From 7db7e0c637c2c0aca3d96bd2f8493e3898b326dd Mon Sep 17 00:00:00 2001 From: changsh726 Date: Tue, 25 Aug 2020 16:13:16 +0800 Subject: [PATCH] Build: apollo.sh build_cpu planning passed --- modules/planning/integration_tests/BUILD | 1 + .../coarse_trajectory_generator/BUILD | 3 +++ .../open_space/trajectory_smoother/BUILD | 17 +++++++++-------- modules/planning/planner/BUILD | 2 ++ modules/planning/planner/navi/BUILD | 1 + modules/planning/planner/public_road/BUILD | 1 + modules/planning/planner/rtk/BUILD | 1 + .../bare_intersection/unprotected/BUILD | 9 +++++---- .../emergency/emergency_pull_over/BUILD | 17 +++++++++-------- .../scenarios/emergency/emergency_stop/BUILD | 13 +++++++------ modules/planning/scenarios/lane_follow/BUILD | 5 +++-- modules/planning/scenarios/learning_model/BUILD | 6 ++++-- .../scenarios/narrow_street_u_turn/BUILD | 5 +++-- modules/planning/scenarios/park/pull_over/BUILD | 14 ++++++++------ .../planning/scenarios/park/valet_parking/BUILD | 13 +++++++------ modules/planning/scenarios/park_and_go/BUILD | 9 +++++---- .../scenarios/stop_sign/unprotected/BUILD | 17 +++++++++-------- .../scenarios/traffic_light/protected/BUILD | 6 ++++-- .../traffic_light/unprotected_left_turn/BUILD | 7 +++++-- .../traffic_light/unprotected_right_turn/BUILD | 13 +++++++------ modules/planning/scenarios/yield_sign/BUILD | 13 +++++++------ .../open_space_trajectory_generation/BUILD | 9 +++++---- scripts/apollo_build.sh | 15 +++++++++++---- tools/bazel.rc | 1 + tools/platform/build_defs.bzl | 6 +++--- 25 files changed, 121 insertions(+), 83 deletions(-) diff --git a/modules/planning/integration_tests/BUILD b/modules/planning/integration_tests/BUILD index 41a5e60f77..fc6e4f8037 100644 --- a/modules/planning/integration_tests/BUILD +++ b/modules/planning/integration_tests/BUILD @@ -60,6 +60,7 @@ cc_test( "//modules/map/data:map_sunnyvale_big_loop", "//modules/planning:planning_testdata", ], + linkopts = ["-lgomp"], deps = [ ":planning_test_base", ], diff --git a/modules/planning/open_space/coarse_trajectory_generator/BUILD b/modules/planning/open_space/coarse_trajectory_generator/BUILD index 9984635604..4d96602e79 100644 --- a/modules/planning/open_space/coarse_trajectory_generator/BUILD +++ b/modules/planning/open_space/coarse_trajectory_generator/BUILD @@ -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", diff --git a/modules/planning/open_space/trajectory_smoother/BUILD b/modules/planning/open_space/trajectory_smoother/BUILD index 57eeac3597..7d12349026 100644 --- a/modules/planning/open_space/trajectory_smoother/BUILD +++ b/modules/planning/open_space/trajectory_smoother/BUILD @@ -1,6 +1,7 @@ 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( diff --git a/modules/planning/planner/BUILD b/modules/planning/planner/BUILD index 769169a586..bb79597a5a 100644 --- a/modules/planning/planner/BUILD +++ b/modules/planning/planner/BUILD @@ -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", diff --git a/modules/planning/planner/navi/BUILD b/modules/planning/planner/navi/BUILD index 0a2813ce21..d4e8e67255 100644 --- a/modules/planning/planner/navi/BUILD +++ b/modules/planning/planner/navi/BUILD @@ -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", diff --git a/modules/planning/planner/public_road/BUILD b/modules/planning/planner/public_road/BUILD index 9e6e95d00d..7e3184793c 100644 --- a/modules/planning/planner/public_road/BUILD +++ b/modules/planning/planner/public_road/BUILD @@ -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", diff --git a/modules/planning/planner/rtk/BUILD b/modules/planning/planner/rtk/BUILD index 4d72a49391..89691a3723 100644 --- a/modules/planning/planner/rtk/BUILD +++ b/modules/planning/planner/rtk/BUILD @@ -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", diff --git a/modules/planning/scenarios/bare_intersection/unprotected/BUILD b/modules/planning/scenarios/bare_intersection/unprotected/BUILD index b2540db52b..a3e13de84f 100644 --- a/modules/planning/scenarios/bare_intersection/unprotected/BUILD +++ b/modules/planning/scenarios/bare_intersection/unprotected/BUILD @@ -1,4 +1,5 @@ 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", diff --git a/modules/planning/scenarios/emergency/emergency_pull_over/BUILD b/modules/planning/scenarios/emergency/emergency_pull_over/BUILD index aa4bae5ed5..6c4d5f2ea1 100644 --- a/modules/planning/scenarios/emergency/emergency_pull_over/BUILD +++ b/modules/planning/scenarios/emergency/emergency_pull_over/BUILD @@ -1,4 +1,5 @@ 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() diff --git a/modules/planning/scenarios/emergency/emergency_stop/BUILD b/modules/planning/scenarios/emergency/emergency_stop/BUILD index ef3927942b..889803b5fa 100644 --- a/modules/planning/scenarios/emergency/emergency_stop/BUILD +++ b/modules/planning/scenarios/emergency/emergency_stop/BUILD @@ -1,4 +1,5 @@ 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() diff --git