[build] MVP for building with bazel (#6994)

.bazelignore

@@ -0,0 +1,20 @@
+build_cmake
+build-cmake
+
+# Auto generated by vscode
+apriltag/bin
+cameraserver/bin
+cameraserver/multiCameraServer/bin
+cscore/bin
+fieldImages/bin
+hal/bin
+developerRobot/bin
+ntcore/bin
+romiVendordep/bin
+wpilibNewCommands/bin
+wpilibj/bin
+wpimath/bin
+wpinet/bin
+wpiutil/bin
+wpiunits/bin
+xrpVendordep/bin

.bazelrc

@@ -0,0 +1,51 @@
+try-import %workspace%/bazel_auth.rc
+try-import %workspace%/user.bazelrc
+
+common --noenable_bzlmod
+
+build --java_language_version=17
+build --java_runtime_version=roboriojdk_17
+build --tool_java_language_version=17
+build --tool_java_runtime_version=remotejdk_17
+
+test --test_output=errors
+test --test_verbose_timeout_warnings
+
+import shared/bazel/compiler_flags/sanitizers.rc
+import shared/bazel/compiler_flags/base_linux_flags.rc
+import shared/bazel/compiler_flags/linux_flags.rc
+import shared/bazel/compiler_flags/osx_flags.rc
+import shared/bazel/compiler_flags/roborio_flags.rc
+import shared/bazel/compiler_flags/windows_flags.rc
+import shared/bazel/compiler_flags/coverage_flags.rc
+
+build:build_java --test_tag_filters=allwpilib-build-java --build_tag_filters=allwpilib-build-java
+build:build_cpp --test_tag_filters=+allwpilib-build-cpp --build_tag_filters=+allwpilib-build-cpp
+build:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example
+test:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example
+
+# Build Buddy Cache Setup
+build:build_buddy --bes_results_url=https://app.buildbuddy.io/invocation/
+build:build_buddy --bes_backend=grpcs://remote.buildbuddy.io
+build:build_buddy --remote_cache=grpcs://remote.buildbuddy.io
+build:build_buddy --remote_timeout=3600
+
+# Additional suggestions from buildbuddy for speed
+build:build_buddy --experimental_remote_cache_compression
+build:build_buddy --experimental_remote_cache_compression_threshold=100
+build:build_buddy --noslim_profile
+build:build_buddy --experimental_profile_include_target_label
+build:build_buddy --experimental_profile_include_primary_output
+build:build_buddy --nolegacy_important_outputs
+
+build:build_buddy_readonly --noremote_upload_local_results
+
+# This config should be used locally. It downloads more than the CI version
+build:remote_user --config=build_buddy
+build:remote_user --config=build_buddy_readonly
+build:remote_user --remote_download_toplevel
+
+build:ci --config=build_buddy
+build:ci --remote_download_minimal
+
+build --build_metadata=REPO_URL=https://github.com/wpilibsuite/allwpilib.git

.bazelversion

@@ -0,0 +1 @@
+7.3.1

.github/actions/setup-build-buddy/action.yml

@@ -0,0 +1,27 @@
+name: 'Setup BuildBuddy acache'
+description: 'Sets up the build buddy cache to be readonly / writing based on the presence of environment variables'
+
+inputs:
+  token:
+    description: 'Build Buddy API token'
+
+runs:
+  using: "composite"
+  steps:
+    - name: Setup without key
+      env:
+        API_KEY: ${{ inputs.token }}
+      if: ${{ env.API_KEY == '' }}
+      shell: bash
+      run: |
+          echo "No API key secret detected, will setup readonly cache"
+          echo "build:ci --config=build_buddy_readonly" > bazel_auth.rc
+
+    - name: Set with key
+      env:
+        API_KEY: ${{ inputs.token }}
+      if: ${{ env.API_KEY != '' }}
+      shell: bash
+      run: |
+          echo "API Key detected!"
+          echo "build:build_buddy --remote_header=x-buildbuddy-api-key=${{ env.API_KEY }}" > bazel_auth.rc

