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提交 7db7e0c6 编写于 作者: C changsh726 提交者： Liu Jiaming
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Build: apollo.sh build_cpu planning passed

上级 5a614065
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Showing with 121 addition and 83 deletion
modules/planning/integration_tests/BUILD
浏览文件 @ 7db7e0c6
......@@ -60,6 +60,7 @@ cc_test(
"//modules/map/data:map_sunnyvale_big_loop",
"//modules/planning:planning_testdata",
],
linkopts = ["-lgomp"],
deps = [
":planning_test_base",
],
......
modules/planning/open_space/coarse_trajectory_generator/BUILD
浏览文件 @ 7db7e0c6
......@@ -78,6 +78,7 @@ cc_test(
name = "reeds_shepp_path_test",
size = "small",
srcs = ["reeds_shepp_path_test.cc"],
linkopts = ["-lgomp"],
deps = [
":open_space_utils",
"//cyber/common:log",
......@@ -92,6 +93,7 @@ cc_test(
name = "node3d_test",
size = "small",
srcs = ["node3d_test.cc"],
linkopts = ["-lgomp"],
deps = [
":open_space_utils",
"//cyber/common:log",
......@@ -103,6 +105,7 @@ cc_test(
name = "hybrid_a_star_test",
size = "small",
srcs = ["hybrid_a_star_test.cc"],
linkopts = ["-lgomp"],
deps = [
":hybrid_a_star",
"@com_google_googletest//:gtest_main",
......
modules/planning/open_space/trajectory_smoother/BUILD
浏览文件 @ 7db7e0c6
load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("@local_config_cuda//cuda:build_defs.bzl", "cuda_library")
load("//tools:cpplint.bzl", "cpplint")
load("//tools/platform:build_defs.bzl", "if_gpu")
package(default_visibility = ["//visibility:public"])
......@@ -239,13 +240,12 @@ cc_library(
cc_library(
name = "distance_approach_ipopt_cuda_interface",
srcs = ["distance_approach_ipopt_cuda_interface.cc"] + select({
"//tools/platform:use_gpu": [
srcs = ["distance_approach_ipopt_cuda_interface.cc"] + if_gpu(
[
"planning_block.h",
":planning_block",
],
"//conditions:default": [],
}),
),
hdrs = [
"distance_approach_interface.h",
"distance_approach_ipopt_cuda_interface.h",
......@@ -302,6 +302,7 @@ cc_test(
"-DMODULE_NAME=\\\"planning\\\"",
"-fopenmp",
],
linkopts = ["-lgomp"],
deps = [
":distance_approach_ipopt_interface",
"//cyber/common:log",
......@@ -317,12 +318,12 @@ cc_test(
"-DMODULE_NAME=\\\"planning\\\"",
"-fopenmp",
],
linkopts = ["-lgomp"],
deps = [
":distance_approach_ipopt_cuda_interface",
"//cyber/common:log",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -333,12 +334,12 @@ cc_test(
"-DMODULE_NAME=\\\"planning\\\"",
"-fopenmp",
],
linkopts = ["-lgomp"],
deps = [
":distance_approach_problem",
"//cyber/common:log",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......
modules/planning/planner/BUILD
浏览文件 @ 7db7e0c6
......@@ -49,6 +49,7 @@ cc_test(
name = "on_lane_planner_dispatcher_test",
size = "small",
srcs = ["on_lane_planner_dispatcher_test.cc"],
linkopts = ["-lgomp"],
deps = [
":planner_dispatcher",
"@com_google_googletest//:gtest_main",
......@@ -59,6 +60,7 @@ cc_test(
name = "navi_planner_dispatcher_test",
size = "small",
srcs = ["navi_planner_dispatcher_test.cc"],
linkopts = ["-lgomp"],
deps = [
":planner_dispatcher",
"@com_google_googletest//:gtest_main",
......
modules/planning/planner/navi/BUILD
浏览文件 @ 7db7e0c6
......@@ -36,6 +36,7 @@ cc_test(
size = "small",
srcs = ["navi_planner_test.cc"],
data = ["//modules/planning:planning_testdata"],
linkopts = ["-lgomp"],
deps = [
":navi_planner",
"//cyber/common:log",
......
modules/planning/planner/public_road/BUILD
浏览文件 @ 7db7e0c6
......@@ -39,6 +39,7 @@ cc_test(
name = "public_road_planner_test",
size = "small",
srcs = ["public_road_planner_test.cc"],
linkopts = ["-lgomp"],
deps = [
":public_road_planner",
"@com_google_googletest//:gtest_main",
......
