Add roboRIO Team Number Setter tool (#3744)

roborioteamnumbersetter/.styleguide

@@ -0,0 +1,28 @@
+cppHeaderFileInclude {
+  \.h$
+  \.inc$
+  \.inl$
+}
+
+cppSrcFileInclude {
+  \.cpp$
+}
+
+generatedFileExclude {
+  src/main/native/resources/
+  src/main/native/win/roborioteamnumbersetter.ico
+  src/main/native/mac/rtns.icns
+}
+
+repoRootNameOverride {
+  roborioteamnumbersetter
+}
+
+includeOtherLibs {
+  ^GLFW
+  ^fmt/
+  ^imgui
+  ^ntcore
+  ^wpi/
+  ^wpigui
+}

roborioteamnumbersetter/Info.plist

@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleName</key>
+	<string>roboRIOTeamNumberSetter</string>
+	<key>CFBundleExecutable</key>
+	<string>roborioteamnumbersetter</string>
+	<key>CFBundleDisplayName</key>
+	<string>roboRIOTeamNumberSetter</string>
+	<key>CFBundleIdentifier</key>
+	<string>edu.wpi.first.tools.roboRIOTeamNumberSetter</string>
+	<key>CFBundleIconFile</key>
+	<string>ov.icns</string>
+	<key>CFBundlePackageType</key>
+	<string>APPL</string>
+	<key>CFBundleSupportedPlatforms</key>
+	<array>
+		<string>MacOSX</string>
+	</array>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleShortVersionString</key>
+	<string>2021</string>
+	<key>CFBundleVersion</key>
+	<string>2021</string>
+	<key>LSMinimumSystemVersion</key>
+	<string>10.11</string>
+	<key>NSHighResolutionCapable</key>
+	<true/>
+</dict>
+</plist>

roborioteamnumbersetter/build.gradle

@@ -0,0 +1,134 @@
+import org.gradle.internal.os.OperatingSystem
+
+if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+
+    description = "roboRIO Team Number Setter"
+
+    apply plugin: 'cpp'
+    apply plugin: 'c'
+    apply plugin: 'google-test-test-suite'
+    apply plugin: 'visual-studio'
+    apply plugin: 'edu.wpi.first.NativeUtils'
+
+    if (OperatingSystem.current().isWindows()) {
+        apply plugin: 'windows-resources'
+    }
+
+    ext {
+        nativeName = 'roborioteamnumbersetter'
+    }
+
+    apply from: "${rootDir}/shared/resources.gradle"
+    apply from: "${rootDir}/shared/config.gradle"
+
+    def wpilibVersionFileInput = file("src/main/generate/WPILibVersion.cpp.in")
+    def wpilibVersionFileOutput = file("$buildDir/generated/main/cpp/WPILibVersion.cpp")
+
+    nativeUtils {
+        nativeDependencyContainer {
+            libssh(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
+                groupId = "edu.wpi.first.thirdparty.frc2022"
+                artifactId = "libssh"
+                headerClassifier = "headers"
+                sourceClassifier = "sources"
+                ext = "zip"
+                version = '0.95-1'
+                targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
+            }
+        }
+    }
+
+    task generateCppVersion() {
+        description = 'Generates the wpilib version class'
+        group = 'WPILib'
+
+        outputs.file wpilibVersionFileOutput
+        inputs.file wpilibVersionFileInput
+
+        if (wpilibVersioning.releaseMode) {
+            outputs.upToDateWhen { false }
+        }
+
+        // We follow a simple set of checks to determine whether we should generate a new version file:
+        // 1. If the release type is not development, we generate a new version file
+        // 2. If there is no generated version number, we generate a new version file
+        // 3. If there is a generated build number, and the release type is development, then we will
+        //    only generate if the publish task is run.
+        doLast {
+            def version = wpilibVersioning.version.get()
+            println "Writing version ${version} to $wpilibVersionFileOutput"
+
+            if (wpilibVersionFileOutput.exists()) {
+                wpilibVersionFileOutput.delete()
+            }
+            def read = wpilibVersionFileInput.text.replace('${wpilib_version}', version)
+            wpilibVersionFileOutput.write(read)
+        }
+    }
+
+    gradle.taskGraph.addTaskExecutionGraphListener { graph ->
+        def willPublish = graph.hasTask(publish)
+        if (willPublish) {
+            generateCppVersion.outputs.upToDateWhen { false }
+        }
+    }
+
+    def generateTask = createGenerateResourcesTask('main', 'RTNS', 'rtns', project)
+
+    project(':').libraryBuild.dependsOn build
+    tasks.withType(CppCompile) {
+        dependsOn generateTask
+        dependsOn generateCppVersion
+    }
+
+    model {
+        components {
+            // By default, a development executable will be generated. This is to help the case of
+            // testing specific functionality of the library.
+            "${nativeName}"(NativeExecutableSpec) {
+                baseName = 'roborioteamnumbersetter'
+                sources {
+                    cpp {
+                        source {
+                            srcDirs 'src/main/native/cpp', "$buildDir/generated/main/cpp"
+                            include '**/*.cpp'
+                        }
+                        exportedHeaders {
+                            srcDirs 'src/main/native/include'
+                        }
+                    }
+                    if (OperatingSystem.current().isWindows()) {
+                        rc {
+                            source {
+                                srcDirs 'src/main/native/win'
+                                include '*.rc'
+                            }
+                        }
+                    }
+                }
+                binaries.all {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+                        it.buildable = false
+                        return
+                    }
+                    it.cppCompiler.define("LIBSSH_STATIC")
+                    lib project: ':glass', library: 'glass', linkage: 'static'
+                    lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
+                    lib project: ':wpigui', library: 'wpigui', linkage: 'static'
+                    nativeUtils.useRequiredLibrary(it, 'imgui_static', 'libssh')
+                    if (it.targetPlatform.operatingSystem.isWindows()) {
+                        it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
+                        it.linker.args << 'ws2_32.lib' << 'advapi32.lib' << 'crypt32.lib' << 'user32.lib'
+                    } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
+                        it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
+                        it.linker.args << '-framework' << 'Kerberos'
+                    } else {
+                        it.linker.args << '-lX11'
+                    }
+                }
+            }
+        }
+    }
+
+    apply from: 'publish.gradle'
+}

