WIP ACTUALLY WORKS

Author: nycrat

environment_setup/setup_software.sh

@@ -75,7 +75,7 @@ host_software_packages=(
     libffi-dev # needed to use _ctypes in Python3
     libssl-dev # needed to build Python 3 with ssl support
     openssl # possibly also necessary for ssl in Python 3
-    sshpass #used to remotely ssh into robots via Ansible
+    sshpass # used to remotely ssh into robots via Ansible
     unzip # installing tigers autoref
     xvfb # used for CI to run GUI applications
 )

environment_setup/setup_software_mac.sh

@@ -32,6 +32,7 @@ host_software_packages=(
     node@20
     go@1.24
     clang-format@20
+    sshpass # used to remotely ssh into robots via Ansible
 )
 
 for pkg in "${host_software_packages[@]}"; do

src/extlibs/macos_robot_gcc.BUILD

@@ -0,0 +1,9 @@
+package(default_visibility = ["//visibility:public"])
+
+# The prebuilt messense aarch64-unknown-linux-gnu toolchain (Homebrew), exposed
+# as Bazel inputs so its binaries (gcc, ld, as, ...) are staged into the sandbox
+# when cross-compiling robot firmware on macOS.
+filegroup(
+    name = "everything",
+    srcs = glob(["**"]),
+)

src/toolchains/cc/wrapper/macos_robot_gcc

@@ -1,7 +1,26 @@
 #!/bin/bash --norc
 
-# The prebuilt messense aarch64-unknown-linux-gnu toolchain ships only the BFD
-# linker (ld/ld.bfd) — no ld.gold. The shared cc_toolchain config adds
-# -fuse-ld=gold, so append -fuse-ld=bfd (last one wins) to use the linker that
-# actually exists. Ignored for non-link (compile) invocations.
-exec /opt/homebrew/Cellar/aarch64-unknown-linux-gnu/15.2.0/toolchain/bin/aarch64-unknown-linux-gnu-gcc "$@" -fuse-ld=bfd
+# Wrapper around the prebuilt messense aarch64-unknown-linux-gnu GCC 15.2.0,
+# applying two robot-deployment fix-ups (both no-ops for compile-only calls):
+#
+#  * Static C++ runtime: this toolchain is GCC 15, newer than the robot's system
+#    libstdc++, so a dynamic libstdc++ dependency requires GLIBCXX/CXXABI symbol
+#    versions the robot doesn't have. Bazel passes an explicit `-lstdc++`, which
+#    `-static-libstdc++` does NOT intercept, so rewrite it to the static archive
+#    (`-l:libstdc++.a`). `-static-libgcc` covers libgcc.
+#
+#  * `-fuse-ld=bfd`: messense ships only the BFD linker (no ld.gold), but the
+#    shared cc_toolchain config adds `-fuse-ld=gold`; appending bfd wins.
+
+TC=/opt/homebrew/Cellar/aarch64-unknown-linux-gnu/15.2.0/toolchain
+
+args=()
+for a in "$@"; do
+    if [ "$a" = "-lstdc++" ]; then
+        args+=("-l:libstdc++.a")
+    else
+        args+=("$a")
+    fi
+done
+
+exec "$TC/bin/aarch64-unknown-linux-gnu-gcc" "${args[@]}" -fuse-ld=bfd -static-libgcc