Merge branch 'master' of https://github.com/UBC-Thunderbots/Software …

…into 1
UBC-Thunderbots · Nov 9, 2024 · 99e7f6a · 99e7f6a
2 parents 7df478c + 10bded3
commit 99e7f6a
Show file tree

Hide file tree

Showing 257 changed files with 3,665 additions and 3,078 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -11,12 +11,16 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  ubuntu22-tests:
-    name: Ubuntu 22.04 Build
-    runs-on: ubuntu-22.04
+  multiplatform-build:
+    strategy:
+      matrix:
+        platform: [ ubuntu-22.04, ubuntu-24.04 ]
+
+    name: Ubuntu Alternate Builds
+    runs-on: ${{ matrix.platform }}
     steps:
       # checks-out the repository under $GITHUB_WORKSPACE
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
       - name: Environment Setup
         run: |
@@ -25,24 +29,31 @@ jobs:
       - name: Software Build Test
         run: |
           cd src
-          bazel build --show_timestamps       \
-            -- //... -//software:unix_full_system \
-            -//software/simulated_tests/...  \
-            -//software/ai/hl/...            \
-            -//software/field_tests/...      \
-            -//software/jetson_nano/...      \
+          bazel build --show_timestamps --copt=-O3  \
+            -- //... -//software:unix_full_system   \
+            -//software/simulated_tests/...         \
+            -//software/ai/hl/...                   \
+            -//software/field_tests/...             \
+            -//software/embedded/...                \
+            -//cc_toolchain/...
 
       - name: Jetson Nano Build Test
         run: |
           cd src
-          bazel build --cpu=jetson_nano //software/jetson_nano:thunderloop_main --copt=-O3
+          bazel build //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=NANO --platforms=//cc_toolchain:robot
+
+      - name: Raspberry Pi Build Test
+        run: |
+          cd src
+          bazel build //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=PI --platforms=//cc_toolchain:robot
+
 
   software-tests:
     name: Software Tests
     runs-on: ubuntu-20.04
     steps:
       # checks-out the repository under $GITHUB_WORKSPACE
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
       - name: Environment Setup
         run: |
@@ -56,14 +67,15 @@ jobs:
             -//software/simulated_tests/...  \
             -//software/ai/hl/...            \
             -//software/field_tests/...      \
-            -//software/ai/navigator/...
+            -//software/ai/navigator/...     \
+            -//cc_toolchain/...
 
-  jetson-nano-tests:
-    name: Jetson Nano Software Tests
+  robot-tests:
+    name: Robot Software Tests
     runs-on: ubuntu-20.04
     steps:
       # checks-out the repository under $GITHUB_WORKSPACE
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
       - name: Environment Setup
         run: |
@@ -85,14 +97,21 @@ jobs:
       - name: Jetson Nano Build
         run: |
          cd src
-         bazel build --cpu=jetson_nano //software/jetson_nano:thunderloop_main --copt=-O3
+         bazel build //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=NANO --platforms=//cc_toolchain:robot
+
+
+      - name: Raspberry Pi Build
+        run: |
+         cd src
+         bazel build //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=PI --platforms=//cc_toolchain:robot
+
 
   simulated-gameplay-tests:
     name: Simulated Gameplay Tests
     runs-on: ubuntu-20.04
     steps:
       # checks-out the repository under $GITHUB_WORKSPACE
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
       - name: Environment Setup
         run: |
@@ -102,35 +121,35 @@ jobs:
         run: |
           cd src
           bazel test --copt=-O3 --flaky_test_attempts=3 --show_timestamps       \
-            //software:unix_full_system           \
-            //software/simulated_tests/...   \
-            //software/ai/hl/... \
+            //software:unix_full_system       \
+            //software/simulated_tests/...    \
+            //software/ai/hl/...              \
             //software/ai/navigator/...
 
