Make cross-compilation more consistent across devices (UBC-Thunderbots#3451)

* project vimrc for FZF

* filter out .swp files

* crosstool-ng config

* working on getting a nano compilation working

* seems to compile

* Working impl of x-compiler

* updat headed_estop_reader test timeout

* Update clang-format to work on ubuntu 24

* wip

* Update cross-compiler compilation paths

* delete my local computer config

* fix runtime issues with robot_info and robot_view widgets

* [pre-commit.ci lite] apply automatic fixes

* delete crosstool-ng config

* Remove boost build flag and build c++20 for robots

---------

Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

Author: itsarune

environment_setup/setup_software.sh

@@ -95,7 +95,7 @@ if [[ $(lsb_release -rs) == "20.04" ]]; then
 fi
 
 # Clear the download cache
-rm -rf /tmp/tbots_download_cache
+sudo rm -rf /tmp/tbots_download_cache
 mkdir /tmp/tbots_download_cache
 
 if [[ $(lsb_release -rs) == "22.04" ]] || [[ $(lsb_release -rs) == "24.04" ]]; then
@@ -186,6 +186,10 @@ print_status_msg "Install clang-format"
 install_clang_format $arch
 print_status_msg "Done installing clang-format"
 
+print_status_msg "Setting up cross compiler for robot software"
+install_cross_compiler $arch
+print_status_msg "Done setting up cross compiler for robot software"
+
 print_status_msg "Setting Up Python Development Headers"
 install_python_dev_cross_compile_headers $arch
 print_status_msg "Done Setting Up Python Development Headers"

environment_setup/util.sh

@@ -1,10 +1,11 @@
 install_autoref() {
     autoref_commit=b30660b78728c3ce159de8ae096181a1ec52e9ba
-    sudo wget -N https://github.com/TIGERs-Mannheim/AutoReferee/archive/${autoref_commit}.zip -O /tmp/tbots_download_cache/autoReferee.zip
+    wget -N https://github.com/TIGERs-Mannheim/AutoReferee/archive/${autoref_commit}.zip -O /tmp/tbots_download_cache/autoReferee.zip
     unzip -q -o -d /tmp/tbots_download_cache/ /tmp/tbots_download_cache/autoReferee.zip
 
     /tmp/tbots_download_cache/AutoReferee-${autoref_commit}/./gradlew installDist -p /tmp/tbots_download_cache/AutoReferee-${autoref_commit} -Dorg.gradle.java.home=/opt/tbotspython/bin/jdk
     mv /tmp/tbots_download_cache/AutoReferee-${autoref_commit}/build/install/autoReferee /opt/tbotspython/
+    rm -rf /tmp/tbots_download_cache/autoReferee.zip /tmp/tbots_download_cache/AutoReferee-${autoref_commit}
 }
 
 install_bazel() {
@@ -20,17 +21,35 @@ install_bazel() {
 }
 
 install_clang_format() {
-    download=https://github.com/llvm/llvm-project/releases/download/llvmorg-10.0.0/clang+llvm-10.0.0-aarch64-linux-gnu.tar.xz
-    clang_format_path=/tmp/tbots_download_cache/clang+llvm-10.0.0-aarch64-linux-gnu/bin/clang-format
+    download=https://github.com/llvm/llvm-project/releases/download/llvmorg-19.1.7/clang+llvm-19.1.7-aarch64-linux-gnu.tar.xz
+    clang_folder=clang+llvm-19.1.7-aarch64-linux-gnu
 
     if is_x86 $1; then
-        download=https://github.com/llvm/llvm-project/releases/download/llvmorg-10.0.0/clang+llvm-10.0.0-x86_64-linux-gnu-ubuntu-18.04.tar.xz
-        clang_format_path=/tmp/tbots_download_cache/clang+llvm-10.0.0-x86_64-linux-gnu-ubuntu-18.04/bin/clang-format
+        download=https://github.com/llvm/llvm-project/releases/download/llvmorg-19.1.7/LLVM-19.1.7-Linux-X64.tar.xz
+        clang_folder=LLVM-19.1.7-Linux-X64
     fi
 
     wget $download -O /tmp/tbots_download_cache/clang.tar.xz
-    tar -xf /tmp/tbots_download_cache/clang.tar.xz -C /tmp/tbots_download_cache/
+
+    # Temporarily need more space to extract the clang tarball
+    mkdir -p ~/.tbots
+    tar -xf /tmp/tbots_download_cache/clang.tar.xz -C ~/.tbots/
+
+    clang_format_path=~/.tbots/$clang_folder/bin/clang-format
     sudo cp $clang_format_path /opt/tbotspython/bin/clang-format
+    rm -rf ~/.tbots
+}
+
+install_cross_compiler() {
+    file_name=aarch64-tbots-linux-gnu-for-aarch64
+    if is_x86 $1; then
+        file_name=aarch64-tbots-linux-gnu-for-x86
+    fi
+    full_file_name=$file_name.tar.xz
+    wget https://raw.githubusercontent.com/UBC-Thunderbots/Software-External-Dependencies/refs/heads/main/toolchain/$full_file_name -O /tmp/tbots_download_cache/$full_file_name
+    tar -xf /tmp/tbots_download_cache/$full_file_name -C /tmp/tbots_download_cache/
+    sudo mv /tmp/tbots_download_cache/aarch64-tbots-linux-gnu /opt/tbotspython
+    rm /tmp/tbots_download_cache/$full_file_name
 }
 
 install_gamecontroller () {
@@ -61,8 +80,7 @@ install_gamecontroller () {
     sudo chmod +x /opt/tbotspython/gamecontroller
 
