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/y2020/BUILD b/y2020/BUILD
index 59642fe..e54c168 100644
--- a/y2020/BUILD
+++ b/y2020/BUILD
@@ -21,6 +21,7 @@
"//y2020/control_loops/drivetrain:drivetrain",
"//y2020/control_loops/superstructure:superstructure",
],
+ target_compatible_with = ["@platforms//os:linux"],
)
robot_downloader(
@@ -34,13 +35,13 @@
dirs = [
"//y2020/www:www_files",
],
- restricted_to = ["//tools:armhf-debian"],
start_binaries = [
"//aos/network:message_bridge_client",
"//aos/network:message_bridge_server",
"//aos/network:web_proxy_main",
"//y2020/vision:camera_reader",
],
+ target_compatible_with = ["//tools/platforms/hardware:raspberry_pi"],
target_type = "pi",
)
@@ -52,6 +53,7 @@
hdrs = [
"constants.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//aos/logging",
@@ -75,7 +77,7 @@
srcs = [
"wpilib_interface.cc",
],
- restricted_to = ["//tools:roborio"],
+ target_compatible_with = ["//tools/platforms/hardware:roborio"],
deps = [
":constants",
"//aos:init",
@@ -117,6 +119,7 @@
srcs = [
":joystick_reader.cc",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":setpoint_fbs",
"//aos:init",
@@ -146,6 +149,7 @@
"//y2020/vision/sift:sift_training_fbs",
"//y2020/vision:vision_fbs",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
":config_laptop",
@@ -170,6 +174,7 @@
"//y2020/vision:vision_fbs",
"//aos/events/logging:logger_fbs",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//aos/events:config",
@@ -197,6 +202,7 @@
"//y2020/vision:vision_fbs",
"//aos/events/logging:logger_fbs",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//aos/events:config",
@@ -220,6 +226,7 @@
"//y2020/control_loops/superstructure:superstructure_position_fbs",
"//y2020/control_loops/superstructure:superstructure_status_fbs",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
"//aos/events:config",
"//aos/robot_state:config",
@@ -232,6 +239,7 @@
py_library(
name = "python_init",
srcs = ["__init__.py"],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)
@@ -245,6 +253,7 @@
"//y2020/www:field_main_bundle.min.js",
"//y2020/www:files",
],
+ target_compatible_with = ["@platforms//os:linux"],
)
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
@@ -255,11 +264,13 @@
"setpoint.fbs",
],
gen_reflections = 1,
+ target_compatible_with = ["@platforms//os:linux"],
)
cc_binary(
name = "setpoint_setter",
srcs = ["setpoint_setter.cc"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":setpoint_fbs",
"//aos:init",
@@ -272,6 +283,7 @@
name = "y2020_pi" + str(num) + ".json",
src = "y2020_pi_template.json",
parameters = {"NUM": str(num)},
+ target_compatible_with = ["@platforms//os:linux"],
)
for num in range(1, 5)
]
diff --git a/y2020/actors/BUILD b/y2020/actors/BUILD
index b294a51..fee0196 100644
--- a/y2020/actors/BUILD
+++ b/y2020/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",
@@ -46,6 +47,7 @@
srcs = [
"autonomous_actor_main.cc",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":autonomous_action_lib",
"//aos:init",
diff --git a/y2020/control_loops/BUILD b/y2020/control_loops/BUILD
index c0aa1ee..75ca8eb 100644
--- a/y2020/control_loops/BUILD
+++ b/y2020/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 = ["//y2020:python_init"],
)
diff --git a/y2020/control_loops/drivetrain/BUILD b/y2020/control_loops/drivetrain/BUILD
index 7e2ba18..490b1e7 100644
--- a/y2020/control_loops/drivetrain/BUILD
+++ b/y2020/control_loops/drivetrain/BUILD
@@ -11,6 +11,7 @@
"kalman_drivetrain_motor_plant.cc",
],
cmd = "$(location //y2020/control_loops/python:drivetrain) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
"//y2020/control_loops/python:drivetrain",
],
@@ -27,6 +28,7 @@
"hybrid_velocity_drivetrain.cc",
],
cmd = "$(location //y2020/control_loops/python:polydrivetrain) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
"//y2020/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",
@@ -57,6 +60,7 @@
name = "localizer",
srcs = ["localizer.cc"],
hdrs = ["localizer.h"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
"//aos/containers:ring_buffer",
"//aos/network:message_bridge_server_fbs",
@@ -77,6 +81,7 @@
hdrs = [
"drivetrain_base.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
":polydrivetrain_plants",
@@ -90,6 +95,7 @@
srcs = [
"drivetrain_main.cc",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
":drivetrain_base",
@@ -103,6 +109,7 @@
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",
@@ -113,6 +120,7 @@
aos_config(
