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apollo

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提交 b5f635ac 编写于 作者: S storypku
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prepare for independent workspace

上级 b2f2c034
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Showing with 61 addition and 414 deletion
apollo.sh
浏览文件 @ b5f635ac
......@@ -20,12 +20,19 @@
# Utils
#=================================================
APOLLO_ROOT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
source ${APOLLO_ROOT_DIR}/scripts/apollo_base.sh
MACHINE_ARCH=$(uname -m)
BUILD_CMD="bazel build --distdir=${APOLLO_CACHE_DIR}"
TEST_CMD="bazel test --distdir=${APOLLO_CACHE_DIR}"
DISABLED_CYBER_MODULES="except //cyber/record:record_file_integration_test"
function apollo_check_system_config() {
# check docker environment
if [ ${MACHINE_ARCH} == "x86_64" ] && [ ${APOLLO_IN_DOCKER} != "true" ]; then
echo -e "${RED}Must run $0 in dev docker or release docker${NO_COLOR}"
echo -e "${RED}Must run $0 in cyber or dev docker${NO_COLOR}"
exit 0
fi
......@@ -34,10 +41,9 @@ function apollo_check_system_config() {
case $OP_SYSTEM in
"Linux")
echo "System check passed. Build continue ..."
# check system configuration
DEFAULT_MEM_SIZE="2.0"
MEM_SIZE=$(free | grep Mem | awk '{printf("%0.2f", $2 / 1024.0 / 1024.0)}')
MEM_SIZE=$(free -m | grep Mem | awk '{printf("%0.2f", $2 / 1024.0)}')
if (( $(echo "$MEM_SIZE < $DEFAULT_MEM_SIZE" | bc -l) )); then
warning "System memory [${MEM_SIZE}G] is lower than minimum required memory size [2.0G]. Apollo build could fail."
fi
......@@ -47,20 +53,19 @@ function apollo_check_system_config() {
;;
*)
error "Unsupported system: ${OP_SYSTEM}."
error "Please use Linux, we recommend Ubuntu 14.04."
error "Please use Linux, we recommend Ubuntu 18.04."
exit 1
;;
esac
}
function check_machine_arch() {
# the machine type, currently support x86_64, aarch64
MACHINE_ARCH=$(uname -m)
if [ "${MACHINE_ARCH}" != "x86_64" ] && [ "${MACHINE_ARCH}" != "aarch64" ]; then
fail "Unknown machine architecture $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/${VTK_VERSION}/g" WORKSPACE.in > WORKSPACE
......@@ -130,21 +135,21 @@ function build() {
if [ "${USE_GPU}" = "1" ] ; then
echo -e "${YELLOW}Running build under GPU mode. GPU is required to run the build.${NO_COLOR}"
else
echo -e "${YELLOW}Running build under CPU mode. No GPU is required to run the build.${NO_COLOR}"
echo -e "${YELLOW}Running build under CPU mode. GPU is not required to run the build.${NO_COLOR}"
fi
info "Start building, please wait ..."
generate_build_targets
info "Building on $MACHINE_ARCH..."
MACHINE_ARCH=$(uname -m)
JOB_ARG="--jobs=$(nproc) --local_ram_resources=HOST_RAM*0.8" # --ram_utilization_factor 80
if [ "$MACHINE_ARCH" == 'aarch64' ]; then
JOB_ARG="--jobs=3"
fi
info "Building with $JOB_ARG for $MACHINE_ARCH"
bazel build $JOB_ARG $DEFINES -c $@ $BUILD_TARGETS
${BUILD_CMD} $JOB_ARG $DEFINES -c $@ $BUILD_TARGETS
if [ ${PIPESTATUS[0]} -ne 0 ]; then
fail 'Build failed!'
