Add aarch64 toolchain

.gitignore

@@ -17,3 +17,4 @@ bazel-*
 # python files
 __pycache__
 .ipynb_checkpoints
+.virtual_documents/

WORKSPACE

@@ -1,6 +1,23 @@
 workspace(name = "robot")
 load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 
+http_archive(
+  name = "aarch64-none-linux-gnu",
+  urls = [
+    "https://toolchains.bootlin.com/downloads/releases/toolchains/aarch64/tarballs/aarch64--glibc--bleeding-edge-2020.08-1.tar.bz2"
+  ],
+  strip_prefix="aarch64--glibc--bleeding-edge-2020.08-1",
+  build_file="//third_party:BUILD.aarch64-none-linux-gnu",
+  sha256 = "212f3c05f3b2263b0e2f902d055aecc2755eba10c0011927788a38faee8fc9aa"
+)
+
+http_archive(
+  name = "jetson_sysroot",
+  urls = ["https://www.dropbox.com/scl/fi/39qmmgn3mdnhj14sa21zl/cleaned_jetson.tar?rlkey=2fq8ynle042p6ojhprz3vjis3&dl=1"],
+  build_file = "//third_party:BUILD.jetson_sysroot",
+  integrity = "sha256-CVtgQSRXe8o2wMjNcJrxtlUxiHZY9ZQJ0kde8BkrTPw="
+)
+
 http_archive(
     name = "platforms",
     urls = [
@@ -14,6 +31,7 @@ register_toolchains(
   "//toolchain:clang_toolchain_for_linux_x84_64",
   "//toolchain:gcc_10_toolchain_for_linux_x84_64",
   "//toolchain:gcc_11_toolchain_for_linux_x84_64",
+  "//toolchain:gcc_toolchain_for_linux_aarch64",
 )
 
 http_archive(
@@ -105,7 +123,7 @@ py_repositories()
 DEFAULT_PYTHON_VERSION = "3.10"
 python_register_multi_toolchains(
   name="python",
-  python_versions = ['3.10', '3.8.10'],
+  python_versions = ['3.10', '3.8'],
   default_version = DEFAULT_PYTHON_VERSION
 )
 
@@ -115,11 +133,11 @@ multi_pip_parse(
   name="pip",
   default_version = DEFAULT_PYTHON_VERSION,
   python_interpreter_target = {
-    "3.8.10": "@python_3_8_10_host//:python",
+    "3.8": "@python_3_8_host//:python",
     "3.10": "@python_3_10_host//:python"
   },
   requirements_lock = {
-    "3.8.10": "//third_party/python:requirements_3_8_10.txt",
+    "3.8": "//third_party/python:requirements_3_8.txt",
     "3.10": "//third_party/python:requirements_3_10.txt"
   },
 )

common/python/BUILD

@@ -1,7 +1,7 @@
 load("@pip//:requirements.bzl", "requirement", "data_requirement")
 load("@pybind11_bazel//:build_defs.bzl", "pybind_extension")
 load("@rules_python//python:defs.bzl", "py_binary")
-load("@python//3.8.10:defs.bzl", py_test_3_8_10 = "py_test")
+load("@python//3.8:defs.bzl", py_test_3_8 = "py_test")
 
 py_binary(
   name = "jupyter_notebook",
@@ -47,8 +47,8 @@ py_test(
   data = [":pybind_example_python.so"],
 )
 
-py_test_3_8_10(
-  name = "pybind_example_3_8_10_test",
+py_test_3_8(
+  name = "pybind_example_3_8_test",
   srcs = ["pybind_example_test.py"],
   main = "pybind_example_test.py",
   data = [":pybind_example_python.so"],

common/python/README.md

@@ -9,7 +9,7 @@ To add new versions of Python, locate the `python_register_multi_toolchains` inv
 DEFAULT_PYTHON_VERSION = "3.10"
 python_register_multi_toolchains(
   name="python",
-  python_versions = ['3.10', '3.8.10'], # add new entry here
+  python_versions = ['3.10', '3.8'], # add new entry here
   default_version = DEFAULT_PYTHON_VERSION
 )
 
@@ -19,11 +19,11 @@ multi_pip_parse(
   name="pip",
   default_version = DEFAULT_PYTHON_VERSION,
   python_interpreter_target = {
-    "3.8.10": "@python_3_8_10_host//:python",
+    "3.8": "@python_3_8_host//:python",
     "3.10": "@python_3_10_host//:python"
   },
   requirements_lock = {
-    "3.8.10": "//third_party/python:requirements_3_8_10.txt",
+    "3.8": "//third_party/python:requirements_3_8.txt",
     "3.10": "//third_party/python:requirements_3_10.txt"
     # Add new entry here
   },

