AP_HAL_QURT: Add Debian packaging script and support files

libraries/AP_HAL_QURT/packaging/.gitignore

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+*.deb
+pkg/DEB
+pkg/data
+pkg/control/control
+

libraries/AP_HAL_QURT/packaging/make_package.sh

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+#!/bin/bash
+
+set -e # exit on error to prevent bad ipk from being generated
+
+# get version numbers
+FW_MAJOR=$(grep FW_MAJOR ArduCopter/version.h | cut -d' ' -f3)
+FW_MINOR=$(grep FW_MINOR ArduCopter/version.h | cut -d' ' -f3)
+FW_PATCH=$(grep FW_PATCH ArduCopter/version.h | cut -d' ' -f3)
+GIT_VERSION=$(git rev-parse HEAD | cut -c1-8)
+
+VERSION="${FW_MAJOR}.${FW_MINOR}.${FW_PATCH}-${GIT_VERSION}"
+
+echo "Package Name: " $PACKAGE
+echo "version Number: " $VERSION
+
+cd libraries/AP_HAL_QURT/packaging
+
+cat pkg/control/control.in | sed "s/FW_VERSION/$VERSION/g" > pkg/control/control
+
+################################################################################
+# Check arguments
+################################################################################
+
+USETIMESTAMP=false
+
+print_usage(){
+	echo ""
+	echo " Package the current project into a deb package."
+	echo " You must build first to produce the binaries"
+	echo ""
+	echo " Usage:"
+	echo "  ./make_package.sh"
+	echo "        Build a DEB package"
+	echo ""
+	echo "  ./make_package.sh timestamp"
+	echo "        Build a DEB package with the current timestamp as a"
+	echo "        suffix in both the package name and deb filename."
+	echo ""
+	echo ""
+}
+
+process_argument () {
+
+	if [ "$#" -ne 1 ]; then
+		echo "ERROR process_argument expected 1 argument"
+		exit 1
+	fi
+
+	## convert argument to lower case for robustness
+	arg=$(echo "$1" | tr '[:upper:]' '[:lower:]')
+	case ${arg} in
+		"")
+			;;
+		"-t"|"timestamp"|"--timestamp")
+			echo "using timestamp suffix"
+			USETIMESTAMP=true
+			;;
+		*)
+			echo "invalid option"
+			print_usage
+			exit 1
+	esac
+}
+
+## parse all arguments or run wizard
+for var in "$@"
+do
+	process_argument $var
+done
+
+################################################################################
+# variables
+################################################################################
+PACKAGE=$(cat pkg/control/control | grep "Package" | cut -d' ' -f 2)
+
+DATA_DIR=pkg/data
+CONTROL_DIR=pkg/control
+DEB_DIR=pkg/DEB
+
+################################################################################
+# start with a little cleanup to remove old files
+################################################################################
+# remove data directory where 'make install' installed to
+sudo rm -rf $DATA_DIR
+mkdir $DATA_DIR
+
+# remove deb packaging folders
+rm -rf $DEB_DIR
+
+# remove old deb packages
+rm -f *.deb
+
+################################################################################
+## install compiled stuff into data directory
+################################################################################
+
+if [ -f ../../../build/QURT/ardupilot ] && \
+   [ -f ../../../build/QURT/bin/arducopter ]; then
+
+	# Copy the SLPI DSP AP library
+	sudo mkdir -p $DATA_DIR/usr/lib/rfsa/adsp
+	sudo cp ../../../build/QURT/bin/arducopter $DATA_DIR/usr/lib/rfsa/adsp/ArduPilot.so
+
+    # Install executables
+	sudo mkdir -p $DATA_DIR/usr/bin
+	sudo cp ../../../build/QURT/ardupilot $DATA_DIR/usr/bin
+	sudo cp ../ap_host/service/voxl-ardupilot $DATA_DIR/usr/bin
+	sudo chmod a+x $DATA_DIR/usr/bin/ardupilot
+	sudo chmod a+x $DATA_DIR/usr/bin/voxl-ardupilot
+
+    # Create necessary directories for ArduPilot operation
+	sudo mkdir -p $DATA_DIR/data/APM
+
+	# Install default parameter files
+	sudo cp ../../../Tools/Frame_params/ModalAI/*.parm $DATA_DIR/data/APM
+
+	sudo mkdir -p $DATA_DIR/etc/systemd/system/
+	sudo cp ../ap_host/service/voxl-ardupilot.service $DATA_DIR/etc/systemd/system/
+
+else
+	echo "Error: Build artifacts not found"
+	exit 1
+fi
+
+################################################################################
+# make a DEB package
+################################################################################
+
+echo "starting building Debian Package"
+
+## make a folder dedicated to Deb building and copy the requires debian-binary file in
+mkdir $DEB_DIR
+
+## copy the control stuff in
+cp -rf $CONTROL_DIR/ $DEB_DIR/DEBIAN
+cp -rf $DATA_DIR/*   $DEB_DIR
+
+## update version with timestamp if enabled
+if $USETIMESTAMP; then
+	dts=$(date +"%Y%m%d%H%M")
+	sed -E -i "s/Version.*/&-$dts/" $DEB_DIR/DEBIAN/control
+	VERSION="${VERSION}-${dts}"
+	echo "new version with timestamp: $VERSION"
+fi
+
+DEB_NAME="${PACKAGE}_${VERSION}_arm64.deb"
+dpkg-deb --build "${DEB_DIR}" "${DEB_NAME}"
+
+echo "DONE"

libraries/AP_HAL_QURT/packaging/pkg/control/control.in

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+Package: voxl-ardupilot
+Version: FW_VERSION
+Section: devel
+Priority: optional
+Architecture: arm64
+Depends: modalai-slpi(>=1.1.19), libslpi-link
+Maintainer: Eric Katzfey <[email protected]>
+Description: ModalAI ArduPilot flight controller

libraries/AP_HAL_QURT/packaging/pkg/control/postinst

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+#!/bin/bash
+
+# Create directory for APM use
+cd /data
+mkdir -p APM
+chown system:system APM
+
+# Make sure the run scripts are executable
+cd /usr/bin
+chmod a+x voxl-ardupilot
+
+# Check to see if a DSP test signature exists
+if /bin/ls /usr/lib/rfsa/adsp/testsig-*.so &> /dev/null; then
+    /bin/echo "Found DSP signature file"
+else
+    /bin/echo "Could not find DSP signature file"
+    # Look for the DSP signature generation script
+    if [ -f /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh ]; then
+        /bin/echo "Attempting to generate the DSP signature file"
+        # Automatically generate the test signature so that px4 can run on SLPI DSP
+        /share/modalai/qrb5165-slpi-test-sig/generate-test-sig.sh
+    else
+        /bin/echo "Could not find the DSP signature file generation script"
+    fi
+fi
+
+# Always flush all changes to disk
+/bin/sync
+
+cd -
+
+# try to reload services, but don't fail if it can't
+set +e
+if [ -f /bin/systemctl ]; then
+	systemctl daemon-reload
+fi
+
+# exit 0 even if systemctl failed
+exit 0