fi
......@@ -156,7 +161,7 @@ function build() {
if [ "$BUILD_FILTER" == 'cyber' ] || [ "$BUILD_FILTER" == 'drivers' ]; then
info "Skipping revision recording"
else
bazel build $JOB_ARG $DEFINES -c $@ $BUILD_TARGETS
${BUILD_CMD} $JOB_ARG $DEFINES -c $@ $BUILD_TARGETS
if [ ${PIPESTATUS[0]} -ne 0 ]; then
fail 'Build failed!'
fi
......@@ -166,6 +171,7 @@ function build() {
--key="apollo:data:commit_id" --value="$REVISION"
fi
# TODO(ALL): check whether still in public use.
if [ -d /apollo-simulator ] && [ -e /apollo-simulator/build.sh ]; then
cd /apollo-simulator && bash build.sh build
if [ $? -ne 0 ]; then
......@@ -182,7 +188,7 @@ function build() {
function cibuild_extended() {
info "Building framework ..."
cd /apollo
cd ${APOLLO_ROOT_DIR}
info "Building modules ..."
JOB_ARG="--jobs=12"
......@@ -210,7 +216,7 @@ function cibuild_extended() {
except //modules/map/tools/map_datachecker/...
`
bazel build $JOB_ARG $DEFINES $@ $BUILD_TARGETS
${BUILD_CMD} $JOB_ARG $DEFINES $@ $BUILD_TARGETS
if [ $? -eq 0 ]; then
success 'Build passed!'
......@@ -218,9 +224,10 @@ function cibuild_extended() {
fail 'Build failed!'
fi
}
function cibuild() {
info "Building framework ..."
cd /apollo
cd "${APOLLO_ROOT_DIR}"
info "Building modules ..."
......@@ -242,9 +249,8 @@ function cibuild() {
# The data module is lightweight and rarely changed. If it fails, it's
# most-likely an environment mess. So we try `bazel clean` and then initial
# the building process.
bazel build $JOB_ARG $DEFINES $@ "//modules/data/..." || bazel clean
bazel build $JOB_ARG $DEFINES $@ $BUILD_TARGETS
${BUILD_CMD} $JOB_ARG $DEFINES $@ "//modules/data/..." || bazel clean
${BUILD_CMD} $JOB_ARG $DEFINES $@ $BUILD_TARGETS
if [ $? -eq 0 ]; then
success 'Build passed!'
......@@ -288,146 +294,10 @@ function check() {
fi
}
function warn_proprietary_sw() {
echo -e "${RED}The release built contains proprietary software provided by other parties.${NO_COLOR}"
echo -e "${RED}Make sure you have obtained proper licensing agreement for redistribution${NO_COLOR}"
echo -e "${RED}if you intend to publish the release package built.${NO_COLOR}"
echo -e "${RED}Such licensing agreement is solely between you and the other parties,${NO_COLOR}"
echo -e "${RED}and is not covered by the license terms of the apollo project${NO_COLOR}"
echo -e "${RED}(see file license).${NO_COLOR}"
}
function release() {
CACHE_DIR="/apollo/.cache"
RELEASE_DIR="${CACHE_DIR}/apollo_release"
if [ -d "${RELEASE_DIR}" ]; then
rm -rf "${RELEASE_DIR}"
fi
APOLLO_RELEASE_DIR="${RELEASE_DIR}/apollo"
mkdir -p "${APOLLO_RELEASE_DIR}"
# cp built dynamic libraries
LIBS=$(find bazel-out/* -name "*.so" )
for LIB in ${LIBS}; do
cp -a --parent ${LIB} ${APOLLO_RELEASE_DIR}
done
mkdir ${APOLLO_RELEASE_DIR}/bazel-bin
