Enable deploying code for the raspberry pis
Also, sets up a systemd service to start all the code.
Change-Id: If993426b36d0910497579ad86e330699f8a7d2e7
diff --git a/aos/starter/starter.sh b/aos/starter/starter.sh
index f5b14a5..e140351 100755
--- a/aos/starter/starter.sh
+++ b/aos/starter/starter.sh
@@ -6,6 +6,9 @@
ln -s /var/local/natinst/log/FRC_UserProgram.log /tmp/FRC_UserProgram.log
ln -s /var/local/natinst/log/FRC_UserProgram.log "${ROBOT_CODE}/FRC_UserProgram.log"
+elif [[ "$(hostname)" == "pi-"* ]]; then
+ ROBOT_CODE="/home/pi/robot_code"
+
else
ROBOT_CODE="${HOME}/robot_code"
fi
diff --git a/frc971/downloader.bzl b/frc971/downloader.bzl
index aff3420..11423e0 100644
--- a/frc971/downloader.bzl
+++ b/frc971/downloader.bzl
@@ -1,7 +1,15 @@
load("//frc971/downloader:downloader.bzl", "aos_downloader")
load("//tools/build_rules:label.bzl", "expand_label")
-def robot_downloader(start_binaries, binaries = [], data = [], dirs = None, default_target = None):
+
+def robot_downloader(start_binaries,
+ name="download",
+ binaries=[],
+ data=[],
+ dirs=None,
+ default_target=None,
+ restricted_to=["//tools:roborio"],
+ target_type="roborio"):
"""Sets up the standard robot download targets.
Attrs:
@@ -11,27 +19,30 @@
"""
aos_downloader(
- name = "download",
- start_srcs = [
+ name=name,
+ start_srcs=([
"//aos:prime_start_binaries",
- ] + start_binaries,
- srcs = [
+ ] if target_type == "roborio" else []) + start_binaries,
+ srcs=[
"//aos:prime_binaries",
] + binaries + data,
- dirs = dirs,
- default_target = default_target,
- restricted_to = ["//tools:roborio"],
+ dirs=dirs,
+ target_type=target_type,
+ default_target=default_target,
+ restricted_to=restricted_to,
)
aos_downloader(
- name = "download_stripped",
- start_srcs = [
+ name=name + "_stripped",
+ start_srcs=([
"//aos:prime_start_binaries_stripped",
- ] + [expand_label(binary) + ".stripped" for binary in start_binaries],
- srcs = [
+ ] if target_type == "roborio" else []) +
+ [expand_label(binary) + ".stripped" for binary in start_binaries],
+ srcs=[
"//aos:prime_binaries_stripped",
] + [expand_label(binary) + ".stripped" for binary in binaries] + data,
- dirs = dirs,
- default_target = default_target,
- restricted_to = ["//tools:roborio"],
+ dirs=dirs,
+ target_type=target_type,
+ default_target=default_target,
+ restricted_to=restricted_to,
)
diff --git a/frc971/downloader/downloader.bzl b/frc971/downloader/downloader.bzl
index a5d1bc1..75a1a9b 100644
--- a/frc971/downloader/downloader.bzl
+++ b/frc971/downloader/downloader.bzl
@@ -7,16 +7,16 @@
"#!/bin/bash",
"set -e",
'cd "${BASH_SOURCE[0]}.runfiles/%s"' % ctx.workspace_name,
- ] + ['%s %s --dirs %s -- %s "$@"' % (
+ ] + ['%s --dir %s --target "$@" --type %s %s' % (
ctx.executable._downloader.short_path,
- " ".join([src.short_path for src in d.downloader_srcs]),
d.downloader_dir,
- ctx.attr.default_target,
+ ctx.attr.target_type,
+ " ".join([src.short_path for src in d.downloader_srcs]),
) for d in ctx.attr.dirs] + [
- 'exec %s %s -- %s "$@"' % (
+ 'exec %s --target "$@" --type %s %s' % (
ctx.executable._downloader.short_path,
+ ctx.attr.target_type,
" ".join([src.short_path for src in all_files]),
- ctx.attr.default_target,
),
]),
)
@@ -57,8 +57,6 @@
srcs: The files to download. They currently all get shoved into one folder.
dirs: A list of aos_downloader_dirs to download too.
start_srcs: Like srcs, except they also get put into start_list.txt.
- default_target: The default host to download to. If not specified, defaults to
- roboRIO-971.local.
