Switch everything to platforms
This patch switches the codebase over from using the "cpu"
mechanism to using bazel platforms. See
https://docs.bazel.build/versions/master/platforms.html for some more
information.
Most of the substantial changes are in //tools. Instead of using
`cc_toolchain_suite` rules, we now use regular `toolchain` rules that
are registered in the WORKSPACE. That also means that bazel now uses
the target platform to select the compiler.
All --cpu=* arguments should now be --config=* arguments. For example,
`--cpu=roborio` should now be `--config=roborio`. The CI script and
all documentation has been updated to reflect that.
The remainder of the changes revolve around tagging all targets with
`target_compatible_with`. The old mechanism allowed us to specify
repo-wide defaults. The new mechanism does not. That means every
target that didn't have any compatibility specified, now requires
compatibility with `@platforms//os:linux`.
I used buildozer for the vast majority of `target_compatible_with`
changes. buildozer automatically buildifies any BUILD files it
touches. That means this patch also contains a few non-functional
changes that I was too lazy to remove.
Change-Id: I66d6e6ad9161520ee397597cdb492585820a3acd
diff --git a/y2019/BUILD b/y2019/BUILD
index ddc0a19..3f361a7 100644
--- a/y2019/BUILD
+++ b/y2019/BUILD
@@ -18,6 +18,7 @@
"//y2019/actors:binaries",
"//y2019/vision/server",
],
+ target_compatible_with = ["@platforms//os:linux"],
)
cc_library(
@@ -28,6 +29,7 @@
hdrs = [
"constants.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//aos/logging",
@@ -54,7 +56,7 @@
],
# This library uses some deprecated parts of the SPI API.
copts = ["-Wno-deprecated-declarations"],
- restricted_to = ["//tools:roborio"],
+ target_compatible_with = ["//tools/platforms/hardware:roborio"],
deps = [
":camera_log_fbs",
":constants",
@@ -103,6 +105,7 @@
hdrs = [
"joystick_angle.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
"//aos/input:drivetrain_input",
"//frc971/zeroing:wrap",
@@ -114,6 +117,7 @@
srcs = [
"joystick_angle_test.cc",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":joystick_angle",
"//aos/testing:googletest",
@@ -125,6 +129,7 @@
srcs = [
":joystick_reader.cc",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":camera_log_fbs",
":vision_proto",
@@ -158,6 +163,7 @@
"camera_log.fbs",
],
gen_reflections = 1,
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)
@@ -167,6 +173,7 @@
"status_light.fbs",
],
gen_reflections = 1,
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)
@@ -183,6 +190,7 @@
"//y2019/control_loops/superstructure:superstructure_status_fbs",
":camera_log_fbs",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//aos/robot_state:config",
@@ -195,11 +203,13 @@
cc_proto_library(
name = "vision_proto",
srcs = ["vision.proto"],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)
py_library(
name = "python_init",
srcs = ["__init__.py"],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)
diff --git a/y2019/actors/BUILD b/y2019/actors/BUILD
index 3aa2a22..4a66b55 100644
--- a/y2019/actors/BUILD
+++ b/y2019/actors/BUILD
@@ -24,6 +24,7 @@
"auto_splines.h",
"autonomous_actor.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
"//aos/events:event_loop",
"//aos/logging",
@@ -44,6 +45,7 @@
srcs = [
"autonomous_actor_main.cc",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":autonomous_action_lib",
"//aos:init",
diff --git a/y2019/control_loops/BUILD b/y2019/control_loops/BUILD
index ddfdf61..0c1940b 100644
--- a/y2019/control_loops/BUILD
+++ b/y2019/control_loops/BUILD
@@ -1,6 +1,7 @@
py_library(
name = "python_init",
srcs = ["__init__.py"],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = ["//y2019:python_init"],
)
diff --git a/y2019/control_loops/drivetrain/BUILD b/y2019/control_loops/drivetrain/BUILD
