Update CODEOWNERS (#3499)

* breaking changes for Ubuntu 20

* Add Andrew to CODEOWNERS

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

* delete rest ubuntu 20 and ubuntu 24 arm runner??

* Fix CI

---------

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

Author: itsarune

.github/CODEOWNERS

@@ -1,2 +1,2 @@
 # These owners will be the default owners for everything in the repo.
-*       @itsarune @williamckha @sauravbanna
+*       @williamckha @sauravbanna @Andrewyx

.github/workflows/main.yml

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

environment_setup/setup_software.sh

@@ -20,8 +20,8 @@ cd "$CURR_DIR" || exit
 
 source util.sh
 
-arch=$(uname -m)
-print_status_msg "Detected architecture: ${arch}"
+g_arch=$(uname -m)  # Global variable. No function should use this name.
+print_status_msg "Detected architecture: ${g_arch}"
 
 print_status_msg "Installing Utilities and Dependencies"
 
@@ -45,6 +45,7 @@ fi
 # (sorted alphabetically)
 host_software_packages=(
     cmake # Needed to build some of our dependencies
+    clang-format-14 # Used to format C++ code
     codespell # Fixes typos
     curl
     default-jdk # Needed for Bazel to run properly
@@ -144,10 +145,6 @@ if ! sudo /opt/tbotspython/bin/python3 -m pip install --upgrade pip ; then
     exit 1
 fi
 
-if [[ $(lsb_release -rs) == "20.04" ]]; then
-    sudo /opt/tbotspython/bin/pip3 install -r ubuntu20_requirements.txt
-fi
-
 if [[ $(lsb_release -rs) == "22.04" ]]; then
     sudo /opt/tbotspython/bin/pip3 install -r ubuntu22_requirements.txt
 fi
@@ -160,15 +157,15 @@ sudo chown -R $USER:$USER /opt/tbotspython
 
 print_status_msg "Done Setting Up Virtual Python Environment"
 print_status_msg "Fetching game controller"
-install_gamecontroller $arch
+install_gamecontroller $g_arch
 
 print_status_msg "Setting up TIGERS AutoRef"
 
 print_status_msg "Installing TIGERS dependency: Java 21"
-install_java $arch
+install_java $g_arch
 
 print_status_msg "Compiling TIGERS AutoRef"
-install_autoref $arch
+install_autoref $g_arch
 
 sudo chmod +x "$CURR_DIR/../src/software/autoref/run_autoref.sh"
 sudo cp "$CURR_DIR/../src/software/autoref/DIV_B.txt" "/opt/tbotspython/autoReferee/config/geometry/DIV_B.txt"
@@ -178,20 +175,20 @@ print_status_msg "Finished setting up AutoRef"
 # Install Bazel
 print_status_msg "Installing Bazel"
 
-install_bazel $arch
+install_bazel $g_arch
 
 print_status_msg "Done Installing Bazel"
 
 print_status_msg "Install clang-format"
-install_clang_format $arch
+install_clang_format $g_arch
 print_status_msg "Done installing clang-format"
 
 print_status_msg "Setting up cross compiler for robot software"
-install_cross_compiler $arch
+install_cross_compiler $g_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
+install_python_dev_cross_compile_headers $g_arch
 print_status_msg "Done Setting Up Python Development Headers"
 
 print_status_msg "Setting Up PlatformIO"

environment_setup/ubuntu20_requirements.txt

@@ -20,23 +20,7 @@ install_bazel() {
 }
 
 install_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-19.1.7/LLVM-19.1.7-Linux-X64.tar.xz
-        clang_folder=LLVM-19.1.7-Linux-X64
-    fi
-
-    wget $download -O /tmp/tbots_download_cache/clang.tar.xz
-
-    # Temporarily need more space to extract the clang tarball
-    mkdir -p ~/.tbots
-    tar -xf /tmp/tbots_download_cache/clang.tar.xz -C ~/.tbots/
-
-    clang_format_path=~/.tbots/$clang_folder/bin/clang-format
-    sudo cp $clang_format_path /opt/tbotspython/bin/clang-format
-    rm -rf ~/.tbots
+    ln -s /usr/bin/clang-format-14 /opt/tbotspython/bin/clang-format
 }
 
 install_cross_compiler() {
@@ -52,34 +36,14 @@ install_cross_compiler() {
 }
 
 install_gamecontroller () {
-    # TODO(#3335): Whenever we deprecate Ubuntu 20.04, we can just grab the latest version of the SSL game controller
-    # binary from the releases page. This is a workaround since the latest version of the game controller is compiled
-    # with a newer GLIBC version than what is available on Ubuntu 20.04.
-    go_arch=arm64
+    arch=arm64
     if is_x86 $1; then
-        go_arch=amd64
+        arch=amd64
     fi
-    sudo wget -N https://go.dev/dl/go1.23.0.linux-${go_arch}.tar.gz -O /tmp/tbots_download_cache/go.tar.gz
-    tar -C /tmp/tbots_download_cache -xf /tmp/tbots_download_cache/go.tar.gz
-    export PATH=$PATH:/tmp/tbots_download_cache/go/bin
-    sudo wget -N https://github.com/RoboCup-SSL/ssl-game-controller/archive/refs/tags/v3.12.3.zip -O /tmp/tbots_download_cache/ssl-game-controller.zip
-    unzip -q -o -d /tmp/tbots_download_cache/ /tmp/tbots_download_cache/ssl-game-controller.zip
-    cd /tmp/tbots_download_cache/ssl-game-controller-3.12.3
-
-    # Installing nvm
-    wget -qO- https://raw.githubusercontent.com/nvm-sh/nvm/v0.40.1/install.sh | bash
-	export NVM_DIR="$HOME/.nvm"
-	[ -s "$NVM_DIR/nvm.sh" ] && \. "$NVM_DIR/nvm.sh"  # This loads nvm
-	[ -s "$NVM_DIR/bash_completion" ] && \. "$NVM_DIR/bash_completion"  # This loads nvm bash_completion
-    nvm install 20
 
