Investigate On-Robot Diagnostics Through a CLI Interface (#3379)

Author: Andrewyx

environment_setup/setup_software.sh

@@ -186,6 +186,10 @@ print_status_msg "Install clang-format"
 install_clang_format $arch
 print_status_msg "Done installing clang-format"
 
+print_status_msg "Setting Up Python Development Headers"
+install_python_dev_cross_compile_headers $arch
+print_status_msg "Done Setting Up Python Development Headers"
+
 print_status_msg "Setting Up PlatformIO"
 
 # setup platformio to compile arduino code

environment_setup/util.sh

@@ -76,6 +76,31 @@ install_java () {
     mv /opt/tbotspython/jdk-21* /opt/tbotspython/bin/jdk
 }
 
+install_python_dev_cross_compile_headers() {
+    if is_x86 $1; then
+        mkdir -p /opt/tbotspython/cross_compile_headers
+        wget -N https://www.python.org/ftp/python/3.12.0/Python-3.12.0.tar.xz -O /tmp/tbots_download_cache/python-3.12.0.tar.xz
+        tar -xf /tmp/tbots_download_cache/python-3.12.0.tar.xz -C /tmp/tbots_download_cache/
+        cd /tmp/tbots_download_cache/Python-3.12.0
+
+        # The configuration is taken from the examples provided in https://docs.python.org/3.12/using/configure.html
+        echo ac_cv_buggy_getaddrinfo=no > config.site-aarch64
+        echo ac_cv_file__dev_ptmx=yes >> config.site-aarch64
+        echo ac_cv_file__dev_ptc=no >> config.site-aarch64
+        CONFIG_SITE=config.site-aarch64 ./configure \
+            --build=x86_64-pc-linux-gnu \
+            --host=aarch64-unknown-linux-gnu \
+            -with-build-python=/usr/bin/python3.12 \
+            --enable-optimizations \
+            --prefix=/opt/tbotspython/cross_compile_headers > /dev/null
+        make inclinstall -j$(nproc) > /dev/null
+
+        cd -
+        rm -rf /tmp/tbots_download_cache/Python-3.12.0
+        rm -rf /tmp/tbots_download_cache/python-3.12.0.tar.xz
+    fi
+}
+
 is_x86() {
     if [[ $1 == "x86_64" ]]; then
         return 0

scripts/compile_pip_requirements.sh

@@ -19,3 +19,4 @@ bazel run //extlibs:nanopb_requirements.update
 bazel run //software/thunderscope:requirements.update
 bazel run //software/embedded/ansible:requirements.update
 bazel run //software/simulated_tests:requirements.update
+bazel run //software/embedded/robot_diagnostics_cli:requirements.update

src/BUILD

@@ -1,25 +1,5 @@
 load("@rules_python//python:defs.bzl", "py_runtime")
 load("@rules_python//python:defs.bzl", "py_runtime_pair")
-
-py_runtime(
-    name = "python3_runtime",
-    interpreter_path = "/opt/tbotspython/bin/python3",
-    python_version = "PY3",
-    visibility = ["//visibility:public"],
-)
-
-py_runtime_pair(
-    name = "py_runtime_pair",
-    py2_runtime = None,
-    py3_runtime = ":python3_runtime",
-)
-
-toolchain(
-    name = "py_toolchain",
-    toolchain = ":py_runtime_pair",
-    toolchain_type = "@bazel_tools//tools/python:toolchain_type",
-)
-
 load("@hedron_compile_commands//:refresh_compile_commands.bzl", "refresh_compile_commands")
 
 # Generates compile_commands.json

src/MODULE.bazel

@@ -1 +1,2 @@
 bazel_dep(name = "bazel_skylib", version = "1.5.0")
+bazel_dep(name = "rules_pkg", version = "1.0.1")

src/WORKSPACE

@@ -27,7 +27,12 @@ load("@rules_python//python:repositories.bzl", "py_repositories")
 
 py_repositories()
 