mv ${APOLLO_RELEASE_DIR}/bazel-out/local-opt/bin/* ${APOLLO_RELEASE_DIR}/bazel-bin/
rm -rf ${APOLLO_RELEASE_DIR}/bazel-out
# reset softlinks
cd ${APOLLO_RELEASE_DIR}/bazel-bin
LIST=("_solib_k8")
for DIR in "${LIST[@]}"; do
LINKS=$(find ${DIR}/* -name "*.so" -type l | sed '/.*@.*/d')
for LINK in $LINKS; do
LIB=$(echo $LINK | sed 's/_S/\//g' | sed 's/_U/_/g')
if [[ $LIB == *"_solib_k8/lib"* ]]; then
LIB="/apollo/bazel-bin/$(echo $LIB | awk -F "_solib_k8/lib" '{print $NF}')"
elif [[ $LIB == *"___"* ]]; then
LIB="/apollo/bazel-bin/$(echo $LIB | awk -F "___" '{print $NF}')"
else
LIB="/apollo/bazel-bin/$(echo $LIB | awk -F "apollo/" '{print $NF}')"
fi
ln -sf $LIB $LINK
done
done
cd -
# setup cyber binaries and convert from //path:target to path/target
CYBERBIN=$(bazel query "kind(cc_binary, //cyber/... //modules/tools/visualizer/...)" | sed 's/^\/\///' | sed 's/:/\//' | sed '/.*.so$/d')
for BIN in ${CYBERBIN}; do
cp -P --parent "bazel-bin/${BIN}" ${APOLLO_RELEASE_DIR}
done
cp --parent "cyber/setup.bash" "${APOLLO_RELEASE_DIR}"
cp --parent -a "cyber/tools/cyber_launch" "${APOLLO_RELEASE_DIR}"
cp --parent -a "cyber/tools/cyber_tools_auto_complete.bash" "${APOLLO_RELEASE_DIR}"
cp --parent -a "cyber/python" "${APOLLO_RELEASE_DIR}"
# setup tools
TOOLSBIN=$(bazel query "kind(cc_binary, //modules/tools/...)" | sed 's/^\/\///' | sed 's/:/\//' | sed '/.*.so$/d')
for BIN in ${TOOLSBIN}; do
cp -P --parent "bazel-bin/${BIN}" ${APOLLO_RELEASE_DIR}
done
TOOLSPY=$(find modules/tools/* -name "*.py")
for PY in ${TOOLSPY}; do
cp -P --parent "${PY}" "${APOLLO_RELEASE_DIR}/bazel-bin"
done
# modules data, conf and dag
CONFS=$(find modules/ cyber/ -name "conf")
DATAS=$(find modules/ -name "data" | grep -v "testdata")
DAGS=$(find modules/ -name "dag")
LAUNCHS=$(find modules/ -name "launch")
PARAMS=$(find modules/ -name "params" | grep -v "testdata")
rm -rf test/*
for CONF in $CONFS; do
cp -P --parent -a "${CONF}" "${APOLLO_RELEASE_DIR}"
done
for DATA in $DATAS; do
if [[ $DATA != *"map"* ]]; then
cp -P --parent -a "${DATA}" "${APOLLO_RELEASE_DIR}"
fi
done
for DAG in $DAGS; do
cp -P --parent -a "${DAG}" "${APOLLO_RELEASE_DIR}"
done
for LAUNCH in $LAUNCHS; do
cp -P --parent -a "${LAUNCH}" "${APOLLO_RELEASE_DIR}"
done
for PARAM in $PARAMS; do
cp -P --parent -a "${PARAM}" "${APOLLO_RELEASE_DIR}"
done
# perception model
MODEL="modules/perception/model"
cp -P --parent -a "${MODEL}" "${APOLLO_RELEASE_DIR}"
# dreamview frontend
cp -a modules/dreamview/frontend $APOLLO_RELEASE_DIR/modules/dreamview
# remove all pyc file in modules/
find modules/ -name "*.pyc" | xargs -I {} rm {}
# scripts
cp -r scripts ${APOLLO_RELEASE_DIR}
# manual traffic light tool
mkdir -p ${APOLLO_RELEASE_DIR}/modules/tools
