build.sh

#!/bin/bash

#*******************
platform=X3
build_testing=OFF
#*******************

function show_usage() {
cat <<EOF

Usage: bash -e $0 <options>

Available options:
-p|--platform: set platform ([X3|Rdkultra|X5|X86|S100])
-s|--selction: add colcon build --packages-select [PKG_NAME]
-g|--build_testing: compile gtest cases, default value is OFF ([ON|OFF])
-c|--cmake-args: add cmake-args
-r|--raw_options: add raw colcon build options, e.g. "-r '--packages-up-to [PKG_NAME ...]'"
-h|--help

The priority of options for compilation is:
1. selection
2. raw_options

EOF
exit
}


if [ $# -lt 1 ];then
   show_usage
fi

PACKAGE_SELECTION=""
RAW_OPTIONS=""
CMAKE_ARGS=""

PLATFORM_OPTS=(X3 Rdkultra X5 X86 S100)
BUILD_TESTING_OPTS=(OFF ON)
GETOPT_ARGS=`getopt -o p:s:g:c:r:h -al platform:,selction:,build_testing:,help -- "$@"`
eval set -- "$GETOPT_ARGS"

while [ -n "$1" ]
do
  case "$1" in
    -p|--platform)
      platform=$2
      shift 2
      if [[ ! "${PLATFORM_OPTS[@]}" =~ $platform ]] ; then
        echo "invalid platform: $platform"
        show_usage
      fi
      ;;
    -s|--selction)
      selction=$2
      shift 2
      echo "colcon build selction: $selction"
      PACKAGE_SELECTION="--packages-select $selction"
      ;;
    -g|--build_testing)
      build_testing=$2
      shift 2
      if [[ ! "${BUILD_TESTING_OPTS[@]}" =~ $build_testing ]] ; then
        echo "invalid build_testing: $build_testing"
        show_usage
      fi
      ;;
    -c|--cmake-args)
      CMAKE_ARGS=$2
      shift 2
      echo "cmake-args: $CMAKE_ARGS"
      ;;
    -r|--raw_options)
      RAW_OPTIONS=$2
      shift 2
      echo "RAW_OPTIONS: $RAW_OPTIONS"
      ;;
    -h|--help) show_usage; break;;
    --) break ;;
    *) echo $1,$2 show_usage; break;;
  esac
done

if [ -z "${PACKAGE_SELECTION}" ]; then
  echo "PACKAGE_SELECTION is empty and reset with RAW_OPTIONS [$RAW_OPTIONS]"
  PACKAGE_SELECTION=$RAW_OPTIONS
fi
echo "PACKAGE_SELECTION: $PACKAGE_SELECTION"

rm `pwd`/../sysroot_docker/usr

export ROS_VERSION=2
export PLATFORM_X86=OFF
export PLATFORM_X3=OFF
export PLATFORM_X5=OFF
export PLATFORM_S100=OFF
export PLATFORM_Rdkultra=OFF

## 清除配置选项
./robot_dev_config/clear_COLCON_IGNORE.sh
if [ $build_testing == "ON" ]; then
  echo "open build gtest"
  rm ./src/tros/performance_test_fixture/COLCON_IGNORE
fi

echo "build platform " $platform
if [ $platform == "X86" ]; then
  echo "build X86"
  ln -s `pwd`/../sysroot_docker/usr_x86 `pwd`/../sysroot_docker/usr
  # 只编译x86平台的package
  ./robot_dev_config/x86_build.sh
  echo "PACKAGE_SELECTION: $PACKAGE_SELECTION"

  mkdir -p install && cp ./robot_dev_config/create_soft_link.py install/

  ## 开始编译
  colcon build $PACKAGE_SELECTION \
    --merge-install \
    --cmake-force-configure \
    --cmake-args \
      --no-warn-unused-cli \
      -DTHIRDPARTY=ON \
      -DBUILD_TESTING:BOOL=OFF \
      -DPLATFORM_X86=ON \
      -DBUILD_HBMEM=ON \
      -DTHIRD_PARTY=`pwd`/../sysroot_docker

