mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-02 03:49:12 +08:00
feat(tools): add native Windows setup helpers
Add PowerShell setup scripts for native Windows PX4 development and ROS 2 pixi integration so the documented workflow has reproducible entry points.
This commit is contained in:
Nuno Marques
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# ros2_pixi_setup.ps1 — provision a Pixi-based ROS 2 environment on Windows
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# native and produce a reusable activation wrapper.
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#
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# Why Pixi: starting with Jazzy, the OSRF Windows ROS 2 binary release ships
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# with a `pixi.toml` and `preinstall_setup_windows.py`. The runtime expects a
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# conda-forge-provisioned environment (created by `pixi install`), not the
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# legacy VS2019 + chocolatey toolchain used for Humble/Iron.
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#
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# What this script does (idempotent, no admin required):
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# 1. Resolves the ROS 2 binary release zip URL for the requested -Distro
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# (jazzy = current LTS default, rolling, or latest = newest non-prerelease)
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# via the GitHub Releases API, with a hardcoded fallback when rate-limited.
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# 2. Downloads (and caches under $env:TEMP) the zip and extracts it to
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# C:\opt\ros\<Distro>\ if not already populated. Pass -Force to re-download.
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# 3. Installs pixi to %USERPROFILE%\.pixi\bin if missing.
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# 4. Runs `pixi install` against the extracted distro.
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# 5. Runs preinstall_setup_windows.py to patch hardcoded shebangs in the
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# release .py files / colcon setup files to point at the pixi env's
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# python.exe.
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# 6. Writes a per-distro activation wrapper at
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# $env:TEMP\activate_ros2_<distro>.ps1 (and, for the default distro,
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# a generic $env:TEMP\activate_ros2.ps1 alias) that future sessions
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# dot-source to get a working `ros2`, `colcon`, `python`, etc. on PATH.
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# Pass -WithVcvars when colcon/CMake builds need MSVC (vcvars64.bat).
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#
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# Usage:
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# .\Tools\setup\ros2_pixi_setup.ps1 # default: Jazzy LTS
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# .\Tools\setup\ros2_pixi_setup.ps1 -Distro rolling # Rolling
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# .\Tools\setup\ros2_pixi_setup.ps1 -Distro latest # newest non-prerelease
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# .\Tools\setup\ros2_pixi_setup.ps1 -RosRoot D:\ros2_jazzy
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# .\Tools\setup\ros2_pixi_setup.ps1 -Force # re-download release zip
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#
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# After setup, a typical e2e session looks like:
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# . $env:TEMP\activate_ros2.ps1 # ros2 only (default distro)
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# . $env:TEMP\activate_ros2_rolling.ps1 # ros2 from Rolling
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# . $env:TEMP\activate_ros2.ps1 -WithVcvars # +MSVC for colcon
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# ros2 topic list
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[CmdletBinding()]
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param(
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[ValidateSet('jazzy', 'rolling', 'latest')]
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[string]$Distro = 'jazzy',
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[string]$RosRoot,
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[string]$OutFile,
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[string]$VcvarsBat = 'C:\Program Files\Microsoft Visual Studio\2022\Community\VC\Auxiliary\Build\vcvars64.bat',
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[switch]$Force
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)
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$ErrorActionPreference = 'Stop'
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function L($msg) {
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Write-Host ("[ros2_pixi_setup] " + $msg)
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}
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# Hardcoded fallback release tags per distro, used when the GitHub Releases API
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# is unreachable / rate-limited (unauthenticated = 60 req/hr). Bump as new
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# releases land. Tag format: release-<distro>-YYYYMMDD.
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$FallbackTags = @{
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'jazzy' = 'release-jazzy-20260128'
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'rolling' = 'release-rolling-20260128'
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}
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function Resolve-Ros2ReleaseUrl {
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param([string]$Distro)
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$api = 'https://api.github.com/repos/ros2/ros2/releases?per_page=30'
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$tag = $null
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try {
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$headers = @{ 'User-Agent' = 'px4-ros2-pixi-setup' }
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$releases = Invoke-RestMethod -Uri $api -Headers $headers -TimeoutSec 15
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if ($Distro -eq 'latest') {
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# First non-prerelease, regardless of distro family.
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$rel = $releases | Where-Object { -not $_.prerelease } | Select-Object -First 1
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} else {
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$rel = $releases | Where-Object { -not $_.prerelease -and $_.tag_name -match $Distro } | Select-Object -First 1
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}
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if ($null -ne $rel) { $tag = $rel.tag_name }
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} catch {
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L "GitHub Releases API lookup failed ($($_.Exception.Message)); falling back to hardcoded tag."
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}
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if ([string]::IsNullOrWhiteSpace($tag)) {
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if ($Distro -eq 'latest') {
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$tag = $FallbackTags['jazzy'] # safest default if we can't query
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L "Falling back to hardcoded tag '$tag' for -Distro latest (Jazzy)."
