Add macOS ARM support for Thunderscope #3496

Lmh-java · 2025-09-21T21:15:02Z

closes #3529

Description

This PR introduces native macOS ARM support for Thunderscope.

Currently, this PR is experimental and is just providing a minimal working demo on my macbook M1.

Out of scope for this PR:

Cross-compilation and robot hardware interactions
Support for Intel (x86) MacBooks

Testing Done

Run extensive tests on additional macOS ARM machines. My current laptop includes many pre-installed developer tools, so the setup script may need updates to ensure a clean installation experience.
Verify functionality on Ubuntu machines to confirm no regressions were introduced.

TODO List

For this PR:

Open issues for any newly identified TODO items
Fix the broken local_new_repositories and confirm compatibility with Ubuntu
Separate linux and macos requirements lock files, because evdev does not exist for macos.

Maybe for future PRs or possibly this PR:

If necessary, re-implement handheld controller widgets using a macOS-compatible library
Deduplicate TbotsProto.ObstacleList to prevent system network buffer overload (TrajectoryPlanner improvements #3104). This is impacting the stability of thunderscope on macOS. I am currently working on a sliding window cache that hopefully can mitigate this issue.

x4132 · 2025-10-19T00:09:29Z

environment_setup/util.sh

+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
+}
+


Java Installed already from brew, I don't think we need this

You need a specific version of Java for autoref (Java 21)

I suppose you're using the autoref binary package, so you can probably ignore this

itsarune

Left a few comments

itsarune · 2025-10-20T15:25:30Z

environment_setup/util.sh

+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
+}
+


I suppose you're using the autoref binary package, so you can probably ignore this

itsarune · 2025-10-20T15:30:32Z

environment_setup/util.sh

Consider using uname -s for "Darwin" and merge into the non-mac version of these functions to reduce clutter

itsarune · 2025-10-20T15:35:22Z

environment_setup/setup_software_mac.sh

You should make sure you're using the same c++ compuler version as Ubuntu (to minimize the number of c++ compatibility changes that are needed)

itsarune · 2025-10-20T15:38:36Z

src/software/thunderscope/robot_diagnostics/BUILD

-        requirement("evdev"),
-    ],
+    ] + select({
+        # TODO: remove this selection when we replace evdev to


Tag an issue with the TODO

Can you use the target_compatible_with attribute?

https://bazel.build/reference/be/common-definitions#common.target_compatible_with

I think that was the first thing we have tried, but it breaks the dependency tree because other targets depending one this are all marked incompatible. I will do more test on this.

itsarune · 2025-11-22T02:27:50Z

src/software/thunderscope/robot_diagnostics/handheld_controller_widget.py


-import evdev
-from evdev import ecodes
+# TODO: remove the try-catch when we rewrite this with macOS-compatible lib


Maybe we don't need this with this change: https://github.com/UBC-Thunderbots/Software/pull/3496/files#r2551713285

itsarune · 2025-11-22T02:29:03Z

src/.bazelrc

 # 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


Ideally these flags would also work on macos

Yep, ideally it should also work on macos, but because the macos clang compiler is stricter than linux and reports millions of new errors (converted from warnings). :(

itsarune

Left some comments

Andrewyx · 2025-11-22T02:48:09Z

Left some comments

I think we are getting close w/ getting this working, I put in a PR last week to hopefully reconcile some bazel hermiticity issues and we'll run a test this week to check if it actually works on anyone else's machines aside from minghao's.

nycrat · 2025-11-30T07:32:20Z

environment_setup/setup_software_mac.sh

+    qt@6
+    node@20
+    [email protected]
+    clang-format@20


just a note, we did switch to clang-format-14 in #3499 which affects the formatting

nycrat · 2025-12-03T01:40:19Z

Just a note, I did get this working on my m1 macbook as well. I did however have to resolve some c++ compatibility issues, and also update the package required for bazel refresh_compile_commands to resolve a bug. I'm not sure if these issues were also present on your macbook?

We should definitely test some time with a clean install, and to test all scripts and commands that we want to support for mac to make sure they also work.

Lmh-java · 2025-12-06T19:08:48Z

@nycrat
Yes, we have seen this resolve some c++ compatibility issues on Annie's laptop as well, and I have the same fix.

Personally, I dont use the refresh_compile_commands. That's a great catch. I think it is less likely to affect ubuntu users by just updating the version. I will cherry-pick your commit onto this.

Lmh-java force-pushed the lmh/macos-support-new branch 2 times, most recently from 3ca31a1 to c308ffb Compare October 18, 2025 18:51

Lmh-java changed the title ~~[DRAFT] Add macOS ARM support for Thunderscope~~ Add macOS ARM support for Thunderscope Oct 18, 2025

x4132 reviewed Oct 19, 2025

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itsarune reviewed Oct 20, 2025

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Andrewyx mentioned this pull request Nov 11, 2025

Nanopb Compiplation Refactor & Protobuf Cleanup #3525

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4 tasks

Lmh-java added 11 commits November 15, 2025 11:26

add DS_Store to gitignore

9d55cf0

add macos setup script

a27eefc

setup cross compiler headers

16fff77

selectively ignore evdev

999a3e0

add chrono clock compat

b8f3534

add compat flags

d32fb6d

do not link lstdc

11fcb39

add evdev import guards

068f212

selectively set network interface based on platform

4d2b6e9

revert requirements.txt and generate mac specific

42a0793

resolve ubuntu failure

d6b303d

Lmh-java force-pushed the lmh/macos-support-new branch from c308ffb to d6b303d Compare November 15, 2025 19:28

update req lock for linux

c85da81

itsarune reviewed Nov 22, 2025

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change bazelrc

49e0b0a

nycrat reviewed Nov 30, 2025

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nycrat mentioned this pull request Dec 2, 2025

Git hook to prevent unformatted code from being committed #3502

Open

4 tasks

Lmh-java marked this pull request as ready for review December 6, 2025 19:06

Lmh-java requested review from sauravbanna and williamckha as code owners December 6, 2025 19:06

Lmh-java requested a review from Andrewyx as a code owner December 6, 2025 19:06

pre-commit-ci-lite bot and others added 4 commits December 6, 2025 19:13

[pre-commit.ci lite] apply automatic fixes

1ee0a58

add cpp template type

6642aa2

[pre-commit.ci lite] apply automatic fixes

34b2338

refactor setup script

822d644

Add macOS ARM support for Thunderscope #3496

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Lmh-java Nov 22, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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Andrewyx commented Nov 22, 2025

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nycrat commented Dec 3, 2025

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