repo_id
stringlengths 19
138
| file_path
stringlengths 32
200
| content
stringlengths 1
12.9M
| __index_level_0__
int64 0
0
|
|---|---|---|---|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/adolc/adolc.BUILD
|
load("@rules_cc//cc:defs.bzl", "cc_library")
package(default_visibility = ["//visibility:public"])
cc_library(
name = "adolc",
includes = ["."],
linkopts = [
"-ladolc",
],
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/adolc/cyberfile.xml
|
<package format="2">
<name>3rd-adolc</name>
<version>local</version>
<description>
Apollo packaged adolc Lib.
</description>
<maintainer email="apollo-support@baidu.com">Apollo</maintainer>
<license>Apache License 2.0</license>
<url type="website">https://www.apollo.auto/</url>
<url type="repository">https://github.com/ApolloAuto/apollo</url>
<url type="bugtracker">https://github.com/ApolloAuto/apollo/issues</url>
<type>third-binary</type>
<src_path url="https://github.com/ApolloAuto/apollo">//third_party/adolc</src_path>
</package>
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/adolc/workspace.bzl
|
"""Loads the adolc library"""
# Sanitize a dependency so that it works correctly from code that includes
# Apollo as a submodule.
def clean_dep(dep):
return str(Label(dep))
def repo():
native.new_local_repository(
name = "adolc",
build_file = clean_dep("//third_party/adolc:adolc.BUILD"),
path = "/usr/include",
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/adolc/BUILD
|
load("//tools/install:install.bzl", "install", "install_files", "install_src_files")
package(
default_visibility = ["//visibility:public"],
)
install(
name = "install",
data_dest = "3rd-adolc",
data = [
":cyberfile.xml",
":3rd-adolc.BUILD",
],
)
install_src_files(
name = "install_src",
src_dir = ["."],
dest = "3rd-adolc/src",
filter = "*",
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/protobuf/init.bzl
|
"""Loads the protobuf library"""
load("//third_party/protobuf:workspace.bzl", "repo")
def init():
repo()
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/protobuf/cyberfile.xml
|
<package format="2">
<name>3rd-protobuf</name>
<version>local</version>
<description>
Apollo packaged protobuf Lib.
</description>
<maintainer email="apollo-support@baidu.com">Apollo</maintainer>
<license>Apache License 2.0</license>
<url type="website">https://www.apollo.auto/</url>
<url type="repository">https://github.com/ApolloAuto/apollo</url>
<url type="bugtracker">https://github.com/ApolloAuto/apollo/issues</url>
<type>third-wrapper</type>
<src_path url="https://github.com/ApolloAuto/apollo">//third_party/protobuf</src_path>
</package>
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/protobuf/workspace.bzl
|
"""Loads the protobuf library"""
load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
def clean_dep(dep):
return str(Label(dep))
def repo():
http_archive(
name = "com_google_protobuf",
sha256 = "d0f5f605d0d656007ce6c8b5a82df3037e1d8fe8b121ed42e536f569dec16113",
patches = [clean_dep("//third_party/protobuf:protobuf.patch")],
strip_prefix = "protobuf-3.14.0",
urls = [
"https://apollo-system.cdn.bcebos.com/archive/6.0/v3.14.0.tar.gz",
"https://github.com/protocolbuffers/protobuf/archive/v3.14.0.tar.gz",
],
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/protobuf/BUILD
|
load("//tools/install:install.bzl", "install", "install_files", "install_src_files")
package(
default_visibility = ["//visibility:public"],
)
install(
name = "install",
data_dest = "3rd-protobuf",
data = [
":cyberfile.xml",
],
)
install_src_files(
name = "install_src",
src_dir = ["."],
dest = "3rd-protobuf/src",
filter = "*",
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/protobuf/protobuf.patch
|
--- BUILD
+++ BUILD
@@ -200,16 +200,32 @@
includes = ["src/"],
linkopts = LINK_OPTS,
visibility = ["//visibility:public"],
+ alwayslink = True,
)
PROTOBUF_DEPS = select({
":msvc": [],
"//conditions:default": ZLIB_DEPS,
})
-
cc_library(
name = "protobuf",
srcs = [
+ "libprotobuf.so"
+ ],
+ hdrs = glob([
+ "src/**/*.h",
+ "src/**/*.inc",
+ ]),
+ copts = COPTS,
+ includes = ["src/"],
+ linkopts = LINK_OPTS,
+ visibility = ["//visibility:public"],
+ deps = [":protobuf_lite"] + PROTOBUF_DEPS,
+)
+
+cc_binary(
+ name = "libprotobuf.so",
+ srcs = glob([
# AUTOGEN(protobuf_srcs)
"src/google/protobuf/any.cc",
"src/google/protobuf/any.pb.cc",
@@ -263,8 +279,6 @@
"src/google/protobuf/util/type_resolver_util.cc",
"src/google/protobuf/wire_format.cc",
"src/google/protobuf/wrappers.pb.cc",
- ],
- hdrs = glob([
"src/**/*.h",
"src/**/*.inc",
]),
@@ -273,6 +287,7 @@
linkopts = LINK_OPTS,
visibility = ["//visibility:public"],
deps = [":protobuf_lite"] + PROTOBUF_DEPS,
+ linkshared = True,
)
# This provides just the header files for use in projects that need to build
@@ -288,6 +303,14 @@
includes = ["src/"],
visibility = ["//visibility:public"],
)
+filegroup(
+ name = "protobuf_hdrs",
+ srcs = glob([
+ "src/**/*.h",
+ "src/**/*.inc",
+ ]),
+ visibility = ["//visibility:public"],
+)
# Map of all well known protos.
# name => (include path, imports)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/ncurses5/3rd-ncurses5.BUILD
|
load("@rules_cc//cc:defs.bzl", "cc_library")
package(default_visibility = ["//visibility:public"])
licenses(["notice"])
cc_library(
name = "ncurses5",
includes = [
"include",
],
linkopts = [
"-lncurses",
],
linkstatic = False,
strip_include_prefix = "include",
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/ncurses5/cyberfile.xml
|
<package format="2">
<name>3rd-ncurses5</name>
<version>local</version>
<description>
Apollo packaged ncurses5 Lib.
</description>
<maintainer email="apollo-support@baidu.com">Apollo</maintainer>
<license>Apache License 2.0</license>
<url type="website">https://www.apollo.auto/</url>
<url type="repository">https://github.com/ApolloAuto/apollo</url>
<url type="bugtracker">https://github.com/ApolloAuto/apollo/issues</url>
<type>third-binary</type>
<src_path url="https://github.com/ApolloAuto/apollo">//third_party/ncurses5</src_path>
</package>
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/ncurses5/workspace.bzl
|
"""Loads the ncurses5 library"""
# Sanitize a dependency so that it works correctly from code that includes
# Apollo as a submodule.
def clean_dep(dep):
return str(Label(dep))
# Installed via libncurses5-dev
def repo():
# ncurses5
native.new_local_repository(
name = "ncurses5",
build_file = clean_dep("//third_party/ncurses5:ncurses.BUILD"),
path = "/usr/include",
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/ncurses5/ncurses.BUILD
|
load("@rules_cc//cc:defs.bzl", "cc_library")
package(default_visibility = ["//visibility:public"])
licenses(["notice"])
cc_library(
name = "ncurses5",
includes = [
".",
],
linkopts = [
"-lncurses",
],
linkstatic = False,
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/ncurses5/BUILD
|
load("//tools/install:install.bzl", "install", "install_files", "install_src_files")
package(
default_visibility = ["//visibility:public"],
)
install(
name = "install",
data_dest = "3rd-ncurses5",
data = [
":cyberfile.xml",
":3rd-ncurses5.BUILD",
],
)
install_src_files(
name = "install_src",
src_dir = ["."],
dest = "3rd-ncurses5/src",
filter = "*",
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/npp/npp.BUILD
|
# NPP: NVIDIA 2D Image and Signal Processing Performance Primitives
# Ref https://docs.nvidia.com/cuda/npp/index.html
# TODO(infra): merge this with @local_config_cuda and split
load("@rules_cc//cc:defs.bzl", "cc_library")
package(
default_visibility = ["//visibility:public"],
)
cc_library(
name = "npp",
includes = select({
"@platforms//cpu:x86_64": ["targets/x86_64-linux/include"],
"@platforms//cpu:aarch64": ["targets/aarch64-linux/include"],
"//conditions:default": [],
}),
hdrs = select({
"@platforms//cpu:x86_64": glob(["targets/x86_64-linux/include/**/*"]),
"@platforms//cpu:aarch64": glob(["targets/aarch64-linux/include/**/*"]),
"//conditions:default": [],
}),
linkopts = [
"-L/usr/local/cuda/lib64",
"-lnppc",
"-lnppial",
"-lnppicc",
"-lnppidei",
"-lnppif",
"-lnppig",
"-lnppim",
"-lnppist",
"-lnppisu",
"-lnppitc",
"-lnpps",
],
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/npp/init.bzl
|
"""Loads the npp library"""
load("//third_party/npp:workspace.bzl", "repo")
def init():
repo()
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/npp/cyberfile.xml
|
<package format="2">
<name>3rd-npp</name>
<version>local</version>
<description>
Apollo packaged npp Lib.