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} elseif ($FallbackTags.ContainsKey($Distro)) {
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$tag = $FallbackTags[$Distro]
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L "Falling back to hardcoded tag '$tag' for -Distro $Distro."
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} else {
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throw "Unable to resolve a release tag for distro '$Distro'."
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}
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}
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# Tag form: release-<distro>-YYYYMMDD -> zip name ros2-<distro>-YYYYMMDD-windows-release-amd64.zip
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if ($tag -notmatch '^release-(?<d>[a-z]+)-(?<date>\d{8})$') {
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throw "Unexpected ros2 release tag format: '$tag'"
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}
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$resolvedDistro = $matches['d']
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$date = $matches['date']
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$zipName = "ros2-$resolvedDistro-$date-windows-release-amd64.zip"
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$url = "https://github.com/ros2/ros2/releases/download/$tag/$zipName"
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return [pscustomobject]@{
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Distro = $resolvedDistro
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Tag = $tag
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Date = $date
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ZipName = $zipName
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Url = $url
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}
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}
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# 0. Resolve distro / release / install path
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$release = Resolve-Ros2ReleaseUrl -Distro $Distro
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$effectiveDistro = $release.Distro
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L ("Resolved: distro=" + $effectiveDistro + " tag=" + $release.Tag + " url=" + $release.Url)
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if ([string]::IsNullOrWhiteSpace($RosRoot)) {
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$RosRoot = "C:\opt\ros\$effectiveDistro"
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}
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if ([string]::IsNullOrWhiteSpace($OutFile)) {
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$OutFile = "$env:TEMP\activate_ros2_${effectiveDistro}.ps1"
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}
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L "Install root: $RosRoot"
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L "Activation wrapper: $OutFile"
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# 1. Download + extract release zip if needed
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$cachedZip = Join-Path $env:TEMP $release.ZipName
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if (-not (Test-Path "$RosRoot\pixi.toml")) {
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if ($Force -and (Test-Path $cachedZip)) {
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L "Removing cached zip due to -Force: $cachedZip"
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Remove-Item $cachedZip -Force
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}
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if (-not (Test-Path $cachedZip)) {
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L "Downloading $($release.Url) -> $cachedZip ..."
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Invoke-WebRequest -Uri $release.Url -OutFile $cachedZip -UseBasicParsing
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} else {
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L "Reusing cached release zip: $cachedZip"
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}
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if (-not (Test-Path $RosRoot)) {
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New-Item -ItemType Directory -Path $RosRoot -Force | Out-Null
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}
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L "Extracting to $RosRoot ..."
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Expand-Archive -Path $cachedZip -DestinationPath $RosRoot -Force
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}
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# 2. Pixi
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$pixiBin = "$env:USERPROFILE\.pixi\bin"
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if (-not (Get-Command pixi -ErrorAction SilentlyContinue) -and -not (Test-Path "$pixiBin\pixi.exe")) {
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L "Installing pixi..."
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try { Invoke-Expression (Invoke-WebRequest -UseBasicParsing https://pixi.sh/install.ps1).Content } catch { L "pixi install warning: $_" }
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}
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$env:Path = "$pixiBin;$env:Path"
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if (-not (Get-Command pixi -ErrorAction SilentlyContinue)) {
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throw "pixi not found on PATH after install attempt (looked in $pixiBin)"
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}
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L ("pixi version: " + ((& pixi --version) -join ' '))
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# 3. Validate distro and run pixi install
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if (-not (Test-Path "$RosRoot\pixi.toml")) {
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throw "pixi.toml not found at $RosRoot. Extract the ROS 2 binary release zip there first."
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}
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L "Running 'pixi install' in $RosRoot ..."
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Push-Location $RosRoot
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try {
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& pixi install
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if ($LASTEXITCODE -ne 0) { throw "pixi install failed (rc=$LASTEXITCODE)" }
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} finally { Pop-Location }
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# 4. Patch shebangs (idempotent)
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$preinstall = Join-Path $RosRoot 'preinstall_setup_windows.py'
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if (Test-Path $preinstall) {
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L "Running preinstall_setup_windows.py to patch shebangs..."
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Push-Location $RosRoot
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try {
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& pixi run --manifest-path "$RosRoot\pixi.toml" python preinstall_setup_windows.py | Select-Object -Last 5
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} finally { Pop-Location }
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} else {
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L "preinstall_setup_windows.py not found in $RosRoot, skipping shebang patch."
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}
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# 5. Write reusable activation wrapper
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L "Writing activation wrapper to $OutFile ..."
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$wrapper = @"
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# Auto-generated by Tools/setup/ros2_pixi_setup.ps1
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# Distro: $effectiveDistro (release tag: $($release.Tag))
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# Dot-source to activate ROS 2 (Pixi/conda-forge) in the current PowerShell session.
