From 9d55cf0ed924046127e0ba29c292e9fc62c0b199 Mon Sep 17 00:00:00 2001
From: Minghao Li <lmh1230612306@163.com>
Date: Sat, 20 Sep 2025 11:10:26 -0700
Subject: [PATCH 01/18] add DS_Store to gitignore

---
 .gitignore | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/.gitignore b/.gitignore
index b418cc8eff..97fbaca117 100644
--- a/.gitignore
+++ b/.gitignore
@@ -155,3 +155,7 @@ src/.clangd
 
 # external is a special directory for bazel so it should be ignored
 src/external
+
+# macOS folder info
+.DS_Store
+

From a27eefc612a17c718541f86e00920c8c4dc24964 Mon Sep 17 00:00:00 2001
From: Minghao Li <lmh1230612306@163.com>
Date: Sat, 20 Sep 2025 13:52:28 -0700
Subject: [PATCH 02/18] add macos setup script

---
 environment_setup/macos_requirements.txt | 13 ++++
 environment_setup/setup_software_mac.sh  | 98 ++++++++++++++++++++++++
 environment_setup/util.sh                | 38 +++++++++
 3 files changed, 149 insertions(+)
 create mode 100644 environment_setup/macos_requirements.txt
 create mode 100755 environment_setup/setup_software_mac.sh

diff --git a/environment_setup/macos_requirements.txt b/environment_setup/macos_requirements.txt
new file mode 100644
index 0000000000..8e4cf0bb42
--- /dev/null
+++ b/environment_setup/macos_requirements.txt
@@ -0,0 +1,13 @@
+ansible-lint==24.12.2
+pyqtgraph==0.13.7
+thefuzz==0.19.0
+iterfzf==0.5.0.20.0
+python-Levenshtein==0.25.1
+psutil==5.9.0
+PyOpenGL==3.1.6
+ruff==0.5.5
+pyqt-toast-notification==1.3.2
+grpcio-tools==1.71.0
+platformio==6.1.18
+pyqt6==6.9.1
+
diff --git a/environment_setup/setup_software_mac.sh b/environment_setup/setup_software_mac.sh
new file mode 100755
index 0000000000..c7304d9d7e
--- /dev/null
+++ b/environment_setup/setup_software_mac.sh
@@ -0,0 +1,98 @@
+#!/bin/bash
+set -x
+#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~#
+# UBC Thunderbots macOS Software Setup
+#
+# This script will install all required libraries and dependencies to build
+# and run the Thunderbots codebase on macOS, including the AI and unit tests.
+#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~#
+
+# Save the parent dir of this script
+CURR_DIR=$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" &>/dev/null && pwd)
+cd "$CURR_DIR" || exit
+
+source util.sh
+
+arch=$(uname -m)
+print_status_msg "Detected architecture: ${arch}"
+
+# Check for Homebrew and install if missing
+if ! command -v brew &>/dev/null; then
+    print_status_msg "Installing Homebrew..."
+    /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
+
+    # Configure Homebrew in current shell
+    if [ "$arch" = "arm64" ]; then
+        eval "$(/opt/homebrew/bin/brew shellenv)"
+    else
+        eval "$(/usr/local/bin/brew shellenv)"
+    fi
+fi
+
+print_status_msg "Installing Utilities and Dependencies"
+
+# Update Homebrew
+brew update
+
+# Install required packages
+host_software_packages=(
+    cmake@4
+    python@3.12
+    bazelisk
+    openjdk@21
+    pyqt@6
+    qt@6
+    node@20
+    go@1.24
+    clang-format@20
+)
+
+for pkg in "${host_software_packages[@]}"; do
+    if ! brew list "$pkg" &>/dev/null; then
+        print_status_msg "Installing $pkg..."
+        brew install "$pkg"
+    else
+        print_status_msg "$pkg already installed, skipping..."
+    fi
+done
+
+# Set up cache
+mkdir /tmp/tbots_download_cache
+
+# Set up Python
+print_status_msg "Setting Up Python Environment"
+
+# Create virtual environment
+sudo python3.12 -m venv /opt/tbotspython
+chmod
+source /opt/tbotspython/bin/activate
+
+# Install Python dependencies
+sudo pip install --upgrade pip
+sudo pip install -r macos_requirements.txt
+
+print_status_msg "Done Setting Up Python Environment"
+
+print_status_msg "Fetching game controller"
+install_gamecontroller_macos
+
+print_status_msg "Setting up TIGERS AutoRef"
+install_java_macos
+install_autoref_macos
+sudo chmod +x "$CURR_DIR/../src/software/autoref/run_autoref.sh"
+sudo cp "$CURR_DIR/../src/software/autoref/DIV_B.txt" "/opt/tbotspython/autoReferee/config/geometry/DIV_B.txt"
+print_status_msg "Finished setting up AutoRef"
+
+print_status_msg "Setting Up Python Development Headers"
+install_python_toolchain_headers_macos
+print_status_msg "Done Setting Up Python Development Headers"
+
+print_status_msg "Granting Permissions to /opt/tbotspython"
+sudo chown -R $(id -u):$(id -g) /opt/tbotspython
+print_status_msg "Done Granting Permissions to /opt/tbotspython"
+
+print_status_msg "Done Environment Configuration"
+
+print_status_msg "Software Setup Complete"
+print_status_msg "Note: Some changes require a new terminal session to take effect"
+
diff --git a/environment_setup/util.sh b/environment_setup/util.sh
index e3603b5510..885193fc2a 100755
--- a/environment_setup/util.sh
+++ b/environment_setup/util.sh
@@ -8,6 +8,15 @@ install_autoref() {
     rm -rf /tmp/tbots_download_cache/autoReferee.zip /tmp/tbots_download_cache/AutoReferee-${autoref_commit}
 }
 
+install_autoref_macos() {
+    autoref_version=1.5.5
+    curl -L https://github.com/TIGERs-Mannheim/AutoReferee/releases/download/${autoref_version}/autoReferee.zip -o /tmp/tbots_download_cache/autoReferee.zip
+    unzip -q -o -d /tmp/tbots_download_cache/ /tmp/tbots_download_cache/autoReferee.zip
+
+    sudo mv /tmp/tbots_download_cache/autoReferee /opt/tbotspython/
+    rm -rf /tmp/tbots_download_cache/autoReferee.zip
+}
+
 install_bazel() {
     download=https://github.com/bazelbuild/bazelisk/releases/download/v1.26.0/bazelisk-linux-arm64 
 
@@ -46,6 +55,19 @@ install_gamecontroller () {
     sudo chmod +x /opt/tbotspython/gamecontroller
 }
 
+install_gamecontroller_macos () {
+    curl -L https://github.com/RoboCup-SSL/ssl-game-controller/archive/refs/tags/v3.17.0.zip -o /tmp/tbots_download_cache/ssl-game-controller.zip
+    unzip -q -o -d /tmp/tbots_download_cache/ /tmp/tbots_download_cache/ssl-game-controller.zip
+    cd /tmp/tbots_download_cache/ssl-game-controller-3.17.0
+    make install
+    go build cmd/ssl-game-controller/main.go
+    sudo mv main /opt/tbotspython/gamecontroller
+    sudo chmod +x /opt/tbotspython/gamecontroller
+
+    cd -
+    sudo rm -rf /tmp/tbots_download_cache/ssl-game-controller-3.17.0 /tmp/tbots_download_cache/go /tmp/tbots_download_cache/go.tar.gz /tmp/tbots_download_cache/ssl-game-controller.zip
+}
+
 install_java () {
     java_home=""
     java_download=https://download.oracle.com/java/21/latest/jdk-21_linux-aarch64_bin.tar.gz
@@ -58,6 +80,17 @@ install_java () {
     rm /tmp/tbots_download_cache/jdk-21.tar.gz
 }
 
+install_java_macos () {
+    java_home=""
+    java_download=https://download.oracle.com/java/21/latest/jdk-21_macos-aarch64_bin.tar.gz
+    curl -L $java_download -o /tmp/tbots_download_cache/jdk-21.tar.gz
+    mkdir /tmp/tbots_download_cache/jdk
+    tar -xzf /tmp/tbots_download_cache/jdk-21.tar.gz -C /tmp/tbots_download_cache
+    sudo mv /tmp/tbots_download_cache/jdk-21*/Contents/Home /opt/tbotspython/bin/jdk
+    rm /tmp/tbots_download_cache/jdk-21.tar.gz
+    rm -rf /tmp/tbots_download_cache/jdk
+}
+
 install_python_dev_cross_compile_headers() {
     mkdir -p /opt/tbotspython/cross_compile_headers
     wget -N https://www.python.org/ftp/python/3.12.0/Python-3.12.0.tar.xz -O /tmp/tbots_download_cache/python-3.12.0.tar.xz
@@ -90,6 +123,11 @@ install_python_dev_cross_compile_headers() {
     rm -rf /tmp/tbots_download_cache/python-3.12.0.tar.xz
 }
 
+install_python_toolchain_headers_macos() {
+  sudo mkdir -p /opt/tbotspython/py_headers/include/
+  sudo ln -sfn "$(python3.12-config --includes | awk '{for(i=1;i<=NF;++i) if ($i ~ /^-I/) print substr($i, 3)}' | head -n1)" /opt/tbotspython/py_headers/include/
+}
+
 is_x86() {
     if [[ $1 == "x86_64" ]]; then
         return 0

From 16fff779b864a84150e060fbbfc792b7822d0873 Mon Sep 17 00:00:00 2001
From: Minghao Li <lmh1230612306@163.com>
Date: Sat, 20 Sep 2025 14:25:17 -0700
Subject: [PATCH 03/18] setup cross compiler headers

---
 environment_setup/setup_software_mac.sh |  4 ++++
 environment_setup/util.sh               | 10 ++++++++++
 src/MODULE.bazel                        |  4 ++--
 3 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/environment_setup/setup_software_mac.sh b/environment_setup/setup_software_mac.sh
index c7304d9d7e..7b7b2bc679 100755
--- a/environment_setup/setup_software_mac.sh
+++ b/environment_setup/setup_software_mac.sh
@@ -83,6 +83,10 @@ sudo chmod +x "$CURR_DIR/../src/software/autoref/run_autoref.sh"
 sudo cp "$CURR_DIR/../src/software/autoref/DIV_B.txt" "/opt/tbotspython/autoReferee/config/geometry/DIV_B.txt"
 print_status_msg "Finished setting up AutoRef"
 
