mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
90f05dd31a
rm no longer throws a file not found error on deploy. Also, throw in a sync command at the end of the deploy so that we don't get corrupted files. Change-Id: I561916e4fec1b8449f9a70b7ee2155b0b62abc80
250 lines
9.5 KiB
XML
250 lines
9.5 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
|
|
|
|
<project name="athena-project-build" default="deploy">
|
|
|
|
<!-- Load Tasks -->
|
|
<taskdef resource="net/sf/antcontrib/antlib.xml">
|
|
<classpath>
|
|
<pathelement location="${wpilib.ant.dir}/ant-contrib.jar"/>
|
|
</classpath>
|
|
</taskdef>
|
|
<taskdef resource="net/jtools/classloadertask/antlib.xml" classpath="${classloadertask.jar}"/>
|
|
<classloader loader="system" classpath="${jsch.jar}"/>
|
|
|
|
<target name="clean" description="Clean up all build and distribution artifacts.">
|
|
<delete dir="${build.dir}"/>
|
|
<delete dir="${dist.dir}"/>
|
|
</target>
|
|
|
|
<!-- Targets -->
|
|
|
|
<target name="get-target-ip">
|
|
<property name="ant.enable.asserts" value="true"/>
|
|
<property name="target" value="roboRIO-${team-number}.local" />
|
|
<echo>Trying Target: ${target}</echo>
|
|
<if>
|
|
<isreachable host="${target}" timeout="5"/>
|
|
<then>
|
|
<echo>roboRIO found via mDNS</echo>
|
|
</then>
|
|
<else>
|
|
<var name="target" unset="true"/>
|
|
<echo> roboRIO not found via mDNS, falling back to static USB</echo>
|
|
<property name="target" value="172.22.11.2"/>
|
|
<if>
|
|
<isreachable host="${target}" timeout="5"/>
|
|
<then>
|
|
<echo>roboRIO found via static USB</echo>
|
|
</then>
|
|
<else>
|
|
<var name="target" unset="true"/>
|
|
<math result="ip.upper" operand1="${team-number}" operation="/" operand2="100" datatype="int"/>
|
|
<math result="ip.lower" operand1="${team-number}" operation="%" operand2="100" datatype="int"/>
|
|
<property name="target" value="10.${ip.upper}.${ip.lower}.2"/>
|
|
<echo>roboRIO not found via USB, falling back to static address of ${target}</echo>
|
|
<assert name="roboRIOFound" message="roboRIO not found, please check that the roboRIO is connected, imaged and that the team number is set properly in Eclipse">
|
|
<bool>
|
|
<isreachable host="${target}" timeout="5"/>
|
|
</bool>
|
|
</assert>
|
|
<echo>roboRIO found via Ethernet static</echo>
|
|
</else>
|
|
</if>
|
|
</else>
|
|
</if>
|
|
</target>
|
|
|
|
<target name="compile" description="Compile the source code.">
|
|
<mkdir dir="${build.dir}"/>
|
|
<echo>[athena-compile] Compiling ${src.dir} with classpath=${classpath} to ${build.dir}</echo>
|
|
|
|
<javac srcdir="${src.dir}"
|
|
destdir="${build.dir}"
|
|
includeAntRuntime="no"
|
|
includeJavaRuntime="no"
|
|
classpath="${classpath}"
|
|
target="${ant.java.version}"
|
|
source="${ant.java.version}"
|
|
compiler="javac${ant.java.version}"
|
|
debug="true">
|
|
</javac>
|
|
</target>
|
|
|
|
<target name="jar" depends="compile">
|
|
<echo>[athena-jar] Making jar ${dist.jar}.</echo>
|
|
<mkdir dir="${dist.dir}" />
|
|
<mkdir dir="${build.jars}" />
|
|
|
|
<echo>[athena-jar] Copying jars from ${classpath} to ${build.jars}.</echo>
|
|
<copy todir="${build.jars}" flatten="true">
|
|
<path>
|
|
<pathelement path="${classpath}"/>
|
|
</path>
|
|
</copy>
|
|
|
|
<jar destfile="${dist.jar}" update="false">
|
|
<manifest>
|
|
<attribute name="Main-Class" value="edu.wpi.first.wpilibj.RobotBase"/>
|
|
<attribute name="Robot-Class" value="${robot.class}"/>
|
|
<attribute name="Class-Path" value="."/>
|
|
</manifest>
|
|
|
|
<fileset dir="${build.dir}" includes="**/*.class"/>
|
|
|
|
<zipgroupfileset dir="${build.jars}">
|
|
<include name="**/*.jar" />
|
|
</zipgroupfileset>
|
|
</jar>
|
|
</target>
|
|
|
|
<!-- We're running a clean here to get around a known ant issue where it does not detected changed constant variables.