       - name: Upload simulated test proto logs
         # Ensure that simulated test logs get uploaded
         if: always()
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: blue-ai-proto-logs
+          name: blue-sim-test-proto-logs
           path: |
-            /tmp/tbots/blue/logs
+            /tmp/tbots/blue/test/*/proto_*
 
       - name: Upload simulated test proto logs
         # Ensure that simulated test logs get uploaded
         if: always()
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: yellow-ai-proto-logs
+          name: yellow-sim-test-proto-logs
           path: |
-            /tmp/tbots/yellow/logs
+            /tmp/tbots/yellow/test/*/proto_*
 
   autorefd-game:
     name: AutoRef'd Game (3 Minutes)
     runs-on: ubuntu-20.04
     steps:
       # checks-out the repository under $GITHUB_WORKSPACE
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
       - name: Environment Setup
         run: |
@@ -144,7 +163,7 @@ jobs:
       - name: Upload AI vs AI logs
         # Ensure that simulated test logs get uploaded
         if: always()
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: blue-ai-vs-ai-proto-logs
           path: |
@@ -153,7 +172,7 @@ jobs:
       - name: Upload AI vs AI logs
         # Ensure that simulated test logs get uploaded
         if: always()
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: yellow-ai-vs-ai-proto-logs
           path: |

diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
@@ -18,7 +18,7 @@ jobs:
     if: github.event.pull_request.draft == false
     steps:
       # checks-out the repository under $GITHUB_WORKSPACE
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
 
       - name: Environment Setup
         run: |

diff --git a/docs/fsm-diagrams.md b/docs/fsm-diagrams.md
@@ -314,6 +314,21 @@ Terminate:::terminate --> Terminate:::terminate
 
 ```
 
+## [HaltFSM](/src/software/ai/hl/stp/tactic/halt/halt_fsm.h)
+
+```mermaid
+
+stateDiagram-v2
+classDef terminate fill:white,color:black,font-weight:bold
+direction LR
+[*] --> StopState
+StopState --> StopState : [!stopDone]\n<i>updateStop</i>
+StopState --> Terminate:::terminate : [stopDone]\n<i>updateStop</i>
+Terminate:::terminate --> StopState : [!stopDone]\n<i>updateStop</i>
+Terminate:::terminate --> Terminate:::terminate : [stopDone]\n<i>updateStop</i>
+
+```
+
 ## [KickFSM](/src/software/ai/hl/stp/tactic/kick/kick_fsm.h)
 
