Vagrantfile

# -*- mode: ruby -*-
# vi: set ft=ruby :

# Testing an ArduPilot VM:
# dpkg -l | grep modemmanager
# sim_vehicle.py --map --console # in the starting directory should start a Copter simulation
# sim_vehicle.py --debug --gdb
# sim_vehicle.py --valgrind
# time (cd /vagrant && ./waf configure --board=fmuv2 && ./waf build --target=bin/ardusub) # ~9 minutes
# time (cd /vagrant && ./waf configure --board=fmuv3 && ./waf build --target=bin/ardusub) # ~ minutes (after building fmuv2)
# time (cd /vagrant && ./waf configure --board=navio2 && ./waf build --target=bin/arduplane)
# time (cd /vagrant && ./Tools/autotest/sim_vehicle.py --map --console -v ArduPlane -f jsbsim) # should test JSBSim
# time (cd /vagrant && ./Tools/autotest/autotest.py build.Rover test.Rover)

# Vagrantfile API/syntax version. Don't touch unless you know what you're doing!
VAGRANTFILE_API_VERSION = "2"

Vagrant.configure(VAGRANTFILE_API_VERSION) do |config|
  config.ssh.forward_x11 = true

  # Provider-specific configuration so you can fine-tune various
  # backing providers for Vagrant. These expose provider-specific options.
  # Example for VirtualBox:
  #
  config.vm.provider "virtualbox" do |vb|
      # Don't boot with headless mode
      #   vb.gui = true
      #
      #   # Use VBoxManage to customize the VM. For example to change memory:
      vb.customize ["modifyvm", :id, "--memory", "3192"]
      vb.customize ["modifyvm", :id, "--ioapic", "on"]
      vb.customize ["modifyvm", :id, "--cpus", "2"]
      # Make some effort to avoid clock skew
      vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-threshold", "5000"]
      vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-start"]
      vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-on-restore", "1"]
  end

  # If you are on windows then you must use a version of git >= 1.8.x
  # to update the submodules in order to build. Older versions of git
  # use absolute paths for submodules which confuses things.

  # removing this line causes "A box must be specified." error
  # and this is the default box that will be booted if no name is specified
  config.vm.box = "ubuntu/focal64"
  config.vm.synced_folder ".", "/vagrant", type: "rsync"

  # LTS, EOL April, 2019:
  config.vm.define "trusty32", autostart: false do |trusty32|
    trusty32.vm.box = "ubuntu/trusty32"
    trusty32.vm.provision "trusty32", type: "shell", path: "Tools/vagrant/initvagrant.sh"
    trusty32.vm.provider "virtualbox" do |vb|
      vb.name = "ArduPilot (trusty32)"
    end
  end

  # 14.04.5 LTS, EOL April, 2019:
  config.vm.define "trusty64", autostart: false do |trusty64|
    trusty64.vm.box = "ubuntu/trusty64"
    trusty64.vm.provision "trusty64", type: "shell", path: "Tools/vagrant/initvagrant.sh"
    trusty64.vm.provider "virtualbox" do |vb|
      vb.name = "ArduPilot (trusty64)"
    end
  end

  # LTS, EOL April 2021
  # this VM is useful for running valgrind on!
  config.vm.define "xenial32", autostart: false do |xenial32|
    xenial32.vm.box = "ubuntu/xenial32"
    xenial32.vm.provision :shell, path: "Tools/vagrant/initvagrant.sh"
    xenial32.vm.provider "virtualbox" do |vb|
      vb.name = "ArduPilot (xenial32)"
    end
  end

  config.vm.define "xenial64", autostart: false do |xenial64|
    xenial64.vm.box = "ubuntu/xenial64"
    xenial64.vm.provision :shell, path: "Tools/vagrant/initvagrant.sh"
    xenial64.vm.provider "virtualbox" do |vb|
      vb.name = "ArduPilot (xenial64)"
    end
  end

  # NO LONGER AVAILABLE FOR DOWNLOAD, EOL January 2018
  # EOL January 2018
  # Only kept around for those few dev's who have already got this image and continue to use it.
  config.vm.define "zesty32", autostart: false do |zesty32|
    zesty32.vm.box = "ubuntu/zesty32"
    zesty32.vm.provision :shell, path: "Tools/vagrant/initvagrant.sh"
    zesty32.vm.provider "virtualbox" do |vb|
      vb.name = "ArduPilot (zesty32)"
    end
  end

  # 17.10, EOL July 2018
  # Only kept around for those few dev's who have already got this image and continue to use it; not available for download
  config.vm.define "artful32", autostart: false do |artful32|
    artful32.vm.box = "ubuntu/artful32"
    artful32.vm.provision :shell, path: "Tools/vagrant/initvagrant.sh"
    artful32.vm.provider "virtualbox" do |vb|
      vb.name = "ArduPilot (artful32)"
    end
  end

  # 18.04 LTS
  # Only kept around for those few dev's who have already got this image and continue to use it; not available for download
  config.vm.define "bionic32", autostart: false do |bionic32|
    bionic32.vm.box = "ubuntu/bionic32"
    bionic32.vm.provision :shell, path: "Tools/vagrant/initvagrant.sh"
    bionic32.vm.provider "virtualbox" do |vb|
      vb.name = "ArduPilot (bionic32)"
    end
  end

  # 18.04 LTS
  config.vm.define "bionic64", autostart: false do |bionic64|
    bionic64.vm.box = "ubuntu/bionic64"
    bionic64.vm.provision :shell, path: "Tools/vagrant/initvagrant.sh"
    bionic64.vm.provider "virtualbox" do |vb|
      vb.name = "ArduPilot (bionic64)"
    end
  end

