Merge "Fixed C++ deploy in Eclipse"

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/build.properties

@@ -2,8 +2,9 @@
 username=admin
 password=
 deploy.dir=/home/admin
-deploy.run.command=./runcppprogram
-deploy.debug.command=./debugcppprogram
+deploy.kill.command=/usr/local/frc/bin/frcKillRobot.sh -t -r
+deploy.log.file=/var/local/natinst/log/FRC_UserProgram.log
+command.dir=/home/lvuser/
 
 # Libraries to use
 wpilib=${user.home}/wpilib/cpp/${cpp-version}
@@ -21,8 +22,8 @@ build.dir=build
 out.exe=Debug/${out}
 
 # Simulation
-simulation.world.file=$world
+simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world
 sim.exe=Simulate/${out}
 wpilib.sim=${wpilib}/sim
 sim.tools=${wpilib.sim}/tools
-sim.lib=${wpilib.sim}/lib
+sim.lib=${wpilib.sim}/lib

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/launching/DeployLaunchShortcut.java

@@ -3,6 +3,7 @@ package edu.wpi.first.wpilib.plugins.cpp.launching;
 import java.util.ArrayList;
 import java.util.Collection;
 import java.util.List;
+import java.io.File;
 
 import org.eclipse.cdt.debug.core.ICDTLaunchConfigurationConstants;
 import org.eclipse.cdt.debug.core.executables.Executable;
@@ -28,12 +29,13 @@ import org.eclipse.ui.PlatformUI;
 
 import edu.wpi.first.wpilib.plugins.core.WPILibCore;
 import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
+import edu.wpi.first.wpilib.plugins.core.launching.AntLauncher;
 
 /**
  * Launch shortcut base functionality, common for deploying to the robot.
  * Retrieves the project the operation is being called on, and runs the correct
  * ant targets based on polymorphically determined data values
- * 
+ *
  * @author Ryan O'Meara
  * @author Alex Henning
  */
@@ -46,7 +48,7 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 	/**
 	 * Returns the launch type of the shortcut that was used, one of the
 	 * constants defined in BaseLaunchShortcut
-	 * 
+	 *
 	 * @return Launch shortcut type
 	 */
 	public String getLaunchType()
@@ -91,7 +93,7 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 	}
 	
 	/**
-	 * 
+	 *
 	 * @param activeProj
 	 *            The project that the script will be run on/from
 	 * @param mode
@@ -99,23 +101,34 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 	 *            ILaunchManager.DEBUG_MODE)
 	 */
 	public void runConfig(IProject activeProj, String mode, Shell shell) {
-        // TODO: figure out UI issues. that's why this is undocumented
-		ILaunchConfigurationWorkingCopy config;
-		try {
-			config = getRemoteDebugConfig(activeProj);
-			//config.doSave(); // NOTE: For debugging
-			//org.eclipse.debug.core.DebugPlugin.getDefault().getLaunchManager().addLaunch(config.launch(mode, null));
-			//THIS IS MADDENING! we want to add to the recent history, but I can't seem to find a public api to do so, so lets just launch the config dialog
-			//DebugUITools.openLaunchConfigurationPropertiesDialog(shell, config, "org.eclipse.cdt.launch.launchGroup");
-			//config.launch(mode, new NullProgressMonitor(), false, true);
-			DebugUITools.launch(config, mode);
-		} catch (CoreException e) {
-			WPILibCPPPlugin.logError("Debug attach failed.", e);
+		if(mode.equals(ILaunchManager.RUN_MODE)) {
+			// Regular deploys are done with an ant script for now, for both
+			// C++ and Java.
+			WPILibCPPPlugin.logInfo("Running ant file: " + activeProj.getLocation().toOSString() + File.separator + "build.xml");
+			WPILibCPPPlugin.logInfo("Targets: deploy, Mode: " + mode);
+			AntLauncher.runAntFile(new File (activeProj.getLocation().toOSString() + File.separator + "build.xml"), "deploy", null, mode);
+		} else {
+			// Debug deploys are done with the Eclipse Remote System Explorer,
+			// which lets it work with Eclipse's C++ debugger.
+			
+			// TODO: figure out UI issues. that's why this is undocumented
+			ILaunchConfigurationWorkingCopy config;
+			try {
+				config = getRemoteDebugConfig(activeProj);
+				//config.doSave(); // NOTE: For debugging
+				//org.eclipse.debug.core.DebugPlugin.getDefault().getLaunchManager().addLaunch(config.launch(mode, null));
+				//THIS IS MADDENING! we want to add to the recent history, but I can't seem to find a public api to do so, so lets just launch the config dialog
+				//DebugUITools.openLaunchConfigurationPropertiesDialog(shell, config, "org.eclipse.cdt.launch.launchGroup");
+				//config.launch(mode, new NullProgressMonitor(), false, true);
+				DebugUITools.launch(config, mode);
+			} catch (CoreException e) {
+				WPILibCPPPlugin.logError("Debug attach failed.", e);
+			}
+			
+			try {
+				activeProj.refreshLocal(Resource.DEPTH_INFINITE, null);
+			} catch (Exception e) {}
 		}
-		
-		try {
-			activeProj.refreshLocal(Resource.DEPTH_INFINITE, null);
-		} catch (Exception e) {}
 	}
 	
