Support python 3.10 and Ubuntu 22.04

Ubuntu 22.04 only ships libbcm_host.so on aarch64, *not* libbcm_host.so.0, which is what Raspberry Pi OS ships (in addition to libbcm_host.so). Work around that by forcing the LD requires to only point to libbcm_host.so for our python extension library.
mjbots · Jul 12, 2023 · 24e55f2 · 24e55f2
1 parent 4a1fc1b
commit 24e55f2
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Showing 8 changed files with 51 additions and 14 deletions.
diff --git a/BUILD b/BUILD
@@ -1,6 +1,6 @@
 # -*- python -*-
 
-# Copyright 2020-2022 Josh Pieper, [email protected].
+# Copyright 2020-2023 Josh Pieper, [email protected].
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -57,7 +57,7 @@ test_suite(
         "cpu": arch,
     },
  )
- for pyver in ['3.7', '3.9']
+ for pyver in ['3.7', '3.9', '3.10']
  for arch in ['armeabihf', 'aarch64']
 ]
 
@@ -74,3 +74,10 @@ config_setting(
         "define": "PYTHON=3.9",
     },
 )
+
+config_setting(
+    name = "python310",
+    values = {
+        "define": "PYTHON=3.10",
+    },
+)
diff --git a/lib/python/BUILD b/lib/python/BUILD
@@ -1,6 +1,6 @@
 # -*- python -*-
 
-# Copyright 2020-2022 Josh Pieper, [email protected].
+# Copyright 2020-2023 Josh Pieper, [email protected].
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -22,17 +22,20 @@ load("//tools/workspace:template_file.bzl", "template_file")
 
 VERSION="0.3.26"
 
-PYTHON_SHORT_VERSIONS = ['37', '39']
+PYTHON_SHORT_VERSIONS = ['37', '39', '310']
 ARCHITECTURES = ['armv7l', 'aarch64']
 ABITAG = {
     '37': 'abi3',
     '39': 'cp39',
+    '310': 'cp310',
 }
 PTAG = {
     '37_armv7l': 'linux',
     '37_aarch64': 'manylinux_2_17',
     '39_armv7l': 'manylinux_2_17',
     '39_aarch64': 'manylinux_2_17',
+    '310_armv7l': 'manylinux_2_17',
+    '310_aarch64': 'manylinux_2_17',
 }
 
 
@@ -84,7 +87,7 @@ pkg_tar(
         "tar xf $(location wheel_tar) -C $$BUILDDIR && " +
         "cp $(location setup_{pyshortver}.py) $(location README.md) $$BUILDDIR && " +
         "cd $$BUILDDIR && " +
-        "python3.9 setup_{pyshortver}.py bdist_wheel " +
+        "python3 setup_{pyshortver}.py bdist_wheel " +
         "        --plat-name {ptag}_{architecture} " +
         "        --py-limited-api cp{pyshortver} " +
         "        --dist-dir .. " +
@@ -114,5 +117,7 @@ filegroup(
         "//:python37_aarch64" : [":bdist_wheel_37_aarch64"],
         "//:python39_armeabihf" : [":bdist_wheel_39_armv7l"],
         "//:python39_aarch64" : [":bdist_wheel_39_aarch64"],
+        "//:python310_armeabihf" : [":bdist_wheel_310_armv7l"],
+        "//:python310_aarch64" : [":bdist_wheel_310_aarch64"],
     }),
 )
diff --git a/lib/python/moteus_pi3hat/BUILD b/lib/python/moteus_pi3hat/BUILD
@@ -1,6 +1,6 @@
 # -*- python -*-
 
-# Copyright 2020-2021 Josh Pieper, [email protected].
+# Copyright 2020-2023 Josh Pieper, [email protected].
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -29,6 +29,7 @@ cc_binary(
         "//conditions:default" : [],
         "//:python37" : ["@com_github_pybind_pybind11//:pybind11_37"],
         "//:python39" : ["@com_github_pybind_pybind11//:pybind11_39"],
+        "//:python310" : ["@com_github_pybind_pybind11//:pybind11_310"],
     }),
     linkshared = True,
 )

diff --git a/make_release.py b/make_release.py
@@ -1,6 +1,6 @@
 #!/usr/bin/python3
 