+print_status_msg "Setting up cross compiler for robot software"
+install_cross_compiler_mac
+print_status_msg "Done setting up cross compiler for robot software"
+
 print_status_msg "Setting Up Python Development Headers"
 install_python_toolchain_headers_macos
 print_status_msg "Done Setting Up Python Development Headers"
diff --git a/environment_setup/util.sh b/environment_setup/util.sh
index 885193fc2a..8c5be169e7 100755
--- a/environment_setup/util.sh
+++ b/environment_setup/util.sh
@@ -44,6 +44,16 @@ install_cross_compiler() {
     rm /tmp/tbots_download_cache/$full_file_name
 }
 
+install_cross_compiler_mac() {
+    file_name=aarch64-tbots-linux-gnu-for-aarch64
+    full_file_name=$file_name.tar.xz
+    curl -L "https://raw.githubusercontent.com/UBC-Thunderbots/Software-External-Dependencies/refs/heads/main/toolchain/$full_file_name" \
+        -o /tmp/tbots_download_cache/$full_file_name
+    tar -xf /tmp/tbots_download_cache/$full_file_name -C /tmp/tbots_download_cache/
+    sudo mv /tmp/tbots_download_cache/aarch64-tbots-linux-gnu /opt/tbotspython
+    rm /tmp/tbots_download_cache/$full_file_name
+}
+
 install_gamecontroller () {
     arch=arm64
     if is_x86 $1; then
diff --git a/src/MODULE.bazel b/src/MODULE.bazel
index b016c260d4..e1d8792571 100644
--- a/src/MODULE.bazel
+++ b/src/MODULE.bazel
@@ -274,13 +274,13 @@ new_local_repository(
 new_local_repository(
     name = "py_cc_toolchain_host",
     build_file = "@//extlibs:py_cc_toolchain.BUILD",
-    path = "/usr/include/python3.12/",
+    path = "/opt/tbotspython/py_headers/include/python3.12/",
 )
 
 new_local_repository(
     name = "py_cc_toolchain_for_k8_jetson_nano_cross_compile",
     build_file = "@//extlibs:py_cc_toolchain.BUILD",
-    path = "/opt/tbotspython/cross_compile_headers/include/python3.12/",
+    path = "/opt/tbotspython/py_headers/include/python3.12/",
 )
 
 ##############################################

From 999a3e0947422ab5b0b881255422b0607ce9175b Mon Sep 17 00:00:00 2001
From: Minghao Li <lmh1230612306@163.com>
Date: Sat, 20 Sep 2025 14:25:41 -0700
Subject: [PATCH 04/18] selectively ignore evdev

---
 src/software/thunderscope/requirements.in         | 2 +-
 src/software/thunderscope/requirements_lock.txt   | 3 ---
 src/software/thunderscope/robot_diagnostics/BUILD | 8 ++++++--
 3 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/src/software/thunderscope/requirements.in b/src/software/thunderscope/requirements.in
index 32a0054344..18c98bc70f 100644
--- a/src/software/thunderscope/requirements.in
+++ b/src/software/thunderscope/requirements.in
@@ -1,6 +1,6 @@
 colorama==0.4.6
 netifaces==0.11.0
-evdev==1.7.0
+evdev==1.7.0; sys_platform == "linux"
 numpy==1.26.4
 protobuf==6.31.1
 pyqtgraph==0.13.7
diff --git a/src/software/thunderscope/requirements_lock.txt b/src/software/thunderscope/requirements_lock.txt
index a50ed09232..55045c79c5 100644
--- a/src/software/thunderscope/requirements_lock.txt
+++ b/src/software/thunderscope/requirements_lock.txt
@@ -12,9 +12,6 @@ darkdetect==0.7.1 \
     --hash=sha256:3efe69f8ecd5f1b7f4fbb0d1d93f656b0e493c45cc49222380ffe2a529cbc866 \
     --hash=sha256:47be3cf5134432ddb616bbffc927237718407914993c82809983e7ccebf49013
     # via pyqtdarktheme-fork
-evdev==1.7.0 \
-    --hash=sha256:95bd2a1e0c6ce2cd7a2ecc6e6cd9736ff794b3ad5cb54d81d8cbc2e414d0b870
-    # via -r software/thunderscope/requirements.in
 netifaces==0.11.0 \
     --hash=sha256:043a79146eb2907edf439899f262b3dfe41717d34124298ed281139a8b93ca32 \
     --hash=sha256:08e3f102a59f9eaef70948340aeb6c89bd09734e0dca0f3b82720305729f63ea \
diff --git a/src/software/thunderscope/robot_diagnostics/BUILD b/src/software/thunderscope/robot_diagnostics/BUILD
index 107b65fce8..aee3a437d1 100644
--- a/src/software/thunderscope/robot_diagnostics/BUILD
+++ b/src/software/thunderscope/robot_diagnostics/BUILD
@@ -35,8 +35,12 @@ py_library(
         ":handheld_controller",
         "//software/thunderscope:constants",
         requirement("pyqtgraph"),
-        requirement("evdev"),
-    ],
+    ] + select({
+        # TODO: remove this selection when we replace evdev to
+        #   other macos supported libs.
+        "@platforms//os:linux": [requirement("evdev")],
+        "//conditions:default": [],
+    }),
 )
 
 py_library(

From b8f3534482ac45708731776d2af05a6bc848f7c8 Mon Sep 17 00:00:00 2001
From: Minghao Li <lmh1230612306@163.com>
Date: Sat, 20 Sep 2025 17:06:41 -0700
Subject: [PATCH 05/18] add chrono clock compat

---
 src/software/logger/BUILD          |  6 ++++++
 src/software/logger/log_merger.cpp |  5 ++---
 src/software/logger/log_merger.h   | 14 ++++++--------
 src/software/logger/time_compat.h  |  9 +++++++++
 4 files changed, 23 insertions(+), 11 deletions(-)
 create mode 100644 src/software/logger/time_compat.h

diff --git a/src/software/logger/BUILD b/src/software/logger/BUILD
index d10935a852..a266ae8da4 100644
--- a/src/software/logger/BUILD
+++ b/src/software/logger/BUILD
@@ -10,6 +10,7 @@ cc_library(
     ],
     deps = [
         "@g3log",
+        ":time_compat",
     ],
 )
 
@@ -189,3 +190,8 @@ cc_library(
         "@zlib",
     ],
 )
+
+cc_library(
+    name = "time_compat",
+    srcs = ["time_compat.h"],
+)
diff --git a/src/software/logger/log_merger.cpp b/src/software/logger/log_merger.cpp
index 8f82680cfa..338c4c1029 100644
--- a/src/software/logger/log_merger.cpp
+++ b/src/software/logger/log_merger.cpp
@@ -11,7 +11,7 @@ std::list<g3::LogMessage> LogMerger::log(g3::LogMessage &log)
     {
         std::string msg = log.message();
 
-        std::chrono::_V2::system_clock::time_point current_time =
+        Clock::time_point current_time =
             std::chrono::system_clock::now();
         // add passed time from testing
         current_time += passed_time;
@@ -38,8 +38,7 @@ std::list<g3::LogMessage> LogMerger::log(g3::LogMessage &log)
     }
 }
 
-std::list<g3::LogMessage> LogMerger::_getOldMessages(
-    std::chrono::_V2::system_clock::time_point current_time)
+std::list<g3::LogMessage> LogMerger::_getOldMessages(Clock::time_point current_time)
 {
     std::list<g3::LogMessage> result;
     while (message_list.size() > 0)
diff --git a/src/software/logger/log_merger.h b/src/software/logger/log_merger.h
index 2cdbd9d679..3dbc7f8148 100644
--- a/src/software/logger/log_merger.h
+++ b/src/software/logger/log_merger.h
@@ -4,6 +4,7 @@
 #include <list>
 #include <string>
 #include <unordered_map>
+#include "time_compat.h"
 
 
 /**
@@ -41,11 +42,9 @@ class LogMerger
      * Looks through the message list for expired messages, removes them from the list and
      * map, and returns them as strings
      */
-    std::list<g3::LogMessage> _getOldMessages(
-        std::chrono::_V2::system_clock::time_point current_time);
+    std::list<g3::LogMessage> _getOldMessages(Clock::time_point current_time);
 
-    const std::chrono::_V2::system_clock::duration LOG_MERGE_DURATION =
-        std::chrono::seconds(2);
+    const Clock::duration LOG_MERGE_DURATION = std::chrono::seconds(2);
 
    private:
     /**
@@ -55,10 +54,10 @@ class LogMerger
     {
         g3::LogMessage log;
         std::string msg;
-        std::chrono::_V2::system_clock::time_point timestamp;
+        Clock::time_point timestamp;
 
         Message(g3::LogMessage &log, std::string msg,
-                std::chrono::_V2::system_clock::time_point timestamp)
+                Clock::time_point timestamp)
             : log(log), msg(msg), timestamp(timestamp)
         {
         }
@@ -68,8 +67,7 @@ class LogMerger
         repeat_map;  // maps string messages to their number of repeats for fast access
     std::list<Message> message_list;  // used to keep track of time order for messages
 
-    std::chrono::_V2::system_clock::duration
-        passed_time;  // for testing, time passed manually
+    Clock::duration passed_time;  // for testing, time passed manually
 
     bool enable_merging;
 };
diff --git a/src/software/logger/time_compat.h b/src/software/logger/time_compat.h
new file mode 100644
index 0000000000..d292b301d4
--- /dev/null
+++ b/src/software/logger/time_compat.h
@@ -0,0 +1,9 @@
+#pragma once
+
+#include <chrono>
+
+#if defined(__APPLE__)
+using Clock = std::chrono::system_clock;
+#else
+using Clock = std::chrono::_V2::system_clock;
+#endif

From d32fb6dc2cd215218a9e3c2a73a87091804e8dfa Mon Sep 17 00:00:00 2001
From: Minghao Li <lmh1230612306@163.com>
Date: Sat, 20 Sep 2025 17:33:28 -0700
Subject: [PATCH 06/18] add compat flags

