public async Task UploadCode(string robotName, SettingsPageGrid page, bool debug, Project robotProject)
{
//TODO: Make debug work. Forcing debug to false for now so code always runs properly.
debug = false;
if (page.Netconsole)
{
await StartNetConsole();
}
string deployedCmd;
string deployedCmdFrame;
if (debug)
{
deployedCmd = string.Format(DeployProperties.RobotCommandDebug, robotName);
deployedCmdFrame = DeployProperties.RobotCommandDebugFileName;
}
else
{
deployedCmd = string.Format(DeployProperties.RobotCommand, robotName);
deployedCmdFrame = DeployProperties.RobotCommandFileName;
}
string args = GetCommandLineArguments(robotProject);
//Kill the currently running robot program
await RoboRIOConnection.RunCommand(DeployProperties.KillOnlyCommand, ConnectionUser.LvUser);
//Combining all other commands, since they should be safe running together.
List<string> commands = new List<string>();
//Write the robotCommand file
commands.Add($"echo {deployedCmd} {args} > {DeployProperties.CommandDir}/{deployedCmdFrame}");
if (debug)
{
//If debug write the debug flag.
commands.AddRange(DeployProperties.DebugFlagCommand);
}
//Add all commands to restart
commands.AddRange(DeployProperties.DeployKillCommand);
//run all commands
await RoboRIOConnection.RunCommands(commands.ToArray(), ConnectionUser.LvUser);
//Run sync so files are written to disk.
await RoboRIOConnection.RunCommand("sync", ConnectionUser.LvUser);
}
//Uploads code to the robot and then runs it.
public async Task<bool> DeployCode(string teamNumber, SettingsPageGrid page, bool debug, Project robotProject)
{
var writer = OutputWriter.Instance;
if (robotProject == null)
{
writer.WriteLine("Robot Project not valid. Contact RobotDotNet for support.");
return false;
}
//Connect to Robot Async
OutputWriter.Instance.WriteLine("Attempting to Connect to RoboRIO");
Task<bool> rioConnectionTask = StartConnectionTask(teamNumber);
Task delayTask = Task.Delay(10000);
CodeReturnStruct codeReturn = await BuildAndPrepareCode(debug, robotProject);
if (codeReturn == null) return false;
writer.WriteLine("Waiting for Connection to Finish");
if (await Task.WhenAny(rioConnectionTask, delayTask) == rioConnectionTask)
{
//Completed on time
if (rioConnectionTask.Result)
{
//Connected successfully
OutputWriter.Instance.WriteLine("Successfully Connected to RoboRIO.");
if (!await CheckMonoInstall())
{
//TODO: Make this error message better
OutputWriter.Instance.WriteLine("Mono not properly installed. Please try reinstalling to Mono Runtime.");
return false;
}
OutputWriter.Instance.WriteLine("Mono correctly installed");
OutputWriter.Instance.WriteLine("Checking RoboRIO Image");
if (!await CheckRoboRioImage())
{
OutputWriter.Instance.WriteLine("RoboRIO Image does not match plugin, allowed image versions: " + string.Join(", ", DeployProperties.RoboRioAllowedImages.ToArray()));
OutputWriter.Instance.WriteLine("Please follow FIRST's instructions on imaging your RoboRIO, and try again.");
return false;
}
OutputWriter.Instance.WriteLine("RoboRIO Image Correct");
//Force making mono directory
await CreateMonoDirectory();
//DeployAllFiles
bool retVal = await DeployRobotFiles(codeReturn.RobotFiles);
if (!retVal)
{
OutputWriter.Instance.WriteLine("File deploy failed.");
return false;
}
OutputWriter.Instance.WriteLine("Successfully Deployed Files. Starting Code.");
await UploadCode(codeReturn.RobotExe, page, debug, robotProject);
OutputWriter.Instance.WriteLine("Successfully started robot code.");
return true;
}
else
{
//Failed to connect
writer.WriteLine("Failed to Connect to RoboRIO. Exiting.");
return false;
}
}
else
{
//Timedout
writer.WriteLine("Failed to Connect to RoboRIO. Exiting.");
return false;
}
}