 ```mermaid
@@ -441,18 +456,3 @@ Terminate:::terminate --> Terminate:::terminate : <i>SET_STOP_PRIMITIVE_ACTION</
 
 ```
 
-## [StopFSM](/src/software/ai/hl/stp/tactic/stop/stop_fsm.h)
-
-```mermaid
-
-stateDiagram-v2
-classDef terminate fill:white,color:black,font-weight:bold
-direction LR
-[*] --> StopState
-StopState --> StopState : [!stopDone]\n<i>updateStop</i>
-StopState --> Terminate:::terminate : [stopDone]\n<i>updateStop</i>
-Terminate:::terminate --> StopState : [!stopDone]\n<i>updateStop</i>
-Terminate:::terminate --> Terminate:::terminate : [stopDone]\n<i>updateStop</i>
-
-```
-
diff --git a/docs/getting-started-wsl.md b/docs/getting-started-wsl.md
@@ -39,7 +39,7 @@ If you are not using Windows 11 and would prefer not to upgrade, you can follow
 3. Now, let's install Ubuntu.
     - Download the WSL2 kernel from [here](https://docs.microsoft.com/en-us/windows/wsl/wsl2-kernel).
     - Open a PowerShell window and run command `wsl --set-default-version 2` to use WSL2 by default.
-    - Install Ubuntu 20.04 LTS or Ubuntu 22.04 LTS from the Microsoft Store.
+    - Install Ubuntu 20.04 LTS, Ubuntu 22.04 LTS or Ubuntu 24.04 LTS from the Microsoft Store.
     - Open the Ubuntu app in the Start menu. It will open a command prompt and ask you to create a new UNIX username and password for your WSL2 Ubuntu installation. 
 
 ### X Server Setup

diff --git a/docs/getting-started.md b/docs/getting-started.md
@@ -1,10 +1,5 @@
-Table of Contents                                                                                                                                                                            
-=================                                                                                                                                                                            
- <!-- 
-    NOTE: when creating or re-creating a table of contents like this, you can
-    save a LOT of time by using this tool: 
-    https://github.com/ekalinin/github-markdown-toc
--->
+Table of Contents
+=================
 
 * [Software Setup](#software-setup)
    * [Introduction](#introduction)
@@ -30,8 +25,8 @@ Table of Contents
    * [Profiling](#profiling)
       * [Callgrind](#callgrind)
       * [Tracy](#tracy)
-   * [Building for Jetson Nano](#building-for-jetson-nano)
-   * [Deploying to Jetson Nano](#deploying-to-jetson-nano)
+   * [Building for the robot](#building-for-the-robot)
+   * [Deploying Robot Software to the robot](#deploying-robot-software-to-the-robot)
    * [Setting up Virtual Robocup 2021](#setting-up-virtual-robocup-2021)
       * [Setting up the SSL Simulation Environment](#setting-up-the-ssl-simulation-environment)
       * [Pushing a Dockerfile to dockerhub](#pushing-a-dockerfile-to-dockerhub)
@@ -49,6 +44,14 @@ Table of Contents
    * [Example Workflow](#example-workflow)
    * [Testing](#testing)
 
+<!-- 
+    Created by https://github.com/ekalinin/github-markdown-toc
+
+    NOTE: when creating or re-creating a table of contents like this, you can
+    save a LOT of time by using this tool: 
+    https://github.com/ekalinin/github-markdown-toc
+-->
+
 # Software Setup
 
 ## Introduction
@@ -63,9 +66,15 @@ These instructions assume you have a basic understanding of Linux and the comman
 
 ### Operating systems
 
-We currently only support Linux, specifically Ubuntu 20.04 LTS and Ubuntu 22.04 LTS. You are welcome to use a different version or distribution of Linux, but may need to make some tweaks in order for things to work.
+We currently only support Linux, specifically Ubuntu.
+
+If you have a X86_64 machine, we support Ubuntu 20.04 LTS, Ubuntu 22.04 LTS and Ubuntu 24.04 LTS.
 
-You can use Ubuntu 20.04 LTS and Ubuntu 22.04 LTS inside Windows through Windows Subsystem for Linux, by following [this guide](./getting-started-wsl.md). **Running and developing Thunderbots on Windows is experimental and not officially supported.**
+If you have a ARM64 (also known as AARCH64) machine, we support Ubuntu 24.04 LTS.
+
+You are welcome to use a different version or distribution of Linux, but may need to make some tweaks in order for things to work.
+
+You can use Ubuntu 20.04 LTS, Ubuntu 22.04 LTS or Ubuntu 24.04 LTS inside Windows through Windows Subsystem for Linux, by following [this guide](./getting-started-wsl.md). **Running and developing Thunderbots on Windows is experimental and not officially supported.**
 
 ### Getting the Code
 
@@ -339,17 +348,19 @@ Tracy also samples call stacks. If the profiled binary is run with root permissi
 
     ./tbots.py run thunderscope_main --tracy --sudo
 
-## Building for Jetson Nano 
+## Building for the robot
 
-To build for the Jetson Nano, build the target with the `--cpu=jetson_nano` flag and the toolchain will automatically build using the ARM toolchain for Jetson Nano. For example, `bazel build --cpu=jetson_nano //software/geom/...`.
+To build for the robot computer, build the target with the `--platforms=//cc_toolchain:robot` flag and the toolchain will automatically build using the ARM toolchain. For example, `bazel build --platforms=//cc_toolchain:robot //software/geom/...`.
 
-## Deploying to Jetson Nano 
+## Deploying Robot Software to the robot
 