---
 .../src/amun/simulator/simulator.cpp           |  4 ++--
 src/software/logger/BUILD                      |  9 ++++++---
 src/software/logger/compat_flags.h             | 18 ++++++++++++++++++
 src/software/logger/csv_sink.cpp               |  6 +-----
 src/software/logger/log_merger.h               |  2 +-
 src/software/logger/logger.h                   |  8 ++++----
 src/software/logger/proto_logger.cpp           |  4 ++--
 src/software/logger/time_compat.h              |  9 ---------
 8 files changed, 34 insertions(+), 26 deletions(-)
 create mode 100644 src/software/logger/compat_flags.h
 delete mode 100644 src/software/logger/time_compat.h

diff --git a/src/extlibs/er_force_sim/src/amun/simulator/simulator.cpp b/src/extlibs/er_force_sim/src/amun/simulator/simulator.cpp
index 2c00c5a798..f4e257bb39 100644
--- a/src/extlibs/er_force_sim/src/amun/simulator/simulator.cpp
+++ b/src/extlibs/er_force_sim/src/amun/simulator/simulator.cpp
@@ -677,12 +677,12 @@ void Simulator::handleSimulatorSetupCommand(const std::unique_ptr<amun::Command>
 
             if (realism.has_vision_delay())
             {
-                m_visionDelay = std::max(0l, realism.vision_delay());
+                m_visionDelay = std::max<int64_t>(0l, realism.vision_delay());
             }
 
             if (realism.has_vision_processing_time())
             {
-                m_visionProcessingTime = std::max(0l, realism.vision_processing_time());
+                m_visionProcessingTime = std::max<int64_t>(0l, realism.vision_processing_time());
             }
 
             if (realism.has_simulate_dribbling())
diff --git a/src/software/logger/BUILD b/src/software/logger/BUILD
index a266ae8da4..134e185c0e 100644
--- a/src/software/logger/BUILD
+++ b/src/software/logger/BUILD
@@ -10,7 +10,7 @@ cc_library(
     ],
     deps = [
         "@g3log",
-        ":time_compat",
+        ":compat_flags",
     ],
 )
 
@@ -29,6 +29,7 @@ cc_library(
         ":protobuf_sink",
         "@g3log",
         "@g3sinks",
+        ":compat_flags",
     ],
 )
 
@@ -105,6 +106,7 @@ cc_library(
     ],
     deps = [
         "@g3log",
+        ":compat_flags",
     ],
 )
 
@@ -188,10 +190,11 @@ cc_library(
         "@base64",
         "@boost//:filesystem",
         "@zlib",
+        ":compat_flags",
     ],
 )
 
 cc_library(
-    name = "time_compat",
-    srcs = ["time_compat.h"],
+    name = "compat_flags",
+    srcs = ["compat_flags.h"],
 )
diff --git a/src/software/logger/compat_flags.h b/src/software/logger/compat_flags.h
new file mode 100644
index 0000000000..32eed9b6a3
--- /dev/null
+++ b/src/software/logger/compat_flags.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#include <chrono>
+
+#if defined(__APPLE__)
+using Clock = std::chrono::system_clock;
+#else
+using Clock = std::chrono::_V2::system_clock;
+#endif
+
+#if __cplusplus > 201703L
+#include <filesystem>
+namespace fs = std::filesystem;
+#else
+#include <experimental/filesystem>
+namespace fs = std::experimental::filesystem;
+#endif
+
diff --git a/src/software/logger/csv_sink.cpp b/src/software/logger/csv_sink.cpp
index 07494a78fb..345442d681 100644
--- a/src/software/logger/csv_sink.cpp
+++ b/src/software/logger/csv_sink.cpp
@@ -1,10 +1,6 @@
 #include "software/logger/csv_sink.h"
 
-#if __cplusplus > 201703L
-#include <filesystem>
-#else
-#include <experimental/filesystem>
-#endif
+#include "compat_flags.h"
 
 CSVSink::CSVSink(const std::string& log_directory) : log_directory(log_directory) {}
 
diff --git a/src/software/logger/log_merger.h b/src/software/logger/log_merger.h
index 3dbc7f8148..d4dba461d4 100644
--- a/src/software/logger/log_merger.h
+++ b/src/software/logger/log_merger.h
@@ -4,7 +4,7 @@
 #include <list>
 #include <string>
 #include <unordered_map>
-#include "time_compat.h"
+#include "compat_flags.h"
 
 
 /**
diff --git a/src/software/logger/logger.h b/src/software/logger/logger.h
index ea6f5a4b6f..817af6cf61 100644
--- a/src/software/logger/logger.h
+++ b/src/software/logger/logger.h
@@ -3,8 +3,6 @@
 #include <g3sinks/LogRotate.h>
 #include <g3sinks/LogRotateWithFilter.h>
 
-#include <experimental/filesystem>
-#include <g3log/g3log.hpp>
 #include <g3log/loglevels.hpp>
 #include <g3log/logmessage.hpp>
 #include <g3log/logworker.hpp>
@@ -15,6 +13,8 @@
 #include "software/logger/plotjuggler_sink.h"
 #include "software/logger/protobuf_sink.h"
 
+#include "compat_flags.h"
+
 // This undefines LOG macro defined by g3log
 #undef LOG
 
@@ -90,9 +90,9 @@ class LoggerSingleton
         // hermetic build principles
 
         // if log dir doesn't exist, create it
-        if (!std::experimental::filesystem::exists(runtime_dir))
+        if (!fs::exists(runtime_dir))
         {
-            std::experimental::filesystem::create_directories(runtime_dir);
+            fs::create_directories(runtime_dir);
         }
 
         auto csv_sink_handle = logWorker->addSink(std::make_unique<CSVSink>(runtime_dir),
diff --git a/src/software/logger/proto_logger.cpp b/src/software/logger/proto_logger.cpp
index 2362267139..30bd7b51c9 100644
--- a/src/software/logger/proto_logger.cpp
+++ b/src/software/logger/proto_logger.cpp
@@ -5,7 +5,6 @@
 
 #include <chrono>
 #include <ctime>
-#include <experimental/filesystem>
 #include <fstream>
 #include <iomanip>
 #include <optional>
@@ -13,6 +12,7 @@
 
 #include "base64.h"
 #include "shared/constants.h"
+#include "compat_flags.h"
 
 ProtoLogger::ProtoLogger(const std::string& log_path,
                          std::function<double()> time_provider,
@@ -31,7 +31,7 @@ ProtoLogger::ProtoLogger(const std::string& log_path,
     std::stringstream ss;
     ss << std::put_time(&tm, REPLAY_FILE_TIME_FORMAT.data());
     log_folder_ = log_path_ + "/" + REPLAY_FILE_PREFIX + ss.str() + "/";
-    std::experimental::filesystem::create_directories(log_folder_);
+    fs::create_directories(log_folder_);
 
     // Start logging in a separate thread
     log_thread_ = std::thread(&ProtoLogger::logProtobufs, this);
diff --git a/src/software/logger/time_compat.h b/src/software/logger/time_compat.h
deleted file mode 100644
index d292b301d4..0000000000
--- a/src/software/logger/time_compat.h
+++ /dev/null
@@ -1,9 +0,0 @@
-#pragma once
-
-#include <chrono>
-
-#if defined(__APPLE__)
-using Clock = std::chrono::system_clock;
-#else
-using Clock = std::chrono::_V2::system_clock;
-#endif

From 11fcb391257cff2f69c90ca904d8960594a33080 Mon Sep 17 00:00:00 2001
From: Minghao Li <lmh1230612306@163.com>
Date: Sat, 20 Sep 2025 22:55:09 -0700
Subject: [PATCH 07/18] do not link lstdc

---
 src/.bazelrc              | 4 ++--
 src/software/logger/BUILD | 5 ++++-
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/.bazelrc b/src/.bazelrc
index 12ec7a0860..187c842e0d 100644
--- a/src/.bazelrc
+++ b/src/.bazelrc
@@ -65,8 +65,8 @@ common --enable_platform_specific_config
 build --incompatible_remove_legacy_whole_archive=False
 
 # Escalate Warnings to fail Compile for Thunderbots code
-build --features=external_include_paths
-build --per_file_copt=proto/.*,proto/message_translation/.*,proto/primitive/.*,software/.*,shared/.*,-external/.*@-Wall,-Wextra,-Wno-unused-parameter,-Wno-deprecated,-Werror,-Wno-deprecated-declarations
+build:linux --features=external_include_paths
+build:linux --per_file_copt=proto/.*,proto/message_translation/.*,proto/primitive/.*,software/.*,shared/.*,-external/.*@-Wall,-Wextra,-Wno-unused-parameter,-Wno-deprecated,-Werror,-Wno-deprecated-declarations
 # TODO: #3492
 # build --per_file_copt=software/.*,shared/.*,-external/.*@-Wconversion
 
diff --git a/src/software/logger/BUILD b/src/software/logger/BUILD
index 134e185c0e..e097d54037 100644
--- a/src/software/logger/BUILD
+++ b/src/software/logger/BUILD
@@ -20,7 +20,10 @@ cc_library(
         "custom_logging_levels.h",
         "logger.h",
     ],
-    linkopts = ["-lstdc++fs"],
+    linkopts = select({
+           "@platforms//os:linux": ["-lstdc++fs"],
+           "//conditions:default": [],
+    }),
     deps = [
         ":coloured_cout_sink",
         ":csv_sink",

From 068f212d5a88764ae89e37d0e3a5c9e0647dee19 Mon Sep 17 00:00:00 2001
From: Minghao Li <lmh1230612306@163.com>
Date: Sat, 20 Sep 2025 23:07:34 -0700
Subject: [PATCH 08/18] add evdev import guards

---
 .../thunderscope/robot_diagnostics/handheld_controller.py | 7 ++++++-
 .../robot_diagnostics/handheld_controller_widget.py       | 8 ++++++--
 2 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/src/software/thunderscope/robot_diagnostics/handheld_controller.py b/src/software/thunderscope/robot_diagnostics/handheld_controller.py
index c8e1bc2121..d3a39a3ab0 100644
--- a/src/software/thunderscope/robot_diagnostics/handheld_controller.py
+++ b/src/software/thunderscope/robot_diagnostics/handheld_controller.py
@@ -1,6 +1,11 @@
 import numpy
 
-from evdev import InputDevice, ecodes
+# TODO: remove the try-catch when we rewrite this with macOS-compatible lib
+try:
+    from evdev import InputDevice, ecodes
+except ImportError:
+    pass
+
 from threading import Thread
 
 
diff --git a/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py b/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py
index ba9473509e..12e9464703 100644
--- a/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py
+++ b/src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py
@@ -1,7 +1,11 @@
 import numpy
 
