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[build] Update myRobot deployment (#4515)

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This commit is contained in:
Thad House
2022-10-24 20:03:39 -07:00
committed by GitHub
parent ad53fb19b4
commit 1d2e8eb153
3 changed files with 63 additions and 19 deletions
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2
OtherVersions.md
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@@ -90,4 +90,4 @@ The following 3 tasks can be used for deployment:
Deploying any of these to the roboRIO will disable the current startup project until it is redeployed.
From here, ssh into the roboRIO using the `admin` account (`lvuser` will fail to run in many cases). In the admin home directory, a file for each deploy type will exist (`myRobotCpp`, `myRobotCppStatic` and `myRobotJavaRun`). These can be run to start up the corresponding project.
From here, ssh into the roboRIO using the `lvuser` account and run `frcRunRobot.sh` (It's in path).

55
buildSrc/src/main/groovy/WPIJREArtifact.groovy
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@@ -1,13 +1,14 @@
import groovy.transform.CompileStatic
import javax.inject.Inject
import edu.wpi.first.deployutils.deploy.artifact.MavenArtifact
import edu.wpi.first.deployutils.deploy.context.DeployContext
import org.gradle.api.Project
import edu.wpi.first.deployutils.ActionWrapper
import edu.wpi.first.deployutils.deploy.target.RemoteTarget
import edu.wpi.first.deployutils.PredicateWrapper
import groovy.transform.CompileStatic;
import javax.inject.Inject;
import java.util.function.Function
import org.gradle.api.Project;
import edu.wpi.first.deployutils.deploy.CommandDeployResult;
import edu.wpi.first.deployutils.deploy.artifact.MavenArtifact;
import edu.wpi.first.deployutils.deploy.context.DeployContext;
import edu.wpi.first.deployutils.deploy.target.RemoteTarget;
import edu.wpi.first.deployutils.PredicateWrapper;
import edu.wpi.first.deployutils.ActionWrapper;
@CompileStatic
public class WPIJREArtifact extends MavenArtifact {
@@ -17,6 +18,18 @@ public class WPIJREArtifact extends MavenArtifact {
return configName;
}
public boolean isCheckJreVersion() {
return checkJreVersion;
}
public void setCheckJreVersion(boolean checkJreVersion) {
this.checkJreVersion = checkJreVersion;
}
private boolean checkJreVersion = true;
private final String artifactLocation = "edu.wpi.first.jdk:roborio-2023:17.0.5u7-1"
@Inject
public WPIJREArtifact(String name, RemoteTarget target) {
super(name, target);
@@ -24,10 +37,10 @@ public class WPIJREArtifact extends MavenArtifact {
this.configName = configName;
Project project = target.getProject();
getConfiguration().set(project.getConfigurations().create(configName));
getDependency().set(project.getDependencies().add(configName, "edu.wpi.first.jdk:roborio-2022:11.0.12u5-1"));
getDependency().set(project.getDependencies().add(configName, artifactLocation));
setOnlyIf(new PredicateWrapper({ DeployContext ctx ->
return jreMissing(ctx) || project.hasProperty("force-redeploy-jre");
return jreMissing(ctx) || jreOutOfDate(ctx) || project.hasProperty("force-redeploy-jre");
}));
getDirectory().set("/tmp");
@@ -35,7 +48,7 @@ public class WPIJREArtifact extends MavenArtifact {
getPostdeploy().add(new ActionWrapper({ DeployContext ctx ->
ctx.getLogger().log("Installing JRE...");
ctx.execute("opkg remove frc2022-openjdk*; opkg install /tmp/frcjre.ipk; rm /tmp/frcjre.ipk");
ctx.execute("opkg remove frc*-openjdk*; opkg install /tmp/frcjre.ipk; rm /tmp/frcjre.ipk");
ctx.getLogger().log("JRE Deployed!");
}));
}
@@ -44,5 +57,21 @@ public class WPIJREArtifact extends MavenArtifact {
return ctx.execute("if [[ -f \"/usr/local/frc/JRE/bin/java\" ]]; then echo OK; else echo MISSING; fi").getResult().contains("MISSING");
}
private boolean jreOutOfDate(DeployContext ctx) {
if (!checkJreVersion) {
return false;
}
String version = getDependency().get().getVersion();
CommandDeployResult cmdResult = ctx.execute("opkg list-installed | grep openjdk");
if (cmdResult.getExitCode() != 0) {
ctx.getLogger().log("JRE not found");
return false;
}
String result = cmdResult.getResult().trim();
ctx.getLogger().log("Searching for JRE " + version);
ctx.getLogger().log("Found JRE " + result);
boolean matches = result.contains(version);
ctx.getLogger().log(matches ? "JRE Is Correct Version" : "JRE is mismatched. Reinstalling");
return !matches;
}
}

