mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
216 lines
8.3 KiB
XML
216 lines
8.3 KiB
XML
<?xml version="1.0" encoding="UTF-8"?>
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<project name="athena-project-build" default="deploy">
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<!-- Load Tasks -->
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<taskdef resource="net/sf/antcontrib/antlib.xml">
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<classpath>
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<pathelement location="${wpilib.ant.dir}/ant-contrib.jar"/>
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</classpath>
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</taskdef>
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<taskdef resource="net/jtools/classloadertask/antlib.xml" classpath="${classloadertask.jar}"/>
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<classloader loader="system" classpath="${jsch.jar}"/>
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<target name="clean" description="Clean up all build and distribution artifacts.">
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<delete dir="${build.dir}"/>
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<delete dir="${dist.dir}"/>
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</target>
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<!-- Targets -->
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<target name="get-target-ip">
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<property name="target" value="roboRIO-${team-number}.local" />
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<echo>Trying Target: ${target}</echo>
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<if>
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<isreachable host="${target}"/>
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<then>
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<echo>roboRIO found via mDNS</echo>
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</then>
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<else>
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<math result="ip.upper" operand1="${team-number}" operation="/" operand2="100" datatype="int"/>
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<math result="ip.lower" operand1="${team-number}" operation="%" operand2="100" datatype="int"/>
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<property name="target" value="10.${ip-upper}.${ip.lower}.2"/>
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<echo>roboRIO not found via mDNS, falling back to static address of ${target}</echo>
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<assert name="roboRIOFound" message="roboRIO not found, please check that the roboRIO is connected, imaged and that the team number is set properly in Eclipse">
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<isreachable host="${target}"/>
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</assert>
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</else>
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</if>
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</target>
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<target name="compile" description="Compile the source code.">
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<mkdir dir="${build.dir}"/>
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<echo>[athena-compile] Compiling ${src.dir} with classpath=${classpath} to ${build.dir}</echo>
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<javac srcdir="${src.dir}"
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destdir="${build.dir}"
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includeAntRuntime="no"
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includeJavaRuntime="no"
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classpath="${classpath}"
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target="${ant.java.version}"
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source="${ant.java.version}"
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compiler="javac${ant.java.version}"
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debug="true">
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</javac>
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</target>
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<target name="jar" depends="compile">
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<echo>[athena-jar] Making jar ${dist.jar}.</echo>
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<mkdir dir="${dist.dir}" />
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<mkdir dir="${build.jars}" />
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<echo>[athena-jar] Copying jars from ${classpath} to ${build.jars}.</echo>
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<copy todir="${build.jars}" flatten="true">
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<path>
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<pathelement path="${classpath}"/>
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</path>
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</copy>
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<jar destfile="${dist.jar}" update="false">
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<manifest>
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<attribute name="Main-Class" value="edu.wpi.first.wpilibj.RobotBase"/>
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<attribute name="Robot-Class" value="${robot.class}"/>
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<attribute name="Class-Path" value="."/>
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</manifest>
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<fileset dir="${build.dir}" includes="**/*.class"/>
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<zipgroupfileset dir="${build.jars}">
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<include name="**/*.jar" />
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</zipgroupfileset>
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</jar>
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</target>
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<!-- We're running a clean here to get around a known ant issue where it does not detected changed constant variables.
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To get around this, we're recompiling the entire project, which is not an issue for most teams. If this is an issue
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for you, you can remove the clean here, just be sure to do a full rebuild after you've changed any constants.