name = "replay_config",
src = "drivetrain_replay_config.json",
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//y2020:config",
@@ -123,6 +131,7 @@
name = "localizer_test",
srcs = ["localizer_test.cc"],
data = [":simulation_config"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":drivetrain_base",
":localizer",
@@ -143,6 +152,7 @@
":replay_config",
"@drivetrain_replay//file:spinning_wheels_while_still.bfbs",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":drivetrain_base",
"//aos:configuration",
@@ -161,6 +171,7 @@
name = "drivetrain_replay",
srcs = ["drivetrain_replay.cc"],
data = ["//y2020:config"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":drivetrain_base",
":localizer",
diff --git a/y2020/control_loops/python/BUILD b/y2020/control_loops/python/BUILD
index e218571..34d49cb 100644
--- a/y2020/control_loops/python/BUILD
+++ b/y2020/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",
@@ -55,7 +55,7 @@
"hood.py",
],
legacy_create_init = False,
- restricted_to = ["//tools:k8"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
":python_init",
"//external:python-gflags",
@@ -71,7 +71,7 @@
"intake.py",
],
legacy_create_init = False,
- restricted_to = ["//tools:k8"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
":python_init",
"//external:python-gflags",
@@ -87,7 +87,7 @@
"turret.py",
],
legacy_create_init = False,
- restricted_to = ["//tools:k8"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
":python_init",
"//external:python-gflags",
@@ -103,7 +103,7 @@
"control_panel.py",
],
legacy_create_init = False,
- restricted_to = ["//tools:k8"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
":python_init",
"//external:python-gflags",
@@ -118,7 +118,7 @@
srcs = [
"flywheel.py",
],
- restricted_to = ["//tools:k8"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
"//frc971/control_loops/python:controls",
"@matplotlib_repo//:matplotlib2.7",
@@ -131,7 +131,7 @@
"accelerator.py",
],
legacy_create_init = False,
- restricted_to = ["//tools:k8"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
":flywheel",
":python_init",
@@ -146,7 +146,7 @@
"finisher.py",
],
legacy_create_init = False,
- restricted_to = ["//tools:k8"],
+ target_compatible_with = ["@platforms//cpu:x86_64"],
deps = [
":flywheel",
":python_init",
@@ -158,6 +158,7 @@
py_library(
name = "python_init",
srcs = ["__init__.py"],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = ["//y2020/control_loops:python_init"],
)
diff --git a/y2020/control_loops/superstructure/BUILD b/y2020/control_loops/superstructure/BUILD
index e97fb12..d659920 100644
--- a/y2020/control_loops/superstructure/BUILD
+++ b/y2020/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 = [
":climber",
":superstructure_goal_fbs",
@@ -75,6 +80,7 @@
srcs = [
"superstructure_main.cc",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":superstructure_lib",
"//aos:init",
@@ -90,6 +96,7 @@
data = [
"//y2020:config",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":superstructure_goal_fbs",
":superstructure_lib",
@@ -119,6 +126,7 @@
hdrs = [
"climber.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":superstructure_goal_fbs",
":superstructure_output_fbs",
diff --git a/y2020/control_loops/superstructure/accelerator/BUILD b/y2020/control_loops/superstructure/accelerator/BUILD
index 30fca08..c2a6717 100644
--- a/y2020/control_loops/superstructure/accelerator/BUILD
+++ b/y2020/control_loops/superstructure/accelerator/BUILD
@@ -1,7 +1,5 @@
package(default_visibility = ["//visibility:public"])
-load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
-
genrule(
name = "genrule_accelerator",
outs = [
@@ -11,6 +9,7 @@
"integral_accelerator_plant.cc",
],
cmd = "$(location //y2020/control_loops/python:accelerator) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
"//y2020/control_loops/python:accelerator",
],
@@ -26,6 +25,7 @@
"accelerator_plant.h",
"integral_accelerator_plant.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//frc971/control_loops:hybrid_state_feedback_loop",
diff --git a/y2020/control_loops/superstructure/control_panel/BUILD b/y2020/control_loops/superstructure/control_panel/BUILD
index 75619ca..9f46998 100644
--- a/y2020/control_loops/superstructure/control_panel/BUILD
+++ b/y2020/control_loops/superstructure/control_panel/BUILD
@@ -9,6 +9,7 @@
"integral_control_panel_plant.cc",
],
cmd = "$(location //y2020/control_loops/python:control_panel) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
