[DRAFT] Implement controller support with pygame for MacOS

.github/workflows/main.yml

@@ -2,9 +2,9 @@ name: Tbots CI
 
 on:
   push:
-    branches: [ master ]
+    branches: [ master, robocup_* ]
   pull_request:
-    branches: [ master ]
+    branches: [ master, robocup_* ]
   schedule:
     - cron: '0 8 * * *'  # 12 AM PST / 8 AM UTC
   workflow_dispatch:
@@ -151,16 +151,15 @@ jobs:
       - uses: ./.github/actions/environment-setup
 
       - name: Simulated Test Run
-          # TODO (#2908): reenable once field tests can be ran as simulated
-          # //software/gameplay_tests/...    \
         run: |
           cd src
           bazel test //software/gameplay_tests:requirements_test
           bazel test --copt=-O3 --flaky_test_attempts=3 --show_timestamps \
-            --test_arg="--ci_mode"            \
-            -- //software:unix_full_system       \
+            --test_arg="--ci_mode"                       \
+            -- //software:unix_full_system               \
             -//software/gameplay_tests:requirements_test \
-            //software/ai/hl/...              \
+            //software/simulation/...                    \
+            //software/ai/hl/...                         \
             //software/ai/navigator/...
 
       - name: Upload simulated test proto logs

.github/workflows/pre-commit.yml

@@ -2,9 +2,9 @@ name: auto-fixes with pre-commit
 
 on:
   push:
-    branches: [ master ]
+    branches: [ master, robocup_* ]
   pull_request:
-    branches: [ master ]
+    branches: [ master, robocup_* ]
     types: [ opened, reopened, synchronize, ready_for_review ]
 
 concurrency:

.gitignore

@@ -60,28 +60,6 @@ src/external/external
 *.log
 *.csv
 
-### Node ###
-
-# Dependencies
-*node_modules
-
-# Testing
-*coverage
-*.lcov
-
-# Production
-*build
-*dist
-
-# Node error log
-*npm-debug.log*
-*yarn-debug.log*
-*yarn-error.log*
-
-# Checksum
-*.checksum
-
-
 ### Default C++ gitignore ###
 
 # Prerequisites

environment_setup/setup_software.sh

@@ -75,7 +75,7 @@ host_software_packages=(
     libffi-dev # needed to use _ctypes in Python3
     libssl-dev # needed to build Python 3 with ssl support
     openssl # possibly also necessary for ssl in Python 3
-    sshpass #used to remotely ssh into robots via Ansible
+    sshpass # used to remotely ssh into robots via Ansible
     unzip # installing tigers autoref
     xvfb # used for CI to run GUI applications
 )

environment_setup/setup_software_mac.sh

@@ -32,6 +32,8 @@ host_software_packages=(
     node@20
     go@1.24
     clang-format@20
+    sshpass # used to remotely ssh into robots via Ansible
+    messense/macos-cross-toolchains/aarch64-unknown-linux-gnu # raspberry pi cross compiler
 )
 
 for pkg in "${host_software_packages[@]}"; do
@@ -72,9 +74,13 @@ print_status_msg "Install clang-format"
 install_clang_format $sys
 print_status_msg "Done installing clang-format"
 
-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 PlatformIO"
+sudo ln -s /opt/tbotspython/bin/platformio /usr/local/bin/platformio
+print_status_msg "Done PlatformIO Setup"
+
+print_status_msg "Setting up STM32 cross-compiler for motor board firmware"
+install_stm32_cross_compiler $sys
+print_status_msg "Done setting up STM32 cross-compiler"
 
 print_status_msg "Setting Up Python Development Headers"
 install_python_toolchain_headers

environment_setup/util.sh

@@ -38,23 +38,14 @@ install_clang_format() {
 
 install_cross_compiler() {
     file_name=aarch64-tbots-linux-gnu-for-aarch64
-    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
+    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
 }
 