else
  ## 配置交叉编译工具链
  export TARGET_ARCH=aarch64
  export TARGET_TRIPLE=aarch64-linux-gnu
  export CROSS_COMPILE=/usr/bin/$TARGET_TRIPLE-
  source /opt/ros/humble/setup.bash
  if [ $platform == "X3" ]; then
    echo "build X3"
    ln -s `pwd`/../sysroot_docker/usr_x3 `pwd`/../sysroot_docker/usr
    # 只编译X3平台的package
    ./robot_dev_config/all_build.sh
  elif [ $platform == "Rdkultra" ]; then
    echo "build Rdkultra"
    ln -s `pwd`/../sysroot_docker/usr_rdkultra `pwd`/../sysroot_docker/usr
    # 只编译Rdkultra平台的package
    ./robot_dev_config/rdkultra_build.sh
  elif [ $platform == "X5" ]; then
    echo "build X5"
    ln -s `pwd`/../sysroot_docker/usr_x5 `pwd`/../sysroot_docker/usr
    # 只编译X5平台的package
    ./robot_dev_config/x5_build.sh pre
  elif [ $platform == "S100" ]; then
    echo "build S100"
    ln -s `pwd`/../sysroot_docker/usr_s100 `pwd`/../sysroot_docker/usr
    # 只编译S100平台的package
    ./robot_dev_config/s100_build.sh
  fi
  export PKG_CONFIG_PATH=`pwd`/../sysroot_docker/usr/lib/aarch64-linux-gnu/pkgconfig
  #export PKG_CONFIG_SYSROOT_DIR=`pwd`/../sysroot_docker/

  if [[ "$platform" == "X3" && "$PACKAGE_SELECTION" =~ "hobot_audio" ]]; then
    echo "单独编译hobot_audio，安装目录为install_audio"
    echo "注意该步骤会同步编译一份安装到install目录，打包tors deb操作要在该步骤之前！"
    DIRECTORY="install"
    if [ ! -d "$DIRECTORY" ]; then
        echo "请先运行全量编译！"
        exit 1
    fi

    colcon build \
      --packages-select=hobot_audio \
      --merge-install \
      --cmake-force-configure \
      --cmake-args \
        --no-warn-unused-cli \
        -DCMAKE_TOOLCHAIN_FILE=`pwd`/robot_dev_config/aarch64_toolchainfile.cmake \
        -DPLATFORM_${platform}=ON \
        -DTHIRDPARTY=ON \
        -DBUILD_TESTING=$build_testing \
        -DCMAKE_BUILD_RPATH="`pwd`/build/poco_vendor/poco_external_project_install/lib/;`pwd`/build/libyaml_vendor/libyaml_install/lib/"

    source install/setup.bash

    colcon build \
      --packages-select=hobot_audio \
      --build-base=build_audio \
      --install-base=install_audio \
      --merge-install \
      --cmake-force-configure \
      --cmake-args \
        --no-warn-unused-cli \
        -DCMAKE_TOOLCHAIN_FILE=`pwd`/robot_dev_config/aarch64_toolchainfile.cmake \
        -DPLATFORM_${platform}=ON \
        -DTHIRDPARTY=ON \
        -DBUILD_TESTING=$build_testing \
        -DCMAKE_BUILD_RPATH="`pwd`/build/poco_vendor/poco_external_project_install/lib/;`pwd`/build/libyaml_vendor/libyaml_install/lib/"

  elif [[ "$platform" == "X3" && "$PACKAGE_SELECTION" =~ orb_slam3|orb_slam3_example_ros2|hobot_slam ]]; then
    echo "单独编译hobot_slam，安装目录为install_orb-slam3"
    echo "注意该步骤会同步编译一份安装到install目录，打包tors deb操作要在该步骤之前！"
    DIRECTORY="install"
    if [ ! -d "$DIRECTORY" ]; then
        echo "请先运行全量编译！"
        exit 1
    fi

    colcon build \
      --packages-select orb_slam3 orb_slam3_example_ros2 \
      --merge-install \
      --cmake-force-configure \
      --cmake-args \
        --no-warn-unused-cli \
        -DCMAKE_TOOLCHAIN_FILE=`pwd`/robot_dev_config/aarch64_toolchainfile.cmake \
        -DPLATFORM_${platform}=ON \
        -DTHIRDPARTY=ON \
        -DBUILD_TESTING=$build_testing \
        -DCMAKE_BUILD_RPATH="`pwd`/build/poco_vendor/poco_external_project_install/lib/;`pwd`/build/libyaml_vendor/libyaml_install/lib/"