25
myRobot/build.gradle
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@@ -58,7 +58,7 @@ def simProjects = ['halsim_gui']
deploy {
targets {
roborio(RemoteTarget) {
directory = '/home/admin'
directory = '/home/lvuser'
maxChannels = 4
locations {
ssh(SshDeployLocation) {
@@ -78,7 +78,8 @@ deploy {
artifacts {
all {
predeploy << { ctx ->
ctx.execute('/usr/local/frc/bin/frcKillRobot.sh -t')
ctx.execute('. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t 2> /dev/null')
ctx.execute("sed -i -e 's/\"exec /\"/' /usr/local/frc/bin/frcRunRobot.sh")
}
postdeploy << { ctx ->
ctx.execute("sync")
@@ -92,6 +93,9 @@ deploy {
excludes.add('**/*.so.debug')
excludes.add('**/*.so.*.debug')
postdeploy << { ctx ->
ctx.execute("echo '/home/lvuser/myRobotCpp' > /home/lvuser/robotCommand")
ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/myRobotCpp\"")
ctx.execute('chmod +x myRobotCpp')
}
}
@@ -99,18 +103,28 @@ deploy {
myRobotCppStatic(NativeExecutableArtifact) {
libraryDirectory = '/usr/local/frc/third-party/lib'
postdeploy << { ctx ->
ctx.execute("echo '/home/lvuser/myRobotCppStatic' > /home/lvuser/robotCommand")
ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/myRobotCppStatic\"")
ctx.execute('chmod +x myRobotCppStatic')
}
}
myRobotCppJava(NativeExecutableArtifact) {
libraryDirectory = '/usr/local/frc/third-party/lib'
def excludes = getLibraryFilter().getExcludes()
excludes.add('**/*.so.debug')
excludes.add('**/*.so.*.debug')
}
jre(WPIJREArtifact) {
}
myRobotJava(JavaArtifact) {
jarTask = shadowJar
postdeploy << { ctx ->
ctx.execute("echo '/usr/local/frc/JRE/bin/java -XX:+UseConcMarkSweepGC -Djava.library.path=/usr/local/frc/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB -jar /home/admin/myRobot-all.jar' > /home/admin/myRobotJavaRun")
ctx.execute("chmod +x /home/admin/myRobotJavaRun; chown lvuser /home/admin/myRobotJavaRun")
ctx.execute("echo '/usr/local/frc/JRE/bin/java -XX:+UseG1GC -XX:MaxGCPauseMillis=1 -XX:GCTimeRatio=1 -Djava.library.path=/usr/local/frc/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB -jar /home/lvuser/myRobot-all.jar' > /home/lvuser/robotCommand")
ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
}
}
}
@@ -122,7 +136,7 @@ tasks.register('deployJava') {
try {
dependsOn tasks.named('deployjreroborio')
dependsOn tasks.named('deploymyRobotJavaroborio')
dependsOn tasks.named('deploymyRobotCpproborio') // Deploying shared C++ is how to get the Java shared libraries.
dependsOn tasks.named('deploymyRobotCppJavaroborio') // Deploying shared C++ is how to get the Java shared libraries.
} catch (ignored) {
}
}
@@ -161,6 +175,7 @@ model {
if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
if (binary.buildType.name == 'debug') {
deploy.targets.roborio.artifacts.myRobotCpp.binary = binary
deploy.targets.roborio.artifacts.myRobotCppJava.binary = binary
}
}
lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'