public static async Task <RoboRioConnection> StartConnectionTaskAsync(string teamNumberS)
{
int teamNumber;
int.TryParse(teamNumberS, out teamNumber);
if (teamNumber < 0)
{
teamNumber = 0;
}
var m_roboRioConnection = new RoboRioConnection(teamNumber, TimeSpan.FromSeconds(2));
bool connected = await m_roboRioConnection.GetConnectionAsync().ConfigureAwait(false);
if (connected)
{
StringBuilder builder = new StringBuilder();
ConnectionStatus status = m_roboRioConnection.ConnectionStatus;
builder.AppendLine("Connected to RoboRIO...");
builder.AppendLine("Interface: " + status.ConnectionType);
builder.Append("IP Address: " + status.ConnectionIp.ToString());
await OutputWriter.Instance.WriteLineAsync(builder.ToString()).ConfigureAwait(false);
}
else
{
await OutputWriter.Instance.WriteLineAsync("Failed to Connect to RoboRIO...").ConfigureAwait(false);
}
return(m_roboRioConnection);
}
public static async Task <bool> CheckAndDeployNativeLibrariesAsync(string remoteDirectory, string propertiesName, string dirToUpload, IList <string> ignoreFiles, RoboRioConnection rioConn)
{
MemoryStream stream = new MemoryStream();
bool readFile = await rioConn.ReceiveFileAsync($"{remoteDirectory}/{propertiesName}.properties", stream,
ConnectionUser.LvUser).ConfigureAwait(false);
string nativeLoc = dirToUpload;
var fileMd5List = GetMD5ForFiles(nativeLoc, ignoreFiles);
if (fileMd5List == null)
{
await
OutputWriter.Instance.WriteLineAsync(
"Native libraries cannot be found. Please see our troubleshooting site (https://robotdotnet.github.io/articles/troubleshooting.html) for instructions for fixing this.")
.ConfigureAwait(false);
return(false);
}
if (!readFile)
{
// Libraries definitely do not exist, deploy
return(await DeployNativeLibrariesAsync(fileMd5List, remoteDirectory, propertiesName, rioConn).ConfigureAwait(false));
}
stream.Position = 0;
bool foundError = false;
int readCount = 0;
StreamReader reader = new StreamReader(stream);
string line = null;
while (!string.IsNullOrWhiteSpace(line = reader.ReadLine()))
{
// Split line at =
string[] split = line.Split('=');
if (split.Length < 2)
{
continue;
}
readCount++;
foreach (Tuple <string, string> tuple in fileMd5List)
{
if (split[0] == tuple.Item1)
{
// Found a match file name
if (split[1] != tuple.Item2)
{
foundError = true;
}
break;
}
}
if (foundError)
{
break;
}
}
reader.Dispose();
if (foundError || readCount != fileMd5List.Count)
{
return(await DeployNativeLibrariesAsync(fileMd5List, remoteDirectory, propertiesName, rioConn).ConfigureAwait(false));
}
await OutputWriter.Instance.WriteLineAsync("Native libraries exist. Skipping deploy").ConfigureAwait(false);
return(true);
}
public static async Task <bool> DeployNativeLibrariesAsync(List <Tuple <string, string> > files, string remoteDirectory, string propertiesName, RoboRioConnection rioConn)
{
List <string> fileList = new List <string>(files.Count);
bool nativeDeploy = false;
string tempFile = Path.Combine(Path.GetTempPath(), $"{propertiesName}.properties");
using (FileStream memStream = new FileStream(tempFile, FileMode.Create))
using (StreamWriter writer = new StreamWriter(memStream))
{
foreach (Tuple <string, string> tuple in files)
{
fileList.Add(tuple.Item1);
await writer.WriteLineAsync($"{tuple.Item1}={tuple.Item2}").ConfigureAwait(false);
}
writer.Flush();
fileList.Add(tempFile);
}
await OutputWriter.Instance.WriteLineAsync("Deploying native files").ConfigureAwait(false);
nativeDeploy = await rioConn.DeployFiles(fileList, remoteDirectory, ConnectionUser.Admin).ConfigureAwait(false);
// TODO: Figure out why trying to deploy the raw MemoryStream was Deadlocking
//md5Deploy = await rioConn.DeployFileAsync(memStream, $"{remoteDirectory}/{propertiesName}32.properties", ConnectionUser.Admin).ConfigureAwait(false);
await rioConn.RunCommandAsync("ldconfig", ConnectionUser.Admin).ConfigureAwait(false);
try
{
File.Delete(tempFile);
}
catch (Exception)
{
}
return(nativeDeploy);
}
//Uploads code to the robot and then runs it.
