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Upgrade to Bazel 9.1.1 #3846

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c3475e6
Upgrade to Bazel 9.1.1
williamckha Jul 11, 2026
063ec2d
Fix CI
williamckha Jul 12, 2026
71440c5
Remove warning suppressions
williamckha Jul 12, 2026
1e13c7f
Revert addition of robot config in .bazelrc and fix robot_navigation_…
williamckha Jul 13, 2026
492d0ec
Add protoc to PATH to fix nanopb generator
williamckha Jul 13, 2026
42f0924
Ensure nanopb uses prebuilt protoc and fix nanopb protobuf compat issue
williamckha Jul 19, 2026
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1 change: 0 additions & 1 deletion .github/actions/environment-setup/action.yml
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Expand Up @@ -16,7 +16,6 @@ runs:
shell: bash
run: |
sudo rm -rf /usr/share/dotnet
sudo rm -rf /usr/local/lib/android

@williamckha williamckha Jul 12, 2026

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Seems like protobuf now depends on rules_android, which needs the Android SDK

sudo rm -rf /opt/ghc

- name: Run setup_software.sh
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4 changes: 2 additions & 2 deletions .github/workflows/main.yml
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Expand Up @@ -155,11 +155,11 @@ jobs:
# //software/gameplay_tests/... \
run: |
cd src
bazel test //software/gameplay_tests:requirements_test
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 \
-//software/gameplay_tests:requirements_test \
-//software/gameplay_tests:requirements.test \
//software/ai/hl/... \
//software/ai/navigator/...

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6 changes: 4 additions & 2 deletions src/.bazelrc
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Expand Up @@ -44,8 +44,9 @@ common --features=external_include_paths
# 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

@williamckha williamckha Jul 12, 2026

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It appears that this option is no longer supported

common --incompatible_enable_proto_toolchain_resolution # protoc caching
common --@protobuf//bazel/toolchains:prefer_prebuilt_protoc

@Andrewyx Andrewyx Jul 17, 2026

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I'm not sure that the prebuilt binaries will actually work in the nanopb pipeline for compiling the onboard protobufs. This will need to be tested with a real robot to verify, but for some context, this feature is simply the now upstream variant of the alex eagle toolchains protobuf repo. During the Bazel 8 migration, I had attempted to use this optimization (622a89a), but to no avail.

Here is the thread I inquired upon the issue with, but to no response aspect-archives/toolchains_protoc#21

I can't quite recall what exactly didn't work, so it is probably a good idea to test on-robot.

@williamckha williamckha Jul 19, 2026

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I think I've got the nanopb pipeline using prebuilt protoc now. bazel cquery deps(//proto:tbots_nanopb_proto) shows the prebuilt binary (@@protobuf++protoc+prebuilt_protoc.linux_x86_64//:bin/protoc) in the build graph instead of @protobuf//:protoc which builds from source.

common --incompatible_default_to_explicit_init_py

# Ensure that we don't accidentally build gRPC
common --per_file_copt=external/.*grpc.*@--GRPC_WAS_NOT_SUPPOSED_TO_BE_BUILT
Expand All @@ -54,6 +55,7 @@ common --host_per_file_copt=external/.*grpc.*@--GRPC_WAS_NOT_SUPPOSED_TO_BE_BUIL
################# Build Configurations #################
# Lock C++ version
build --cxxopt="-std=c++2a"

# Warn variable length arrays only when compiling cpp
build --per_file_copt=.*\.cpp@-Wvla

Expand All @@ -69,7 +71,7 @@ build --incompatible_remove_legacy_whole_archive=False

# Escalate Warnings to fail Compile for Thunderbots code
build --features=external_include_paths
build:linux --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 --per_file_copt=proto/.*,proto/message_translation/.*,proto/primitive/.*,software/.*,shared/.*,-external/.*@-Wall,-Wextra,-Wno-unused-parameter,-Wno-deprecated,-Wno-sign-compare,-Werror,-Wno-deprecated-declarations,-Wno-unused-result,-Wno-missing-field-initializers
# TODO: #3492
# build --per_file_copt=software/.*,shared/.*,-external/.*@-Wconversion