index c500ce6..78c602e 100644
--- a/y2019/control_loops/drivetrain/BUILD
+++ b/y2019/control_loops/drivetrain/BUILD
@@ -11,6 +11,7 @@
"kalman_drivetrain_motor_plant.cc",
],
cmd = "$(location //y2019/control_loops/python:drivetrain) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
"//y2019/control_loops/python:drivetrain",
],
@@ -27,6 +28,7 @@
"hybrid_velocity_drivetrain.cc",
],
cmd = "$(location //y2019/control_loops/python:polydrivetrain) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
"//y2019/control_loops/python:polydrivetrain",
],
@@ -46,6 +48,7 @@
"kalman_drivetrain_motor_plant.h",
"polydrivetrain_dog_motor_plant.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//frc971/control_loops:hybrid_state_feedback_loop",
@@ -61,6 +64,7 @@
hdrs = [
"drivetrain_base.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
":polydrivetrain_plants",
@@ -74,6 +78,7 @@
srcs = [
"drivetrain_main.cc",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
":drivetrain_base",
@@ -88,6 +93,7 @@
name = "target_selector_fbs",
srcs = ["target_selector.fbs"],
gen_reflections = 1,
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)
@@ -97,12 +103,14 @@
"camera.fbs",
],
gen_reflections = 1,
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)
cc_library(
name = "localizer",
hdrs = ["localizer.h"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
"//frc971/control_loops:pose",
"//frc971/control_loops/drivetrain:camera",
@@ -114,6 +122,7 @@
name = "target_selector",
srcs = ["target_selector.cc"],
hdrs = ["target_selector.h"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":target_selector_fbs",
"//frc971/control_loops:pose",
@@ -128,6 +137,7 @@
name = "target_selector_test",
srcs = ["target_selector_test.cc"],
data = ["//y2019:config"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":target_selector",
"//aos/events:simulated_event_loop",
@@ -140,6 +150,7 @@
name = "event_loop_localizer",
srcs = ["event_loop_localizer.cc"],
hdrs = ["event_loop_localizer.h"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":camera_fbs",
":localizer",
@@ -161,6 +172,7 @@
}),
linkstatic = True,
shard_count = 8,
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":localizer",
":drivetrain_base",
@@ -182,6 +194,7 @@
aos_config(
name = "simulation_config",
src = "drivetrain_simulation_config.json",
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//frc971/control_loops/drivetrain:simulation_channels",
@@ -193,6 +206,7 @@
name = "localized_drivetrain_test",
srcs = ["localized_drivetrain_test.cc"],
data = [":simulation_config"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":camera_fbs",
":drivetrain_base",
@@ -211,6 +225,7 @@
name = "drivetrain_replay",
srcs = ["drivetrain_replay.cc"],
data = ["//y2019:config"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":drivetrain_base",
":event_loop_localizer",
diff --git a/y2019/control_loops/python/BUILD b/y2019/control_loops/python/BUILD
index 334bfd5..3d5e641 100644
--- a/y2019/control_loops/python/BUILD
+++ b/y2019/control_loops/python/BUILD
@@ -6,7 +6,7 @@
"drivetrain.py",
],
legacy_create_init = False,
- restricted_to = ["//tools:k8"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
":python_init",
"//external:python-gflags",
@@ -22,7 +22,7 @@
"polydrivetrain.py",
],
legacy_create_init = False,
- restricted_to = ["//tools:k8"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
":python_init",
"//external:python-gflags",
@@ -37,7 +37,7 @@
"drivetrain.py",
"polydrivetrain.py",
],
- restricted_to = ["//tools:k8"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
visibility = ["//visibility:public"],
deps = [
":python_init",
@@ -52,6 +52,7 @@
py_library(
name = "python_init",
srcs = ["__init__.py"],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = ["//y2019/control_loops:python_init"],