-import evdev
-from evdev import ecodes
+# TODO: remove the try-catch when we rewrite this with macOS-compatible lib
+try:
+    import evdev
+    from evdev import ecodes
+except ImportError:
+    pass
 
 from proto.import_all_protos import *
 from pyqtgraph.Qt.QtWidgets import *

From 4d2b6e970b909add5ac8ecaadc51d7a56cc39574 Mon Sep 17 00:00:00 2001
From: Minghao Li <lmh1230612306@163.com>
Date: Sat, 20 Sep 2025 23:16:06 -0700
Subject: [PATCH 09/18] selectively set network interface based on platform

---
 .../thunderscope/binary_context_managers/BUILD         |  1 +
 .../binary_context_managers/game_controller.py         | 10 ++++++++--
 src/software/thunderscope/util.py                      |  8 ++++++++
 3 files changed, 17 insertions(+), 2 deletions(-)

diff --git a/src/software/thunderscope/binary_context_managers/BUILD b/src/software/thunderscope/binary_context_managers/BUILD
index e7805dad6f..52910c81c5 100644
--- a/src/software/thunderscope/binary_context_managers/BUILD
+++ b/src/software/thunderscope/binary_context_managers/BUILD
@@ -23,6 +23,7 @@ py_library(
         "//proto:import_all_protos",
         "//software/networking:ssl_proto_communication",
         "//software/thunderscope/common:thread_safe_circular_buffer",
+        "//software/thunderscope:util",
     ],
 )
 
diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index 20c8f11033..150552129e 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -4,7 +4,6 @@
 import random
 import logging
 import os
-import socket
 import time
 from subprocess import Popen
 from typing import Any
@@ -21,6 +20,7 @@
 from software.thunderscope.common.thread_safe_circular_buffer import (
     ThreadSafeCircularBuffer,
 )
+from software.thunderscope.util import is_current_platform_macos
 
 logger = logging.getLogger(__name__)
 import itertools
@@ -288,10 +288,16 @@ def __send_referee_command(data: Referee) -> None:
             if autoref_proto_unix_io is not None:
                 autoref_proto_unix_io.send_proto(Referee, data)
 
+
+        if is_current_platform_macos():
+            loopback_iface = "en0"
+        else:
+            loopback_iface = "lo"
+
         self.receive_referee_command = tbots_cpp.SSLRefereeProtoListener(
             Gamecontroller.REFEREE_IP,
             self.referee_port,
-            "lo",
+            loopback_iface,
             __send_referee_command,
             True,
         )
diff --git a/src/software/thunderscope/util.py b/src/software/thunderscope/util.py
index d5634557f9..d879236115 100644
--- a/src/software/thunderscope/util.py
+++ b/src/software/thunderscope/util.py
@@ -1,3 +1,4 @@
+import platform
 from typing import Callable, NoReturn, TYPE_CHECKING
 
 if TYPE_CHECKING:
@@ -195,3 +196,10 @@ def color_from_gradient(
                         int(b_range[i] + (b_range[i + 1] - b_range[i]) * sig_val),
                         int(a_range[i] + (a_range[i + 1] - a_range[i]) * sig_val),
                     )
+
+def is_current_platform_macos() -> bool:
+    """
+    Return True if the current process is running on macOS.
+    Uses platform.system(), which should reliably return 'Darwin' on macOS.
+    """
+    return platform.system().lower() == "darwin"

From 42a0793b8176d841040dc3520c1eb589501dca52 Mon Sep 17 00:00:00 2001
From: Minghao Li <lmh1230612306@163.com>
Date: Sat, 27 Sep 2025 13:30:26 -0700
Subject: [PATCH 10/18] revert requirements.txt and generate mac specific

---
 src/software/thunderscope/BUILD               |   1 +
 .../thunderscope/requirements_lock.darwin.txt | 126 ++++++++++++++++++
 .../thunderscope/requirements_lock.txt        |   3 +
 3 files changed, 130 insertions(+)
 create mode 100644 src/software/thunderscope/requirements_lock.darwin.txt

diff --git a/src/software/thunderscope/BUILD b/src/software/thunderscope/BUILD
index 464997efca..3b17bdc17b 100644
--- a/src/software/thunderscope/BUILD
+++ b/src/software/thunderscope/BUILD
@@ -7,6 +7,7 @@ compile_pip_requirements(
     name = "requirements",
     src = "requirements.in",
     requirements_txt = "requirements_lock.txt",
+    requirements_darwin = "requirements_lock.darwin.txt",
 )
 