cp -r modules/tools/manual_traffic_light ${APOLLO_RELEASE_DIR}/modules/tools
# remove mounted models
rm -rf ${APOLLO_RELEASE_DIR}/modules/perception/model/yolo_camera_detector/
# lib
LIB_DIR="${APOLLO_RELEASE_DIR}/lib"
mkdir "${LIB_DIR}"
if $USE_ESD_CAN; then
warn_proprietary_sw
fi
THIRDLIBS=$(find third_party/* -name "*.so*")
for LIB in ${THIRDLIBS}; do
cp -a "${LIB}" $LIB_DIR
done
cp -r py_proto/modules $LIB_DIR
# doc
cp LICENSE "${APOLLO_RELEASE_DIR}"
cp third_party/ACKNOWLEDGEMENT.txt "${APOLLO_RELEASE_DIR}"
# release info
META="${APOLLO_RELEASE_DIR}/meta.ini"
echo "git_commit: $(get_revision)" >> $META
echo "git_branch: $(get_branch)" >> $META
echo "car_type: LINCOLN.MKZ" >> $META
echo "arch: ${MACHINE_ARCH}" >> $META
}
function gen_coverage() {
bazel clean
generate_build_targets
echo "$BUILD_TARGETS" | grep -v "cnn_segmentation_test" | xargs bazel test $DEFINES -c dbg --config=coverage $@
echo "$BUILD_TARGETS" | grep -v "cnn_segmentation_test" | xargs ${TEST_CMD} $DEFINES -c dbg --config=coverage $@
if [ $? -ne 0 ]; then
fail 'run test failed!'
fi
......@@ -466,11 +336,11 @@ function run_test() {
generate_build_targets
if [ "$USE_GPU" == "1" ]; then
echo -e "${YELLOW}Running tests under GPU mode. GPU is required to run the tests.${NO_COLOR}"
bazel test $DEFINES $JOB_ARG --config=unit_test -c dbg --test_verbose_timeout_warnings $@ $BUILD_TARGETS
${TEST_CMD} $DEFINES $JOB_ARG --config=unit_test -c dbg --test_verbose_timeout_warnings $@ $BUILD_TARGETS
else
echo -e "${YELLOW}Running tests under CPU mode. No GPU is required to run the tests.${NO_COLOR}"
BUILD_TARGETS="`echo "$BUILD_TARGETS" | grep -v "cnn_segmentation_test\|yolo_camera_detector_test\|unity_recognize_test\|perception_traffic_light_rectify_test\|cuda_util_test"`"
bazel test $DEFINES $JOB_ARG --config=unit_test -c dbg --test_verbose_timeout_warnings $@ $BUILD_TARGETS
${TEST_CMD} $DEFINES $JOB_ARG --config=unit_test -c dbg --test_verbose_timeout_warnings $@ $BUILD_TARGETS
fi
if [ $? -ne 0 ]; then
fail 'Test failed!'
......@@ -512,7 +382,7 @@ function citest_basic() {
| grep -v "cuda_util_test" \
| grep -v "modules\/perception"`"
bazel test $DEFINES $JOB_ARG --config=unit_test -c dbg --test_verbose_timeout_warnings $@ $BUILD_TARGETS
${TEST_CMD} $DEFINES $JOB_ARG --config=unit_test -c dbg --test_verbose_timeout_warnings $@ $BUILD_TARGETS
if [ $? -eq 0 ]; then
success 'Test passed!'
......@@ -539,7 +409,7 @@ function citest_extended() {
BUILD_TARGETS="`echo "$BUILD_TARGETS" | grep "test"`"
bazel test $DEFINES $JOB_ARG --config=unit_test -c dbg --test_verbose_timeout_warnings $@ $BUILD_TARGETS
${TEST_CMD} $DEFINES $JOB_ARG --config=unit_test -c dbg --test_verbose_timeout_warnings $@ $BUILD_TARGETS
if [ $? -eq 0 ]; then
success 'Test passed!'
