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| import inspect | |
| import os | |
| import sys | |
| import re | |
| import shutil | |
| import tempfile | |
| import threading | |
| from os.path import abspath, basename, dirname, exists, join, splitext | |
| from ..robotpy import installer | |
| from ..util import print_err, yesno | |
| import wpilib | |
| import logging | |
| logger = logging.getLogger('deploy') | |
| def relpath(path): | |
| '''Path helper, gives you a path relative to this file''' | |
| return os.path.normpath(os.path.join(os.path.abspath(os.path.dirname(__file__)), path)) | |
| class PyFrcDeploy: | |
| """ | |
| Uploads your robot code to the robot and executes it immediately | |
| """ | |
| def __init__(self, parser): | |
| ''' :type parser: argparse.ArgumentParser ''' | |
| parser.add_argument('--builtin', default=False, action='store_true', | |
| help="Use pyfrc's builtin tests if no tests are specified") | |
| parser.add_argument('--skip-tests', action='store_true', default=False, | |
| help="If specified, don't run tests before uploading code to robot (DANGEROUS)") | |
| parser.add_argument('--debug', action='store_true', default=False, | |
| help="If specified, runs the code in debug mode (which only currently enables verbose logging)") | |
| parser.add_argument('--nonstandard', action='store_true', default=False, | |
| help="When specified, allows you to deploy code in a file that isn't called robot.py") | |
| parser.add_argument('--nc', '--netconsole', action='store_true', default=False, | |
| help="Attach netconsole listener and show robot stdout") | |
| parser.add_argument('--in-place', action='store_true', default=False, | |
| help="Overwrite currently deployed code, don't delete anything, and don't restart running robot code.") | |
| parser.add_argument('-n', '--no-version-check', action='store_true', default=False, | |
| help="If specified, don't verify that your local wpilib install matches the version on the robot (not recommended)") | |
| parser.add_argument('--robot', default=None, | |
| help="Set hostname or IP address of robot") | |
| parser.add_argument('--no-resolve', action='store_true', default=False, | |
| help="If specified, don't do a DNS lookup, allow ssh et al to do it instead") | |
| def run(self, options, robot_class, **static_options): | |
| from .. import config | |
| config.mode = 'upload' | |
| # run the test suite before uploading | |
| if not options.skip_tests: | |
| from .cli_test import PyFrcTest | |
| tester = PyFrcTest() | |
| retval = tester.run_test([], robot_class, options.builtin, ignore_missing_test=True) | |
| if retval != 0: | |
| print_err("ERROR: Your robot tests failed, aborting upload.") | |
| if not sys.stdin.isatty(): | |
| print_err("- Use --skip-tests if you want to upload anyways") | |
| return retval | |
| print() | |
| if not yesno('- Upload anyways?'): | |
| return retval | |
| if not yesno('- Are you sure? Your robot code may crash!'): | |
| return retval | |
| print() | |
| print("WARNING: Uploading code against my better judgement...") | |
| # upload all files in the robot.py source directory | |
| robot_file = abspath(inspect.getfile(robot_class)) | |
| robot_path = dirname(robot_file) | |
| robot_filename = basename(robot_file) | |
| cfg_filename = join(robot_path, '.deploy_cfg') | |
| if not options.nonstandard and robot_filename != 'robot.py': | |
| print_err("ERROR: Your robot code must be in a file called robot.py (launched from %s)!" % robot_filename) | |
| print_err() | |
| print_err("If you really want to do this, then specify the --nonstandard argument") | |
| return 1 | |
| # This probably should be configurable... oh well | |
| deploy_dir = '/home/lvuser' | |
| py_deploy_dir = '%s/py' % deploy_dir | |
| # note below: deployed_cmd appears that it only can be a single line | |
| # In 2015, there were stdout/stderr issues. In 2016, they seem to | |
| # have been fixed, but need to use -u for it to really work properly | |
| if options.debug: | |
| deployed_cmd = 'env LD_LIBRARY_PATH=/usr/local/frc/rpath-lib/ /usr/local/frc/bin/netconsole-host /usr/local/bin/python3 -u %s/%s -v run' % (py_deploy_dir, robot_filename) | |
| deployed_cmd_fname = 'robotDebugCommand' | |
| extra_cmd = 'touch /tmp/frcdebug; chown lvuser:ni /tmp/frcdebug' | |
| else: | |