</description>
<maintainer email="apollo-support@baidu.com">Apollo</maintainer>
<license>Apache License 2.0</license>
<url type="website">https://www.apollo.auto/</url>
<url type="repository">https://github.com/ApolloAuto/apollo</url>
<url type="bugtracker">https://github.com/ApolloAuto/apollo/issues</url>
<type>third-wrapper</type>
<src_path url="https://github.com/ApolloAuto/apollo">//third_party/npp</src_path>
</package>
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/npp/workspace.bzl
|
"""Loads the npp library"""
# Sanitize a dependency so that it works correctly from code that includes
# Apollo as a submodule.
def clean_dep(dep):
return str(Label(dep))
def repo():
# npp
native.new_local_repository(
name = "npp",
build_file = clean_dep("//third_party/npp:npp.BUILD"),
path = "/usr/local/cuda",
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/npp/BUILD
|
load("//tools/install:install.bzl", "install", "install_files", "install_src_files")
package(
default_visibility = ["//visibility:public"],
)
install(
name = "install",
data_dest = "3rd-npp",
data = [
":cyberfile.xml",
],
)
install_src_files(
name = "install_src",
src_dir = ["."],
dest = "3rd-npp/src",
filter = "*",
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/qt5/init.bzl
|
"""Loads the qt5 library"""
load("//third_party/qt5:workspace.bzl", "repo")
def init():
repo()
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/qt5/cyberfile.xml
|
<package format="2">
<name>3rd-qt5</name>
<version>local</version>
<description>
Apollo packaged qt5 Lib.
</description>
<maintainer email="apollo-support@baidu.com">Apollo</maintainer>
<license>Apache License 2.0</license>
<url type="website">https://www.apollo.auto/</url>
<url type="repository">https://github.com/ApolloAuto/apollo</url>
<url type="bugtracker">https://github.com/ApolloAuto/apollo/issues</url>
<type>third-wrapper</type>
<src_path url="https://github.com/ApolloAuto/apollo">//third_party/qt5</src_path>
</package>
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/qt5/qt.bzl
|
load("@rules_cc//cc:defs.bzl", "cc_library")
def _file_name(filePathName):
if "/" in filePathName:
return filePathName.rsplit("/", -1)[1]
else:
return filePathName
def _base_name(fileName):
return fileName.split(".")[0]
def qt_cc_library(name, srcs, hdrs, copts = [], uis = [], res = [], normal_hdrs = [], deps = None, **kwargs):
for hItem in hdrs:
base_name = _base_name(_file_name(hItem))
cmd = """
if grep -q Q_OBJECT $(location %s); then \
/usr/local/qt5/bin/moc $(location %s) -o $@ -f'%s'; \
else \
echo '' > $@ ; \
fi""" % (hItem, hItem, "%s/%s" % (native.package_name(), hItem))
native.genrule(
name = "%s_moc" % base_name,
srcs = [hItem],
outs = ["moc_%s.cpp" % base_name],
cmd = cmd,
)
srcs.append("moc_%s.cpp" % base_name)
for uitem in uis:
base_name = _base_name(_file_name(uitem))
native.genrule(
name = "%s_ui" % base_name,
srcs = [uitem],
outs = ["ui_%s.h" % base_name],
cmd = "/usr/local/qt5/bin/uic $(locations %s) -o $@" % uitem,
)
hdrs.append("ui_%s.h" % base_name)
for ritem in res:
base_name = _base_name(_file_name(ritem))
native.genrule(
name = "%s_res" % base_name,
srcs = [ritem] + deps,
outs = ["res_%s.cpp" % base_name],
cmd = "/usr/local/qt5/bin/rcc --name res --output $(OUTS) $(location %s)" % ritem,
)
srcs.append("res_%s.cpp" % base_name)
hdrs = hdrs + normal_hdrs
cc_library(
name = name,
srcs = srcs,
hdrs = hdrs,
deps = deps,
copts = copts + ["-fPIC"],
alwayslink = 1,
**kwargs
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/qt5/workspace.bzl
|
"""Loads the qt library"""
# Sanitize a dependency so that it works correctly from code that includes
# Apollo as a submodule.
def clean_dep(dep):
return str(Label(dep))
def repo():
# qt5
native.new_local_repository(
name = "qt",
build_file = clean_dep("//third_party/qt5:qt.BUILD"),
path = "/usr/local/qt5/include",
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/qt5/BUILD
|
load("//tools/install:install.bzl", "install", "install_files", "install_src_files")
package(
default_visibility = ["//visibility:public"],
)
install(
name = "install",
data_dest = "3rd-qt5",
data = [
":cyberfile.xml",
],
)
install_src_files(
name = "install_src",
src_dir = ["."],
dest = "3rd-qt5/src",
filter = "*",
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/qt5/qt.BUILD
|
load("@rules_cc//cc:defs.bzl", "cc_library")
cc_library(
name = "qt_core",
hdrs = glob(["*"]),
copts = [
"-I.",
],
includes = [
"QtCore",
],
linkopts = [
"-Wl,-rpath,/usr/local/qt5/lib",
"-lQt5Core",
],
visibility = ["//visibility:public"],
)
cc_library(
name = "qt_widgets",
hdrs = glob(["*"]),
copts = [
"-I.",
],
includes = ["QtWidgets"],
linkopts = [
"-L/usr/local/qt5/lib",
"-lQt5Widgets",
],
visibility = ["//visibility:public"],
deps = [":qt_core"],
)
cc_library(
name = "qt_gui",
hdrs = glob(["*"]),
copts = [
"-I.",
],
includes = ["QtGui"],
linkopts = [
"-L/usr/local/qt5/lib",
"-lQt5Gui",
],
visibility = ["//visibility:public"],
deps = [
":qt_core",
":qt_widgets",
],
)
cc_library(
name = "qt_opengl",
hdrs = glob(["*"]),
copts = [
"-I.",
],
includes = ["QtOpenGL"],
linkopts = [
"-L/usr/local/qt5/lib",
"-lQt5OpenGL",
"-lGL",
],
visibility = ["//visibility:public"],
deps = [
":qt_core",
":qt_gui",
":qt_widgets",
#"@opengl",
],
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/opengl/opengl.BUILD
|
load("@rules_cc//cc:defs.bzl", "cc_library")
package(default_visibility = ["//visibility:public"])
licenses(["notice"])
cc_library(
name = "opengl",
includes = [
".",
],
linkopts = [
"-lGL",
# "-lGLU",
# "-lSM",
# "-lICE",
# "-lXext",
],
linkstatic = False,
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/opengl/cyberfile.xml
|
<package format="2">
<name>3rd-opengl</name>
<version>local</version>
<description>
Apollo packaged opengl Lib.
</description>
<maintainer email="apollo-support@baidu.com">Apollo</maintainer>
<license>Apache License 2.0</license>
<url type="website">https://www.apollo.auto/</url>
<url type="repository">https://github.com/ApolloAuto/apollo</url>
<url type="bugtracker">https://github.com/ApolloAuto/apollo/issues</url>
<type>third-binary</type>
<src_path url="https://github.com/ApolloAuto/apollo">//third_party/opengl</src_path>
</package>
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/opengl/workspace.bzl
|
"""Loads the opengl library"""
# Sanitize a dependency so that it works correctly from code that includes
# Apollo as a submodule.
def clean_dep(dep):
return str(Label(dep))
def repo():
# opengl
native.new_local_repository(
name = "opengl",
build_file = clean_dep("//third_party/opengl:opengl.BUILD"),
path = "/usr/include",
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/opengl/BUILD
|
load("//tools/install:install.bzl", "install", "install_files", "install_src_files")
package(
default_visibility = ["//visibility:public"],
)
install(
name = "install",
data_dest = "3rd-opengl",
data = [
":cyberfile.xml",
":3rd-opengl.BUILD",
],
)
install_src_files(
name = "install_src",
src_dir = ["."],
dest = "3rd-opengl/src",
filter = "*",
)
| 0
|
apollo_public_repos/apollo/third_party
|
apollo_public_repos/apollo/third_party/opengl/3rd-opengl.BUILD
|
load("@rules_cc//cc:defs.bzl", "cc_library")
package(default_visibility = ["//visibility:public"])
licenses(["notice"])
cc_library(
name = "opengl",
includes = [
"include",
],
linkopts = [
"-lGL",
],
linkstatic = False,
strip_include_prefix = "include",
)
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/replay.sh
|
#!/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.
###############################################################################
# e.g. replay.sh 1_chassis.pb.txt
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo_base.sh"
${TOP_DIR}/bazel-bin/modules/tools/replay/replay_file "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/time_sync.sh
|
#!/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.
###############################################################################
set -e
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo.bashrc"
function usage() {
info "${RED}Usage${NO_COLOR}: ${BOLD}${0}${NO_COLOR} <region>"
info " E.g. $0 us # Sync with NTP servers for USA"
info " E.g. $0 cn # Sync with NTP servers for China"
}
NTPDATE_CMD="$(command -v ntpdate)"
function check_cmd_exist() {
if [ ! -x "${NTPDATE_CMD}" ]; then
warning "Command \"ntpdate\" not found. You can install it manually via:"
warning " sudo apt-get -y update && sudo apt-get -y install ntpdate"
exit 1
fi
}
REGION="us"
function parse_args() {
if [ "$#" -ne 1 ]; then
usage
exit 1
else
REGION="$(echo $1 | tr 'A-Z' 'a-z')"
fi
info "Region set to ${REGION}."