     cd -
-    sudo rm -rf /tmp/tbots_download_cache/ssl-game-controller-3.12.3
-    sudo rm -rf /tmp/tbots_download_cache/go
+    sudo rm -rf /tmp/tbots_download_cache/ssl-game-controller-3.12.3 /tmp/tbots_download_cache/go /tmp/tbots_download_cache/go.tar.gz /tmp/tbots_download_cache/ssl-game-controller.zip
 }
 
 install_java () {
@@ -71,9 +89,10 @@ install_java () {
     if is_x86 $1; then
         java_download=https://download.oracle.com/java/21/latest/jdk-21_linux-x64_bin.tar.gz
     fi
-    sudo wget -N $java_download -O /tmp/tbots_download_cache/jdk-21.tar.gz
+    wget -N $java_download -O /tmp/tbots_download_cache/jdk-21.tar.gz
     tar -xzf /tmp/tbots_download_cache/jdk-21.tar.gz -C /opt/tbotspython/
     mv /opt/tbotspython/jdk-21* /opt/tbotspython/bin/jdk
+    rm /tmp/tbots_download_cache/jdk-21.tar.gz
 }
 
 install_python_dev_cross_compile_headers() {

scripts/lint_and_format.sh

@@ -36,7 +36,7 @@ function run_clang_format () {
     # clang-format as arguments
     # We remove the last -o flag from the extension string
     find $CURR_DIR/../src/ ${EXTENSION_STRING::-2}  \
-        | xargs -I{} -n1000 $CLANG_BIN -i -style=file
+        | xargs -I{} -n1000 $CLANG_BIN -i -style=file:$CURR_DIR/../.clang-format
 
     if [[ "$?" != 0 ]]; then
         printf "\n***Failed to run clang-format over all files!***\n\n"

src/WORKSPACE

@@ -247,14 +247,10 @@ new_local_repository(
     path = "/usr/lib/llvm-6.0/",
 )
 
-http_archive(
+new_local_repository(
     name = "k8_jetson_nano_cross_compile_gcc",
     build_file = "@//extlibs:k8_jetson_nano_cross_compile_gcc.BUILD",
-    sha256 = "73eed74e593e2267504efbcf3678918bb22409ab7afa3dc7c135d2c6790c2345",
-    strip_prefix = "gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu",
-    urls = [
-        "http://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz",
-    ],
+    path = "/opt/tbotspython/aarch64-tbots-linux-gnu/",
 )
 
 # tool used to flash firmware with bazel

src/cc_toolchain/BUILD

@@ -43,11 +43,20 @@ config_setting(
     values = {"cpu": "k8_jetson_nano_cross_compile"},
 )
 
+# Create a constraint for the glibc version to target the correct glibc version for the robot
+constraint_setting(name = "glibc_version")
+
+constraint_value(
+    name = "glibc_2_27",
+    constraint_setting = ":glibc_version",
+)
+
 platform(
     name = "robot",
     constraint_values = [
         "@platforms//cpu:aarch64",
         "@platforms//os:linux",
+        ":glibc_2_27",
     ],
 )
 
@@ -210,13 +219,10 @@ cc_toolchain_config_k8_jetson_nano_cross_compile(
 
 toolchain(
     name = "cc_toolchain_for_k8_jetson_nano_cross_compile",
-    exec_compatible_with = [
-        "@platforms//cpu:x86_64",
-        "@platforms//os:linux",
-    ],
     target_compatible_with = [
         "@platforms//cpu:aarch64",
         "@platforms//os:linux",
+        ":glibc_2_27",
     ],
     toolchain = ":cc_toolchain_k8_jetson_nano_cross_compile",
     toolchain_type = "@bazel_tools//tools/cpp:toolchain_type",

src/cc_toolchain/cc_toolchain_config.bzl

@@ -671,7 +671,7 @@ def _k8_jetson_nano_cross_compile_impl(ctx):
         name = "common",
         implies = [
             "build-id",
-            "c++17",
+            "c++2a",
             "colour",
             "determinism",
             "frame-pointer",

src/cc_toolchain/wrapper/k8_jetson_nano_cross_compile_ar

@@ -1,3 +1,3 @@
 #!/bin/bash --norc
 
-exec external/k8_jetson_nano_cross_compile_gcc/bin/aarch64-linux-gnu-ar "$@"
+exec external/k8_jetson_nano_cross_compile_gcc/bin/aarch64-tbots-linux-gnu-ar "$@"

src/cc_toolchain/wrapper/k8_jetson_nano_cross_compile_cpp

@@ -1,3 +1,3 @@
 #!/bin/bash --norc
 
-exec external/k8_jetson_nano_cross_compile_gcc/bin/aarch64-linux-gnu-cpp "$@"
+exec external/k8_jetson_nano_cross_compile_gcc/bin/aarch64-tbots-linux-gnu-cpp "$@"

src/cc_toolchain/wrapper/k8_jetson_nano_cross_compile_g++

@@ -1,3 +1,3 @@
 #!/bin/bash --norc
 
-exec external/k8_jetson_nano_cross_compile_gcc/bin/aarch64-linux-gnu-g++ -Wl,--no-as-needed "$@"
+exec external/k8_jetson_nano_cross_compile_gcc/bin/aarch64-tbots-linux-gnu-g++ -Wl,--no-as-needed "$@"

src/cc_toolchain/wrapper/k8_jetson_nano_cross_compile_gcc

@@ -1,3 +1,3 @@
 #!/bin/bash --norc
 
-exec external/k8_jetson_nano_cross_compile_gcc/bin/aarch64-linux-gnu-gcc -Wl,--no-as-needed "$@"
+exec external/k8_jetson_nano_cross_compile_gcc/bin/aarch64-tbots-linux-gnu-gcc -Wl,--no-as-needed "$@"