modules/planning/planner/rtk/BUILD
浏览文件 @ 7db7e0c6
......@@ -30,6 +30,7 @@ cc_test(
size = "small",
srcs = ["rtk_replay_planner_test.cc"],
data = ["//modules/planning:planning_testdata"],
linkopts = ["-lgomp"],
deps = [
":rtk_planner",
"//cyber/common:log",
......
modules/planning/scenarios/bare_intersection/unprotected/BUILD
浏览文件 @ 7db7e0c6
load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools/platform:build_defs.bzl", "if_gpu")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
......@@ -27,8 +28,7 @@ cc_library(
"//modules/planning/tasks/deciders/creep_decider",
"@com_github_gflags_gflags//:gflags",
"@eigen",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -36,11 +36,11 @@ cc_test(
size = "small",
srcs = ["bare_intersection_unprotected_scenario_test.cc"],
data = ["//modules/planning:planning_conf"],
linkopts = ["-lgomp"],
deps = [
":bare_intersection_unprotected_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -50,6 +50,7 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":bare_intersection_unprotected_scenario",
"@com_google_googletest//:gtest_main",
......
modules/planning/scenarios/emergency/emergency_pull_over/BUILD
浏览文件 @ 7db7e0c6
load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools/platform:build_defs.bzl", "if_gpu")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
......@@ -40,11 +41,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":emergency_pull_over_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -54,11 +55,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":emergency_pull_over_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -68,11 +69,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":emergency_pull_over_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -82,11 +83,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":emergency_pull_over_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cpplint()
modules/planning/scenarios/emergency/emergency_stop/BUILD
浏览文件 @ 7db7e0c6
load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools/platform:build_defs.bzl", "if_gpu")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
......@@ -38,11 +39,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":emergency_stop_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -52,11 +53,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":emergency_stop_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -66,11 +67,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":emergency_stop_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cpplint()
modules/planning/scenarios/lane_follow/BUILD
浏览文件 @ 7db7e0c6
load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools:cpplint.bzl", "cpplint")
load("//tools/platform:build_defs.bzl", "if_gpu")
package(default_visibility = ["//visibility:public"])
......@@ -85,11 +86,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":lane_follow",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cpplint()
modules/planning/scenarios/learning_model/BUILD
浏览文件 @ 7db7e0c6
load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools/platform:build_defs.bzl", "if_use_gpu")
load("//tools/platform:build_defs.bzl", "if_gpu")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
......@@ -31,7 +31,7 @@ cc_library(
"//modules/planning/reference_line",
"//modules/planning/scenarios:scenario",
"@eigen",
] + if_use_gpu(
] + if_gpu(
["@libtorch_gpu"],
["@libtorch_cpu"],
),
......@@ -44,6 +44,7 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":learning_model_sample_scenario",
"@com_google_googletest//:gtest_main",
......@@ -57,6 +58,7 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":learning_model_sample_scenario",
"@com_google_googletest//:gtest_main",
......
modules/planning/scenarios/narrow_street_u_turn/BUILD
浏览文件 @ 7db7e0c6
load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools/platform:build_defs.bzl", "if_gpu")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
......@@ -30,11 +31,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":narrow_street_u_turn",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cpplint()
modules/planning/scenarios/park/pull_over/BUILD
浏览文件 @ 7db7e0c6
load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools/platform:build_defs.bzl", "if_gpu")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
......@@ -30,8 +31,7 @@ cc_library(
"//modules/planning/scenarios/util:scenario_util_lib",
"@com_github_gflags_gflags//:gflags",
"@eigen",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -41,11 +41,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":pull_over_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -55,11 +55,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":pull_over_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -69,6 +69,7 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":pull_over_scenario",
"@com_google_googletest//:gtest_main",
......@@ -82,6 +83,7 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":pull_over_scenario",
"@com_google_googletest//:gtest_main",
......
