Andrewyx/Upgrade Bazel 8

.github/workflows/main.yml

@@ -35,17 +35,17 @@ jobs:
             -//software/ai/hl/...                   \
             -//software/field_tests/...             \
             -//software/embedded/...                \
-            -//cc_toolchain/...
+            -//toolchains/cc/...
 
       - name: Jetson Nano Build Test
         run: |
           cd src
-          bazel build //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=NANO --platforms=//cc_toolchain:robot
+          bazel build //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=NANO --platforms=//toolchains/cc:robot
 
       - name: Raspberry Pi Build Test
         run: |
           cd src
-          bazel build //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=PI --platforms=//cc_toolchain:robot
+          bazel build //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=PI --platforms=//toolchains/cc:robot
 
 
   software-tests:
@@ -68,7 +68,7 @@ jobs:
             -//software/ai/hl/...            \
             -//software/field_tests/...      \
             -//software/ai/navigator/...     \
-            -//cc_toolchain/...
+            -//toolchains/cc/...
 
   robot-tests:
     name: Robot Software Tests
@@ -97,13 +97,13 @@ jobs:
       - name: Jetson Nano Build
         run: |
          cd src
-         bazel build //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=NANO --platforms=//cc_toolchain:robot
+         bazel build //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=NANO --platforms=//toolchains/cc:robot
 
 
       - name: Raspberry Pi Build
         run: |
          cd src
-         bazel build //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=PI --platforms=//cc_toolchain:robot
+         bazel build //software/embedded:thunderloop_main --copt=-O3 --//software/embedded:host_platform=PI --platforms=//toolchains/cc:robot
 
 
   simulated-gameplay-tests:
@@ -112,7 +112,7 @@ jobs:
     steps:
       # checks-out the repository under $GITHUB_WORKSPACE
       - uses: actions/checkout@v4
-        
+
       - name: Environment Setup
         run: |
           "${GITHUB_WORKSPACE}"/environment_setup/setup_software.sh

environment_setup/ubuntu20_requirements.txt

@@ -10,3 +10,4 @@ PyOpenGL==3.1.6
 ruff==0.5.5
 pyqt-toast-notification==1.3.2
 md-toc==9.0.0
+grpcio-tools==1.71.0

environment_setup/ubuntu22_requirements.txt

@@ -11,3 +11,4 @@ numpy==1.26.4
 ruff==0.5.5
 pyqt-toast-notification==1.3.2
 md-toc==9.0.0
+grpcio-tools==1.71.0

environment_setup/ubuntu24_requirements.txt

@@ -8,3 +8,4 @@ PyOpenGL==3.1.6
 ruff==0.5.5
 pyqt-toast-notification==1.3.2
 md-toc==9.0.0
+grpcio-tools==1.71.0

environment_setup/util.sh

@@ -9,12 +9,11 @@ install_autoref() {
 }
 
 install_bazel() {
-    download=https://github.com/bazelbuild/bazel/releases/download/5.4.0/bazel-5.4.0-linux-arm64
+    download=https://github.com/bazelbuild/bazelisk/releases/download/v1.26.0/bazelisk-linux-arm64 
 
     if is_x86 $1; then
-        download=https://github.com/bazelbuild/bazel/releases/download/5.4.0/bazel-5.4.0-linux-x86_64
+        download=https://github.com/bazelbuild/bazelisk/releases/download/v1.26.0/bazelisk-linux-amd64
     fi
-
     wget -nc $download -O /tmp/tbots_download_cache/bazel
     sudo mv /tmp/tbots_download_cache/bazel /usr/bin/bazel
     sudo chmod +x /usr/bin/bazel
@@ -96,28 +95,35 @@ install_java () {
 }
 
 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
+    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
     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
+    else
+        CONFIG_SITE=config.site-aarch64 ./configure \
+            --build=aarch64-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
     fi
+    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
 }
 
 is_x86() {

scripts/compile_pip_requirements.sh

@@ -15,8 +15,8 @@ CURR_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 BAZEL_ROOT_DIR="$CURR_DIR/../src"
 
 cd $BAZEL_ROOT_DIR
-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
+bazel run //starlark/nanopb:requirements.update

scripts/lint_and_format.sh

@@ -48,7 +48,7 @@ function run_clang_format () {
 function run_bazel_formatting () {
     printf "Running bazel buildifier to format all bazel BUILD files...\n\n"
     cd $BAZEL_ROOT_DIR
-    bazel run @com_github_bazelbuild_buildtools//:buildifier
+    bazel run //starlark/buildifier:buildifier.fix
 
     if [[ "$?" != 0 ]]; then
         printf "\n***Failed to format bazel BUILD files!***\n\n"

src/.bazelrc

@@ -1,28 +1,20 @@
-
-# We rely on all symbols being included when linking for our implementation of
-# the "factory" design pattern.
-build --incompatible_remove_legacy_whole_archive=False
+################## Base Bazel Configs ##################
+common --enable_bzlmod
+common --lockfile_mode=update
+common --noincompatible_disallow_empty_glob # Allow globs to be empty without failing
+common --incompatible_disallow_struct_provider_syntax=false
 