}
# RTFM: https://www.ntppool.org/zone/@
function setup_cron_job() {
if grep -q ntpdate /etc/crontab; then
return
fi
echo "*/1 * * * * root ntpdate -v -u ${REGION}.pool.ntp.org" | sudo tee -a /etc/crontab
sudo /etc/init.d/cron restart
# sudo systemctl restart cron.service
}
function main() {
check_cmd_exist
parse_args "$@"
setup_cron_job
# ntpdate log goes to /var/log/syslog
sudo ntpdate -v -u ${REGION}.pool.ntp.org
}
main "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/navigator.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2018 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.
###############################################################################
# Get the absolute path.
i=0
j=0
for str in $@; do
# The strings starting with "--" are control arguments and need to be filtered.
if [[ ${str} =~ ^--.* ]]; then
CTRL_ARGS[i++]=${str}
continue
fi
DIR=$(cd "$(dirname ${str})" && pwd)
FILE_NAME=$(basename ${str})
PATH_NAME[j++]="${DIR}/${FILE_NAME}"
done
#echo "${CTRL_ARGS[@]}"
#echo "${PATH_NAME[@]}"
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
cd "${DIR}/.."
source "${DIR}/apollo_base.sh"
${APOLLO_BIN_PREFIX}/modules/map/relative_map/tools/navigator --navigator_config_filename=/apollo/modules/map/relative_map/conf/navigator_config.pb.txt "${CTRL_ARGS[@]}" "${PATH_NAME[@]}"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/guardian.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2018 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
source "${DIR}/apollo_base.sh"
# run function from apollo_base.sh
# run command_name module_name
run_module guardian "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/camera.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2018 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.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
cd "${DIR}/.."
source "${DIR}/apollo_base.sh"
function start() {
LOG="${APOLLO_ROOT_DIR}/data/log/camera.out"
CMD="cyber_launch start /apollo/modules/drivers/camera/launch/camera.launch"
NUM_PROCESSES="$(pgrep -f "modules/drivers/camera/dag/camera.dag" | grep -cv '^1$')"
if [ "${NUM_PROCESSES}" -eq 0 ]; then
eval "nohup ${CMD} </dev/null >${LOG} 2>&1 &"
fi
}
function stop() {
eval "nohup cyber_launch stop /apollo/modules/drivers/camera/launch/camera.launch < /dev/null 2>&1 &"
}
# run command_name module_name
function run() {
case $1 in
start)
start
;;
stop)
stop
;;
restart)
stop
start
;;
*)
start
;;
esac
}
run "$1"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/msf_offline_local_visualizer.sh
|
#! /bin/bash
if [ $# -lt 1 ]; then
echo "Usage: msf_offline_local_visualizer.sh [data path]"
exit 1
fi
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
cd "${DIR}/.."
source "${DIR}/apollo_base.sh"
$APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/local_visualization/offline_visual/offline_local_visualizer \
--basedir $1
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/common.bashrc
|
#! /usr/bin/env bash
###############################################################################
# Copyright 2020 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
# Ref: http://www.linuxfromscratch.org/blfs/view/svn/postlfs/profile.html
# Written for Beyond Linux From Scratch
# by James Robertson <jameswrobertson@earthlink.net>
# modifications by Dagmar d'Surreal <rivyqntzne@pbzpnfg.arg>
# Functions to help us manage paths. Second argument is the name of the
# path variable to be modified (default: PATH)
pathremove() {
local IFS=':'
local NEWPATH
local DIR
local PATHVARIABLE=${2:-PATH}
for DIR in ${!PATHVARIABLE}; do
if [ "$DIR" != "$1" ]; then
NEWPATH=${NEWPATH:+$NEWPATH:}$DIR
fi
done
export $PATHVARIABLE="$NEWPATH"
}
pathprepend() {
pathremove $1 $2
local PATHVARIABLE=${2:-PATH}
export $PATHVARIABLE="$1${!PATHVARIABLE:+:${!PATHVARIABLE}}"
}
pathappend() {
pathremove $1 $2
local PATHVARIABLE=${2:-PATH}
export $PATHVARIABLE="${!PATHVARIABLE:+${!PATHVARIABLE}:}$1"
}
export -f pathremove pathprepend pathappend
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/relative_map.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2018 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
source "${DIR}/apollo_base.sh"
# run_customized_path function from apollo_base.sh
# run_customized_path module_path module_name
# FIXME(all): temporary enable --use_navigation_mode in this script to make
# it easier to test relative_map node. Need removed in the future.
run_customized_path map/relative_map relative_map "$@" --use_navigation_mode
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/switch_vehicle.sh
|
#!/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.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
cd "${DIR}/.."
source "${DIR}/apollo_base.sh"
# Usage:
# scripts/switch_vehicle.sh <vehicle_data_path>
#
# <vehicle_data_path> is a directory containing vehicle specified data.
# E.g.: modules/calibration/data/mkz8
VEHICLE_PATH=$1
if [ -d ${VEHICLE_PATH} ]; then
${APOLLO_BIN_PREFIX}/modules/dreamview/backend/hmi/vehicle_manager_main \
--vehicle_data_path="${VEHICLE_PATH}"
else
error "Cannot open directory: ${VEHICLE_PATH}"
info "Available vehicles:"
find modules/calibration/data -maxdepth 1 -mindepth 1 -type d
fi
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/mock_routing_request.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo_base.sh"
${TOP_DIR}/bazel-bin/modules/tools/mock_routing/mock_routing_request
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/localization.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo_base.sh"
# run function from apollo_base.sh
run_module localization "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/prediction.sh
|
#!/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.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
source "${DIR}/apollo_base.sh"
# run function from apollo_base.sh
# run command_name module_name
run_module prediction "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/topics.txt
|
/apollo/canbus/chassis
/apollo/canbus/chassis_detail
/apollo/control
/apollo/control/pad
/apollo/drive_event
/apollo/localization/msf_gnss
/apollo/localization/msf_lidar
/apollo/localization/msf_status
/apollo/localization/pose
/apollo/monitor
/apollo/monitor/static_info
/apollo/navigation
/apollo/perception/obstacles
/apollo/perception/traffic_light
/apollo/planning
/apollo/prediction
/apollo/relative_map
/apollo/routing_request
/apollo/routing_response
/apollo/sensor/conti_radar
/apollo/sensor/delphi_esr
/apollo/sensor/gnss/best_pose
/apollo/sensor/gnss/corrected_imu
/apollo/sensor/gnss/gnss_status
/apollo/sensor/gnss/imu
/apollo/sensor/gnss/ins_stat
/apollo/sensor/gnss/odometry
/apollo/sensor/gnss/rtk_eph
/apollo/sensor/gnss/rtk_obs
/apollo/sensor/mobileye
/tf
/tf_static
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/pad.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo_base.sh"
function start() {
${TOP_DIR}/bazel-bin/modules/control/tools/pad_terminal \
--log_dir=${APOLLO_ROOT_DIR}/data/log
}
function stop() {
pkill -SIGKILL -f pad_terminal
}
case $1 in
start)
start
;;
stop)
stop
;;
restart)
stop
start
;;
*)
start
;;
esac
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/ultrasonic_radar.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
cd "${DIR}/.."
source "$DIR/apollo_base.sh"
# run function from apollo_base.sh
# run command_name module_name
run_customized_path drivers/radar/ultrasonic_radar ultrasonic_radar "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/record_bag.py
|
#!/usr/bin/env python3
###############################################################################
# Copyright 2018 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.
###############################################################################
"""
Start apollo data recorder.
It lists all available disks mounted under /media, and prioritize them in order:
- Disk#1. Largest NVME disk
- Disk#2. Smaller NVME disk
- ...
- Disk#x. Largest Non-NVME disk
- Disk#y. Smaller Non-NVME disk
- ...
1. If we have NVME disk, it will be used to record all data.
2. If we have Non-NVME disk, it will only record smaller topics (blacklist LARGE_TOPICS), unless '--all' is
specified.
3. If no external disks are available, we will take '/apollo' as a
'Non-NVME disk' and follow the rule above.
Run with '--help' to see more options.
