Add a direct mDNS lookup to what is performed to find the robot

build.gradle

@@ -25,6 +25,8 @@ dependencies {
 
     api 'org.wpilib:native-utils:2027.10.0'
 
+    api 'org.jmdns:jmdns:3.6.3'
+
     api 'de.undercouch:gradle-download-task:5.6.0'
 
     testImplementation('org.spockframework:spock-core:2.4-M6-groovy-4.0') {

src/main/java/org/wpilib/gradlerio/deploy/WPILibDeployPlugin.java

@@ -10,6 +10,7 @@
 import org.wpilib.deployutils.deploy.artifact.Artifact;
 import org.wpilib.deployutils.deploy.context.DeployContext;
 import org.wpilib.deployutils.deploy.target.location.DeployLocation;
+import org.wpilib.gradlerio.deploy.systemcore.MulticastDeployLocation;
 import org.wpilib.gradlerio.deploy.systemcore.NiDsDeployLocation;
 import org.wpilib.gradlerio.deploy.systemcore.FirstDsDeployLocation;
 import org.wpilib.gradlerio.deploy.systemcore.WPILibJNILibraryArtifact;
@@ -41,6 +42,7 @@ private void configureSystemCoreTypes(SystemCore target) {
 
         NamedObjectFactory.registerType(NiDsDeployLocation.class, locations, target, objects);
         NamedObjectFactory.registerType(FirstDsDeployLocation.class, locations, target, objects);
+        NamedObjectFactory.registerType(MulticastDeployLocation.class, locations, target, objects);
     }
 
     @Override

src/main/java/org/wpilib/gradlerio/deploy/systemcore/FirstDsDeployLocation.java

@@ -13,7 +13,6 @@
 import javax.inject.Inject;
 
 import com.google.gson.Gson;
-import com.google.gson.annotations.SerializedName;
 
 import org.wpilib.deployutils.deploy.target.RemoteTarget;
 import org.wpilib.deployutils.deploy.target.discovery.action.DiscoveryAction;
@@ -29,9 +28,9 @@ public FirstDsDeployLocation(String name, RemoteTarget target) {
         super(name, target);
     }
 
-    private String dsAddress = "localhost";
+    private final String dsAddress = "localhost";
     private Optional<String> cachedAddress = Optional.empty();
-    private ETLogger log = ETLoggerFactory.INSTANCE.create("FirstDsDeployLocation");
+    private final ETLogger log = ETLoggerFactory.INSTANCE.create("FirstDsDeployLocation");
     private int timeout = 1000;
     private int port = 6770;
 
@@ -56,11 +55,6 @@ public String getAddress() {
         return cachedAddress.get();
     }
 
-    @Override
-    public void setAddress(String address) {
-        this.dsAddress = address;
-    }
-
     @Override
     public DiscoveryAction createAction() {
         return new SshDiscoveryAction(this);
@@ -73,7 +67,6 @@ private static class DsJsonData {
 
     @Override
     public void discover() {
-        cachedAddress = Optional.of("FIRST DS Connection Issue");
         cachedAddress = Optional.of(determineAddress());
     }
 

src/main/java/org/wpilib/gradlerio/deploy/systemcore/MulticastDeployLocation.java

@@ -0,0 +1,74 @@
+package org.wpilib.gradlerio.deploy.systemcore;
+
+import java.io.IOException;
+import java.net.InetAddress;
+import java.util.Optional;
+
+import javax.inject.Inject;
+import javax.jmdns.JmDNS;
+
+import org.wpilib.deployutils.deploy.target.RemoteTarget;
+import org.wpilib.deployutils.deploy.target.discovery.action.DiscoveryAction;
+import org.wpilib.deployutils.deploy.target.discovery.action.SshDiscoveryAction;
+import org.wpilib.deployutils.deploy.target.location.SshDeployLocation;
+import org.wpilib.deployutils.log.ETLogger;
+import org.wpilib.deployutils.log.ETLoggerFactory;
+
+public class MulticastDeployLocation extends SshDeployLocation {
+
+    @Inject
+    public MulticastDeployLocation(String name, RemoteTarget target) {
+        super(name, target);
+    }
+
+    private final String serviceName = "SystemCore-FIRST";
+    private final String serviceType = "_SystemCore._tcp.local.";
+    private Optional<String> cachedAddress = Optional.empty();
+    private final ETLogger log = ETLoggerFactory.INSTANCE.create("MulticastDeployLocation");
+    private int timeout = 5000;
+
+    public int getTimeout() {
+        return timeout;
+    }
+
+    public void setTimeout(int timeout) {
+        this.timeout = timeout;
+    }
+
+    @Override
+    public String getAddress() {
+        return cachedAddress.get();
+    }
+
+    @Override
+    public DiscoveryAction createAction() {
+        return new SshDiscoveryAction(this);
+    }
+
+    @Override
+    public void discover() {
+        cachedAddress = Optional.of(determineAddress());
+    }
+
+    private String determineAddress() {
+        log.debug("mDNS Lookup: Attempting to determine robot IP address");
+
+        try (JmDNS jmdns = JmDNS.create(InetAddress.getLocalHost())) {
+            var serviceInfo = jmdns.getServiceInfo(serviceType, serviceName, timeout);
+            if (serviceInfo != null) {
+                var addresses = serviceInfo.getInet4Addresses();
+                if (addresses.length > 0) {
+                    String ipAddress = addresses[0].getHostAddress();
+                    cachedAddress = Optional.of(ipAddress);
+                    log.debug("mDNS Lookup: Found robot IP address: " + ipAddress);
+                    return ipAddress;
+                }
+            }
+            log.debug("mDNS Lookup: Could not find robot IPv4 address via mDNS");
+            throw new RuntimeException("Could not find robot IPv4 address via mDNS");
+        } catch (IOException e) {
+            log.debug("mDNS Lookup: IOException occurred while trying to determine robot IP address");
+            throw new RuntimeException(e);
+        }
+    }
+}

src/main/java/org/wpilib/gradlerio/deploy/systemcore/NiDsDeployLocation.java

@@ -29,9 +29,9 @@ public NiDsDeployLocation(String name, RemoteTarget target) {
         super(name, target);
     }
 
-    private String dsAddress = "localhost";
+    private final String dsAddress = "localhost";
     private Optional<String> cachedAddress = Optional.empty();
-    private ETLogger log = ETLoggerFactory.INSTANCE.create("NiDsDeployLocation");
+    private final ETLogger log = ETLoggerFactory.INSTANCE.create("NiDsDeployLocation");
     private int timeout = 1000;
     private int port = 1742;
 
@@ -56,11 +56,6 @@ public String getAddress() {
         return cachedAddress.get();
     }
 
-    @Override
-    public void setAddress(String address) {
-        this.dsAddress = address;
-    }
-
     @Override
     public DiscoveryAction createAction() {
         return new SshDiscoveryAction(this);
@@ -74,7 +69,6 @@ private static class DsJsonData {
 
     @Override
     public void discover() {
-        cachedAddress = Optional.of("NI DS Connection Issue");
         cachedAddress = Optional.of(determineAddress());
     }
 

src/main/java/org/wpilib/gradlerio/deploy/systemcore/SystemCore.java

@@ -97,6 +97,12 @@ public void setAddresses(String... addresses) {
             ds.setPassword(password);
             ds.setIpv6(false);
         });
+
+        getLocations().create("mdns", MulticastDeployLocation.class, mdns -> {
+            mdns.setUser(username);
+            mdns.setPassword(password);
+            mdns.setIpv6(false);
+        });
     }
 
     public void addAddress(String address) {