Build: local_config_vtk and no longer needed WORKSPACE.in

.gitignore

 # Bazel
 bazel-*
-WORKSPACE
 
 # Temporary files
 *.pyc

WORKSPACE.in → WORKSPACE

@@ -4,11 +4,14 @@ load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 load("@bazel_tools//tools/build_defs/repo:utils.bzl", "maybe")
 load("//tools/gpus:cuda_configure.bzl", "cuda_configure")
 load("//tools/tensorrt:tensorrt_configure.bzl", "tensorrt_configure")
+load("//third_party:vtk_configure.bzl", "vtk_configure")
 
 cuda_configure(name = "local_config_cuda")
 
 tensorrt_configure(name = "local_config_tensorrt")
 
+vtk_configure(name = "local_config_vtk")
+
 maybe(
     http_archive,
     name = "bazel_skylib",
@@ -192,20 +195,11 @@ new_local_repository(
 #    build_file = "third_party/opengl.BUILD",
 #    path = "/usr/include",
 #)
-#
 #new_local_repository(
 #    name = "glfw",
 #    build_file = "third_party/glfw.BUILD",
 #    path = "/usr/include",
 #)
-#
-# FIXME(all): hide vtk version from end users
-new_local_repository(
-    name = "vtk",
-    build_file = "external/vtk.BUILD",
-    #path = "/opt/apollo/sysroot/include/vtk-VTK_VERSION",
-    path = "/opt/apollo/sysroot/include/vtk-8.2",
-)
 
 # Caffe
 new_local_repository(

apollo.sh

@@ -59,11 +59,6 @@ function check_machine_arch() {
     fail "Machine architecture $MACHINE_ARCH currently not supported yet."
     exit 1
   fi
-
-  #TODO(ALL): checks whether still in use
-  #setup vtk folder name for different systems.
-  VTK_VERSION=$(find /usr/include/ -type d  -name "vtk-*" | tail -n1 | cut -d '-' -f 2)
-  sed "s/VTK_VERSION/${VTK_VERSION}/g" WORKSPACE.in > WORKSPACE
 }
 
 function check_esd_files() {

external/vtk.BUILD

-load("@rules_cc//cc:defs.bzl", "cc_library")
-
-licenses(["notice"])
-
-package(default_visibility = ["//visibility:public"])
-
-# FIXME(all): hide vtk version from end users
-cc_library(
-    name = "vtk",
-    includes = ["."],
-    linkopts = [
-        "-L/opt/apollo/sysroot/lib",
-        "-lvtkCommonCore-8.2",
-    ],
-)

modules/perception/lidar/lib/segmentation/ncut/BUILD

@@ -39,8 +39,8 @@ cc_library(
         "//modules/perception/lidar/lib/segmentation/ncut/common:flood_fill",
         "//modules/perception/lidar/lib/segmentation/ncut/common:lr_classifier",
         "//modules/perception/lidar/lib/segmentation/ncut/proto:ncut_param_cc_proto",
+        "@local_config_vtk//:vtk",
         "@pcl",
-        "@vtk",
     ],
 )
 

modules/perception/tool/benchmark/lidar/util/BUILD

@@ -30,8 +30,8 @@ cc_library(
         "//modules/common/util",
         "@com_google_absl//absl/strings",
         "@eigen",
+        "@local_config_vtk//:vtk",
         "@pcl",
-        "@vtk",
     ],
 )
 

third_party/vtk/BUILD.tpl

+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "vtk_headers",
+    hdrs = [
+        ":vtk_include"
+    ],
+    # include_prefix = "third_party/vtk",
+    strip_include_prefix = "vtk/include",
+)
+
+cc_library(
+    name = "vtk",
+    srcs = [":vtk_lib"],
+    linkstatic = 1,
+    deps = [
+        ":vtk_headers",
+    ],
+)
+
+%{copy_rules}