roborioteamnumbersetter/publish.gradle

@@ -0,0 +1,107 @@
+apply plugin: 'maven-publish'
+
+def baseArtifactId = 'roboRIOTeamNumberSetter'
+def artifactGroupId = 'edu.wpi.first.tools'
+def zipBaseName = '_GROUP_edu_wpi_first_tools_ID_roboRIOTeamNumberSetter_CLS'
+
+def outputsFolder = file("$project.buildDir/outputs")
+
+model {
+    tasks {
+        // Create the run task.
+        $.components.roborioteamnumbersetter.binaries.each { bin ->
+            if (bin.buildable && bin.name.toLowerCase().contains("debug")) {
+                Task run = project.tasks.create("run", Exec) {
+                    commandLine bin.tasks.install.runScriptFile.get().asFile.toString()
+                }
+                run.dependsOn bin.tasks.install
+            }
+        }
+    }
+    publishing {
+        def roboRIOTeamNumberSetterTaskList = []
+        $.components.each { component ->
+            component.binaries.each { binary ->
+                if (binary in NativeExecutableBinarySpec && binary.component.name.contains("roborioteamnumbersetter")) {
+                    if (binary.buildable && binary.name.contains("Release")) {
+                        // We are now in the binary that we want.
+                        // This is the default application path for the ZIP task.
+                        def applicationPath = binary.executable.file
+                        def icon = file("$project.projectDir/src/main/native/mac/rtns.icns")
+
+                        // Create the macOS bundle.
+                        def bundleTask = project.tasks.create("bundleroboRIOTeamNumberSetterOsxApp", Copy) {
+                            description("Creates a macOS application bundle for roboRIO Team Number Setter")
+                            from(file("$project.projectDir/Info.plist"))
+                            into(file("$project.buildDir/outputs/bundles/roboRIOTeamNumberSetter.app/Contents"))
+                            into("MacOS") { with copySpec { from binary.executable.file } }
+                            into("Resources") { with copySpec { from icon } }
+
+                            doLast {
+                                if (project.hasProperty("developerID")) {
+                                    // Get path to binary.
+                                    exec {
+                                        workingDir rootDir
+                                        def args = [
+                                            "sh",
+                                            "-c",
+                                            "codesign --force --strict --deep " +
+                                            "--timestamp --options=runtime " +
+                                            "--verbose -s ${project.findProperty("developerID")} " +
+                                            "$project.buildDir/outputs/bundles/roboRIOTeamNumberSetter.app/"
+                                        ]
+                                        commandLine args
+                                    }
+                                }
+                            }
+                        }
+
+                        // Reset the application path if we are creating a bundle.
+                        if (binary.targetPlatform.operatingSystem.isMacOsX()) {
+                            applicationPath = file("$project.buildDir/outputs/bundles")
+                            project.build.dependsOn bundleTask
+                        }
+
+                        // Create the ZIP.
+                        def task = project.tasks.create("copyroboRIOTeamNumberSetterExecutable", Zip) {
+                            description("Copies the roboRIOTeamNumberSetter executable to the outputs directory.")
+                            destinationDirectory = outputsFolder
+
+                            archiveBaseName = '_M_' + zipBaseName
+                            duplicatesStrategy = 'exclude'
+                            classifier = nativeUtils.getPublishClassifier(binary)
+
+                            from(licenseFile) {
+                                into '/'
+                            }
+
+                            from(applicationPath)
+                            into(nativeUtils.getPlatformPath(binary))
+                        }
+
+                        if (binary.targetPlatform.operatingSystem.isMacOsX()) {
+                            bundleTask.dependsOn binary.tasks.link
+                            task.dependsOn(bundleTask)
+                        }
+
+                        task.dependsOn binary.tasks.link
+                        roboRIOTeamNumberSetterTaskList.add(task)
+                        project.build.dependsOn task
+                        project.artifacts { task }
+                        addTaskToCopyAllOutputs(task)
+                    }
+                }
+            }
+        }
+
+        publications {
+            roborioteamnumbersetter(MavenPublication) {
+                roboRIOTeamNumberSetterTaskList.each { artifact it }
+
+                artifactId = baseArtifactId
+                groupId = artifactGroupId
+                version wpilibVersioning.version.get()
+            }
+        }
+    }
+}