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# Usage:
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# . `$env:TEMP\activate_ros2_${effectiveDistro}.ps1 # ros2 / colcon / python
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# . `$env:TEMP\activate_ros2_${effectiveDistro}.ps1 -WithVcvars # also load MSVC vcvars64
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param([switch]`$WithVcvars)
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`$env:Path = "`$env:USERPROFILE\.pixi\bin;`$env:Path"
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`$hook = & pixi shell-hook --manifest-path '$RosRoot\pixi.toml' --shell powershell 2>`$null
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if (`$LASTEXITCODE -ne 0 -or [string]::IsNullOrWhiteSpace(`$hook)) { throw 'pixi shell-hook failed' }
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Invoke-Expression (`$hook -join "`n")
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. '$RosRoot\local_setup.ps1'
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if (`$WithVcvars) {
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`$vc = '$VcvarsBat'
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if (-not (Test-Path `$vc)) { throw "vcvars64.bat not found at `$vc" }
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`$tmp = [System.IO.Path]::GetTempFileName()
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`$batLine = '"' + `$vc + '" && set'
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& cmd.exe /c `$batLine > `$tmp 2>`$null
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Get-Content `$tmp | ForEach-Object {
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if (`$_ -match '^([^=]+)=(.*)`$') {
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Set-Item -Path "Env:`$(`$matches[1])" -Value `$matches[2]
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}
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}
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Remove-Item `$tmp -Force
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}
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"@
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$wrapper | Out-File -FilePath $OutFile -Encoding utf8 -Force
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# Also publish a generic 'activate_ros2.ps1' alias pointing at the same content,
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# so the legacy command (used in docs / muscle memory) keeps working for the
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# most recently installed distro.
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$genericOut = "$env:TEMP\activate_ros2.ps1"
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if ($OutFile -ne $genericOut) {
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$wrapper | Out-File -FilePath $genericOut -Encoding utf8 -Force
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L "Also wrote alias wrapper to $genericOut (points at $effectiveDistro)."
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}
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L "Done. Sanity check:"
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& powershell -NoProfile -ExecutionPolicy Bypass -Command ". '$OutFile'; ros2 --help 2>&1 | Select-Object -First 3"
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L "OK. Source '$OutFile' in future sessions."
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@@ -0,0 +1,423 @@
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<#
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.SYNOPSIS
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Set up a native Windows development environment for PX4 SITL.
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.DESCRIPTION
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Installs the toolchain required to build px4_sitl_default natively on
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Windows 10 or 11, using either MSVC (the CI-tested default) or
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MinGW-w64 via MSYS2. Mirrors what Tools/setup/ubuntu.sh does on Linux.
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The script is idempotent: re-running it skips packages that are already
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installed. Package installs are performed via winget; if winget is not
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available the script falls back to Chocolatey for the few packages that
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cannot be installed any other way (currently only GNU make).
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Run from an elevated PowerShell prompt:
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Set-ExecutionPolicy -Scope Process Bypass
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.\Tools\setup\windows.ps1
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To pick a build path:
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.\Tools\setup\windows.ps1 -Toolchain MSVC # default, CI-tested
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.\Tools\setup\windows.ps1 -Toolchain MinGW # MSYS2 mingw-w64
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.\Tools\setup\windows.ps1 -Toolchain Both
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.PARAMETER Toolchain
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Which build path to install. One of: MSVC, MinGW, Both. Default: MSVC.
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.PARAMETER NoBuildTools
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Skip the Visual Studio Build Tools install (assume the user already has
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Visual Studio 2022 with the "Desktop development with C++" workload).
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.PARAMETER NoPip
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Skip the pip install step (assume Python deps are already installed).
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.NOTES
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See docs/en/dev_setup/dev_env_windows_native.md for the full guide.
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#>
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[CmdletBinding()]
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param(
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[ValidateSet('MSVC', 'MinGW', 'Both')]
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[string]$Toolchain = 'MSVC',
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[switch]$NoBuildTools,
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[switch]$NoPip
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)
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$ErrorActionPreference = 'Stop'
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$ProgressPreference = 'SilentlyContinue'
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function Write-Section($Message) {
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Write-Host ""
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Write-Host "==> $Message" -ForegroundColor Cyan
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}
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function Test-Command($Name) {
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# Restrict to real applications/scripts on PATH and ignore PowerShell
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# functions and aliases. Otherwise a same-named function defined in the
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# caller's session (e.g. a test stub) would silently satisfy this check.
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[bool](Get-Command -Name $Name -CommandType Application,ExternalScript -ErrorAction SilentlyContinue)
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}
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# Refresh $env:Path from the machine + user registry hives. winget installs
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# update the registry PATH but do NOT propagate it to the current process,
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# so any post-install command (`python -m pip ...`, `make ...`) would fail
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# in the same shell unless we re-pull PATH ourselves.
