Add macOS ARM support for Thunderscope

.gitignore

@@ -155,3 +155,7 @@ src/.clangd
 
 # external is a special directory for bazel so it should be ignored
 src/external
+
+# macOS folder info
+.DS_Store
+

environment_setup/macos_requirements.txt

@@ -0,0 +1,13 @@
+ansible-lint==24.12.2
+pyqtgraph==0.13.7
+thefuzz==0.19.0
+iterfzf==0.5.0.20.0
+python-Levenshtein==0.25.1
+psutil==5.9.0
+PyOpenGL==3.1.6
+ruff==0.5.5
+pyqt-toast-notification==1.3.2
+grpcio-tools==1.71.0
+platformio==6.1.18
+pyqt6==6.9.1
+

environment_setup/setup_software.sh

@@ -158,6 +158,7 @@ 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 $g_arch
+install_python_toolchain_headers
 print_status_msg "Done Setting Up Python Development Headers"
 
 print_status_msg "Setting Up PlatformIO"

environment_setup/setup_software_mac.sh

@@ -0,0 +1,102 @@
+#!/bin/bash
+set -x
+#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~#
+# UBC Thunderbots macOS Software Setup
+#
+# This script will install all required libraries and dependencies to build
+# and run the Thunderbots codebase on macOS, including the AI and unit tests.
+#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~#
+
+# Save the parent dir of this script
+CURR_DIR=$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" &>/dev/null && pwd)
+cd "$CURR_DIR" || exit
+
+source util.sh
+
+arch=$(uname -m)
+print_status_msg "Detected architecture: ${arch}"
+
+# Check for Homebrew and install if missing
+if ! command -v brew &>/dev/null; then
+    print_status_msg "Installing Homebrew..."
+    /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
+
+    # Configure Homebrew in current shell
+    if [ "$arch" = "arm64" ]; then
+        eval "$(/opt/homebrew/bin/brew shellenv)"
+    else
+        eval "$(/usr/local/bin/brew shellenv)"
+    fi
+fi
+
+print_status_msg "Installing Utilities and Dependencies"
+
+# Update Homebrew
+brew update
+
+# Install required packages
+host_software_packages=(
+    cmake@4
+    python@3.12
+    bazelisk
+    openjdk@21
+    pyqt@6
+    qt@6
+    node@20
+    go@1.24
+    clang-format@20
+)
+
+for pkg in "${host_software_packages[@]}"; do
+    if ! brew list "$pkg" &>/dev/null; then
+        print_status_msg "Installing $pkg..."
+        brew install "$pkg"
+    else
+        print_status_msg "$pkg already installed, skipping..."
+    fi
+done
+
+# Set up cache
+mkdir /tmp/tbots_download_cache
+
+# Set up Python
+print_status_msg "Setting Up Python Environment"
+
+# Create virtual environment
+sudo python3.12 -m venv /opt/tbotspython
+chmod
+source /opt/tbotspython/bin/activate
+
+# Install Python dependencies
+sudo pip install --upgrade pip
+sudo pip install -r macos_requirements.txt
+
+print_status_msg "Done Setting Up Python Environment"
+
+print_status_msg "Fetching game controller"
+install_gamecontroller_macos
+
+print_status_msg "Setting up TIGERS AutoRef"
+install_java_macos
+install_autoref_macos
+sudo chmod +x "$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"
+print_status_msg "Finished setting up AutoRef"
+
+print_status_msg "Setting up cross compiler for robot software"
+install_cross_compiler_mac
+print_status_msg "Done setting up cross compiler for robot software"
+
+print_status_msg "Setting Up Python Development Headers"
+install_python_toolchain_headers
+print_status_msg "Done Setting Up Python Development Headers"
+
+print_status_msg "Granting Permissions to /opt/tbotspython"
+sudo chown -R $(id -u):$(id -g) /opt/tbotspython
+print_status_msg "Done Granting Permissions to /opt/tbotspython"
+
+print_status_msg "Done Environment Configuration"
+
+print_status_msg "Software Setup Complete"
+print_status_msg "Note: Some changes require a new terminal session to take effect"
+

environment_setup/util.sh

@@ -8,6 +8,15 @@ install_autoref() {
     rm -rf /tmp/tbots_download_cache/autoReferee.zip /tmp/tbots_download_cache/AutoReferee-${autoref_commit}
 }
 
+install_autoref_macos() {
+    autoref_version=1.5.5
+    curl -L https://github.com/TIGERs-Mannheim/AutoReferee/releases/download/${autoref_version}/autoReferee.zip -o /tmp/tbots_download_cache/autoReferee.zip
+    unzip -q -o -d /tmp/tbots_download_cache/ /tmp/tbots_download_cache/autoReferee.zip
+
+    sudo mv /tmp/tbots_download_cache/autoReferee /opt/tbotspython/
+    rm -rf /tmp/tbots_download_cache/autoReferee.zip
+}
+
 install_bazel() {
     download=https://github.com/bazelbuild/bazelisk/releases/download/v1.26.0/bazelisk-linux-arm64 
 