| deployed_cmd = 'env LD_LIBRARY_PATH=/usr/local/frc/rpath-lib/ /usr/local/frc/bin/netconsole-host /usr/local/bin/python3 -u -O %s/%s run' % (py_deploy_dir, robot_filename) | |
| deployed_cmd_fname = 'robotCommand' | |
| extra_cmd = '' | |
| if options.in_place: | |
| del_cmd = '' | |
| else: | |
| del_cmd = "[ -d %(py_deploy_dir)s ] && rm -rf %(py_deploy_dir)s" | |
| del_cmd %= {"py_deploy_dir": py_deploy_dir} | |
| check_version = '/usr/local/bin/python3 -c "exec(open(\\"$SITEPACKAGES/wpilib/version.py\\", \\"r\\").read(), globals()); print(\\"WPILib version on robot is \\" + __version__);exit(0) if __version__ == \\"%s\\" else exit(89)"' % wpilib.__version__ | |
| if options.no_version_check: | |
| check_version = '' | |
| # This is a nasty bit of code now... | |
| sshcmd = inspect.cleandoc(""" | |
| /bin/bash -ce '[ -x /usr/local/bin/python3 ] || exit 87 | |
| SITEPACKAGES=$(/usr/local/bin/python3 -c "import site; print(site.getsitepackages()[0])") | |
| [ -f $SITEPACKAGES/wpilib/version.py ] || exit 88 | |
| %(check_version)s | |
| %(del_cmd)s | |
| echo "%(cmd)s" > %(deploy_dir)s/%(cmd_fname)s | |
| %(extra_cmd)s' | |
| """) | |
| sshcmd %= { | |
| 'del_cmd': del_cmd, | |
| 'deploy_dir': deploy_dir, | |
| 'cmd': deployed_cmd, | |
| 'cmd_fname': deployed_cmd_fname, | |
| 'extra_cmd': extra_cmd, | |
| 'check_version': check_version | |
| } | |
| sshcmd = re.sub("\n+", ";", sshcmd) | |
| nc_thread = None | |
| try: | |
| controller = installer.ssh_from_cfg(cfg_filename, | |
| username='lvuser', | |
| password='', | |
| hostname=options.robot, | |
| allow_mitm=True, | |
| no_resolve=options.no_resolve) | |
| # Housekeeping first | |
| logger.debug('SSH: %s', sshcmd) | |
| controller.ssh(sshcmd) | |
| # Copy the files over, copy to a temporary directory first | |
| # -> this is inefficient, but it's easier in sftp | |
| tmp_dir = tempfile.mkdtemp() | |
| py_tmp_dir = join(tmp_dir, 'py') | |
| try: | |
| self._copy_to_tmpdir(py_tmp_dir, robot_path) | |
| controller.sftp(py_tmp_dir, deploy_dir, mkdir=not options.in_place) | |
| finally: | |
| shutil.rmtree(tmp_dir) | |
| # start the netconsole listener now if requested, *before* we | |
| # actually start the robot code, so we can see all messages | |
| if options.nc: | |
| from netconsole import run | |
| nc_event = threading.Event() | |
| nc_thread = threading.Thread(target=run, | |
| kwargs={'init_event': nc_event}, | |
| daemon=True) | |
| nc_thread.start() | |
| nc_event.wait(5) | |
| logger.info("Netconsole is listening...") | |
| if not options.in_place: | |
| # Restart the robot code and we're done! | |
| sshcmd = "/bin/bash -ce '" + \ | |
| '. /etc/profile.d/natinst-path.sh; ' + \ | |
| 'chown -R lvuser:ni %s; ' + \ | |
| '/usr/local/frc/bin/frcKillRobot.sh -t -r' + \ | |
| "'" | |
| sshcmd %= (py_deploy_dir) | |
| logger.debug('SSH: %s', sshcmd) | |
| controller.ssh(sshcmd) | |
| except installer.SshExecError as e: | |
| if e.retval == 87: | |
| print_err("ERROR: python3 was not found on the roboRIO: have you installed robotpy?") | |
| elif e.retval == 88: | |
| print_err("ERROR: WPILib was not found on the roboRIO: have you installed robotpy?") | |
| elif e.retval == 89: | |
| print_err("ERROR: expected WPILib version %s" % wpilib.__version__) | |
| print_err() | |
| print_err("You should either:") | |
| print_err("- If the robot version is older, upgrade the RobotPy on your robot") | |
| print_err("- Otherwise, upgrade pyfrc on your computer") | |
| print_err() | |
| print_err("Alternatively, you can specify --no-version-check to skip this check") | |
| else: | |
| print_err("ERROR: %s" % e) | |
| return 1 | |
| except installer.Error as e: | |
| print_err("ERROR: %s" % e) | |
| return 1 | |
| else: | |
| print("\nSUCCESS: Deploy was successful!") | |
| if nc_thread is not None: | |
| nc_thread.join() | |
| return 0 | |
| def _copy_to_tmpdir(self, tmp_dir, robot_path): | |
| upload_files = [] | |
| for root, dirs, files in os.walk(robot_path): | |
| prefix = root[len(robot_path)+1:] | |
| os.mkdir(join(tmp_dir, prefix)) | |
| # skip .svn, .git, .hg, etc directories | |
| for d in dirs[:]: | |
| if d.startswith('.') or d == '__pycache__': | |
| dirs.remove(d) | |
| # skip .pyc files | |
| for filename in files: | |
| r, ext = splitext(filename) | |
| if ext == 'pyc' or r.startswith('.'): | |
| continue | |
| shutil.copy(join(root, filename), join(tmp_dir, prefix, filename)) | |
| return upload_files |