} == 'noble' ] ||
440
   [ ${RELEASE_CODENAME} == 'oracular' ]; then
441
    # must do this ahead of wxPython pip3 run :-/
442
    $PIP install $PIP_USER_ARGUMENT -U attrdict3
443
fi
444

445
# install Python packages one-at-a-time so it is clear which package
446
# is causing problems:
447
for PACKAGE in $PYTHON_PKGS; do
448
    $PIP install $PIP_USER_ARGUMENT -U $PACKAGE
449
done
450

451
if [[ -z "${DO_AP_STM_ENV}" ]] && maybe_prompt_user "Install ArduPilot STM32 toolchain [N/y]?" ; then
452
    DO_AP_STM_ENV=1
453
fi
454

455
heading "Removing modemmanager and brltty package that could conflict with firmware uploading"
456
if package_is_installed "modemmanager"; then
457
    $APT_GET remove modemmanager
458
fi
459
if package_is_installed "brltty"; then
460
    $APT_GET remove brltty
461
fi
462
echo "Done!"
463

464
CCACHE_PATH=$(which ccache)
465
if [[ $DO_AP_STM_ENV -eq 1 ]]; then
466
  install_arm_none_eabi_toolchain
467
fi
468

469
heading "Adding ArduPilot Tools to environment"
470

471
SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]}))
472
ARDUPILOT_ROOT=$(realpath "$SCRIPT_DIR/../../")
473

474
if [[ $DO_AP_STM_ENV -eq 1 ]]; then
475
exportline="export PATH=$OPT/$ARM_ROOT/bin:\$PATH";
476
grep -Fxq "$exportline" ~/$SHELL_LOGIN 2>/dev/null || {
477
    if maybe_prompt_user "Add $OPT/$ARM_ROOT/bin to your PATH [N/y]?" ; then
478
        echo $exportline >> ~/$SHELL_LOGIN
479
        eval $exportline
480
    else
481
        echo "Skipping adding $OPT/$ARM_ROOT/bin to PATH."
482
    fi
483
}
484
fi
485

486
exportline2="export PATH=$ARDUPILOT_ROOT/$ARDUPILOT_TOOLS:\$PATH";
487
grep -Fxq "$exportline2" ~/$SHELL_LOGIN 2>/dev/null || {
488
    if maybe_prompt_user "Add $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to your PATH [N/y]?" ; then
489
        echo $exportline2 >> ~/$SHELL_LOGIN
490
        eval $exportline2
491
    else
492
        echo "Skipping adding $ARDUPILOT_ROOT/$ARDUPILOT_TOOLS to PATH."
493
    fi
494
}
495

496
if [[ $SKIP_AP_COMPLETION_ENV -ne 1 ]]; then
497
exportline3="source $ARDUPILOT_ROOT/Tools/completion/completion.bash";
498
grep -Fxq "$exportline3" ~/$SHELL_LOGIN 2>/dev/null || {
499
    if maybe_prompt_user "Add ArduPilot Bash Completion to your bash shell [N/y]?" ; then
500
        echo $exportline3 >> ~/.bashrc
501
        eval $exportline3
502
    else
503
        echo "Skipping adding ArduPilot Bash Completion."
504
    fi
505
}
506
fi
507

508
exportline4="export PATH=/usr/lib/ccache:\$PATH";
509
grep -Fxq "$exportline4" ~/$SHELL_LOGIN 2>/dev/null || {
510
    if maybe_prompt_user "Append CCache to your PATH [N/y]?" ; then
511
        echo $exportline4 >> ~/$SHELL_LOGIN
512
        eval $exportline4
513
    else
514
        echo "Skipping appending CCache to PATH."
515
    fi
516
}
517
echo "Done!"
518

519
if [[ $SKIP_AP_GIT_CHECK -ne 1 ]]; then
520
  if [ -d ".git" ]; then
521
    heading "Update git submodules"
522
    cd $ARDUPILOT_ROOT
523
    git submodule update --init --recursive
524
    echo "Done!"
525
  fi
526
fi
527

528
if $IS_DOCKER; then
529
    echo "Finalizing ArduPilot env for Docker"
530
    echo "source ~/.ardupilot_env">> ~/.bashrc
531
fi
532

533
echo "---------- $0 end ----------"
534

535
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