  # 18.10
  config.vm.define "cosmic32", autostart: false do |cosmic32|
    cosmic32.vm.box = "ubuntu/cosmic32"
    cosmic32.vm.provision :shell, path: "Tools/vagrant/initvagrant.sh"
    cosmic32.vm.provider "virtualbox" do |vb|
      vb.name = "ArduPilot (cosmic32)"
    end
  end

  # 18.10
  config.vm.define "cosmic64", autostart: false do |cosmic64|
    cosmic64.vm.box = "ubuntu/cosmic64"
    cosmic64.vm.provision :shell, path: "Tools/vagrant/initvagrant.sh"
    cosmic64.vm.provider "virtualbox" do |vb|
      vb.name = "ArduPilot (cosmic64)"
    end
  end

  # 19.04
  config.vm.define "disco64", autostart: false do |disco64|
    disco64.vm.box = "ubuntu/disco64"
    disco64.vm.provision :shell, path: "Tools/vagrant/initvagrant.sh"
    disco64.vm.provider "virtualbox" do |vb|
      vb.name = "ArduPilot (disco64)"
    end
  end

  # 19.10 - broken; fails to use NamedTemporaryFile to create file for gdb
#  config.vm.define "eoan", autostart: false do |eoan|
#    eoan.vm.box = "ubuntu/eoan64"
#    eoan.vm.provision :shell, path: "Tools/vagrant/initvagrant.sh"
#    eoan.vm.provider "virtualbox" do |vb|
#      vb.name = "ArduPilot (eoan)"
#    end
#    eoan.vm.boot_timeout = 1200
#  end

  # 20.04 LTS
  config.vm.define "focal", primary: true do |focal|
    focal.vm.box = "ubuntu/focal64"
    focal.vm.provision :shell, path: "Tools/vagrant/initvagrant.sh"
    focal.vm.provider "virtualbox" do |vb|
      vb.name = "DesCert Phase2 ArduPilot (focal)"
    end
    focal.vm.boot_timeout = 1200

    focal.vm.provision "shell", inline: <<-SHELL, privileged: false
      sudo apt update 
      sudo apt install -y locales
      sudo locale-gen en_US en_US.UTF-8
      sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
      export LANG=en_US.UTF-8
      sudo apt install -y build-essential cmake git libbullet-dev python3-colcon-common-extensions python3-flake8 python3-pip python3-pytest-cov python3-rosdep python3-setuptools python3-vcstool wget  
      python3 -m pip install -U argcomplete flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pytest-repeat pytest-rerunfailures pytest
      sudo apt install --no-install-recommends -y libasio-dev libtinyxml2-dev
      sudo apt install --no-install-recommends -y libcunit1-dev
      sudo apt update 
      sudo apt install -y curl gnupg2 lsb-release
      curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
      sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
      sudo apt update 
      sudo apt install -y ros-foxy-desktop
      sudo apt install -y ros-foxy-mavros
      sudo apt install -y ros-foxy-rqt ros-foxy-rqt-common-plugins 
      sudo apt install -y mesa-utils libgl1-mesa-glx
      wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh -O ~/install_geographiclib_datasets.sh
      chmod a+x ~/install_geographiclib_datasets.sh
      sudo ~/install_geographiclib_datasets.sh
      (echo ; echo "# Setup for ROS2" ; echo "source /opt/ros/foxy/setup.bash") >> ~/.bashrc
      (echo ; echo "# Setup for ROS2" ; echo "source /opt/ros/foxy/setup.bash") >> ~/.profile
      source ~/.profile

      #timesynch
      sudo apt-get install -y virtualbox-guest-dkms virtualbox-guest-utils

      #beepbeep
      sudo apt-get install -y default-jdk ant
      #cd ~
      #git clone https://github.com/liflab/beepbeep-3-examples.git
      #refer README for beepbeep installation

      #log4j
      cd ~
      wget https://dlcdn.apache.org/logging/log4j/2.17.2/apache-log4j-2.17.2-bin.tar.gz
      tar zxvf apache-log4j-2.17.2-bin.tar.gz

      #daikon
      cd ~
      wget http://plse.cs.washington.edu/daikon/download/daikon-5.8.10.tar.gz
      tar zxf daikon-5.8.10.tar.gz
      cd daikon-5.8.10
      make rebuild-everything
      (echo ; echo "# Setup for BeepBepp/Log4J/Daikon" ; echo "source /home/vagrant/radler/examples/ardupilot/vagrant/setup.bash") >> ~/.profile

      #ros2 build
      pip3 install colcon-common-extensions colcon-mixin
      colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml 
      colcon mixin update
      colcon metadata add default https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml 
      colcon metadata update
      #sros2
      sudo apt install -y libssl-dev

      pip3 install tarjan pyyaml pydot
      sudo add-apt-repository ppa:deadsnakes/ppa
      sudo apt install -y python3.6
      sudo apt install -y python3.6-distutils
      python3.6 -m pip install tarjan
      cd ~
      git clone https://github.com/SRI-CSL/radler.git
      cd radler
      git submodule update --init --recursive
      git checkout ros2
      sudo mv /opt/ros/foxy/share/mavros/launch /opt/ros/foxy/share/mavros/launch.bak
      sudo cp -r examples/ardupilot/launch /opt/ros/foxy/share/mavros
      mkdir -p ~/ros2_ws/src
      ./radler.sh --ws_dir ~/ros2_ws/src compile examples/ardupilot/afs.radl --plant plant --ROS
      cd ~/ros2_ws
      colcon build --cmake-args -DSECURITY=ON --no-warn-unused-cli --symlink-install 
    SHELL
  end

end