[WIP] Deploy Script

README.md

@@ -7,15 +7,21 @@ IPC framework intended for use in First Robotics Competition using [ZeroMQ](http
 ## How to Build:
 1. Clone the repository
 2. Install [Bazel](https://bazel.build/)
-3. If using Mac, follow [these](https://github.com/bazelbuild/sandboxfs/blob/master/INSTALL.md) instructions to install Sandboxfs
+3. Follow [these](https://github.com/bazelbuild/sandboxfs/blob/master/INSTALL.md) instructions to install Sandboxfs
 4. run `bazel build //... --config=roborio` to build the project
 5. ???
 6. Profit
 
+## How to Deploy:
+Make sure you have python3, scp, ssh, and sync available from your command line, otherwise the deploy script will not work.
+
+If your RoboRIO is not configured for our architecture, run `bazel run //tools/deploy:setup_roborio -- roborio-5419-frc.local` with whatever the host name/ip of your robot is. This will configure the rio to run our start script and not the default start script. In the future it will possibly configure other settings such as directories and symlinks.
+
+Run the deploy rule as follows: `bazel run //src:main_deploy --config=roborio -c opt`. The script will ssh into the roborio, install needed packages (rysnc, ssl, python, etc) and then deploy the robot binaries.
 
 ## Planned Features:
-- Full cross-compiler support (only roborio for now)
-- Automated deploy script using Bazel + Python
+- Full cross-compiler support (This is mostly working as of now)
+- Automated deploy script using Bazel + Python (Written, but needs to be tested)
 - Full IPC communication with both C++ and Python APIs (More languages later?) 
 - Fully unit-testable structure
 - Robust logging system

src/BUILD

@@ -1,4 +1,5 @@
-# https://docs.bazel.build/versions/master/be/c-cpp.html#cc_binary
+load("//tools/deploy:deploy.bzl", "robot_deploy")
+
 cc_binary(
     name = "main",
     srcs = [
@@ -12,3 +13,12 @@ cc_binary(
         "@wpilibc-cpp",
     ],
 )
+
+# waiting for https://github.com/bazelbuild/bazel/issues/3780 to be resolved
+robot_deploy(
+    name = "main_deploy",
+    srcs = [],
+    deploy_location = "roborio-5419-frc.local",
+    start_srcs = [":main"],
+    # restricted_to=["//platforms:roborio"]
+)

tools/deploy/BUILD

@@ -0,0 +1,22 @@
+filegroup(
+    name = "rio_robot_command",
+    srcs = ["robotCommand"],
+)
+
+py_binary(
+    name = "deployer",
+    srcs = [
+        "deployer.py",
+    ],
+    visibility = ["//visibility:public"],
+)
+
+sh_binary(
+    name = "setup_roborio",
+    srcs = ["setup_roborio.sh"],
+    data = [
+        ":rio_robot_command",
+        # '@arm_frc_linux_gnueabi_repo//:compiler_pieces',
+    ],
+    visibility = ["//visibility:public"],
+)

tools/deploy/deploy.bzl

@@ -0,0 +1,104 @@
+load(
+    "@bazel_tools//tools/build_defs/repo:utils.bzl",
+    "update_attrs",
+    "workspace_and_buildfile",
+)
+
+_deploy_dir_attr = {
+    "srcs": attr.label_list(
+        mandatory = True,
+        allow_files = True,
+    ),
+    "dir": attr.string(
+        mandatory = True,
+    ),
+}
+
+def _deploy_dir_impl(ctx):
+    return struct(
+        downloader_dir = ctx.attr.dir,
+        downloader_srcs = ctx.files.srcs,
+    )
+
+deploy_dir = repository_rule(
+    attrs = _deploy_dir_attr,
+    implementation = _deploy_dir_impl,
+)
+
+_robot_deploy_attr = {
+    "_downloader": attr.label(
+        executable = True,
+        cfg = "host",
+        default = Label("//tools/deploy:deployer"),
+    ),
+    "start_srcs": attr.label_list(
+        mandatory = True,
+        allow_files = True,
+    ),
+    "srcs": attr.label_list(
+        mandatory = True,
+        allow_files = True,
+    ),
+    "dirs": attr.label_list(
+        mandatory = False,
+        providers = [
+            "downloader_dir",
+            "downloader_srcs",
+        ],
+    ),
+    "deploy_location": attr.string(
+        default = "roborio-5419-frc.local",
+    ),
+}
+
+def _robot_deploy_impl(ctx):
+    all_files = ctx.files.srcs + ctx.files.start_srcs + [ctx.outputs._startlist]
+    ctx.actions.write(
+        output = ctx.outputs.executable,
+        is_executable = True,
+        # im not sure what the code actually does here, well figure it out
+        content = "\n".join([
+            "#!/bin/bash",
+            "set -e",
+            'cd "${BASH_SOURCE[0]}.runfiles/%s"' % ctx.workspace_name,
+        ] + ['%s %s --dirs %s -- %s "$@"' % (
+            ctx.executable._downloader.short_path,
+            " ".join([src.short_path for src in d.downloader_srcs]),
+            d.downloader_dir,
+            ctx.attr.deploy_location,
+        ) for d in ctx.attr.dirs] + [
+            'exec %s %s -- %s "$@"' % (
+                ctx.executable._downloader.short_path,
+                " ".join([src.short_path for src in all_files]),
+                ctx.attr.deploy_location,
+            ),
+        ]),
+    )
+
+    ctx.actions.write(
+        output = ctx.outputs._startlist,
+        content = "\n".join([f.basename for f in ctx.files.start_srcs]) + "\n",
+    )
+    to_download = [ctx.outputs._startlist]
+    to_download += all_files
+    for d in ctx.attr.dirs:
+        to_download += d.downloader_srcs
+
+    return struct(
+        runfiles = ctx.runfiles(
+            files = to_download + ctx.files._downloader,
+            transitive_files = ctx.attr._downloader.default_runfiles.files,
+            collect_data = True,
+            collect_default = True,
+        ),
+        files = depset([ctx.outputs.executable]),
+    )
+
+robot_deploy = rule(
+    implementation = _robot_deploy_impl,
+    attrs = _robot_deploy_attr,
+    outputs = {
+        "_startlist": "%{name}.start_list.dir/start_list.txt",
+    },
+    executable = True,
+)

