Now able to build and run under Windows

cuav/image/scanner.c

@@ -1201,9 +1201,13 @@ scanner_thermal_convert(PyObject *self, PyObject *args)
 
 	for (uint32_t i=0; i<width*height; i++) {
             uint16_t value = data[i];
+            #ifndef __MINGW32__
             if (__BYTE_ORDER == __LITTLE_ENDIAN) {
                 swab(&value, &value, 2);
             }
+            #else
+            swab(&value, &value, 2);
+            #endif
             value >>= 2;
             mask |= value;
             if (value > maxv) maxv = value;
@@ -1214,9 +1218,13 @@ scanner_thermal_convert(PyObject *self, PyObject *args)
 
 	for (uint32_t i=0; i<width*height; i++) {
             uint16_t value = data[i];
+            #ifndef __MINGW32__
             if (__BYTE_ORDER == __LITTLE_ENDIAN) {
                 swab(&value, &value, 2);
             }
+            #else
+            swab(&value, &value, 2);
+            #endif
             value >>= 2;
             uint8_t map_value(float v, const float threshold) {
                 if (v > threshold) {

cuav/uav/uav.py

@@ -1,6 +1,5 @@
 from numpy import array, linalg, eye, zeros, dot, transpose
 from numpy import sin, cos, pi
-from matplotlib import pyplot
 
 #def rotationMatrix(phi, theta, psi):
 #  out = zeros((3,3))
@@ -91,6 +90,8 @@ def __init__(self, fu=200, fv=200, cu=512, cv=480):
 
 
 if __name__ == '__main__':
+  from matplotlib import pyplot
+
   xfer = uavxfer()
   xfer.setCameraParams(200.0, 200.0, 512, 480)
   xfer.setCameraOrientation(0.0, 0.0, -pi/2)

windows/createChangelog.py

@@ -0,0 +1,48 @@
+#!/usr/bin/env python
+'''
+Create a user readable changelog
+Requires the gitpython package via pip install gitpython
+
+Stephen Dade
+November 2016
+'''
+
+from git import Repo
+import os
+import time
+
+#Get the parent (..\) directory. ie the root cuav dir
+path = os.path.abspath(os.path.join(os.getcwd(), os.pardir))
+repo = Repo(path)
+assert not repo.bare
+
+#get list of all commits
+all_commits = list(repo.iter_commits('master'))
+
+#open the changelog for writing
+f = open("changelog.txt","w") 
+
+#go through all the commits
+for comm in all_commits:
+    #if it's a version raise, add a special message
+    if "raise version" in comm.message:
+        commit_date = time.strftime("%d-%m-%Y", time.gmtime(comm.committed_date))
+        tree = comm.tree
+        #get setup.py and grab the version number from the file
+        blob = tree['setup.py']
+        data = blob.data_stream.read()
+        curversion = ""
+        for line in data.split('\n'):
+            if "version = " in line: 
+                curversion =  line[11:len(line)-1]
+                break
+
+        f.write("\n")
+        f.write("CUAV " + curversion + " (" + commit_date + ")\n")
+    else:
+        #just print the summary (1st line) of the commit message
+        comm.message.split('\n', 1)[0]
+        f.write("-" + comm.summary + "\n")
+
+f.close()
+print("Done")