 py_binary(
diff --git a/src/software/thunderscope/requirements_lock.darwin.txt b/src/software/thunderscope/requirements_lock.darwin.txt
new file mode 100644
index 0000000000..87532ad2ba
--- /dev/null
+++ b/src/software/thunderscope/requirements_lock.darwin.txt
@@ -0,0 +1,126 @@
+#
+# This file is autogenerated by pip-compile with Python 3.12
+# by the following command:
+#
+#    bazel run //software/thunderscope:requirements.update
+#
+colorama==0.4.6 \
+    --hash=sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44 \
+    --hash=sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6
+    # via -r software/thunderscope/requirements.in
+darkdetect==0.7.1 \
+    --hash=sha256:3efe69f8ecd5f1b7f4fbb0d1d93f656b0e493c45cc49222380ffe2a529cbc866 \
+    --hash=sha256:47be3cf5134432ddb616bbffc927237718407914993c82809983e7ccebf49013
+    # via pyqtdarktheme-fork
+netifaces==0.11.0 \
+    --hash=sha256:043a79146eb2907edf439899f262b3dfe41717d34124298ed281139a8b93ca32 \
+    --hash=sha256:08e3f102a59f9eaef70948340aeb6c89bd09734e0dca0f3b82720305729f63ea \
+    --hash=sha256:0f6133ac02521270d9f7c490f0c8c60638ff4aec8338efeff10a1b51506abe85 \
+    --hash=sha256:18917fbbdcb2d4f897153c5ddbb56b31fa6dd7c3fa9608b7e3c3a663df8206b5 \
+    --hash=sha256:2479bb4bb50968089a7c045f24d120f37026d7e802ec134c4490eae994c729b5 \
+    --hash=sha256:2650beee182fed66617e18474b943e72e52f10a24dc8cac1db36c41ee9c041b7 \
+    --hash=sha256:28f4bf3a1361ab3ed93c5ef360c8b7d4a4ae060176a3529e72e5e4ffc4afd8b0 \
+    --hash=sha256:3ecb3f37c31d5d51d2a4d935cfa81c9bc956687c6f5237021b36d6fdc2815b2c \
+    --hash=sha256:469fc61034f3daf095e02f9f1bbac07927b826c76b745207287bc594884cfd05 \
+    --hash=sha256:48324183af7f1bc44f5f197f3dad54a809ad1ef0c78baee2c88f16a5de02c4c9 \
+    --hash=sha256:50721858c935a76b83dd0dd1ab472cad0a3ef540a1408057624604002fcfb45b \
+    --hash=sha256:54ff6624eb95b8a07e79aa8817288659af174e954cca24cdb0daeeddfc03c4ff \
+    --hash=sha256:5be83986100ed1fdfa78f11ccff9e4757297735ac17391b95e17e74335c2047d \
+    --hash=sha256:5f9ca13babe4d845e400921973f6165a4c2f9f3379c7abfc7478160e25d196a4 \
+    --hash=sha256:73ff21559675150d31deea8f1f8d7e9a9a7e4688732a94d71327082f517fc6b4 \
+    --hash=sha256:7dbb71ea26d304e78ccccf6faccef71bb27ea35e259fb883cfd7fd7b4f17ecb1 \
+    --hash=sha256:815eafdf8b8f2e61370afc6add6194bd5a7252ae44c667e96c4c1ecf418811e4 \
+    --hash=sha256:841aa21110a20dc1621e3dd9f922c64ca64dd1eb213c47267a2c324d823f6c8f \
+    --hash=sha256:84e4d2e6973eccc52778735befc01638498781ce0e39aa2044ccfd2385c03246 \
+    --hash=sha256:8f7da24eab0d4184715d96208b38d373fd15c37b0dafb74756c638bd619ba150 \
+    --hash=sha256:96c0fe9696398253f93482c84814f0e7290eee0bfec11563bd07d80d701280c3 \
+    --hash=sha256:aab1dbfdc55086c789f0eb37affccf47b895b98d490738b81f3b2360100426be \
+    --hash=sha256:c03fb2d4ef4e393f2e6ffc6376410a22a3544f164b336b3a355226653e5efd89 \
+    --hash=sha256:c37a1ca83825bc6f54dddf5277e9c65dec2f1b4d0ba44b8fd42bc30c91aa6ea1 \
+    --hash=sha256:c92ff9ac7c2282009fe0dcb67ee3cd17978cffbe0c8f4b471c00fe4325c9b4d4 \
+    --hash=sha256:c9a3a47cd3aaeb71e93e681d9816c56406ed755b9442e981b07e3618fb71d2ac \
+    --hash=sha256:cb925e1ca024d6f9b4f9b01d83215fd00fe69d095d0255ff3f64bffda74025c8 \
+    --hash=sha256:d07b01c51b0b6ceb0f09fc48ec58debd99d2c8430b09e56651addeaf5de48048 \
+    --hash=sha256:e76c7f351e0444721e85f975ae92718e21c1f361bda946d60a214061de1f00a1 \
+    --hash=sha256:eb4813b77d5df99903af4757ce980a98c4d702bbcb81f32a0b305a1537bdf0b1
+    # via -r software/thunderscope/requirements.in
+numpy==1.26.4 \
+    --hash=sha256:03a8c78d01d9781b28a6989f6fa1bb2c4f2d51201cf99d3dd875df6fbd96b23b \
+    --hash=sha256:08beddf13648eb95f8d867350f6a018a4be2e5ad54c8d8caed89ebca558b2818 \
+    --hash=sha256:1af303d6b2210eb850fcf03064d364652b7120803a0b872f5211f5234b399f20 \
+    --hash=sha256:1dda2e7b4ec9dd512f84935c5f126c8bd8b9f2fc001e9f54af255e8c5f16b0e0 \
+    --hash=sha256:2a02aba9ed12e4ac4eb3ea9421c420301a0c6460d9830d74a9df87efa4912010 \
+    --hash=sha256:2e4ee3380d6de9c9ec04745830fd9e2eccb3e6cf790d39d7b98ffd19b0dd754a \
+    --hash=sha256:3373d5d70a5fe74a2c1bb6d2cfd9609ecf686d47a2d7b1d37a8f3b6bf6003aea \
+    --hash=sha256:47711010ad8555514b434df65f7d7b076bb8261df1ca9bb78f53d3b2db02e95c \
+    --hash=sha256:4c66707fabe114439db9068ee468c26bbdf909cac0fb58686a42a24de1760c71 \
+    --hash=sha256:50193e430acfc1346175fcbdaa28ffec49947a06918b7b92130744e81e640110 \
+    --hash=sha256:52b8b60467cd7dd1e9ed082188b4e6bb35aa5cdd01777621a1658910745b90be \
+    --hash=sha256:60dedbb91afcbfdc9bc0b1f3f402804070deed7392c23eb7a7f07fa857868e8a \
+    --hash=sha256:62b8e4b1e28009ef2846b4c7852046736bab361f7aeadeb6a5b89ebec3c7055a \
+    --hash=sha256:666dbfb6ec68962c033a450943ded891bed2d54e6755e35e5835d63f4f6931d5 \
+    --hash=sha256:675d61ffbfa78604709862923189bad94014bef562cc35cf61d3a07bba02a7ed \
+    --hash=sha256:679b0076f67ecc0138fd2ede3a8fd196dddc2ad3254069bcb9faf9a79b1cebcd \
+    --hash=sha256:7349ab0fa0c429c82442a27a9673fc802ffdb7c7775fad780226cb234965e53c \
+    --hash=sha256:7ab55401287bfec946ced39700c053796e7cc0e3acbef09993a9ad2adba6ca6e \
+    --hash=sha256:7e50d0a0cc3189f9cb0aeb3a6a6af18c16f59f004b866cd2be1c14b36134a4a0 \
+    --hash=sha256:95a7476c59002f2f6c590b9b7b998306fba6a5aa646b1e22ddfeaf8f78c3a29c \
+    --hash=sha256:96ff0b2ad353d8f990b63294c8986f1ec3cb19d749234014f4e7eb0112ceba5a \
+    --hash=sha256:9fad7dcb1aac3c7f0584a5a8133e3a43eeb2fe127f47e3632d43d677c66c102b \
+    --hash=sha256:9ff0f4f29c51e2803569d7a51c2304de5554655a60c5d776e35b4a41413830d0 \
+    --hash=sha256:a354325ee03388678242a4d7ebcd08b5c727033fcff3b2f536aea978e15ee9e6 \
+    --hash=sha256:a4abb4f9001ad2858e7ac189089c42178fcce737e4169dc61321660f1a96c7d2 \
+    --hash=sha256:ab47dbe5cc8210f55aa58e4805fe224dac469cde56b9f731a4c098b91917159a \
+    --hash=sha256:afedb719a9dcfc7eaf2287b839d8198e06dcd4cb5d276a3df279231138e83d30 \
+    --hash=sha256:b3ce300f3644fb06443ee2222c2201dd3a89ea6040541412b8fa189341847218 \
+    --hash=sha256:b97fe8060236edf3662adfc2c633f56a08ae30560c56310562cb4f95500022d5 \
+    --hash=sha256:bfe25acf8b437eb2a8b2d49d443800a5f18508cd811fea3181723922a8a82b07 \
+    --hash=sha256:cd25bcecc4974d09257ffcd1f098ee778f7834c3ad767fe5db785be9a4aa9cb2 \
+    --hash=sha256:d209d8969599b27ad20994c8e41936ee0964e6da07478d6c35016bc386b66ad4 \
+    --hash=sha256:d5241e0a80d808d70546c697135da2c613f30e28251ff8307eb72ba696945764 \
+    --hash=sha256:edd8b5fe47dab091176d21bb6de568acdd906d1887a4584a15a9a96a1dca06ef \
+    --hash=sha256:f870204a840a60da0b12273ef34f7051e98c3b5961b61b0c2c1be6dfd64fbcd3 \
+    --hash=sha256:ffa75af20b44f8dba823498024771d5ac50620e6915abac414251bd971b4529f
+    # via
+    #   -r software/thunderscope/requirements.in
+    #   pyqtgraph
+packaging==24.2 \
+    --hash=sha256:09abb1bccd265c01f4a3aa3f7a7db064b36514d2cba19a2f694fe6150451a759 \
+    --hash=sha256:c228a6dc5e932d346bc5739379109d49e8853dd8223571c7c5b55260edc0b97f
+    # via qtpy
+protobuf==6.31.1 \
+    --hash=sha256:0414e3aa5a5f3ff423828e1e6a6e907d6c65c1d5b7e6e975793d5590bdeecc16 \
+    --hash=sha256:426f59d2964864a1a366254fa703b8632dcec0790d8862d30034d8245e1cd447 \
+    --hash=sha256:4ee898bf66f7a8b0bd21bce523814e6fbd8c6add948045ce958b73af7e8878c6 \
+    --hash=sha256:6f1227473dc43d44ed644425268eb7c2e488ae245d51c6866d19fe158e207402 \
+    --hash=sha256:720a6c7e6b77288b85063569baae8536671b39f15cc22037ec7045658d80489e \
+    --hash=sha256:7fa17d5a29c2e04b7d90e5e32388b8bfd0e7107cd8e616feef7ed3fa6bdab5c9 \
+    --hash=sha256:8764cf4587791e7564051b35524b72844f845ad0bb011704c3736cce762d8fe9 \
+    --hash=sha256:a40fc12b84c154884d7d4c4ebd675d5b3b5283e155f324049ae396b95ddebc39 \
+    --hash=sha256:d8cac4c982f0b957a4dc73a80e2ea24fab08e679c0de9deb835f4a12d69aca9a
+    # via -r software/thunderscope/requirements.in
+pyqt-toast-notification==1.3.2 \
+    --hash=sha256:135736ec0f16bff41104dee3c60ac318e5d55ae3378bf26892c6d08c36088ae6 \
+    --hash=sha256:82688101202737736d51ab6c74a573b32266ecb7c8b0002f913407bd369737d9
+    # via -r software/thunderscope/requirements.in
+pyqt6-qt6==6.8.1 \
+    --hash=sha256:006d786693d0511fbcf184a862edbd339c6ed1bb3bd9de363d73a19ed4b23dff \
+    --hash=sha256:08065d595f1e6fc2dde9f4450eeff89082f4bad26f600a8e9b9cc5966716bfcf \
+    --hash=sha256:1eb8460a1fdb38d0b2458c2974c01d471c1e59e4eb19ea63fc447aaba3ad530e \
+    --hash=sha256:20843cb86bd94942d1cd99e39bf1aeabb875b241a35a8ab273e4bbbfa63776db \
+    --hash=sha256:9f3790c4ce4dc576e48b8718d55fb8743057e6cbd53a6ca1dd253ffbac9b7287 \
+    --hash=sha256:a8bc2ed4ee5e7c6ff4dd1c7db0b27705d151fee5dc232bbd1bf17618f937f515 \
+    --hash=sha256:d6ca5d2b9d2ec0ee4a814b2175f641a5c4299cb80b45e0f5f8356632663f89b3
+    # via -r software/thunderscope/requirements.in
+pyqtdarktheme-fork==2.3.2 \
+    --hash=sha256:3ea94fed5df262d960378409357c63032639f749794d766f41a45ad8558b2523 \
+    --hash=sha256:d96ee64f0884678fad9b6bc352d5e37d84ca786fa60ed32ffaa7e6c6bc67e964
+    # via -r software/thunderscope/requirements.in
+pyqtgraph==0.13.7 \
+    --hash=sha256:64f84f1935c6996d0e09b1ee66fe478a7771e3ca6f3aaa05f00f6e068321d9e3 \
+    --hash=sha256:7754edbefb6c367fa0dfb176e2d0610da3ada20aa7a5318516c74af5fb72bf7a
+    # via -r software/thunderscope/requirements.in
+qtpy==2.4.2 \
+    --hash=sha256:5a696b1dd7a354cb330657da1d17c20c2190c72d4888ba923f8461da67aa1a1c \
+    --hash=sha256:9d6ec91a587cc1495eaebd23130f7619afa5cdd34a277acb87735b4ad7c65156
+    # via pyqt-toast-notification
diff --git a/src/software/thunderscope/requirements_lock.txt b/src/software/thunderscope/requirements_lock.txt
index 55045c79c5..a50ed09232 100644
--- a/src/software/thunderscope/requirements_lock.txt
+++ b/src/software/thunderscope/requirements_lock.txt
@@ -12,6 +12,9 @@ darkdetect==0.7.1 \
     --hash=sha256:3efe69f8ecd5f1b7f4fbb0d1d93f656b0e493c45cc49222380ffe2a529cbc866 \
     --hash=sha256:47be3cf5134432ddb616bbffc927237718407914993c82809983e7ccebf49013
     # via pyqtdarktheme-fork
+evdev==1.7.0 \
+    --hash=sha256:95bd2a1e0c6ce2cd7a2ecc6e6cd9736ff794b3ad5cb54d81d8cbc2e414d0b870
+    # via -r software/thunderscope/requirements.in
 netifaces==0.11.0 \
     --hash=sha256:043a79146eb2907edf439899f262b3dfe41717d34124298ed281139a8b93ca32 \
     --hash=sha256:08e3f102a59f9eaef70948340aeb6c89bd09734e0dca0f3b82720305729f63ea \

From d6b303dbaad1b36def7cd6a0719864377b7954ce Mon Sep 17 00:00:00 2001
From: Minghao Li <lmh1230612306@163.com>
Date: Sat, 18 Oct 2025 11:51:24 -0700
Subject: [PATCH 11/18] resolve ubuntu failure

