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/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",