windows/cuav.spec

@@ -0,0 +1,103 @@
+# -*- mode: python -*-
+# spec file for pyinstaller to build cuav for windows
+geotagAny = Analysis(['.\\cuav\\tools\\geotag.py'],
+             pathex=[os.path.abspath('.')],
+             # for some unknown reason these hidden imports don't pull in
+             # all the needed pieces, so we also import them in mavproxy.py
+             hiddenimports=['UserList', 'UserString',
+                            'pymavlink.mavwp', 'pymavlink.mavutil', 'pymavlink.dialects.v20.ardupilotmega',
+                            'pymavlink.dialects.v10.ardupilotmega',
+                            'pymavlink.dialects.v20.common', 'pymavlink.dialects.v10.common',
+                            'pymavlink.dialects.v20.ASLUAV', 'pymavlink.dialects.v10.ASLUAV',
+                            'pymavlink.dialects.v20.autoquad', 'pymavlink.dialects.v10.autoquad',
+                            'pymavlink.dialects.v20.matrixpilot', 'pymavlink.dialects.v10.matrixpilot',
+                            'pymavlink.dialects.v20.minimal', 'pymavlink.dialects.v10.minimal',
+                            'pymavlink.dialects.v20.paparazzi', 'pymavlink.dialects.v10.paparazzi',
+                            'pymavlink.dialects.v20.slugs', 'pymavlink.dialects.v10.slugs',
+                            'pymavlink.dialects.v20.standard', 'pymavlink.dialects.v10.standard',
+                            'pymavlink.dialects.v20.ualberta', 'pymavlink.dialects.v10.ualberta',
+                            'pymavlink.dialects.v20.uAvionix', 'pymavlink.dialects.v10.uAvionix'],
+             excludes=['tcl', 'tk', 'Tkinter', 'tkinter', '_tkinter'],
+             hookspath=None,
+             runtime_hooks=None)
+pgmconvertAny = Analysis(['.\\cuav\\tools\\pgm_convert.py'],
+             pathex=[os.path.abspath('.')],
+             # for some unknown reason these hidden imports don't pull in
+             # all the needed pieces, so we also import them in mavproxy.py
+             hiddenimports=['UserList', 'UserString'],
+             excludes=['tcl', 'tk', 'Tkinter', 'tkinter', '_tkinter'],
+             hookspath=None,
+             runtime_hooks=None)
+geosearchAny = Analysis(['.\\cuav\\tools\\geosearch.py'],
+             pathex=[os.path.abspath('.')],
+             # for some unknown reason these hidden imports don't pull in
+             # all the needed pieces, so we also import them in mavproxy.py
+             hiddenimports=['UserList', 'UserString',
+                            'pymavlink.mavwp', 'pymavlink.mavutil', 'pymavlink.dialects.v20.ardupilotmega',
+                            'pymavlink.dialects.v10.ardupilotmega',
+                            'pymavlink.dialects.v20.common', 'pymavlink.dialects.v10.common',
+                            'pymavlink.dialects.v20.ASLUAV', 'pymavlink.dialects.v10.ASLUAV',
+                            'pymavlink.dialects.v20.autoquad', 'pymavlink.dialects.v10.autoquad',
+                            'pymavlink.dialects.v20.matrixpilot', 'pymavlink.dialects.v10.matrixpilot',
+                            'pymavlink.dialects.v20.minimal', 'pymavlink.dialects.v10.minimal',
+                            'pymavlink.dialects.v20.paparazzi', 'pymavlink.dialects.v10.paparazzi',
+                            'pymavlink.dialects.v20.slugs', 'pymavlink.dialects.v10.slugs',
+                            'pymavlink.dialects.v20.standard', 'pymavlink.dialects.v10.standard',
+                            'pymavlink.dialects.v20.ualberta', 'pymavlink.dialects.v10.ualberta',
+                            'pymavlink.dialects.v20.uAvionix', 'pymavlink.dialects.v10.uAvionix'],
+             excludes=[],
+             hookspath=None,
+             runtime_hooks=None)
+
+MERGE( (geotagAny, 'geotag', 'geotag'), (pgmconvertAny, 'pgmconvert', 'pgmconvert'), (geosearchAny, 'geosearch', 'geosearch') )
+
+geotag_pyz = PYZ(geotagAny.pure)
+geotag_exe = EXE(geotag_pyz,
+          geotagAny.scripts,
+          exclude_binaries=True,
+          name='geotag.exe',
+          debug=False,
+          strip=None,
+          upx=True,
+          console=True )
+geotag_coll = COLLECT(geotag_exe,
+               geotagAny.binaries,
+               geotagAny.zipfiles,
+               geotagAny.datas,
+               strip=None,
+               upx=True,
+               name='geotag')
+
+pgmconvert_pyz = PYZ(pgmconvertAny.pure)
+pgmconvert_exe = EXE(pgmconvert_pyz,
+          pgmconvertAny.scripts,
+          exclude_binaries=True,
+          name='pgmconvert.exe',
+          debug=False,
+          strip=None,
+          upx=True,
+          console=True )
+pgmconvert_coll = COLLECT(pgmconvert_exe,
+               pgmconvertAny.binaries,
+               pgmconvertAny.zipfiles,
+               pgmconvertAny.datas,
+               strip=None,
+               upx=True,
+               name='pgmconvert')
+
+geosearch_pyz = PYZ(geosearchAny.pure)
+geosearch_exe = EXE(geosearch_pyz,
+          geosearchAny.scripts,
+          exclude_binaries=True,
+          name='geosearch.exe',
+          debug=False,
+          strip=None,
+          upx=True,
+          console=True )
+geosearch_coll = COLLECT(geosearch_exe,
+               geosearchAny.binaries,
+               geosearchAny.zipfiles,
+               geosearchAny.datas,
+               strip=None,
+               upx=True,
+               name='geosearch')