......@@ -568,7 +438,7 @@ function citest() {
function run_cpp_lint() {
BUILD_TARGETS="`bazel query //modules/... except //modules/tools/visualizer/... union //cyber/...`"
bazel test --config=cpplint -c dbg $BUILD_TARGETS
${TEST_CMD} --config=cpplint -c dbg $BUILD_TARGETS
}
function run_bash_lint() {
......@@ -716,8 +586,6 @@ function print_usage() {
}
function main() {
cd "$( dirname "${BASH_SOURCE[0]}" )"
source scripts/apollo_base.sh
check_machine_arch
apollo_check_system_config
......@@ -873,12 +741,6 @@ function main() {
set_use_gpu
run_test $@
;;
release)
release 1
;;
release_noproprietary)
release 0
;;
coverage)
gen_coverage $@
;;
......
cyber/setup.bash
浏览文件 @ b5f635ac
......@@ -10,7 +10,7 @@ launch_path="${CYBER_PATH}/tools/cyber_launch"
channel_path="${CYBER_PATH}/tools/cyber_channel"
node_path="${CYBER_PATH}/tools/cyber_node"
service_path="${CYBER_PATH}/tools/cyber_service"
qt_path=/usr/local/Qt5.12.2/5.12.2/gcc_64
qt_path=/usr/local/qt5
rosbag_to_record_path="/apollo/bazel-bin/modules/data/tools/rosbag_to_record"
export LD_LIBRARY_PATH=${qt_path}/lib:$LD_LIBRARY_PATH
......
docker/scripts/release_into.sh 已删除 100755 → 0
浏览文件 @ b2f2c034
#!/usr/bin/env bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
xhost +local:root 1>/dev/null 2>&1
docker exec \
-u $USER \
-it apollo_release \
/bin/bash
xhost -local:root 1>/dev/null 2>&1
docker/scripts/release_start.sh 已删除 100755 → 0
浏览文件 @ b2f2c034
#!/usr/bin/env bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
APOLLO_ROOT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}")/../.." && pwd )"
CACHE_ROOT_DIR="${APOLLO_ROOT_DIR}/.cache"
# the machine type, currently support x86_64, aarch64
MACHINE_ARCH=$(uname -m)
source $APOLLO_ROOT_DIR/scripts/apollo_base.sh
echo "/apollo/data/core/core_%e.%p" | sudo tee /proc/sys/kernel/core_pattern
VERSION="release-${MACHINE_ARCH}-v2.0.1"
if [[ $# == 1 ]];then
VERSION=$1
fi
if [ -z "${DOCKER_REPO}" ]; then
DOCKER_REPO=apolloauto/apollo
fi
IMG=${DOCKER_REPO}:$VERSION
DATA_DIR="${HOME}/data"
if [ ! -e "${DATA_DIR}/log" ]; then
mkdir -p "${DATA_DIR}/log"
fi
if [ ! -e "${DATA_DIR}/bag" ]; then
mkdir -p "${DATA_DIR}/bag"
fi
if [ ! -e "${DATA_DIR}/core" ]; then
mkdir -p "${DATA_DIR}/core"
fi
DOCKER_RUN="docker run"
USE_GPU=0
function determine_gpu_use() {
# Check nvidia-driver and GPU device
local nv_driver="nvidia-smi"
if [ ! -x "$(command -v ${nv_driver} )" ]; then
warning "No nvidia-driver found. CPU will be used"
elif [ -z "$(eval ${nv_driver} )" ]; then
warning "No GPU device found. CPU will be used."
