Build: unified use for USE_ESD_CAN & WITH_TELEOP & USE_GPU

modules/dreamview/backend/BUILD

 load("//tools:cpplint.bzl", "cpplint")
 load("@rules_cc//cc:defs.bzl", "cc_library")
-load("//tools/platform:build_defs.bzl", "copts_if_with_teleop", "if_with_teleop")
+load("//tools/platform:build_defs.bzl", "copts_if_teleop", "if_teleop")
 
 package(default_visibility = ["//visibility:public"])
 
@@ -11,7 +11,7 @@ cc_library(
         "main.cc",
     ],
     hdrs = ["dreamview.h"],
-    copts = ['-DMODULE_NAME=\\"dreamview\\"'] + copts_if_with_teleop(),
+    copts = ['-DMODULE_NAME=\\"dreamview\\"'] + copts_if_teleop(),
     deps = [
         "//modules/common/configs:vehicle_config_helper",
         "//modules/common/status",
@@ -30,7 +30,7 @@ cc_library(
         "//modules/map/pnc_map",
         "//modules/planning/proto:pad_msg_cc_proto",
         "@civetweb//:civetweb++",
-    ] + if_with_teleop(["//modules/dreamview/backend/teleop"]),
+    ] + if_teleop(["//modules/dreamview/backend/teleop"]),
 )
 
 cpplint()

modules/dreamview/backend/teleop/BUILD

 load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
 load("//tools:cpplint.bzl", "cpplint")
-load("//tools/platform:build_defs.bzl", "copts_if_with_teleop")
+load("//tools/platform:build_defs.bzl", "copts_if_teleop", "if_teleop")
 
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
     name = "teleop",
-    srcs = select({
-        "//tools/platform:with_teleop": [
-            "teleop.cc",
-        ],
-        "//conditions:default": [
-        ],
-    }),
-    hdrs = select({
-        "//tools/platform:with_teleop": [
-            "teleop.h",
-        ],
-        "//conditions:default": [
-        ],
-    }),
-    copts = ['-DMODULE_NAME=\\"dreamview\\"'] + copts_if_with_teleop(),
+    srcs = if_teleop(["teleop.cc"]),
+    hdrs = if_teleop(["teleop.h"]),
+    copts = ['-DMODULE_NAME=\\"dreamview\\"'] + copts_if_teleop(),
     deps = [
         "//cyber",
         "//modules/common/adapters:adapter_gflags",
@@ -32,27 +20,19 @@ cc_library(
         "//modules/planning/proto:planning_cc_proto",
         "//modules/planning/proto:pad_msg_cc_proto",
         "@com_github_nlohmann_json//:json",
-    ] + select({
-        "//tools/platform:with_teleop": [
-            "//modules/teleop/modem/proto:modem_info_cc_proto",
-            "//modules/teleop/daemon/proto:daemon_cmd_cc_proto",
-            "//modules/teleop/daemon/proto:daemon_rpt_cc_proto",
-        ],
-        "//conditions:default": [
-        ],
-    }),
+    ] + if_teleop([
+        "//modules/teleop/modem/proto:modem_info_cc_proto",
+        "//modules/teleop/daemon/proto:daemon_cmd_cc_proto",
+        "//modules/teleop/daemon/proto:daemon_rpt_cc_proto",
+    ]),
 )
 
 cc_test(
     name = "teleop_test",
     size = "small",
-    srcs = select({
-        "//tools/platform:with_teleop": [
-            "teleop_test.cc",
-        ],
-        "//conditions:default": [
-        ],
-    }),
+    srcs = if_teleop(
+        ["teleop_test.cc"],
+    ),
     data = [
         "//modules/dreamview/backend/testdata",
     ],

modules/monitor/hardware/esdcan_monitor.cc

@@ -18,7 +18,7 @@
 
 #include <string>
 
-#if USE_ESD_CAN == true
+#if USE_ESD_CAN == 1
 #include "esd_can/include/ntcan.h"
 #endif
 
@@ -38,7 +38,7 @@ namespace apollo {
 namespace monitor {
 namespace {
 
-#if USE_ESD_CAN == true
+#if USE_ESD_CAN == 1
 std::string StatusString(const NTCAN_RESULT ntstatus) {
   switch (ntstatus) {
     case NTCAN_SUCCESS:

modules/planning/open_space/trajectory_smoother/distance_approach_ipopt_cuda_interface.cc

@@ -22,7 +22,7 @@
 #include <algorithm>
 #include <limits>
 
-#ifdef USE_GPU
+#if USE_GPU == 1
 #include "modules/planning/open_space/trajectory_smoother/planning_block.h"
 #endif
 
@@ -2273,7 +2273,7 @@ bool DistanceApproachIPOPTCUDAInterface::eval_h(int n, const double* x,
   if (values == nullptr) {
     // return the structure. This is a symmetric matrix, fill the lower left
     // triangle only.
-#ifdef USE_GPU
+#if USE_GPU == 1
     fill_lower_left(iRow, jCol, rind_L, cind_L, nnz_L);
 #else
     AFATAL << "CUDA enabled without GPU!";
@@ -2283,7 +2283,7 @@ bool DistanceApproachIPOPTCUDAInterface::eval_h(int n, const double* x,
     // triangle only
 
     obj_lam[0] = obj_factor;
-#ifdef USE_GPU
+#if USE_GPU == 1
     data_transfer(&obj_lam[1], lambda, m);
 #else
     AFATAL << "CUDA enabled without GPU!";
@@ -2293,7 +2293,7 @@ bool DistanceApproachIPOPTCUDAInterface::eval_h(int n, const double* x,
     sparse_hess(tag_L, n, 1, const_cast<double*>(x), &nnz_L, &rind_L, &cind_L,
                 &hessval, options_L);
 
-#ifdef USE_GPU
+#if USE_GPU == 1
     if (!data_transfer(values, hessval, nnz_L)) {
       for (int idx = 0; idx < nnz_L; idx++) {
         values[idx] = hessval[idx];

tools/apollo.bazelrc.sample

@@ -29,4 +29,4 @@ build:cuda_clang --action_env TF_CUDA_CLANG=1
 build:tensorrt --action_env TF_NEED_TENSORRT=1
 build:nonccl --define=no_nccl_support=true
 
-build:teleop --define=WITH_TELEOP=1
+build:teleop --define=WITH_TELEOP=true

tools/platform/BUILD

@@ -26,10 +26,9 @@ config_setting(
     },
 )
 
-#TODO(infra): set to true
 config_setting(
     name = "with_teleop",
     define_values = {
-        "WITH_TELEOP": "1",
+        "WITH_TELEOP": "true",
     },
 )

tools/platform/build_defs.bzl

@@ -9,17 +9,17 @@ def if_gpu(if_true, if_false = []):
         "//conditions:default": if_false,
     })
 
-# def copts_if_gpu():
-#    return if_gpu(["-DUSE_GPU=1"], ["-DUSE_GPU=0"])
+def copts_if_gpu():
+    return if_gpu(["-DUSE_GPU=1"], ["-DUSE_GPU=0"])
 
-def if_with_teleop(if_true, if_false = []):
+def if_teleop(if_true, if_false = []):
     return select({
         "//tools/platform:with_teleop": if_true,
         "//conditions:default": if_false,
     })
 
-def copts_if_with_teleop():
-    return if_with_teleop(["-DWITH_TELEOP=1"])
+def copts_if_teleop():
+    return if_teleop(["-DWITH_TELEOP=1"], ["-DWITH_TELEOP=0"])
 
 def if_x86_mode(if_true, if_false = []):
     return select({