Add cross compilers for robot firmware building on MacOS (#3797)

nycrat · web-flow · commit 5652e04e95d3 · 2026-06-25T18:29:37.000-07:00
* Setup STM32 cross compiler for motor driver firmware

* Add mac cross compiler for raspberry pi

* Specify linux only targets

* Fix firmware flashing

* Dont hardcode cross compiler version

* Print status message for setup

* Install cross compiler with brew dont need the util

* Remove unnecessary comments
diff --git a/environment_setup/setup_software.sh b/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
 )
diff --git a/environment_setup/setup_software_mac.sh b/environment_setup/setup_software_mac.sh
@@ -32,6 +32,8 @@ host_software_packages=(
     node@20
     go@1.24
     clang-format@20
+    sshpass # used to remotely ssh into robots via Ansible
+    messense/macos-cross-toolchains/aarch64-unknown-linux-gnu # raspberry pi cross compiler
 )
 
 for pkg in "${host_software_packages[@]}"; do
@@ -72,9 +74,13 @@ print_status_msg "Install clang-format"
 install_clang_format $sys
 print_status_msg "Done installing clang-format"
 
-print_status_msg "Setting up cross compiler for robot software"
-install_cross_compiler $sys
-print_status_msg "Done setting up cross compiler for robot software"
+print_status_msg "Setting Up PlatformIO"
+sudo ln -s /opt/tbotspython/bin/platformio /usr/local/bin/platformio
+print_status_msg "Done PlatformIO Setup"
+
+print_status_msg "Setting up STM32 cross-compiler for motor board firmware"
+install_stm32_cross_compiler $sys
+print_status_msg "Done setting up STM32 cross-compiler"
 
 print_status_msg "Setting Up Python Development Headers"
 install_python_toolchain_headers
diff --git a/environment_setup/util.sh b/environment_setup/util.sh
@@ -38,23 +38,14 @@ install_clang_format() {
 
 install_cross_compiler() {
     file_name=aarch64-tbots-linux-gnu-for-aarch64
-    if is_darwin $1; then
-       full_file_name=$file_name.tar.xz
-       curl -L "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
-    else
-        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
+    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 () {
@@ -127,14 +118,17 @@ install_python_dev_cross_compile_headers() {
 
 install_stm32_cross_compiler() {
     arch="aarch64"
-    if is_x86 $1; then
+    if is_darwin $1; then
+        arch="darwin-arm64"
+    elif is_x86 $1; then
         arch="x86_64"
     fi
-    download_link=https://developer.arm.com/-/media/Files/downloads/gnu/14.3.rel1/binrel/arm-gnu-toolchain-14.3.rel1-${arch}-arm-none-eabi.tar.xz
+    toolchain_name=arm-gnu-toolchain-14.3.rel1-${arch}-arm-none-eabi
+    download_link=https://developer.arm.com/-/media/Files/downloads/gnu/14.3.rel1/binrel/${toolchain_name}.tar.xz
 
     wget -N $download_link -O /tmp/tbots_download_cache/arm-gnu-toolchain.tar.xz
     tar -xf /tmp/tbots_download_cache/arm-gnu-toolchain.tar.xz -C /tmp/tbots_download_cache/
-    sudo mv /tmp/tbots_download_cache/arm-gnu-toolchain-14.3.rel1-${arch}-arm-none-eabi /opt/tbotspython/arm-none-eabi-gcc
+    sudo mv /tmp/tbots_download_cache/${toolchain_name} /opt/tbotspython/arm-none-eabi-gcc
     rm /tmp/tbots_download_cache/arm-gnu-toolchain.tar.xz
 }
 
diff --git a/src/MODULE.bazel b/src/MODULE.bazel
@@ -250,6 +250,7 @@ register_toolchains(
 )
 
 register_toolchains(
+    "//toolchains/cc:cc_toolchain_for_macos_robot",
     "//toolchains/cc:cc_toolchain_for_k8_aarch64_linux",
     "//toolchains/cc:cc_toolchain_for_k8",
     "//toolchains/cc:cc_toolchain_for_aarch64",
@@ -286,6 +287,12 @@ new_local_repository(
     path = "/opt/tbotspython/aarch64-tbots-linux-gnu/",
 )
 
+new_local_repository(
+    name = "macos_robot_gcc",
+    build_file = "@//extlibs:macos_robot_gcc.BUILD",
+    path = "/opt/homebrew/opt/aarch64-unknown-linux-gnu/toolchain/",
+)
+
 new_local_repository(
     name = "motor_board_gcc",
     build_file = "@//extlibs:motor_board_gcc.BUILD",
diff --git a/src/extlibs/macos_robot_gcc.BUILD b/src/extlibs/macos_robot_gcc.BUILD
@@ -0,0 +1,6 @@
+package(default_visibility = ["//visibility:public"])
+
+filegroup(
+    name = "everything",
+    srcs = glob(["**"]),
+)
diff --git a/src/software/embedded/BUILD b/src/software/embedded/BUILD
@@ -72,6 +72,8 @@ 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",
     ],
diff --git a/src/software/embedded/gpio/BUILD b/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",
diff --git a/src/software/embedded/motor_controller/BUILD b/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",
diff --git a/src/software/embedded/services/BUILD b/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",
diff --git a/src/tbots.py b/src/tbots.py
@@ -194,7 +194,7 @@ 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(
@@ -221,6 +221,9 @@ def create_command(config: BuildConfig, extra_args: list[str]) -> list[str]:
         if condition:
             command += list(flag.value)
 