experimental/beacon_sim/BUILD

@@ -902,7 +902,10 @@ py_wheel(
   name = "beacon_sim_wheel",
   distribution = "beacon_sim",
   version = "0.0.1",
-  platform = "manylinux2014_x86_64",
+  platform = select({
+    "@platforms//cpu:x86_64": "manylinux2014_x86_64",
+    "@platforms//cpu:aarch64": "manylinux2014_aarch64",
+  }),
   python_tag = select({
     "@rules_python//python/config_settings:is_python_3.10": "cp310",
     "@rules_python//python/config_settings:is_python_3.8": "cp38",

third_party/BUILD.aarch64-none-linux-gnu

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

third_party/BUILD.jetson_sysroot

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

third_party/python/BUILD

@@ -1,13 +1,13 @@
 
-load("@python//3.8.10:defs.bzl", compile_pip_requirements_3_8_10 = "compile_pip_requirements")
+load("@python//3.8:defs.bzl", compile_pip_requirements_3_8 = "compile_pip_requirements")
 load("@python//3.10:defs.bzl", compile_pip_requirements_3_10 = "compile_pip_requirements")
 load("@rules_python//python:defs.bzl", "py_binary")
 load("@pip//:requirements.bzl", "requirement")
 
-compile_pip_requirements_3_8_10(
-  name = "requirements_3_8_10",
+compile_pip_requirements_3_8(
+  name = "requirements_3_8",
   requirements_in=":requirements.in",
-  requirements_txt=":requirements_3_8_10.txt",
+  requirements_txt=":requirements_3_8.txt",
   extra_args=["--allow-unsafe"],
   timeout="eternal",
 )

toolchain/BUILD

@@ -1,6 +1,7 @@
 
 load(":clang_toolchain_config.bzl", "clang_toolchain_config")
 load(":gcc_toolchain_config.bzl", "gcc_toolchain_config")
+load(":gcc_aarch64_toolchain_config.bzl", "gcc_aarch64_toolchain_config")
 
 package(default_visibility = ["//visibility:public"])
 
@@ -20,6 +21,10 @@ gcc_toolchain_config(
   gcc_version="10",
 )
 
+gcc_aarch64_toolchain_config(
+  name="aarch64_gcc_toolchain_config",
+)
+
 cc_toolchain(
   name="k8_clang_toolchain",
   all_files = ":empty",
@@ -101,6 +106,45 @@ toolchain(
   ],
 )
 
+filegroup(
+  name = "aarch64_wrapper_scripts",
+  srcs = [
+    ":aarch64-linux-ar.sh",
+    ":aarch64-linux-gcc.sh",
+    ":aarch64-linux-ld.sh",
+    "@aarch64-none-linux-gnu//:all",
+    "@jetson_sysroot"
+  ],
+)
+
+cc_toolchain(
+  name="aarch64_gcc_toolchain",
+  all_files = ":aarch64_wrapper_scripts",
+  ar_files = ":aarch64_wrapper_scripts",
+  as_files = ":aarch64_wrapper_scripts",
+  compiler_files = ":aarch64_wrapper_scripts",
+  strip_files = ":aarch64_wrapper_scripts",
+  objcopy_files = ":aarch64_wrapper_scripts",
+  linker_files = ":aarch64_wrapper_scripts",
+  dwp_files = ":empty",
+  toolchain_config = ":aarch64_gcc_toolchain_config",
+  supports_param_files=0,
+)
+
+toolchain(
+  name = "gcc_toolchain_for_linux_aarch64",
+  toolchain = ":aarch64_gcc_toolchain",
+  toolchain_type = "@bazel_tools//tools/cpp:toolchain_type",
+  exec_compatible_with = [
+    "@platforms//cpu:x86_64",
+    "@platforms//os:linux",
+  ],
+  target_compatible_with = [
+    "@platforms//cpu:aarch64",
+    "@platforms//os:linux",
+  ],
+)
+
 constraint_setting(name = "compiler")
 constraint_value(
   name="clang",
@@ -143,3 +187,11 @@ platform(
     "@platforms//os:linux",
   ]
 )
+
+platform(
+  name = "gcc_aarch64",
+  constraint_values = [
+    "@platforms//cpu:aarch64",
+    "@platforms//os:linux",
+  ]
+)

toolchain/aarch64-linux-ar.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+set -euo pipefail
+external/aarch64-none-linux-gnu/bin/aarch64-linux-ar "$@"

toolchain/aarch64-linux-gcc.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+set -euo pipefail
+external/aarch64-none-linux-gnu/bin/aarch64-linux-gcc "$@" 

toolchain/aarch64-linux-ld.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+set -euo pipefail
+external/aarch64-none-linux-gnu/bin/aarch64-linux-gcc "$@"