    source install/setup.bash
    colcon build \
      --packages-select orb_slam3 orb_slam3_example_ros2 \
      --build-base=build_orb-slam3 \
      --install-base=install_orb-slam3 \
      --merge-install \
      --cmake-force-configure \
      --cmake-args \
        --no-warn-unused-cli \
        -DCMAKE_TOOLCHAIN_FILE=`pwd`/robot_dev_config/aarch64_toolchainfile.cmake \
        -DPLATFORM_${platform}=ON \
        -DTHIRDPARTY=ON \
        -DBUILD_TESTING=$build_testing \
        -DCMAKE_BUILD_RPATH="`pwd`/build/poco_vendor/poco_external_project_install/lib/;`pwd`/build/libyaml_vendor/libyaml_install/lib/"

  elif [[ "$platform" == "X3" && "$PACKAGE_SELECTION" =~ "performance_test" ]]; then
    echo "单独编译performance_test，安装目录为install_performance_test"
    echo "注意该步骤会同步编译一份安装到install目录，打包tors deb操作要在该步骤之前！"
    DIRECTORY="install"
    if [ ! -d "$DIRECTORY" ]; then
        echo "请先运行全量编译！"
        exit 1
    fi

    colcon build \
      --packages-select=performance_test \
      --merge-install \
      --cmake-force-configure \
      --cmake-args \
        --no-warn-unused-cli \
        -DCMAKE_TOOLCHAIN_FILE=`pwd`/robot_dev_config/aarch64_toolchainfile.cmake \
        -DPLATFORM_${platform}=ON \
        -DTHIRDPARTY=ON \
        -DBUILD_TESTING=$build_testing \
        -DCMAKE_BUILD_RPATH="`pwd`/build/poco_vendor/poco_external_project_install/lib/;`pwd`/build/libyaml_vendor/libyaml_install/lib/"

    source install/setup.bash

    colcon build \
      --packages-select=performance_test \
      --build-base=build_performance_test \
      --install-base=install_performance_test \
      --merge-install \
      --cmake-force-configure \
      --cmake-args \
        --no-warn-unused-cli \
        -DCMAKE_TOOLCHAIN_FILE=`pwd`/robot_dev_config/aarch64_toolchainfile.cmake \
        -DPLATFORM_${platform}=ON \
        -DTHIRDPARTY=ON \
        -DBUILD_TESTING=$build_testing \
        -DCMAKE_BUILD_RPATH="`pwd`/build/poco_vendor/poco_external_project_install/lib/;`pwd`/build/libyaml_vendor/libyaml_install/lib/"

  else
    # x3 默认不编译hobot_audio，hobot_slam，performance_test
    if [[ "$platform" == "X3" ]]; then
      touch src/box/hobot_audio/COLCON_IGNORE
      touch src/box/hobot_slam/orb_slam3/COLCON_IGNORE
      touch src/tools/benchmark/performance_test/COLCON_IGNORE
    fi

    mkdir -p install && cp ./robot_dev_config/create_soft_link.py install/

    colcon build $PACKAGE_SELECTION \
          --merge-install \
          --cmake-force-configure \
          --cmake-args \
            $CMAKE_ARGS \
            -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
            --no-warn-unused-cli \
            -DCMAKE_TOOLCHAIN_FILE=`pwd`/robot_dev_config/aarch64_toolchainfile.cmake \
            -DPLATFORM_${platform}=ON \
            -DTHIRDPARTY=ON \
            -DBUILD_TESTING=$build_testing \
            -DCMAKE_BUILD_RPATH="`pwd`/build/poco_vendor/poco_external_project_install/lib/;`pwd`/build/libyaml_vendor/libyaml_install/lib/" \
    || echo -e "\033[1;31m[ERROR]\033[0m colcon build failed"
    
    if [[ "$platform" == "X5" ]]; then
      ./robot_dev_config/x5_build.sh post
    fi
  fi

fi