 install_gamecontroller () {
@@ -127,14 +118,17 @@ install_python_dev_cross_compile_headers() {
 
 install_stm32_cross_compiler() {
     arch="aarch64"
-    if is_x86 $1; then
+    if is_darwin $1; then
+        arch="darwin-arm64"
+    elif is_x86 $1; then
         arch="x86_64"
     fi
-    download_link=https://developer.arm.com/-/media/Files/downloads/gnu/14.3.rel1/binrel/arm-gnu-toolchain-14.3.rel1-${arch}-arm-none-eabi.tar.xz
+    toolchain_name=arm-gnu-toolchain-14.3.rel1-${arch}-arm-none-eabi
+    download_link=https://developer.arm.com/-/media/Files/downloads/gnu/14.3.rel1/binrel/${toolchain_name}.tar.xz
 
     wget -N $download_link -O /tmp/tbots_download_cache/arm-gnu-toolchain.tar.xz
     tar -xf /tmp/tbots_download_cache/arm-gnu-toolchain.tar.xz -C /tmp/tbots_download_cache/
-    sudo mv /tmp/tbots_download_cache/arm-gnu-toolchain-14.3.rel1-${arch}-arm-none-eabi /opt/tbotspython/arm-none-eabi-gcc
+    sudo mv /tmp/tbots_download_cache/${toolchain_name} /opt/tbotspython/arm-none-eabi-gcc
     rm /tmp/tbots_download_cache/arm-gnu-toolchain.tar.xz
 }
 

src/MODULE.bazel

@@ -10,7 +10,7 @@ module(
 bazel_dep(name = "googletest", version = "1.15.2")
 bazel_dep(name = "platforms", version = "0.0.11")
 bazel_dep(name = "pybind11_bazel", version = "2.13.6")
-bazel_dep(name = "bazel_skylib", version = "1.7.1")
+bazel_dep(name = "bazel_skylib", version = "1.8.1")
 bazel_dep(name = "rules_pkg", version = "1.1.0")
 bazel_dep(name = "rules_foreign_cc", version = "0.14.0")
 bazel_dep(name = "rules_python", version = "1.4.1")
@@ -219,7 +219,7 @@ git_repository(
     name = "mdv6_firmware",
     build_file = "@//extlibs:mdv6_firmware.bzl",
     # Pinning to the exact commit guarantees Bazel will rebuild when this commit SHA is updated
-    commit = "7657fb1c63bccd506196c42ff1720928314977c7",  # latest commit on master branch
+    commit = "4341d96e9be1cb01f10d52f7e80326b84dbfb4ea",  # latest commit on master branch
     remote = "https://github.com/UBC-Thunderbots/MDv6_Firmware.git",
 )
 
@@ -250,6 +250,7 @@ register_toolchains(
 )
 
 register_toolchains(
+    "//toolchains/cc:cc_toolchain_for_macos_robot",
     "//toolchains/cc:cc_toolchain_for_k8_aarch64_linux",
     "//toolchains/cc:cc_toolchain_for_k8",
     "//toolchains/cc:cc_toolchain_for_aarch64",
@@ -286,6 +287,12 @@ new_local_repository(
     path = "/opt/tbotspython/aarch64-tbots-linux-gnu/",
 )
 
+new_local_repository(
+    name = "macos_robot_gcc",
+    build_file = "@//extlibs:macos_robot_gcc.BUILD",
+    path = "/opt/homebrew/opt/aarch64-unknown-linux-gnu/toolchain/",
+)
+
 new_local_repository(
     name = "motor_board_gcc",
     build_file = "@//extlibs:motor_board_gcc.BUILD",

src/cli/cli_params.py

@@ -90,6 +90,21 @@ class DebugBinary(str, Enum):
 EnableThunderscopeOption = Annotated[bool, Option("-t", "--enable_thunderscope")]
 StopAIOnStartOption = Annotated[bool, Option("-s", "--stop_ai_on_start")]
 
