Add custom frc kill script to work around jvm bug (#699)

Author: ThadHouse

src/main/java/edu/wpi/first/gradlerio/GradleRIOPlugin.java

@@ -44,7 +44,6 @@
 import edu.wpi.first.gradlerio.deploy.FRCDeployPlugin;
 import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO;
 import edu.wpi.first.gradlerio.wpi.WPIPlugin;
-import edu.wpi.first.gradlerio.OneDriveException;
 
 public abstract class GradleRIOPlugin implements Plugin<Project> {
 

src/main/java/edu/wpi/first/gradlerio/deploy/StagedDeployTarget.java

@@ -53,7 +53,7 @@ public StagedDeployTarget(String name, Project project, DeployExtension de) {
 
     private void configureArtifact(Artifact artifact) {
         Callable<TaskProvider<StageDeployTask>> cbl = () -> computeArtifactStageDep(artifact);
-        artifact.dependsOn(cbl);
+        artifact.dependsOnForDeployTask(cbl);
     }
 
     private final DeployStage defaultStage = DeployStage.FileDeploy;

src/main/java/edu/wpi/first/gradlerio/deploy/roborio/FRCProgramKillArtifact.java

@@ -0,0 +1,37 @@
+package edu.wpi.first.gradlerio.deploy.roborio;
+
+import java.io.IOException;
+import java.io.InputStream;
+
+import javax.inject.Inject;
+
+import edu.wpi.first.deployutils.deploy.artifact.AbstractArtifact;
+import edu.wpi.first.deployutils.deploy.context.DeployContext;
+import edu.wpi.first.gradlerio.deploy.DeployStage;
+import edu.wpi.first.gradlerio.deploy.StagedDeployTarget;
+import edu.wpi.first.gradlerio.wpi.dependencies.tools.ToolInstallTask;
+
+public class FRCProgramKillArtifact extends AbstractArtifact {
+
+    @Inject
+    public FRCProgramKillArtifact(String name, StagedDeployTarget target) {
+        super(name, target);
+
+        target.setDeployStage(this, DeployStage.ProgramKill);
+
+
+    }
+
+    @Override
+    public void deploy(DeployContext ctx) {
+        ctx.getLogger().log("  Deploying new frcKillRobot script");
+        try (InputStream it = ToolInstallTask.class.getResourceAsStream("/frcKillRobot.sh")) {
+            ctx.put(it, "/usr/local/frc/bin/frcKillRobot.sh.tmp");
+        } catch (IOException e) {
+            throw new RuntimeException(e);
+        }
+        ctx.execute("mv /usr/local/frc/bin/frcKillRobot.sh.tmp /usr/local/frc/bin/frcKillRobot.sh && chmod +x /usr/local/frc/bin/frcKillRobot.sh");
+        ctx.execute("sync");
+        ctx.execute(". /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r 2> /dev/null");
+    }
+}

src/main/java/edu/wpi/first/gradlerio/deploy/roborio/RoboRIO.java

@@ -12,10 +12,8 @@
 import org.gradle.api.logging.Logging;
 
 import edu.wpi.first.deployutils.deploy.DeployExtension;
-import edu.wpi.first.deployutils.deploy.artifact.MultiCommandArtifact;
 import edu.wpi.first.deployutils.deploy.context.DeployContext;
 import edu.wpi.first.deployutils.deploy.target.location.SshDeployLocation;
-import edu.wpi.first.gradlerio.deploy.DeployStage;
 import edu.wpi.first.gradlerio.deploy.FRCExtension;
 import edu.wpi.first.gradlerio.deploy.WPIRemoteTarget;
 import edu.wpi.first.gradlerio.wpi.WPIExtension;
@@ -28,7 +26,7 @@ public class RoboRIO extends WPIRemoteTarget {
     private boolean checkImage = true;
     private final List<String> validImageVersions;
 
-    private final MultiCommandArtifact programKillArtifact;
+    private final FRCProgramKillArtifact programKillArtifact;
 