roborioteamnumbersetter/src/main/generate/WPILibVersion.cpp.in

@@ -0,0 +1,7 @@
+/*
+ * Autogenerated file! Do not manually edit this file. This version is regenerated
+ * any time the publish task is run, or when this file is deleted.
+ */
+const char* GetWPILibVersion() {
+  return "${wpilib_version}";
+}

roborioteamnumbersetter/src/main/native/cpp/App.cpp

@@ -0,0 +1,265 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <memory>
+#include <string_view>
+
+#ifndef _WIN32
+#include <arpa/inet.h>
+#endif
+
+#include <fmt/format.h>
+#include <glass/MainMenuBar.h>
+#include <glass/Context.h>
+#include <glass/Storage.h>
+#include <glass/Window.h>
+#include <glass/WindowManager.h>
+#include <glass/other/Log.h>
+#include <imgui.h>
+#include <libssh/libssh.h>
+#include <wpi/Logger.h>
+#include <wpi/fs.h>
+#include <wpigui.h>
+#include <unordered_map>
+#include <mutex>
+#include "wpi/SmallString.h"
+#include "DeploySession.h"
+#include "wpi/MulticastServiceResolver.h"
+
+namespace gui = wpi::gui;
+
+const char* GetWPILibVersion();
+
+#define GLFWAPI extern "C"
+GLFWAPI void glfwGetWindowSize(GLFWwindow* window, int* width, int* height);
+#define GLFW_DONT_CARE -1
+GLFWAPI void glfwSetWindowSizeLimits(GLFWwindow* window, int minwidth,
+                                     int minheight, int maxwidth,
+                                     int maxheight);
+GLFWAPI void glfwSetWindowSize(GLFWwindow* window, int width, int height);
+
+struct TeamNumberRefHolder {
+  explicit TeamNumberRefHolder(glass::Storage& storage)
+      : teamNumber{storage.GetInt("TeamNumber", 0)} {}
+  int& teamNumber;
+};
+
+static std::unique_ptr<TeamNumberRefHolder> teamNumberRef;
+static std::unordered_map<std::string, std::pair<unsigned int, std::string>>
+    foundDevices;
+static wpi::Logger logger;
+static sysid::DeploySession deploySession{logger};
+static std::unique_ptr<wpi::MulticastServiceResolver> multicastResolver;
+static glass::MainMenuBar gMainMenu;
+
+static void FindDevices() {
+  WPI_EventHandle resolveEvent = multicastResolver->GetEventHandle();
+
+  bool timedOut = 0;
+  if (wpi::WaitForObject(resolveEvent, 0, &timedOut)) {
+    auto allData = multicastResolver->GetData();
+
+    for (auto&& data : allData) {
+      // search for MAC
+      auto macKey =
+          std::find_if(data.txt.begin(), data.txt.end(),
+                       [](const auto& a) { return a.first == "MAC"; });
+      if (macKey != data.txt.end()) {
+        auto& mac = macKey->second;
+        foundDevices[mac] = std::make_pair(data.ipv4Address, data.hostName);
+      }
+    }
+  }
+}
+
+static int minWidth = 400;
+
+static void DisplayGui() {
+  int& teamNumber = teamNumberRef->teamNumber;
+  FindDevices();
+
+  ImGui::GetStyle().WindowRounding = 0;
+
+  // fill entire OS window with this window
+  ImGui::SetNextWindowPos(ImVec2(0, 0));
+  int width, height;
+  glfwGetWindowSize(gui::GetSystemWindow(), &width, &height);
+
+  ImGui::SetNextWindowSize(ImVec2(width, height));
+
+  ImGui::Begin("Entries", nullptr,
+               ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_MenuBar |
+                   ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoMove |
+                   ImGuiWindowFlags_NoCollapse);
+
+  ImGui::BeginMenuBar();
+  gMainMenu.WorkspaceMenu();
+  gui::EmitViewMenu();
+
+  bool about = false;
+  if (ImGui::BeginMenu("Info")) {
+    if (ImGui::MenuItem("About")) {
+      about = true;
+    }
+    ImGui::EndMenu();
+  }
+  ImGui::EndMenuBar();
+
+  if (about) {
+    ImGui::OpenPopup("About");
+  }
+  if (ImGui::BeginPopupModal("About")) {
+    ImGui::Text("roboRIO Team Number Setter");
+    ImGui::Separator();
+    ImGui::Text("v%s", GetWPILibVersion());
+    ImGui::Separator();
+    ImGui::Text("Has mDNS Implementation: %d",
+                static_cast<int>(multicastResolver->HasImplementation()));
+    ImGui::Separator();
+    ImGui::Text("Save location: %s", glass::GetStorageDir().c_str());
+    if (ImGui::Button("Close")) {
+      ImGui::CloseCurrentPopup();
+    }
+    ImGui::EndPopup();
+  }
+
+  if (multicastResolver->HasImplementation()) {
+    ImGui::InputInt("Team Number", &teamNumber);
+
+    if (teamNumber < 0) {
+      teamNumber = 0;
+    }
+
+    int nameWidth = ImGui::CalcTextSize("roboRIO2-0000-FRC.local. ").x;
+    int macWidth = ImGui::CalcTextSize("88:88:88:88:88:88").x;
