Build: make modules/drivers/... build & test pass

modules/drivers/canbus/can_comm/BUILD

@@ -43,7 +43,14 @@ cc_test(
     srcs = ["can_sender_test.cc"],
     deps = [
         "//cyber",
+        "//modules/canbus/proto:ch_cc_proto",
         "//modules/canbus/proto:chassis_cc_proto",
+        "//modules/canbus/proto:chassis_detail_cc_proto",
+        "//modules/canbus/proto:ge3_cc_proto",
+        "//modules/canbus/proto:lexus_cc_proto",
+        "//modules/canbus/proto:transit_cc_proto",
+        "//modules/canbus/proto:wey_cc_proto",
+        "//modules/canbus/proto:zhongyun_cc_proto",
         "//modules/drivers/canbus/can_client/fake:fake_can_client",
         "//modules/drivers/canbus/can_comm:can_sender",
         "//modules/drivers/canbus/common:canbus_common",
@@ -57,6 +64,18 @@ cc_test(
     srcs = ["can_receiver_test.cc"],
     deps = [
         "//cyber",
+        "//modules/canbus/proto:ch_cc_proto",
+        "//modules/canbus/proto:chassis_cc_proto",
+        "//modules/canbus/proto:chassis_detail_cc_proto",
+        "//modules/canbus/proto:ge3_cc_proto",
+        "//modules/canbus/proto:lexus_cc_proto",
+        "//modules/canbus/proto:transit_cc_proto",
+        "//modules/canbus/proto:wey_cc_proto",
+        "//modules/canbus/proto:zhongyun_cc_proto",
+        "//modules/common/configs/proto:vehicle_config_cc_proto",
+        "//modules/common/proto:drive_state_cc_proto",
+        "//modules/common/proto:header_cc_proto",
+        "//modules/common/proto:vehicle_signal_cc_proto",
         "//modules/drivers/canbus/can_client/fake:fake_can_client",
         "//modules/drivers/canbus/can_comm:can_receiver",
         "//modules/drivers/canbus/common:canbus_common",
@@ -69,7 +88,14 @@ cc_test(
     size = "small",
     srcs = ["protocol_data_test.cc"],
     deps = [
+        "//modules/canbus/proto:ch_cc_proto",
         "//modules/canbus/proto:chassis_cc_proto",
+        "//modules/canbus/proto:chassis_detail_cc_proto",
+        "//modules/canbus/proto:ge3_cc_proto",
+        "//modules/canbus/proto:lexus_cc_proto",
+        "//modules/canbus/proto:transit_cc_proto",
+        "//modules/canbus/proto:wey_cc_proto",
+        "//modules/canbus/proto:zhongyun_cc_proto",
         "//modules/drivers/canbus/can_comm:message_manager_base",
         "@com_google_googletest//:gtest_main",
     ],
@@ -81,7 +107,7 @@ cc_test(
     srcs = ["message_manager_test.cc"],
     deps = [
         "//cyber",
-        "//modules/canbus/proto:chassis_cc_proto",
+        "//modules/canbus/proto:chassis_detail_cc_proto",
         "//modules/drivers/canbus/can_comm:message_manager_base",
         "@com_google_googletest//:gtest_main",
     ],

modules/drivers/gnss/parser/BUILD

@@ -28,6 +28,7 @@ cc_library(
         "//modules/common/util:message_util",
         "//modules/drivers/gnss/proto:gnss_best_pose_cc_proto",
         "//modules/drivers/gnss/proto:gnss_cc_proto",
+        "//modules/drivers/gnss/proto:gnss_status_cc_proto",
         "//modules/drivers/gnss/util:gnss_util",
         "//modules/localization/proto:gps_cc_proto",
         "//modules/localization/proto:imu_cc_proto",

modules/drivers/gnss/stream/BUILD

@@ -37,9 +37,14 @@ cc_library(
         ":serial_stream",
         ":stream",
         "//cyber",
+        "//modules/canbus/proto:chassis_cc_proto",
         "//modules/common/adapters:adapter_gflags",
+        "//modules/common/configs/proto:vehicle_config_cc_proto",
+        "//modules/common/proto:drive_state_cc_proto",
+        "//modules/common/proto:vehicle_signal_cc_proto",
         "//modules/common/util:message_util",
         "//modules/drivers/gnss/parser:gnss_parser",
+        "//modules/drivers/gnss/proto:gnss_status_cc_proto",
         "//modules/drivers/gnss/proto:heading_cc_proto",
         "//modules/drivers/gnss/proto:imu_cc_proto",
         "//modules/drivers/gnss/util:gnss_util",

modules/drivers/gnss/test/BUILD

@@ -8,6 +8,7 @@ cc_binary(
     srcs = ["parser_cli.cc"],
     deps = [
         "//cyber",
+        "//modules/drivers/gnss/proto:gnss_status_cc_proto",
         "//modules/drivers/gnss/stream:gnss_stream",
         "@com_github_gflags_gflags//:gflags",
     ],

modules/drivers/radar/conti_radar/BUILD

@@ -29,6 +29,7 @@ cc_library(
         "//modules/drivers/canbus/can_client:can_client_factory",
         "//modules/drivers/canbus/can_comm:can_receiver",
         "//modules/drivers/canbus/can_comm:message_manager_base",
+        "//modules/drivers/canbus/proto:sensor_canbus_conf_cc_proto",
         "//modules/drivers/radar/conti_radar/protocol:drivers_conti_radar_protocol",
         "//modules/localization/proto:localization_cc_proto",
         "//modules/localization/proto:pose_cc_proto",

modules/drivers/tools/image_decompress/BUILD

@@ -28,6 +28,7 @@ cc_test(
     deps = [
         ":image_decompress_lib",
         "@com_google_googletest//:gtest_main",
+        "@opencv",
     ],
 )
 

modules/drivers/velodyne/compensator/BUILD

@@ -21,6 +21,7 @@ cc_library(
         "//modules/common/latency_recorder",
         "//modules/common/time",
         "//modules/drivers/velodyne/compensator:compensator_lib",
+        "//modules/drivers/velodyne/proto:velodyne_cc_proto",
     ],
 )
 

modules/drivers/velodyne/compensator/compensator.h

@@ -21,6 +21,12 @@
 
 #include "Eigen/Eigen"
 
