Installation/FromScratch

Installation
__TOC__
Users of recent Debian/Ubuntu distributions are advised to use the binary packages as described in Installation/Linux.
WARNING! Only use if you are proficient in working with Linux!
== Intro ==
Users of other Linux flavors or anyone needing manual control of each individual package can install them independently. 
The list of dependencies of the Debian package is located in the debian/control file and may help users of other distributions.
Some corresponding source tarballs can be downloaded from paparazzi-uav ppa on launchpad. (maybe building the packages from source is more reliable in view of dependencies)
For distributions using RPM packaging, the alien tool can be used to convert a .deb package into a .rpm package.
As with all Wiki pages, also this page is a work in progress. Try to be a big help to the Paparazzi project and improve this page whenever you can. If you have a distribution different from Ubuntu which doesn't satisfy any other dependency and have instructions about compiling it, packaging it, feel free to add any reference on how to do that on this wikipage.
== Goal ==
The goal of this page is to clarify about which version of each piece of software has to be compiled, where to find that software, patches needed to make it compile on Linux, maybe even FreeBSD or OSX.
== Fedora 19 ==
To build paparazzi-uav on Fedora 19, you must install the next packages from the official repository:
* ocaml
* ocaml-findlib
* ocaml-xml-light
* ocaml-ocamlnet
* ocaml-lablgtk-devel
* libxml2-devel
* SDL-devel
* libusb-devel
Paparazzi-uav needs to include some ocaml headers when it compiles the simulator, then please be sure that they are included. If not, edit sw/simulator/Makefile and add:
 CAML_CFLAGS = -I/usr/lib64/ocaml
The following packages must be built from source code (they are not included in the official repository): 
* ivy-c 
* ivy-ocaml 
Paparazzi-uav was successfully compiled using ivy-c 3.14 and ivy-ocaml 1.2. Please note that the ivy-c version is an unstable version!
Additionally, you need install the next RPMs to build ivy-c:
* pcre-devel
* libXt-devel
* tcl-devel
* glib2-devel
Don't forget to set the environment variable PKG_CONFIG before building ivy-ocaml, e.g:
 $ export PKG_CONFIG=/usr/local/lib/pkgconfig
== Fedora 24 ==
NOTE: Built upon Fedora 19 instruction, unnecessary instructions may occour.
1. Install dependencies:
 $ sudo dnf install ocaml ocaml-findlib ocaml-xml-light ocaml-ocamlnet ocaml-lablgtk-devel ocaml-camlp4-devel libxml2-devel SDL-devel libusb-devel pcre-devel libXt-devel tcl-devel tk-devel glib2-devel gsl-devel
2. Edit the PKG_CONFIG_PATH variable in your ~/.bashrc file to accomondate /usr/local/lib/pkgconfig/ (default for ivy libs)
3. Edit all the ivy specific .pc files in /usr/local/lib/pkgconfig, changing line 3 from "libdir=${exec_prefix}/lib" to "libdir=${exec_prefix}/lib64"
4. Install ivy-python via pip and compile and istall ivy-c and ivy-ocaml from source as shown Installation/FromScratch#IVY
Note: dependencies for compiling ivy-c and ivy-ocaml are already covered above (except toolchain!).
5. Compile and install JSBsim from source
Hacks: Link libivy and libJSBsim after compiling
 $ sudo ln -s /usr/local/lib64/libivy.so /usr/local/lib64/libivy.so.3 /usr/lib
 $ sudo ln -s /opt/jsbsim/lib/libJSBSim.so.0 /usr/lib
 $ sudo ldconfig
== Arch Linux ==
This is a dirty hacked together (not really according to "the Arch Way") install, but works on a fresh installed Archbang GNU/Linux.
NOTE: following issues 
# Only written and tested for Archbang and Manjaro, not tested on vanilla Arch Linux yet. 
# It seems that the error "unbound module GnoCanvas" can be resolved by installing lablgtk2 via yaourt first and then conf-gnomecanvas over opam.
# No symlink from liblglibivy.so.3 and liblglibivy.so.3 to libglibivy.so.3.15, so can't find these files.
# If pkg-config can't find some .pc files, a pkg-config path might not be set and exported properly. Use "pkg-config --variable pc_path pkg-config" to check if the path containing the ivy-c.pc, ivy-glib.pc and ivy-tcl.pc files is found.
