Add macOS ARM support for Thunderscope

.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
+

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
+

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"

environment_setup/setup_software_mac.sh

@@ -0,0 +1,90 @@
+#!/bin/bash
+#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~#
+# 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
+
+# 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=$(uname -s)
+
+print_status_msg "Installing Utilities and Dependencies"
+
+# Update Homebrew
+brew update
+
+# Install required packages
+host_software_packages=(
+    cmake@4
+    python@3.12
+    bazelisk
+    openjdk@21
+    pyqt@6
+    qt@6
+    node@20
+    go@1.24
+    clang-format@20
+)
+
+for pkg in "${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 $sys
+
+print_status_msg "Setting up TIGERS AutoRef"
+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 $sys
+print_status_msg "Done setting up cross compiler for robot software"
+
+print_status_msg "Setting Up Python Development Headers"
+install_python_toolchain_headers
+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 "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"
+

environment_setup/util.sh

@@ -1,11 +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}
+        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/${autoref_commit}.zip -O /tmp/tbots_download_cache/autoReferee.zip
+        unzip -q -o -d /tmp/tbots_download_cache/ /tmp/tbots_download_cache/autoReferee.zip
+
+        /tmp/tbots_download_cache/AutoReferee-${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() {
@@ -25,25 +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_gamecontroller () {
-    arch=arm64
-    if is_x86 $1; then
-        arch=amd64
-    fi
+    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_${arch} -O /tmp/tbots_download_cache/gamecontroller
-    sudo mv /tmp/tbots_download_cache/gamecontroller /opt/tbotspython/gamecontroller
-    sudo chmod +x /opt/tbotspython/gamecontroller
+        wget https://github.com/RoboCup-SSL/ssl-game-controller/releases/download/v3.16.1/ssl-game-controller_v3.16.1_linux_${arch} -O /tmp/tbots_download_cache/gamecontroller
+        sudo mv /tmp/tbots_download_cache/gamecontroller /opt/tbotspython/gamecontroller
+        sudo chmod +x /opt/tbotspython/gamecontroller
+    fi
 }
 
 install_java () {
@@ -90,6 +121,11 @@ install_python_dev_cross_compile_headers() {
     rm -rf /tmp/tbots_download_cache/python-3.12.0.tar.xz
 }
 
+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/
+}
+
 is_x86() {
     if [[ $1 == "x86_64" ]]; then
         return 0
@@ -98,6 +134,14 @@ is_x86() {
     fi
 }
 
+is_darwin() {
+    if [[ $1 == "Darwin" ]]; then
+        return 0
+    else
+        return 1
+    fi
+}
+
 print_status_msg () {
    echo "================================================================"
    echo $1

src/.bazelrc

@@ -66,7 +66,7 @@ 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 --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
 

src/MODULE.bazel

@@ -274,7 +274,7 @@ 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(

src/extlibs/er_force_sim/src/amun/simulator/simulator.cpp

@@ -677,12 +677,13 @@ 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())

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(robot_id, primitive));
+                    google::protobuf::MapPair<uint32_t, TbotsProto::Primitive>(
+                        robot_id, primitive));
             }
 
             robots = remaining_robots;

src/software/logger/BUILD

@@ -9,6 +9,7 @@ cc_library(
         "log_merger.h",
     ],
     deps = [
+        ":compat_flags",
         "@g3log",
     ],
 )
@@ -19,9 +20,13 @@ cc_library(
         "custom_logging_levels.h",
         "logger.h",
     ],
-    linkopts = ["-lstdc++fs"],
+    linkopts = select({
+        "@platforms//os:linux": ["-lstdc++fs"],
+        "//conditions:default": [],
+    }),
     deps = [
         ":coloured_cout_sink",
+        ":compat_flags",
         ":csv_sink",
         ":log_merger",
         ":plotjuggler_sink",
@@ -103,6 +108,7 @@ cc_library(
         "custom_logging_levels.h",
     ],
     deps = [
+        ":compat_flags",
         "@g3log",
     ],
 )
@@ -182,10 +188,16 @@ cc_library(
         "proto_logger.h",
     ],
     deps = [
+        ":compat_flags",
         "//proto:tbots_cc_proto",
         "//software/multithreading:thread_safe_buffer",
         "@base64",
         "@boost//:filesystem",
         "@zlib",
     ],
 )
+
+cc_library(
+    name = "compat_flags",
+    srcs = ["compat_flags.h"],
+)

src/software/logger/compat_flags.h

@@ -0,0 +1,17 @@
+#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

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) {}
 

src/software/logger/log_merger.cpp

@@ -11,8 +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 =
-            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);
@@ -38,8 +37,7 @@ 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)