Bazel: re-org bazelrc for cpu/gpu/dbg/opt builds

apollo6.sh

@@ -106,13 +106,13 @@ function main() {
             env ${APOLLO_ENV} bash "${build_sh}" --config=dbg "$@"
             ;;
         build_cpu)
-            env ${APOLLO_ENV} bash "${build_sh}" --config build_cpu "$@"
+            env ${APOLLO_ENV} bash "${build_sh}" --config=cpu "$@"
             ;;
         build_gpu)
-            env ${APOLLO_ENV} bash "${build_sh}" --config build_gpu "$@"
+            env ${APOLLO_ENV} bash "${build_sh}" --config=gpu "$@"
             ;;
         build_opt_gpu)
-            env ${APOLLO_ENV} bash "${build_sh}" --config build_opt_gpu "$@"
+            env ${APOLLO_ENV} bash "${build_sh}" --config=opt_gpu "$@"
             ;;
         buildify)
             env ${APOLLO_ENV} bash ${APOLLO_ROOT_DIR}/scripts/apollo_buildify.sh

scripts/apollo_build.sh

@@ -31,6 +31,8 @@ function determine_disabled_targets() {
 }
 
 # components="$(echo -e "${@// /\\n}" | sort -u)"
+# if [ ${PIPESTATUS[0]} -ne 0 ]; then ... ; fi
+
 function determine_targets() {
     local targets=
     local compo="$1"
@@ -130,8 +132,29 @@ function bazel_build() {
     _run_bazel_build_impl "${COMMAND_LINE_OPTIONS}" "$(bazel query ${BUILD_TARGETS})"
 }
 
+function build_simulator() {
+    local SIMULATOR_TOP_DIR="/apollo-simulator"
+    if [ -d "${SIMULATOR_TOP_DIR}" ] && [ -e "${SIMULATOR_TOP_DIR}/build.sh" ]; then
+        pushd "${SIMULATOR_TOP_DIR}"
+            if bash build.sh build ; then
+                success "Done building Apollo simulator."
+            else
+                fail "Building Apollo simulator failed."
+            fi
+        popd >/dev/null
+    fi
+}
+
 function main() {
+    if [ "${USE_GPU}" -eq 1 ]; then
+        info "Running build under GPU mode. GPU is required to run the build."
+    else
+        info "Running build under CPU mode."
+    fi
+    info "Building for ${ARCH} arch ..."
     bazel_build $@
+    build_simulator
+    success "Done building Apollo. Enjoy!"
 }
 
 main "$@"

scripts/apollo_config.sh

@@ -16,6 +16,11 @@ set -e
 function config_noninteractive() {
     local bzl_cfg_file="${APOLLO_ROOT_DIR}/.apollo.bazelrc"
     echo "${STARTUP_TXT}" > "${bzl_cfg_file}"
+    if [ "${USE_GPU}" -eq 1 ]; then
+        echo "build --config=gpu" >> "${bzl_cfg_file}"
+    else
+        echo "build --config=cpu" >> "${bzl_cfg_file}"
+    fi
     cat "${APOLLO_ROOT_DIR}/tools/apollo.bazelrc.sample" >> "${bzl_cfg_file}"
 }
 

tools/apollo.bazelrc.sample

@@ -6,13 +6,11 @@ build --action_env CUDA_TOOLKIT_PATH="/usr/local/cuda-10.2"
 build --action_env TF_CUDA_COMPUTE_CAPABILITIES="6.0,6.1,7.0,7.2,7.5"
 build --action_env GCC_HOST_COMPILER_PATH="/usr/bin/x86_64-linux-gnu-gcc-7"
 
-build --config=gpu
 build:gpu --config=cuda
-build:gpu --define=USE_GPU=true
 build:gpu --config=tensorrt
 
 #build:gpu --action_env USE_GPU=1
-# build --config=tensorrt
+#build --config=tensorrt
 
 ## The following was adapted from tensorflow/.bazelrc
 

tools/bazel.rc

@@ -31,6 +31,8 @@ build --cxxopt="-fdiagnostics-color=always"
 # Do not show warnings from external dependencies.
 # build --output_filter="^//"
 
+build --config=dbg
+
 # TODO(storypku): disable the following line temporarily as
 # external/upb/upb/decode.c:164 can't compile
 #build --copt="-Werror=sign-compare"
@@ -45,18 +47,22 @@ build --define=PREFIX=/usr
 build --define=LIBDIR=$(PREFIX)/lib
 build --define=INCLUDEDIR=$(PREFIX)/include
 
-# build --enable_platform_specific_config
+# dbg config, as a shorthand for '--config=optimize -c dbg'
+build:dbg --config=optimize -c dbg
+build:opt --config=optimize -c opt
 
-# dbg config, as a shorthand for '--config=opt -c dbg'
-build:dbg --config=opt -c dbg
+# Instruction set optimizations
+build:optimize --copt=-march=native
+build:optimize --host_copt=-march=native
+build:optimize --define with_default_optimizations=true
 
-## build -c opt
-build:opt --copt=-march=native
-build:opt --host_copt=-march=native
-build:opt --define with_default_optimizations=true
+build:cpu --define USE_GPU=false
+build:gpu --define USE_GPU=true
+build:opt_gpu --config=opt --config=gpu
 
-# Instruction set optimizations
-build:native_arch_linux --copt=-march=native
+# build with profiling
+build:cpu_prof --config=cpu
+build:cpu_prof --linkopt=-lprofiler
 
 # Build Apollo with C++ 17 features.
 build:c++17 --cxxopt=-std=c++1z
@@ -67,9 +73,6 @@ build:c++1z --config=c++17
 build --cxxopt="-std=c++14"
 build --host_cxxopt="-std=c++14"
 
-# build with profiling
-build:cpu_prof --linkopt=-lprofiler
-
 # +------------------------------------------------------------+
 # | Test Configurations                                        |
 # +------------------------------------------------------------+
@@ -80,6 +83,8 @@ test --test_env=LD_LIBRARY_PATH
 # By default prints output only from failed tests.
 test --test_output=errors
 
+test:unit_test -c dbg --test_verbose_timeout_warnings
+
 test:coverage --copt=--coverage
 test:coverage --cxxopt=--coverage
 test:coverage --cxxopt=-fprofile-arcs
@@ -88,7 +93,6 @@ test:coverage --linkopt=-coverage
 test:coverage --linkopt=-lgcov
 test:coverage --linkopt=-lgcc
 test:coverage --linkopt=-lc
-test:unit_test -c dbg --test_verbose_timeout_warnings
 
 # +------------------------------------------------------------+
 # | CPP Lint Tests & Unit Tests                                |

tools/platform/build_defs.bzl

@@ -9,6 +9,9 @@ def if_use_gpu(if_true, if_false = []):
         "//conditions:default": if_false,
     })
 
+def copts_if_use_gpu():
+    return if_use_gpu(["-DUSE_GPU=1"], ["-DCPU_ONLY=1"])
+
 def if_x86_mode(if_true, if_false = []):
     return select({
         "//tools/platform:x86_mode": if_true,