.github/workflows/bazel.yml

@@ -0,0 +1,149 @@
+name: Bazel
+
+on: [pull_request, push]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-windows:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - { name: "Windows (native)",             os: windows-2022, action: "test",  config: "--config=windows",     }
+          - { name: "Windows (arm)",                os: windows-2022, action: "build", config: "--config=windows_arm", }
+          - { name: "Windows (roborio)",            os: windows-2022, action: "build", config: "--config=roborio",     }
+
+    name: "Build ${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+        with: { fetch-depth: 0 }
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'zulu'
+          java-version: 17
+          architecture: x64
+
+      - id: Setup_build_buddy
+        uses: ./.github/actions/setup-build-buddy
+        with:
+          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+
+      - name: Build Release
+        run: bazel --output_user_root=C:\\bazelroot ${{ matrix.action }} -k ...   --config=ci -c opt ${{ matrix.config }} --verbose_failures
+        shell: bash
+
+      - name: Build Debug
+        run: bazel --output_user_root=C:\\bazelroot ${{ matrix.action }} -k ...   --config=ci -c dbg ${{ matrix.config }} --verbose_failures
+        shell: bash
+
+  build-mac:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - { name: "Mac (native)",            os: macos-14,   action: "test",  config: "--config=macos",      }
+          - { name: "Mac (roborio)",           os: macos-14,   action: "build", config: "--config=roborio",  }
+
+    name: "${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+        with: { fetch-depth: 0 }
+
+      - id: Setup_build_buddy
+        uses: ./.github/actions/setup-build-buddy
+        with:
+          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+
+      - name: Build Release
+        run: bazel ${{ matrix.action }} -k ...   --config=ci -c opt ${{ matrix.config }} --nojava_header_compilation --verbose_failures
+        shell: bash
+
+      - name: Build Debug
+        run: bazel ${{ matrix.action }} -k ...   --config=ci -c dbg ${{ matrix.config }} --nojava_header_compilation --verbose_failures
+        shell: bash
+
+  build-linux:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - { name: "Linux (native)",  os: ubuntu-22.04,   action: "test",  config: "--config=linux",    }
+          - { name: "Linux (roborio)", os: ubuntu-22.04,   action: "build", config: "--config=roborio",  }
+    name: "${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+        with: { fetch-depth: 0 }
+      - uses: bazelbuild/setup-bazelisk@v3
+
+      - id: Setup_build_buddy
+        uses: ./.github/actions/setup-build-buddy
+        with:
+          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+
+      - name: Build and Test Release
+        run: bazel ${{ matrix.action }} ... --config=ci -c opt ${{ matrix.config }} -k --verbose_failures
+
+      - name: Build and Test Debug
+        run: bazel ${{ matrix.action }} ... --config=ci -c dbg ${{ matrix.config }} -k --verbose_failures
+
+  build-sanitizers:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - config: "asan"
+          - config: "ubsan"
+    runs-on: ubuntu-22.04
+    name: "Sanitizer ${{ matrix.config }}"
+    steps:
+      - uses: actions/checkout@v4
+        with: { fetch-depth: 0 }
+      - uses: bazelbuild/setup-bazelisk@v3
+
+      - id: Setup_build_buddy
+        uses: ./.github/actions/setup-build-buddy
+        with:
+          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+
+      - name: Build and Test
+        run: bazel test  -k --config=ci --config=linux --config=${{ matrix.config }} //...
+
+  buildifier:
+    name: "buildifier"
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Set up Go 1.15.x
+        uses: actions/setup-go@v5
+        with:
+          go-version: 1.15.x
+        id: go
+
+      - name: Install Buildifier
+        run: |
+          cd $(mktemp -d)
+          GO111MODULE=on go get github.com/bazelbuild/buildtools/buildifier@6.0.0
+
+      - uses: actions/checkout@v4
+        with: { fetch-depth: 0 }
+
+      - name: Run buildifier
+        run: buildifier -warnings all --lint=fix -r .
+
+      - name: Check Output
+        run: git --no-pager diff --exit-code HEAD
+
+      - name: Generate diff
+        run: git diff HEAD > bazel-lint-fixes.patch
+        if: ${{ failure() }}
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.platform }}-bazel-lint-fixes
+          path: bazel-lint-fixes.patch
+        if: ${{ failure() }}

.github/workflows/upstream-utils.yml

@@ -133,4 +133,4 @@ jobs:
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output
-        run: git --no-pager diff --exit-code HEAD
+        run: git --no-pager diff --exit-code HEAD ':!*.bazel'

.gitignore

@@ -249,6 +249,7 @@ imgui.ini
 /bazel-*
 user.bazelrc
 coverage_report/
+bazel_auth.rc
 