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function Update-PathFromRegistry {
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$machinePath = [Environment]::GetEnvironmentVariable('Path', 'Machine')
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$userPath = [Environment]::GetEnvironmentVariable('Path', 'User')
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$combined = @($machinePath, $userPath) | Where-Object { $_ } | ForEach-Object { $_.TrimEnd(';') }
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if ($combined.Count -gt 0) { $env:Path = ($combined -join ';') }
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}
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# Locate a tool that winget just installed. Refreshes PATH from the registry
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# first, then falls back to a list of well-known install locations. Returns
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# the full path to the executable, or $null if it cannot be found.
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function Resolve-Tool($Name, [string[]]$ExtraSearchPaths = @()) {
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if (Test-Command $Name) { return (Get-Command $Name -CommandType Application,ExternalScript).Source }
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Update-PathFromRegistry
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if (Test-Command $Name) { return (Get-Command $Name -CommandType Application,ExternalScript).Source }
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foreach ($candidate in $ExtraSearchPaths) {
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if (Test-Path $candidate) {
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$dir = Split-Path -Parent $candidate
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$procPathEntries = $env:Path.Split(';', [StringSplitOptions]::RemoveEmptyEntries)
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if (-not ($procPathEntries | Where-Object { $_.TrimEnd('\') -ieq $dir.TrimEnd('\') })) {
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$env:Path = "$env:Path;$dir"
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}
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return $candidate
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}
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}
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return $null
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}
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function Install-Winget($Id, $Override = $null) {
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Write-Host " winget install $Id"
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# NOTE: do NOT name this $args -- that's an automatic variable inside every
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# function, and `& winget @args` would splat the function's auto-args (here
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# empty) rather than the intended array.
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$wingetArgs = @('install', '--id', $Id, '-e',
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'--source', 'winget',
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'--accept-package-agreements',
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'--accept-source-agreements',
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||||||
|
'--disable-interactivity')
|
||||||
|
if ($Override) { $wingetArgs += @('--override', $Override) }
|
||||||
|
& winget @wingetArgs
|
||||||
|
# winget exit codes that mean "nothing to do" -- treat as success:
|
||||||
|
# -1978335189 (0x8A15002B) APPINSTALLER_CLI_ERROR_NO_APPLICABLE_UPGRADE
|
||||||
|
# -1978335212 (0x8A150014) APPINSTALLER_CLI_ERROR_UPDATE_NOT_APPLICABLE
|
||||||
|
# -1978335215 (0x8A150011) APPINSTALLER_CLI_ERROR_PACKAGE_ALREADY_INSTALLED
|
||||||
|
$okCodes = @(0, -1978335189, -1978335212, -1978335215)
|
||||||
|
if ($okCodes -notcontains $LASTEXITCODE) {
|
||||||
|
throw "winget install $Id failed with exit code $LASTEXITCODE"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
# Pre-flight checks
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
# Visual Studio Build Tools writes to C:\Program Files and winget's
|
||||||
|
# machine-scope installs require elevation, so fail fast with an actionable
|
||||||
|
# error rather than partway through a 5+ GB install.
|
||||||
|
$principal = [Security.Principal.WindowsPrincipal][Security.Principal.WindowsIdentity]::GetCurrent()
|
||||||
|
if (-not $principal.IsInRole([Security.Principal.WindowsBuiltInRole]::Administrator)) {
|
||||||
|
throw @"
|
||||||
|
This script must be run from an ELEVATED PowerShell prompt.
|
||||||
|
|
||||||
|
1. Press Start, type 'PowerShell'
|
||||||
|
2. Right-click 'Windows PowerShell' and choose 'Run as administrator'
|
||||||
|
3. cd to the PX4-Autopilot directory and re-run:
|
||||||
|
Set-ExecutionPolicy -Scope Process Bypass
|
||||||
|
.\Tools\setup\windows.ps1
|
||||||
|
"@
|
||||||
|
}
|
||||||
|
|
||||||
|
if (-not (Test-Command 'winget')) {
|
||||||
|
throw "winget is not on PATH. Install 'App Installer' from the Microsoft Store, then re-run this script."
|
||||||
|
}
|
||||||
|
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
# Common dependencies (both toolchains)
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
Write-Section "Installing common build dependencies"
|
||||||
|
Install-Winget 'Git.Git'
|
||||||
|
Install-Winget 'Python.Python.3.11'
|
||||||
|
Install-Winget 'Kitware.CMake'
|
||||||
|
Install-Winget 'Ninja-build.Ninja'