+    int ipAddressWidth = ImGui::CalcTextSize("255.255.255.255").x;
+    int setWidth = ImGui::CalcTextSize(" Set Team To 99999 ").x;
+    int blinkWidth = ImGui::CalcTextSize(" Blink ").x;
+    int rebootWidth = ImGui::CalcTextSize(" Reboot ").x;
+
+    minWidth = nameWidth + macWidth + ipAddressWidth + setWidth + blinkWidth +
+               rebootWidth + 100;
+
+    std::string setString = fmt::format("Set team to {}", teamNumber);
+
+    if (ImGui::BeginTable("Table", 6)) {
+      ImGui::TableSetupColumn(
+          "Name",
+          ImGuiTableColumnFlags_NoResize | ImGuiTableColumnFlags_WidthFixed,
+          nameWidth);
+      ImGui::TableSetupColumn(
+          "MAC Address",
+          ImGuiTableColumnFlags_NoResize | ImGuiTableColumnFlags_WidthFixed,
+          macWidth);
+      ImGui::TableSetupColumn(
+          "IP Address",
+          ImGuiTableColumnFlags_NoResize | ImGuiTableColumnFlags_WidthFixed,
+          ipAddressWidth);
+      ImGui::TableSetupColumn(
+          "Set",
+          ImGuiTableColumnFlags_NoResize | ImGuiTableColumnFlags_WidthFixed,
+          setWidth);
+      ImGui::TableSetupColumn(
+          "Blink",
+          ImGuiTableColumnFlags_NoResize | ImGuiTableColumnFlags_WidthFixed,
+          blinkWidth);
+      ImGui::TableSetupColumn(
+          "Reboot",
+          ImGuiTableColumnFlags_NoResize | ImGuiTableColumnFlags_WidthFixed,
+          rebootWidth);
+      ImGui::TableHeadersRow();
+
+      for (auto&& i : foundDevices) {
+        ImGui::TableNextRow();
+        ImGui::TableNextColumn();
+        ImGui::Text("%s", i.second.second.c_str());
+        ImGui::TableNextColumn();
+        ImGui::Text("%s", i.first.c_str());
+        ImGui::TableNextColumn();
+        struct in_addr in;
+        in.s_addr = i.second.first;
+        ImGui::Text("%s", inet_ntoa(in));
+        ImGui::TableNextColumn();
+        std::future<int>* future = deploySession.GetFuture(i.first);
+        ImGui::PushID(i.first.c_str());
+        if (future) {
+          ImGui::Button("Deploying");
+          ImGui::TableNextColumn();
+          ImGui::TableNextColumn();
+          const auto fs = future->wait_for(std::chrono::seconds(0));
+          if (fs == std::future_status::ready) {
+            deploySession.DestroyFuture(i.first);
+          }
+        } else {
+          if (ImGui::Button(setString.c_str())) {
+            deploySession.ChangeTeamNumber(i.first, teamNumber, i.second.first);
+          }
+          ImGui::TableNextColumn();
+          if (ImGui::Button("Blink")) {
+            deploySession.Blink(i.first, i.second.first);
+          }
+          ImGui::TableNextColumn();
+          if (ImGui::Button("Reboot")) {
+            deploySession.Reboot(i.first, i.second.first);
+          }
+        }
+        ImGui::PopID();
+      }
+
+      ImGui::EndTable();
+    }
+
+    ImGui::Columns(6, "Devices");
+
+    // TODO make columns better
+  } else {
+    // Missing MDNS Implementation
+    ImGui::Text("mDNS Implementation is missing.");
+#ifdef _WIN32
+    ImGui::Text("Windows 10 1809 or newer is required for this tool");
+#else
+    ImGui::Text("avahi-client 3 and avahi-core 3 are required for this tool");
+    ImGui::Text(
+        "Install libavahi-client3 and libavahi-core3 from your package "
+        "manager");
+#endif
+  }
+  ImGui::Columns();
+  ImGui::End();
+
+  glfwSetWindowSizeLimits(gui::GetSystemWindow(), minWidth, 200, GLFW_DONT_CARE,
+                          GLFW_DONT_CARE);
+  if (width < minWidth) {
+    width = minWidth;
+    glfwSetWindowSize(gui::GetSystemWindow(), width, height);
+  }
+}
+
+void Application(std::string_view saveDir) {
+  gui::CreateContext();
+  glass::CreateContext();
+
+  glass::SetStorageName("roborioteamnumbersetter");
+  glass::SetStorageDir(saveDir.empty() ? gui::GetPlatformSaveFileDir()
+                                       : saveDir);
+
+  ssh_init();
+
+  teamNumberRef =
+      std::make_unique<TeamNumberRefHolder>(glass::GetStorageRoot());
+
+  multicastResolver =
+      std::make_unique<wpi::MulticastServiceResolver>("_ni._tcp");
+  multicastResolver->Start();
+
+  gui::AddLateExecute(DisplayGui);
+  gui::Initialize("roboRIO Team Number Setter", 600, 400);
+
+  gui::Main();
+  multicastResolver->Stop();
+  multicastResolver = nullptr;
+
+  glass::DestroyContext();
+  gui::DestroyContext();
+}