|
|
To get around this, we're recompiling the entire project, which is not an issue for most teams. If this is an issue
|
|
for you, you can remove the clean here, just be sure to do a full rebuild after you've changed any constants.
|
|
Reference: http://stackoverflow.com/questions/6430001/ant-doesnt-recompile-constants -->
|
|
<target name="deploy" depends="clean,jar,get-target-ip,dependencies" description="Deploy the jar and start the program running.">
|
|
<echo>[athena-deploy] Copying code over.</echo>
|
|
<scp file="${dist.jar}" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
|
|
|
|
<!-- Suppress the exit status so that if no netconsole was running then
|
|
it doesn't show up red on the output. -->
|
|
<sshexec host="${target}"
|
|
username="admin"
|
|
password="${password}"
|
|
trust="true"
|
|
failonerror="false"
|
|
command="killall -q netconsole-host || :"/>
|
|
<scp file="${wpilib.ant.dir}/netconsole-host" todir="admin@${target}:/usr/local/frc/bin" password="${password}" trust="true"/>
|
|
|
|
<scp file="${wpilib.ant.dir}/robotCommand" todir="${username}@${target}:${command.dir}" password="${password}" trust="true"/>
|
|
|
|
<echo>[athena-deploy] Starting program.</echo>
|
|
<sshexec host="${target}"
|
|
username="${username}"
|
|
password="${password}"
|
|
trust="true"
|
|
command="${deploy.kill.command};"/>
|
|
|
|
<sshexec host="${target}"
|
|
username="${username}"
|
|
password="${password}"
|
|
trust="true"
|
|
command="sync" />
|
|
|
|
</target>
|
|
|
|
<target name="debug-deploy" depends="jar,get-target-ip,dependencies" description="Deploy the jar and start the program running.">
|
|
<echo>[athena-deploy] Copying code over.</echo>
|
|
<scp file="${dist.jar}" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
|
|
<!-- The remoteDebugCommand file is used by /usr/local/frc/bin/frcRunRobot.sh on the roboRIO -->
|
|
<scp file="${wpilib.ant.dir}/robotDebugCommand" todir="${username}@${target}:${command.dir}" password="${password}" trust="true"/>
|
|
<!-- The frcdebug file is used as a flag for /usr/local/frc/bin/frcRunRobot.sh to run the robot program in debug mode -->
|
|
<scp file="${wpilib.ant.dir}/frcdebug" todir="${username}@${target}:${debug.flag.dir}" password="${password}" trust="true"/>
|
|
<sshexec host="${target}"
|
|
username="${username}"
|
|
password="${password}"
|
|
trust="true"
|
|
command="${debug.flag.command}"/>
|
|
|
|
<echo>[athena-deploy] Starting Debug program.</echo>
|
|
<sshexec host="${target}"
|
|
username="${username}"
|
|
password="${password}"
|
|
trust="true"
|
|
command="${deploy.kill.command}"/>
|
|
|
|
</target>
|
|
|
|
<!-- Simulate -->
|
|
<target name="jar-for-simulation" depends="compile">
|
|
<echo>[jar-for-simulation] Building jar.</echo>
|
|
|
|
<jar destfile="${simulation.dist.jar}">
|
|
<manifest>
|
|
<attribute name="Built-By" value="${user.name}"/>
|
|
<attribute name="Robot-Class" value="${robot.class}"/>
|
|
<attribute name="Main-Class" value="edu.wpi.first.wpilibj.RobotBase"/>
|
|
</manifest>
|
|
<fileset dir="${build.dir}" />
|
|