---
 environment_setup/setup_software.sh     | 1 +
 environment_setup/setup_software_mac.sh | 2 +-
 environment_setup/util.sh               | 2 +-
 src/MODULE.bazel                        | 2 +-
 4 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/environment_setup/setup_software.sh b/environment_setup/setup_software.sh
index c2c65d90ec..ec68c9e48f 100755
--- a/environment_setup/setup_software.sh
+++ b/environment_setup/setup_software.sh
@@ -158,6 +158,7 @@ print_status_msg "Done setting up cross compiler for robot software"
 
 print_status_msg "Setting Up Python Development Headers"
 install_python_dev_cross_compile_headers $g_arch
+install_python_toolchain_headers
 print_status_msg "Done Setting Up Python Development Headers"
 
 print_status_msg "Setting Up PlatformIO"
diff --git a/environment_setup/setup_software_mac.sh b/environment_setup/setup_software_mac.sh
index 7b7b2bc679..36fd69929b 100755
--- a/environment_setup/setup_software_mac.sh
+++ b/environment_setup/setup_software_mac.sh
@@ -88,7 +88,7 @@ install_cross_compiler_mac
 print_status_msg "Done setting up cross compiler for robot software"
 
 print_status_msg "Setting Up Python Development Headers"
-install_python_toolchain_headers_macos
+install_python_toolchain_headers
 print_status_msg "Done Setting Up Python Development Headers"
 
 print_status_msg "Granting Permissions to /opt/tbotspython"
diff --git a/environment_setup/util.sh b/environment_setup/util.sh
index 8c5be169e7..91b6e5c04f 100755
--- a/environment_setup/util.sh
+++ b/environment_setup/util.sh
@@ -133,7 +133,7 @@ install_python_dev_cross_compile_headers() {
     rm -rf /tmp/tbots_download_cache/python-3.12.0.tar.xz
 }
 
-install_python_toolchain_headers_macos() {
+install_python_toolchain_headers() {
   sudo mkdir -p /opt/tbotspython/py_headers/include/
   sudo ln -sfn "$(python3.12-config --includes | awk '{for(i=1;i<=NF;++i) if ($i ~ /^-I/) print substr($i, 3)}' | head -n1)" /opt/tbotspython/py_headers/include/
 }
diff --git a/src/MODULE.bazel b/src/MODULE.bazel
index e1d8792571..ddc82daf33 100644
--- a/src/MODULE.bazel
+++ b/src/MODULE.bazel
@@ -280,7 +280,7 @@ new_local_repository(
 new_local_repository(
     name = "py_cc_toolchain_for_k8_jetson_nano_cross_compile",
     build_file = "@//extlibs:py_cc_toolchain.BUILD",
-    path = "/opt/tbotspython/py_headers/include/python3.12/",
+    path = "/opt/tbotspython/cross_compile_headers/include/python3.12/",
 )
 
 ##############################################

From c85da8103a326f66f2d764dd2b099e96d7a5380b Mon Sep 17 00:00:00 2001
From: Minghao Li <lmh1230612306@163.com>
Date: Sat, 15 Nov 2025 12:25:07 -0800
Subject: [PATCH 12/18] update req lock for linux

---
 src/software/thunderscope/requirements_lock.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/software/thunderscope/requirements_lock.txt b/src/software/thunderscope/requirements_lock.txt
index a50ed09232..1b4d0632ee 100644
--- a/src/software/thunderscope/requirements_lock.txt
+++ b/src/software/thunderscope/requirements_lock.txt
@@ -12,7 +12,7 @@ darkdetect==0.7.1 \
     --hash=sha256:3efe69f8ecd5f1b7f4fbb0d1d93f656b0e493c45cc49222380ffe2a529cbc866 \
     --hash=sha256:47be3cf5134432ddb616bbffc927237718407914993c82809983e7ccebf49013
     # via pyqtdarktheme-fork
-evdev==1.7.0 \
+evdev==1.7.0 ; sys_platform == "linux" \
     --hash=sha256:95bd2a1e0c6ce2cd7a2ecc6e6cd9736ff794b3ad5cb54d81d8cbc2e414d0b870
     # via -r software/thunderscope/requirements.in
 netifaces==0.11.0 \

From 49e0b0a7053a502e580235f81ec3f8c63ac860a2 Mon Sep 17 00:00:00 2001
From: Minghao Li <lmh1230612306@163.com>
Date: Sat, 22 Nov 2025 12:03:40 -0800
Subject: [PATCH 13/18] change bazelrc

---
 src/.bazelrc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/.bazelrc b/src/.bazelrc
index 187c842e0d..143184468b 100644
--- a/src/.bazelrc
+++ b/src/.bazelrc
@@ -65,7 +65,7 @@ common --enable_platform_specific_config
 build --incompatible_remove_legacy_whole_archive=False
 
 # Escalate Warnings to fail Compile for Thunderbots code
-build:linux --features=external_include_paths
+build --features=external_include_paths
 build:linux --per_file_copt=proto/.*,proto/message_translation/.*,proto/primitive/.*,software/.*,shared/.*,-external/.*@-Wall,-Wextra,-Wno-unused-parameter,-Wno-deprecated,-Werror,-Wno-deprecated-declarations
 # TODO: #3492
 # build --per_file_copt=software/.*,shared/.*,-external/.*@-Wconversion

From 1ee0a5878a9820a338c70fbc3cdab7bc5532cd73 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci-lite[bot]"
 <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Date: Sat, 6 Dec 2025 19:13:11 +0000
Subject: [PATCH 14/18] [pre-commit.ci lite] apply automatic fixes

---
 .../er_force_sim/src/amun/simulator/simulator.cpp    |  3 ++-
 src/software/logger/BUILD                            | 12 ++++++------
 src/software/logger/compat_flags.h                   |  3 +--
 src/software/logger/log_merger.cpp                   |  3 +--
 src/software/logger/log_merger.h                     |  4 ++--
 src/software/logger/logger.h                         |  3 +--
 src/software/logger/proto_logger.cpp                 |  2 +-
 src/software/thunderscope/BUILD                      |  2 +-
 .../thunderscope/binary_context_managers/BUILD       |  2 +-
 .../binary_context_managers/game_controller.py       |  1 -
 src/software/thunderscope/util.py                    |  4 ++--
 11 files changed, 18 insertions(+), 21 deletions(-)

diff --git a/src/extlibs/er_force_sim/src/amun/simulator/simulator.cpp b/src/extlibs/er_force_sim/src/amun/simulator/simulator.cpp
index f4e257bb39..1f64796560 100644
--- a/src/extlibs/er_force_sim/src/amun/simulator/simulator.cpp
+++ b/src/extlibs/er_force_sim/src/amun/simulator/simulator.cpp
@@ -682,7 +682,8 @@ void Simulator::handleSimulatorSetupCommand(const std::unique_ptr<amun::Command>
 
             if (realism.has_vision_processing_time())
             {
-                m_visionProcessingTime = std::max<int64_t>(0l, realism.vision_processing_time());
+                m_visionProcessingTime =
+                    std::max<int64_t>(0l, realism.vision_processing_time());
             }
 
             if (realism.has_simulate_dribbling())
diff --git a/src/software/logger/BUILD b/src/software/logger/BUILD
index e097d54037..6fa65a6909 100644
--- a/src/software/logger/BUILD
+++ b/src/software/logger/BUILD
@@ -9,8 +9,8 @@ cc_library(
         "log_merger.h",
     ],
     deps = [
-        "@g3log",
         ":compat_flags",
+        "@g3log",
     ],
 )
 
@@ -21,18 +21,18 @@ cc_library(
         "logger.h",
     ],
     linkopts = select({
-           "@platforms//os:linux": ["-lstdc++fs"],
-           "//conditions:default": [],
+        "@platforms//os:linux": ["-lstdc++fs"],
+        "//conditions:default": [],
     }),
     deps = [
         ":coloured_cout_sink",
+        ":compat_flags",
         ":csv_sink",
         ":log_merger",
         ":plotjuggler_sink",
         ":protobuf_sink",
         "@g3log",
         "@g3sinks",
-        ":compat_flags",
     ],
 )
 
@@ -108,8 +108,8 @@ cc_library(
         "custom_logging_levels.h",
     ],
     deps = [
-        "@g3log",
         ":compat_flags",
+        "@g3log",
     ],
 )
 
@@ -188,12 +188,12 @@ cc_library(
         "proto_logger.h",
     ],
     deps = [
+        ":compat_flags",
         "//proto:tbots_cc_proto",
         "//software/multithreading:thread_safe_buffer",
         "@base64",
         "@boost//:filesystem",
         "@zlib",
-        ":compat_flags",
     ],
 )
 
diff --git a/src/software/logger/compat_flags.h b/src/software/logger/compat_flags.h
index 32eed9b6a3..c57d8854d2 100644
--- a/src/software/logger/compat_flags.h
+++ b/src/software/logger/compat_flags.h
@@ -5,7 +5,7 @@
 #if defined(__APPLE__)
 using Clock = std::chrono::system_clock;
 #else
-using Clock = std::chrono::_V2::system_clock;
+using Clock  = std::chrono::_V2::system_clock;
 #endif
 
 #if __cplusplus > 201703L
@@ -15,4 +15,3 @@ namespace fs = std::filesystem;
 #include <experimental/filesystem>
 namespace fs = std::experimental::filesystem;
 #endif
-
diff --git a/src/software/logger/log_merger.cpp b/src/software/logger/log_merger.cpp
index 338c4c1029..4139e4fea5 100644
--- a/src/software/logger/log_merger.cpp
+++ b/src/software/logger/log_merger.cpp
@@ -11,8 +11,7 @@ std::list<g3::LogMessage> LogMerger::log(g3::LogMessage &log)
     {
         std::string msg = log.message();
 
-        Clock::time_point current_time =
-            std::chrono::system_clock::now();
+        Clock::time_point current_time = std::chrono::system_clock::now();
         // add passed time from testing
         current_time += passed_time;
         std::list<g3::LogMessage> messages_to_log = _getOldMessages(current_time);
diff --git a/src/software/logger/log_merger.h b/src/software/logger/log_merger.h
index d4dba461d4..00a44c02de 100644
--- a/src/software/logger/log_merger.h
+++ b/src/software/logger/log_merger.h
@@ -4,6 +4,7 @@
 #include <list>
 #include <string>
 #include <unordered_map>
+
 #include "compat_flags.h"
 
 
@@ -56,8 +57,7 @@ class LogMerger
         std::string msg;
         Clock::time_point timestamp;
 
-        Message(g3::LogMessage &log, std::string msg,
-                Clock::time_point timestamp)
+        Message(g3::LogMessage &log, std::string msg, Clock::time_point timestamp)
             : log(log), msg(msg), timestamp(timestamp)
         {
         }
diff --git a/src/software/logger/logger.h b/src/software/logger/logger.h
index 817af6cf61..5b6e372e33 100644
--- a/src/software/logger/logger.h
+++ b/src/software/logger/logger.h
@@ -7,14 +7,13 @@
 #include <g3log/logmessage.hpp>
 #include <g3log/logworker.hpp>
 
+#include "compat_flags.h"
 #include "software/logger/coloured_cout_sink.h"
 #include "software/logger/csv_sink.h"
 #include "software/logger/custom_logging_levels.h"
 #include "software/logger/plotjuggler_sink.h"
 #include "software/logger/protobuf_sink.h"
 