roborioteamnumbersetter/src/main/native/cpp/DeploySession.cpp

@@ -0,0 +1,186 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "DeploySession.h"
+
+#include <memory>
+#include <mutex>
+#include <string_view>
+#include <unordered_map>
+
+#include <fmt/core.h>
+#include <wpi/SmallString.h>
+#include <wpi/StringExtras.h>
+#include <wpi/uv/Error.h>
+#include <wpi/uv/GetAddrInfo.h>
+#include <wpi/uv/Work.h>
+#include <wpi/uv/util.h>
+
+#include "SshSession.h"
+
+using namespace sysid;
+
+#ifdef ERROR
+#undef ERROR
+#endif
+
+// Macros to make logging easier.
+#define INFO(fmt, ...) WPI_INFO(m_logger, fmt, __VA_ARGS__)
+#define DEBUG(fmt, ...) WPI_DEBUG(m_logger, fmt, __VA_ARGS__)
+#define ERROR(fmt, ...) WPI_DEBUG(m_logger, fmt, __VA_ARGS__)
+#define SUCCESS(fmt, ...) WPI_LOG(m_logger, kLogSuccess, fmt, __VA_ARGS__)
+
+// roboRIO SSH constants.
+static constexpr int kPort = 22;
+static constexpr std::string_view kUsername = "admin";
+static constexpr std::string_view kPassword = "";
+
+std::unordered_map<std::string, std::future<int>> s_outstanding;
+
+DeploySession::DeploySession(wpi::Logger& logger) : m_logger{logger} {}
+
+template <typename T>
+struct SafeDeleter {
+  explicit SafeDeleter(T d) : deleter(d) {}
+  ~SafeDeleter() noexcept { deleter(); }
+  T deleter;
+};
+
+std::future<int>* DeploySession::GetFuture(const std::string& macAddress) {
+  auto itr = s_outstanding.find(macAddress);
+  if (itr == s_outstanding.end()) {
+    return nullptr;
+  }
+  return &itr->second;
+}
+
+void DeploySession::DestroyFuture(const std::string& macAddress) {
+  s_outstanding.erase(macAddress);
+}
+
+bool DeploySession::ChangeTeamNumber(const std::string& macAddress,
+                                     int teamNumber, unsigned int ipAddress) {
+  auto itr = s_outstanding.find(macAddress);
+  if (itr != s_outstanding.end()) {
+    return false;
+  }
+
+  std::future<int> future = std::async(
+      std::launch::async, [this, ipAddress, teamNumber, mac = macAddress]() {
+        //  Convert to IP address.
+        wpi::SmallString<16> ip;
+        in_addr addr;
+        addr.s_addr = ipAddress;
+        wpi::uv::AddrToName(addr, &ip);
+        DEBUG("Trying to establish SSH connection to {}.", ip);
+        try {
+          SshSession session{ip.str(), kPort, kUsername, kPassword, m_logger};
+          session.Open();
+          DEBUG("SSH connection to {} was successful.", ip);
+
+          SUCCESS("{}", "roboRIO Connected!");
+
+          try {
+            session.Execute(fmt::format(
+                "/usr/local/natinst/bin/nirtcfg "
+                "--file=/etc/natinst/share/ni-rt.ini --set "
+                "section=systemsettings,token=host_name,value=roborio-{"
+                "}-FRC ; sync",
+                teamNumber));
+          } catch (const SshSession::SshException& e) {
+            ERROR("An exception occurred: {}", e.what());
+            throw e;
+          }
+        } catch (const SshSession::SshException& e) {
+          DEBUG("SSH connection to {} failed with {}.", ip, e.what());
+          throw e;
+        }
+        return 0;
+      });
+
+  s_outstanding[macAddress] = std::move(future);
+  return true;
+}
+
+bool DeploySession::Reboot(const std::string& macAddress,
+                           unsigned int ipAddress) {
+  auto itr = s_outstanding.find(macAddress);
+  if (itr != s_outstanding.end()) {
+    return false;
+  }
+
+  std::future<int> future =
+      std::async(std::launch::async, [this, ipAddress, mac = macAddress]() {
+        //  Convert to IP address.
+        wpi::SmallString<16> ip;
+        in_addr addr;
+        addr.s_addr = ipAddress;
+        wpi::uv::AddrToName(addr, &ip);
+        DEBUG("Trying to establish SSH connection to {}.", ip);
+        try {
+          SshSession session{ip.str(), kPort, kUsername, kPassword, m_logger};
+          session.Open();
+          DEBUG("SSH connection to {} was successful.", ip);
+
+          SUCCESS("{}", "roboRIO Connected!");
+
+          try {
+            session.Execute(fmt::format("sync ; shutdown -r now"));
+          } catch (const SshSession::SshException& e) {
+            ERROR("An exception occurred: {}", e.what());
+            throw e;
+          }
+        } catch (const SshSession::SshException& e) {
+          DEBUG("SSH connection to {} failed with {}.", ip, e.what());
+          throw e;
+        }
+        return 0;
+      });
+
+  s_outstanding[macAddress] = std::move(future);
+  return true;
+}
+
+bool DeploySession::Blink(const std::string& macAddress,
+                          unsigned int ipAddress) {
+  auto itr = s_outstanding.find(macAddress);
+  if (itr != s_outstanding.end()) {
+    return false;
+  }
+
+  std::future<int> future =
+      std::async(std::launch::async, [this, ipAddress, mac = macAddress]() {
+        //  Convert to IP address.
+        wpi::SmallString<16> ip;
+        in_addr addr;
+        addr.s_addr = ipAddress;
+        wpi::uv::AddrToName(addr, &ip);
+        DEBUG("Trying to establish SSH connection to {}.", ip);
+        try {
+          SshSession session{ip.str(), kPort, kUsername, kPassword, m_logger};
+          session.Open();
+          DEBUG("SSH connection to {} was successful.", ip);
+
+          SUCCESS("{}", "roboRIO Connected!");
+
+          try {
+            session.Execute(fmt::format(
+                "for i in 1 2 3 4 5  ;  do ` echo 255 > "
+                "/sys/class/leds/nilrt:wifi:primary/brightness; sleep 0.5; "
+                "echo 0 > /sys/class/leds/nilrt:wifi:primary/brightness; sleep "
+                "0.5 ` ; done"));
+          } catch (const SshSession::SshException& e) {
+            ERROR("An exception occurred: {}", e.what());
+            throw e;
+          }
+        } catch (const SshSession::SshException& e) {
+          DEBUG("SSH connection to {} failed with {}.", ip, e.what());
+          throw e;
+        }
+        return 0;
+      });
+
+  s_outstanding[macAddress] = std::move(future);
+  return true;
+}