"""
import argparse
import datetime
import os
import subprocess
import sys
import psutil
LARGE_TOPICS = [
'/apollo/sensor/camera/front_12mm/image',
'/apollo/sensor/camera/front_12mm/image/compressed',
'/apollo/sensor/camera/front_12mm/video/compressed',
'/apollo/sensor/camera/front_6mm/image',
'/apollo/sensor/camera/front_6mm/image/compressed',
'/apollo/sensor/camera/front_6mm/video/compressed',
'/apollo/sensor/camera/left_fisheye/image',
'/apollo/sensor/camera/left_fisheye/image/compressed',
'/apollo/sensor/camera/left_fisheye/video/compressed',
'/apollo/sensor/camera/rear_6mm/image',
'/apollo/sensor/camera/rear_6mm/image/compressed',
'/apollo/sensor/camera/rear_6mm/video/compressed',
'/apollo/sensor/camera/right_fisheye/image',
'/apollo/sensor/camera/right_fisheye/image/compressed',
'/apollo/sensor/camera/right_fisheye/video/compressed',
'/apollo/sensor/lidar128/PointCloud2',
'/apollo/sensor/lidar128/compensator/PointCloud2',
'/apollo/sensor/lidar16/PointCloud2',
'/apollo/sensor/lidar16/Scan',
'/apollo/sensor/lidar16/compensator/PointCloud2',
'/apollo/sensor/lidar16/front/center/PointCloud2',
'/apollo/sensor/lidar16/front/up/PointCloud2',
'/apollo/sensor/lidar16/fusion/PointCloud2',
'/apollo/sensor/lidar16/fusion/compensator/PointCloud2',
'/apollo/sensor/lidar16/rear/left/PointCloud2',
'/apollo/sensor/lidar16/rear/right/PointCloud2',
'/apollo/sensor/microphone',
'/apollo/sensor/radar/front',
'/apollo/sensor/radar/rear',
'/apollo/sensor/velodyne64/compensator/PointCloud2',
]
def shell_cmd(cmd, alert_on_failure=True):
"""Execute shell command and return (ret-code, stdout, stderr)."""
print('SHELL > {}'.format(cmd))
proc = subprocess.Popen(cmd, shell=True, close_fds=True,
stdout=subprocess.PIPE, stderr=subprocess.PIPE)
ret = proc.wait()
stdout = proc.stdout.read().decode('utf-8') if proc.stdout else None
stderr = proc.stderr.read().decode('utf-8') if proc.stderr else None
if alert_on_failure and stderr and ret != 0:
sys.stderr.write('{}\n'.format(stderr))
return (ret, stdout, stderr)
class ArgManager(object):
"""Arguments manager."""
def __init__(self):
self.parser = argparse.ArgumentParser(
description="Manage apollo data recording.")
self.parser.add_argument('--start', default=False, action="store_true",
help='Start recorder. It is the default '
'action if no other actions are triggered. In '
'that case, the False value is ignored.')
self.parser.add_argument('--stop', default=False, action="store_true",
help='Stop recorder.')
self.parser.add_argument('--stop_signal', default="SIGINT",
help='Signal to stop the recorder.')
self.parser.add_argument('--all', default=False, action="store_true",
help='Record all topics even without high '
'performance disks.')
self.parser.add_argument('--small', default=False, action="store_true",
help='Record small topics only.')
self.parser.add_argument('--split_duration', default="1m",
help='Duration to split bags, will be applied '
'as parameter to "rosbag record --duration".')
self._args = None
def args(self):
"""Get parsed args."""
if self._args is None:
self._args = self.parser.parse_args()
return self._args
class DiskManager(object):
"""Disk manager."""
def __init__(self):
"""Manage disks."""
disks = []
for disk in psutil.disk_partitions():
if not disk.mountpoint.startswith('/media/'):
continue
disks.append({
'mountpoint': disk.mountpoint,
'available_size': DiskManager.disk_avail_size(disk.mountpoint),
'is_nvme': disk.mountpoint.startswith('/media/apollo/internal_nvme'),
})
# Prefer NVME disks and then larger disks.
self.disks = sorted(
disks, reverse=True,
key=lambda disk: (disk['is_nvme'], disk['available_size']))
@staticmethod
def disk_avail_size(disk_path):
"""Get disk available size."""
statvfs = os.statvfs(disk_path)
return statvfs.f_frsize * statvfs.f_bavail
class Recorder(object):
"""Data recorder."""
def __init__(self, args):
self.args = args
self.disk_manager = DiskManager()
def start(self):
"""Start recording."""
if Recorder.is_running():
print('Another data recorder is running, skip.')
return
disks = self.disk_manager.disks
# To record all topics if
# 1. User requested with '--all' argument.
# 2. Or we have a NVME disk and '--small' is not set.
record_all = self.args.all or (
len(disks) > 0 and disks[0]['is_nvme'] and not self.args.small)
# Use the best disk, or fallback '/apollo' if none available.
disk_to_use = disks[0]['mountpoint'] if len(disks) > 0 else '/apollo'
# Record small topics to quickly copy and process
if record_all:
self.record_task(disk_to_use, False)
self.record_task(disk_to_use, record_all)
def stop(self):
"""Stop recording."""
shell_cmd('pkill --signal {} -f "cyber_recorder record"'.format(
self.args.stop_signal))
def record_task(self, disk, record_all):
"""Record tasks into the <disk>/data/bag/<task_id> directory."""
task_id = datetime.datetime.now().strftime('%Y-%m-%d-%H-%M-%S')
if not record_all:
task_id += "_s"
task_dir = os.path.join(disk, 'data/bag', task_id)
print('Recording bag to {}'.format(task_dir))
topics_str = "--all"
log_file = '/apollo/data/log/apollo_record.out'
if not record_all:
log_file += "_s"
topics_str += " -k {}".format(' -k '.join(list(LARGE_TOPICS)))
if not os.path.exists(task_dir):
os.makedirs(task_dir)
cmd = '''
cd "{}"
source /apollo/scripts/apollo_base.sh
source /apollo/cyber/setup.bash
nohup cyber_recorder record {} >{} 2>&1 &
'''.format(task_dir, topics_str, log_file)
shell_cmd(cmd)
@staticmethod
def is_running():
"""Test if the given process running."""
_, stdout, _ = shell_cmd('pgrep -f "cyber_recorder record" | grep -cv \'^1$\'', False)
# If stdout is the pgrep command itself, no such process is running.
return stdout.strip() != '1' if stdout else False
def main():
"""Main entry."""
arg_manager = ArgManager()
args = arg_manager.args()
recorder = Recorder(args)
if args.stop:
recorder.stop()
else:
recorder.start()
if __name__ == '__main__':
main()
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/apollo_base.sh
|
#!/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.
###############################################################################
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source ${TOP_DIR}/scripts/apollo.bashrc
ARCH="$(uname -m)"
# components="$(echo -e "${@// /\\n}" | sort -u)"
# if [ ${PIPESTATUS[0]} -ne 0 ]; then ... ; fi
APOLLO_OUTSIDE_DOCKER=0
CMDLINE_OPTIONS=
SHORTHAND_TARGETS=
DISABLED_TARGETS=
: ${CROSSTOOL_VERBOSE:=0}
: ${NVCC_VERBOSE:=0}
: ${HIPCC_VERBOSE:=0}
: ${USE_ESD_CAN:=false}
USE_GPU=-1
use_cpu=-1
use_gpu=-1
use_nvidia=-1
use_amd=-1
function set_lib_path() {
local CYBER_SETUP="${APOLLO_ROOT_DIR}/cyber/setup.bash"
[ -e "${CYBER_SETUP}" ] && . "${CYBER_SETUP}"
pathprepend ${APOLLO_ROOT_DIR}/modules/tools PYTHONPATH
pathprepend ${APOLLO_ROOT_DIR}/modules/teleop/common PYTHONPATH
pathprepend /apollo/modules/teleop/common/scripts
}
function create_data_dir() {
local DATA_DIR="${APOLLO_ROOT_DIR}/data"
mkdir -p "${DATA_DIR}/log"
mkdir -p "${DATA_DIR}/bag"
mkdir -p "${DATA_DIR}/core"
}
function determine_bin_prefix() {
APOLLO_BIN_PREFIX=$APOLLO_ROOT_DIR
if [ -e "${APOLLO_ROOT_DIR}/bazel-bin" ]; then
APOLLO_BIN_PREFIX="${APOLLO_ROOT_DIR}/bazel-bin"
fi
export APOLLO_BIN_PREFIX
}
function setup_device_for_aarch64() {
local can_dev="/dev/can0"
local socket_can_dev="can0"
if [ ! -e "${can_dev}" ]; then
warning "No CAN device named ${can_dev}. "
fi
if [[ -x "$(command -v ip)" ]]; then
if ! ip link show type can | grep "${socket_can_dev}" &>/dev/null; then
warning "No SocketCAN device named ${socket_can_dev}."
else
sudo ip link set can0 type can bitrate 500000
sudo ip link set can0 up
fi
else
warning "ip command not found."
fi
}
function setup_device_for_amd64() {
# setup CAN device
local NUM_PORTS=8
for i in $(seq 0 $((${NUM_PORTS} - 1))); do
if [[ -e /dev/can${i} ]]; then
continue
elif [[ -e /dev/zynq_can${i} ]]; then
# soft link if sensorbox exist
sudo ln -s /dev/zynq_can${i} /dev/can${i}
else
break
# sudo mknod --mode=a+rw /dev/can${i} c 52 ${i}
fi
done
# Check Nvidia device
if [[ ! -e /dev/nvidia0 ]]; then
warning "No device named /dev/nvidia0"
fi
if [[ ! -e /dev/nvidiactl ]]; then
warning "No device named /dev/nvidiactl"
fi
if [[ ! -e /dev/nvidia-uvm ]]; then
warning "No device named /dev/nvidia-uvm"
fi
if [[ ! -e /dev/nvidia-uvm-tools ]]; then
warning "No device named /dev/nvidia-uvm-tools"
fi
if [[ ! -e /dev/nvidia-modeset ]]; then
warning "No device named /dev/nvidia-modeset"
fi
}
function setup_device() {
if [ "$(uname -s)" != "Linux" ]; then
info "Not on Linux, skip mapping devices."
return
fi
if [[ "${ARCH}" == "x86_64" ]]; then
setup_device_for_amd64
else
setup_device_for_aarch64
fi
}
function decide_task_dir() {
# Try to find largest NVMe drive.
DISK="$(df | grep "^/dev/nvme" | sort -nr -k 4 \
| awk '{print substr($0, index($0, $6))}')"
# Try to find largest external drive.
if [ -z "${DISK}" ]; then
DISK="$(df | grep "/media/${DOCKER_USER}" | sort -nr -k 4 \
| awk '{print substr($0, index($0, $6))}')"
fi
if [ -z "${DISK}" ]; then
info "Cannot find portable disk. Fallback to apollo data dir."