"""
aos_downloader = rule(
@@ -76,6 +74,9 @@
mandatory = True,
allow_files = True,
),
+ "target_type": attr.string(
+ default = "roborio",
+ ),
"dirs": attr.label_list(
mandatory = False,
providers = [
@@ -83,9 +84,6 @@
"downloader_srcs",
],
),
- "default_target": attr.string(
- default = "roboRIO-971-frc.local",
- ),
},
executable = True,
outputs = {
diff --git a/frc971/downloader/downloader.py b/frc971/downloader/downloader.py
index e4826cf..5ebf417 100644
--- a/frc971/downloader/downloader.py
+++ b/frc971/downloader/downloader.py
@@ -4,6 +4,7 @@
from __future__ import print_function
+import argparse
import sys
import subprocess
import re
@@ -16,61 +17,74 @@
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_path, "-S", ssh_path, pkg,
- ssh_target + ":/tmp/" + pkg
- ])
- subprocess.check_call([
- ssh_path, ssh_target, "opkg", "install",
- "/tmp/" + pkg
- ])
subprocess.check_call(
- [ssh_path, ssh_target, "rm", "/tmp/" + pkg])
+ [scp_path, "-S", ssh_path, pkg, ssh_target + ":/tmp/" + pkg])
+ subprocess.check_call(
+ [ssh_path, ssh_target, "opkg", "install", "/tmp/" + pkg])
+ subprocess.check_call([ssh_path, ssh_target, "rm", "/tmp/" + pkg])
finally:
subprocess.check_call(["rm", pkg])
def main(argv):
- args = argv[argv.index("--") + 1:]
+ parser = argparse.ArgumentParser()
+ parser.add_argument("--target",
+ type=str,
+ default="roborio-971-frc.local",
+ help="Target to deploy code to.")
+ parser.add_argument("--type",
+ type=str,
+ choices=["roborio", "pi"],
+ required=True,
+ help="Target type for deployment")
+ parser.add_argument(
+ "--dir",
+ type=str,
+ help="Directory within robot_code to copy the files to.")
+ parser.add_argument("srcs",
+ type=str,
+ nargs='+',
+ help="List of files to copy over")
+ args = parser.parse_args(argv[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]
+ srcs = args.srcs
+ if args.dir is not None:
+ relative_dir = args.dir
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]
+ destination = args.target
result = re.match("(?:([^:@]+)@)?([^:@]+)(?::([^:@]+))?", destination)
if not result:
- print(
- "Not sure how to parse destination \"%s\"!" % destination,
- file=sys.stderr)
+ print("Not sure how to parse destination \"%s\"!" % destination,
+ file=sys.stderr)
return 1
+ user = None
if result.group(1):
user = result.group(1)
hostname = result.group(2)
+
if result.group(3):
target_dir = result.group(3)
+ if user is None:
+ if args.type == "pi":
+ user = "pi"
+ elif args.type == "roborio":
+ user = "admin"
+ target_dir = "/home/" + user + "/robot_code"
+
ssh_target = "%s@%s" % (user, hostname)
ssh_path = "external/ssh/ssh"
scp_path = "external/ssh/scp"
rsync_cmd = ([
- "external/rsync/usr/bin/rsync", "-e", ssh_path, "-c",
- "-v", "-z", "--copy-links"
+ "external/rsync/usr/bin/rsync", "-e", ssh_path, "-c", "-v", "-z",
+ "--copy-links"
] + srcs + ["%s:%s/%s" % (ssh_target, target_dir, relative_dir)])
try:
subprocess.check_call(rsync_cmd)
@@ -88,12 +102,11 @@
raise e
if not recursive:
- subprocess.check_call(
- (ssh_path, ssh_target, "&&".join([
- "chmod u+s %s/starter_exe" % target_dir,
- "echo \'Done moving new executables into place\'",
- "bash -c \'sync && sync && sync\'",
- ])))
+ subprocess.check_call((ssh_path, 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__":
diff --git a/y2020/BUILD b/y2020/BUILD
index 05b9147..f3ea4d6 100644
--- a/y2020/BUILD
+++ b/y2020/BUILD
@@ -8,6 +8,7 @@
":config.json",
],
start_binaries = [
+ "//aos/events/logging:logger_main",
":joystick_reader",
":wpilib_interface",
"//aos/network:message_bridge_client",
@@ -18,6 +19,27 @@
],
)
+robot_downloader(
+ name = "pi_download",
+ data = [
+ ":config.json",
+ "//y2020/www:files",
+ "//y2020/www:flatbuffers",
+ "//y2020/www:main_bundle",
+ ],
+ dirs = [
+ "//y2020/www:www_files",
+ ],
+ restricted_to = ["//tools:armhf-debian"],
+ start_binaries = [
+ "//aos/network:message_bridge_client",
+ "//aos/network:message_bridge_server",
+ "//y2020/vision:camera_reader",
+ "//aos/network:web_proxy_main",
+ ],
+ target_type = "pi",
+)
+
cc_library(
name = "constants",
srcs = [
