Updates RobotNode build and deployment process.

Simplifies the RobotNode build process by linking directly to system gpiod libraries instead of including a local copy. This reduces redundancy and ensures compatibility with the system's gpiod installation.

Adds a deployment script for easier deployment to the robot, streamlining the update process.

Also introduces a script to automatically fix symlinks during cross-compilation, ensuring that links resolve correctly on the target system.

src/RobotNode/CMakeLists.txt

@@ -41,13 +41,18 @@ configure_file(Version.h.in "${CMAKE_CURRENT_BINARY_DIR}/Version.h")
 # Consolidated Include Paths
 target_include_directories(dixon PRIVATE
         "${CMAKE_CURRENT_BINARY_DIR}"                           # For generated Version.h
-        "${CMAKE_CURRENT_SOURCE_DIR}/extern/libgpiod/include"  # For libgpiod headers
+#        "${CMAKE_CURRENT_SOURCE_DIR}/extern/libgpiod/include"  # For libgpiod headers
 )
 
+# Link the gpiod libraries
+#target_link_libraries(dixon PRIVATE
+#        "${CMAKE_CURRENT_SOURCE_DIR}/extern/libgpiod/aarch64/libgpiodcxx.so.2"
+#        "${CMAKE_CURRENT_SOURCE_DIR}/extern/libgpiod/aarch64/libgpiod.so.3")
+
 # Link the gpiod libraries
 target_link_libraries(dixon PRIVATE
-        "${CMAKE_CURRENT_SOURCE_DIR}/extern/libgpiod/aarch64/libgpiodcxx.so.2"
-        "${CMAKE_CURRENT_SOURCE_DIR}/extern/libgpiod/aarch64/libgpiod.so.3")
+        gpiodcxx
+        gpiod)
 
 # Tell the linker: "Trust me, the Pi has the rest of the C++ and C libraries"
 target_link_options(dixon PRIVATE "-Wl,--allow-shlib-undefined")

src/RobotNode/version.txt

@@ -1 +1 @@
-1.0.27
+1.0.33

utils/deploy_dixon

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+# Configuration
+LOCAL_BIN="$HOME/dev/Dixon/src/RobotNode/cmake-build-pi5-debug/dixon"
+REMOTE_TARGET="russellg59@192.168.1.224"
+REMOTE_DIR="/home/russellg59/dixon"
+REMOTE_EXE="$REMOTE_DIR/dixon"
+
+# Check if the monster PC actually finished the build
+if [ ! -f "$LOCAL_BIN" ]; then
+    echo "Error: Binary not found at $LOCAL_BIN"
+    exit 1
+fi
+
+echo "Cleaning remote path and pushing binary..."
+
+# Remove the target first to prevent the 'directory' bug, then push and fix permissions
+ssh $REMOTE_TARGET "rm -rf $REMOTE_EXE"
+scp "$LOCAL_BIN" $REMOTE_TARGET:"$REMOTE_EXE"
+ssh $REMOTE_TARGET "chmod +x $REMOTE_EXE"
+
+echo "Deployment complete: $REMOTE_EXE"

utils/fix_links.py

@@ -0,0 +1,23 @@
+import os
+import sys
+
+def fix_links(root_dir):
+    root_dir = os.path.abspath(root_dir)
+    for root, dirs, files in os.walk(root_dir):
+        for name in files + dirs:
+            path = os.path.join(root, name)
+            if os.path.islink(path):
+                target = os.readlink(path)
+                if target.startswith('/'):
+                    # Calculate the relative path from the current folder back to the sysroot
+                    relative_to_sysroot = os.path.relpath(root_dir, root)
+                    new_target = os.path.normpath(os.path.join(relative_to_sysroot, target.lstrip('/')))
+                    print(f"Fixing: {path} -> {new_target}")
+                    os.unlink(path)
+                    os.symlink(new_target, path)
+
+if __name__ == "__main__":
+    if len(sys.argv) < 2:
+        print("Usage: python3 fix_links.py <directory>")
+    else:
+        fix_links(sys.argv[1])