+    if config.test_suite and config.action == ActionArgument.test:
+        command += ["--build_tests_only"]
+
     if config.jobs_option:
         command += [f"--jobs={config.jobs_option}"]
 
diff --git a/src/toolchains/cc/BUILD b/src/toolchains/cc/BUILD
@@ -269,6 +269,9 @@ cc_toolchain_config_k8_aarch64_linux(
 
 toolchain(
     name = "cc_toolchain_for_k8_aarch64_linux",
+    exec_compatible_with = [
+        "@platforms//os:linux",
+    ],
     target_compatible_with = [
         "@platforms//cpu:aarch64",
         "@platforms//os:linux",
@@ -278,6 +281,69 @@ toolchain(
     toolchain_type = "@bazel_tools//tools/cpp:toolchain_type",
 )
 
+MACOS_ROBOT_TC = "/opt/homebrew/opt/aarch64-unknown-linux-gnu/toolchain"
+
+cc_toolchain_config_k8_aarch64_linux(
+    name = "gcc_macos_robot",
+    builtin_include_directories = [
+        "/opt/homebrew/opt/aarch64-unknown-linux-gnu",  # symlink-reported (libstdc++ headers)
+        "/opt/homebrew/Cellar/aarch64-unknown-linux-gnu",  # realpath-reported (sysroot headers)
+    ] + make_builtin_include_directories(),
+    tool_paths = {
+        "ar": MACOS_ROBOT_TC + "/bin/aarch64-unknown-linux-gnu-ar",
+        "cpp": MACOS_ROBOT_TC + "/bin/aarch64-unknown-linux-gnu-cpp",
+        # messense ships no dwp; point at gcc (unused without fission).
+        "dwp": MACOS_ROBOT_TC + "/bin/aarch64-unknown-linux-gnu-gcc",
+        "gcc": "wrapper/macos_robot_gcc",
+        "gcov": MACOS_ROBOT_TC + "/bin/aarch64-unknown-linux-gnu-gcov",
+        "ld": MACOS_ROBOT_TC + "/bin/aarch64-unknown-linux-gnu-ld",
+        "nm": MACOS_ROBOT_TC + "/bin/aarch64-unknown-linux-gnu-nm",
+        "objcopy": MACOS_ROBOT_TC + "/bin/aarch64-unknown-linux-gnu-objcopy",
+        "objdump": MACOS_ROBOT_TC + "/bin/aarch64-unknown-linux-gnu-objdump",
+        "strip": MACOS_ROBOT_TC + "/bin/aarch64-unknown-linux-gnu-strip",
+    },
+    toolchain_identifier = "gcc-macos-robot",
+)
+
+filegroup(
+    name = "macos_robot_everything",
+    srcs = [
+        "wrapper/macos_robot_gcc",
+        "@macos_robot_gcc//:everything",
+    ],
+)
+
+cc_toolchain(
+    name = "cc_toolchain_macos_robot",
+    all_files = ":macos_robot_everything",
+    ar_files = ":macos_robot_everything",
+    as_files = ":macos_robot_everything",
+    compiler_files = ":macos_robot_everything",
+    dwp_files = ":macos_robot_everything",
+    linker_files = ":macos_robot_everything",
+    objcopy_files = ":macos_robot_everything",
+    strip_files = ":macos_robot_everything",
+    supports_param_files = 0,
+    tags = ["no-ide"],
+    toolchain_config = ":gcc_macos_robot",
+    toolchain_identifier = "gcc-macos-robot",
+)
+
+toolchain(
+    name = "cc_toolchain_for_macos_robot",
+    exec_compatible_with = [
+        "@platforms//os:osx",
+        "@platforms//cpu:aarch64",
+    ],
+    target_compatible_with = [
+        "@platforms//cpu:aarch64",
+        "@platforms//os:linux",
+        ":glibc_2_27",
+    ],
+    toolchain = ":cc_toolchain_macos_robot",
+    toolchain_type = "@bazel_tools//tools/cpp:toolchain_type",
+)
+
 toolchain(
     name = "cc_toolchain_for_k8",
     exec_compatible_with = [
diff --git a/src/toolchains/cc/wrapper/macos_robot_gcc b/src/toolchains/cc/wrapper/macos_robot_gcc
@@ -0,0 +1,28 @@
+#!/bin/bash --norc
+
+# Wrapper around the prebuilt messense aarch64-unknown-linux-gnu GCC 15.x,
+# 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.
+
+# Homebrew's version-independent symlink (kept in sync with MACOS_ROBOT_TC in
+# //toolchains/cc:BUILD), so this survives `brew upgrade` of the toolchain.
+TC=/opt/homebrew/opt/aarch64-unknown-linux-gnu/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

Original file line number	Diff line number	Diff line change
`@@ -75,7 +75,7 @@ host_software_packages=(`
`75`	`75`	`libffi-dev # needed to use _ctypes in Python3`
`76`	`76`	`libssl-dev # needed to build Python 3 with ssl support`
`77`	`77`	`openssl # possibly also necessary for ssl in Python 3`
`78`		`- sshpass #used to remotely ssh into robots via Ansible`
	`78`	`+ sshpass # used to remotely ssh into robots via Ansible`
`79`	`79`	`unzip # installing tigers autoref`
`80`	`80`	`xvfb # used for CI to run GUI applications`
`81`	`81`	`)`