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Reference: http://stackoverflow.com/questions/6430001/ant-doesnt-recompile-constants -->
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<target name="deploy" depends="clean,jar,get-target-ip,dependencies" description="Deploy the jar and start the program running.">
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<echo>[athena-deploy] Copying code over.</echo>
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<scp file="${dist.jar}" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
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<scp file="${wpilib.ant.dir}/robotCommand" todir="${username}@${target}:${command.dir}" password="${password}" trust="true"/>
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<echo>[athena-deploy] Starting program.</echo>
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<sshexec host="${target}"
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username="${username}"
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password="${password}"
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trust="true"
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command="${deploy.kill.command};"/>
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</target>
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<target name="debug-deploy" depends="jar,get-target-ip,dependencies" description="Deploy the jar and start the program running.">
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<echo>[athena-deploy] Copying code over.</echo>
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<scp file="${dist.jar}" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
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<!-- The remoteDebugCommand file is used by /usr/local/frc/bin/frcRunRobot.sh on the roboRIO -->
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<scp file="${wpilib.ant.dir}/robotDebugCommand" todir="${username}@${target}:${command.dir}" password="${password}" trust="true"/>
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<!-- The frcdebug file is used as a flag for /usr/local/frc/bin/frcRunRobot.sh to run the robot program in debug mode -->
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<scp file="${wpilib.ant.dir}/frcdebug" todir="${username}@${target}:${debug.flag.dir}" password="${password}" trust="true"/>
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<sshexec host="${target}"
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username="${username}"
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password="${password}"
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trust="true"
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command="${debug.flag.command}"/>
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<echo>[athena-deploy] Starting Debug program.</echo>
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<sshexec host="${target}"
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username="${username}"
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password="${password}"
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trust="true"
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command="${deploy.kill.command}"/>
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</target>
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<!-- Simulate -->
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<target name="jar-for-simulation" depends="compile">
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<echo>[jar-for-simulation] Building jar.</echo>
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<jar destfile="${simulation.dist.jar}">
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<manifest>
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<attribute name="Built-By" value="${user.name}"/>
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<attribute name="Robot-Class" value="${robot.class}"/>
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<attribute name="Main-Class" value="edu.wpi.first.wpilibj.RobotBase"/>
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</manifest>
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<fileset dir="${build.dir}" />
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<zipgroupfileset dir="${wpilib.sim.lib}">
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<include name="**/*.jar" />
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</zipgroupfileset>
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</jar>
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</target>
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<target name="simulate" depends="jar-for-simulation">
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<parallel>
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<sequential>
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<echo>[simulate] Running Gazebo.</echo>
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<exec executable="frcsim">
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<arg value="${simulation.world.file}"/>
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</exec>
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</sequential>
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<sequential>
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<sleep seconds="5"/>
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<echo>[simulate] Running DriverStation.</echo>
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<java jar="${wpilib.sim.tools}/SimDS.jar" fork="true">
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<jvmarg value="-Djava.library.path=${wpilib.sim.lib}" />
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</java>
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</sequential>
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<sequential>
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<sleep seconds="5"/>
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<echo>[simulate] Running Code.</echo>
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<java jar="${simulation.dist.jar}" fork="true">
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<jvmarg value="-Djava.library.path=${wpilib.sim.lib}" />
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</java>
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</sequential>
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</parallel>
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</target>
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<target name="debug-simulate" depends="jar-for-simulation">
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<parallel>
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<sequential>
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<echo>[debug-simulate] Running Gazebo.</echo>
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<exec executable="frcsim">
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<arg value="${simulation.world.file}"/>
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</exec>
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</sequential>
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<sequential>
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<sleep seconds="5"/>
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<echo>[debug-simulate] Running DriverStation.</echo>
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<java jar="${wpilib.sim.tools}/SimDS.jar" fork="true">
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<jvmarg value="-Djava.library.path=${wpilib.sim.lib}" />
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</java>
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</sequential>
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<sequential>
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<sleep seconds="5"/>
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<echo>[debug-simulate] Running Code.</echo>
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<java jar="${simulation.dist.jar}" fork="true">
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<jvmarg value="-Xdebug" />
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<jvmarg value="-Xrunjdwp:transport=dt_socket,server=y,suspend=y,address=8348" />
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<jvmarg value="-Djava.library.path=${wpilib.sim.lib}" />
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</java>
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</sequential>
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</parallel>
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</target>
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<target name="dependencies" depends="get-target-ip">
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<property name="ant.enable.asserts" value="true"/>
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<post to="http://${target}/nisysapi/server" logfile="sysProps.xml" verbose="false" encoding="UTF-16LE" append="false">
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<prop name="Function" value="GetPropertiesOfItem"/>
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<prop name="Plugins" value="nisyscfg"/>
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<prop name="Items" value="system"/>
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</post>
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<loadfile srcFile="sysProps.xml" encoding="UTF-16LE" property="roboRIOSysValues"/>
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<propertyregex property="roboRIOImage" input="${roboRIOSysValues}" regexp="FRC_roboRIO_2015_v([0-9]+)" select="\1" defaultValue="ImageRegExFail"/>
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<assert message="roboRIO Image does not match plugin, allowed image version: ${roboRIOAllowedImages}">
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<bool>
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<contains string="${roboRIOAllowedImages}" substring="${roboRIOImage}"/>
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</bool>
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</assert>
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<echo>Checking for JRE. If this fails install the JRE using these instructions: http://wpilib.screenstepslive.com/s/4485/m/13809/l/243933-installing-java-8-on-the-roborio-java-only</echo>
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<sshexec host="${target}"
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username="${username}"
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password="${password}"
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trust="true"
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failonerror="true"
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command="test -d ${roboRIOJRE.dir}"/>
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</target>
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</project>
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