"//y2020/control_loops/python:control_panel",
],
@@ -24,6 +25,7 @@
"control_panel_plant.h",
"integral_control_panel_plant.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//frc971/control_loops:hybrid_state_feedback_loop",
diff --git a/y2020/control_loops/superstructure/finisher/BUILD b/y2020/control_loops/superstructure/finisher/BUILD
index 2009886..7a628c8 100644
--- a/y2020/control_loops/superstructure/finisher/BUILD
+++ b/y2020/control_loops/superstructure/finisher/BUILD
@@ -1,7 +1,5 @@
package(default_visibility = ["//visibility:public"])
-load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
-
genrule(
name = "genrule_finisher",
outs = [
@@ -11,6 +9,7 @@
"integral_finisher_plant.cc",
],
cmd = "$(location //y2020/control_loops/python:finisher) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
"//y2020/control_loops/python:finisher",
],
@@ -26,6 +25,7 @@
"finisher_plant.h",
"integral_finisher_plant.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//frc971/control_loops:hybrid_state_feedback_loop",
diff --git a/y2020/control_loops/superstructure/hood/BUILD b/y2020/control_loops/superstructure/hood/BUILD
index 6c1a60b..d0e5953 100644
--- a/y2020/control_loops/superstructure/hood/BUILD
+++ b/y2020/control_loops/superstructure/hood/BUILD
@@ -9,6 +9,7 @@
"integral_hood_plant.cc",
],
cmd = "$(location //y2020/control_loops/python:hood) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
"//y2020/control_loops/python:hood",
],
@@ -24,6 +25,7 @@
"hood_plant.h",
"integral_hood_plant.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//frc971/control_loops:hybrid_state_feedback_loop",
diff --git a/y2020/control_loops/superstructure/intake/BUILD b/y2020/control_loops/superstructure/intake/BUILD
index 2133204..5bb5d7f 100644
--- a/y2020/control_loops/superstructure/intake/BUILD
+++ b/y2020/control_loops/superstructure/intake/BUILD
@@ -9,6 +9,7 @@
"integral_intake_plant.cc",
],
cmd = "$(location //y2020/control_loops/python:intake) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
"//y2020/control_loops/python:intake",
],
@@ -24,6 +25,7 @@
"intake_plant.h",
"integral_intake_plant.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//frc971/control_loops:hybrid_state_feedback_loop",
diff --git a/y2020/control_loops/superstructure/shooter/BUILD b/y2020/control_loops/superstructure/shooter/BUILD
index fe8a29a..0b65037 100644
--- a/y2020/control_loops/superstructure/shooter/BUILD
+++ b/y2020/control_loops/superstructure/shooter/BUILD
@@ -1,9 +1,8 @@
package(default_visibility = ["//visibility:public"])
-load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
-
cc_library(
name = "shooter_plants",
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
"//frc971/control_loops:state_feedback_loop",
],
@@ -17,6 +16,7 @@
hdrs = [
"shooter.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":flywheel_controller",
"//aos/controls:control_loop",
@@ -36,6 +36,7 @@
hdrs = [
"flywheel_controller.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
"//aos/controls:control_loop",
"//frc971/control_loops:profiled_subsystem",
diff --git a/y2020/control_loops/superstructure/turret/BUILD b/y2020/control_loops/superstructure/turret/BUILD
index 010c6fd..3761868 100644
--- a/y2020/control_loops/superstructure/turret/BUILD
+++ b/y2020/control_loops/superstructure/turret/BUILD
@@ -9,6 +9,7 @@
"integral_turret_plant.cc",
],
cmd = "$(location //y2020/control_loops/python:turret) $(OUTS)",
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
"//y2020/control_loops/python:turret",
],
@@ -24,6 +25,7 @@
"integral_turret_plant.h",
"turret_plant.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
"//frc971/control_loops:hybrid_state_feedback_loop",
@@ -35,6 +37,7 @@
name = "aiming",
srcs = ["aiming.cc"],
hdrs = ["aiming.h"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
"//aos:flatbuffers",
"//frc971/control_loops:control_loops_fbs",
@@ -50,6 +53,7 @@
cc_test(
name = "aiming_test",
srcs = ["aiming_test.cc"],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":aiming",
"//aos/testing:googletest",
diff --git a/y2020/vision/BUILD b/y2020/vision/BUILD
index aaad085..a58ed8c 100644
--- a/y2020/vision/BUILD
+++ b/y2020/vision/BUILD
@@ -5,6 +5,7 @@
name = "vision_fbs",
srcs = ["vision.fbs"],
gen_reflections = 1,
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
)
@@ -16,6 +17,7 @@
hdrs = [
"v4l2_reader.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
deps = [
":vision_fbs",