-#include "compat_flags.h"
-
 // This undefines LOG macro defined by g3log
 #undef LOG
 
diff --git a/src/software/logger/proto_logger.cpp b/src/software/logger/proto_logger.cpp
index 30bd7b51c9..4cde56cab7 100644
--- a/src/software/logger/proto_logger.cpp
+++ b/src/software/logger/proto_logger.cpp
@@ -11,8 +11,8 @@
 #include <vector>
 
 #include "base64.h"
-#include "shared/constants.h"
 #include "compat_flags.h"
+#include "shared/constants.h"
 
 ProtoLogger::ProtoLogger(const std::string& log_path,
                          std::function<double()> time_provider,
diff --git a/src/software/thunderscope/BUILD b/src/software/thunderscope/BUILD
index 3b17bdc17b..5234832aab 100644
--- a/src/software/thunderscope/BUILD
+++ b/src/software/thunderscope/BUILD
@@ -6,8 +6,8 @@ package(default_visibility = ["//visibility:public"])
 compile_pip_requirements(
     name = "requirements",
     src = "requirements.in",
-    requirements_txt = "requirements_lock.txt",
     requirements_darwin = "requirements_lock.darwin.txt",
+    requirements_txt = "requirements_lock.txt",
 )
 
 py_binary(
diff --git a/src/software/thunderscope/binary_context_managers/BUILD b/src/software/thunderscope/binary_context_managers/BUILD
index 52910c81c5..947416d088 100644
--- a/src/software/thunderscope/binary_context_managers/BUILD
+++ b/src/software/thunderscope/binary_context_managers/BUILD
@@ -22,8 +22,8 @@ py_library(
     deps = [
         "//proto:import_all_protos",
         "//software/networking:ssl_proto_communication",
-        "//software/thunderscope/common:thread_safe_circular_buffer",
         "//software/thunderscope:util",
+        "//software/thunderscope/common:thread_safe_circular_buffer",
     ],
 )
 
diff --git a/src/software/thunderscope/binary_context_managers/game_controller.py b/src/software/thunderscope/binary_context_managers/game_controller.py
index 150552129e..79cc8a0925 100644
--- a/src/software/thunderscope/binary_context_managers/game_controller.py
+++ b/src/software/thunderscope/binary_context_managers/game_controller.py
@@ -288,7 +288,6 @@ def __send_referee_command(data: Referee) -> None:
             if autoref_proto_unix_io is not None:
                 autoref_proto_unix_io.send_proto(Referee, data)
 
-
         if is_current_platform_macos():
             loopback_iface = "en0"
         else:
diff --git a/src/software/thunderscope/util.py b/src/software/thunderscope/util.py
index d879236115..2e3e420203 100644
--- a/src/software/thunderscope/util.py
+++ b/src/software/thunderscope/util.py
@@ -197,9 +197,9 @@ def color_from_gradient(
                         int(a_range[i] + (a_range[i + 1] - a_range[i]) * sig_val),
                     )
 
+
 def is_current_platform_macos() -> bool:
-    """
-    Return True if the current process is running on macOS.
+    """Return True if the current process is running on macOS.
     Uses platform.system(), which should reliably return 'Darwin' on macOS.
     """
     return platform.system().lower() == "darwin"

From 6642aa248ddecfbafd1b529ddd7954413e3d4957 Mon Sep 17 00:00:00 2001
From: Minghao Li <lmh1230612306@163.com>
Date: Sat, 6 Dec 2025 11:20:38 -0800
Subject: [PATCH 15/18] add cpp template type

---
 src/software/ai/hl/stp/play/play.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/software/ai/hl/stp/play/play.cpp b/src/software/ai/hl/stp/play/play.cpp
index d3da53bf6f..ad2dde8301 100644
--- a/src/software/ai/hl/stp/play/play.cpp
+++ b/src/software/ai/hl/stp/play/play.cpp
@@ -206,7 +206,7 @@ std::unique_ptr<TbotsProto::PrimitiveSet> Play::get(
                  new_primitives_to_assign->robot_primitives())
             {
                 primitives_to_run->mutable_robot_primitives()->insert(
-                    google::protobuf::MapPair(robot_id, primitive));
+                    google::protobuf::MapPair<uint32_t, TbotsProto::Primitive>(robot_id, primitive));
             }
 
             robots = remaining_robots;

From 34b23388d3666816eb00cb90a90dfebdf74d9aae Mon Sep 17 00:00:00 2001
From: "pre-commit-ci-lite[bot]"
 <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Date: Sat, 6 Dec 2025 19:27:20 +0000
Subject: [PATCH 16/18] [pre-commit.ci lite] apply automatic fixes

---
 src/software/ai/hl/stp/play/play.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/software/ai/hl/stp/play/play.cpp b/src/software/ai/hl/stp/play/play.cpp
index ad2dde8301..ddd0a98465 100644
--- a/src/software/ai/hl/stp/play/play.cpp
+++ b/src/software/ai/hl/stp/play/play.cpp
@@ -206,7 +206,8 @@ std::unique_ptr<TbotsProto::PrimitiveSet> Play::get(
                  new_primitives_to_assign->robot_primitives())
             {
                 primitives_to_run->mutable_robot_primitives()->insert(
-                    google::protobuf::MapPair<uint32_t, TbotsProto::Primitive>(robot_id, primitive));
+                    google::protobuf::MapPair<uint32_t, TbotsProto::Primitive>(
+                        robot_id, primitive));
             }
 
             robots = remaining_robots;

From 822d644b35ca677161b8dc6aafb6a7325407d07a Mon Sep 17 00:00:00 2001
From: Minghao Li <lmh1230612306@163.com>
Date: Sat, 6 Dec 2025 11:56:35 -0800
Subject: [PATCH 17/18] refactor setup script

---
 environment_setup/setup_software_mac.sh |  10 +-
 environment_setup/util.sh               | 120 ++++++++++++------------
 2 files changed, 62 insertions(+), 68 deletions(-)

diff --git a/environment_setup/setup_software_mac.sh b/environment_setup/setup_software_mac.sh
index 36fd69929b..ee1e334c4e 100755
--- a/environment_setup/setup_software_mac.sh
+++ b/environment_setup/setup_software_mac.sh
@@ -1,5 +1,4 @@
 #!/bin/bash
-set -x
 #~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~#
 # UBC Thunderbots macOS Software Setup
 #
@@ -13,7 +12,7 @@ cd "$CURR_DIR" || exit
 
 source util.sh
 
-arch=$(uname -m)
+arch=$(uname -s)
 print_status_msg "Detected architecture: ${arch}"
 
 # Check for Homebrew and install if missing
@@ -74,17 +73,16 @@ sudo pip install -r macos_requirements.txt
 print_status_msg "Done Setting Up Python Environment"
 
 print_status_msg "Fetching game controller"
-install_gamecontroller_macos
+install_gamecontroller $arch
 
 print_status_msg "Setting up TIGERS AutoRef"
-install_java_macos
-install_autoref_macos
+install_autoref $arch
 sudo chmod +x "$CURR_DIR/../src/software/autoref/run_autoref.sh"
 sudo cp "$CURR_DIR/../src/software/autoref/DIV_B.txt" "/opt/tbotspython/autoReferee/config/geometry/DIV_B.txt"
 print_status_msg "Finished setting up AutoRef"
 
 print_status_msg "Setting up cross compiler for robot software"
-install_cross_compiler_mac
+install_cross_compiler $arch
 print_status_msg "Done setting up cross compiler for robot software"
 
 print_status_msg "Setting Up Python Development Headers"
diff --git a/environment_setup/util.sh b/environment_setup/util.sh
index 91b6e5c04f..fb85ba8a2b 100755
--- a/environment_setup/util.sh
+++ b/environment_setup/util.sh
@@ -1,20 +1,20 @@
 install_autoref() {
-    autoref_commit=b30660b78728c3ce159de8ae096181a1ec52e9ba
-    wget -N https://github.com/TIGERs-Mannheim/AutoReferee/archive/${autoref_commit}.zip -O /tmp/tbots_download_cache/autoReferee.zip
-    unzip -q -o -d /tmp/tbots_download_cache/ /tmp/tbots_download_cache/autoReferee.zip
+    if is_darwin $1; then
+        autoref_version=1.5.5
+        curl -L https://github.com/TIGERs-Mannheim/AutoReferee/releases/download/${autoref_version}/autoReferee.zip -o /tmp/tbots_download_cache/autoReferee.zip
+        unzip -q -o -d /tmp/tbots_download_cache/ /tmp/tbots_download_cache/autoReferee.zip
 
-    /tmp/tbots_download_cache/AutoReferee-${autoref_commit}/./gradlew installDist -p /tmp/tbots_download_cache/AutoReferee-${autoref_commit} -Dorg.gradle.java.home=/opt/tbotspython/bin/jdk
-    mv /tmp/tbots_download_cache/AutoReferee-${autoref_commit}/build/install/autoReferee /opt/tbotspython/
-    rm -rf /tmp/tbots_download_cache/autoReferee.zip /tmp/tbots_download_cache/AutoReferee-${autoref_commit}
-}
-
-install_autoref_macos() {
-    autoref_version=1.5.5
-    curl -L https://github.com/TIGERs-Mannheim/AutoReferee/releases/download/${autoref_version}/autoReferee.zip -o /tmp/tbots_download_cache/autoReferee.zip
-    unzip -q -o -d /tmp/tbots_download_cache/ /tmp/tbots_download_cache/autoReferee.zip
+        sudo mv /tmp/tbots_download_cache/autoReferee /opt/tbotspython/
+        rm -rf /tmp/tbots_download_cache/autoReferee.zip
+    else
+        autoref_commit=b30660b78728c3ce159de8ae096181a1ec52e9ba
+        wget -N https://github.com/TIGERs-Mannheim/AutoReferee/archive/${autoref_commit}.zip -O /tmp/tbots_download_cache/autoReferee.zip
+        unzip -q -o -d /tmp/tbots_download_cache/ /tmp/tbots_download_cache/autoReferee.zip
 