+TestModeOption = Annotated[
+    bool,
+    Option(
+        "--test_mode",
+        help="Launch Thunderscope with a widget to select and run gameplay tests",
+    ),
+]
+RunFieldTestOption = Annotated[
+    bool,
+    Option(
+        "--run_field_test",
+        help="In test mode, run field tests instead of simulated tests",
+    ),
+]
+
 JobsOption = Annotated[str, Option("-j", "--jobs")]
 RunsOption = Annotated[
     int,
@@ -166,6 +181,30 @@ class DebugBinary(str, Enum):
         title="Diagnostics",
         description="Run Thunderscope in diagnostics mode against real robots",
     ),
+    questionary.Choice(
+        title="Run blue",
+        description="run_blue",
+    ),
+    questionary.Choice(
+        title="Run yellow",
+        description="run_yellow",
+    ),
+    questionary.Choice(
+        title="Tests",
+        description="Launch with a widget to select and run gameplay tests",
+    ),
+]
+
+# Thunderscope test mode "Test type?" menu.
+TEST_TYPE_CHOICES = [
+    questionary.Choice(
+        title="Simulated tests",
+        description="Run gameplay tests against the simulator",
+    ),
+    questionary.Choice(
+        title="Field tests",
+        description="Run gameplay tests against real robots (requires an interface)",
+    ),
 ]
 
 # Thunderscope simulator "Options:" checkbox.
@@ -192,6 +231,20 @@ class DebugBinary(str, Enum):
     ),
 ]
 
+# Deploy robot software "Options:" checkbox. Each option compiles Thunderloop
+# with a preprocessor flag that disables the corresponding service, letting
+# Thunderloop run on a robot whose powerboard or motorboard is unavailable.
+DEPLOY_ROBOT_SOFTWARE_OPTION_CHOICES = [
+    questionary.Choice(
+        title="DISABLE_POWER_SERVICE",
+        description="Compile Thunderloop without the Power Service (no powerboard)",
+    ),
+    questionary.Choice(
+        title="DISABLE_MOTOR_SERVICE",
+        description="Compile Thunderloop without the Motor Service (no motorboard)",
+    ),
+]
+
 # Marker value returned by the DEBUG_POWERLOOP playbook choice. It maps to the
 # deploy_powerboard.yml playbook but additionally compiles powerloop_main with
 # the DEBUG_POWERLOOP flag, swapping in bare setup()/loop() stubs so arbitrary
@@ -222,3 +275,10 @@ class DebugBinary(str, Enum):
         description="Flash the motor controller firmware",
     ),
 ]
+
+
+THUNDERSCOPE_OPTIONS_MAP = {
+    "Diagnostics": "run_diagnostics",
+    "Run blue": "run_blue",
+    "Run yellow": "run_yellow",
+}

src/extlibs/macos_robot_gcc.BUILD

@@ -0,0 +1,6 @@
+package(default_visibility = ["//visibility:public"])
+
+filegroup(
+    name = "everything",
+    srcs = glob(["**"]),
+)

src/proto/message_translation/tbots_protobuf.cpp

@@ -436,9 +436,9 @@ std::optional<TrajectoryPath> createTrajectoryPathFromParams(
         return std::nullopt;
     }
 
-    KinematicConstraints constraints(max_speed,
-                                     robot_constants.robot_max_acceleration_m_per_s_2,
-                                     robot_constants.robot_max_deceleration_m_per_s_2);
+    KinematicConstraints constraints(
+        max_speed, robot_constants.robot_trajectory_max_acceleration_m_per_s_2,
+        robot_constants.robot_trajectory_max_deceleration_m_per_s_2);
 