 	private ILaunchConfigurationWorkingCopy getRemoteDebugConfig(IProject activeProj) throws CoreException
@@ -128,7 +141,7 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 		ILaunchConfigurationWorkingCopy config = type.newInstance(null, activeProj.getName());
 		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_PROJECT_NAME, activeProj.getName());
 		Collection<Executable> exes = ExecutablesManager.getExecutablesManager().getExecutablesForProject(activeProj);
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_PROGRAM_NAME, 
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_PROGRAM_NAME,
 				exes.size() > 0 ? exes.toArray(new Executable[0])[0].getPath().makeRelativeTo(activeProj.getLocation()).toString():
 			 "Debug/FRCUserProgram");
 		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_REMOTE_PATH, "/home/admin/FRCUserProgram");

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/resources/cpp-zip/ant/build.xml

@@ -2,10 +2,6 @@
 
 <project name="athena-project-build" default="deploy">
   
-  <property file="${wpilib.ant.dir}/../so.properties"/>
-  <property name="opkg.name" value="wpilib" />
-  <property name="opkg.arch" value="armv7a-vfp" />
-  
   <!-- Load Tasks -->
   <taskdef resource="net/sf/antcontrib/antlib.xml">
     <classpath>
@@ -31,99 +27,28 @@
   
   <target name="deploy" depends="get-target-ip" description="Deploy the progam and start it running.">
     <sshexec host="${target}"
-	     username="${username}"
-	     password="${password}"
-	     trust="true"
-	     command="rm ${deploy.dir}/FRCUserProgram" />
+         username="${username}"
+         password="${password}"
+         trust="true"
+         failonerror="no"
+         command="rm ${deploy.dir}/FRCUserProgram" />
+    
     <echo>[athena-deploy] Copying code over.</echo>
-    <scp file="${out.exe}" sftp="true" todir="${username}@${target}:${deploy.dir}"
-	 password="${password}" trust="true"/>
-    <sshexec host="${target}"
-	     username="${username}"
-	     password="${password}"
-	     trust="true"
-	     command="opkg info wpilib |grep Version | awk '{printf $2}'"
-	     outputproperty="installedWpilibSo"/>
-	<if>
-		<equals arg1="${installedWpilibSo}" arg2="${cpp-sos}" />
-		<then>
-		
-	<echo>Found version of WPILib: ${installedWpilibSo} (latest)</echo>
-		</then>
-		<else>
-	<echo>Found version of WPILib: ${installedWpilibSo}</echo>
-			<echo>Upgrading WPILib to ${cpp-sos}...</echo>
-			<delete>
-			    <fileset dir="${wpilib.ant.dir}">
-			    	<include name="data.tar*" />
-			    	<include name="control*" />
-			    	<include name="post*" />
-			    	<include name="md5sums" />
-			    	<include name="*.deb" />
-			    </fileset>
-			</delete>
-			<tar destfile="${wpilib.ant.dir}/data.tar">
-				<tarfileset dir="${wpilib.ant.dir}/../lib"  username="root" group="admin" uid="0" gid="0"
-							prefix="usr/local/frc/lib">
-					 	<include name="libWPILibAthena.so" />
-					 	<include name="libNetworkTables.so" />
-					 	<include name="libHALAthena.so" />
-				</tarfileset>
-			</tar>
-			<gzip destfile="${wpilib.ant.dir}/data.tar.gz" src="${wpilib.ant.dir}/data.tar"/>
-			<echo file="${wpilib.ant.dir}/debian-binary">2.0</echo>
-			<echo file="${wpilib.ant.dir}/control">Package: ${opkg.name}
-Version: ${cpp-sos}
-Section: devel
-Priority: optional
-Architecture: ${opkg.arch}