 # ctest
 /Testing/

README-Bazel.md

@@ -0,0 +1,25 @@
+# WPILib Bazel Support
+
+WPILib is normally built with Gradle, but [Bazel](https://www.bazel.build/) can also be used to increase development speed due to the superior caching ability and the ability to use remote caching and remote execution (on select platforms)
+
+
+## Prerequisites
+- Install [Bazelisk](https://github.com/bazelbuild/bazelisk/releases) and add it to your path. Bazelisk is a wrapper that will download the correct version of bazel specified in the repository. Note: You can alias/rename the binary to `bazel` if you want to keep the familiar `bazel build` vs `bazelisk build` syntax.
+
+## Building
+To build the entire repository, simply run `bazel build //...`. To run all of the unit tests, run `bazel test //...`
+Other examples:
+- `bazel build //wpimath/...` - Builds every target in the wpimath folder
+- `bazel test //wpiutil:wpiutil-cpp-test` - Runs only the cpp test target in the wpiutil folder
+- `bazel coverage //wpiutil/...` - (*Nix only) - Runs a code coverage report for both C++ and Java on all the targets under wpiutil
+
+## User settings
+When invoking bazel, it will check if `user.bazelrc` exists for additional, user specified flags. You can use these settings to do things like always ignore buildin a specific folder, or limiting the CPU/RAM usage during a build.
+Examples:
+- `build --build_tag_filters=-wpi-example` - Do not build any targets tagged with `wpi-example` (Currently all of the targets in wpilibcExamples and wpilibjExamples contain this tag)
+- `build -c opt` - Always build optimized targets. The default compiler flags were chosen to build as fast as possible, and thus don't contain many optimizations
+- `build -k` - `-k` is analogous to the MAKE flag `--keep-going`, so the build will not stop on the first error.
+- ```
+  build --local_ram_resources=HOST_RAM*.5 # Don't use more than half my RAM when building
+  build --local_cpu_resources=HOST_CPUS-1 # Leave one core alone
+  ```

WORKSPACE

@@ -0,0 +1,100 @@
+load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
+
+# Download Extra java rules
+http_archive(
+    name = "rules_jvm_external",
+    sha256 = "08ea921df02ffe9924123b0686dc04fd0ff875710bfadb7ad42badb931b0fd50",
+    strip_prefix = "rules_jvm_external-6.1",
+    url = "https://github.com/bazelbuild/rules_jvm_external/releases/download/6.1/rules_jvm_external-6.1.tar.gz",
+)
+
+load("@rules_jvm_external//:repositories.bzl", "rules_jvm_external_deps")
+
+rules_jvm_external_deps()
+
+load("@rules_jvm_external//:defs.bzl", "maven_install")
+
+maven_artifacts = [
+    "org.ejml:ejml-simple:0.43.1",
+    "com.fasterxml.jackson.core:jackson-annotations:2.15.2",
+    "com.fasterxml.jackson.core:jackson-core:2.15.2",
+    "com.fasterxml.jackson.core:jackson-databind:2.15.2",
+    "us.hebi.quickbuf:quickbuf-runtime:1.3.3",
+    "com.google.code.gson:gson:2.10.1",
+]
+
+maven_install(
+    name = "maven",
+    artifacts = maven_artifacts,
+    repositories = [
+        "https://repo1.maven.org/maven2",
+        "https://frcmaven.wpi.edu/artifactory/release/",
+    ],
+)
+
+# Download toolchains
+http_archive(
+    name = "rules_bzlmodrio_toolchains",
+    sha256 = "2ef1cafce7f4fd4e909bb5de8b0dc771a934646afd55d5f100ff31f6b500df98",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_toolchains/releases/download/2024-1.bcr1/rules_bzlmodRio_toolchains-2024-1.bcr1.tar.gz",
+)
+
+load("@rules_bzlmodrio_toolchains//:maven_deps.bzl", "setup_legacy_setup_toolchains_dependencies")
+
+setup_legacy_setup_toolchains_dependencies()
+
+load("@rules_bzlmodrio_toolchains//toolchains:load_toolchains.bzl", "load_toolchains")
+
+load_toolchains()
+
+#
+http_archive(
+    name = "rules_bzlmodrio_jdk",
+    sha256 = "a00d5fa971fbcad8a17b1968cdc5350688397035e90b0cb94e040d375ecd97b4",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_jdk/releases/download/17.0.8.1-1/rules_bzlmodRio_jdk-17.0.8.1-1.tar.gz",
+)
+
+load("@rules_bzlmodrio_jdk//:maven_deps.bzl", "setup_legacy_setup_jdk_dependencies")
+
+setup_legacy_setup_jdk_dependencies()
+
+register_toolchains(
+    "@local_roborio//:macos",
+    "@local_roborio//:linux",
+    "@local_roborio//:windows",
+    "@local_raspi_32//:macos",
+    "@local_raspi_32//:linux",
+    "@local_raspi_32//:windows",
+    "@local_bullseye_32//:macos",
+    "@local_bullseye_32//:linux",
+    "@local_bullseye_32//:windows",
+    "@local_bullseye_64//:macos",
+    "@local_bullseye_64//:linux",
+    "@local_bullseye_64//:windows",
+)
+
+setup_legacy_setup_jdk_dependencies()
+
+http_archive(
+    name = "bzlmodrio-ni",
+    sha256 = "197fceac88bf44fb8427d5e000b0083118d3346172dd2ad31eccf83a5e61b3ce",
+    url = "https://github.com/wpilibsuite/bzlmodRio-ni/releases/download/2025.0.0/bzlmodRio-ni-2025.0.0.tar.gz",
+)
+
+load("@bzlmodrio-ni//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_ni_cpp_dependencies")
+
+setup_legacy_bzlmodrio_ni_cpp_dependencies()
+
+http_archive(
+    name = "bzlmodrio-opencv",
+    sha256 = "5314cce05b49451a46bf3e3140fc401342e53d5f3357612ed4473e59bb616cba",
+    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2024.4.8.0-4.bcr1/bzlmodRio-opencv-2024.4.8.0-4.bcr1.tar.gz",
+)
+
+load("@bzlmodrio-opencv//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_opencv_cpp_dependencies")
+
+setup_legacy_bzlmodrio_opencv_cpp_dependencies()
+
+load("@bzlmodrio-opencv//:maven_java_deps.bzl", "setup_legacy_bzlmodrio_opencv_java_dependencies")
+
+setup_legacy_bzlmodrio_opencv_java_dependencies()