Nanopb Compiplation Refactor & Protobuf Cleanup (UBC-Thunderbots#3525)

Author: Andrewyx

.github/workflows/main.yml

@@ -14,7 +14,7 @@ jobs:
   multiplatform-build:
     strategy:
       matrix:
-        platform: [ ubuntu-22.04, ubuntu-24.04-arm ]
+        platform: [ ubuntu-24.04-arm ]
 
     name: Ubuntu Alternate Builds
     runs-on: ${{ matrix.platform }}

.github/workflows/pre-commit.yml

@@ -14,7 +14,7 @@ concurrency:
 jobs:
   formatting-check:
     name: Formatting and FSM diagram generation with pre-commit-ci-lite
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     if: github.event.pull_request.draft == false
     steps:
       - uses: actions/checkout@v4

environment_setup/setup_software.sh

@@ -23,6 +23,11 @@ source util.sh
 g_arch=$(uname -m)  # Global variable. No function should use this name.
 print_status_msg "Detected architecture: ${g_arch}"
 
+if [[ $(lsb_release -rs) == "20.04" ]] || [[ $(lsb_release -rs) == "22.04" ]]; then
+    print_status_msg "This version of ubuntu is not supported anymore, please upgrade your OS version"
+    exit 1
+fi
+
 print_status_msg "Installing Utilities and Dependencies"
 
 sudo apt-get update
@@ -55,20 +60,13 @@ host_software_packages=(
     g++-10
     kcachegrind # This lets us view the profiles output by callgrind
     libeigen3-dev # A math / numerical library used for things like linear regression
-    libprotobuf-dev
     libudev-dev
     libusb-1.0-0-dev
     libxcb-cursor0 # This is used as the Linux platform abstraction by Qt 
-    protobuf-compiler # This is required for the "NanoPb" library, which does not
-                      # properly manage this as a bazel dependency, so we have
-                      # to manually install it ourselves
     python3.12        # Python 3
     python3.12-dev    # Python 3 headers
     python3.12-venv   # Virtual Environment
     python3-pip       # Required for bazel to install python dependencies for build targets
-    python3-protobuf  # This is required for the "NanoPb" library, which does not
-                      # properly manage this as a bazel dependency, so we have
-                      # to manually install it ourselves
     python3-yaml 	  # Load dynamic parameter configuration files
     valgrind # Checks for memory leaks
     libsqlite3-dev # needed to build Python 3 with sqlite support
@@ -80,36 +78,16 @@ host_software_packages=(
     xvfb # used for CI to run GUI applications
 )
 
-if [[ $(lsb_release -rs) == "20.04" ]]; then
-    # This is required for bazel, we've seen some issues where
-    # the bazel install hasn't installed it properly
-    host_software_packages+=(python-is-python3)
-
-    # This is to setup the toolchain for bazel to run 
-    host_software_packages+=(clang)
-    host_software_packages+=(llvm-6.0)
-    host_software_packages+=(libclang-6.0-dev)
-    host_software_packages+=(libncurses5)
-    
-    # This fixes missing headers by notifying the linker
-    sudo ldconfig
-fi
-
 # Clear the 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
+if [[ $(lsb_release -rs) == "24.04" ]]; then
     # This is required because a Braille TTY device that Linux provides a driver for conflicts with the ESP32
     wget -nc https://github.com/UBC-Thunderbots/Software-External-Dependencies/blob/main/85-brltty.rules -O /tmp/tbots_download_cache/85-brltty.rules
     sudo mv /tmp/tbots_download_cache/85-brltty.rules /usr/lib/udev/rules.d/85-brltty.rules 
 fi
 
-if [[ $(lsb_release -rs) == "22.04" ]]; then
-    # This is required for clang-format
-    host_software_packages+=(libtinfo5)
-fi
-
 virtualenv_opt_args=""
 if [[ $(lsb_release -rs) == "24.04" ]]; then
     host_software_packages+=(python3-pyqt6)
@@ -135,20 +113,11 @@ if ! sudo /usr/bin/python3.12 -m venv /opt/tbotspython $virtualenv_opt_args ; th
     exit 1
 fi
 