else
USE_GPU=1
fi
# Try to use GPU inside container
local nv_docker_doc="https://github.com/NVIDIA/nvidia-docker/blob/master/README.md"
if [ ${USE_GPU} -eq 1 ]; then
DOCKER_VERSION=$(docker version --format '{{.Server.Version}}')
if [ ! -z "$(which nvidia-docker)" ]; then
DOCKER_RUN="nvidia-docker run"
warning "nvidia-docker is deprecated. Please install latest docker " \
"and nvidia-container-toolkit as described by:"
warning " ${nv_docker_doc}"
elif [ ! -z "$(which nvidia-container-toolkit)" ]; then
if dpkg --compare-versions "${DOCKER_VERSION}" "ge" "19.03"; then
DOCKER_RUN="docker run --gpus all"
else
warning "You must upgrade to docker-ce 19.03+ to access GPU from container!"
USE_GPU=0
fi
else
USE_GPU=0
warning "Cannot access GPU from within container. Please install latest docker " \
"and nvidia-container-toolkit as described by: "
warning " ${nv_docker_doc}"
fi
fi
}
function main() {
echo "Type 'y' or 'Y' to pull docker image from China mirror or any other key from US mirror."
read -t 10 -n 1 INCHINA
if [ "$INCHINA" == "y" ] || [ "$INCHINA" == "Y" ]; then
docker pull "registry.docker-cn.com/${IMG}"
else
docker pull $IMG
fi
docker ps -a --format "{{.Names}}" | grep 'apollo_release' 1>/dev/null
if [ $? == 0 ]; then
docker stop apollo_release 1>/dev/null
docker rm -f apollo_release 1>/dev/null
fi
setup_device
local devices=" -v /dev:/dev"
local display=""
if [[ -z ${DISPLAY} ]];then
display=":0"
else
display="${DISPLAY}"
fi
USER_ID=$(id -u)
GRP=$(id -g -n)
GRP_ID=$(id -g)
LOCAL_HOST=`hostname`
DOCKER_HOME="/home/$USER"
if [ "$USER" == "root" ];then
DOCKER_HOME="/root"
fi
if [ ! -d "${CACHE_ROOT_DIR}" ]; then
mkdir "${CACHE_ROOT_DIR}"
fi
determine_gpu_use
${DOCKER_RUN} -it \
-d --privileged \
--name apollo_release \
--net host \
-v /media:/media \
-v ${HOME}/data:/apollo/data \
-v /tmp/.X11-unix:/tmp/.X11-unix:rw \
-v /etc/localtime:/etc/localtime:ro \
-w /apollo \
-e DISPLAY=${display} \
-e RELEASE_DOCKER=1 \
-e DOCKER_USER=$USER \
-e USER=$USER \
-e DOCKER_USER_ID=$USER_ID \
-e DOCKER_GRP=$GRP \
-e DOCKER_GRP_ID=$GRP_ID \
-e DOCKER_IMG=$IMG \
-e PYTHONPATH=/apollo/lib \
${devices} \
--add-host in_release_docker:127.0.0.1 \
--add-host ${LOCAL_HOST}:127.0.0.1 \
--hostname in_release_docker \
--shm-size 2G \
$IMG
if [ "${USER}" != "root" ]; then
docker exec apollo_release bash -c "/apollo/scripts/docker_adduser.sh"
docker exec apollo_release bash -c "chown -R ${USER}:${GRP} /apollo/data"
docker exec apollo_release bash -c "chmod a+w /apollo"
DATA_DIRS=("/apollo/modules/common/data"
"/apollo/modules/control/conf"
"/apollo/modules/localization/msf/params/gnss_params"
"/apollo/modules/localization/msf/params/velodyne_params"
"/apollo/modules/perception/data/params"
"/apollo/modules/tools/ota"
"/apollo/modules/drivers/gnss/conf")
for DATA_DIR in "${DATA_DIRS[@]}"; do
