ArduPilot SITL Update

build_exe.py

@@ -7,6 +7,8 @@ Usage:
   python build_exe.py                    # Build standalone_simulation
   python build_exe.py simulation_host    # Build simulation_host
   python build_exe.py standalone         # Build standalone_simulation
+  python build_exe.py ardupilot          # Build ArduPilot launcher
+  python build_exe.py camera_viewer      # Build camera feed viewer
   python build_exe.py all                # Build all
 """
 
@@ -24,12 +26,25 @@ except ImportError as e:
     print("Install with: pip install pyinstaller pybullet")
     sys.exit(1)
 
+# Check for pymavlink (optional for ArduPilot builds)
+try:
+    from pymavlink import mavutil
+    PYMAVLINK_AVAILABLE = True
+except ImportError:
+    PYMAVLINK_AVAILABLE = False
+
 
 def get_pybullet_data_path() -> str:
     return pybullet_data.getDataPath()
 
 
-def build_executable(source_name: str, output_name: str, console: bool = True):
+def build_executable(
+    source_name: str,
+    output_name: str,
+    console: bool = True,
+    hidden_imports: list = None,
+    collect_data: list = None
+):
     """Build a single executable."""
     script_dir = Path(__file__).parent
     source_file = script_dir / source_name
@@ -59,6 +74,16 @@ def build_executable(source_name: str, output_name: str, console: bool = True):
         f'--add-data={data_spec}',
     ]
     
+    # Add hidden imports if specified
+    if hidden_imports:
+        for imp in hidden_imports:
+            build_args.append(f'--hidden-import={imp}')
+    
+    # Add data collection for packages
+    if collect_data:
+        for pkg in collect_data:
+            build_args.append(f'--collect-data={pkg}')
+    
     if console:
         build_args.append('--console')
     else:
@@ -92,7 +117,7 @@ def main():
         'target',
         nargs='?',
         default='standalone',
-        choices=['standalone', 'simulation_host', 'all'],
+        choices=['standalone', 'simulation_host', 'ardupilot', 'mavlink_bridge', 'camera_viewer', 'all'],
         help='What to build (default: standalone)'
     )
     args = parser.parse_args()
@@ -102,9 +127,11 @@ def main():
     print("=" * 60)
     print(f"Platform: {platform.system()}")
     print(f"PyBullet data: {get_pybullet_data_path()}")
+    print(f"pymavlink: {'Available' if PYMAVLINK_AVAILABLE else 'Not installed'}")
     
     success = True
     
+    # Build standalone simulation
     if args.target in ['standalone', 'all']:
         success &= build_executable(
             'standalone_simulation.py',
@@ -112,6 +139,7 @@ def main():
             console=False
         )
     
+    # Build simulation host
     if args.target in ['simulation_host', 'all']:
         success &= build_executable(
             'simulation_host.py',
@@ -119,11 +147,81 @@ def main():
             console=True
         )
     
+    # Build MAVLink bridge (requires pymavlink)
+    if args.target in ['mavlink_bridge', 'all']:
+        if not PYMAVLINK_AVAILABLE:
+            print("\nWarning: pymavlink not installed, skipping mavlink_bridge build")
+            print("Install with: pip install pymavlink")
+            if args.target == 'mavlink_bridge':
+                success = False
+        else:
+            success &= build_executable(
+                'mavlink_bridge.py',
+                'mavlink_bridge',
+                console=True,
+                hidden_imports=[
+                    'pymavlink',
+                    'pymavlink.mavutil',
+                    'pymavlink.dialects.v20.ardupilotmega',
+                ],
+                collect_data=['pymavlink']
+            )
+    
+    # Build ArduPilot runner (requires pymavlink)
+    if args.target in ['ardupilot', 'all']:
+        if not PYMAVLINK_AVAILABLE:
+            print("\nWarning: pymavlink not installed, skipping ardupilot build")
+            print("Install with: pip install pymavlink")
+            if args.target == 'ardupilot':
+                success = False
+        else:
+            success &= build_executable(
+                'run_ardupilot.py',
+                'run_ardupilot',
+                console=True,
+                hidden_imports=[
+                    'pymavlink',
+                    'pymavlink.mavutil',
+                    'pymavlink.dialects.v20.ardupilotmega',
+                    'mavlink_bridge',
+                    'drone_controller',
+                    'rover_controller',
+                ],
+                collect_data=['pymavlink']
+            )
+    
+    # Build camera viewer (requires opencv)
+    if args.target in ['camera_viewer', 'all']:
+        try:
+            import cv2
+            success &= build_executable(
+                'camera_viewer.py',
+                'camera_viewer',
+                console=True,
+                hidden_imports=[
+                    'cv2',
+                    'numpy',
+                ],
+                collect_data=['cv2']
+            )
+        except ImportError:
+            print("\nWarning: opencv-python not installed, skipping camera_viewer build")
+            print("Install with: pip install opencv-python")
+            if args.target == 'camera_viewer':
+                success = False
+    
     print()
     print("=" * 60)
     if success:
         print("  BUILD COMPLETE!")
         print("  Executables in: dist/")
+        print()
+        print("  Available executables:")
+        dist_dir = Path(__file__).parent / "dist"
+        if dist_dir.exists():
+            for exe in dist_dir.iterdir():
+                if exe.is_file() and not exe.name.startswith('.'):
+                    print(f"    - {exe.name}")
     else:
         print("  BUILD FAILED!")
         sys.exit(1)
@@ -132,3 +230,4 @@ def main():
 
 if __name__ == '__main__':
     main()
+