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2 changes: 1 addition & 1 deletion src/.bazelversion
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@@ -1 +1 @@
8.2.1
9.1.1
1 change: 0 additions & 1 deletion src/BUILD
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@@ -1,5 +1,4 @@
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(
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73 changes: 60 additions & 13 deletions src/MODULE.bazel
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Expand Up @@ -7,17 +7,19 @@ module(
##############################################################
# Import Dependencies available in the Bazel Central Registry
##############################################################
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 = "1.8.1")
bazel_dep(name = "googletest", version = "1.16.0.bcr.2")
bazel_dep(name = "platforms", version = "1.0.0")
bazel_dep(name = "pybind11_bazel", version = "3.0.1")
bazel_dep(name = "bazel_skylib", version = "1.9.0")
bazel_dep(name = "rules_cc", version = "0.2.19")
bazel_dep(name = "rules_shell", version = "0.6.1")
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")
bazel_dep(name = "eigen", version = "3.4.0.bcr.3")
bazel_dep(name = "zlib", version = "1.3.1.bcr.6")
bazel_dep(name = "nanopb", version = "0.4.9.1.bcr.2")
bazel_dep(name = "protobuf", version = "31.1")
bazel_dep(name = "rules_python", version = "2.2.0")
bazel_dep(name = "eigen", version = "5.0.1.bcr.2")
bazel_dep(name = "zlib", version = "1.3.1.bcr.7")
bazel_dep(name = "nanopb", version = "0.4.9.1.bcr.3")
bazel_dep(name = "protobuf", version = "35.1")
bazel_dep(name = "rules_proto", version = "7.1.0")
bazel_dep(name = "yaml-cpp", version = "0.8.0")
bazel_dep(name = "buildifier_prebuilt", version = "8.0.3")
Expand Down Expand Up @@ -47,6 +49,10 @@ pip.parse(
python_interpreter = "/opt/tbotspython/bin/python",
python_version = "3.12",
requirements_lock = "//software/embedded/ansible:requirements_lock.txt",
target_platforms = [
"linux_x86_64",
"linux_aarch64",
],
)
use_repo(pip, "ansible_deps")
pip.parse(
Expand All @@ -61,6 +67,10 @@ pip.parse(
python_interpreter = "/opt/tbotspython/bin/python",
python_version = "3.12",
requirements_lock = "//software/embedded/robot_diagnostics_cli:requirements_lock.txt",
target_platforms = [
"linux_x86_64",
"linux_aarch64",
],
)
use_repo(pip, "robot_diagnostics_cli_deps")
pip.parse(
Expand Down Expand Up @@ -125,10 +135,9 @@ http_archive(
bazel_dep(name = "rules_boost", repo_name = "com_github_nelhage_rules_boost")
archive_override(
module_name = "rules_boost",
# Made with: shasum -a 256 rules_boost-2a003f812e9a13b970e4100d96856b09ee13a582.tar.gz
sha256 = "f3125bbcb4adb5863980562d6092f2c07571cc9b2d4510e3b7f829fd43b44607",
strip_prefix = "rules_boost-2a003f812e9a13b970e4100d96856b09ee13a582",
url = "https://github.com/nelhage/rules_boost/archive/2a003f812e9a13b970e4100d96856b09ee13a582.tar.gz",
sha256 = "722178ab4687ebf48c66229a0fe774759bd836257bcede2ed972b0e32ce92c33",
strip_prefix = "rules_boost-2811ec9f1e42f784439a7bbecf68b1c8b5f8b0ae",
url = "https://github.com/nelhage/rules_boost/archive/2811ec9f1e42f784439a7bbecf68b1c8b5f8b0ae.tar.gz",
)

non_module_boost_repositories = use_extension("@com_github_nelhage_rules_boost//:boost/repositories.bzl", "non_module_dependencies")
Expand All @@ -141,6 +150,11 @@ use_repo(
bazel_dep(name = "hedron_compile_commands", dev_dependency = True)
archive_override(
module_name = "hedron_compile_commands",
patches = [
"//starlark/patches/hedron_compile_commands:add_rules_python_dep.patch",
"//starlark/patches/hedron_compile_commands:fix_py_binary.patch",
"//starlark/patches/hedron_compile_commands:fix_cc_binary.patch",
],
sha256 = "ba3feefdf57b6d4c749e3c4abfa86f3673e7db364cb13acfc3496dce6ea801a3",
strip_prefix = "bazel-compile-commands-extractor-f5fbd4cee671d8d908f37c83abaf70fba5928fc7",
url = "https://github.com/mikael-s-persson/bazel-compile-commands-extractor/archive/f5fbd4cee671d8d908f37c83abaf70fba5928fc7.tar.gz",
Expand All @@ -149,6 +163,7 @@ archive_override(
bazel_dep(name = "platformio_rules", repo_name = "platformio_rules")
archive_override(
module_name = "platformio_rules",
patches = ["//starlark/patches/platformio_rules:add_py_binary_load.patch"],
sha256 = "a80357230e27b8b57b8deffaa82684d3ee88b2284e4a767a9d8a692e9034e125",
strip_prefix = "platformio_rules-3cd18c7c7bb2482fe3cbb58898245dd675421234",
url = "https://github.com/mum4k/platformio_rules/archive/3cd18c7c7bb2482fe3cbb58898245dd675421234.tar.gz",
Expand Down Expand Up @@ -314,3 +329,35 @@ new_local_repository(
##############################################
# Workarounds and Fixes Below (hacks)
##############################################

# Bazel 9 compatibility: register rules_cc compatibility proxy for
# transitive dependencies that haven't been updated.
cc_compat = use_extension("@rules_cc//cc:extensions.bzl", "compatibility_proxy")
use_repo(cc_compat, "cc_compatibility_proxy")

# googletest 1.16.0.bcr.2 needs compat proxy registration for Bazel 9.
single_version_override(
module_name = "googletest",
patches = ["//starlark/patches/googletest:add_compat_proxy.patch"],
version = "1.16.0.bcr.2",
)

# pybind11_protobuf needs Bazel 9 compat and protobuf 35 API fixes.
single_version_override(
module_name = "pybind11_protobuf",
patches = [
"//starlark/patches/pybind11_protobuf:add_compat_proxy.patch",
"//starlark/patches/pybind11_protobuf:protobuf35_compat.patch",
],
)

# nanopb's protoc-gen-nanopb plugin picks up the system python-protobuf
# instead of the Bazel-managed one. The patch reorders sys.path so the
# Bazel-managed protobuf is found first.
single_version_override(
module_name = "nanopb",
patches = [
"//starlark/patches/nanopb:bazel_protobuf_path.patch",
],
version = "0.4.9.1.bcr.3",
)
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