 # We want bazel to output the results of our gtests
 test --test_output=all
 
-# Use Our Custom Toolchain
-build --crosstool_top=//cc_toolchain:toolchain
-
-# Add warnings to Thunderbots code only
-build --per_file_copt=//proto/.*,//proto/message_translation/.*,//proto/primitive/.*,//software/.*,//shared/.*@-Wall,-Wextra,-Wconversion,-Wno-unused-parameter,-Wno-deprecated,-Werror,-Wno-deprecated-declarations
+################## Bazel Debug Configs ##################
 
-# Warn variable length arrays only when compiling cpp
-build --per_file_copt=.*\.cpp@-Wvla
-
-# Automatically set the CPU environment based on the `--cpu` flag as per our
-# defined CPU environments
-build --auto_cpu_environment_group=//cc_toolchain:cpus
+# Enable the following commands to debug Bazel. Note that the additional overhead from these commands will
+# cause CI to fail
+# common --verbose_failures
+# common --sandbox_debug
 
-# Use a local directory as a remote cache. This shares artifacts when switching
-# between git branches or workspaces for the same project.
-# See https://docs.bazel.build/versions/master/remote-caching.html#disk-cache
-build --disk_cache=~/.cache/thunderbots_bazel_disk_cache
+################ Machine Configurations ################
 
 # The XDR_RUNTIME_DIR and DISPLAY environment variables must be passed to the tests
 # so that our GUIs can be enabled for simulated tests. This is needed for Qt
@@ -34,6 +26,54 @@ build --test_env=DISPLAY
 build --action_env=PYTHON_BIN_PATH=/opt/tbotspython/bin/python3.12
 build --action_env=PYTHON_LIB_PATH=/opt/tbotspython/lib/python3.12
 
-# Enable the new cc_toolchain resolution strategy
-# #TODO(#3382): Delete when we upgrade to Bazel 7.0
-build --incompatible_enable_cc_toolchain_resolution
+# Automatically set the CPU environment based on the `--cpu` flag as per our
+# defined CPU environments
+build --auto_cpu_environment_group=//toolchains/cc:cpus
+
+# Use Our Custom Toolchain
+build --crosstool_top=//toolchains/cc:toolchain
+common --features=external_include_paths
+
+################# Build Optimizations #################
+
+# Use a local directory as a remote cache. This shares artifacts when switching
+# between git branches or workspaces for the same project.
+# See https://docs.bazel.build/versions/master/remote-caching.html#disk-cache
+build --disk_cache=~/.cache/thunderbots_bazel_disk_cache
+
+build --experimental_remote_merkle_tree_cache # partial repo caching optimization
+build --incompatible_enable_proto_toolchain_resolution # protoc caching
+
+# Ensure that we don't accidentally build gRPC
+common --per_file_copt=external/.*grpc.*@--GRPC_WAS_NOT_SUPPOSED_TO_BE_BUILT
+common --host_per_file_copt=external/.*grpc.*@--GRPC_WAS_NOT_SUPPOSED_TO_BE_BUILT
+
+################# Build Configurations #################
+# Lock C++ version
+build --cxxopt="-std=c++2a"
+# Warn variable length arrays only when compiling cpp
+build --per_file_copt=.*\.cpp@-Wvla
+
+# Enable runfiles symlink tree
+build --enable_runfiles
+
+# Allow usage of platform specific .bazelrc configs (e.g. build:linux, common:windows, etc)
+common --enable_platform_specific_config
+
+# We rely on all symbols being included when linking for our implementation of
+# the "factory" design pattern.
+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
+# TODO: #3492
+# build --per_file_copt=software/.*,shared/.*,-external/.*@-Wconversion
+
+build --per_file_copt=.*\.pb\.(h|cc|cpp)$@-w
+build --per_file_copt=./external/.*,./bazel-out/.*@-w
+
+############## External Deps Compatibility ##############
+build --noincompatible_disallow_ctx_resolve_tools
+build --check_direct_dependencies=off
+

src/.bazelversion

@@ -1 +1 @@
-5.4.0
+8.2.1

src/BUILD

@@ -1,6 +1,5 @@
-load("@rules_python//python:defs.bzl", "py_runtime")
-load("@rules_python//python:defs.bzl", "py_runtime_pair")
 load("@hedron_compile_commands//:refresh_compile_commands.bzl", "refresh_compile_commands")
+load("@rules_python//python:defs.bzl", "py_runtime", "py_runtime_pair")
 
 # Generates compile_commands.json
 refresh_compile_commands(