Vagrant: add Vagrant vm definition and creation script

.gitignore

@@ -127,3 +127,5 @@ dmypy.json
 
 # Pyre type checker
 .pyre/
+
+.vagrant

Vagrantfile

@@ -0,0 +1,47 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+# Testing VM:
+
+# Vagrantfile API/syntax version. Don't touch unless you know what you're doing!
+VAGRANTFILE_API_VERSION = "2"
+
+Vagrant.configure(VAGRANTFILE_API_VERSION) do |config|
+  config.ssh.forward_x11 = true
+
+  # Provider-specific configuration so you can fine-tune various
+  # backing providers for Vagrant. These expose provider-specific options.
+  # Example for VirtualBox:
+  #
+  config.vm.provider "virtualbox" do |vb|
+      # Don't boot with headless mode
+      #   vb.gui = true
+      #
+      #   # Use VBoxManage to customize the VM. For example to change memory:
+      vb.customize ["modifyvm", :id, "--memory", "3192"]
+      vb.customize ["modifyvm", :id, "--ioapic", "on"]
+      vb.customize ["modifyvm", :id, "--cpus", "2"]
+      # Make some effort to avoid clock skew
+      vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-threshold", "5000"]
+      vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-start"]
+      vb.customize ["guestproperty", "set", :id, "/VirtualBox/GuestAdd/VBoxService/--timesync-set-on-restore", "1"]
+  end
+
+  config.vm.network "forwarded_port", guest: 8888, host: 8888
+
+  # removing this line causes "A box must be specified." error
+  # and this is the default box that will be booted if no name is specified
+  config.vm.box = "ubuntu/focal"
+
+  # 20.04 LTS  EOL April 2025
+  config.vm.define "focal", autostart: true do |focal|
+    focal.vm.box = "ubuntu/focal64"
+    focal.vm.provision :shell, path: "scripts/initvagrant.sh"
+    focal.vm.provider "virtualbox" do |vb|
+      vb.name = "CustomBuild (focal)"
+    end
+    focal.vm.boot_timeout = 1200
+  end
+
+end
+

scripts/initvagrant.sh

@@ -0,0 +1,134 @@
+#!/bin/bash
+echo "---------- $0 start ----------"
+
+# this script is run by the root user in the virtual machine
+
+set -e
+set -x
+
+who=$(whoami)
+echo "Initial setup of SITL-vagrant instance."
+if [ $who != 'root' ]; then
+    echo "SORRY, MUST RUN THIS SCRIPT AS ROOT, GIVING UP"
+    exit 1
+fi
+
+VAGRANT_USER=ubuntu
+if [ -e /home/vagrant ]; then
+    # prefer vagrant user
+    VAGRANT_USER=vagrant
+fi
+echo USING VAGRANT_USER:$VAGRANT_USER
+
+cd /home/$VAGRANT_USER
+
+
+# artful rootfs is 2GB without resize:
+resize2fs /dev/sda1
+
+apt-get update
+
+apt-get install -y python3-pip
+
+pip3 install flask
+
+apt-get install -y apache2
+apt-get install -y libapache2-mod-wsgi-py3 python-dev
+
+CUSTOM_CONF="/etc/apache2/sites-available//CustomBuild.conf"
+#cp /vagrant/CustomBuild.conf "$CUSTOM_CONF"
+#perl -pe 's%/home/custom/CustomBuild%/vagrant%' -i "$CUSTOM_CONF"
+
+sudo -H -u $VAGRANT_USER mkdir -p /home/vagrant/base/builds
+
+# TODO: work out how to do custom certs here
+
+cat >"$CUSTOM_CONF" <<EOF
+<VirtualHost *:8888>
+#       ServerName custom.ardupilot.org
+			       
+       WSGIDaemonProcess app threads=5
+
+       WSGIScriptAlias / /vagrant/app.wsgi
+       WSGIScriptAlias /generate /vagrant/app.wsgi
+       <Directory /vagrant/>
+       Options FollowSymLinks
+       AllowOverride None
+       Require all granted
+       </Directory>
+
+       Alias /builds /base/builds
+       <Directory /base/>
+       Options FollowSymLinks Indexes
+       AllowOverride None
+       Require all granted
+       </Directory>
+
+       ErrorLog \${APACHE_LOG_DIR}/error.log
+       LogLevel warn
+       CustomLog \${APACHE_LOG_DIR}/access.log combined
+</VirtualHost>
+EOF
+
+# add the arm tools into the path for Apache:
+cat >>/etc/apache2/envvars <<EOF
+export PATH=/opt/gcc-arm-none-eabi-10-2020-q4-major/bin:\$PATH
+EOF
+
+cp /vagrant/app.wsgi /etc/apache2/sites-available/
+
+a2ensite CustomBuild.conf
+a2dissite 000-default
+
+cat >>/etc/apache2/ports.conf <<EOF
+Listen 8888
+EOF
+
+for PKG in empy future ; do
+    pip install --upgrade $PKG
+done
+
+systemctl reload apache2
+
+# apache isn't run as root, so can't run app as vagrant user.
+USER=www-data
+GROUP=www-data
+
+# create and change permissions of /base - need to work out how to
+# effectively pass in --basedir to the WSGI at some stage
+for DIR in /base /base/builds /base/tmp; do
+  mkdir $DIR
+  chown $USER.$GROUP $DIR
+  chmod 777 $DIR  # TODO: tidy permissions
+done
+
+cd /base
+sudo -H -u $USER ln -s /home//vagrant/ardupilot /base/ardupilot
+
+pushd /home/$VAGRANT_USER
+if [ ! -e ardupilot ]; then
+    sudo -H -u $VAGRANT_USER git clone --recursive https://github.com/ardupilot/ardupilot
+fi
+
+pushd ardupilot
+sudo -u $VAGRANT_USER ./Tools/environment_install/install-prereqs-ubuntu.sh -y
+popd
+
+chown -R $USER.$GROUP ardupilot
+
+popd
+
+systemctl stop apache2 && systemctl start apache2
+
+
+# enable permissive ptrace:
+perl -pe 's/kernel.yama.ptrace_scope = ./kernel.yama.ptrace_scope = 0/' -i /etc/sysctl.d/10-ptrace.conf
+echo 0 > /proc/sys/kernel/yama/ptrace_scope
+
+# the 8888 here comes from Vagrantfile, it's a forwarded port
+echo "Check web address: http://127.0.0.1:8888/"
+
+# Now you can run
+# vagrant ssh -c "screen -d -R"
+echo "---------- $0 end ----------"
+