+// Eigen 3.3.7: #define ALIVE (0)
+// fastrtps: enum ChangeKind_t { ALIVE, ... };
+#if defined(ALIVE)
+#   undef ALIVE
+#endif
+
 #include "modules/drivers/proto/pointcloud.pb.h"
 #include "modules/drivers/velodyne/proto/config.pb.h"
 #include "modules/transform/buffer.h"
@@ -30,7 +36,6 @@ namespace drivers {
 namespace velodyne {
 
 using apollo::drivers::PointCloud;
-using apollo::transform::Buffer;
 
 class Compensator {
  public:
@@ -66,7 +71,7 @@ class Compensator {
 
   bool IsValid(const Eigen::Vector3d& point);
 
-  Buffer* tf2_buffer_ptr_ = transform::Buffer::Instance();
+  transform::Buffer* tf2_buffer_ptr_ = transform::Buffer::Instance();
   CompensatorConfig config_;
 };
 

modules/drivers/velodyne/compensator/compensator_component.h

@@ -22,7 +22,6 @@
 #include "cyber/base/concurrent_object_pool.h"
 #include "cyber/cyber.h"
 
-#include "modules/drivers/proto/pointcloud.pb.h"
 #include "modules/drivers/velodyne/compensator/compensator.h"
 
 namespace apollo {

modules/drivers/velodyne/fusion/pri_sec_fusion_component.h

@@ -22,6 +22,12 @@
 
 #include "Eigen/Eigen"
 
+// Eigen 3.3.7: #define ALIVE (0)
+// fastrtps: enum ChangeKind_t { ALIVE, ... };
+#if defined(ALIVE)
+#   undef ALIVE
+#endif
+
 #include "cyber/cyber.h"
 #include "modules/drivers/proto/pointcloud.pb.h"
 #include "modules/drivers/velodyne/proto/config.pb.h"

modules/drivers/velodyne/parser/velodyne_parser.h

@@ -50,7 +50,6 @@
 
 #pragma once
 
-#include <boost/format.hpp>
 #include <cerrno>
 #include <cmath>
 #include <cstdint>
@@ -58,6 +57,8 @@
 #include <memory>
 #include <string>
 
+#include <boost/format.hpp>
+
 #include "modules/drivers/proto/pointcloud.pb.h"
 #include "modules/drivers/velodyne/parser/calibration.h"
 #include "modules/drivers/velodyne/parser/const_variables.h"

scripts/install_esdcan_library.sh

+#!/usr/bin/env bash
+
+###############################################################################
+# Copyright 2020 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.
+###############################################################################
+
+set -e
+
+action="install"
+
+if [[ $# -ge 1 ]]; then
+    action="$1"
+fi
+
+CURR_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+DEST_DIR="${CURR_DIR}/../third_party/can_card_library/esd_can"
+
+[[ -d ${DEST_DIR}/include ]] && rm -rf ${DEST_DIR}/include
+[[ -d ${DEST_DIR}/lib ]] && rm -rf ${DEST_DIR}/lib
+
+if [[ "${action}" == "install" ]]; then
+    mkdir -p "${DEST_DIR}/include"
+    mkdir -p "${DEST_DIR}/lib"
+    git clone https://github.com/ApolloAuto/apollo-contrib.git
+    pushd apollo-contrib
+        cp esd/include/* ${DEST_DIR}/include/
+        cp esd/lib64/libntcan.so.4.0.1 ${DEST_DIR}/lib
+    popd
+
+    rm -rf apollo-contrib
+
+    pushd ${DEST_DIR}/lib
+        ln -s libntcan.so.4.0.1 libntcan.so.4.0
+        ln -s libntcan.so.4.0.1 libntcan.so.4
+    popd
+fi

what_works.sh

@@ -50,6 +50,11 @@ bazel test //modules/bridge/...
 bazel build //modules/monitor/...
 bazel test //modules/monitor/...
 
+bash scripts/install_esdcan_library.sh install
+bazel build //modules/drivers/...
+bazel test //modules/drivers/...
+bash scripts/install_esdcan_library.sh uninstall
+
 bazel build //modules/tools/...
 # Note(storypku): bazel test works except some lint errors in cyber_visualizer.
 # Will re-check if cyber_visualizer work correctly once it becomes stable
@@ -65,7 +70,6 @@ done
 # TODO(?): bazel build //modules/contrib/...
 # TODO(xiaoxq): bazel build //modules/data/...
 # TODO(?): bazel build //modules/dreamview/...
-# TODO(storypku): bazel build //modules/drivers/...
 # TODO(storypku): bazel build //modules/guardian/...
 # TODO(?): bazel build //modules/localization/...
 # TODO(storypku): bazel build //modules/map/...