diff --git a/y2020/control_loops/drivetrain/drivetrain_main.cc b/y2020/control_loops/drivetrain/drivetrain_main.cc
index 7159118..7804814 100644
--- a/y2020/control_loops/drivetrain/drivetrain_main.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_main.cc
@@ -6,7 +6,8 @@
using ::frc971::control_loops::drivetrain::DrivetrainLoop;
-int main() {
+int main(int argc, char *argv[]) {
+ ::aos::InitGoogle(&argc, &argv);
::aos::InitNRT();
aos::FlatbufferDetachedBuffer<aos::Configuration> config =
diff --git a/y2020/control_loops/drivetrain/localizer.cc b/y2020/control_loops/drivetrain/localizer.cc
index 927eec0..4b164b5 100644
--- a/y2020/control_loops/drivetrain/localizer.cc
+++ b/y2020/control_loops/drivetrain/localizer.cc
@@ -115,6 +115,14 @@
aos::monotonic_clock::time_point capture_time(
std::chrono::nanoseconds(result.image_monotonic_timestamp_ns()) -
monotonic_offset);
+ VLOG(1) << "Got monotonic offset of "
+ << aos::time::DurationInSeconds(monotonic_offset)
+ << " when at time of " << event_loop_->monotonic_now()
+ << " and capture time estimate of " << capture_time;
+ if (capture_time > event_loop_->monotonic_now()) {
+ LOG(WARNING) << "Got camera frame from the future.";
+ return;
+ }
CHECK(result.has_camera_calibration());
// Per the ImageMatchResult specification, we can actually determine whether
// the camera is the turret camera just from the presence of the
diff --git a/y2020/vision/rootfs/frc971.service b/y2020/vision/rootfs/frc971.service
new file mode 100644
index 0000000..bf42652
--- /dev/null
+++ b/y2020/vision/rootfs/frc971.service
@@ -0,0 +1,9 @@
+[Unit]
+Description=Start up 971 robot code
+
+[Service]
+Type=oneshot
+ExecStart=su pi -c /home/pi/robot_code/starter.sh
+
+[Install]
+WantedBy=multi-user.target
diff --git a/y2020/vision/rootfs/modify_rootfs.sh b/y2020/vision/rootfs/modify_rootfs.sh
index 239db0a..219590f 100755
--- a/y2020/vision/rootfs/modify_rootfs.sh
+++ b/y2020/vision/rootfs/modify_rootfs.sh
@@ -76,6 +76,7 @@
sudo cp target_configure.sh "${PARTITION}/tmp/"
sudo cp dhcpcd.conf "${PARTITION}/tmp/dhcpcd.conf"
sudo cp change_hostname.sh "${PARTITION}/tmp/change_hostname.sh"
+sudo cp frc971.service "${PARTITION}/etc/systemd/system/frc971.service"
target /bin/mkdir -p /home/pi/.ssh/
cat ~/.ssh/id_rsa.pub | target tee /home/pi/.ssh/authorized_keys
diff --git a/y2020/vision/rootfs/target_configure.sh b/y2020/vision/rootfs/target_configure.sh
index 38d29b9..032764a 100755
--- a/y2020/vision/rootfs/target_configure.sh
+++ b/y2020/vision/rootfs/target_configure.sh
@@ -68,6 +68,7 @@
rm -f /etc/profile.d/wifi-check.sh
systemctl enable ssh.service
+systemctl enable frc971.service
# Default us to pi-8971-1
/root/bin/change_hostname.sh pi-8971-1
diff --git a/y2020/www/BUILD b/y2020/www/BUILD
index c280e91..292618b 100644
--- a/y2020/www/BUILD
+++ b/y2020/www/BUILD
@@ -1,5 +1,6 @@
load("@build_bazel_rules_typescript//:defs.bzl", "ts_library")
load("@build_bazel_rules_nodejs//:defs.bzl", "rollup_bundle")
+load("//frc971/downloader:downloader.bzl", "aos_downloader_dir")
ts_library(
name = "main",
@@ -44,3 +45,14 @@
cmd = "cp $(location @com_github_google_flatbuffers//:flatjs) $@",
visibility = ["//y2020:__subpackages__"],
)
+
+aos_downloader_dir(
+ name = "www_files",
+ srcs = [
+ ":files",
+ ":flatbuffers",
+ ":main_bundle",
+ ],
+ dir = "www",
+ visibility = ["//visibility:public"],
+)
diff --git a/y2020/y2020.json b/y2020/y2020.json
index 95ee582..0e1a6ba 100644
--- a/y2020/y2020.json
+++ b/y2020/y2020.json
@@ -60,7 +60,7 @@
"name": "/aos/roborio",
"type": "aos.message_bridge.ClientStatistics",
"source_node": "roborio",
- "frequency": 2,
+ "frequency": 10,
"num_senders": 2
},
{
@@ -114,7 +114,7 @@
"name": "/aos/pi1",
"type": "aos.message_bridge.ClientStatistics",
"source_node": "pi1",
- "frequency": 2,
+ "frequency": 10,
"num_senders": 2
},
{
@@ -158,7 +158,7 @@
"name": "/aos/pi2",
"type": "aos.message_bridge.ClientStatistics",
"source_node": "pi2",
- "frequency": 2,
+ "frequency": 10,
"num_senders": 2
},
{
@@ -202,7 +202,7 @@
"name": "/aos/pi3",
"type": "aos.message_bridge.ClientStatistics",
"source_node": "pi3",
- "frequency": 2,
+ "frequency": 10,
"num_senders": 2
},
{