     @Inject
     public RoboRIO(String name, Project project, DeployExtension de, FRCExtension frcExtension) {
@@ -44,16 +42,14 @@ public RoboRIO(String name, Project project, DeployExtension de, FRCExtension fr
         // Make a copy of valid image versions so user defined cannot modify the global array
         validImageVersions = new ArrayList<>(WPIExtension.getValidImageVersions());
 
-        programKillArtifact = project.getObjects().newInstance(MultiCommandArtifact.class, "programKill" + name, this);
-        setDeployStage(programKillArtifact, DeployStage.ProgramKill);
-        programKillArtifact.addCommand("kill", ". /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t 2> /dev/null");
+        programKillArtifact = project.getObjects().newInstance(FRCProgramKillArtifact.class, "programKill" + name, this);
 
         getTargetPlatform().set(NativePlatforms.roborio);
 
         getArtifacts().add(programKillArtifact);
     }
 
-    public MultiCommandArtifact getProgramKillArtifact() {
+    public FRCProgramKillArtifact getProgramKillArtifact() {
         return programKillArtifact;
     }
 

src/main/java/edu/wpi/first/gradlerio/wpi/cpp/WPINativeCompileRules.java

@@ -83,7 +83,7 @@ public void execute(Task arg0) {
     // From
     // https://github.com/wpilibsuite/native-utils/blob/a8ea595670716c7b898878a37e36c2b52e8e3f42/src/main/groovy/edu/wpi/first/nativeutils/rules/BuildConfigRules.groovy#L450
     private static void printWarningsForBinTask(String taskName, Project project) {
-        File file = new File(project.getBuildDir(), "tmp/" + taskName + "/output.txt");
+        File file = project.getLayout().getBuildDirectory().get().file("/tmp/" + taskName + "/output.txt").getAsFile();
 
         if (!file.exists())
             return;

src/main/resources/frcKillRobot.sh

@@ -0,0 +1,54 @@
+FRC_PID_FILE=/var/run/natinst/FRC_UserProgram.pid
+
+usage()
+{
+   cat >&2 <<EOF
+        Usage: ${0##*/} [-r] [-t]
+
+        -r      Restart the lvrt process
+        -t      Configure lvrt to start a text-based program
+
+EOF
+   exit 1
+}
+
+while getopts "rt" Option
+do
+        case $Option in
+                r)      RESTART=yes;;
+                t)      TEXT_BASED_PROGRAM=yes;;
+                *)      usage;;
+        esac
+done
+
+
+if [ "$TEXT_BASED_PROGRAM" = yes ]; then
+   /usr/local/frc/bin/frcEnableTBLStartupApp.sh
+   if [ "$RESTART" = yes ]; then
+      nirtcfg --file /etc/natinst/share/lvrt.conf --set section=LVRT,token=RTTarget.LaunchAppAtBoot,value=True
+   else
+      nirtcfg --file /etc/natinst/share/lvrt.conf --set section=LVRT,token=RTTarget.LaunchAppAtBoot,value=False
+   fi
+fi
+
+printf "%s - Killing robot code in frcKillRobot.sh\n" "`date`" | FRC_ConsoleTee
+
+if [ -e $FRC_PID_FILE ]; then
+  DAEMON_PID=`cat $FRC_PID_FILE`
+  if [ -e /proc/$DAEMON_PID ]; then
+    PGROUP=`ps -o pid,pgid,comm | grep $DAEMON_PID | awk -v N=2 '{print $N}'`
+    kill -term -- -$PGROUP
+    sleep 1
+    kill -9 -- -$PGROUP
+  fi
+  rm -f $FRC_PID_FILE
+fi
+
+if [ "$RESTART" = yes ]; then
+   RT_STARTUP_DISABLED=`nirtcfg --get section=SYSTEMSETTINGS,token=NoApp.enabled,value=false | tr "[:upper:]" "[:lower:]"`
+   if [ "$RT_STARTUP_DISABLED" = false ]; then
+      killall lvrt
+        else
+      /usr/local/frc/bin/frcRunRobot.sh &
+   fi
+fi