-    sudo mv /tmp/tbots_download_cache/autoReferee /opt/tbotspython/
-    rm -rf /tmp/tbots_download_cache/autoReferee.zip
+        /tmp/tbots_download_cache/AutoReferee-${autoref_commit}/./gradlew installDist -p /tmp/tbots_download_cache/AutoReferee-${autoref_commit} -Dorg.gradle.java.home=/opt/tbotspython/bin/jdk
+        mv /tmp/tbots_download_cache/AutoReferee-${autoref_commit}/build/install/autoReferee /opt/tbotspython/
+        rm -rf /tmp/tbots_download_cache/autoReferee.zip /tmp/tbots_download_cache/AutoReferee-${autoref_commit}
+    fi
 }
 
 install_bazel() {
@@ -34,48 +34,47 @@ install_clang_format() {
 
 install_cross_compiler() {
     file_name=aarch64-tbots-linux-gnu-for-aarch64
-    if is_x86 $1; then
-        file_name=aarch64-tbots-linux-gnu-for-x86
+    if is_darwin $1; then
+       full_file_name=$file_name.tar.xz
+       curl -L "https://raw.githubusercontent.com/UBC-Thunderbots/Software-External-Dependencies/refs/heads/main/toolchain/$full_file_name" \
+           -o /tmp/tbots_download_cache/$full_file_name
+       tar -xf /tmp/tbots_download_cache/$full_file_name -C /tmp/tbots_download_cache/
+       sudo mv /tmp/tbots_download_cache/aarch64-tbots-linux-gnu /opt/tbotspython
+       rm /tmp/tbots_download_cache/$full_file_name
+    else
+        if is_x86 $1; then
+            file_name=aarch64-tbots-linux-gnu-for-x86
+        fi
+        full_file_name=$file_name.tar.xz
+        wget https://raw.githubusercontent.com/UBC-Thunderbots/Software-External-Dependencies/refs/heads/main/toolchain/$full_file_name -O /tmp/tbots_download_cache/$full_file_name
+        tar -xf /tmp/tbots_download_cache/$full_file_name -C /tmp/tbots_download_cache/
+        sudo mv /tmp/tbots_download_cache/aarch64-tbots-linux-gnu /opt/tbotspython
+        rm /tmp/tbots_download_cache/$full_file_name
     fi
-    full_file_name=$file_name.tar.xz
-    wget https://raw.githubusercontent.com/UBC-Thunderbots/Software-External-Dependencies/refs/heads/main/toolchain/$full_file_name -O /tmp/tbots_download_cache/$full_file_name
-    tar -xf /tmp/tbots_download_cache/$full_file_name -C /tmp/tbots_download_cache/
-    sudo mv /tmp/tbots_download_cache/aarch64-tbots-linux-gnu /opt/tbotspython
-    rm /tmp/tbots_download_cache/$full_file_name
-}
-
-install_cross_compiler_mac() {
-    file_name=aarch64-tbots-linux-gnu-for-aarch64
-    full_file_name=$file_name.tar.xz
-    curl -L "https://raw.githubusercontent.com/UBC-Thunderbots/Software-External-Dependencies/refs/heads/main/toolchain/$full_file_name" \
-        -o /tmp/tbots_download_cache/$full_file_name
-    tar -xf /tmp/tbots_download_cache/$full_file_name -C /tmp/tbots_download_cache/
-    sudo mv /tmp/tbots_download_cache/aarch64-tbots-linux-gnu /opt/tbotspython
-    rm /tmp/tbots_download_cache/$full_file_name
 }
 
 install_gamecontroller () {
-    arch=arm64
-    if is_x86 $1; then
-        arch=amd64
+    if is_darwin $1; then
+        curl -L https://github.com/RoboCup-SSL/ssl-game-controller/archive/refs/tags/v3.17.0.zip -o /tmp/tbots_download_cache/ssl-game-controller.zip
+        unzip -q -o -d /tmp/tbots_download_cache/ /tmp/tbots_download_cache/ssl-game-controller.zip
+        cd /tmp/tbots_download_cache/ssl-game-controller-3.17.0
+        make install
+        go build cmd/ssl-game-controller/main.go
+        sudo mv main /opt/tbotspython/gamecontroller
+        sudo chmod +x /opt/tbotspython/gamecontroller
+
+        cd -
+        sudo rm -rf /tmp/tbots_download_cache/ssl-game-controller-3.17.0 /tmp/tbots_download_cache/go /tmp/tbots_download_cache/go.tar.gz /tmp/tbots_download_cache/ssl-game-controller.zip
+    else
+        arch=arm64
+        if is_x86 $1; then
+            arch=amd64
+        fi
+
+        wget https://github.com/RoboCup-SSL/ssl-game-controller/releases/download/v3.16.1/ssl-game-controller_v3.16.1_linux_${arch} -O /tmp/tbots_download_cache/gamecontroller
+        sudo mv /tmp/tbots_download_cache/gamecontroller /opt/tbotspython/gamecontroller
+        sudo chmod +x /opt/tbotspython/gamecontroller
     fi
-
-    wget https://github.com/RoboCup-SSL/ssl-game-controller/releases/download/v3.16.1/ssl-game-controller_v3.16.1_linux_${arch} -O /tmp/tbots_download_cache/gamecontroller
-    sudo mv /tmp/tbots_download_cache/gamecontroller /opt/tbotspython/gamecontroller
-    sudo chmod +x /opt/tbotspython/gamecontroller
-}
-
-install_gamecontroller_macos () {
-    curl -L https://github.com/RoboCup-SSL/ssl-game-controller/archive/refs/tags/v3.17.0.zip -o /tmp/tbots_download_cache/ssl-game-controller.zip
-    unzip -q -o -d /tmp/tbots_download_cache/ /tmp/tbots_download_cache/ssl-game-controller.zip
-    cd /tmp/tbots_download_cache/ssl-game-controller-3.17.0
-    make install
-    go build cmd/ssl-game-controller/main.go
-    sudo mv main /opt/tbotspython/gamecontroller
-    sudo chmod +x /opt/tbotspython/gamecontroller
-
-    cd -
-    sudo rm -rf /tmp/tbots_download_cache/ssl-game-controller-3.17.0 /tmp/tbots_download_cache/go /tmp/tbots_download_cache/go.tar.gz /tmp/tbots_download_cache/ssl-game-controller.zip
 }
 
 install_java () {
@@ -90,17 +89,6 @@ install_java () {
     rm /tmp/tbots_download_cache/jdk-21.tar.gz
 }
 
-install_java_macos () {
-    java_home=""
-    java_download=https://download.oracle.com/java/21/latest/jdk-21_macos-aarch64_bin.tar.gz
-    curl -L $java_download -o /tmp/tbots_download_cache/jdk-21.tar.gz
-    mkdir /tmp/tbots_download_cache/jdk
-    tar -xzf /tmp/tbots_download_cache/jdk-21.tar.gz -C /tmp/tbots_download_cache
-    sudo mv /tmp/tbots_download_cache/jdk-21*/Contents/Home /opt/tbotspython/bin/jdk
-    rm /tmp/tbots_download_cache/jdk-21.tar.gz
-    rm -rf /tmp/tbots_download_cache/jdk
-}
-
 install_python_dev_cross_compile_headers() {
     mkdir -p /opt/tbotspython/cross_compile_headers
     wget -N https://www.python.org/ftp/python/3.12.0/Python-3.12.0.tar.xz -O /tmp/tbots_download_cache/python-3.12.0.tar.xz
@@ -146,6 +134,14 @@ is_x86() {
     fi
 }
 
+is_darwin() {
+    if [[ $1 == "Darwin" ]]; then
+        return 0
+    else
+        return 1
+    fi
+}
+
 print_status_msg () {
    echo "================================================================"
    echo $1

From 2e7f57917ad8e63bfabfa2f2a1628961de115559 Mon Sep 17 00:00:00 2001
From: Minghao Li <lmh1230612306@163.com>
Date: Wed, 21 Jan 2026 22:43:19 -0800
Subject: [PATCH 18/18] address comments

---
 environment_setup/setup_software_mac.sh | 28 ++++++++-----------------
 1 file changed, 9 insertions(+), 19 deletions(-)

diff --git a/environment_setup/setup_software_mac.sh b/environment_setup/setup_software_mac.sh
index ee1e334c4e..b714235023 100755
--- a/environment_setup/setup_software_mac.sh
+++ b/environment_setup/setup_software_mac.sh
@@ -12,21 +12,9 @@ cd "$CURR_DIR" || exit
 
 source util.sh
 
-arch=$(uname -s)
-print_status_msg "Detected architecture: ${arch}"
-
-# Check for Homebrew and install if missing
-if ! command -v brew &>/dev/null; then
-    print_status_msg "Installing Homebrew..."
-    /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
-
-    # Configure Homebrew in current shell
-    if [ "$arch" = "arm64" ]; then
-        eval "$(/opt/homebrew/bin/brew shellenv)"
-    else
-        eval "$(/usr/local/bin/brew shellenv)"
-    fi
-fi
+# Since we only support MacOS Arm chips (M series), we can use "Darwin" as the identifier
+# for mac setup procedures and ignore the architecture for now.
+sys=$(uname -s)
 
 print_status_msg "Installing Utilities and Dependencies"
 
@@ -73,16 +61,16 @@ sudo pip install -r macos_requirements.txt
 print_status_msg "Done Setting Up Python Environment"
 
 print_status_msg "Fetching game controller"
-install_gamecontroller $arch
+install_gamecontroller $sys
 
 print_status_msg "Setting up TIGERS AutoRef"
-install_autoref $arch
+install_autoref $sys
 sudo chmod +x "$CURR_DIR/../src/software/autoref/run_autoref.sh"
 sudo cp "$CURR_DIR/../src/software/autoref/DIV_B.txt" "/opt/tbotspython/autoReferee/config/geometry/DIV_B.txt"
 print_status_msg "Finished setting up AutoRef"
 
 print_status_msg "Setting up cross compiler for robot software"
-install_cross_compiler $arch
+install_cross_compiler $sys
 print_status_msg "Done setting up cross compiler for robot software"
 
 print_status_msg "Setting Up Python Development Headers"
@@ -93,7 +81,9 @@ print_status_msg "Granting Permissions to /opt/tbotspython"
 sudo chown -R $(id -u):$(id -g) /opt/tbotspython
 print_status_msg "Done Granting Permissions to /opt/tbotspython"
 
-print_status_msg "Done Environment Configuration"
+print_status_msg "Set up ansible-lint"
+/opt/tbotspython/bin/ansible-galaxy collection install ansible.posix
+print_status_msg "Finished setting up ansible-lint"
 
 print_status_msg "Software Setup Complete"
 print_status_msg "Note: Some changes require a new terminal session to take effect"