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FRC2016-old/DriveBase/wpilib/cpp/current/ant/build.xml
2016-01-28 11:33:19 -05:00

133 lines
4.9 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="${dist.dir}"/>
</target>
<!-- Targets -->
<target name="get-target-ip">
<property name="ant.enable.asserts" value="true"/>
<assert name="team-number" exists="true" message="Team number not set. Go to Window->Preferences->WPILib Preferences to set it."/>
<property name="target" value="roboRIO-${team-number}-FRC.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="deploy" depends="get-target-ip, dependencies" description="Deploy the progam and start it running.">
<sshexec host="${target}"
username="${username}"
password="${password}"
trust="true"
failonerror="no"
command="rm -f ${deploy.dir}/FRCUserProgram" />
<echo>[athena-deploy] Copying code over.</echo>
<scp file="${out.exe}" sftp="true" 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="${wpilib.ant.dir}/robotCommand" todir="${username}@${target}:/home/lvuser/" password="${password}" trust="true"/>
<echo>[athena-deploy] Starting program.</echo>
<sshexec host="${target}"
username="${username}"
password="${password}"
trust="true"
failonerror="false"
command=". /etc/profile.d/natinst-path.sh; chmod a+x ${deploy.dir}/${out}; ${deploy.kill.command};"/>
<sshexec host="${target}"
username="${username}"
password="${password}"
trust="true"
command="sync" />
</target>
<target name="kill-program" depends="get-target-ip" description="Kill the currently running FRC program">
<sshexec host="${target}"
username="${username}"
password="${password}"
trust="true"
failonerror="false"
command=". /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t"/>
</target>
<!-- Simulation support -->
<target name="simulate">
<parallel>
<sequential>
<echo>[simulate] You may now run Gazebo and your driver station</echo>
<echo>[simulate] Running Code.</echo>
<exec executable="${sim.exe}"></exec>
</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_2016_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>
</target>
</project>