-register_toolchains("//:py_toolchain")
+register_toolchains("//py_toolchain:py_toolchain")
+
+register_toolchains(
+    "//py_toolchain:k8_jetson_nano_cross_compile_py_cc_toolchain",
+    "//py_toolchain:py_cc_toolchain_for_host_x86_64",
+)
 
 load("@rules_python//python:pip.bzl", "pip_parse")
 
@@ -55,10 +60,17 @@ pip_parse(
     requirements_lock = "//software/simulated_tests:requirements_lock.txt",
 )
 
+pip_parse(
+    name = "robot_diagnostics_cli_deps",
+    python_interpreter = "/opt/tbotspython/bin/python",
+    requirements_lock = "//software/embedded/robot_diagnostics_cli:requirements_lock.txt",
+)
+
 load("@nanopb_deps//:requirements.bzl", nanopb_install_deps = "install_deps")
 load("@thunderscope_deps//:requirements.bzl", thunderscope_install_deps = "install_deps")
 load("@ansible_deps//:requirements.bzl", ansible_install_deps = "install_deps")
 load("@simulated_tests_deps//:requirements.bzl", simulated_tests_install_deps = "install_deps")
+load("@robot_diagnostics_cli_deps//:requirements.bzl", robot_diagnostics_cli_install_deps = "install_deps")
 
 nanopb_install_deps()
 
@@ -68,6 +80,8 @@ ansible_install_deps()
 
 simulated_tests_install_deps()
 
+robot_diagnostics_cli_install_deps()
+
 all_contents = """filegroup(name = "all", srcs = glob(["**/**"]), visibility = ["//visibility:public"])"""
 
 http_archive(
@@ -275,6 +289,20 @@ go_rules_dependencies()
 
 go_register_toolchains()
 
+http_archive(
+    name = "rules_pkg",
+    sha256 = "d20c951960ed77cb7b341c2a59488534e494d5ad1d30c4818c736d57772a9fef",
+    strip_prefix = "rules_pkg-1.0.1/pkg",
+    urls = [
+        "https://mirror.bazel.build/github.com/bazelbuild/rules_pkg/releases/download/1.0.1/rules_pkg-1.0.1.tar.gz",
+        "https://github.com/bazelbuild/rules_pkg/releases/download/1.0.1/rules_pkg-1.0.1.tar.gz",
+    ],
+)
+
+load("@rules_pkg//:deps.bzl", "rules_pkg_dependencies")
+
+rules_pkg_dependencies()
+
 # Needed for bazel buildifier
 http_archive(
     name = "bazel_gazelle",
@@ -329,31 +357,24 @@ bind(
 
 http_archive(
     name = "pybind11_bazel",
-    sha256 = "9c2919136d7c3b4a4c4a4c0ac5eb97c101c5f59c417e4f1abe70c370b1590b73",
-    strip_prefix = "pybind11_bazel-2e5f4a6beece3b92d2f87744f305eb52b6852aa9",
-    urls = ["https://github.com/pybind/pybind11_bazel/archive/2e5f4a6beece3b92d2f87744f305eb52b6852aa9.zip"],
+    sha256 = "9df284330336958c837fb70dc34c0a6254dac52a5c983b3373a8c2bbb79ac35e",
+    strip_prefix = "pybind11_bazel-2.13.6",
+    urls = ["https://github.com/pybind/pybind11_bazel/releases/download/v2.13.6/pybind11_bazel-2.13.6.zip"],
 )
 
 # We still require the pybind library.
 http_archive(
     name = "pybind11",
-    build_file = "@pybind11_bazel//:pybind11.BUILD",
+    build_file = "@pybind11_bazel//:pybind11-BUILD.bazel",
     sha256 = "411f77380c43798506b39ec594fc7f2b532a13c4db674fcf2b1ca344efaefb68",
     strip_prefix = "pybind11-2.12.0",
     urls = ["https://github.com/pybind/pybind11/archive/refs/tags/v2.12.0.zip"],
 )
 
