133 lines
4.9 KiB
XML
133 lines
4.9 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="${dist.dir}"/>
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</target>
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<!-- Targets -->
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<target name="get-target-ip">
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<property name="ant.enable.asserts" value="true"/>
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<assert name="team-number" exists="true" message="Team number not set. Go to Window->Preferences->WPILib Preferences to set it."/>
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<property name="target" value="roboRIO-${team-number}-FRC.local" />
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<echo>Trying Target: ${target}</echo>
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<if>
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<isreachable host="${target}" timeout="5"/>
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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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<var name="target" unset="true"/>
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<echo> roboRIO not found via mDNS, falling back to static USB</echo>
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<property name="target" value="172.22.11.2"/>
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<if>
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<isreachable host="${target}" timeout="5"/>
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<then>
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<echo>roboRIO found via static USB</echo>
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</then>
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<else>
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<var name="target" unset="true"/>
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<math result="ip.upper" operand1="${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 USB, falling back to static address of ${target}</echo>
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<assert name="roboRIOFound" message="roboRIO not found, please check that the roboRIO is connected, imaged and that the team number is set properly in Eclipse">
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<bool>
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<isreachable host="${target}" timeout="5"/>
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</bool>
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</assert>
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<echo>roboRIO found via Ethernet static</echo>
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</else>
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</if>
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</else>
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</if>
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</target>
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<target name="deploy" depends="get-target-ip, dependencies" description="Deploy the progam and start it running.">
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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="no"
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command="rm -f ${deploy.dir}/FRCUserProgram" />
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<echo>[athena-deploy] Copying code over.</echo>
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<scp file="${out.exe}" sftp="true" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
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<!-- Suppress the exit status so that if no netconsole was running then
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it doesn't show up red on the output. -->
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<sshexec host="${target}"
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username="admin"
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password="${password}"
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trust="true"
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failonerror="false"
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command="killall -q netconsole-host || :"/>
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<scp file="${wpilib.ant.dir}/robotCommand" todir="${username}@${target}:/home/lvuser/" password="${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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failonerror="false"
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command=". /etc/profile.d/natinst-path.sh; chmod a+x ${deploy.dir}/${out}; ${deploy.kill.command};"/>
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<sshexec host="${target}"
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username="${username}"
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password="${password}"
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trust="true"
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command="sync" />
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</target>
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<target name="kill-program" depends="get-target-ip" description="Kill the currently running FRC program">
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<sshexec host="${target}"
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username="${username}"
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password="${password}"
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trust="true"
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failonerror="false"
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command=". /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t"/>
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</target>
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<!-- Simulation support -->
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<target name="simulate">
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<parallel>
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<sequential>
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<echo>[simulate] You may now run Gazebo and your driver station</echo>
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<echo>[simulate] Running Code.</echo>
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<exec executable="${sim.exe}"></exec>
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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_2016_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>roboRIO image version validated</echo>
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</target>
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</project>
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