-    make install
-    go build cmd/ssl-game-controller/main.go
-    sudo mv main /opt/tbotspython/gamecontroller
+    wget https://github.com/RoboCup-SSL/ssl-game-controller/releases/download/v3.16.1/ssl-game-controller_v3.16.1_linux_${arch} -O /tmp/tbots_download_cache/gamecontroller
+    sudo mv /tmp/tbots_download_cache/gamecontroller /opt/tbotspython/gamecontroller
     sudo chmod +x /opt/tbotspython/gamecontroller
-
-    cd -
-    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 () {

environment_setup/util.sh

@@ -36,7 +36,8 @@ std::unique_ptr<TbotsProto::Polygon> createPolygonProto(const Polygon& polygon)
     auto polygon_msg   = std::make_unique<TbotsProto::Polygon>();
     const auto& points = polygon.getPoints();
 
-    std::for_each(points.begin(), points.end(), [&](const Point& point)
+    std::for_each(points.begin(), points.end(),
+                  [&](const Point& point)
                   { *(polygon_msg->add_points()) = *createPointProto(point); });
 
     return polygon_msg;

src/proto/message_translation/tbots_geometry.cpp

@@ -49,7 +49,8 @@ std::unique_ptr<TbotsProto::Team> createTeam(const Team& team)
     auto team_msg      = std::make_unique<TbotsProto::Team>();
     const auto& robots = team.getAllRobots();
 
-    std::for_each(robots.begin(), robots.end(), [&](const Robot& robot)
+    std::for_each(robots.begin(), robots.end(),
+                  [&](const Robot& robot)
                   { *(team_msg->add_team_robots()) = *createRobot(robot); });
 
     auto goalie_id = team.getGoalieId();

src/proto/message_translation/tbots_protobuf.cpp

@@ -78,15 +78,17 @@ std::unique_ptr<TbotsProto::PrimitiveSet> Ai::getPrimitives(const WorldPtr& worl
     std::unique_ptr<TbotsProto::PrimitiveSet> primitive_set;
     if (static_cast<bool>(override_play))
     {
-        primitive_set = override_play->get(
-            world_ptr, inter_play_communication, [this](InterPlayCommunication comm)
-            { inter_play_communication = std::move(comm); });
+        primitive_set = override_play->get(world_ptr, inter_play_communication,
+                                           [this](InterPlayCommunication comm) {
+                                               inter_play_communication = std::move(comm);
+                                           });
     }
     else
     {
-        primitive_set = current_play->get(
-            world_ptr, inter_play_communication, [this](InterPlayCommunication comm)
-            { inter_play_communication = std::move(comm); });
+        primitive_set = current_play->get(world_ptr, inter_play_communication,
+                                          [this](InterPlayCommunication comm) {
+                                              inter_play_communication = std::move(comm);
+                                          });
     }
 
     FrameMarkEnd(TracyConstants::AI_FRAME_MARKER);

src/software/ai/ai.cpp

@@ -111,7 +111,8 @@ std::vector<DefenderAssignment> getAllDefenderAssignments(
         assignments.end());
 
     // Sort the potential assignments by coverage rating in descending order
-    std::sort(assignments.begin(), assignments.end(), [](const auto &a, const auto &b)
+    std::sort(assignments.begin(), assignments.end(),
+              [](const auto &a, const auto &b)
               { return a.coverage_rating > b.coverage_rating; });
 
     return assignments;
@@ -179,7 +180,8 @@ std::vector<std::vector<GoalLane>> groupGoalLanesByDensity(
     }
 
     // Sort goal lanes by angle to the goal in increasing order
-    std::sort(goal_lanes.begin(), goal_lanes.end(), [](const auto &a, const auto &b)
+    std::sort(goal_lanes.begin(), goal_lanes.end(),
+              [](const auto &a, const auto &b)
               { return a.angle_to_goal < b.angle_to_goal; });
 
     std::vector<std::vector<GoalLane>> groups;

src/software/ai/evaluation/defender_assignment.cpp

@@ -147,8 +147,7 @@ std::optional<std::pair<int, std::optional<Robot>>> getNumPassesToRobot(
         // Remove any receivers from the unvisited robots, since they have
         // now been visited
         unvisited_robots.erase(remove_if(unvisited_robots.begin(), unvisited_robots.end(),
-                                         [&](auto x)
-                                         {
+                                         [&](auto x) {
                                              return find(all_receivers.begin(),
                                                          all_receivers.end(),
                                                          x) != all_receivers.end();