DISK="/apollo"
fi
# Create task dir.
BAG_PATH="${DISK}/data/bag"
TASK_ID=$(date +%Y-%m-%d-%H-%M-%S)
TASK_DIR="${BAG_PATH}/${TASK_ID}"
mkdir -p "${TASK_DIR}"
info "Record bag to ${TASK_DIR}..."
export TASK_ID="${TASK_ID}"
export TASK_DIR="${TASK_DIR}"
}
function is_stopped_customized_path() {
MODULE_PATH=$1
MODULE=$2
NUM_PROCESSES="$(pgrep -f "modules/${MODULE_PATH}/launch/${MODULE}.launch" | grep -cv '^1$')"
if [ "${NUM_PROCESSES}" -eq 0 ]; then
return 1
else
return 0
fi
}
function start_customized_path() {
MODULE_PATH=$1
MODULE=$2
shift 2
is_stopped_customized_path "${MODULE_PATH}" "${MODULE}"
if [ $? -eq 1 ]; then
# todo(zero): Better to move nohup.out to data/log/nohup.out
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
ok "Launched module ${MODULE}."
return 0
else
error "Could not launch module ${MODULE}. Is it already built?"
return 1
fi
else
info "Module ${MODULE} is already running - skipping."
return 2
fi
}
function start() {
MODULE=$1
shift
start_customized_path $MODULE $MODULE "$@"
}
function start_prof_customized_path() {
MODULE_PATH=$1
MODULE=$2
shift 2
info "Make sure you have built with 'bash apollo.sh build_prof'"
LOG="${APOLLO_ROOT_DIR}/data/log/${MODULE}.out"
is_stopped_customized_path "${MODULE_PATH}" "${MODULE}"
if [ $? -eq 1 ]; then
PROF_FILE="/tmp/$MODULE.prof"
rm -rf $PROF_FILE
BINARY=${APOLLO_BIN_PREFIX}/modules/${MODULE_PATH}/${MODULE}
eval "CPUPROFILE=$PROF_FILE $BINARY \
--flagfile=modules/${MODULE_PATH}/conf/${MODULE}.conf \
--log_dir=${APOLLO_ROOT_DIR}/data/log $@ </dev/null >${LOG} 2>&1 &"
sleep 0.5
is_stopped_customized_path "${MODULE_PATH}" "${MODULE}"
if [ $? -eq 0 ]; then
ok "Launched module ${MODULE} in prof mode."
echo -e " Export profile by command:\n\t${YELLOW}google-pprof --pdf $BINARY $PROF_FILE > ${MODULE}_prof.pdf${NO_COLOR}"
return 0
else
error "Could not launch module ${MODULE}. Is it already built?"
return 1
fi
else
info "Module ${MODULE} is already running - skipping."
return 2
fi
}
function start_prof() {
MODULE=$1
shift
start_prof_customized_path $MODULE $MODULE "$@"
}
function start_fe_customized_path() {
MODULE_PATH=$1
MODULE=$2
shift 2
is_stopped_customized_path "${MODULE_PATH}" "${MODULE}"
if [ $? -eq 1 ]; then
eval "cyber_launch start ${APOLLO_ROOT_DIR}/modules/${MODULE_PATH}/launch/${MODULE}.launch"
else
info "Module ${MODULE} is already running - skipping."
return 2
fi
}
function start_fe() {
MODULE=$1
shift
start_fe_customized_path $MODULE $MODULE "$@"
}
function start_gdb_customized_path() {
MODULE_PATH=$1
MODULE=$2
shift 2
eval "gdb --args ${APOLLO_BIN_PREFIX}/modules/${MODULE_PATH}/${MODULE} \
--flagfile=modules/${MODULE_PATH}/conf/${MODULE}.conf \
--log_dir=${APOLLO_ROOT_DIR}/data/log $@"
}
function start_gdb() {
MODULE=$1
shift
start_gdb_customized_path $MODULE $MODULE "$@"
}
function stop_customized_path() {
MODULE_PATH=$1
MODULE=$2
is_stopped_customized_path "${MODULE_PATH}" "${MODULE}"
if [ $? -eq 1 ]; then
info "${MODULE} process is not running!"
return
fi
cyber_launch stop "${APOLLO_ROOT_DIR}/modules/${MODULE_PATH}/launch/${MODULE}.launch"
if [ $? -eq 0 ]; then
ok "Successfully stopped module ${MODULE}."
else
info "Module ${MODULE} is not running - skipping."
fi
}
function stop() {
MODULE=$1
stop_customized_path $MODULE $MODULE
}
# Note: This 'help' function here will overwrite the bash builtin command 'help'.
# TODO: add a command to query known modules.
function help() {
cat << EOF
Invoke ". scripts/apollo_base.sh" within docker to add the following commands to the environment:
Usage: COMMAND [<module_name>]
COMMANDS:
help: show this help message
start: start the module in background
start_fe: start the module without putting in background
start_gdb: start the module with gdb
stop: stop the module
EOF
}
function run_customized_path() {
local module_path=$1
local module=$2
local cmd=$3
shift 3
case $cmd in
start)
start_customized_path $module_path $module "$@"
;;
start_fe)
start_fe_customized_path $module_path $module "$@"
;;
start_gdb)
start_gdb_customized_path $module_path $module "$@"
;;
start_prof)
start_prof_customized_path $module_path $module "$@"
;;
stop)
stop_customized_path $module_path $module
;;
help)
help
;;
*)
start_customized_path $module_path $module $cmd "$@"
;;
esac
}
# Write log to a file about the env when record a bag.
function record_bag_env_log() {
if [ -z "${TASK_ID}" ]; then
TASK_ID=$(date +%Y-%m-%d-%H-%M)
fi
git status > /dev/null 2>&1
if [ $? -ne 0 ]; then
warning "Not in Git repo, maybe because you are in release container."
info "Skip log environment."
return
fi
commit=$(git log -1)
echo -e "Date:$(date)\n" >> Bag_Env_$TASK_ID.log
git branch | awk '/\*/ { print "current branch: " $2; }' >> Bag_Env_$TASK_ID.log
echo -e "\nNewest commit:\n$commit" >> Bag_Env_$TASK_ID.log
echo -e "\ngit diff:" >> Bag_Env_$TASK_ID.log
git diff >> Bag_Env_$TASK_ID.log
echo -e "\n\n\n\n" >> Bag_Env_$TASK_ID.log
echo -e "git diff --staged:" >> Bag_Env_$TASK_ID.log
git diff --staged >> Bag_Env_$TASK_ID.log
}
# run command_name module_name
function run_module() {
local module=$1
shift
run_customized_path $module $module "$@"
}
function _chk_n_set_gpu_arg() {
local arg="$1"
if [ "${arg}" = "cpu" ]; then
use_cpu=1
elif [ "${arg}" = "gpu" ]; then
use_gpu=1
elif [ "${arg}" = "nvidia" ]; then
use_nvidia=1
elif [ "${arg}" = "amd" ]; then
use_amd=1
else
return 0
fi
if (( $use_cpu == 1 )) && (( $use_gpu == 1 )); then
error "${RED}Mixed use of '--config=cpu' and '--config=gpu' may" \
"lead to unexpected behavior. Exiting...${NO_COLOR}"
exit 1
fi
if (( $use_cpu == 1 )) && (( $use_nvidia == 1 )); then
error "${RED}Mixed use of '--config=cpu' and '--config=nvidia' may" \
"lead to unexpected behavior. Exiting...${NO_COLOR}"
exit 1
fi
if (( $use_cpu == 1 )) && (( $use_amd == 1 )); then
error "${RED}Mixed use of '--config=cpu' and '--config=amd' may" \
"lead to unexpected behavior. Exiting...${NO_COLOR}"
exit 1
fi
if (( $use_nvidia == 1 )) && (( $use_amd == 1 )); then
error "${RED}Mixed use of '--config=amd' and '--config=nvidia':" \
"please specify only one GPU target. Exiting...${NO_COLOR}"
exit 1
fi
if (( $use_nvidia == 1 )) && (( $use_amd == -1 )) && [ "$GPU_PLATFORM" == "AMD" ]; then
error "${RED}Cross-compilation for NVIDIA GPU target is not supported on AMD GPU device':" \
"please specify AMD or skip its specification to compile for AMD GPU target."\
"To compile for NVIDIA GPU target NVIDIA GPU device should be installed. Exiting...${NO_COLOR}"
exit 1
fi
if (( $use_amd == 1 )) && (( $use_nvidia == -1 )) && [ "$GPU_PLATFORM" == "NVIDIA" ]; then
error "${RED}Cross-compilation for AMD GPU target is not supported on NVIDIA GPU device':" \
"please specify NVIDIA or skip its specification to compile for NVIDIA GPU target."\
"To compile for AMD GPU target AMD GPU device should be installed. Exiting...${NO_COLOR}"
exit 1
fi
return 0
}
function parse_cmdline_arguments() {
local known_options=""
local bazel_option=""
local remained_args=""
local bazel=0
for ((pos = 1; pos <= $#; pos++)); do #do echo "$#" "$i" "${!i}"; done
local opt="${!pos}"
local optarg
local known_bazel_opt=0
if (( ${bazel} == 1 )); then
((++bazel))
fi
case "${opt}" in
--bazel)
((++pos))
bazel_option="${!pos}"
bazel=1
((--pos))
;;
--config=*)
optarg="${opt#*=}"
known_options="${known_options} ${opt}"
_chk_n_set_gpu_arg "${optarg}"
known_bazel_opt=1
;;
--config)
((++pos))
optarg="${!pos}"
known_options="${known_options} ${opt} ${optarg}"
_chk_n_set_gpu_arg "${optarg}"
known_bazel_opt=1
;;
-o)
((++pos))
optarg="${!pos}"
known_options="${known_options} ${opt}"
APOLLO_OUTSIDE_DOCKER=1
;;
-c)
((++pos))
optarg="${!pos}"
known_options="${known_options} ${opt} ${optarg}"
;;
*)
if (( ${bazel} == 0 )); then
remained_args="${remained_args} ${opt}"
elif (( ${bazel} == 2 )); then
if (( ${known_bazel_opt} == 0 )); then
known_options="${known_options} ${bazel_option}"
fi
bazel=0
fi
;;
esac
done
if (( ${bazel} == 1 )); then
warning "Bazel option is not specified. Skipping..."
