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Update dependency scripts
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@aykhm
aykhm committed Jun 28, 2021
1 parent 64d5163 commit f0a7d55
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Showing 7 changed files with 191 additions and 177 deletions.
181 changes: 86 additions & 95 deletions deploy.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2,17 +2,16 @@

"""Deploy executable and libraries to the roborio.
After compiling the robot package, this script finds the roborio address, copies over the executable
and wpilib libraries, and runs several scripts remotely.
Referenced off of gradlerio (download an example C++ project and run gradle deploy to see the logs)
positional arguments:
package robot package to deploy
optional arguments:
-h, --help show this help message and exit
--verbose, -v log shell commands
--skip-wpilib, -s skip deploying wpilib libraries
--build, -b run cargo build automatically before deploying
--skip-libs, -s skip deploying shared libraries
--build, -b run cargo build before deploying
--debug, -d don't add --release flag to cargo build
e.g. `./deploy.py rswerve -sb` build and deploys the rswerve package, skipping wpilib libraries
"""
Expand All @@ -22,18 +21,38 @@
import sys
from os import path

EXECUTABLE_DIR = "target/arm-unknown-linux-gnueabi/release"
EXECUTABLE_DIR = "target/arm-unknown-linux-gnueabi"
SHARED_LIB_DIR = "frc-sys/lib/linux/athena/shared"

WPILIB_LIBS = [
"cameraserver",
"cscore",
"ntcore",
"wpiHal",
"wpilibc",
"wpimath",
"wpiutil",
]

THIRD_PARTY_LIBS = [
"opencv_stitching",
"opencv_videoio",
"opencv_flann",
"opencv_video",
"opencv_imgcodecs",
"opencv_highgui",
"opencv_objdetect",
"opencv_imgproc",
"opencv_calib3d",
"opencv_core",
"opencv_features2d",
"opencv_photo",
"opencv_ml",
"opencv_shape",
"opencv_superres",
"opencv_videostab",
]

ROBORIO_HOME_DIR = "/home/lvuser/"
ROBORIO_LIB_DIR = "/usr/local/frc/third-party/lib"

Expand All @@ -48,44 +67,68 @@ def main():

parser = ArgumentParser(description="Deploy code to the roborio.")
parser.add_argument("package", type=str, help="robot package to deploy")
parser.add_argument("--verbose", "-v", action="store_true", help="log shell commands")
parser.add_argument("--skip-wpilib", "-s", action="store_true",
help="skip deploying wpilib libraries")
parser.add_argument("--skip-libs", "-s", action="store_true",
help="skip deploying shared libraries")
parser.add_argument("--build", "-b", action="store_true",
help="run cargo build automatically before deploying")
help="run cargo build before deploying")
parser.add_argument("--debug", "-d", action="store_true",
help="don't add --release flag to cargo build")
args = parser.parse_args()

#####

# run cargo build, unless -b is passed
if args.build:
build_package()
cmd(f"cargo build -p {args.package} {'' if args.debug else '--release'}",
suppress=False)

verify_executable()
address = find_roborio()
print(f"\n\nDeploying {args.package}")
print("(C: running command on robot, F: copying file to robot)\n\n")

if not args.skip_wpilib:
deploy_wpilib_libs()
# path to executable
exe = path.join(EXECUTABLE_DIR, "debug" if args.debug else "release", args.package)

run_predeploy()
deploy_executable()
run_postdeploy()
# verify executable exists
if not path.exists(exe):
sys.exit(f"Robot executable {exe} not found.")

# find roborio address
address = find_roborio()

def build_package():
"""Run cargo build --release on the robot package."""
cmd_ssh("sed -i -e 's/^StartupDLLs/;StartupDLLs/' /etc/natinst/share/ni-rt.ini")

print(f"Building {args.package}")
cmd(f"cargo build -p {args.package} --release", suppress=False)
# deploy shared libraries, unless -s is passed
if not args.skip_libs:
for lib in WPILIB_LIBS:
if args.debug:
f = path.join(SHARED_LIB_DIR, f"lib{lib}d.so")
else:
f = path.join(SHARED_LIB_DIR, f"lib{lib}.so")
scp(f, ROBORIO_LIB_DIR)

for lib in THIRD_PARTY_LIBS:
scp(path.join(SHARED_LIB_DIR, f"lib{lib}.so"), ROBORIO_LIB_DIR)

def verify_executable():
"""Verify that the robot executable exists.
cmd_ssh("chmod -R 777 \"/usr/local/frc/third-party/lib\" || true; chown -R lvuser:ni \"/usr/local/frc/third-party/lib\"")
cmd_ssh("ldconfig")

The robot package must be built in the release profile.
"""
# kill robot and delete previous executable on robot
cmd_ssh(". /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t 2> /dev/null")
cmd_ssh("rm -f \"/home/lvuser/frcUserProgram\"")

exe = path.join(EXECUTABLE_DIR, args.package)
if not path.exists(exe):
sys.exit(f"Robot executable {exe} not found.")
print(f"Executable found at {exe}")
# copy new executable to robot (named frcUserProgram)
scp(exe, path.join(ROBORIO_HOME_DIR, "frcUserProgram"))

cmd_ssh("echo ' \"/home/lvuser/frcUserProgram\" ' > /home/lvuser/robotCommand")
cmd_ssh("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
cmd_ssh("chmod +x /home/lvuser/frcUserProgram; chown lvuser /home/lvuser/frcUserProgram")
cmd_ssh("chmod +x \"/home/lvuser/frcUserProgram\"; chown lvuser \"/home/lvuser/frcUserProgram\"")
cmd_ssh("setcap cap_sys_nice+eip \"/home/lvuser/frcUserProgram\"")
cmd_ssh("sync")
cmd_ssh("ldconfig")
cmd_ssh(". /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r 2> /dev/null")

print("\n\nDone")


def find_roborio():
Expand All @@ -102,8 +145,7 @@ def find_roborio():

for address in addresses:
print(f"Pinging {address}... ", end="", flush=True)
ping = cmd(f"ping -c 1 {address}")
if ping.returncode == 0:
if cmd(f"ping -c 1 {address}"):
print("Success")
return address
else:
Expand All @@ -112,84 +154,33 @@ def find_roborio():
sys.exit("Unable to connect to roborio.")