|
||||||
|
|
||||||
|
# Pull any PATH entries the four installs above just registered into the
|
||||||
|
# current process so the make / python / cmake checks below see them without
|
||||||
|
# requiring the user to open a new shell first.
|
||||||
|
Update-PathFromRegistry
|
||||||
|
|
||||||
|
# Git for Windows installs `git.exe` to `C:\Program Files\Git\cmd` (which is
|
||||||
|
# what its installer puts on the system PATH), but the PX4 top-level Makefile
|
||||||
|
# also calls into `sed`, `awk`, `dirname`, `[`, and `ps` -- none of which ship
|
||||||
|
# with Windows and all of which live in `<git>\usr\bin`. Without that directory
|
||||||
|
# on PATH, `make px4_sitl_default` aborts in the parameter / version pre-build
|
||||||
|
# steps even with a working MSVC compiler. Probe the registry for the actual
|
||||||
|
# Git install location (in case the user installed to a non-default path) and
|
||||||
|
# fall back to the default `C:\Program Files\Git`.
|
||||||
|
$gitRoot = $null
|
||||||
|
$gitUninstallKeys = @(
|
||||||
|
'HKLM:\SOFTWARE\Microsoft\Windows\CurrentVersion\Uninstall\*',
|
||||||
|
'HKLM:\SOFTWARE\WOW6432Node\Microsoft\Windows\CurrentVersion\Uninstall\*',
|
||||||
|
'HKCU:\SOFTWARE\Microsoft\Windows\CurrentVersion\Uninstall\*'
|
||||||
|
)
|
||||||
|
foreach ($key in $gitUninstallKeys) {
|
||||||
|
$entry = Get-ItemProperty $key -ErrorAction SilentlyContinue |
|
||||||
|
Where-Object { $_.DisplayName -like 'Git*' -and $_.InstallLocation -and (Test-Path (Join-Path $_.InstallLocation 'usr\bin')) } |
|
||||||
|
Select-Object -First 1
|
||||||
|
if ($entry) { $gitRoot = $entry.InstallLocation.TrimEnd('\'); break }
|
||||||
|
}
|
||||||
|
if (-not $gitRoot) { $gitRoot = "${env:ProgramFiles}\Git" }
|
||||||
|
$gitUsrBin = Join-Path $gitRoot 'usr\bin'
|
||||||
|
if (Test-Path $gitUsrBin) {
|
||||||
|
# Mirror the dedup logic used for `mingw64\bin` further down: split the
|
||||||
|
# user PATH on ';' and compare entries case-insensitively to avoid false
|
||||||
|
# negatives from trailing slashes and to avoid appending duplicates on
|
||||||
|
# re-run.
|
||||||
|
$userPathGit = [Environment]::GetEnvironmentVariable('Path', 'User')
|
||||||
|
$pathEntriesGit = @()
|
||||||
|
if ($userPathGit) { $pathEntriesGit = $userPathGit.Split(';', [StringSplitOptions]::RemoveEmptyEntries) }
|
||||||
|
$alreadyOnPathGit = $pathEntriesGit | Where-Object { $_.TrimEnd('\') -ieq $gitUsrBin.TrimEnd('\') }
|
||||||
|
if (-not $alreadyOnPathGit) {
|
||||||
|
Write-Host " Adding $gitUsrBin to user PATH (provides sed/awk/dirname/ps for the PX4 Makefile)"
|
||||||
|
$newPathGit = if ($userPathGit) { "$userPathGit;$gitUsrBin" } else { $gitUsrBin }
|
||||||
|
[Environment]::SetEnvironmentVariable('Path', $newPathGit, 'User')
|
||||||
|
}
|
||||||
|
# Also expose `usr\bin` in the current process so a `make px4_sitl_default`
|
||||||
|
# in this same shell finds the GNU tools without requiring a new shell.
|
||||||
|
$procPathEntriesGit = $env:Path.Split(';', [StringSplitOptions]::RemoveEmptyEntries)
|
||||||
|
if (-not ($procPathEntriesGit | Where-Object { $_.TrimEnd('\') -ieq $gitUsrBin.TrimEnd('\') })) {
|
||||||
|
$env:Path = "$env:Path;$gitUsrBin"
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
Write-Host " WARNING: Git Bash 'usr\bin' not found at $gitUsrBin."
|
||||||
|
Write-Host " PX4's Makefile needs sed/awk/dirname/ps from Git Bash."
|
||||||
|
Write-Host " If Git is installed elsewhere, add <git-root>\usr\bin to PATH manually."
|
||||||
|
}
|
||||||
|
|
||||||
|
# GNU make is not on the default winget source. The PX4 top-level Makefile
|
||||||
|
# is required by `make px4_sitl_default`, so install it from chocolatey if
|
||||||
|
# present; otherwise fall back to ezwinports' winget package which ships a
|
||||||
|
# native Win32 make.exe.
|
||||||
|
if (-not (Test-Command 'make')) {
|
||||||
|
Write-Section "Installing GNU make"
