Upgrade CTRE libraries for 2022
CTRE is now releasing shared libraries, so things got a bit more
difficult. Deploy those shared libraries and link them into place.
The code starts up with this, but I haven't actually tried interacting
with a Falcon. That'll come soon enough.
Change-Id: Ia332fb614089044758854766ba1db2b5ecc8f00e
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/WORKSPACE b/WORKSPACE
index 9c4529b..acda914 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -657,8 +657,6 @@
path = "third_party/ceres",
)
-# TODO(austin): Update!
-# Downloaded from http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/api-cpp/5.18.1/.
http_archive(
name = "ctre_phoenix_api_cpp_headers",
build_file_content = """
@@ -668,71 +666,36 @@
hdrs = glob(['ctre/phoenix/**/*.h']),
)
""",
- sha256 = "230ff927e36b2f75e746da0f0bf9852e5a049bb3e95c4617138ef0618b2e80d9",
+ sha256 = "ea4131d1809bc8ccbd72b15cc7a65bd6ebb89a65019afc6a336e2c92d91ec824",
urls = [
- "https://www.frc971.org/Build-Dependencies/api-cpp-5.18.1-headers.zip",
+ "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/api-cpp/5.21.1/api-cpp-5.21.1-headers.zip",
],
)
-# Downloaded from http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/api-cpp/5.18.1/.
http_archive(
name = "ctre_phoenix_api_cpp_athena",
build_file_content = """
+filegroup(
+ name = 'shared_libraries',
+ srcs = [
+ 'linux/athena/shared/libCTRE_Phoenix.so',
+ ],
+ visibility = ['//visibility:public'],
+)
+
cc_library(
name = 'api-cpp',
visibility = ['//visibility:public'],
- srcs = ['linux/athena/static/libCTRE_Phoenix.a'],
+ srcs = ['linux/athena/shared/libCTRE_Phoenix.so'],
target_compatible_with = ['@//tools/platforms/hardware:roborio'],
- deps = [
- '@ctre_phoenix_core_headers//:core',
- '@ctre_phoenix_core_athena//:core',
- ],
)
""",
- sha256 = "a4de1930e1e946e1c72c13ee272dae38c12c4b7b85b44477dbb67312724d96b1",
+ sha256 = "328130012a0fc1050c3ff09f30a2adf5106d15accc3d850b744fa60ec635a462",
urls = [
- "https://www.frc971.org/Build-Dependencies/api-cpp-5.18.1-linuxathenastatic.zip",
+ "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/api-cpp/5.21.1/api-cpp-5.21.1-linuxathena.zip",
],
)
-# Downloaded from http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/diagnostics/5.18.1/.
-http_archive(
- name = "ctre_phoenix_diagnostics_headers",
- build_file_content = """
-cc_library(
- name = 'diagnostics',
- visibility = ['//visibility:public'],
- hdrs = glob(['ctre/phoenix/**/*.h']),
-)
-""",
- sha256 = "a94bff6c241de8dc2396a1cece9e2822fe4a7e4980aedaaea682c3e8c5de008c",
- urls = [
- "https://www.frc971.org/Build-Dependencies/diagnostics-5.18.1-headers.zip",
- ],
-)
-
-# Downloaded from http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/diagnostics/5.18.1/.
-http_archive(
- name = "ctre_phoenix_diagnostics_athena",
- build_file_content = """
-cc_library(
- name = 'diagnostics',
- visibility = ['//visibility:public'],
- srcs = ['linux/athena/static/libCTRE_PhoenixDiagnostics.a'],
- target_compatible_with = ['@//tools/platforms/hardware:roborio'],
- deps = [
- '@ctre_phoenix_core_headers//:core',
- '@ctre_phoenix_core_athena//:core',
- ],
-)
-""",
- sha256 = "638a4a4d7400942baa040619ea6cde2bdef0e7721300a9427424a577ce0f56db",
- urls = [
- "https://www.frc971.org/Build-Dependencies/diagnostics-5.18.1-linuxathenastatic.zip",
- ],
-)
-
-# Downloaded from http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/cci/5.18.1/.
http_archive(
name = "ctre_phoenix_cci_headers",
build_file_content = """
@@ -742,59 +705,33 @@
hdrs = glob(['ctre/phoenix/**/*.h']),
)
""",
- sha256 = "31e4d8f7fd9612ba687661e19aabc3d89dc076f66756d4696aa7799f31bbc72f",
+ sha256 = "b3332885c6afe082f9f67c2335086e89f705b6ac6c5101188616f81c58d3e49a",
urls = [
- "https://www.frc971.org/Build-Dependencies/cci-5.18.1-headers.zip",
+ "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/cci/5.21.1/cci-5.21.1-headers.zip",
],
)
-# Downloaded from http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/cci/5.18.1/.
http_archive(
name = "ctre_phoenix_cci_athena",
build_file_content = """
+filegroup(
+ name = 'shared_libraries',
+ srcs = [
+ 'linux/athena/shared/libCTRE_PhoenixCCI.so',
+ ],
+ visibility = ['//visibility:public'],
+)
+
cc_library(
name = 'cci',
visibility = ['//visibility:public'],
- srcs = ['linux/athena/static/libCTRE_PhoenixCCI.a'],
+ srcs = ['linux/athena/shared/libCTRE_PhoenixCCI.so'],
target_compatible_with = ['@//tools/platforms/hardware:roborio'],
)
""",
- sha256 = "e5d9b58072002dbd2daa8cc8d42e047e5c90d26bd5a2b1d63dc1b89112ac3837",
+ sha256 = "94812541734d7905774d97e10a97e9c79b5c37cba60d9b6b2d6e4bf3bbabc2fb",
urls = [
- "https://www.frc971.org/Build-Dependencies/cci-5.18.1-linuxathenastatic.zip",
- ],
-)
-
-# Downloaded from http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/core/5.18.1/.