fi
# Strip leading whitespaces
known_options="$(echo "${known_options}" | sed -e 's/^[[:space:]]*//')"
remained_args="$(echo "${remained_args}" | sed -e 's/^[[:space:]]*//')"
CMDLINE_OPTIONS="${known_options}"
SHORTHAND_TARGETS="${remained_args}"
}
unset OMP_NUM_THREADS
if [ $APOLLO_IN_DOCKER = "true" ]; then
create_data_dir
set_lib_path $1
if [ -z $APOLLO_BASE_SOURCED ]; then
determine_bin_prefix
export APOLLO_BASE_SOURCED=1
fi
fi
function _determine_drivers_disabled() {
if ! ${USE_ESD_CAN}; then
warning "ESD CAN library supplied by ESD Electronics doesn't exist."
warning "If you need ESD CAN, please refer to third_party/can_card_library/esd_can/README.md"
DISABLED_TARGETS="${DISABLED_TARGETS} except //modules/drivers/canbus/can_client/esd/..."
fi
}
function _determine_perception_disabled() {
if [ "${USE_GPU}" -eq 0 ]; then
DISABLED_TARGETS="${DISABLED_TARGETS} except //modules/perception/..."
elif [ "$GPU_PLATFORM" == "AMD" ]; then
DISABLED_TARGETS="${DISABLED_TARGETS} except //modules/perception/inference/tensorrt/..."
elif [ "$GPU_PLATFORM" == "NVIDIA" ]; then
DISABLED_TARGETS="${DISABLED_TARGETS} except //modules/perception/inference/migraphx/..."
fi
}
function _determine_localization_disabled() {
if [ "${ARCH}" != "x86_64" ]; then
# Skip msf for non-x86_64 platforms
DISABLED_TARGETS="${disabled} except //modules/localization/msf/..."
fi
}
function _determine_planning_disabled() {
if [ "${USE_GPU}" -eq 0 ]; then
DISABLED_TARGETS="${DISABLED_TARGETS} \
except //modules/planning/open_space/trajectory_smoother:planning_block"
fi
}
function _determine_map_disabled() {
if [ "${USE_GPU}" -eq 0 ]; then
DISABLED_TARGETS="${DISABLED_TARGETS} except //modules/map/pnc_map:cuda_pnc_util \
except //modules/map/pnc_map:cuda_util_test"
fi
}
function determine_disabled_targets() {
if [[ "$#" -eq 0 ]]; then
_determine_drivers_disabled
_determine_localization_disabled
_determine_perception_disabled
_determine_planning_disabled
_determine_map_disabled
echo "${DISABLED_TARGETS}"
return
fi
for component in $@; do
case "${component}" in
drivers*)
_determine_drivers_disabled
;;
localization*)
_determine_localization_disabled
;;
perception*)
_determine_perception_disabled
;;
planning*)
_determine_planning_disabled
;;
map*)
_determine_map_disabled
;;
esac
done
echo "${DISABLED_TARGETS}"
}
function determine_targets() {
local targets_all
if [[ "$#" -eq 0 ]]; then
targets_all="//modules/... union //cyber/..."
echo "${targets_all}"
return
fi
for component in $@; do
local targets
if [ "${component}" = "cyber" ]; then
if [[ "${HOST_OS}" == "Linux" ]]; then
targets="//cyber/... union //modules/tools/visualizer/..."
else
targets="//cyber/..."
fi
elif [[ -d "${APOLLO_ROOT_DIR}/modules/${component}" ]]; then
targets="//modules/${component}/..."
else
error "Directory <APOLLO_ROOT_DIR>/modules/${component} not found. Exiting ..."
exit 1
fi
if [ -z "${targets_all}" ]; then
targets_all="${targets}"
else
targets_all="${targets_all} union ${targets}"
fi
done
echo "${targets_all}"
}
function format_bazel_targets() {
local targets="$(echo $@ | xargs)"
targets="${targets// union / }" # replace all matches of "A union B" to "A B"
targets="${targets// except / -}" # replaces all matches of "A except B" to "A-B"
echo "${targets}"
}
function determine_cpu_or_gpu() {
USE_GPU="${USE_GPU_TARGET}"
if [ "${USE_GPU_TARGET}" -eq 0 ]; then
if [ "${use_gpu}" -eq 1 ]; then
error "Can't compile for GPU: no GPU found. Exiting ..."
exit 1
elif [ "${use_cpu}" -lt 0 ]; then
CMDLINE_OPTIONS="--config=cpu ${CMDLINE_OPTIONS}"
fi
USE_GPU="0"
else
if [ "${use_cpu}" -eq 1 ]; then
USE_GPU="0"
else
USE_GPU="1"
if [ "${use_gpu}" -lt 0 ]; then
CMDLINE_OPTIONS="--config=gpu ${CMDLINE_OPTIONS}"
fi
if [ "${use_amd}" -lt 0 ] && [ "$GPU_PLATFORM" == "AMD" ]; then
CMDLINE_OPTIONS="${CMDLINE_OPTIONS} --config=amd"
elif [ "${use_nvidia}" -lt 0 ] && [ "$GPU_PLATFORM" == "NVIDIA" ]; then
CMDLINE_OPTIONS="${CMDLINE_OPTIONS} --config=nvidia"
fi
fi
fi
if [ "${USE_GPU}" -eq 1 ]; then
ok "Running ${GREEN}${GPU_PLATFORM} GPU${NO_COLOR} $1 on ${GREEN}${ARCH}${NO_COLOR} platform."
else
ok "Running ${GREEN}CPU${NO_COLOR} $1 on ${GREEN}${ARCH}${NO_COLOR} platform."
fi
}
function run_bazel() {
if [ "${APOLLO_OUTSIDE_DOCKER}" -eq 1 ]; then
warning "Assembling outside the docker can cause errors,"
warning " we recommend using a ready-made container."