-# Copyright 2020-2022 Josh Pieper, [email protected].
+# Copyright 2020-2023 Josh Pieper, [email protected].
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -54,7 +54,7 @@ def main():
 
     run(f'cp bazel-bin/fw/pi3_hat.elf {outdir}/{datestr}-pi3hat-{git_hash}.elf')
 
-    for pyver in ['3.7', '3.9']:
+    for pyver in ['3.7', '3.9', '3.10']:
         for arch in ['pi', 'pi64']:
             pyarch = {
                 'pi' : 'armv7l',

diff --git a/tools/workspace/bazel_deps/repository.bzl b/tools/workspace/bazel_deps/repository.bzl
@@ -20,6 +20,6 @@ def bazel_deps_repository(name):
     github_archive(
         name = name,
         repo = "mjbots/bazel_deps",
-        commit = "0d73d14eeb80b6555eedda769094afde6b147dc3",
-        sha256 = "dabb0dccc3a8d15cc1f72896c15c2e313d0e917d8b84a70a9a21bae294e41f34",
+        commit = "6c9ba1867b5d0ab5e59a7f1205adfd750a6c3610",
+        sha256 = "617989e5ca59c691d4e3e601dc899745aa9ace4c21d0f70b6128cc8125754cbd",
     )
diff --git a/tools/workspace/pybind11/package.BUILD b/tools/workspace/pybind11/package.BUILD
@@ -33,3 +33,12 @@ cc_library(
         "@python39//:headers",
     ],
 )
+
+cc_library(
+    name = "pybind11_310",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    deps = [
+        "@python310//:headers",
+    ],
+)
diff --git a/tools/workspace/pybind11/repository.bzl b/tools/workspace/pybind11/repository.bzl
@@ -21,7 +21,7 @@ def pybind11_repository(name):
     github_archive(
         name = name,
         repo = "pybind/pybind11",
-        commit = "0964a9093a728dbf67b9b98c6371752b1a346f25",
-        sha256 = "cf4cd95f8bb70dc205dd906e4c849f9fbc6a292653e4488860b18b9a581ebec2",
+        commit = "6d22dba82f1789f11a8eb2c2debbcbd4d2d8a969",
+        sha256 = "ecbce06af56a59f0c6bac5241c655fd67d8a107c9aa46249e90ea4ed0fb36c98",
         build_file = Label("//tools/workspace/pybind11:package.BUILD"),
     )
diff --git a/tools/workspace/raspberrypi-firmware/package.BUILD b/tools/workspace/raspberrypi-firmware/package.BUILD
@@ -26,6 +26,21 @@ config_setting(
     values = {"cpu" : "aarch64"},
 )
 
+# Some distros, like Ubuntu, only have libbcm_host.so without a .0,
+# however the official raspberry pi package expects the aarch64
+# version to be libbcm_host.so.0.
+#
+# Make things work on both of them by manually patching the soname
+# before linking.  This will result in any libraries that link against
+# this only requiring "libbcm_host.so".
+genrule(
+    name = "soless_bcm_host",
+    outs = ["libbcm_host.so"],
+    srcs = ["aarch64/usr/lib/aarch64-linux-gnu/libbcm_host.so"],
+    cmd = "cp $< $@ && patchelf --set-soname libbcm_host.so $@",
+)
+
+
 cc_library(
     name = "bcm_host",
     hdrs = select({
@@ -42,7 +57,7 @@ cc_library(
     }),
     srcs = select({
         ":armeabihf" : ["hardfp/opt/vc/lib/libbcm_host.so"],
-        ":aarch64" : ["aarch64/usr/lib/aarch64-linux-gnu/libbcm_host.so"],
+        ":aarch64" : [":soless_bcm_host"],
     }),
     includes = select({
         ":armeabihf" : [
@@ -51,7 +66,7 @@ cc_library(
         "aarch64" : [
             "aarch64/usr/include",
         ],
-    })
+    }),
 )
 
 cc_library(