toolchain/aarch64/extract_sysroot.py

@@ -0,0 +1,140 @@
+#! /usr/bin/env python3
+
+# Note that this is not a bazel target
+import subprocess
+import tarfile
+import re
+import tempfile
+import os
+from pathlib import Path
+
+
+def build_docker_container():
+    label = "jetson_sysroot:latest"
+    DOCKERFILE_CONTENT = """
+    FROM nvcr.io/nvidia/l4t-base:35.4.1
+
+    RUN apt-get update && apt-get install libblas-dev liblapack-dev && rm -rf /var/lib/apt/lists/*
+    """
+    subprocess.run(["docker", "build",  "-t", label, '-'], input=DOCKERFILE_CONTENT, text=True)
+    return label
+
+
+def export_docker_filesystem(tag):
+    # Launch a container
+    result = subprocess.run(["docker", "run", "-dt", tag], capture_output=True, text=True)
+    container_id = result.stdout.strip()
+
+    TAR_FILE = "/tmp/jetson.tar"
+    with open(TAR_FILE, 'wb') as file_out:
+        subprocess.run(["docker", "export", container_id], stdout=file_out)
+
+    # Kill the container
+    subprocess.run(["docker", "kill", container_id])
+    return TAR_FILE
+
+
+def clean_up_tar_file(file_path):
+    paths_to_exclude = [
+        "^etc/(?!alternatives).*",
+        "^run/.*",
+        "^usr/sbin/.*",
+        "^usr/share.*",
+        "^var/.*",
+        "^usr/include/X11/.*",
+        "^usr/bin/X11.*",
+        "^usr/lib/python.*",
+        "^usr/lib/systemd.*",
+        "^usr/lib/udev.*",
+        "^usr/lib/apt.*",
+        "^usr/lib/aarch64-linux-gnu/perl.*",
+        "^usr/lib/aarch64-linux-gnu/gtk.*",
+        "^usr/lib/aarch64-linux-gnu/gstreamer.*",
+        "^usr/lib/aarch64-linux-gnu/gdk.*",
+        "^usr/lib/aarch64-linux-gnu/libLLVM.*",
+        "^usr/lib/aarch64-linux-gnu/libicudata.*",
+        "^usr/lib/aarch64-linux-gnu/dri/.*",
+        "^usr/lib/aarch64-linux-gnu/libcodec.*",
+        "^usr/lib/aarch64-linux-gnu/libavcodec.*",
+        "^usr/lib/aarch64-linux-gnu/libgtk.*",
+        "^usr/lib/aarch64-linux-gnu/librsvg.*",
+        "^usr/lib/python.*",
+    ]
+
+    f = tarfile.TarFile(file_path, mode='r')
+    remaining = []
+
+    size_total = 0
+    total = 0
+    size_kept = 0
+    kept = 0
+    for member in f:
+        total += 1
+        size_total += member.size
+        should_keep = True
+        # print('to test:', member.path)
+        for pattern in paths_to_exclude:
+            match = re.match(pattern, member.path)
+            # print('on pattern:', pattern, match)
+            if match is not None:
+                should_keep = False
+                break
+
+        if should_keep:
+            kept += 1
+            size_kept += member.size
+            remaining.append(member)
+
+    for member in remaining:
+        print(member, member.size / (1024 ** 2))
+
+    print(f" Files kept / total: {kept} / {total}")
+    print(f" Megabytes kept / total: {size_kept / 1024 / 1024} / {size_total / 1024 / 1024}")
+    CLEANED_TAR_FILE = "/tmp/cleaned_jetson.tar"
+    with tempfile.TemporaryDirectory() as tempdir:
+        f.extractall(path=tempdir, members=remaining)
+        f.close()
+
+        # make some symlinks
+        for obj in ["crt1.o", "crti.o", "crtn.o"]:
+            src_path = os.path.join(tempdir, f'lib/aarch64-linux-gnu/{obj}')
+            target_path = os.path.join(tempdir, f'lib/{obj}')
+
+            target_dir = os.path.dirname(target_path)
+            source_dir = os.path.dirname(src_path)
+            rel_src = os.path.relpath(src_path, target_dir)
+            print(f'src: {src_path} target: {target_path} target_dir: {target_dir} rel_src: {rel_src}')
+            os.symlink(rel_src, target_path)
+
+        # edit /lib/aarch64-linux-gnu/libc.so
+        libc_path = Path(tempdir) / 'lib/aarch64-linux-gnu/libc.so'
+        contents = libc_path.read_text()
+        contents = contents.replace('/usr/lib/aarch64-linux-gnu/', '')
+        contents = contents.replace('/lib/aarch64-linux-gnu/', '')
+        libc_path.write_text(contents)
+
+        cleaned = tarfile.TarFile(CLEANED_TAR_FILE, mode='w')
+        cleaned.add(tempdir, arcname='/')
+        cleaned.close()
+    return CLEANED_TAR_FILE
+
+
+
+def main():
+    # Build the docker container
+    print('Building Docker Container')
+    tag = build_docker_container()
+
+    # Export the filesystem as a tar file
+    print('Exporting Docker Container')
+    file_path = export_docker_filesystem(tag)
+
+    # Remove unneeded files
+    print('Removing Unneeded files')
+    cleaned_file_path = clean_up_tar_file(file_path)
+    print(cleaned_file_path)
+
+
+if __name__ == "__main__":
+    main()
+