@@ -34,10 +36,7 @@
data = [
"//y2020:config",
],
- restricted_to = [
- "//tools:k8",
- "//tools:armhf-debian",
- ],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
deps = [
":v4l2_reader",
@@ -57,6 +56,7 @@
flatbuffer_ts_library(
name = "vision_ts_fbs",
srcs = ["vision.fbs"],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
)
@@ -68,10 +68,7 @@
data = [
"//y2020:config",
],
- restricted_to = [
- "//tools:k8",
- "//tools:armhf-debian",
- ],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
deps = [
":vision_fbs",
@@ -90,10 +87,7 @@
data = [
"//y2020:config",
],
- restricted_to = [
- "//tools:k8",
- "//tools:armhf-debian",
- ],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
deps = [
":vision_fbs",
@@ -117,10 +111,7 @@
data = [
"//y2020:config",
],
- restricted_to = [
- "//tools:k8",
- "//tools:armhf-debian",
- ],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
deps = [
":vision_fbs",
diff --git a/y2020/vision/sift/BUILD b/y2020/vision/sift/BUILD
index 158aa94..4a0dcfb 100644
--- a/y2020/vision/sift/BUILD
+++ b/y2020/vision/sift/BUILD
@@ -6,10 +6,7 @@
srcs = [
"fast_gaussian_generator.cc",
],
- restricted_to = [
- "//tools:k8",
- "//tools:armhf-debian",
- ],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
"//third_party:halide",
"//third_party:halide_gengen",
@@ -25,18 +22,15 @@
],
data = [
":fast_gaussian_generator",
- # TODO(Brian): Replace this with something more fine-grained from the
- # configuration fragment or something.
- "//tools/cpp:toolchain",
"@amd64_debian_sysroot//:sysroot_files",
],
- python_version = "PY3",
- main = "fast_gaussian_runner.py",
- restricted_to = [
- "//tools:k8",
- "//tools:armhf-debian",
+ toolchains = [
+ "@bazel_tools//tools/cpp:current_cc_toolchain",
],
+ main = "fast_gaussian_runner.py",
+ python_version = "PY3",
srcs_version = "PY2AND3",
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
"@bazel_tools//tools/python/runfiles",
],
@@ -121,10 +115,7 @@
hdrs = [
"sift971.h",
],
- restricted_to = [
- "//tools:k8",
- "//tools:armhf-debian",
- ],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
deps = [
":fast_gaussian",
@@ -141,10 +132,7 @@
hdrs = [
"fast_gaussian.h",
],
- restricted_to = [
- "//tools:k8",
- "//tools:armhf-debian",
- ],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":fast_gaussian_all",
"//third_party:halide_runtime",
@@ -158,10 +146,7 @@
srcs = [
"fast_gaussian_test.cc",
],
- restricted_to = [
- "//tools:k8",
- "//tools:armhf-debian",
- ],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":fast_gaussian",
"//aos/testing:googletest",
@@ -174,10 +159,7 @@
srcs = [
"testing_sift.cc",
],
- restricted_to = [
- "//tools:k8",
- "//tools:armhf-debian",
- ],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":fast_gaussian",
"//aos:init",
@@ -207,6 +189,7 @@
"TrainingImage",
"TrainingData",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)
@@ -214,12 +197,14 @@
name = "sift_fbs",
srcs = ["sift.fbs"],
gen_reflections = True,
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)
flatbuffer_ts_library(
name = "sift_ts_fbs",
srcs = ["sift.fbs"],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
)
@@ -228,6 +213,7 @@
srcs = ["sift_training.fbs"],
gen_reflections = True,
includes = [":sift_fbs_includes"],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)
@@ -236,6 +222,7 @@
srcs = ["demo_sift_training.py"],
python_version = "PY3",
srcs_version = "PY2AND3",
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":sift_fbs_python",
"@opencv_contrib_nonfree_amd64//:python_opencv",
@@ -255,6 +242,7 @@
"$(location images/demo/FRC-Image4-cleaned.png)",
"$(location demo_sift.h)",
]),
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
":demo_sift_training",
],
@@ -265,5 +253,6 @@
hdrs = [
"demo_sift.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)
diff --git a/y2020/vision/sift/fast_gaussian.bzl b/y2020/vision/sift/fast_gaussian.bzl
index 0905423..5eaa4bf 100644
--- a/y2020/vision/sift/fast_gaussian.bzl
+++ b/y2020/vision/sift/fast_gaussian.bzl
@@ -1,3 +1,6 @@
+load("//tools:platforms.bzl", "platforms")
+load("//tools/build_rules:select.bzl", "cpu_select")
+
def fast_gaussian(sigmas, sizes):
files = []
for _, sigma_name, _ in sigmas:
@@ -28,17 +31,22 @@
":fast_gaussian_runner",
],
cmd = " ".join([
- "$(location fast_gaussian_runner)",
+ "$(location :fast_gaussian_runner)",
"'" + params.to_json() + "'",
- # TODO(Brian): This should be RULEDIR once we have support for that.