modules/planning/scenarios/park/valet_parking/BUILD
浏览文件 @ 7db7e0c6
load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools:cpplint.bzl", "cpplint")
load("//tools/platform:build_defs.bzl", "if_gpu")
package(default_visibility = ["//visibility:public"])
......@@ -30,11 +31,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":valet_parking",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -44,11 +45,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":valet_parking",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -58,11 +59,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":valet_parking",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cpplint()
modules/planning/scenarios/park_and_go/BUILD
浏览文件 @ 7db7e0c6
load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools:cpplint.bzl", "cpplint")
load("//tools/platform:build_defs.bzl", "if_gpu")
package(default_visibility = ["//visibility:public"])
......@@ -41,11 +42,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":park_and_go_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -60,11 +61,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":park_and_go_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cpplint()
modules/planning/scenarios/stop_sign/unprotected/BUILD
浏览文件 @ 7db7e0c6
load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools:cpplint.bzl", "cpplint")
load("//tools/platform:build_defs.bzl", "if_gpu")
package(default_visibility = ["//visibility:public"])
......@@ -40,11 +41,11 @@ cc_test(
size = "small",
srcs = ["stop_sign_unprotected_scenario_test.cc"],
data = ["//modules/planning:planning_conf"],
linkopts = ["-lgomp"],
deps = [
":stop_sign_unprotected_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -54,11 +55,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":stop_sign_unprotected_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -68,11 +69,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":stop_sign_unprotected_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -82,11 +83,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":stop_sign_unprotected_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cpplint()
modules/planning/scenarios/traffic_light/protected/BUILD
浏览文件 @ 7db7e0c6
load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools/platform:build_defs.bzl", "if_gpu")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
......@@ -26,8 +27,7 @@ cc_library(
"//modules/planning/scenarios/util:scenario_util_lib",
"@com_github_gflags_gflags//:gflags",
"@eigen",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -35,6 +35,7 @@ cc_test(
size = "small",
srcs = ["traffic_light_protected_scenario_test.cc"],
data = ["//modules/planning:planning_conf"],
linkopts = ["-lgomp"],
deps = [
":traffic_light_protected_scenario",
"@com_google_googletest//:gtest_main",
......@@ -48,6 +49,7 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":traffic_light_protected_scenario",
"@com_google_googletest//:gtest_main",
......
modules/planning/scenarios/traffic_light/unprotected_left_turn/BUILD
浏览文件 @ 7db7e0c6
load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools:cpplint.bzl", "cpplint")
load("//tools/platform:build_defs.bzl", "if_gpu")
package(default_visibility = ["//visibility:public"])
......@@ -28,8 +29,7 @@ cc_library(
"//modules/planning/tasks/deciders/creep_decider",
"@com_github_gflags_gflags//:gflags",
"@eigen",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -37,6 +37,7 @@ cc_test(
size = "small",
srcs = ["traffic_light_unprotected_left_turn_scenario_test.cc"],
data = ["//modules/planning:planning_conf"],
linkopts = ["-lgomp"],
deps = [
":traffic_light_unprotected_left_turn_scenario",
"@com_google_googletest//:gtest_main",
......@@ -50,6 +51,7 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":traffic_light_unprotected_left_turn_scenario",
"@com_google_googletest//:gtest_main",
......@@ -63,6 +65,7 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":traffic_light_unprotected_left_turn_scenario",
"@com_google_googletest//:gtest_main",
......
modules/planning/scenarios/traffic_light/unprotected_right_turn/BUILD
浏览文件 @ 7db7e0c6
load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools:cpplint.bzl", "cpplint")
load("//tools/platform:build_defs.bzl", "if_gpu")
package(default_visibility = ["//visibility:public"])
......@@ -29,8 +30,7 @@ cc_library(
"//modules/planning/tasks/deciders/creep_decider",
"@com_github_gflags_gflags//:gflags",
"@eigen",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -38,11 +38,11 @@ cc_test(
size = "small",
srcs = ["traffic_light_unprotected_right_turn_scenario_test.cc"],
data = ["//modules/planning:planning_conf"],
linkopts = ["-lgomp"],
deps = [
":traffic_light_unprotected_right_turn_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -52,11 +52,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":traffic_light_unprotected_right_turn_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -66,6 +66,7 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":traffic_light_unprotected_right_turn_scenario",
"@com_google_googletest//:gtest_main",
......