docker exec apollo_release bash -c \
"mkdir -p '${DATA_DIR}'; chmod a+rw -R '${DATA_DIR}'"
done
fi
docker exec apollo_release bash -c '/apollo/docker/scripts/container_setup.sh'
docker exec -u ${USER} -it apollo_release "/apollo/scripts/bootstrap.sh"
}
main
scripts/apollo_base.sh
浏览文件 @ b5f635ac
......@@ -17,6 +17,7 @@
###############################################################################
APOLLO_ROOT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )/.." && pwd )"
APOLLO_CACHE_DIR="${APOLLO_ROOT_DIR}/.cache"
BOLD='\033[1m'
RED='\033[0;31m'
......@@ -74,65 +75,52 @@ function fail() {
function check_in_docker() {
if [ -f /.dockerenv ]; then
APOLLO_IN_DOCKER=true
APOLLO_ROOT_DIR="/apollo"
else
APOLLO_IN_DOCKER=false
fi
export APOLLO_IN_DOCKER
APOLLO_CACHE_DIR="${APOLLO_ROOT_DIR}/.cache"
}
function set_lib_path() {
export LD_LIBRARY_PATH=/usr/lib:/usr/lib/x86_64-linux-gnu
local CYBER_SETUP="${APOLLO_ROOT_DIR}/cyber/setup.bash"
[[ -e "${CYBER_SETUP}" ]] && . "${CYBER_SETUP}"
export LD_LIBRARY_PATH="/usr/local/lib:/usr/lib:/usr/lib/$(uname -m)-linux-gnu"
export LD_LIBRARY_PATH="${APOLLO_CACHE_DIR}/apollolibs:$LD_LIBRARY_PATH"
export LD_LIBRARY_PATH="/usr/local/qt5/lib:$LD_LIBRARY_PATH"
export LD_LIBRARY_PATH="/usr/local/fast-rtps/lib:$LD_LIBRARY_PATH"
# TODO(storypku):
# /apollo/bazel-genfiles/external/caffe/lib
# /usr/local/apollo/local_integ/lib
export LD_LIBRARY_PATH=/usr/local/adolc/lib64:$LD_LIBRARY_PATH
if [ "$RELEASE_DOCKER" == 1 ]; then
local CYBER_SETUP="/apollo/cyber/setup.bash"
if [ -e "${CYBER_SETUP}" ]; then
source "${CYBER_SETUP}"
fi
PY_LIB_PATH=/apollo/lib
PY_TOOLS_PATH=/apollo/modules/tools
else
local CYBER_SETUP="/apollo/cyber/setup.bash"
if [ -e "${CYBER_SETUP}" ]; then
source "${CYBER_SETUP}"
fi
PY_LIB_PATH=${APOLLO_ROOT_DIR}/py_proto
PY_TOOLS_PATH=${APOLLO_ROOT_DIR}/modules/tools
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/apollo/lib:/apollo/bazel-genfiles/external/caffe/lib
if [ -e /usr/local/cuda/ ];then
export PATH=/usr/local/cuda/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH
export C_INCLUDE_PATH=/usr/local/cuda/include:$C_INCLUDE_PATH
export CPLUS_INCLUDE_PATH=/usr/local/cuda/include:$CPLUS_INCLUDE_PATH
fi
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/apollo/lib:/usr/local/apollo/local_integ/lib
export LD_LIBRARY_PATH=/usr/local/adolc/lib64:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=/usr/local/Qt5.12.2/5.12.2/gcc_64/lib:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=/usr/local/fast-rtps/lib:$LD_LIBRARY_PATH
if [ "$USE_GPU" != "1" ];then
export LD_LIBRARY_PATH=/usr/local/apollo/libtorch/lib:$LD_LIBRARY_PATH
else
export LD_LIBRARY_PATH=/usr/local/apollo/libtorch_gpu/lib:$LD_LIBRARY_PATH
fi
export LD_LIBRARY_PATH=/usr/local/apollo/boost/lib:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=/usr/local/apollo/paddlepaddle_dep/mkldnn/lib/:$LD_LIBRARY_PATH