)
@@ -62,7 +63,7 @@
"elevator.py",
],
legacy_create_init = False,
- restricted_to = ["//tools:k8"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
":python_init",
"//external:python-gflags",
@@ -78,7 +79,7 @@
"wrist.py",
],
legacy_create_init = False,
- restricted_to = ["//tools:k8"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
":python_init",
"//external:python-gflags",
@@ -94,7 +95,7 @@
"intake.py",
],
legacy_create_init = False,
- restricted_to = ["//tools:k8"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
":python_init",
"//external:python-gflags",
@@ -110,7 +111,7 @@
"stilts.py",
],
legacy_create_init = False,
- restricted_to = ["//tools:k8"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
":python_init",
"//external:python-gflags",
diff --git a/y2019/control_loops/superstructure/BUILD b/y2019/control_loops/superstructure/BUILD
index c352ba6..d89b1f3 100644
--- a/y2019/control_loops/superstructure/BUILD
+++ b/y2019/control_loops/superstructure/BUILD
@@ -12,6 +12,7 @@
"//frc971/control_loops:control_loops_fbs_includes",
"//frc971/control_loops:profiled_subsystem_fbs_includes",
],
+ target_compatible_with = ["@platforms//os:linux"],
)
flatbuffer_cc_library(
@@ -20,6 +21,7 @@
"superstructure_output.fbs",
],
gen_reflections = 1,
+ target_compatible_with = ["@platforms//os:linux"],
)
flatbuffer_cc_library(
@@ -32,6 +34,7 @@
"//frc971/control_loops:control_loops_fbs_includes",
"//frc971/control_loops:profiled_subsystem_fbs_includes",
],
+ target_compatible_with = ["@platforms//os:linux"],
)
flatbuffer_cc_library(
@@ -44,6 +47,7 @@
"//frc971/control_loops:control_loops_fbs_includes",
"//frc971/control_loops:profiled_subsystem_fbs_includes",
],
+ target_compatible_with = ["@platforms//os:linux"],
)
cc_library(
@@ -54,6 +58,7 @@
hdrs = [
"superstructure.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":collision_avoidance",
":superstructure_goal_fbs",
@@ -77,6 +82,7 @@
data = [
"//y2019:config",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":superstructure_goal_fbs",
":superstructure_lib",
@@ -101,6 +107,7 @@
srcs = [
"superstructure_main.cc",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":superstructure_lib",
"//aos:init",
@@ -116,6 +123,7 @@
hdrs = [
"collision_avoidance.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":superstructure_goal_fbs",
":superstructure_status_fbs",
@@ -134,6 +142,7 @@
hdrs = [
"vacuum.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":superstructure_goal_fbs",
":superstructure_output_fbs",
@@ -148,6 +157,7 @@
srcs = [
"collision_avoidance_tests.cc",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":collision_avoidance",
":superstructure_goal_fbs",
diff --git a/y2019/control_loops/superstructure/elevator/BUILD b/y2019/control_loops/superstructure/elevator/BUILD
index f3d99fe..1084295 100644
--- a/y2019/control_loops/superstructure/elevator/BUILD
+++ b/y2019/control_loops/superstructure/elevator/BUILD
@@ -9,6 +9,7 @@
"integral_elevator_plant.cc",
],
cmd = "$(location //y2019/control_loops/python:elevator) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
"//y2019/control_loops/python:elevator",
],
@@ -24,6 +25,7 @@
"elevator_plant.h",
"integral_elevator_plant.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//frc971/control_loops:hybrid_state_feedback_loop",
diff --git a/y2019/control_loops/superstructure/intake/BUILD b/y2019/control_loops/superstructure/intake/BUILD
index 4f7f6b0..9d09510 100644
--- a/y2019/control_loops/superstructure/intake/BUILD
+++ b/y2019/control_loops/superstructure/intake/BUILD
@@ -9,6 +9,7 @@
"integral_intake_plant.cc",
],
cmd = "$(location //y2019/control_loops/python:intake) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
"//y2019/control_loops/python:intake",
],
@@ -24,6 +25,7 @@
"intake_plant.h",