-We use ansible to automatically update software running on the Jetson Nano. [More info here.](useful-robot-commands.md#flashing-the-nano) 
+We use Ansible to automatically update software running on the robot. [More info here.](useful-robot-commands.md#flashing-the-robots-compute-module) 
 
 To update binaries on a working robot, you can run:
 
-`bazel run //software/jetson_nano/ansible:run_ansible --cpu=jetson_nano -- --playbook deploy_nano.yml --hosts <robot_ip> --ssh_pass <jetson_nano_password>`
+`bazel run //software/embedded/ansible:run_ansible --platforms=//cc_toolchain:robot --//software/embedded:host_platform=<platform> -- --playbook deploy_robot_software.yml --hosts <robot_ip> --ssh_pass <robot_password>`
+
+Where `<platform>` is the robot platform you are deploying to (`PI` or `NANO`), and `<robot_ip>` is the IP address of the robot you are deploying to. The `robot_password` is the password used to login to the `robot` user on the robot.
 
 ## Setting up Virtual Robocup 2021
 

diff --git a/docs/robot-software-architecture.md b/docs/robot-software-architecture.md
@@ -16,11 +16,14 @@
 
 ## Ansible
 
-[Ansible](https://www.ansible.com/overview/how-ansible-works) allows us to run actions on multiple robots at once. Actions are communicated through YAML files called playbooks. Playbooks contain a series of tasks (ex move a file, run this script, output this command) and logic dictating dependencies between tasks. When playbooks are run, Ansible establishes an SSH connection between the user's computer and target Jetson Nanos, allowing it to run the tasks in the playbook. Output from each task, and any other requested output, is displayed on the console
+[Ansible](https://www.ansible.com/overview/how-ansible-works) allows us to run actions on multiple robots at once. Actions are communicated through YAML files called playbooks. Playbooks contain a series of tasks (eg. move a file, run this script, output this command) and logic dictating dependencies between tasks. When playbooks are run, Ansible establishes an SSH connection between the user's computer and robot, allowing it to run the tasks in the playbook. Output from each task, and any other requested output, is displayed on the console
 
 For a more detailed look at how Ansible works, [see the RFC](https://docs.google.com/document/d/1hN3Us2Vjr8z6ihqUVp_3L7rrjKc-EZ-l2hZJc31gNOc/edit)
 
-Example command: `bazel run //software/jetson_nano/ansible:run_ansible --cpu=jetson_nano -- --playbook deploy_nano.yml --hosts <robot_ip> --ssh_pass <jetson_nano_password>`
+Example command: `bazel run //software/embedded/ansible:run_ansible --platforms=//cc_toolchain:robot --//software/embedded:host_platform=<platform> -- --playbook deploy_robot_software.yml --hosts <robot_ip> --ssh_pass <robot_password>`
+* <platform>: `PI` or `NANO` depending on the computer on the robot
+* <robot_ip>: IP address of the robot
+* <robot_password>: Password of the robot
 
 More commands available [here](useful-robot-commands.md#off-robot-commands)
 
@@ -36,14 +39,6 @@ To learn more about how it works, [see the RFC](https://docs.google.com/document
 
 # Thunderloop
 
-Thunderloop is software that runs in a loop. It continuously polls services (unrelated from Systemd) sending relevant control proto (`PowerControl`, `MotorControl`) and receiving back status proto. Currently we have a [Network](https://github.com/UBC-Thunderbots/Software/blob/master/src/software/jetson_nano/services/network/network.cpp), [Power](https://github.com/UBC-Thunderbots/Software/blob/master/src/software/jetson_nano/services/power.cpp) and [Motor service](https://github.com/UBC-Thunderbots/Software/blob/master/src/software/jetson_nano/services/motor.cpp). Thunderloop also receives `World` and `PrimitiveSet` Proto from AI and sends back Robot Status.
+Thunderloop is software that runs in a loop. It continuously polls services (unrelated from Systemd), sending relevant control protos (`PowerControl`, `MotorControl`) and receiving back status protos from the power and motor boards. Currently we have a [Network](https://github.com/UBC-Thunderbots/Software/blob/master/src/software/embedded/services/network/network.cpp), [Power](https://github.com/UBC-Thunderbots/Software/blob/master/src/software/embedded/services/power.cpp) and [Motor](https://github.com/UBC-Thunderbots/Software/blob/master/src/software/embedded/services/motor.cpp) services. Thunderloop also receives `World` and `PrimitiveSet` protos from AI and sends back `Robot Status` protos.
 
-Motor and Power service both interface with their respective electrical boards over different communication interfaces, namely SPI and UART respectively.
-
-# Announcements
-
-Broadcasts packets for what robot IDs are connected to wifi and what IPs they have. Combined with `robot_broadcast_receiver.py` allows us to see all robots on the network.
-
-# Display
-
-Displays information about the robot for us. Uses redis to receive info from other processes. Can also change values with physical buttons.
+Motor and Power services both interface with their respective electrical boards over different communication interfaces, namely SPI and UART respectively.