-Depends: libc6 (>= 2.11.1-r7), libgcc1 (>= 4.4.1)
-Maintainer: Brad Miller &gt;bamiller@wpi.edu&lt;
-Description: WPILib, NetworkTables and HAL for RoboRIO target
- .
- This package contains the shared objects for WPILib, NetworkTables, and HAL for the 2015 target on the RoboRIO
-</echo>
-			<echo file="${wpilib.ant.dir}/postinst">#!/bin/sh
-ldconfig
-</echo>
-			<echo file="${wpilib.ant.dir}/postrm">#!/bin/sh
-ldconfig
-</echo>
-			<checksum property="md5.wpilib" format="MD5SUM" file="${wpilib.ant.dir}/../lib/libWPILibAthena.so" />
-			<checksum property="md5.nwt" format="MD5SUM" file="${wpilib.ant.dir}/../lib/libNetworkTables.so" />
-			<checksum property="md5.hal" format="MD5SUM" file="${wpilib.ant.dir}/../lib/libHALAthena.so" />
-			<echo file="${wpilib.ant.dir}/md5sums">${md5.wpilib} usr/local/frc/lib/libWPILibAthena.so
-${md5.nwt} usr/local/frc/lib/libNetworkTables.so
-${md5.hal} usr/local/frc/lib/libHALAthena.so</echo>
-<tar destfile="${wpilib.ant.dir}/control.tar">
-				<tarfileset dir="${wpilib.ant.dir}" username="root" group="admin" uid="0" gid="0"
-							prefix="">
-					 	<include name="control" />
-					 	<include name="md5sums" />
-				</tarfileset>
-				<tarfileset dir="${wpilib.ant.dir}" filemode="755"  username="root" group="admin" uid="0" gid="0"
-							prefix="">
-					 	<include name="postinst" />
-					 	<include name="postrm" />
-				</tarfileset>
-			</tar>
-			<gzip destfile="${wpilib.ant.dir}/control.tar.gz" src="${wpilib.ant.dir}/control.tar"/>
-			<exec command="${wpilib.ant.dir}\..\..\..\toolchains\arm-none-linux-gnueabi-4.4.1\bin\arm-none-linux-gnueabi-ar -r ${opkg.name}_${cpp-sos}_${opkg.arch}.deb debian-binary control.tar.gz data.tar.gz" dir="${wpilib.ant.dir}"/>
-		    <scp file="${wpilib.ant.dir}/${opkg.name}_${cpp-sos}_${opkg.arch}.deb" todir="${username}@${target}:/tmp"
-				 password="${password}" trust="true"/>
-			<sshexec host="${target}"
-				 username="${username}"
-				 password="${password}"
-				 trust="true"
-				 command="opkg install /tmp/${opkg.name}_${cpp-sos}_${opkg.arch}.deb; sh -c 'rm -rf /tmp/wpilib*.deb'"/>
-		</else>
-	</if>
+    <scp file="${out.exe}" sftp="true" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
+    <scp file="${wpilib.ant.dir}/robotCommand" todir="${username}@${target}:/home/lvuser/" password="${password}" trust="true"/>
+    
     <echo>[athena-deploy] Starting program.</echo>
     <sshexec host="${target}"
-	     username="${username}"
-	     password="${password}"
-	     trust="true"
-	     command="chmod +x ${deploy.dir}/FRCUserProgram; ${deploy.dir}/FRCUserProgram"/>
+       username="${username}"
+       password="${password}"
+       trust="true"
+       command=". /etc/profile.d/natinst-path.sh; chmod a+x ${deploy.dir}/${out}; ${deploy.kill.command};"/>
+
+    <sshexec host="${target}"
+       username="${username}"
+       password="${password}"
+       trust="true"
+       command="tail -f -s 0 -n 1 ${deploy.log.file}"/>
   </target>
 
   <target name="debug-deploy" depends="get-target-ip" description="Deploy the jar and start the program running in debug mode.">
@@ -171,4 +96,4 @@ ${md5.hal} usr/local/frc/lib/libHALAthena.so</echo>
       </sequential>
     </parallel>
   </target>
-</project> 
+</project>

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/resources/cpp-zip/ant/robotCommand

@@ -0,0 +1 @@
+/home/admin/FRCUserProgram