"integral_intake_plant.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//frc971/control_loops:hybrid_state_feedback_loop",
diff --git a/y2019/control_loops/superstructure/stilts/BUILD b/y2019/control_loops/superstructure/stilts/BUILD
index a9c556e..346d88c 100644
--- a/y2019/control_loops/superstructure/stilts/BUILD
+++ b/y2019/control_loops/superstructure/stilts/BUILD
@@ -9,6 +9,7 @@
"integral_stilts_plant.cc",
],
cmd = "$(location //y2019/control_loops/python:stilts) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
"//y2019/control_loops/python:stilts",
],
@@ -24,6 +25,7 @@
"integral_stilts_plant.h",
"stilts_plant.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//frc971/control_loops:hybrid_state_feedback_loop",
diff --git a/y2019/control_loops/superstructure/wrist/BUILD b/y2019/control_loops/superstructure/wrist/BUILD
index e960b1a..8abfad5 100644
--- a/y2019/control_loops/superstructure/wrist/BUILD
+++ b/y2019/control_loops/superstructure/wrist/BUILD
@@ -9,6 +9,7 @@
"integral_wrist_plant.cc",
],
cmd = "$(location //y2019/control_loops/python:wrist) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
"//y2019/control_loops/python:wrist",
],
@@ -24,6 +25,7 @@
"integral_wrist_plant.h",
"wrist_plant.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//frc971/control_loops:hybrid_state_feedback_loop",
diff --git a/y2019/image_streamer/BUILD b/y2019/image_streamer/BUILD
index 4885da0..f394b91 100644
--- a/y2019/image_streamer/BUILD
+++ b/y2019/image_streamer/BUILD
@@ -3,6 +3,7 @@
cc_binary(
name = "image_streamer",
srcs = ["image_streamer.cc"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":flip_image",
"//aos/logging",
@@ -28,6 +29,7 @@
"-Wno-cast-qual",
"-Wno-error=type-limits",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
"//third_party/cimg:CImg",
"//third_party/libjpeg",
diff --git a/y2019/image_streamer/deploy.sh b/y2019/image_streamer/deploy.sh
index 584d09e..9cbf8ab 100755
--- a/y2019/image_streamer/deploy.sh
+++ b/y2019/image_streamer/deploy.sh
@@ -40,7 +40,7 @@
echo -e "\n# Building image_streamer"
(
set -x
-bazel build -c opt //y2019/image_streamer:image_streamer --cpu=armhf-debian
+bazel build -c opt //y2019/image_streamer:image_streamer --config=armhf-debian
)
echo -e "\n# Copy files to ODROID"
diff --git a/y2019/jevois/BUILD b/y2019/jevois/BUILD
index f11c67c..d6d3dfc 100644
--- a/y2019/jevois/BUILD
+++ b/y2019/jevois/BUILD
@@ -1,4 +1,3 @@
-load("//tools:environments.bzl", "mcu_cpus")
load("//motors:macros.bzl", "hex_from_elf")
jevois_crc_args = [
@@ -47,7 +46,7 @@
"$(location jevois_crc.c)",
]),
]),
- compatible_with = mcu_cpus,
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
"//third_party/pycrc:pycrc_main",
],
@@ -61,7 +60,7 @@
hdrs = [
"jevois_crc.h",
],
- compatible_with = mcu_cpus,
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
"//third_party/GSL",
],
@@ -81,19 +80,6 @@
)
cc_library(
- name = "structures_mcu",
- hdrs = [
- "structures.h",
- ],
- restricted_to = mcu_cpus,
- deps = [
- "//aos/containers:sized_array",
- "//aos/time:time_mcu",
- "@org_tuxfamily_eigen//:eigen",
- ],
-)
-
-cc_library(
name = "spi",
srcs = [
"spi.cc",
@@ -105,27 +91,12 @@
deps = [
":jevois_crc",
":structures",
- "//aos/logging",
"//aos/util:bitpacking",
"//third_party/GSL",
- ],
-)
-
-cc_library(
- name = "spi_mcu",
- srcs = [
- "spi.cc",
- ],
- hdrs = [
- "spi.h",
- ],
- restricted_to = mcu_cpus,
- deps = [
- ":jevois_crc",
- ":structures_mcu",
- "//aos/util:bitpacking",
- "//third_party/GSL",
- ],
+ ] + select({
+ "@platforms//os:linux": ["//aos/logging"],
+ "//conditions:default": [],
+ }),
)
cc_library(
@@ -142,29 +113,12 @@
":jevois_crc",
":structures",
"//aos/containers:sized_array",
- "//aos/logging",
"//aos/util:bitpacking",
"//third_party/GSL",
- ],
-)
-
-cc_library(
- name = "uart_mcu",