     Point initial_destination = createPoint(params.destination());
     if (!params.sub_destinations().empty())

src/proto/message_translation/tbots_protobuf_test.cpp

@@ -166,9 +166,9 @@ TEST_P(TrajectoryParamConversionTest, trajectory_params_msg_test)
         TbotsProto::MaxAllowedSpeedMode::PHYSICAL_LIMIT;
     double max_speed = convertMaxAllowedSpeedModeToMaxAllowedSpeed(max_allowed_speed_mode,
                                                                    robot_constants);
-    KinematicConstraints constraints(max_speed,
-                                     robot_constants.robot_max_acceleration_m_per_s_2,
-                                     robot_constants.robot_max_deceleration_m_per_s_2);
+    KinematicConstraints constraints(
+        max_speed, robot_constants.robot_trajectory_max_acceleration_m_per_s_2,
+        robot_constants.robot_trajectory_max_deceleration_m_per_s_2);
 
     Point initial_destination = destination;
     if (!sub_destinations.empty())

src/shared/BUILD

@@ -22,7 +22,7 @@ cc_library(
 
 cc_library(
     name = "robot_constants",
-    srcs = [],
-    hdrs = [":robot_constants.h"],
+    srcs = ["robot_constants.cpp"],
+    hdrs = ["robot_constants.h"],
     deps = [":constants"],
 )

src/shared/constants.h

@@ -22,6 +22,13 @@ static const std::unordered_map<int, std::string> ROBOT_MULTICAST_CHANNELS = {
     {12, "ff02::c3d0:42d2:bb12"}, {13, "ff02::c3d0:42d2:bb13"},
     {14, "ff02::c3d0:42d2:bb14"}, {15, "ff02::c3d0:42d2:bb15"}};
 
+// the name of the loopback network interface, which differs across platforms
+#ifdef __APPLE__
+static const std::string LOOPBACK_INTERFACE = "lo0";
+#else
+static const std::string LOOPBACK_INTERFACE = "lo";
+#endif
+
 // PlotJuggler's default host and port
 static const std::string PLOTJUGGLER_GUI_DEFAULT_HOST        = "ff02::c3d0:42d2:aaaa";
 static const short unsigned int PLOTJUGGLER_GUI_DEFAULT_PORT = 9870;
@@ -213,17 +220,31 @@ static const unsigned int NUM_TIMES_SEND_STOP = 10;
 // disconnected
 static const double DISCONNECT_DURATION_MS = 1 * MILLISECONDS_PER_SECOND;
 
-// product and vendor id for Arduino Uno Rev3 (retrieved from
-// http://www.linux-usb.org/usb.ids )
-#define ARDUINO_ID_LENGTH 5
-static const char ARDUINO_VENDOR_ID[ARDUINO_ID_LENGTH]  = "2341";
-static const char ARDUINO_PRODUCT_ID[ARDUINO_ID_LENGTH] = "0043";
+// Vendor and product id pairs for the USB-to-serial adapters used by the
+// physical estop. Multiple pairs are supported since estop units may use
+// different adapters. IDs retrieved from http://www.linux-usb.org/usb.ids
+struct EstopUsbId
+{
+    const char* vendor_id;
+    const char* product_id;
+};
+
+constexpr EstopUsbId ESTOP_USB_DEVICE_IDS[] = {
+    {"2341", "0043"},  // Arduino Uno Rev3
+    {"1a86", "7523"},  // CH340-based Arduino clones
+};
+
+constexpr int NUM_ESTOP_USB_DEVICE_IDS =
+    sizeof(ESTOP_USB_DEVICE_IDS) / sizeof(ESTOP_USB_DEVICE_IDS[0]);
 
 // Number of times thunderloop should tick per second
 static const unsigned THUNDERLOOP_HZ = 300u;
 
 static const unsigned NUM_GENEVA_ANGLES = 5;
 
+
+static constexpr double RTT_S = 0.03;
+
 // Robot diagnostics constants
 constexpr double AUTO_CHIP_DISTANCE_DEFAULT_M     = 1.5;
 constexpr double AUTO_KICK_SPEED_DEFAULT_M_PER_S  = 1.5;