-http_archive(
- name = "ctre_phoenix_core_headers",
- build_file_content = """
-cc_library(
- name = 'core',
- visibility = ['//visibility:public'],
- hdrs = glob(['ctre/phoenix/**/*.h']),
-)
-""",
- sha256 = "af2db0f9c3693cbb74216882ee140e4d6b722a416f2d384062378a8ae37f65ee",
- urls = [
- "https://www.frc971.org/Build-Dependencies/core-5.18.1-headers.zip",
- ],
-)
-
-# Downloaded from http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/core/5.18.1/.
-http_archive(
- name = "ctre_phoenix_core_athena",
- build_file_content = """
-cc_library(
- name = 'core',
- visibility = ['//visibility:public'],
- srcs = ['linux/athena/static/libCTRE_PhoenixCore.a'],
- target_compatible_with = ['@//tools/platforms/hardware:roborio'],
-)
-""",
- sha256 = "cd827bc68c0f4ef2fe6c363a7f9f5a08f7d944b574c65a2c7fb823686501f43f",
- urls = [
- "https://www.frc971.org/Build-Dependencies/core-5.18.1-linuxathenastatic.zip",
+ "http://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/cci/5.21.1/cci-5.21.1-linuxathena.zip",
],
)
diff --git a/aos/starter/starter.sh b/aos/starter/starter.sh
index f18dfda..d5812c2 100755
--- a/aos/starter/starter.sh
+++ b/aos/starter/starter.sh
@@ -5,6 +5,12 @@
ROBOT_CODE="/home/admin/robot_code"
+ # Get the CTRE libraries in the shared library search path
+ for f in $(ls *.so);
+ do
+ ln -f -s /home/admin/robot_code/$f /usr/local/frc/third-party/lib/$f
+ done
+
ln -s /var/local/natinst/log/FRC_UserProgram.log /tmp/FRC_UserProgram.log
ln -s /var/local/natinst/log/FRC_UserProgram.log "${ROBOT_CODE}/FRC_UserProgram.log"
elif [[ "$(hostname)" == "pi-"* ]]; then
diff --git a/third_party/BUILD b/third_party/BUILD
index aff739f..cff81fd 100644
--- a/third_party/BUILD
+++ b/third_party/BUILD
@@ -31,8 +31,6 @@
"@ctre_phoenix_api_cpp_headers//:api-cpp",
"@ctre_phoenix_cci_athena//:cci",
"@ctre_phoenix_cci_headers//:cci",
- "@ctre_phoenix_diagnostics_athena//:diagnostics",
- "@ctre_phoenix_diagnostics_headers//:diagnostics",
],
)
diff --git a/tools/dependency_rewrite b/tools/dependency_rewrite
index d5190dd..9fbcd29 100644
--- a/tools/dependency_rewrite
+++ b/tools/dependency_rewrite
@@ -8,6 +8,7 @@
rewrite static.rust-lang.org/(.*) software.frc971.org/Build-Dependencies/static.rust-lang.org/$1
rewrite storage.googleapis.com/(.*) software.frc971.org/Build-Dependencies/storage.googleapis.com/$1
rewrite files.pythonhosted.org/(.*) software.frc971.org/Build-Dependencies/files.pythonhosted.org/$1
+rewrite devsite.ctr-electronics.com/(.*) software.frc971.org/Build-Dependencies/devsite.ctr-electronics.com/$1
allow golang.org
allow software.frc971.org
diff --git a/y2019/BUILD b/y2019/BUILD
index 8c250e0..7d4e233 100644
--- a/y2019/BUILD
+++ b/y2019/BUILD
@@ -6,6 +6,8 @@
robot_downloader(
data = [
":config",
+ "@ctre_phoenix_api_cpp_athena//:shared_libraries",
+ "@ctre_phoenix_cci_athena//:shared_libraries",
],
dirs = [
"//y2019/vision/server:www_files",
diff --git a/y2020/BUILD b/y2020/BUILD
index ee4e628..1e0e4d8 100644
--- a/y2020/BUILD
+++ b/y2020/BUILD
@@ -10,6 +10,8 @@
],
data = [
":config",
+ "@ctre_phoenix_api_cpp_athena//:shared_libraries",
+ "@ctre_phoenix_cci_athena//:shared_libraries",
],
dirs = [
"//y2020/actors:splines",
diff --git a/y2022/BUILD b/y2022/BUILD
index cf52280..af57a74 100644
--- a/y2022/BUILD
+++ b/y2022/BUILD
@@ -8,6 +8,8 @@
],
data = [
":config",
+ "@ctre_phoenix_api_cpp_athena//:shared_libraries",
+ "@ctre_phoenix_cci_athena//:shared_libraries",
],
dirs = [
"//y2022/www:www_files",