local PY_LIB_PATH="${APOLLO_ROOT_DIR}/py_proto"
local PY_TOOLS_PATH="${APOLLO_ROOT_DIR}/modules/tools"
export PYTHONPATH=${PY_LIB_PATH}:${PY_TOOLS_PATH}:${PYTHONPATH}
# Set teleop paths
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
export PYTHONPATH=/apollo/modules/teleop/common:${PYTHONPATH}
export PATH=/apollo/modules/teleop/common/scripts:${PATH}
if [ -e /usr/local/cuda/ ];then
export PATH=/usr/local/cuda/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH
export C_INCLUDE_PATH=/usr/local/cuda/include:$C_INCLUDE_PATH
export CPLUS_INCLUDE_PATH=/usr/local/cuda/include:$CPLUS_INCLUDE_PATH
fi
export PYTHONPATH="${APOLLO_ROOT_DIR}/modules/teleop/common:${PYTHONPATH}"
export PATH="${APOLLO_ROOT_DIR}/modules/teleop/common/scripts:${PATH}"
}
function create_data_dir() {
local DATA_DIR=""
if [ "$RELEASE_DOCKER" != "1" ];then
DATA_DIR="${APOLLO_ROOT_DIR}/data"
else
DATA_DIR="${HOME}/data"
fi
local DATA_DIR="${APOLLO_ROOT_DIR}/data"
mkdir -p "${DATA_DIR}/log"
mkdir -p "${DATA_DIR}/bag"
mkdir -p "${DATA_DIR}/core"
......@@ -179,8 +167,7 @@ function setup_device() {
fi
done
MACHINE_ARCH=$(uname -m)
if [ "$MACHINE_ARCH" == 'aarch64' ]; then
if [ "$(uname -m)" == 'aarch64' ]; then
sudo ip link set can0 type can bitrate 500000
sudo ip link set can0 up
fi
......@@ -251,7 +238,7 @@ function start_customized_path() {
is_stopped_customized_path "${MODULE_PATH}" "${MODULE}"
if [ $? -eq 1 ]; then
eval "nohup cyber_launch start /apollo/modules/${MODULE_PATH}/launch/${MODULE}.launch &"
eval "nohup cyber_launch start ${APOLLO_ROOT_DIR}/modules/${MODULE_PATH}/launch/${MODULE}.launch &"
sleep 0.5
is_stopped_customized_path "${MODULE_PATH}" "${MODULE}"
if [ $? -eq 0 ]; then
......@@ -319,7 +306,7 @@ function start_fe_customized_path() {
is_stopped_customized_path "${MODULE_PATH}" "${MODULE}"
if [ $? -eq 1 ]; then
eval "cyber_launch start /apollo/modules/${MODULE_PATH}/launch/${MODULE}.launch"
eval "cyber_launch start ${APOLLO_ROOT_DIR}/modules/${MODULE_PATH}/launch/${MODULE}.launch"
else
echo "Module ${MODULE} is already running - skipping."
return 2
......@@ -360,7 +347,7 @@ function stop_customized_path() {
return
fi
cyber_launch stop "/apollo/modules/${MODULE_PATH}/launch/${MODULE}.launch"
cyber_launch stop "${APOLLO_ROOT_DIR}/modules/${MODULE_PATH}/launch/${MODULE}.launch"
if [ $? -eq 0 ]; then
echo "Successfully stopped module ${MODULE}."
else
......@@ -452,11 +439,8 @@ function run() {
check_in_docker
unset OMP_NUM_THREADS
if [ $APOLLO_IN_DOCKER = "true" ]; then
CYBER_SETUP="/apollo/cyber/setup.bash"
if [ -e "${CYBER_SETUP}" ]; then
source "${CYBER_SETUP}"
fi
create_data_dir
set_lib_path $1
if [ -z $APOLLO_BASE_SOURCED ]; then
......
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