roborioteamnumbersetter/src/main/native/cpp/DeploySession.h

@@ -0,0 +1,70 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <atomic>
+#include <future>
+#include <memory>
+#include <optional>
+#include <string>
+#include <vector>
+
+#include <wpi/Logger.h>
+
+namespace sysid {
+// Define an integer for a successful message in the log (shown in green on the
+// GUI).
+static constexpr unsigned int kLogSuccess = 31;
+
+/**
+ * Represents a single deploy session.
+ *
+ * An instance of this class must be kept alive in memory until GetStatus()
+ * returns kDiscoveryFailure or kDone. Otherwise, the deploy will fail!
+ */
+class DeploySession {
+ public:
+  /** Represents the status of the deploy session. */
+  enum class Status { kInProgress, kDiscoveryFailure, kDone };
+
+  /**
+   * Constructs an instance of the deploy session.
+   *
+   * @param team   The team number (or an IP address/hostname).
+   * @param drive  Whether the drive program should be deployed to the roboRIO.
+   *               If this is set to false, the mechanism project will be
+   *               deployed.
+   * @param config The generation configuration file to be sent to the roboRIO.
+   * @param logger A reference to a logger where log messages should be sent.
+   */
+  explicit DeploySession(wpi::Logger& logger);
+
+  /**
+   * Executes the deploy. This can be called from any thread.
+   */
+  bool ChangeTeamNumber(const std::string& macAddress, int team,
+                        unsigned int ipAddress);
+
+  bool Blink(const std::string& macAddress, unsigned int ipAddress);
+
+  bool Reboot(const std::string& macAddress, unsigned int ipAddress);
+
+  std::future<int>* GetFuture(const std::string& macAddress);
+  void DestroyFuture(const std::string& macAddress);
+
+  /**
+   * Returns the state of the deploy session.
+   */
+  Status GetStatus() const;
+
+ private:
+  // Logger reference where log messages will be sent.
+  wpi::Logger& m_logger;
+
+  // The number of hostnames that have completed their resolution/connection
+  // attempts.
+  std::atomic_int m_visited = 0;
+};
+}  // namespace sysid

roborioteamnumbersetter/src/main/native/cpp/SshSession.cpp

@@ -0,0 +1,143 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "SshSession.h"
+
+#include <fcntl.h>
+#include <libssh/libssh.h>
+#include <libssh/sftp.h>
+#include <stdint.h>
+#include <sys/stat.h>
+
+#include <algorithm>
+#include <iostream>
+#include <stdexcept>
+
+#include <fmt/format.h>
+#include <wpi/Logger.h>
+
+using namespace sysid;
+
+#define INFO(fmt, ...) WPI_INFO(m_logger, fmt, __VA_ARGS__)
+
+SshSession::SshSession(std::string_view host, int port, std::string_view user,
+                       std::string_view pass, wpi::Logger& logger)
+    : m_host{host},
+      m_port{port},
+      m_username{user},
+      m_password{pass},
+      m_logger{logger} {
+  // Create a new SSH session.
+  m_session = ssh_new();
+  if (!m_session) {