third_party/vtk_configure.bzl

+load("//tools/platform:common.bzl", "execute", "make_copy_dir_rule", "make_copy_files_rule")
+
+_APOLLO_SYSROOT_DIR = "APOLLO_SYSROOT_DIR"
+
+_APOLLO_VTK_LIBS = [
+    "vtkCommonDataModel",
+    "vtkCommonCore",
+    "vtkCommonMath",
+    "vtkCommonSystem",
+    "vtkCommonMisc",
+    "vtkCommonTransforms",
+    "vtksys",
+]
+
+def _vtk_solib_name(basename, version = None):
+    """Constructs Linux-specific name of vtk libraries"""
+    version = "" if not version else "-" + version
+    return "lib{}{}.so".format(basename, version)
+
+def find_sysroot_dir(repository_ctx):
+    if _APOLLO_SYSROOT_DIR in repository_ctx.os.environ:
+        return repository_ctx.os.environ[_APOLLO_SYSROOT_DIR].strip()
+    return None
+    # fail("Environment variable APOLLO_SYSROOT_DIR was not specified." +
+    #    "Re-run ./apollo6.sh configure")
+
+# Ref: bazel-skylib@lib/paths.bzl
+def _basename(p):
+    """Returns the basename (i.e., the file portion) of a path.
+    Note that if `p` ends with a slash, this function returns an empty string.
+    This matches the behavior of Python's `os.path.basename`, but differs from
+    the Unix `basename` command (which would return the path segment preceding
+    the final slash).
+    Args:
+      p: The path whose basename should be returned.
+    Returns:
+      The basename of the path, which includes the extension.
+    """
+    return p.rpartition("/")[-1]
+
+def _dirname(p):
+    """Returns the dirname of a path.
+    The dirname is the portion of `p` up to but not including the file portion
+    (i.e., the basename). Any slashes immediately preceding the basename are not
+    included, unless omitting them would make the dirname empty.
+    Args:
+      p: The path whose dirname should be returned.
+    Returns:
+      The dirname of the path.
+    """
+    prefix, sep, _ = p.rpartition("/")
+    if not prefix:
+        return sep
+    else:
+        # If there are multiple consecutive slashes, strip them all out as Python's
+        # os.path.dirname does.
+        return prefix.rstrip("/")
+
+def _vtk_version_from_incl_path(incl_path):
+    return _basename(incl_path).strip("vtk-")
+
+def _create_local_vtk_repository(repository_ctx):
+    sysroot_dir = find_sysroot_dir(repository_ctx)
+    result = _vtk_match_version(repository_ctx, sysroot_dir)
+    if result == None:
+        fail("Oops, Package vtk not found.")
+    (version, incl_dir, lib_path) = result
+
+    # Copy the library and header files.
+    libraries = [_vtk_solib_name(lib, version) for lib in _APOLLO_VTK_LIBS]
+
+    _lib_path = lib_path + "/"
+
+    # headers   = _get_vtk_headers(incl_dir)
+    _incl_dir = incl_dir + "/"
+    copy_rules = [
+        make_copy_files_rule(
+            repository_ctx,
+            name = "vtk_lib",
+            srcs = [_lib_path + lib for lib in libraries],
+            outs = ["vtk/lib/" + lib for lib in libraries],
+        ),
+        make_copy_dir_rule(
+            repository_ctx,
+            name = "vtk_include",
+            src_dir = incl_dir,
+            out_dir = "vtk/include",
+        ),
+    ]
+
+    # Set up BUILD file.
+    build_tpl = repository_ctx.path(Label("//third_party/vtk:BUILD.tpl"))
+    repository_ctx.template("BUILD", build_tpl, {
+        "%{copy_rules}": "\n".join(copy_rules),
+    })
+
+def _vtk_match_version(repository_ctx, sysroot_dir = None):
+    cmd = """ldconfig -p | awk -F'=>' '/libvtkCommonCore-.*.so$/ {print $2}'"""
+    lib_result = execute(
+        repository_ctx,
+        ["sh", "-c", cmd],
+        empty_stdout_fine = False,
+    ).stdout.strip()
+
+    libdict = {}
+    for solib in lib_result.split("\n"):
+        libpath = _dirname(solib)
+        version = _basename(solib).rstrip(".so").split("-")[-1]
+        prefix = solib[:solib.find("/lib/")]
+        libdict[solib] = (libpath, version, prefix)
+
+    prefix_dirs = ["/usr", "/usr/local"]
+    if sysroot_dir:
+        prefix_dirs.append(sysroot_dir)
+
+    for prefix in reversed(prefix_dirs):
+        cmd = """ls -d {}/include/vtk-* 2>/dev/null""".format(prefix)
+        incl_dir = execute(
+            repository_ctx,
+            ["sh", "-c", cmd],
+            empty_stdout_fine = True,
+        ).stdout.strip()
+        if not incl_dir:
+            continue
+
+        version = _vtk_version_from_incl_path(incl_dir)
+        for k in libdict:
+            (lib_path, lib_version, lib_prefix) = libdict[k]
+            if lib_version == version and lib_prefix == prefix:
+                return (version, incl_dir, lib_path)
+
+    return None
+
+def _vtk_configure_impl(repository_ctx):
+    # Room for _create_remote_vtk_repository
+    _create_local_vtk_repository(repository_ctx)
+
+vtk_configure = repository_rule(
+    implementation = _vtk_configure_impl,
+    environ = [],
+)
+
+"""Detects and configures the local vtk library.
+Add the following to your WORKSPACE FILE:
+
+```python
+vtk_configure(name = "local_config_vtk")
+```
+
+Args:
+  name: A unique name for this workspace rule.
+"""

what_works.sh

@@ -34,8 +34,6 @@ fi
 echo "/opt/apollo/pkgs/caffe/lib" | sudo tee -a /etc/ld.so.conf.d/apollo.conf
 sudo ldconfig
 
-cp WORKSPACE.in WORKSPACE
-
 # Fail on first failure.
 set -e