From 3b01a130f03c6f0e09fbc2253ec426928ea70f34 Mon Sep 17 00:00:00 2001
From: Gold856 <117957790+Gold856@users.noreply.github.com>
Date: Tue, 24 Dec 2024 10:16:14 -0500
Subject: [PATCH] Upgrade to bookworm compilers (#97)

---
 .github/workflows/main.yml       |  7 ++-----
 arm-pi-gnueabihf.toolchain.cmake |  2 +-
 build.gradle                     | 10 +++++-----
 3 files changed, 8 insertions(+), 11 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 9cf5092..6ba17de 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -18,10 +18,10 @@ jobs:
           - container: wpilib/systemcore-cross-ubuntu:2025-22.04
             artifact-name: SystemCore
             build-options: "-Pplatform=linux-systemcore"
-          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
             artifact-name: Arm32
             build-options: "-Pplatform=linux-arm32"
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
             artifact-name: Arm64
             build-options: "-Pplatform=linux-arm64"
           - container: wpilib/ubuntu-base:22.04
@@ -37,9 +37,6 @@ jobs:
           submodules: 'true'
       - run: sudo apt-get update && sudo apt-get install ant -y && sudo rm -rf /var/lib/apt/lists/* && sudo rm -f /bin/ant && sudo ln -s /usr/share/ant/bin/ant /bin/ant
         name: Install Ant
-      - run: rm -rf /usr/local/arm-linux-gnueabihf && curl -SL https://github.com/wpilibsuite/opensdk/releases/download/v2023-9/armhf-raspi-bullseye-2023-x86_64-linux-gnu-Toolchain-10.2.0.tgz | sh -c 'mkdir -p /usr/local && cd /usr/local && tar xzf - --strip-components=2'
-        name: Replace arm32 compiler
-        if: matrix.artifact-name == 'Arm32'
       - run: ./gradlew build -PjenkinsBuild ${{ matrix.build-options }}
         name: Build with Gradle
       - uses: actions/upload-artifact@v4
diff --git a/arm-pi-gnueabihf.toolchain.cmake b/arm-pi-gnueabihf.toolchain.cmake
index 1a09b95..986a10c 100644
--- a/arm-pi-gnueabihf.toolchain.cmake
+++ b/arm-pi-gnueabihf.toolchain.cmake
@@ -1,5 +1,5 @@
 set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
-set(GNU_MACHINE "armv6-bullseye-linux-gnueabi" CACHE STRING "GNU compiler triple")
+set(GNU_MACHINE "armv6-bookworm-linux-gnueabi" CACHE STRING "GNU compiler triple")
 set(ARM_LINUX_SYSROOT /usr/local/arm-linux-gnueabihf/sysroot)
 
 if(COMMAND toolchain_save_config)
diff --git a/build.gradle b/build.gradle
index 15752e9..1d04c60 100644
--- a/build.gradle
+++ b/build.gradle
@@ -186,11 +186,11 @@ if (project.platform == "linux-athena") {
     stripExe = 'arm-frc2025-linux-gnueabi-strip'
     objCopyExe = 'arm-frc2025-linux-gnueabi-objcopy'
 } else if (project.platform == "linux-arm32") {
-    stripExe = 'armv6-bullseye-linux-gnueabihf-strip'
-    objCopyExe = 'armv6-bullseye-linux-gnueabihf-objcopy'
+    stripExe = 'armv6-bookworm-linux-gnueabihf-strip'
+    objCopyExe = 'armv6-bookworm-linux-gnueabihf-objcopy'
 } else if (project.platform == "linux-arm64") {
-    stripExe = 'aarch64-bullseye-linux-gnu-strip'
-    objCopyExe = 'aarch64-bullseye-linux-gnu-objcopy'
+    stripExe = 'aarch64-bookworm-linux-gnu-strip'
+    objCopyExe = 'aarch64-bookworm-linux-gnu-objcopy'
 } else if (project.platform == "linux-systemcore") {
     stripExe = 'aarch64-bookworm-linux-gnu-strip'
     objCopyExe = 'aarch64-bookworm-linux-gnu-objcopy'
@@ -254,7 +254,7 @@ if (project.platform == "linux-athena") {
                     "-DCMAKE_MODULE_PATH=$rootDir/arm-frc-modules" +
                     '-DOPENCV_FORCE_LIBATOMIC_COMPILER_CHECK=ON'
             } else if (project.platform == "linux-arm64") {
-                toolchain = projectDir.canonicalPath + "/aarch64-bullseye-gnu.toolchain.cmake"
+                toolchain = projectDir.canonicalPath + "/aarch64-bookworm-gnu.toolchain.cmake"
                 println "Using toolchain '${toolchain}'"
                 return args + "-DCMAKE_TOOLCHAIN_FILE=${toolchain}" +
                     '-DOPENCV_EXTRA_FLAGS_DEBUG=-Og' +