tools/deploy/deployer.py

@@ -0,0 +1,94 @@
+# This file is run by shell scripts generated by the aos_downloader Skylark
+# macro. Everything before the first -- is a hard-coded list of files to
+# download.
+
+from __future__ import print_function
+
+import sys
+import subprocess
+import re
+import os
+
+
+def install(ssh_target, pkg):
+    """Installs a package from NI on the ssh target."""
+    print("Installing", pkg)
+    PKG_URL = "http://download.ni.com/ni-linux-rt/feeds/2015/arm/ipk/cortexa9-vfpv3/" + pkg
+    subprocess.check_call(["wget", PKG_URL, "-O", pkg])
+    try:
+        subprocess.check_call([
+            "scp", "-S", "ssh", pkg,
+            ssh_target + ":/tmp/" + pkg
+        ])
+        subprocess.check_call([
+            "ssh", ssh_target, "opkg", "install",
+            "/tmp/" + pkg
+        ])
+        subprocess.check_call(
+            ["ssh", ssh_target, "rm", "/tmp/" + pkg])
+    finally:
+        subprocess.check_call(["rm", pkg])
+
+
+def main(argv):
+    args = argv[argv.index("--") + 1:]
+
+    relative_dir = ""
+    recursive = False
+
+    if "--dirs" in argv:
+        dirs_index = argv.index("--dirs")
+        srcs = argv[1:dirs_index]
+        relative_dir = argv[dirs_index + 1]
+        recursive = True
+    else:
+        srcs = argv[1:argv.index("--")]
+
+    ROBORIO_TARGET_DIR = "/home/admin/robot_code"
+    ROBORIO_USER = "admin"
+
+    target_dir = ROBORIO_TARGET_DIR
+    user = ROBORIO_USER
+    destination = args[-1]
+
+    result = re.match("(?:([^:@]+)@)?([^:@]+)(?::([^:@]+))?", destination)
+    if not result:
+        print(
+            "Not sure how to parse destination \"%s\"!" % destination,
+            file=sys.stderr)
+        return 1
+    if result.group(1):
+        user = result.group(1)
+    hostname = result.group(2)
+    if result.group(3):
+        target_dir = result.group(3)
+
+    ssh_target = "%s@%s" % (user, hostname)
+
+    rsync_cmd = ([
+        "rsync", "-e", "ssh", "-c",
+        "-v", "-z", "--copy-links"
+    ] + srcs + ["%s:%s/%s" % (ssh_target, target_dir, relative_dir)])
+    try:
+        subprocess.check_call(rsync_cmd)
+    except subprocess.CalledProcessError as e:
+        if e.returncode == 127:
+            print("Unconfigured roboRIO, installing rsync.")
+            install(ssh_target, "libattr1_2.4.47-r0.36_cortexa9-vfpv3.ipk")
+            install(ssh_target, "libacl1_2.2.52-r0.36_cortexa9-vfpv3.ipk")
+            install(ssh_target, "rsync_3.1.0-r0.7_cortexa9-vfpv3.ipk")
+            subprocess.check_call(rsync_cmd)
+        else:
+            raise e
+
+    if not recursive:
+        subprocess.check_call(
+            ("ssh", ssh_target, "&&".join([
+                "chmod u+s %s/starter_exe" % target_dir,
+                "echo \'Done moving new executables into place\'",
+                "bash -c \'sync && sync && sync\'",
+            ])))
+
+
+if __name__ == "__main__":
+    main(sys.argv)

tools/deploy/robotCommand

@@ -0,0 +1 @@
+/home/admin/robot_code/starter.sh

tools/deploy/setup_roborio.sh

@@ -0,0 +1,23 @@
+#!/bin/bash
+
+set -Eeuo pipefail
+
+if [ $# != 1 ];
+then
+  echo "# setup_robot.sh is used to configure a newly flashed roboRIO"
+  echo ""
+  echo "Usage: setup_roborio.sh 10.54.19.2"
+  echo ""
+  echo "# or if that does not work, try"
+  echo ""
+  echo "Usage: setup_roborio.sh roboRIO-5419-frc.local"
+  exit 1
+fi
+
+readonly ROBOT_HOSTNAME="$1"
+
+# This fails if the code isn't running.
+ssh "admin@${ROBOT_HOSTNAME}" 'PATH="${PATH}":/usr/local/natinst/bin/ /usr/local/frc/bin/frcKillRobot.sh -r -t' || true
+
+echo "Deploying robotCommand startup script"
+scp tools/deploy/robotCommand "admin@${ROBOT_HOSTNAME}:/home/lvuser/"