WIP

Author: nycrat

environment_setup/setup_software_mac.sh

@@ -59,6 +59,8 @@ sudo pip install -r macos_requirements.txt
 
 print_status_msg "Done Setting Up Python Environment"
 
+sudo ln -s /opt/tbotspython/bin/platformio /usr/local/bin/platformio
+
 print_status_msg "Fetching game controller"
 install_gamecontroller $sys
 

src/software/embedded/BUILD

@@ -48,6 +48,8 @@ cc_library(
     name = "spi_utils",
     srcs = ["spi_utils.cpp"],
     hdrs = ["spi_utils.h"],
+    # Uses Linux kernel headers (linux/spi/spidev.h); robot-only.
+    target_compatible_with = ["@platforms//os:linux"],
     deps = [
         "//software/logger",
     ],

src/software/embedded/gpio/BUILD

@@ -10,6 +10,8 @@ cc_library(
         "gpio.h",
         "gpio_char_dev.h",
     ],
+    # Uses Linux kernel headers (linux/gpio.h); robot-only.
+    target_compatible_with = ["@platforms//os:linux"],
     deps = [
         "//software/logger",
         "//software/logger:network_logger",

src/software/embedded/motor_controller/BUILD

@@ -27,6 +27,8 @@ cc_library(
         "stspin_motor_controller.h",
         "tmc_motor_controller.h",
     ],
+    # Uses Linux kernel headers (linux/spi/spidev.h); robot-only.
+    target_compatible_with = ["@platforms//os:linux"],
     deps = [
         ":motor_board",
         ":motor_fault_indicator",

src/software/embedded/services/BUILD

@@ -42,6 +42,8 @@ cc_library(
     name = "imu",
     srcs = ["imu.cpp"],
     hdrs = ["imu.h"],
+    # Uses Linux kernel headers (linux/i2c-dev.h); robot-only.
+    target_compatible_with = ["@platforms//os:linux"],
     deps = [
         "//proto:tbots_cc_proto",
         "//shared:constants",

src/tbots.py

@@ -189,7 +189,7 @@ def create_command(config: BuildConfig, extra_args: list[str]) -> list[str]:
     if config.test_suite and config.action == ActionArgument.test:
         target = """-- //...                              \\
                       -//software/gameplay_tests/...      \\
-                      -//toolchains/cc/...                \\
+                      -//toolchains/...                   \\
                       -//software:unix_full_system_tar_gen"""
     else:
         target = fuzzy_find_target(
@@ -214,6 +214,13 @@ def create_command(config: BuildConfig, extra_args: list[str]) -> list[str]:
         if condition:
             command += list(flag.value)
 
+    # `test --suite` resolves to //..., and `bazel test` would also try to BUILD
+    # every non-test target in that pattern — including robot firmware that only
+    # compiles with the cross toolchain (e.g. thunderloop pulls in linux/* headers
+    # that don't exist on the host). Restrict to test targets and their deps.
+    if config.test_suite and config.action == ActionArgument.test:
+        command += ["--build_tests_only"]
+
     if config.jobs_option:
         command += [f"--jobs={config.jobs_option}"]