|
||||||
|
if (Test-Command 'choco') {
|
||||||
|
& choco install -y make --no-progress
|
||||||
|
# choco exit code 0 = installed, 1641/3010 = reboot required (benign).
|
||||||
|
# Anything else is a real failure.
|
||||||
|
$okChocoCodes = @(0, 1641, 3010)
|
||||||
|
if ($okChocoCodes -notcontains $LASTEXITCODE) {
|
||||||
|
throw "choco install make failed with exit code $LASTEXITCODE"
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
Install-Winget 'ezwinports.make'
|
||||||
|
}
|
||||||
|
# Both choco's make and ezwinports.make register their bin directory on
|
||||||
|
# the registry PATH but not on the running process's PATH; refresh so a
|
||||||
|
# subsequent `make px4_sitl_default` in this session can find make.exe.
|
||||||
|
$makePath = Resolve-Tool 'make' @(
|
||||||
|
'C:\ProgramData\chocolatey\bin\make.exe',
|
||||||
|
"${env:ProgramFiles}\ezwinports\make-*\bin\make.exe",
|
||||||
|
"${env:LOCALAPPDATA}\Microsoft\WinGet\Packages\ezwinports.make_Microsoft.Winget.Source_*\bin\make.exe"
|
||||||
|
)
|
||||||
|
if (-not $makePath) {
|
||||||
|
Write-Host " WARNING: make was installed but is not on PATH for the current shell."
|
||||||
|
Write-Host " Open a NEW shell before running 'make px4_sitl_default'."
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
# MSVC toolchain
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
if ($Toolchain -in @('MSVC', 'Both')) {
|
||||||
|
Write-Section "Installing MSVC toolchain"
|
||||||
|
if ($NoBuildTools) {
|
||||||
|
Write-Host " -NoBuildTools set; assuming Visual Studio 2022 is already installed."
|
||||||
|
} else {
|
||||||
|
# The VCTools workload ("C++ build tools") pulls in the MSVC core
|
||||||
|
# IDE bits but lists the latest MSVC v143 toolset and the Windows
|
||||||
|
# 11 SDK only as *Recommended* (not Required) components, so the
|
||||||
|
# latest SDK is NOT installed unless we add it explicitly. Pin the
|
||||||
|
# newest Windows 11 SDK (26100) and add the MSVC x64/x86 toolset
|
||||||
|
# plus the C++ CMake tools so builds are reproducible.
|
||||||
|
# Reference: https://learn.microsoft.com/en-us/visualstudio/install/workload-component-id-vs-build-tools?view=vs-2022
|
||||||
|
$vsOverride = '--quiet --wait --norestart --nocache ' +
|
||||||
|
'--add Microsoft.VisualStudio.Workload.VCTools ' +
|
||||||
|
'--add Microsoft.VisualStudio.Component.VC.Tools.x86.x64 ' +
|
||||||
|
'--add Microsoft.VisualStudio.Component.VC.CMake.Project ' +
|
||||||
|
'--add Microsoft.VisualStudio.Component.Windows11SDK.26100'
|
||||||
|
Install-Winget 'Microsoft.VisualStudio.2022.BuildTools' $vsOverride
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
# MinGW toolchain (MSYS2)
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
if ($Toolchain -in @('MinGW', 'Both')) {
|
||||||
|
Write-Section "Installing MSYS2 (MinGW-w64 toolchain)"
|
||||||
|
Install-Winget 'MSYS2.MSYS2'
|
||||||
|
|
||||||
|
# MSYS2 installs to C:\msys64 by default but can be relocated via a custom
|
||||||
|
# --location override on the installer. Probe the Uninstall registry key
|
||||||
|
# for the actual InstallLocation before falling back to the default path.
|
||||||
|
$msys2Root = $null
|
||||||
|
$uninstallKeys = @(
|
||||||
|
'HKLM:\SOFTWARE\Microsoft\Windows\CurrentVersion\Uninstall\*',
|
||||||
|
'HKLM:\SOFTWARE\WOW6432Node\Microsoft\Windows\CurrentVersion\Uninstall\*',
|
||||||
|
'HKCU:\SOFTWARE\Microsoft\Windows\CurrentVersion\Uninstall\*'
|
||||||
|
)
|
||||||
|
foreach ($key in $uninstallKeys) {
|
||||||
|
$entry = Get-ItemProperty $key -ErrorAction SilentlyContinue |
|
||||||
|
Where-Object { $_.DisplayName -like 'MSYS2*' -and $_.InstallLocation } |
|
||||||
|
Select-Object -First 1
|
||||||
|
if ($entry) { $msys2Root = $entry.InstallLocation.TrimEnd('\'); break }
|
||||||
|
}
|
||||||
|
if (-not $msys2Root) { $msys2Root = 'C:\msys64' }
|
||||||
|
$msys2Bash = Join-Path $msys2Root 'usr\bin\bash.exe'
|
||||||
|
if (-not (Test-Path $msys2Bash)) {
|
||||||
|
throw @"
|
||||||
|
MSYS2 was installed but bash.exe was not found at:
|
||||||
|
$msys2Bash
|
||||||
|
|
||||||
|
To recover:
|
||||||
|
1. Verify the install: winget list MSYS2.MSYS2
|
||||||
|
2. If MSYS2 was installed to a non-default location, set the install root
|
||||||
|
and re-run this script, OR install the MinGW toolchain manually from an
|
||||||
|
MSYS2 shell:
|
||||||
|
pacman -S --needed mingw-w64-x86_64-toolchain mingw-w64-x86_64-ccache
|
||||||
|
3. If MSYS2 is missing entirely, reinstall:
|
||||||
|
winget install MSYS2.MSYS2 -e --source winget
|
||||||
|
"@
|
||||||
|
}
|
||||||
|
$mingwBin = Join-Path $msys2Root 'mingw64\bin'