-if [[ $(lsb_release -rs) == "20.04" ]] || [[ $(lsb_release -rs) == "22.04" ]]; then
-    # Install pip if it is not a system-managed package
-    sudo /usr/bin/python3.12 -m ensurepip
-fi
-
 if ! sudo /opt/tbotspython/bin/python3 -m pip install --upgrade pip ; then
     print_status_msg "Error: Upgrading pip version in venv failed"
     exit 1
 fi
 
-if [[ $(lsb_release -rs) == "22.04" ]]; then
-    sudo /opt/tbotspython/bin/pip3 install -r ubuntu22_requirements.txt
-fi
-
 if [[ $(lsb_release -rs) == "24.04" ]]; then
     sudo /opt/tbotspython/bin/pip3 install -r ubuntu24_requirements.txt
 fi

src/.bazelrc

@@ -42,7 +42,7 @@ common --features=external_include_paths
 build --disk_cache=~/.cache/thunderbots_bazel_disk_cache
 
 build --experimental_remote_merkle_tree_cache # partial repo caching optimization
-build --incompatible_enable_proto_toolchain_resolution # protoc caching
+common --incompatible_enable_proto_toolchain_resolution # protoc caching
 
 # Ensure that we don't accidentally build gRPC
 common --per_file_copt=external/.*grpc.*@--GRPC_WAS_NOT_SUPPOSED_TO_BE_BUILT

src/MODULE.bazel

@@ -7,19 +7,17 @@ module(
 ##############################################################
 # Import Dependencies available in the Bazel Central Registry
 ##############################################################
-
 bazel_dep(name = "googletest", version = "1.15.2")
 bazel_dep(name = "platforms", version = "0.0.11")
 bazel_dep(name = "pybind11_bazel", version = "2.13.6")
 bazel_dep(name = "bazel_skylib", version = "1.7.1")
 bazel_dep(name = "rules_pkg", version = "1.1.0")
 bazel_dep(name = "rules_foreign_cc", version = "0.14.0")
 bazel_dep(name = "rules_python", version = "1.4.1")
-bazel_dep(name = "protobuf", version = "31.1")
 bazel_dep(name = "eigen", version = "3.4.0.bcr.3")
-bazel_dep(name = "zlib", version = "1.3.1.bcr.5")
-bazel_dep(name = "nanopb", version = "0.4.9.1")
-bazel_dep(name = "toolchains_protoc", version = "0.4.1")
+bazel_dep(name = "zlib", version = "1.3.1.bcr.6")
+bazel_dep(name = "nanopb", version = "0.4.9.1.bcr.2")
+bazel_dep(name = "protobuf", version = "31.1")
 bazel_dep(name = "rules_proto", version = "7.1.0")
 bazel_dep(name = "yaml-cpp", version = "0.8.0")
 bazel_dep(name = "buildifier_prebuilt", version = "8.0.3")
@@ -79,18 +77,6 @@ use_repo(pip, "nanopb_deps")
 pybind11_configure = use_extension("@pybind11_bazel//:internal_configure.bzl", "internal_configure_extension")
 use_repo(pybind11_configure, "pybind11")
 
-# Configure proto compiler optimization
-# Optional: choose a version of protoc rather than the latest.
-protoc = use_extension("@toolchains_protoc//protoc:extensions.bzl", "protoc")
-protoc.toolchain(
-    # Creates a repository to satisfy well-known-types dependencies such as
-    # deps=["@com_google_protobuf//:any_proto"]
-    google_protobuf = "com_google_protobuf",
-    # Pin to any version of protoc
-    version = "v31.1",
-)
-use_repo(protoc, "com_google_protobuf", "toolchains_protoc_hub")
-
 ###########################################################################
 # Setup non Bazel Central Registry dependencies & Non MODULE supported deps
 ###########################################################################