+    throw SshException("The SSH session could not be allocated.");
+  }
+
+  // Set the host, user, and port.
+  ssh_options_set(m_session, SSH_OPTIONS_HOST, m_host.c_str());
+  ssh_options_set(m_session, SSH_OPTIONS_USER, m_username.c_str());
+  ssh_options_set(m_session, SSH_OPTIONS_PORT, &m_port);
+
+  // Set timeout to 3 seconds.
+  int64_t timeout = 3L;
+  ssh_options_set(m_session, SSH_OPTIONS_TIMEOUT, &timeout);
+
+  // Set other miscellaneous options.
+  ssh_options_set(m_session, SSH_OPTIONS_STRICTHOSTKEYCHECK, "no");
+}
+
+SshSession::~SshSession() {
+  ssh_disconnect(m_session);
+  ssh_free(m_session);
+}
+
+void SshSession::Open() {
+  // Connect to the server.
+  int rc = ssh_connect(m_session);
+  if (rc != SSH_OK) {
+    throw SshException(ssh_get_error(m_session));
+  }
+
+  // Authenticate with password.
+  rc = ssh_userauth_password(m_session, nullptr, m_password.c_str());
+  if (rc != SSH_AUTH_SUCCESS) {
+    throw SshException(ssh_get_error(m_session));
+  }
+}
+
+void SshSession::Execute(std::string_view cmd) {
+  // Allocate a new channel.
+  ssh_channel channel = ssh_channel_new(m_session);
+  if (!channel) {
+    throw SshException(ssh_get_error(m_session));
+  }
+
+  // Open the channel.
+  int rc = ssh_channel_open_session(channel);
+  if (rc != SSH_OK) {
+    throw SshException(ssh_get_error(m_session));
+  }
+
+  // Execute the command.
+  std::string command{cmd};
+  rc = ssh_channel_request_exec(channel, command.c_str());
+  if (rc != SSH_OK) {
+    ssh_channel_close(channel);
+    ssh_channel_free(channel);
+    throw SshException(ssh_get_error(m_session));
+  }
+  INFO("{}", cmd);
+
+  // Log output.
+  char buf[512];
+  int read = ssh_channel_read(channel, buf, sizeof(buf), 0);
+  if (read != 0) {
+    INFO("{}", cmd);
+  }
+
+  // Close and free channel.
+  ssh_channel_close(channel);
+  ssh_channel_free(channel);
+}
+
+void SshSession::Put(std::string_view path, std::string_view contents) {
+  // Allocate the SFTP session.
+  sftp_session sftp = sftp_new(m_session);
+  if (!sftp) {
+    throw SshException(ssh_get_error(m_session));
+  }
+
+  // Initialize.
+  int rc = sftp_init(sftp);
+  if (rc != SSH_OK) {
+    sftp_free(sftp);
+    throw SshException(ssh_get_error(m_session));
+  }
+
+  // Copy.
+  sftp_file file =
+      sftp_open(sftp, path.data(), O_WRONLY | O_CREAT | O_TRUNC, S_IFMT);
+  if (!file) {
+    sftp_free(sftp);
+    throw SshException(ssh_get_error(m_session));
+  }
+
+  // Send 150K at a time.
+  static constexpr size_t kChunkSize = 150000;
+  for (size_t i = 0; i < contents.size(); i += kChunkSize) {
+    size_t len = (std::min)(kChunkSize, contents.size() - i);
+    size_t written = sftp_write(file, contents.data() + i, len);
+    if (written != len) {
+      sftp_close(file);
+      sftp_free(sftp);
+      throw SshException(ssh_get_error(m_session));
+    }
+  }
+
+  INFO("[SFTP] Deployed {}!", path);
+
+  // Close file, free memory.
+  sftp_close(file);
+  sftp_free(sftp);
+}