def deploy_wpilib_libs():
"""Copies wpilib libraries to the roborio."""

for lib in WPILIB_LIBS:
f = path.join(SHARED_LIB_DIR, f"lib{lib}.so")
print(f"Deploying vendor library: {f}")
scp(f, ROBORIO_LIB_DIR)


def run_predeploy():
"""Run predeploy scripts on the roborio.
Based on https://github.com/wpilibsuite/GradleRIO/blob/HEAD/src/main/groovy/edu/wpi/first/gradlerio/frc/FRCNativeArtifact.groovy
"""

print("Running predeploy scripts")
commands = [
". /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t 2> /dev/null",
f"rm -f {path.join(ROBORIO_HOME_DIR, args.package)}"
]

for c in commands:
cmd_ssh(c)


def deploy_executable():
"""Copies the robot executable to the roborio."""

f = path.join(EXECUTABLE_DIR, args.package)
print(f"Deploying executable: {f}")
cmd_ssh([f"rm -f /home/lvuser/{args.package}"])
scp(f, ROBORIO_HOME_DIR)


def run_postdeploy():
"""Runs postdeploy scripts on the roborio.
Based on https://github.com/wpilibsuite/GradleRIO/blob/HEAD/src/main/groovy/edu/wpi/first/gradlerio/frc/FRCNativeArtifact.groovy
Also updates the robotCommand file in the roborio.
"""

print("Running postdeploy scripts")
file = path.join(ROBORIO_HOME_DIR, args.package)
commands = [
f"echo \"{file}\" > /home/lvuser/robotCommand",
"chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand",
f"chmod +x {file}; chown lvuser {file}",
"sync",
"ldconfig",
". /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r 2> /dev/null"
]

for c in commands:
cmd_ssh(c)


def cmd_ssh(command):
"""Run a command on the roborio."""

cmd(f"ssh admin@{address} '{command}'")
print(f"C: {command}")
cmd(f"ssh admin@{address} \"{command}\"")


def scp(source, target):
"""Copy files from local to the roborio."""

print(f"F: {source} -> {target}")
cmd(f"scp {source} admin@{address}:{target}")


def cmd(command, suppress=True):
"""Run a command (suppresses output)."""
"""Run a command."""

if args.verbose:
print(command)
if suppress:
return subprocess.run(command, shell=True, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
result = subprocess.run(command, shell=True,
stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
else:
return subprocess.run(command, shell=True)
result = subprocess.run(command, shell=True)

if result.returncode != 0:
sys.exit(f"Previous command exited with code {result.returncode}")

return result


if __name__ == "__main__":
Expand Down
56 changes: 42 additions & 14 deletions frc-sys/build.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -20,12 +20,17 @@ const STATIC_LIBS: &[&str] = &[
"SparkMaxDriver",
];

const SHARED_LIBS: &[&str] = &[
const WPILIB_LIBS: &[&str] = &[
"wpilibc",
"ntcore",
"wpiHal",
"wpiutil",
"wpimath",
"cameraserver",
"cscore",
];

const SHARED_LIBS: &[&str] = &[
"RoboRIO_FRC_ChipObject",
"FRC_NetworkCommunication",
"visa",
Expand All @@ -37,7 +42,22 @@ const SHARED_LIBS: &[&str] = &[
"niriodevenum",
"NiFpgaLv",
"niriosession",
"cameraserver",
"opencv_stitching",
"opencv_videoio",
"opencv_flann",
"opencv_video",
"opencv_imgcodecs",
"opencv_highgui",
"opencv_objdetect",
"opencv_imgproc",
"opencv_calib3d",
"opencv_core",
"opencv_features2d",
"opencv_photo",
"opencv_ml",
"opencv_shape",
"opencv_superres",
"opencv_videostab",
];

// Path to libraries
Expand Down Expand Up @@ -101,26 +121,34 @@ fn main() {
.blocklist_function("wpi::.*"),
);

// Search for libraries
for i in &["static", "shared"] {
println!(
"cargo:rustc-link-search={}",
CWD.join(LIB_DIR).join(i).to_str().unwrap(),
);
}

// Link with static libraries
println!(
"cargo:rustc-link-search={}",
CWD.join(LIB_DIR).join("static").to_str().unwrap(),
);
for lib in STATIC_LIBS {
println!("cargo:rustc-link-lib={}", lib);
}

// Link with shared libraries
println!(
"cargo:rustc-link-search={}",
CWD.join(LIB_DIR).join("shared").to_str().unwrap(),
);
// Link with wpilib libraries
let is_debug = env::var("PROFILE").unwrap() == "debug";
for lib in WPILIB_LIBS {
// Debug versions of wpilib libraries are postfixed with "d"
if is_debug {
println!("cargo:rustc-link-lib={}d", lib)
} else {
println!("cargo:rustc-link-lib={}", lib)
}
}

// Link with other shared libraries
for lib in SHARED_LIBS {
println!("cargo:rustc-link-lib={}", lib)
}

// Link with stdc++
println!("cargo:rustc-link-lib=stdc++");
}

fn compile_cc(name: &str) {
Expand Down
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