windows/cuavWinBuild.bat

@@ -0,0 +1,43 @@
+rem build the standalone Cuav tools for Windows.
+rem This assumes Python is installed in C:\Python27
+rem   If it is not, change the PYTHON_LOCATION environment variable accordingly
+rem This assumes InnoSetup is installed in C:\Program Files (x86)\Inno Setup 5
+rem   If it is not, change the INNOSETUP environment variable accordingly
+rem This requires the MinGW compiler and libjpeg-turbo development files (libjpeg-turbo-1.5.1-gcc.exe)
+rem This requires Pyinstaller==2.1, setuptools==19.2 and packaging==14.2
+rem also requires pyexiv2 - https://launchpad.net/pyexiv2
+SETLOCAL enableextensions
+
+if "%PYTHON_LOCATION%" == "" (set "PYTHON_LOCATION=C:\Python27")
+if "%INNOSETUP%" == "" (set "INNOSETUP=C:\Program Files (x86)\Inno Setup 5")
+
+rem get the version
+for /f "tokens=*" %%a in (
+ '"%PYTHON_LOCATION%\python" returnVersion.py'
+ ) do (
+ set VERSION=%%a
+ )
+
+rem -----build the changelog-----
+"%PYTHON_LOCATION%\python" createChangelog.py
+
+rem -----Build CUAV-----
+cd ..\
+"%PYTHON_LOCATION%\python" setup.py clean build --compiler=mingw32 install 
+"%PYTHON_LOCATION%\Scripts\pyinstaller" -y --clean .\windows\cuav.spec
+
+rem ----Copy the files and scanner.pyd----
+mkdir .\dist\cuav
+xcopy .\dist\pgmconvert\* .\dist\cuav /Y /E
+xcopy .\dist\geotag\* .\dist\cuav /Y /E
+xcopy .\dist\geosearch\* .\dist\cuav /Y /E
+xcopy .\build\lib.win32-2.7\cuav\image\scanner.pyd .\dist\cuav\cuav.image.scanner.pyd /Y
+
+rem -----Create version Info-----
+@echo off
+@echo %VERSION%> .\windows\version.txt
+@echo on
+
+
+
+pause

windows/returnVersion.py

@@ -0,0 +1,12 @@
+# This script reads the setup.py and returns the current version number
+# Used as part of building the WIndows setup file (cuavWinBuild.bat)
+# It assumes there is a line like this:
+# version = "12344"
+
+# glob supports Unix style pathname extensions
+with open("../setup.py") as f:
+    searchlines = f.readlines()
+    for i, line in enumerate(searchlines):
+        if "version = " in line: 
+            print line[11:len(line)-2]
+            break