a/modules/planning/scenarios/lane_follow/BUILD b/modules/planning/scenarios/lane_follow/BUILD index b818abe246..8000d38a23 100644 --- a/modules/planning/scenarios/lane_follow/BUILD +++ b/modules/planning/scenarios/lane_follow/BUILD @@ -1,5 +1,6 @@ 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() diff --git a/modules/planning/scenarios/learning_model/BUILD b/modules/planning/scenarios/learning_model/BUILD index 9a7bd16636..f793b57b65 100644 --- a/modules/planning/scenarios/learning_model/BUILD +++ b/modules/planning/scenarios/learning_model/BUILD @@ -1,5 +1,5 @@ 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", diff --git a/modules/planning/scenarios/narrow_street_u_turn/BUILD b/modules/planning/scenarios/narrow_street_u_turn/BUILD index 7cc24a5349..bec6e8e9c7 100644 --- a/modules/planning/scenarios/narrow_street_u_turn/BUILD +++ b/modules/planning/scenarios/narrow_street_u_turn/BUILD @@ -1,4 +1,5 @@ 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() diff --git a/modules/planning/scenarios/park/pull_over/BUILD b/modules/planning/scenarios/park/pull_over/BUILD index 2d05b7e6b2..0757e9cbbd 100644 --- a/modules/planning/scenarios/park/pull_over/BUILD +++ b/modules/planning/scenarios/park/pull_over/BUILD @@ -1,4 +1,5 @@ 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", diff --git a/modules/planning/scenarios/park/valet_parking/BUILD b/modules/planning/scenarios/park/valet_parking/BUILD index 9aba97daca..269d4feed1 100644 --- a/modules/planning/scenarios/park/valet_parking/BUILD +++ b/modules/planning/scenarios/park/valet_parking/BUILD @@ -1,5 +1,6 @@ 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() diff --git a/modules/planning/scenarios/park_and_go/BUILD b/modules/planning/scenarios/park_and_go/BUILD index ec05e2d2bd..02dc2c1fa1 100644 --- a/modules/planning/scenarios/park_and_go/BUILD +++ b/modules/planning/scenarios/park_and_go/BUILD @@ -1,5 +1,6 @@ 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() diff --git a/modules/planning/scenarios/stop_sign/unprotected/BUILD b/modules/planning/scenarios/stop_sign/unprotected/BUILD index d29ac83472..be1d4edbbc 100644 --- a/modules/planning/scenarios/stop_sign/unprotected/BUILD +++ b/modules/planning/scenarios/stop_sign/unprotected/BUILD @@ -1,5 +1,6 @@ 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() diff --git a/modules/planning/scenarios/traffic_light/protected/BUILD b/modules/planning/scenarios/traffic_light/protected/BUILD index 62ab337761..cd496aefd4 100644 --- a/modules/planning/scenarios/traffic_light/protected/BUILD +++ b/modules/planning/scenarios/traffic_light/protected/BUILD @@ -1,4 +1,5 @@ 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", diff --git a/modules/planning/scenarios/traffic_light/unprotected_left_turn/BUILD b/modules/planning/scenarios/traffic_light/unprotected_left_turn/BUILD index c4395356ba..801fb5e16c 100644 --- a/modules/planning/scenarios/traffic_light/unprotected_left_turn/BUILD +++ b/modules/planning/scenarios/traffic_light/unprotected_left_turn/BUILD @@ -1,5 +1,6 @@ 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", diff --git a/modules/planning/scenarios/traffic_light/unprotected_right_turn/BUILD b/modules/planning/scenarios/traffic_light/unprotected_right_turn/BUILD index b03d6ca5a3..878989c3ba 100644 --- a/modules/planning/scenarios/traffic_light/unprotected_right_turn/BUILD +++ b/modules/planning/scenarios/traffic_light/unprotected_right_turn/BUILD @@ -1,5 +1,6 @@ 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", diff --git a/modules/planning/scenarios/yield_sign/BUILD b/modules/planning/scenarios/yield_sign/BUILD index 1db9f5e58a..a031f234ca 100644 --- a/modules/planning/scenarios/yield_sign/BUILD +++ b/modules/planning/scenarios/yield_sign/BUILD @@ -1,5 +1,6 @@ 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() diff --git a/modules/planning/tasks/optimizers/open_space_trajectory_generation/BUILD b/modules/planning/tasks/optimizers/open_space_trajectory_generation/BUILD index daa3195709..007c61707e 100644 --- a/modules/planning/tasks/optimizers/open_space_trajectory_generation/BUILD +++ b/modules/planning/tasks/optimizers/open_space_trajectory_generation/BUILD @@ -1,5 +1,6 @@ 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() diff --git a/scripts/apollo_build.sh b/scripts/apollo_build.sh index 316c5ce3af..ab424e5cc0 100755 --- a/scripts/apollo_build.sh +++ b/scripts/apollo_build.sh @@ -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 /modules/ . Exiting ..." exit 1 diff --git a/tools/bazel.rc b/tools/bazel.rc index 5de038d35a..1f8151960d 100644 --- a/tools/bazel.rc +++ b/tools/bazel.rc @@ -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 diff --git a/tools/platform/build_defs.bzl b/tools/platform/build_defs.bzl index ffa93a9d71..69b6c28d06 100644 --- a/tools/platform/build_defs.bzl +++ b/tools/platform/build_defs.bzl @@ -1,4 +1,4 @@ -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({ -- GitLab