# "ocamlfind: Package `netclient' not found" -> seems that the opam packages need to be installed in a specific order... (try ocamlnet first, then lablgtk.2.16) 
Requirements:
# Up to date system
#* pacman -Syyu
# Install Yaourt
#*https://astrofloyd.wordpress.com/2015/01/17/installing-yaourt-on-arch-linux/
Install Paparazzi:
# Packages base-devel, yajl and general dependencies
#: # pacman -S base-devel yajl subversion git libusb pcre ocaml camlp4 tcl tk python python-pip sdl glade
# Check if the PKG_CONFIG_PATH points to /usr/local/lib/pkgconfig, otherwise set and export it
#: $ echo 'export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig/' >> ~/.bashrc
# Build and install Ivy-C from Source
#: $ git clone https://gitlab.com/ivybus/ivy-c.git /home/$USER/temp/ivy-c 
$ cd /home/$USER/temp/ivy-c/src 
$ make 
$ sudo make install
# Dirty All the ivy libs are installed in /usr/local/lib64 and not /usr/local/lib as the .pc files point to currently. 
#:Change in the third line (libdir) in the ivy-c.pc, ivy-glib.pc and ivy-tcl.pc file from lib to lib64 and the fourth line (includedir) from include to include/Ivy
# DirtyFor libgivy, libivy and libtclivy (.so and .so.3 ending) is a link directing to the lib with .so.3.15 availaible, but not for libglibivy. 
#Create these links for libglibivy
#: $ sudo ln -s /usr/local/lib64/libglibivy.so.3.15 /usr/local/lib64/libglibivy.so 
$ sudo ln -s /usr/local/lib64/libglibivy.so.3.15 /usr/local/lib64/libglibivy.so.3
# Install opam (OCaml packet manager) via yaourt
#: $ yaourt -S opam
# Initialize opam
#: $ opam init 
$ f 
$ ~/.bashrc 
$ echo 'eval `opam config env`' >> ~/.bashrc
# Install and pin lablgtk.2.16.0 (2.18.0 will not work)
#: $ opam install -v lablgtk.2.16.0 
$ opam pin add lablgtk 2.16.0
# Install OCaml packets via opam
#: $ opam install ocamlfind ocamlnet xml-light pcre ivy
#: If this fails at Ivy related parts check the notes on top of this guide.
# Install ivy-python via pip
#: $ sudo pip install ivy-python
# Install the Toolchain for Paparazzi (e.g. gcc-arm-none-eabi-bin from the AUR)
#: $ sudo pacman -S gcc-arm-none-eabi-bin
Optional:
# Install flashing utilities if needed
 $ yaourt stlink-git dfu-util
# Install JSBSim for NPS
Download and build Paparazzi
== Installing the Cross compiler toolchain ==
There are currently two different toolchains available that can be used on Linux based systems with Paparazzi. For more information see Installation/Linux#ARM_embedded_toolchain
== Installing OCaml packages using OPAM ==
One possibility to install and manage OCaml packages is OPAM (OCaml Package Manager):
Please first check the official OPAM install guide for the simplest method.
To install it from the latest git tree run:
 git clone https://github.com/OCamlPro/opam.git
 cd opam
 ./configure && make
 sudo make install
 opam init
 eval `opam config env`
Update your shell environment as per opam init's instructions. E.g. add to your ~/.profile:
 eval `opam config env`
Build and install OCaml libs:
 opam install ocamlfind xml-light pcre ocamlnet
 opam install -v lablgtk
== IVY ==
IVY is a simple protocol and a set of open-source libraries and programs that allows applications to broadcast information through text messages, with a subscription mechanism based on regular expressions. The project can be found at: https://ivybus.gitlab.io/ 
In the paparazzi project, Ivy is used to send telemetry data to where ever you want.
NOTE: Do not confuse this IVY with the Apache Ivy project. 
=== Ivy-python ===
The ivy-python package makes it possible to use the IVY libraries from within the Python programming language. The ivy-python package is architecture independent, so it can be downloaded from the Ubuntu or Debian paparazzi repository.
The easiest way to instally it on non Debian based systems is using pip to install the ivy-python package from PyPi - the Python Package Index.
 pip install ivy-python
Or install from the source repository via 
 
 git clone https://gitlab.com/ivybus/ivy-python.git
 cd ivy-python
 ./setup.py install
=== Ivy-c ===
To be able to use ivy-c, the libraries need to be installed. 
Required packages (Debian based):
* tk-dev
* libpcre3-dev
* libxt-dev
* pkg-config
* libglib2.0-dev
Download source, compile and install libraries:
 # mkdir -p /opt/ivy-c 
 # cd /opt/ivy-c
 # git clone https://gitlab.com/ivybus/ivy-c.git
 # cd /opt/ivy-c/trunk/src
 # make
 # make install
It is possible you get errors of the test module when compiling, just ignore the messages, it is not important for the Paparazzi project. Contact the IVY team to help them also to resolve also the testing makefile issue.