@@ -35,6 +44,16 @@ install_cross_compiler() {
     rm /tmp/tbots_download_cache/$full_file_name
 }
 
+install_cross_compiler_mac() {
+    file_name=aarch64-tbots-linux-gnu-for-aarch64
+    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
+}
+
 install_gamecontroller () {
     arch=arm64
     if is_x86 $1; then
@@ -46,6 +65,19 @@ install_gamecontroller () {
     sudo chmod +x /opt/tbotspython/gamecontroller
 }
 
+install_gamecontroller_macos () {
+    curl -L https://github.com/RoboCup-SSL/ssl-game-controller/archive/refs/tags/v3.17.0.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-3.17.0
+    make install
+    go build cmd/ssl-game-controller/main.go
+    sudo mv main /opt/tbotspython/gamecontroller
+    sudo chmod +x /opt/tbotspython/gamecontroller
+
+    cd -
+    sudo rm -rf /tmp/tbots_download_cache/ssl-game-controller-3.17.0 /tmp/tbots_download_cache/go /tmp/tbots_download_cache/go.tar.gz /tmp/tbots_download_cache/ssl-game-controller.zip
+}
+
 install_java () {
     java_home=""
     java_download=https://download.oracle.com/java/21/latest/jdk-21_linux-aarch64_bin.tar.gz
@@ -58,6 +90,17 @@ install_java () {
     rm /tmp/tbots_download_cache/jdk-21.tar.gz
 }
 
+install_java_macos () {
+    java_home=""
+    java_download=https://download.oracle.com/java/21/latest/jdk-21_macos-aarch64_bin.tar.gz
+    curl -L $java_download -o /tmp/tbots_download_cache/jdk-21.tar.gz
+    mkdir /tmp/tbots_download_cache/jdk
+    tar -xzf /tmp/tbots_download_cache/jdk-21.tar.gz -C /tmp/tbots_download_cache
+    sudo mv /tmp/tbots_download_cache/jdk-21*/Contents/Home /opt/tbotspython/bin/jdk
+    rm /tmp/tbots_download_cache/jdk-21.tar.gz
+    rm -rf /tmp/tbots_download_cache/jdk
+}
+
 install_python_dev_cross_compile_headers() {
     mkdir -p /opt/tbotspython/cross_compile_headers
     wget -N https://www.python.org/ftp/python/3.12.0/Python-3.12.0.tar.xz -O /tmp/tbots_download_cache/python-3.12.0.tar.xz
@@ -90,6 +133,11 @@ install_python_dev_cross_compile_headers() {
     rm -rf /tmp/tbots_download_cache/python-3.12.0.tar.xz
 }
 
+install_python_toolchain_headers() {
+  sudo mkdir -p /opt/tbotspython/py_headers/include/
+  sudo ln -sfn "$(python3.12-config --includes | awk '{for(i=1;i<=NF;++i) if ($i ~ /^-I/) print substr($i, 3)}' | head -n1)" /opt/tbotspython/py_headers/include/
+}
+
 is_x86() {
     if [[ $1 == "x86_64" ]]; then
         return 0

src/.bazelrc

@@ -65,8 +65,8 @@ common --enable_platform_specific_config
 build --incompatible_remove_legacy_whole_archive=False
 
 # Escalate Warnings to fail Compile for Thunderbots code
-build --features=external_include_paths
-build --per_file_copt=proto/.*,proto/message_translation/.*,proto/primitive/.*,software/.*,shared/.*,-external/.*@-Wall,-Wextra,-Wno-unused-parameter,-Wno-deprecated,-Werror,-Wno-deprecated-declarations
+build:linux --features=external_include_paths
+build:linux --per_file_copt=proto/.*,proto/message_translation/.*,proto/primitive/.*,software/.*,shared/.*,-external/.*@-Wall,-Wextra,-Wno-unused-parameter,-Wno-deprecated,-Werror,-Wno-deprecated-declarations
 # TODO: #3492
 # build --per_file_copt=software/.*,shared/.*,-external/.*@-Wconversion
 

src/MODULE.bazel

@@ -274,7 +274,7 @@ new_local_repository(
 new_local_repository(
     name = "py_cc_toolchain_host",
     build_file = "@//extlibs:py_cc_toolchain.BUILD",
-    path = "/usr/include/python3.12/",
+    path = "/opt/tbotspython/py_headers/include/python3.12/",
 )
 
 new_local_repository(

src/extlibs/er_force_sim/src/amun/simulator/simulator.cpp

@@ -677,12 +677,12 @@ void Simulator::handleSimulatorSetupCommand(const std::unique_ptr<amun::Command>
 
             if (realism.has_vision_delay())
             {
-                m_visionDelay = std::max(0l, realism.vision_delay());
+                m_visionDelay = std::max<int64_t>(0l, realism.vision_delay());
             }
 
             if (realism.has_vision_processing_time())
             {
-                m_visionProcessingTime = std::max(0l, realism.vision_processing_time());
+                m_visionProcessingTime = std::max<int64_t>(0l, realism.vision_processing_time());
             }
 
             if (realism.has_simulate_dribbling())

src/software/logger/BUILD

@@ -10,6 +10,7 @@ cc_library(
     ],
     deps = [
         "@g3log",
+        ":compat_flags",
     ],
 )
 