<zipgroupfileset dir="${wpilib.sim.lib}">
|
|
<include name="**/*.jar" />
|
|
</zipgroupfileset>
|
|
</jar>
|
|
</target>
|
|
|
|
<target name="simulate" depends="jar-for-simulation">
|
|
<parallel>
|
|
<sequential>
|
|
<echo>[simulate] Running Gazebo.</echo>
|
|
<exec executable="frcsim">
|
|
<arg value="${simulation.world.file}"/>
|
|
</exec>
|
|
</sequential>
|
|
<sequential>
|
|
<sleep seconds="5"/>
|
|
<echo>[simulate] Running DriverStation.</echo>
|
|
<java jar="${wpilib.sim.tools}/SimDS.jar" fork="true">
|
|
<jvmarg value="-Djava.library.path=${wpilib.sim.lib}" />
|
|
</java>
|
|
</sequential>
|
|
<sequential>
|
|
<sleep seconds="5"/>
|
|
<echo>[simulate] Running Code.</echo>
|
|
<java jar="${simulation.dist.jar}" fork="true">
|
|
<jvmarg value="-Djava.library.path=${wpilib.sim.lib}" />
|
|
</java>
|
|
</sequential>
|
|
</parallel>
|
|
</target>
|
|
|
|
<target name="debug-simulate" depends="jar-for-simulation">
|
|
<parallel>
|
|
<sequential>
|
|
<echo>[debug-simulate] Running Gazebo.</echo>
|
|
<exec executable="frcsim">
|
|
<arg value="${simulation.world.file}"/>
|
|
</exec>
|
|
</sequential>
|
|
<sequential>
|
|
<sleep seconds="5"/>
|
|
<echo>[debug-simulate] Running DriverStation.</echo>
|
|
<java jar="${wpilib.sim.tools}/SimDS.jar" fork="true">
|
|
<jvmarg value="-Djava.library.path=${wpilib.sim.lib}" />
|
|
</java>
|
|
</sequential>
|
|
<sequential>
|
|
<sleep seconds="5"/>
|
|
<echo>[debug-simulate] Running Code.</echo>
|
|
<java jar="${simulation.dist.jar}" fork="true">
|
|
<jvmarg value="-Xdebug" />
|
|
<jvmarg value="-Xrunjdwp:transport=dt_socket,server=y,suspend=y,address=8348" />
|
|
<jvmarg value="-Djava.library.path=${wpilib.sim.lib}" />
|
|
</java>
|
|
</sequential>
|
|
</parallel>
|
|
</target>
|
|
|
|
<target name="dependencies" depends="get-target-ip">
|
|
<property name="ant.enable.asserts" value="true"/>
|
|
<post to="http://${target}/nisysapi/server" logfile="sysProps.xml" verbose="false" encoding="UTF-16LE" append="false">
|
|
<prop name="Function" value="GetPropertiesOfItem"/>
|
|
<prop name="Plugins" value="nisyscfg"/>
|
|
<prop name="Items" value="system"/>
|
|
</post>
|
|
<loadfile srcFile="sysProps.xml" encoding="UTF-16LE" property="roboRIOSysValues"/>
|
|
<propertyregex property="roboRIOImage" input="${roboRIOSysValues}" regexp="FRC_roboRIO_2015_v([0-9]+)" select="\1" defaultValue="ImageRegExFail"/>
|
|
<assert message="roboRIO Image does not match plugin, allowed image version: ${roboRIOAllowedImages}">
|
|
<bool>
|
|
<contains string="${roboRIOAllowedImages}" substring="${roboRIOImage}"/>
|
|
</bool>
|
|
</assert>
|
|
<echo>roboRIO image version validated</echo>
|
|
<echo>Checking for JRE. If this fails install the JRE using these instructions: https://wpilib.screenstepslive.com/s/4485/m/13503/l/288822-installing-java-8-on-the-roborio-using-the-frc-roborio-java-installer-java-only</echo>
|
|
<sshexec host="${target}"
|
|
username="${username}"
|
|
password="${password}"
|
|
trust="true"
|
|
failonerror="true"
|
|
command="test -d ${roboRIOJRE.dir}"/>
|
|
</target>
|
|
</project>
|