==== troubleshooting ====
Error message:
 gcc -c -O2 -Wall -Wshadow -fPIC -I/usr/include/tcl8.4 -DTCL_CHANNEL_INTEGRATION ivytcl.c
 ivytcl.c:28:17: fatal error: tcl.h: No such file or directory
The Makefile cannot read the tcl-dev version you have installed and assumes that version 8.4 is installed, but can't find the appropriate folder.
Edit the line 57 of the Makefile from TCLVERS=8.4 according to your installed version, or just delete the 8.4, both work.
Can't find 64bit libs:
Your ivy libs were probably installed to /usr/local/lib64 and you have to make symbolic links so that they will be found:
 $ sudo ln -s /usr/local/lib64/libivy.so /usr/local/lib64/libivy.so.3 /usr/lib
or 
 sudo ln -s /usr/local/lib64/libivy.so /usr/local/lib64/libivy.so.3 /usr/local/lib
=== Ivy-OCaml ===
ivy-ocaml provides OCaml bindings for ivy-c and is needed for most of the ground segment agents that are written in OCaml like Server and GCS.
Download source, compile and install libraries:
 # mkdir -p /opt/ivy-ocaml
 # cd /opt/ivy-ocaml
 # git clone https://gitlab.com/ivybus/ivy-ocaml.git
 # cd /opt/ivy-ocaml/trunk
 # make
 # make install
==== ivy-ocaml via OPAM ====
Or use OPAM: While the source repository and debian package is named ivy-ocaml, in OPAM it is only named ivy (since it is obviously for OCaml).
 $ opam update
 $ opam install ivy
== LPC21ISP ==
lpc21isp is only needed to serially flash the LPC2148 based autopilots (e.g. Lpc21BootloaderUpload bootloader for tiny, twog, umarim). LPC21ISP is an in-circuit programming (ISP) tool for the microcontroller used on the Paparazzi autopilot boards. The lpc21isp project is hosted on sourceforge and one can find the source packages and information at http://sourceforge.net/projects/lpc21isp/ 
Get the SVN version via
 
 $ mkdir -p /opt/lpc21isp
 $ cd /opt/lpc21isp
 $ svn co https://lpc21isp.svn.sourceforge.net/svnroot/lpc21isp lpc21
To compile go into the source directory and then do
 $ cd lpc21
 $ make -f Makefile clean all
To install
 $ exportline="PATH=$PATH:/opt/lpc21isp"
 $ if grep -Fxq "$exportline" ~/.profile; then echo nothing to do ; else echo $exportline >> ~/.profile; fi
 $ source ~/.profile
== Paparazzi-dev Debian/Ubuntu packages ==
For Ubuntu users, you can install the following packages from standard repository. You can just copy the line(s) and paste into your terminal. But do not copy the $ sign, this symbol is just added on this page to show that it is to be pasted at a normal terminal prompt.
=== Whole lot in one ===
 sudo apt-get install ocaml libcamlimages-ocaml liblablgtk2-ocaml-dev liblablgtk2-gl-ocaml-dev \
 liblablgtk2-gnome-ocaml-dev libxml-light-ocaml-dev libocamlnet-ocaml-dev libpcre-ocaml \
 libpcre-ocaml-dev libgnomecanvas2-0 libgnomecanvas2-dev libglade2-0 libglade2-dev make build-essential \
 git gnuplot m4 libtool libftdi-dev libmpfr-dev tcl8.5-dev xutils-dev
=== Ocaml and libraries ===
Ocaml, short for Objective Caml is the most popular variant of the Caml language. The Paparazzi Ground Control Station (GCS) and some of it's tools are crafted in this language.
* ocaml, ocaml-camlimages-devel, ocaml-lablgtk2-devel, ocaml-xml-light-devel, ocamlnet-ocaml-devel
 $ sudo apt-get install ocaml libcamlimages-ocaml liblablgtk2-ocaml-dev liblablgtk2-gl-ocaml-dev \
 liblablgtk2-gnome-ocaml-dev libxml-light-ocaml-dev libocamlnet-ocaml-dev
=== Gnome canvas Library ===
The GnomeCanvas is an engine for structured graphics that offers a rich imaging model, high performance rendering, and a powerful, high level API. This widget can be used for flexible display of graphics and for creating interactive user interface elements.