|
||||||
|
|
||||||
|
# `pacman -Syu` can update the MSYS2 runtime itself, in which case it
|
||||||
|
# forcibly closes its shell and requires a second invocation to finish.
|
||||||
|
# Run it twice so a runtime upgrade on the first pass converges on the
|
||||||
|
# second; the second pass is a near-instant no-op when nothing changed.
|
||||||
|
Write-Host " Updating MSYS2 package database (pass 1/2)"
|
||||||
|
& $msys2Bash -lc 'pacman -Syu --noconfirm --noprogressbar'
|
||||||
|
if ($LASTEXITCODE -ne 0) {
|
||||||
|
throw "MSYS2 'pacman -Syu' failed with exit code $LASTEXITCODE"
|
||||||
|
}
|
||||||
|
Write-Host " Updating MSYS2 package database (pass 2/2)"
|
||||||
|
& $msys2Bash -lc 'pacman -Syu --noconfirm --noprogressbar'
|
||||||
|
if ($LASTEXITCODE -ne 0) {
|
||||||
|
throw "MSYS2 'pacman -Syu' (second pass) failed with exit code $LASTEXITCODE"
|
||||||
|
}
|
||||||
|
Write-Host " Installing mingw-w64-x86_64 toolchain"
|
||||||
|
& $msys2Bash -lc 'pacman -S --noconfirm --noprogressbar --needed mingw-w64-x86_64-toolchain mingw-w64-x86_64-ccache'
|
||||||
|
if ($LASTEXITCODE -ne 0) {
|
||||||
|
throw "MSYS2 'pacman -S mingw-w64-x86_64-toolchain' failed with exit code $LASTEXITCODE"
|
||||||
|
}
|
||||||
|
|
||||||
|
# Toolchain-mingw-w64-x86_64.cmake searches <msys2>/mingw64/bin first,
|
||||||
|
# but the wrapper .cmd shims it generates need the directory on PATH at
|
||||||
|
# build time too. ($mingwBin was set above from the MSYS2 install root.)
|
||||||
|
$userPath = [Environment]::GetEnvironmentVariable('Path', 'User')
|
||||||
|
# Split on ';' and compare entries case-insensitively to avoid false
|
||||||
|
# negatives from a substring search (e.g. trailing slashes) and to avoid
|
||||||
|
# appending a duplicate on re-run.
|
||||||
|
$pathEntries = @()
|
||||||
|
if ($userPath) { $pathEntries = $userPath.Split(';', [StringSplitOptions]::RemoveEmptyEntries) }
|
||||||
|
$alreadyOnPath = $pathEntries | Where-Object { $_.TrimEnd('\') -ieq $mingwBin.TrimEnd('\') }
|
||||||
|
if (-not $alreadyOnPath) {
|
||||||
|
Write-Host " Adding $mingwBin to user PATH"
|
||||||
|
$newPath = if ($userPath) { "$userPath;$mingwBin" } else { $mingwBin }
|
||||||
|
[Environment]::SetEnvironmentVariable('Path', $newPath, 'User')
|
||||||
|
}
|
||||||
|
# Also expose mingw64\bin in the current process so any subsequent steps
|
||||||
|
# (e.g. a follow-up `make` in the same shell) can find gcc/g++ without
|
||||||
|
# the user having to spawn a new shell first.
|
||||||
|
$procPathEntries = $env:Path.Split(';', [StringSplitOptions]::RemoveEmptyEntries)
|
||||||
|
if (-not ($procPathEntries | Where-Object { $_.TrimEnd('\') -ieq $mingwBin.TrimEnd('\') })) {
|
||||||
|
$env:Path = "$env:Path;$mingwBin"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
# Python build-time dependencies
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
if (-not $NoPip) {
|
||||||
|
Write-Section "Installing Python build dependencies"