- srcs = [
- "uart.cc",
- ],
- hdrs = [
- "uart.h",
- ],
- restricted_to = mcu_cpus,
- deps = [
- ":cobs_mcu",
- ":jevois_crc",
- ":structures_mcu",
- "//aos/containers:sized_array",
- "//aos/util:bitpacking",
- "//third_party/GSL",
- ],
+ ] + select({
+ "@platforms//os:linux": ["//aos/logging"],
+ "//conditions:default": [],
+ }),
)
cc_test(
@@ -172,6 +126,7 @@
srcs = [
"uart_test.cc",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":uart",
"//aos/testing:googletest",
@@ -183,6 +138,7 @@
srcs = [
"spi_test.cc",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":spi",
"//aos/testing:googletest",
@@ -199,22 +155,12 @@
],
)
-cc_library(
- name = "cobs_mcu",
- hdrs = [
- "cobs.h",
- ],
- restricted_to = mcu_cpus,
- deps = [
- "//third_party/GSL",
- ],
-)
-
cc_test(
name = "cobs_test",
srcs = [
"cobs_test.cc",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":cobs",
"//aos/testing:googletest",
@@ -227,6 +173,7 @@
name = "serial",
srcs = ["serial.cc"],
hdrs = ["serial.h"],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//aos/logging",
@@ -238,12 +185,12 @@
srcs = [
"teensy.cc",
],
- restricted_to = ["//tools:cortex-m4f"],
+ target_compatible_with = ["//tools/platforms/hardware:cortex_m4f"],
deps = [
- ":cobs_mcu",
- ":spi_mcu",
- ":uart_mcu",
- "//aos/time:time_mcu",
+ ":cobs",
+ ":spi",
+ ":uart",
+ "//aos/time:time",
"//motors:util",
"//motors/core",
"//motors/peripheral:configuration",
@@ -257,5 +204,5 @@
hex_from_elf(
name = "teensy",
- restricted_to = ["//tools:cortex-m4f"],
+ target_compatible_with = ["//tools/platforms/hardware:cortex_m4f"],
)
diff --git a/y2019/jevois/camera/BUILD b/y2019/jevois/camera/BUILD
index bf716a0..6bd2b99 100644
--- a/y2019/jevois/camera/BUILD
+++ b/y2019/jevois/camera/BUILD
@@ -4,6 +4,7 @@
name = "reader",
srcs = ["reader.cc"],
hdrs = ["reader.h"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
"//aos/time",
"//aos/vision/image:camera_params",
@@ -17,6 +18,7 @@
name = "image_stream",
srcs = ["image_stream.cc"],
hdrs = ["image_stream.h"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":reader",
"//aos/logging",
diff --git a/y2019/jevois/deploy_teensy.sh b/y2019/jevois/deploy_teensy.sh
index 50d0571..87ea153 100755
--- a/y2019/jevois/deploy_teensy.sh
+++ b/y2019/jevois/deploy_teensy.sh
@@ -2,4 +2,4 @@
cd "$(dirname "${BASH_SOURCE[0]}")"
-bazel build --cpu=cortex-m4f -c opt //y2019/jevois:teensy.hex -s && bazel run //motors/teensy_loader_cli -- --mcu=mk64fx512 -s $(readlink -f ../../bazel-bin/y2019/jevois/teensy.hex)
+bazel build --config=cortex-m4f -c opt //y2019/jevois:teensy.hex -s && bazel run //motors/teensy_loader_cli -- --mcu=mk64fx512 -s $(readlink -f ../../bazel-bin/y2019/jevois/teensy.hex)
diff --git a/y2019/vision/BUILD b/y2019/vision/BUILD
index 22b973a..e005e70 100644
--- a/y2019/vision/BUILD
+++ b/y2019/vision/BUILD
@@ -1,13 +1,12 @@
-load("//tools/build_rules:gtk_dependent.bzl", "gtk_dependent_cc_binary", "gtk_dependent_cc_library")
-load("@com_google_protobuf//:protobuf.bzl", "cc_proto_library")
-load("//tools:environments.bzl", "mcu_cpus")
+load("//tools:platforms.bzl", "platforms")
+load("//tools/build_rules:gtk_dependent.bzl", "gtk_dependent_cc_binary")
package(default_visibility = ["//visibility:public"])
-VISION_TARGETS = [
- "//tools:k8",
- "//tools:armhf-debian",
-]
+VISION_TARGETS = platforms.any_of([
+ "@platforms//cpu:x86_64",
+ "//tools/platforms/hardware:raspberry_pi",
+])
cc_library(
name = "constants",
@@ -16,13 +15,14 @@
"constants_formatting.cc",
],
hdrs = ["constants.h"],
- compatible_with = mcu_cpus,
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)
cc_binary(
name = "constants_formatting",
srcs = ["constants_formatting_main.cc"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [":constants"],
)
@@ -30,6 +30,7 @@
name = "generate_constants",