@@ -19,7 +20,10 @@ cc_library(
         "custom_logging_levels.h",
         "logger.h",
     ],
-    linkopts = ["-lstdc++fs"],
+    linkopts = select({
+           "@platforms//os:linux": ["-lstdc++fs"],
+           "//conditions:default": [],
+    }),
     deps = [
         ":coloured_cout_sink",
         ":csv_sink",
@@ -28,6 +32,7 @@ cc_library(
         ":protobuf_sink",
         "@g3log",
         "@g3sinks",
+        ":compat_flags",
     ],
 )
 
@@ -104,6 +109,7 @@ cc_library(
     ],
     deps = [
         "@g3log",
+        ":compat_flags",
     ],
 )
 
@@ -187,5 +193,11 @@ cc_library(
         "@base64",
         "@boost//:filesystem",
         "@zlib",
+        ":compat_flags",
     ],
 )
+
+cc_library(
+    name = "compat_flags",
+    srcs = ["compat_flags.h"],
+)

src/software/logger/compat_flags.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#include <chrono>
+
+#if defined(__APPLE__)
+using Clock = std::chrono::system_clock;
+#else
+using Clock = std::chrono::_V2::system_clock;
+#endif
+
+#if __cplusplus > 201703L
+#include <filesystem>
+namespace fs = std::filesystem;
+#else
+#include <experimental/filesystem>
+namespace fs = std::experimental::filesystem;
+#endif
+

src/software/logger/csv_sink.cpp

@@ -1,10 +1,6 @@
 #include "software/logger/csv_sink.h"
 
-#if __cplusplus > 201703L
-#include <filesystem>
-#else
-#include <experimental/filesystem>
-#endif
+#include "compat_flags.h"
 
 CSVSink::CSVSink(const std::string& log_directory) : log_directory(log_directory) {}
 

src/software/logger/log_merger.cpp

@@ -11,7 +11,7 @@ std::list<g3::LogMessage> LogMerger::log(g3::LogMessage &log)
     {
         std::string msg = log.message();
 
-        std::chrono::_V2::system_clock::time_point current_time =
+        Clock::time_point current_time =
             std::chrono::system_clock::now();
         // add passed time from testing
         current_time += passed_time;
@@ -38,8 +38,7 @@ std::list<g3::LogMessage> LogMerger::log(g3::LogMessage &log)
     }
 }
 
-std::list<g3::LogMessage> LogMerger::_getOldMessages(
-    std::chrono::_V2::system_clock::time_point current_time)
+std::list<g3::LogMessage> LogMerger::_getOldMessages(Clock::time_point current_time)
 {
     std::list<g3::LogMessage> result;
     while (message_list.size() > 0)

src/software/logger/log_merger.h

@@ -4,6 +4,7 @@
 #include <list>
 #include <string>
 #include <unordered_map>
+#include "compat_flags.h"
 
 
 /**
@@ -41,11 +42,9 @@ class LogMerger
      * Looks through the message list for expired messages, removes them from the list and
      * map, and returns them as strings
      */
-    std::list<g3::LogMessage> _getOldMessages(
-        std::chrono::_V2::system_clock::time_point current_time);
+    std::list<g3::LogMessage> _getOldMessages(Clock::time_point current_time);
 
-    const std::chrono::_V2::system_clock::duration LOG_MERGE_DURATION =
-        std::chrono::seconds(2);
+    const Clock::duration LOG_MERGE_DURATION = std::chrono::seconds(2);
 
    private:
     /**
@@ -55,10 +54,10 @@ class LogMerger
     {
         g3::LogMessage log;
         std::string msg;
-        std::chrono::_V2::system_clock::time_point timestamp;
+        Clock::time_point timestamp;
 
         Message(g3::LogMessage &log, std::string msg,
-                std::chrono::_V2::system_clock::time_point timestamp)
+                Clock::time_point timestamp)
             : log(log), msg(msg), timestamp(timestamp)
         {
         }
@@ -68,8 +67,7 @@ class LogMerger
         repeat_map;  // maps string messages to their number of repeats for fast access
     std::list<Message> message_list;  // used to keep track of time order for messages
 
-    std::chrono::_V2::system_clock::duration
-        passed_time;  // for testing, time passed manually
+    Clock::duration passed_time;  // for testing, time passed manually
 
     bool enable_merging;
 };