warning "Make sure that all dependencies are installed,"
warning " if errors, try running <apollo_path>/docker/build/installers/install.sh"
elif ! "${APOLLO_IN_DOCKER}"; then
error "The build operation must be run from within docker container"
error "Use -o flag to force build"
exit 1
fi
determine_cpu_or_gpu "${1,,}"
if ${USE_ESD_CAN}; then
CMDLINE_OPTIONS="${CMDLINE_OPTIONS} --define USE_ESD_CAN=${USE_ESD_CAN}"
fi
CMDLINE_OPTIONS="$(echo ${CMDLINE_OPTIONS} | xargs)"
local build_targets="$(determine_targets ${SHORTHAND_TARGETS})"
local disabled_targets="$(determine_disabled_targets ${SHORTHAND_TARGETS})"
disabled_targets="$(echo ${disabled_targets} | xargs)"
# Note(storypku): Workaround for in case "/usr/bin/bazel: Argument list too long"
# bazel build ${CMDLINE_OPTIONS} ${job_args} $(bazel query ${build_targets})
local formatted_targets="$(format_bazel_targets ${build_targets} ${disabled_targets})"
local sp=" "
local spaces=" "
local count=$(nproc)
if [ "$1" == "Coverage" ]; then
count="$(($(nproc) / 2))"
spaces=" "
elif [ "$1" == "Test" ]; then
sp=" "
fi
info "${BLUE}$1 Overview:${NO_COLOR}"
info "${TAB}USE_GPU: ${spaces}${GREEN}${USE_GPU}${NO_COLOR} [ 0 for CPU, 1 for GPU ]"
if [ "${USE_GPU}" -eq 1 ]; then
info "${TAB}GPU arch: ${spaces}${GREEN}${GPU_PLATFORM}${NO_COLOR}"
info "${TAB}CROSSTOOL_VERBOSE: ${GREEN}${CROSSTOOL_VERBOSE}${NO_COLOR} [ 0 for no verbose, 1 for verbose]"
if [ "$GPU_PLATFORM" == "AMD" ]; then
info "${TAB}HIPCC_VERBOSE: ${spaces}${GREEN}${HIPCC_VERBOSE}${NO_COLOR} [ 0 for no verbose, 1 for cmd, 2 for env, 4 for args, 3,5,6,7 for combinations of 1,2,4]"
elif [ "$GPU_PLATFORM" == "NVIDIA" ]; then
info "${TAB}NVCC_VERBOSE: ${spaces}${GREEN}${NVCC_VERBOSE}${NO_COLOR} [ 0 for no verbose, 1 for verbose]"
fi
else
info "${TAB}CPU arch: ${spaces}${GREEN}${ARCH}${NO_COLOR}"
fi
info "${TAB}Bazel Options: ${spaces}${GREEN}${CMDLINE_OPTIONS}${NO_COLOR}"
info "${TAB}$1 Targets: ${sp}${GREEN}${build_targets}${NO_COLOR}"
info "${TAB}Disabled: ${spaces}${YELLOW}${disabled_targets}${NO_COLOR}"
job_args="--copt=-mavx2 --host_copt=-mavx2 --jobs=${count} --local_ram_resources=HOST_RAM*0.7"
set -x
bazel ${1,,} ${CMDLINE_OPTIONS} ${job_args} -- ${formatted_targets}
set +x
}
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/apollo.bashrc
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2020 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
APOLLO_ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
APOLLO_IN_DOCKER=false
# If inside docker container
if [ -f /.dockerenv ]; then
APOLLO_IN_DOCKER=true
APOLLO_ROOT_DIR="/apollo"
fi
export APOLLO_CONFIG_HOME="${APOLLO_CONFIG_HOME:=$HOME/.apollo}"
export APOLLO_ROOT_DIR="${APOLLO_ROOT_DIR}"
export APOLLO_IN_DOCKER="${APOLLO_IN_DOCKER}"
export APOLLO_CACHE_DIR="${APOLLO_ROOT_DIR}/.cache"
export APOLLO_SYSROOT_DIR="/opt/apollo/sysroot"
export TAB=" " # 4 spaces
export GPU_SETUP_COMPLETED
source ${APOLLO_ROOT_DIR}/scripts/common.bashrc
: ${VERBOSE:=yes}
BOLD='\033[1m'
RED='\033[0;31m'
BLUE='\033[1;34;48m'
GREEN='\033[32m'
WHITE='\033[34m'
YELLOW='\033[33m'
NO_COLOR='\033[0m'
function info() {
(echo >&2 -e "[${WHITE}${BOLD}INFO${NO_COLOR}] $*")
}
function error() {
(echo >&2 -e "[${RED}ERROR${NO_COLOR}] $*")
}
function warning() {
(echo >&2 -e "${YELLOW}[WARNING] $*${NO_COLOR}")
}
function ok() {
(echo >&2 -e "[${GREEN}${BOLD} OK ${NO_COLOR}] $*")
}
function print_delim() {
echo "=============================================="
}
function get_now() {
date +%s
}
function time_elapsed_s() {
local start="${1:-$(get_now)}"
local end="$(get_now)"
echo "$end - $start" | bc -l
}
function success() {
print_delim
ok "$1"
print_delim
}
function fail() {
print_delim
error "$1"
print_delim
exit 1
}
function determine_gpu_use_target() {
local arch="$(uname -m)"
local gpu_platform="UNKNOWN"
local use_gpu=0
local nv=0
local amd=0
local need_cuda=0
local need_rocm=0
if [[ "$USE_GPU_TARGET" != "0" ]]; then
if [[ "${arch}" == "aarch64" ]]; then
if lsmod | grep -q nvgpu; then
if ldconfig -p | grep -q cudart; then
use_gpu=1
fi
fi
else ## x86_64 mode
# Check the existence of nvidia-smi and rocm-smi
if [[ ! -x "$(command -v nvidia-smi)" ]]; then
nv=1
info ${YELLOW}"No nvidia-smi found."${NO_COLOR}
elif [[ -z "$(nvidia-smi)" ]]; then
nv=2
info ${YELLOW}"No NVIDIA GPU device found."${NO_COLOR}
fi
if [[ ! -x "$(command -v rocm-smi)" ]]; then
amd=1
info ${YELLOW}"No rocm-smi found."${NO_COLOR}
elif [[ -z "$(rocm-smi)" ]]; then
amd=2
info ${YELLOW}"No AMD GPU device found."${NO_COLOR}
fi
if (( $nv == 0 )); then
use_gpu=1
need_cuda=1
gpu_platform="NVIDIA"
info ${GREEN}"NVIDIA GPU device found."${NO_COLOR}
elif (( $amd == 0 )); then
use_gpu=1
need_rocm=1
gpu_platform="AMD"
else
gpu_platform="UNKNOWN"
warning ${YELLOW}"No any GPU device found."${NO_COLOR}
fi
if (( $amd == 0 )); then
info ${GREEN}"AMD GPU device found."${NO_COLOR}
fi
if (( $nv == 0)) && (( $amd == 0 )); then
info ${GREEN}"NVIDIA GPU device is chosen for the build."${NO_COLOR}
fi
fi
fi
export TF_NEED_CUDA="${need_cuda}"
export TF_NEED_ROCM="${need_rocm}"
export USE_GPU_TARGET="${use_gpu}"
export GPU_PLATFORM="${gpu_platform}"
}
function file_ext() {
local filename="$(basename $1)"
local actual_ext="${filename##*.}"
if [[ "${actual_ext}" == "${filename}" ]]; then
actual_ext=""
fi
echo "${actual_ext}"
}
function c_family_ext() {
local actual_ext
actual_ext="$(file_ext $1)"
for ext in "h" "hh" "hxx" "hpp" "cxx" "cc" "cpp" "cu"; do
if [[ "${ext}" == "${actual_ext}" ]]; then
return 0
fi
done
return 1
}
function find_c_cpp_srcs() {
find "$@" -type f -name "*.h" \
-o -name "*.c" \
-o -name "*.hpp" \
-o -name "*.cpp" \
-o -name "*.hh" \
-o -name "*.cc" \
-o -name "*.hxx" \
-o -name "*.cxx" \
-o -name "*.cu"
}
function proto_ext() {
if [[ "$(file_ext $1)" == "proto" ]]; then
return 0
else
return 1
fi
}
function find_proto_srcs() {
find "$@" -type f -name "*.proto"
}
function py_ext() {
if [[ "$(file_ext $1)" == "py" ]]; then
return 0
else
return 1
fi
}
function find_py_srcs() {
find "$@" -type f -name "*.py"
}
function bash_ext() {
local actual_ext
actual_ext="$(file_ext $1)"
for ext in "sh" "bash" "bashrc"; do
if [[ "${ext}" == "${actual_ext}" ]]; then
return 0
fi
done
return 1
}
function bazel_extended() {
local actual_ext="$(file_ext $1)"
if [[ -z "${actual_ext}" ]]; then
if [[ "${arg}" == "BUILD" || "${arg}" == "WORKSPACE" ]]; then
return 0
else
return 1
fi
else
for ext in "BUILD" "bazel" "bzl"; do
if [[ "${ext}" == "${actual_ext}" ]]; then
return 0
fi
done
return 1
fi
}
function prettier_ext() {
local actual_ext
actual_ext="$(file_ext $1)"
for ext in "md" "json" "yml"; do
if [[ "${ext}" == "${actual_ext}" ]]; then
return 0
fi
done
return 1
}
function find_prettier_srcs() {
find "$@" -type f -name "*.md" \
-or -name "*.json" \
-or -name "*.yml"
}
# Exits the script if the command fails.
function run() {
if [ "${VERBOSE}" = yes ]; then
echo "${@}"
"${@}" || exit $?
else
local errfile="${APOLLO_ROOT_DIR}/.errors.log"
echo "${@}" >"${errfile}"
if ! "${@}" >>"${errfile}" 2>&1; then
local exitcode=$?
cat "${errfile}" 1>&2
exit $exitcode
fi
fi
}
#commit_id=$(git log -1 --pretty=%H)
function git_sha1() {
if [ -x "$(which git 2>/dev/null)" ] &&
[ -d "${APOLLO_ROOT_DIR}/.git" ]; then
git rev-parse --short HEAD 2>/dev/null || true
fi
}
function git_date() {
if [ -x "$(which git 2>/dev/null)" ] &&
[ -d "${APOLLO_ROOT_DIR}/.git" ]; then
git log -1 --pretty=%ai | cut -d " " -f 1 || true
fi
}
function git_branch() {
if [ -x "$(which git 2>/dev/null)" ] &&
[ -d "${APOLLO_ROOT_DIR}/.git" ]; then
git rev-parse --abbrev-ref HEAD
else
echo "@non-git"
fi
}
function read_one_char_from_stdin() {
local answer
read -r -n1 answer
# Bash 4.x+: ${answer,,} to lowercase, ${answer^^} to uppercase
echo "${answer}" | tr '[:upper:]' '[:lower:]'
}
function optarg_check_for_opt() {
local opt="$1"
local optarg="$2"
if [[ -z "${optarg}" || "${optarg}" =~ ^-.* ]]; then
error "Missing parameter for ${opt}. Exiting..."
exit 3
fi
}
function setup_gpu_support() {
if [ -z "${GPU_SETUP_COMPLETED}" ]; then
GPU_SETUP_COMPLETED=1
if [ -e /usr/local/cuda/ ]; then
pathprepend /usr/local/cuda/bin
fi
determine_gpu_use_target
local dev="cpu"
if [ "${USE_GPU_TARGET}" -gt 0 ]; then
dev="gpu"
fi
local torch_path="/usr/local/libtorch_${dev}/lib"
if [ -d "${torch_path}" ]; then
# Runtime default: for ./bazel-bin/xxx/yyy to work as expected
pathprepend ${torch_path} LD_LIBRARY_PATH
fi
fi
}
if ${APOLLO_IN_DOCKER} ; then
setup_gpu_support
fi
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/planning.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
source "${DIR}/apollo_base.sh"
# run function from apollo_base.sh
# run command_name module_name
run_module planning "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/mobileye.sh
|
#!/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.
