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/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",