outs = ["validate_constants.cc"],
cmd = "$(location :constants_formatting) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
tools = [":constants_formatting"],
)
@@ -37,6 +38,7 @@
name = "image_writer",
srcs = ["image_writer.cc"],
hdrs = ["image_writer.h"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
"//aos/vision/image:image_types",
"@com_github_google_glog//:glog",
@@ -54,6 +56,7 @@
":constants.cc",
":validate_constants.cc",
],
+ target_compatible_with = ["@platforms//os:linux"],
)
cc_library(
@@ -66,7 +69,7 @@
"target_finder.h",
"target_types.h",
],
- restricted_to = VISION_TARGETS,
+ target_compatible_with = VISION_TARGETS,
deps = [
":constants",
"//aos/util:math",
@@ -84,7 +87,7 @@
gtk_dependent_cc_binary(
name = "debug_viewer",
srcs = ["debug_viewer.cc"],
- restricted_to = VISION_TARGETS,
+ target_compatible_with = VISION_TARGETS,
deps = [
":target_finder",
"//aos/vision/blob:move_scale",
@@ -99,7 +102,7 @@
cc_binary(
name = "target_sender",
srcs = ["target_sender.cc"],
- restricted_to = VISION_TARGETS,
+ target_compatible_with = VISION_TARGETS,
deps = [
":image_writer",
":target_finder",
@@ -121,7 +124,7 @@
cc_binary(
name = "serial_waiter",
srcs = ["serial_waiter.cc"],
- restricted_to = VISION_TARGETS,
+ target_compatible_with = VISION_TARGETS,
deps = [
"//aos/time",
"//y2019/jevois:serial",
@@ -131,6 +134,7 @@
cc_binary(
name = "debug_serial",
srcs = ["debug_serial.cc"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
"//aos/logging",
"//aos/logging:implementations",
@@ -145,7 +149,7 @@
srcs = [
"global_calibration.cc",
],
- restricted_to = VISION_TARGETS,
+ target_compatible_with = VISION_TARGETS,
deps = [
":target_finder",
"//aos/logging",
diff --git a/y2019/vision/server/BUILD b/y2019/vision/server/BUILD
index 3d63e09..c20357f 100644
--- a/y2019/vision/server/BUILD
+++ b/y2019/vision/server/BUILD
@@ -9,6 +9,7 @@
srcs = [
"demo.ts",
],
+ target_compatible_with = ["@platforms//os:linux"],
)
gen_embedded(
@@ -17,6 +18,7 @@
include = ["www_defaults/**/*"],
exclude = ["www/**/*"],
),
+ target_compatible_with = ["@platforms//os:linux"],
)
aos_downloader_dir(
@@ -26,12 +28,14 @@
"//y2019/vision/server/www:visualizer_bundle",
],
dir = "www",
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)
cc_proto_library(
name = "server_data_proto",
srcs = ["server_data.proto"],
+ target_compatible_with = ["@platforms//os:linux"],
)
cc_binary(
@@ -43,6 +47,7 @@
"//y2019/vision/server/www:files",
"//y2019/vision/server/www:visualizer_bundle",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
":gen_embedded",
diff --git a/y2019/vision/server/www/BUILD b/y2019/vision/server/www/BUILD
index 7631d5e..62c1f13 100644
--- a/y2019/vision/server/www/BUILD
+++ b/y2019/vision/server/www/BUILD
@@ -15,11 +15,13 @@
srcs = glob([
"*.ts",
]) + ["camera_constants.ts"],
+ target_compatible_with = ["@platforms//os:linux"],
)
cc_binary(
name = "generate_camera",
srcs = ["generate_camera.cc"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = ["//y2019:constants"],
)
@@ -27,6 +29,7 @@
name = "gen_cam_ts",
outs = ["camera_constants.ts"],
cmd = "$(location :generate_camera) $@",
+ target_compatible_with = ["@platforms//os:linux"],
tools = [":generate_camera"],
)
@@ -34,6 +37,7 @@
name = "visualizer_bundle",
enable_code_splitting = False,
entry_point = "main.ts",
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":visualizer",
],
diff --git a/y2019/vision/tools/deploy.sh b/y2019/vision/tools/deploy.sh
index 2538239..c3bf9b9 100755
--- a/y2019/vision/tools/deploy.sh
+++ b/y2019/vision/tools/deploy.sh
@@ -15,7 +15,7 @@
fi
echo "Building executables"
-readonly BAZEL_OPTIONS="-c opt --cpu=armhf-debian"
+readonly BAZEL_OPTIONS="-c opt --config=armhf-debian"
readonly BAZEL_BIN="$(bazel info ${BAZEL_OPTIONS} bazel-bin)"
readonly TARGET_DIR=/media/$USER/JEVOIS