-load("@pybind11_bazel//:python_configure.bzl", "python_configure")
-
-python_configure(
-    name = "local_config_python",
-    python_version = "3",
-)
-
 # These headers are used by pybind11
 bind(
     name = "python_headers",
-    actual = "@local_config_python//:python_headers",
+    actual = "@rules_python//python/cc:current_py_cc_headers",
 )
 
 maybe(
@@ -398,3 +419,15 @@ register_toolchains(
     "//cc_toolchain:cc_toolchain_for_k8",
     "//cc_toolchain:cc_toolchain_for_aarch64",
 )
+
+new_local_repository(
+    name = "py_cc_toolchain_for_host_x86_64",
+    build_file = "@//extlibs:py_cc_toolchain.BUILD",
+    path = "/usr/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/",
+)

src/defs.bzl

@@ -0,0 +1,97 @@
+load("@rules_pkg//:providers.bzl", "PackageFilegroupInfo", "PackageFilesInfo", "PackageSymlinkInfo")
+
+# No idea how this works, refer to:
+# https://gist.github.com/pauldraper/7bc811ffbef6d3f3d4a4bb01afa9808f
+
+# For maintaining Bazel runfile tree structure during packaging
+def _runfile_path(workspace_name, file):
+    path = file.short_path
+    return path[len("../"):] if path.startswith("../") else "%s/%s" % (workspace_name, path)
+
+def _runfiles_pkg_files(workspace_name, runfiles):
+    files = {}
+    for file in runfiles.files.to_list():
+        files[_runfile_path(workspace_name, file)] = file
+    for file in runfiles.symlinks.to_list():
+        files[file.path] = "%s/%s" % (workspace_name, files.target_file)
+    for file in runfiles.root_symlinks.to_list():
+        files[file.path] = files.target_file
+
+    return PackageFilesInfo(
+        dest_src_map = files,
+        attributes = {"mode": "0755"},
+    )
+
+def _pkg_runfiles_impl(ctx):
+    runfiles = ctx.attr.runfiles[DefaultInfo]
+    label = ctx.label
+    workspace_name = ctx.workspace_name
+
+    runfiles_files = _runfiles_pkg_files(workspace_name, runfiles.default_runfiles)
+
+    pkg_filegroup_info = PackageFilegroupInfo(
+        pkg_dirs = [],
+        pkg_files = [(runfiles_files, label)],
+        pkg_symlinks = [],
+    )
+
+    default_info = DefaultInfo(files = depset(runfiles_files.dest_src_map.values()))
+
+    return [default_info, pkg_filegroup_info]
+
+pkg_runfiles = rule(
+    implementation = _pkg_runfiles_impl,
+    attrs = {
+        "runfiles": attr.label(
+            doc = "Runfiles.",
+            mandatory = True,
+        ),
+    },
+    provides = [PackageFilegroupInfo],
+)
+
+def _pkg_executable_impl(ctx):
+    bin = ctx.attr.bin[DefaultInfo]
+    bin_executable = ctx.executable.bin
+    path = ctx.attr.path
+    label = ctx.label
+    workspace_name = ctx.workspace_name
+
+    runfiles_files = _runfiles_pkg_files(workspace_name, bin.default_runfiles)
+    runfiles_files = PackageFilesInfo(
+        dest_src_map = {"%s.runfiles/%s" % (path, p): file for p, file in runfiles_files.dest_src_map.items()},
+        attributes = runfiles_files.attributes,
+    )
+
+    executable_symlink = PackageSymlinkInfo(
+        attributes = {"mode": "0755"},
+        destination = path,
+        source = "%s.runfiles/%s" % (path, _runfile_path(workspace_name, bin_executable)),
+    )
+
+    pkg_filegroup_info = PackageFilegroupInfo(
+        pkg_dirs = [],
+        pkg_files = [(runfiles_files, label)],
+        pkg_symlinks = [(executable_symlink, label)],
+    )
+
+    default_info = DefaultInfo(files = depset(runfiles_files.dest_src_map.values()))
+
+    return [default_info, pkg_filegroup_info]
+
+pkg_executable = rule(
+    implementation = _pkg_executable_impl,
+    attrs = {
+        "bin": attr.label(
+            doc = "Executable.",
+            executable = True,
+            cfg = "target",
+            mandatory = True,
+        ),
+        "path": attr.string(
+            doc = "Packaged path of executable. (Runfiles tree will be at <path>.runfiles.)",
+            mandatory = True,
+        ),
+    },
+    provides = [PackageFilegroupInfo],
+)