modules/planning/scenarios/yield_sign/BUILD
浏览文件 @ 7db7e0c6
load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools:cpplint.bzl", "cpplint")
load("//tools/platform:build_defs.bzl", "if_gpu")
package(default_visibility = ["//visibility:public"])
......@@ -38,11 +39,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":yield_sign_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -52,11 +53,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":yield_sign_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_test(
......@@ -66,11 +67,11 @@ cc_test(
data = [
"//modules/planning:planning_conf",
],
linkopts = ["-lgomp"],
deps = [
":yield_sign_scenario",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cpplint()
modules/planning/tasks/optimizers/open_space_trajectory_generation/BUILD
浏览文件 @ 7db7e0c6
load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools:cpplint.bzl", "cpplint")
load("//tools/platform:build_defs.bzl", "if_gpu")
package(default_visibility = ["//visibility:public"])
......@@ -20,8 +21,7 @@ cc_library(
"//modules/planning/common/trajectory:discretized_trajectory",
"//modules/planning/tasks:task",
"//modules/planning/tasks/optimizers:trajectory_optimizer",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cc_library(
......@@ -56,6 +56,7 @@ cc_test(
copts = [
"-fopenmp",
],
linkopts = ["-lgomp"],
deps = [
":open_space_trajectory_provider",
"@com_google_googletest//:gtest_main",
......@@ -69,11 +70,11 @@ cc_test(
copts = [
"-fopenmp",
],
linkopts = ["-lgomp"],
deps = [
":open_space_trajectory_optimizer",
"@com_google_googletest//:gtest_main",
"@local_config_cuda//cuda:cudart",
],
] + if_gpu(["@local_config_cuda//cuda:cudart"]),
)
cpplint()
scripts/apollo_build.sh
浏览文件 @ 7db7e0c6
......@@ -28,7 +28,7 @@ ARCH="$(uname -m)"
CMDLINE_OPTIONS=
SHORTHAND_TARGETS=
function determine_disabled_bazel_targets() {
function determine_disabled_build_targets() {
local disabled=
local compo="$1"
if [[ -z "${compo}" || "${compo}" == "drivers" ]]; then
......@@ -41,6 +41,12 @@ function determine_disabled_bazel_targets() {
elif [[ "${compo}" == "localization" && "${ARCH}" != "x86_64" ]]; then
# Skip msf for non-x86_64 platforms
disabled="${disabled} except //modules/localization/msf/..."
elif [[ "${compo}" == "perception" && "${USE_GPU}" == 0 ]]; then
warning "Perception module can not work without GPU, all targets passed"
disabled="${disabled} except //modules/perception/..."
elif [[ "${compo}" == "planning" && "${USE_GPU}" == 0 ]]; then
disabled="${disabled} except //modules/planning/open_space/trajectory_smoother:planning_block \
except //modules/planning/learning_based/..."
fi
echo "${disabled}"
......@@ -55,7 +61,7 @@ function determine_build_targets() {
if [[ "$#" -eq 0 ]]; then
local exceptions=
if ! ${USE_ESD_CAN}; then
exceptions="$(determine_disabled_bazel_targets)"
exceptions="$(determine_disabled_build_targets)"
fi
targets_all="//modules/... union //cyber/... ${exceptions}"
echo "${targets_all}"
......@@ -64,8 +70,8 @@ function determine_build_targets() {
for compo in $@; do
local build_targets
local exceptions
if [[ "${compo}" == "drivers" ]]; then
local exceptions=
if ! ${USE_ESD_CAN}; then
exceptions="$(determine_disabled_build_targets ${compo})"
fi
......@@ -77,7 +83,8 @@ function determine_build_targets() {
build_targets="//cyber/..."
fi
elif [[ -d "${APOLLO_ROOT_DIR}/modules/${compo}" ]]; then
build_targets="//modules/${compo}/..."
exceptions="$(determine_disabled_build_targets ${compo})"
build_targets="//modules/${compo}/... ${exceptions}"
else
error "Oops, no such component '${compo}' under <APOLLO_ROOT_DIR>/modules/ . Exiting ..."
exit 1
......
tools/bazel.rc
浏览文件 @ 7db7e0c6
......@@ -56,6 +56,7 @@ build:optimize --host_copt=-march=native
build:optimize --define with_default_optimizations=true
build:cpu --define USE_GPU=false
build:cpu --cxxopt=-DCPU_ONLY
build:gpu --define USE_GPU=true
build:opt_gpu --config=opt --config=gpu
......
tools/platform/build_defs.bzl
浏览文件 @ 7db7e0c6
def if_use_gpu(if_true, if_false = []):
def if_gpu(if_true, if_false = []):
"""Shorthand for select()'ing on whether we're building with gpu enabled
Returns a select statement which evaluates to if_true if we're building
with use_gpu enabled. Otherwise, the select statement evaluates to
......@@ -9,8 +9,8 @@ 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 copts_if_gpu():
return if_gpu(["-DUSE_GPU=1"], ["-DCPU_ONLY=1"])
def if_with_teleop(if_true, if_false = []):
return select({
......
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