- "$(@D)",
- "$(TARGET_CPU)",
- ]),
+ "$(RULEDIR)",
+ ]) + " " + cpu_select({
+ "amd64": "k8",
+ "roborio": "roborio",
+ "armhf": "armhf-debian",
+ "cortex-m": "cortex-m",
+ }),
outs = headers + objects + htmls,
- restricted_to = [
- "//tools:k8",
- "//tools:armhf-debian",
- ],
+ # The tool doesn't support anything other than k8 and armhf-debian
+ # right now.
+ target_compatible_with = platforms.any_of([
+ "@platforms//cpu:x86_64",
+ "//tools/platforms/hardware:raspberry_pi",
+ ]),
)
native.cc_library(
@@ -48,8 +56,4 @@
deps = [
"//third_party:halide_runtime",
],
- restricted_to = [
- "//tools:k8",
- "//tools:armhf-debian",
- ],
)
diff --git a/y2020/vision/tools/python_code/BUILD b/y2020/vision/tools/python_code/BUILD
index 9b4eb08..4ff3397 100644
--- a/y2020/vision/tools/python_code/BUILD
+++ b/y2020/vision/tools/python_code/BUILD
@@ -1,4 +1,5 @@
load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library", "flatbuffer_py_library")
+load("//tools:platforms.bzl", "platforms")
py_binary(
name = "load_sift_training",
@@ -17,6 +18,7 @@
]),
python_version = "PY3",
srcs_version = "PY2AND3",
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
"//external:python-glog",
"//y2020/vision/sift:sift_fbs_python",
@@ -34,6 +36,7 @@
"$(location :load_sift_training)",
"$(location sift_training_data.h)",
]),
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
":load_sift_training",
],
@@ -44,6 +47,7 @@
hdrs = [
"sift_training_data.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)
@@ -63,9 +67,10 @@
data = glob(["calib_files/*.json"]) + glob([
"test_images/*.png",
]),
- python_version = "PY3",
main = "load_sift_training.py",
+ python_version = "PY3",
srcs_version = "PY2AND3",
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":load_sift_training",
"//external:python-glog",
@@ -84,6 +89,7 @@
"$(location :load_sift_training_test)",
"$(location sift_training_data_test.h) test",
]),
+ target_compatible_with = ["@platforms//os:linux"],
tools = [
":load_sift_training_test",
],
@@ -94,6 +100,7 @@
hdrs = [
"sift_training_data_test.h",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)
@@ -102,10 +109,7 @@
srcs = [
"camera_param_test.cc",
],
- restricted_to = [
- "//tools:k8",
- "//tools:armhf-debian",
- ],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
":sift_training_data_test",
"//aos/testing:googletest",
diff --git a/y2020/www/BUILD b/y2020/www/BUILD
index 60fb704..bbad63b 100644
--- a/y2020/www/BUILD
+++ b/y2020/www/BUILD
@@ -8,6 +8,7 @@
"camera_main.ts",
"image_handler.ts",
],
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
deps = [
"//aos:configuration_ts_fbs",
@@ -26,6 +27,7 @@
"field_handler.ts",
"field_main.ts",
],
+ target_compatible_with = ["@platforms//os:linux"],
deps = [
"//aos:configuration_ts_fbs",
"//aos/network:connect_ts_fbs",
@@ -40,6 +42,7 @@
name = "camera_main_bundle",
enable_code_splitting = False,
entry_point = "camera_main.ts",
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
deps = [
"camera_main",
@@ -50,6 +53,7 @@
name = "field_main_bundle",
enable_code_splitting = False,
entry_point = "field_main.ts",
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//y2020:__subpackages__"],
deps = [
"field_main",
@@ -73,5 +77,6 @@
":files",
],
dir = "www",
+ target_compatible_with = ["@platforms//os:linux"],
visibility = ["//visibility:public"],
)