 $ sudo apt-get install libgnomecanvas2-0 libgnomecanvas2-dev
=== USB Library ===
The libusb project aims to create a library for use by user level applications to access USB devices regardless of OS. 
 $ sudo apt-get install libusb-dev
=== Ocaml PCRE ===
This OCaml-library interfaces the PCRE (Perl-compatibility regular expressions) C library. it can be used for matching regular expressions which are written in Perl style.
 $ sudo apt-get install libpcre-ocaml libpcre-ocaml-dev
=== Glade Library ===
Libglade is a library that performs a similar job to the C source output routines in the GLADE user interface builder. Whereas GLADE's output routines create C source code that must be compiled, libglade builds the interface from an XML file (GLADE's save format) at runtime. This can allow modifying the user interface without recompiling.
 $ sudo apt-get install libglade2-0 libglade2-dev
=== Tcl/Tk ===
 $ sudo apt-get install tcl-dev
Also the some utils are required to compile and install Ivy.
 $ sudo apt-get install xutils-dev
=== Make ===
GNU Make is an utility which controls the generation of executables and other target files of a program from the program's source files. 
 $ sudo apt-get install make
=== Build essential ===
 $ sudo apt-get install build-essential
=== Libtool ===
GNU libtool is a generic library support script. Libtool hides the complexity of using shared libraries behind a consistent, portable interface. Creating the files for Paparazzi software building becomes less cumbersome by using this tool.
 $ sudo apt-get install libtool
=== libpcre3-dev ===
Required for compiling Ivy-C.
 $ apt-get install libpcre3-dev
=== Git Client ===
Git is a version control system. Version control systems allow many individuals to collaborate on the Paparazzi source code. This is needed to retrieve the latest sourcecode from various packages and Paparazzi sourcecode itself.
 $ sudo apt-get install git
=== Subversion ===
Version control system, required for cloning the ivy packages.
 $ apt-get install subversion
=== GNU Plot ===
A command-line driven interactive plotting program. Unknow if it is used
 
 $ sudo apt-get install gnuplot
=== Meld ===
Meld is a graphical front end to the diff program. It provides a side-by-side view of the differences between two files. It is used by the Paparazzi Center when configuration changes are not yet saved and the option comes along where one either can keep or view changes made in aircraft- and other configuration files.
 $ sudo apt-get install meld
=== FTDI library ===
libftdi is a library that talks to FTDI's 232 type chips, including the popular bitbang mode, using libusb. A library to be able to use with a debugging Autopilot hardware boards.
 $ sudo apt-get install libftdi-dev 
=== MPFR library ===
The MPFR library is a C library for multiple-precision floating-point computations with correct rounding. MPFR is based on the GMP multiple-precision library. The main goal of MPFR is to provide a library for multiple-precision floating-point computation which is both efficient and has a well-defined semantics.
 $ sudo apt-get install libmpfr-dev
=== ImageMagick ===
ImageMagick is a software suite to create, edit, and compose bitmap images. It can read, convert and write images in a variety of formats. Use ImageMagick to translate, flip, mirror, rotate, scale, shear and transform images, adjust image colors, apply various special effects, or draw text, lines, polygons, ellipses and Bézier curves. Being able to modify image based map pictures is a feature that may come in handy one time.
 $ sudo apt-get install imagemagick
=== Optional on an older OS ===
If you have an older OS distribution it never hurts to install the following...
 $ sudo apt-get install libx11-6 libx11-dev texinfo libncurses5 libncursesw5 libncursesw5-dev zlibc
== Paparazzi Main sourcecode ==
See the main Installation#Getting_the_Source_Code page
TIP: 
If you get the File "pprz.mli", line 149, characters 78-89: Error: Unbound type constructor Ivy.binding
...this happens when IVY libraries are not yet installed. How to do this, read the part on installing IVY on this page
== Useful links ==
https://launchpad.net/gcc-arm-embedded/
https://github.com/paparazzi/paparazzi-portability-support
http://wiki.ubuntuusers.de/GNU_arm-toolchain
http://gcc.gnu.org/onlinedocs/gcc-4.5.0/gcc/ARM-Options.html#ARM-Options
http://mcuprogramming.com/forum/arm/gnu-arm-toolchain-installer/
http://www.ethernut.de/en/documents/cross-toolchain-osx.html
http://www.hermann-uwe.de/blog/building-an-arm-cross-toolchain-with-binutils-gcc-newlib-and-gdb-from-source
Category:Software Category:Developer_Documentation Category:Installation