Preliminary support for Ubuntu 24 and Ubuntu 24 ARM

.github/workflows/main.yml

@@ -11,9 +11,13 @@ 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
@@ -25,22 +29,24 @@ 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/embedded/...      \
+          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/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=NANO
+          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 --cpu=jetson_nano //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=PI
+          bazel build //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=PI --platforms=//cc_toolchain:robot
+
 
   software-tests:
     name: Software Tests
@@ -61,7 +67,8 @@ jobs:
             -//software/simulated_tests/...  \
             -//software/ai/hl/...            \
             -//software/field_tests/...      \
-            -//software/ai/navigator/...
+            -//software/ai/navigator/...     \
+            -//cc_toolchain/...
 
   robot-tests:
     name: Robot Software Tests
@@ -90,12 +97,14 @@ jobs:
       - name: Jetson Nano Build
         run: |
          cd src
-         bazel build --cpu=jetson_nano //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=NANO
+         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 --cpu=jetson_nano //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=PI
+         bazel build //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=PI --platforms=//cc_toolchain:robot
+
 
   simulated-gameplay-tests:
     name: Simulated Gameplay Tests
@@ -112,9 +121,9 @@ 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

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

docs/getting-started.md

@@ -66,9 +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.
 
-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 X86_64 machine, we support Ubuntu 20.04 LTS, Ubuntu 22.04 LTS and Ubuntu 24.04 LTS.
+
+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
 
@@ -344,15 +350,15 @@ Tracy also samples call stacks. If the profiled binary is run with root permissi
 
 ## Building for the robot
 
-To build for the robot computer, build the target with the `--cpu=jetson_nano` flag and the toolchain will automatically build using the ARM toolchain. 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 Robot Software to the robot
 
 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/embedded/ansible:run_ansible --cpu=jetson_nano --//software/embedded:host_platform=<platform> -- --playbook deploy_robot_software.yml --hosts <robot_ip> --ssh_pass <robot_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.
 

docs/robot-software-architecture.md

@@ -20,7 +20,10 @@
 
 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/embedded/ansible:run_ansible --cpu=jetson_nano --//software/embedded:host_platform=<platform> -- --playbook deploy_robot_software.yml --hosts <robot_ip> --ssh_pass <robot_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)
 

docs/useful-robot-commands.md

@@ -86,8 +86,8 @@ The IP address of the robots on the tbots network is `192.168.0.20<robot_id>` so
 
 Individual miscellaneous tasks (ex reboot, shutdown, rtt test) can be run through the `misc.yml` playbook by specifying the corresponding tag.
 
-To view a list of supported arguments, run  
-`bazel run //software/embedded/ansible:run_ansible --cpu=jetson_nano -- -h` 
+To view a list of supported arguments, run:
+`bazel run //software/embedded/ansible:run_ansible --platforms=//cc_toolchain:robot -h` 
 
 If desired, the `-ho`, `--hosts` argument can be replaced with `-p`, `--port`, defining a port to listen to for Announcements from hosts.
 
@@ -101,7 +101,7 @@ This will stop the current Systemd services, replace and restart them. Binaries
 
 <b>This will trigger motor calibration meaning the wheels may spin. Please elevate the robot so the wheels are not touching the ground for proper calibration.</b>
 
-`bazel run //software/embedded/ansible:run_ansible --cpu=jetson_nano --//software/embedded:host_platform=<platform> -- --playbook deploy_robot_software.yml --hosts <robot_ip> --ssh_pass <robot_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>`
 * \<platform\> is the host platform on the robot (either `PI` or `NANO`)
 * <robot_ip> is the IP address of the robot
 * <robot_password> is the password of the `robot` user account
@@ -119,11 +119,11 @@ Example: Flashing robots 1, 4, and 7 that have a Raspberry Pi
 
 ## Flashing the powerboard
 
-This will flash powerloop, the current firmware in `software/power/`, onto the power board. It will prompt the user into setting the powerboard into bootloader mode by holding the boot button (left if looking from the back of the robot) and pressing the reset button (right if looking from the back of the robot), then releasing the reset button first, then the boot button. Once the board is flashed, pressing the reset button after to use the new firmware.  
+This will flash powerloop, the current firmware in `software/power/`, onto the power board. It will prompt the user into setting the powerboard into bootloader mode by holding the boot button (left if looking from the back of the robot) and pressing the reset button (right if looking from the back of the robot), then releasing the reset button first, then the boot button. Once the board is flashed, pressing the reset button after to use the new firmware.
 
 Looking from the back of the robot the reset and boot buttons are on right side of the battery holder on the lowest board with the reset being on the left and the boot on the right. <b>Warning it may kick/chip when pressed.</b>
 
-`bazel run //software/embedded/ansible:run_ansible --cpu=jetson_nano -- --playbook deploy_powerboard.yml --hosts <robot_ip> --ssh_pass <robot_password>`
+`bazel run //software/embedded/ansible:run_ansible --platforms=//cc_toolchain:robot -- --playbook deploy_powerboard.yml --hosts <robot_ip> --ssh_pass <robot_password>`
 
 ## Setting up the embedded host
 
@@ -133,11 +133,11 @@ This section refers to setting up the computer on the robot for the first time.
 
 ### Jetson Nano
 
-`bazel run //software/embedded/ansible:run_ansible --cpu=jetson_nano --//software/embedded:host_platform=NANO -- --playbook setup_nano.yml --hosts <robot_ip> --ssh_pass <robot_password>`
+`bazel run //software/embedded/ansible:run_ansible --platforms=//cc_toolchain:robot --//software/embedded:host_platform=NANO -- --playbook setup_nano.yml --hosts <robot_ip> --ssh_pass <robot_password>`
 
 ### Raspberry Pi
 
-`bazel run //software/embedded/ansible:run_ansible --cpu=jetson_nano --//software/embedded:host_platform=PI -- --playbook setup_raspberry_pi.yml --hosts <robot_ip> --ssh_pass <robot_password>`
+`bazel run //software/embedded/ansible:run_ansible --platforms=//cc_toolchain:robot --//software/embedded:host_platform=PI -- --playbook setup_raspberry_pi.yml --hosts <robot_ip> --ssh_pass <robot_password>`
 
 ## Robot Diagnostics
 
@@ -164,7 +164,7 @@ Runs the robot auto test fixture on a robot through Ansible, which tests the mot
 
 From Software/src:
 
-`bazel run //software/embedded/ansible:run_ansible --//software/embedded:host_platform=<platform> --cpu=jetson_nano -- --playbook robot_auto_test_playbook.yml --hosts <robot_ip> --ssh_pass <robot_password>`
+`bazel run //software/embedded/ansible:run_ansible --//software/embedded:host_platform=<platform> --platforms=//cc_toolchain:robot -- --playbook robot_auto_test_playbook.yml --hosts <robot_ip> --ssh_pass <robot_password>`
 * replace the \<platform\> with the target platform for the robot (either `PI` or `NANO`)
 * replace the \<robot_ip\> with the actual ip address of the jetson nano for the ssh connection.
 * replace the <robot_password> with the actual password for the jetson nano for the ssh connection.