src/extlibs/py_cc_toolchain.BUILD

@@ -0,0 +1,12 @@
+package(default_visibility = ["//visibility:public"])
+
+filegroup(
+    name = "header_files",
+    srcs = glob(["**/*.h"]),
+)
+
+cc_library(
+    name = "headers",
+    hdrs = [":header_files"],
+    includes = ["."],
+)

src/py_toolchain/BUILD

@@ -0,0 +1,70 @@
+load("@rules_python//python/cc:py_cc_toolchain.bzl", "py_cc_toolchain")
+load("@rules_python//python:defs.bzl", "py_runtime")
+load("@rules_python//python:defs.bzl", "py_runtime_pair")
+
+py_runtime(
+    name = "python3_runtime",
+    interpreter_path = "/opt/tbotspython/bin/python3",
+    python_version = "PY3",
+    visibility = ["//visibility:public"],
+)
+
+py_runtime_pair(
+    name = "py_runtime_pair",
+    py2_runtime = None,
+    py3_runtime = ":python3_runtime",
+)
+
+toolchain(
+    name = "py_toolchain",
+    toolchain = ":py_runtime_pair",
+    toolchain_type = "@bazel_tools//tools/python:toolchain_type",
+)
+
+toolchain(
+    name = "py_cc_toolchain_for_host_x86_64",
+    exec_compatible_with = [
+        "@platforms//cpu:x86_64",
+        "@platforms//os:linux",
+    ],
+    target_compatible_with = [
+        "@platforms//cpu:x86_64",
+        "@platforms//os:linux",
+    ],
+    toolchain = ":py_cc_toolchain_for_host_x86_64_data",
+    toolchain_type = "@rules_python//python/cc:toolchain_type",
+)
+
+py_cc_toolchain(
+    name = "py_cc_toolchain_for_host_x86_64_data",
+    headers = "@py_cc_toolchain_for_host_x86_64//:headers",
+    libs = ":empty",
+    python_version = "3.12",
+)
+
+py_cc_toolchain(
+    name = "k8_jetson_nano_cross_compile_py_cc_toolchain_data",
+    headers = "@py_cc_toolchain_for_k8_jetson_nano_cross_compile//:headers",
+    libs = ":empty",
+    python_version = "3.12",
+)
+
+# We don't need this, but it's required by the py_cc_toolchain
+cc_library(
+    name = "empty",
+    visibility = ["//visibility:private"],
+)
+
+toolchain(
+    name = "k8_jetson_nano_cross_compile_py_cc_toolchain",
+    exec_compatible_with = [
+        "@platforms//cpu:x86_64",
+        "@platforms//os:linux",
+    ],
+    target_compatible_with = [
+        "@platforms//cpu:aarch64",
+        "@platforms//os:linux",
+    ],
+    toolchain = ":k8_jetson_nano_cross_compile_py_cc_toolchain_data",
+    toolchain_type = "@rules_python//python/cc:toolchain_type",
+)

src/software/embedded/ansible/BUILD

@@ -3,7 +3,6 @@ package(default_visibility = ["//visibility:public"])
 load("@rules_python//python:defs.bzl", "py_binary")
 load("@rules_python//python:pip.bzl", "compile_pip_requirements")
 load("@ansible_deps//:requirements.bzl", "requirement")
-load("@bazel_tools//tools/build_defs/pkg:pkg.bzl", "pkg_tar")
 
 compile_pip_requirements(
     name = "requirements",
@@ -26,6 +25,7 @@ py_binary(
         "//software/embedded/linux_configs/pi:pi_files",
         "//software/embedded/linux_configs/systemd:systemd_files",
         "//software/embedded/redis",
+        "//software/embedded/robot_diagnostics_cli:robot_diagnostics_cli_tar",
         "//software/embedded/services:robot_auto_test",
         "//software/power:powerloop_tar",
     ],