def run(self, options, robot_class, **static_options):
try:
from robotpy_installer import installer
except ImportError:
raise ImportError(
"You must have the robotpy-installer package installed to deploy code!"
)
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 = PurePosixPath("/home/lvuser")
py_deploy_subdir = "py"
py_new_deploy_subdir = "py_new"
py_deploy_dir = deploy_dir / py_deploy_subdir
# 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:
compileall_flags = ""
deployed_cmd = (
"env LD_LIBRARY_PATH=/usr/local/frc/lib/ /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"
bash_cmd = "/bin/bash -cex"
else:
compileall_flags = "-O"
deployed_cmd = (
"env LD_LIBRARY_PATH=/usr/local/frc/lib/ /usr/local/bin/python3 -u -O %s/%s run"
% (py_deploy_dir, robot_filename)
)
deployed_cmd_fname = "robotCommand"
extra_cmd = ""
bash_cmd = "/bin/bash -ce"
if options.in_place:
replace_cmd = "true"
py_new_deploy_subdir = py_deploy_subdir
else:
replace_cmd = (
"rm -rf %(py_deploy_dir)s; mv %(py_new_deploy_dir)s %(py_deploy_dir)s"
)
py_new_deploy_dir = deploy_dir / py_new_deploy_subdir
replace_cmd %= {
"py_deploy_dir": py_deploy_dir,
"py_new_deploy_dir": py_new_deploy_dir,
}
check_version = (
'/usr/local/bin/python3 -c "exec(open(\\"$SITEPACKAGES/wpilib/version.py\\", \\"r\\").read(), globals()); print(\\"WPILib version on robot is \\" + __version__);exit(0) if __version__ == \\"%s\\" else exit(89)"'
% wpilib.__version__
)
if options.no_version_check:
check_version = ""
check_startup_dlls = '(if [ "$(grep ^StartupDLLs /etc/natinst/share/ni-rt.ini)" != "" ]; then exit 91; fi)'
# This is a nasty bit of code now...
sshcmd = inspect.cleandoc(
"""
%(bash_cmd)s '[ -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
echo "%(deployed_cmd)s" > %(deploy_dir)s/%(deployed_cmd_fname)s
%(extra_cmd)s
%(check_startup_dlls)s
rm -rf %(py_new_deploy_dir)s
'
"""
)
sshcmd %= locals()
sshcmd = re.sub("\n+", ";", sshcmd)
nc_thread = None
hostname_or_team = options.robot
if not hostname_or_team and options.team:
hostname_or_team = options.team
try:
controller = installer.ssh_from_cfg(
cfg_filename,
username="******",
password="",
hostname=hostname_or_team,
allow_mitm=True,
no_resolve=options.no_resolve,
)
try:
# Housekeeping first
logger.debug("SSH: %s", sshcmd)
controller.ssh(sshcmd)
except installer.SshExecError as e:
doret = True
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"
)
elif e.retval == 90:
print_err("ERROR: error running compileall")
elif e.retval == 91:
# Not an error; ssh in as admin and fix the startup dlls (Saves 24M of RAM)
# -> https://github.com/wpilibsuite/EclipsePlugins/pull/154
logger.info("Fixing StartupDLLs to save RAM...")
controller.username = "******"
controller.ssh(
'sed -i -e "s/^StartupDLLs/;StartupDLLs/" /etc/natinst/share/ni-rt.ini'
)
controller.username = "******"
doret = False
else:
print_err("ERROR: %s" % e)
if doret:
return 1
# Copy the files over, copy to a temporary directory first
# -> this is inefficient, but it's easier in sftp
tmp_dir = tempfile.mkdtemp()
try:
py_tmp_dir = join(tmp_dir, py_new_deploy_subdir)
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 or options.nc_ds:
from netconsole import run
nc_event = threading.Event()
nc_thread = threading.Thread(
target=run,
args=(controller.hostname,),
kwargs=dict(connect_event=nc_event, fakeds=options.nc_ds),
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 = (
"%(bash_cmd)s '"
+ "%(replace_cmd)s;"
+ "/usr/local/bin/python3 %(compileall_flags)s -m compileall -q -r 5 /home/lvuser/py;"
+ ". /etc/profile.d/natinst-path.sh; "
+ "chown -R lvuser:ni %(py_deploy_dir)s; "
+ "sync; "
+ "/usr/local/frc/bin/frcKillRobot.sh -t -r || true"
+ "'"
)
sshcmd %= {
"bash_cmd": bash_cmd,
"compileall_flags": compileall_flags,
"py_deploy_dir": py_deploy_dir,
"replace_cmd": replace_cmd,
}
logger.debug("SSH: %s", sshcmd)
controller.ssh(sshcmd)
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 run(self, options, robot_class, **static_options):
try:
from robotpy_installer import installer
except ImportError:
raise ImportError(
"You must have the robotpy-installer package installed to deploy code!"
)
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'
bash_cmd = '/bin/bash -cex'
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 = ''
bash_cmd = '/bin/bash -ce'
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("""
%(bash_cmd)s '[ -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 %= {
'bash_cmd': bash_cmd,
'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='******',
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!
# TODO: add the following to the beginning of the next command:
# '/usr/local/bin/python3 -m compileall -q -r 5 /home/lvuser/py;' + \
# -> breaks because of http://bugs.python.org/issue29877
sshcmd = "%(bash_cmd)s '" + \
'. /etc/profile.d/natinst-path.sh; ' + \
'chown -R lvuser:ni %(py_deploy_dir)s; ' + \
'sync; ' + \
'/usr/local/frc/bin/frcKillRobot.sh -t -r' + \
"'"
sshcmd %= {
'bash_cmd': bash_cmd,
'py_deploy_dir': 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"
)
elif e.retval == 90:
print_err("ERROR: error running compileall")
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