|
||||||
|
# winget installs Python.Python.3.11 to the user's AppData and updates the
|
||||||
|
# registry PATH, but the running PowerShell session inherited PATH at
|
||||||
|
# startup and will NOT see the new entry. Refresh PATH from the registry
|
||||||
|
# and, if python is still missing, fall back to the `py` launcher and to
|
||||||
|
# the well-known Python 3.11 install locations. This is the difference
|
||||||
|
# between a one-shot setup and a "open a new shell and re-run" loop.
|
||||||
|
$pythonExe = Resolve-Tool 'python' @(
|
||||||
|
"${env:LOCALAPPDATA}\Programs\Python\Python311\python.exe",
|
||||||
|
"${env:ProgramFiles}\Python311\python.exe",
|
||||||
|
"${env:ProgramFiles(x86)}\Python311\python.exe"
|
||||||
|
)
|
||||||
|
if (-not $pythonExe) {
|
||||||
|
# Last-resort: the Python launcher (`py.exe`) ships in C:\Windows and
|
||||||
|
# is on the per-machine PATH that survives a fresh PowerShell session.
|
||||||
|
$pyLauncher = Resolve-Tool 'py' @('C:\Windows\py.exe')
|
||||||
|
if ($pyLauncher) {
|
||||||
|
Write-Host " python.exe not on PATH for this session; using 'py -3.11' instead."
|
||||||
|
$pythonExe = $pyLauncher
|
||||||
|
$pythonArgs = @('-3.11')
|
||||||
|
} else {
|
||||||
|
throw @"
|
||||||
|
Python was installed but neither 'python' nor 'py' is on PATH for this shell.
|
||||||
|
This is usually a transient PATH-propagation issue after a winget install.
|
||||||
|
|
||||||
|
To recover, open a NEW PowerShell window and re-run with -NoBuildTools so the
|
||||||
|
script skips straight to the pip step:
|
||||||
|
.\Tools\setup\windows.ps1 -NoBuildTools
|
||||||
|
"@
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
$pythonArgs = @()
|
||||||
|
}
|
||||||
|
# Mirrors the package set installed by .github/workflows/compile_windows.yml.
|
||||||
|
# kconfiglib is required by cmake/kconfig.cmake; on the Ubuntu MinGW CI
|
||||||
|
# runner it is provided by the `python3-kconfiglib` apt package, on the
|
||||||
|
# MSVC runner and here it must come from pip.
|
||||||
|
& $pythonExe @pythonArgs -m pip install --upgrade pip
|
||||||
|
if ($LASTEXITCODE -ne 0) { throw "pip self-upgrade failed with exit code $LASTEXITCODE" }
|
||||||
|
# empy is pinned <4 to match Tools/setup/requirements.txt: PX4's msg /
|
||||||
|
# uxrce_dds / flight_tasks / zenoh code generators use the empy 3.x
|
||||||
|
# `em.Interpreter(..., options={em.RAW_OPT: True, em.BUFFERED_OPT: True})`
|
||||||
|
# API which was removed in empy 4.x. The Ubuntu CI runners get the right
|
||||||
|
# version via the `python3-empy` apt package (3.3.x); on Windows pip would
|
||||||
|
# otherwise pull empy 4.x and break code generation.
|
||||||
|
& $pythonExe @pythonArgs -m pip install jinja2 pyyaml toml numpy packaging jsonschema future "empy>=3.3,<4" pyros-genmsg kconfiglib
|
||||||
|
if ($LASTEXITCODE -ne 0) { throw "pip install failed with exit code $LASTEXITCODE" }
|
||||||
|
}
|
||||||
|
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
# Done
|
||||||
|
# ---------------------------------------------------------------------------
|
||||||
|
|
||||||
|
Write-Section "Setup complete"
|
||||||
|
Write-Host ""
|
||||||
|
Write-Host "Open a NEW shell so PATH changes take effect, then build PX4 SITL:"
|
||||||
|
Write-Host ""
|
||||||
|
if ($Toolchain -in @('MSVC', 'Both')) {
|
||||||
|
Write-Host " MSVC build (from 'x64 Native Tools Command Prompt for VS 2022'):"
|
||||||
|
Write-Host " cd PX4-Autopilot"
|
||||||
|
Write-Host " make px4_sitl_default"
|
||||||
|
Write-Host ""
|
||||||
|
}
|
||||||
|
if ($Toolchain -in @('MinGW', 'Both')) {
|
||||||
|
Write-Host " MinGW build (from PowerShell):"
|
||||||
|
Write-Host " cd PX4-Autopilot"
|
||||||
|
Write-Host " `$env:CMAKE_ARGS = '-DCMAKE_TOOLCHAIN_FILE=Toolchain-mingw-w64-x86_64'"
|
||||||
|
Write-Host " make px4_sitl_default"
|
||||||
|
Write-Host ""
|
||||||
|
}
|
||||||
|
Write-Host "Run a SIH simulation from the build output:"
|
||||||
|
Write-Host " `$env:PX4_SIM_MODEL = 'sihsim_quadx'"
|
||||||
|
Write-Host " build\px4_sitl_default\bin\px4.exe -d build\px4_sitl_default\etc"
|
||||||
|
Write-Host ""
|
||||||
|
Write-Host "See docs/en/dev_setup/dev_env_windows_native.md for the full guide."
|
||||||
Reference in New Issue
Block a user