public async Task <bool> DeployCodeAsync(string teamNumber, bool debug, Project robotProject)
{
var writer = OutputWriter.Instance;
if (robotProject == null)
{
await writer.WriteLineAsync("Robot Project not valid. Contact RobotDotNet for support.").ConfigureAwait(false);
return(false);
}
//Connect to Robot Async
await OutputWriter.Instance.WriteLineAsync("Attempting to Connect to RoboRIO").ConfigureAwait(false);
Task <RoboRioConnection> rioConnectionTask = RoboRioConnection.StartConnectionTaskAsync(teamNumber);
CodeReturnStruct codeReturn = await BuildAndPrepareCodeAsync(debug, robotProject).ConfigureAwait(false);
if (codeReturn == null)
{
return(false);
}
await writer.WriteLineAsync("Waiting for Connection to Finish").ConfigureAwait(false);
// Kill our connection if we have already ran once with this same object.
m_roboRioConnection?.Dispose();
m_roboRioConnection = await rioConnectionTask.ConfigureAwait(false);
if (m_roboRioConnection.Connected)
{
//Connected successfully
await OutputWriter.Instance.WriteLineAsync("Successfully Connected to RoboRIO.").ConfigureAwait(false);
if (!await CheckMonoInstallAsync().ConfigureAwait(false))
{
//TODO: Make this error message better
await OutputWriter.Instance.WriteLineAsync("Mono not properly installed. Please try reinstalling to Mono Runtime.").ConfigureAwait(false);
return(false);
}
await OutputWriter.Instance.WriteLineAsync("Mono correctly installed").ConfigureAwait(false);
await OutputWriter.Instance.WriteLineAsync("Checking RoboRIO Image").ConfigureAwait(false);
if (!await CheckRoboRioImageAsync().ConfigureAwait(false))
{
// Ignore image requirement on selected option
if (!SettingsProvider.ExtensionSettingsPage.IgnoreImageRequirements)
{
await OutputWriter.Instance.WriteLineAsync(
"RoboRIO Image does not match plugin, allowed image versions: " +
string.Join(", ", DeployProperties.RoboRioAllowedImages.ToArray())).ConfigureAwait(false);
await OutputWriter.Instance.WriteLineAsync(
"Please follow FIRST's instructions on imaging your RoboRIO, and try again.").ConfigureAwait(false);
return(false);
}
}
await OutputWriter.Instance.WriteLineAsync("RoboRIO Image Correct").ConfigureAwait(false);
//Force making mono directory
await CreateMonoDirectoryAsync().ConfigureAwait(false);
bool nativeDeploy =
await
CachedFileHelper.CheckAndDeployNativeLibrariesAsync(DeployProperties.UserLibraryDir, "WPI_Native_Libraries",
await GetProjectPathAsync(robotProject).ConfigureAwait(false) + "wpinative" + Path.DirectorySeparatorChar,
new List <string>(), m_roboRioConnection).ConfigureAwait(false);
if (!nativeDeploy)
{
await OutputWriter.Instance.WriteLineAsync("Failed to deploy native files.").ConfigureAwait(false);
return(false);
}
//DeployAllFiles
bool retVal = await DeployRobotFilesAsync(codeReturn.RobotFiles).ConfigureAwait(false);
if (!retVal)
{
await OutputWriter.Instance.WriteLineAsync("File deploy failed.").ConfigureAwait(false);
return(false);
}
await OutputWriter.Instance.WriteLineAsync("Successfully Deployed Files. Starting Code.").ConfigureAwait(false);
await StartRobotCodeAsync(codeReturn.RobotExe, debug, robotProject).ConfigureAwait(false);
await OutputWriter.Instance.WriteLineAsync("Successfully started robot code.").ConfigureAwait(false);
return(true);
}
else
{
//Failed to connect
await writer.WriteLineAsync("Failed to Connect to RoboRIO. Exiting.").ConfigureAwait(false);
return(false);
}
}