roborioteamnumbersetter/src/main/native/cpp/SshSession.h

@@ -0,0 +1,81 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <libssh/libssh.h>
+
+#include <stdexcept>
+#include <string>
+#include <string_view>
+
+#include <wpi/Logger.h>
+
+namespace sysid {
+/**
+ * This class is a C++ implementation of the SshSessionController in
+ * wpilibsuite/deploy-utils. It handles connecting to an SSH server, running
+ * commands, and transferring files.
+ */
+class SshSession {
+ public:
+  /**
+   * This is the exception that will be thrown by any of the methods in this
+   * class if something goes wrong.
+   */
+  class SshException : public std::runtime_error {
+   public:
+    explicit SshException(const char* msg) : runtime_error(msg) {}
+  };
+
+  /**
+   * Constructs a new session controller.
+   *
+   * @param host The hostname of the server to connect to.
+   * @param port The port that the sshd server is operating on.
+   * @param user The username to login as.
+   * @param pass The password for the given username.
+   * @param logger A reference to a logger to log messages to.
+   */
+  SshSession(std::string_view host, int port, std::string_view user,
+             std::string_view pass, wpi::Logger& logger);
+
+  /**
+   * Destroys the controller object. This also disconnects the session from the
+   * server.
+   */
+  ~SshSession();
+
+  /**
+   * Opens the SSH connection to the given host.
+   */
+  void Open();
+
+  /**
+   * Executes a command and logs the output (if there is any).
+   *
+   * @param cmd The command to execute on the server.
+   */
+  void Execute(std::string_view cmd);
+
+  /**
+   * Puts a file on the server using SFTP.
+   *
+   * @param path The path to the file to put (on the server).
+   * @param contents The contents of the file.
+   */
+  void Put(std::string_view path, std::string_view contents);
+
+ private:
+  ssh_session m_session;
+  std::string m_host;
+
+  int m_port;
+
+  std::string m_username;
+  std::string m_password;
+
+  wpi::Logger& m_logger;
+};
+}  // namespace sysid

roborioteamnumbersetter/src/main/native/cpp/main.cpp

@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <string_view>
+
+void Application(std::string_view saveDir);
+
+#ifdef _WIN32
+int __stdcall WinMain(void* hInstance, void* hPrevInstance, char* pCmdLine,
+                      int nCmdShow) {
+  int argc = __argc;
+  char** argv = __argv;
+#else
+int main(int argc, char** argv) {
+#endif
+  std::string_view saveDir;
+  if (argc == 2) {
+    saveDir = argv[1];
+  }
+
+  Application(saveDir);
+
+  return 0;
+}

roborioteamnumbersetter/src/main/native/win/roborioteamnumbersetter.rc

@@ -0,0 +1 @@
+IDI_ICON1 ICON "roborioteamnumbersetter.ico"

settings.gradle

@@ -32,6 +32,7 @@ include 'crossConnIntegrationTests'
 include 'fieldImages'
 include 'glass'
 include 'outlineviewer'
+include 'roborioteamnumbersetter'
 include 'simulation:gz_msgs'
 include 'simulation:frc_gazebo_plugins'
 include 'simulation:halsim_gazebo'