###############################################################################
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo_base.sh"
# run_customized_path command_name module_name
run_customized_path drivers/mobileye mobileye "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/navigation_localization.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
source "${DIR}/apollo_base.sh"
# run function from apollo_base.sh
# run command_name module_name
run_module localization "$@" --localization_config_file=/apollo/modules/localization/conf/navi_localization_config.pb.txt
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/storytelling.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2019 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.
###############################################################################
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo_base.sh"
# run_module command_name module_name
run_module storytelling "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/msf_local_evaluation.sh
|
#! /bin/bash
if [ $# -lt 1 ]; then
echo "Usage:"
echo "$0 [bags folder] evaluate fusion and lidar localization result"
echo "$0 [bags folder] [ant arm file] evaluate fusion, lidar and gnss localization result"
exit 1
fi
IN_FOLDER=$1
if [ $# -eq 2 ]; then
ANT_IMU_FILE=$2
else
ANT_IMU_FILE=""
fi
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
cd "${DIR}/.."
source "${DIR}/apollo_base.sh"
GNSS_LOC_TOPIC="/apollo/localization/msf_gnss"
LIDAR_LOC_TOPIC="/apollo/localization/msf_lidar"
FUSION_LOC_TOPIC="/apollo/localization/pose"
ODOMETRY_LOC_TOPIC="/apollo/sensor/gnss/odometry"
CLOUD_TOPIC="/apollo/sensor/velodyne64/compensator/PointCloud2"
GNSS_LOC_FILE="gnss_loc.txt"
LIDAR_LOC_FILE="lidar_loc.txt"
FUSION_LOC_FILE="fusion_loc.txt"
ODOMETRY_LOC_FILE="odometry_loc.txt"
function data_exporter() {
local BAG_FILE=$1
local OUT_FOLDER=$2
$APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/data_extraction/cyber_record_parser \
--bag_file $BAG_FILE \
--out_folder $OUT_FOLDER \
--cloud_topic $CLOUD_TOPIC \
--gnss_loc_topic $GNSS_LOC_TOPIC \
--lidar_loc_topic $LIDAR_LOC_TOPIC \
--fusion_loc_topic $FUSION_LOC_TOPIC \
--odometry_loc_topic $ODOMETRY_LOC_TOPIC
}
function compare_poses() {
local IN_FOLDER=$1
$APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/data_extraction/compare_poses \
--in_folder $IN_FOLDER \
--loc_file_a $GNSS_LOC_FILE \
--loc_file_b $ODOMETRY_LOC_FILE \
--imu_to_ant_offset_file "$ANT_IMU_FILE" \
--compare_file "compare_gnss_odometry.txt"
$APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/data_extraction/compare_poses \
--in_folder $IN_FOLDER \
--loc_file_a $LIDAR_LOC_FILE \
--loc_file_b $ODOMETRY_LOC_FILE \
--compare_file "compare_lidar_odometry.txt"
$APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/data_extraction/compare_poses \
--in_folder $IN_FOLDER \
--loc_file_a $FUSION_LOC_FILE \
--loc_file_b $ODOMETRY_LOC_FILE \
--compare_file "compare_fusion_odometry.txt"
}
cd $IN_FOLDER
for item in $(ls -l *record.* | awk '{print $9}'); do
SEGMENTS=$(echo $item | awk -F'.' '{print NF}')
DIR_NAME=$(echo $item | cut -d . -f ${SEGMENTS})
if [ -d "${DIR_NAME}" ]; then
rm -r ${DIR_NAME}
fi
mkdir ${DIR_NAME}
data_exporter "${item}" "${DIR_NAME}"
compare_poses "${DIR_NAME}/pcd"
done
rm -rf compare_fusion_odometry_all.txt
touch compare_fusion_odometry_all.txt
for item in $(find . -name "compare_fusion_odometry.txt"); do
cat $item >> compare_fusion_odometry_all.txt
done
rm -rf compare_lidar_odometry_all.txt
touch compare_lidar_odometry_all.txt
for item in $(find . -name "compare_lidar_odometry.txt"); do
cat $item >> compare_lidar_odometry_all.txt
done
rm -rf compare_gnss_odometry_all.txt
touch compare_gnss_odometry_all.txt
for item in $(find . -name "compare_gnss_odometry.txt"); do
cat $item >> compare_gnss_odometry_all.txt
done
echo ""
echo "Fusion localization result:"
python ${APOLLO_ROOT_DIR}/modules/tools/localization/evaluate_compare.py compare_fusion_odometry_all.txt
echo ""
echo "Lidar localization result:"
python ${APOLLO_ROOT_DIR}/modules/tools/localization/evaluate_compare.py compare_lidar_odometry_all.txt
if [ $# -eq 2 ]; then
echo ""
echo "GNSS localization result:"
python ${APOLLO_ROOT_DIR}/modules/tools/localization/evaluate_compare.py compare_gnss_odometry_all.txt distance_only
fi
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/record_map_data.py
|
#!/usr/bin/env python3
###############################################################################
# Copyright 2018 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.
###############################################################################
"""
Start apollo data recorder.
It lists all available disks mounted under /media, and prioritize them in order:
- Disk#1. Largest NVME disk
- Disk#2. Smaller NVME disk
- ...
- Disk#x. Largest Non-NVME disk
- Disk#y. Smaller Non-NVME disk
- ...
Run with '--help' to see more options.
"""
import argparse
import datetime
import os
import subprocess
import sys
import psutil
MAP_COLLECTION_DATA_TOPICS = [
'/apollo/monitor/system_status',
'/apollo/sensor/gnss/best_pose',
'/apollo/sensor/gnss/gnss_status',
'/apollo/sensor/gnss/imu',
'/apollo/sensor/gnss/ins_stat',
'/apollo/sensor/gnss/odometry',
'/apollo/sensor/gnss/raw_data',
'/tf',
'/tf_static',
'/apollo/sensor/camera/front_12mm/image/compressed',
'/apollo/sensor/camera/front_6mm/image/compressed',
'/apollo/sensor/lidar16/front/up/Scan',
'/apollo/sensor/lidar16/front/up/PointCloud2',
'/apollo/sensor/lidar16/front/up/compensator/PointCloud2',
'/apollo/sensor/lidar128/PointCloud2',
'/apollo/sensor/lidar128/compensator/PointCloud2',
'/apollo/sensor/velodyne64/PointCloud2',
'/apollo/sensor/velodyne64/compensator/PointCloud2',
'/apollo/sensor/velodyne64/VelodyneScan',
]
def shell_cmd(cmd, alert_on_failure=True):
"""Execute shell command and return (ret-code, stdout, stderr)."""
print('SHELL > {}'.format(cmd))
proc = subprocess.Popen(cmd, shell=True, close_fds=True,
stdout=subprocess.PIPE, stderr=subprocess.PIPE)
ret = proc.wait()
stdout = proc.stdout.read().decode('utf-8') if proc.stdout else None
stderr = proc.stderr.read().decode('utf-8') if proc.stderr else None
if alert_on_failure and stderr and ret != 0:
sys.stderr.write('{}\n'.format(stderr))
return (ret, stdout, stderr)
class ArgManager(object):
"""Arguments manager."""
def __init__(self):
self.parser = argparse.ArgumentParser(
description="Manage apollo data recording.")
self.parser.add_argument('--start', default=False, action="store_true",
help='Start recorder. It is the default '
'action if no other actions are triggered. In '
'that case, the False value is ignored.')
self.parser.add_argument('--stop', default=False, action="store_true",
help='Stop recorder.')
self.parser.add_argument('--split_duration', default="1m",
help='Duration to split bags, will be applied '
'as parameter to "rosbag record --duration".')
self._args = None
def args(self):
"""Get parsed args."""
if self._args is None:
self._args = self.parser.parse_args()
return self._args
class DiskManager(object):
"""Disk manager."""
def __init__(self):
"""Manage disks."""
disks = []
for disk in psutil.disk_partitions():
if not disk.mountpoint.startswith('/media/'):
continue
disks.append({
'mountpoint': disk.mountpoint,
'available_size': DiskManager.disk_avail_size(disk.mountpoint),
'is_nvme': disk.mountpoint.startswith('/media/apollo/internal_nvme'),
})
# Prefer NVME disks and then larger disks.
self.disks = sorted(
disks, reverse=True,
key=lambda disk: (disk['is_nvme'], disk['available_size']))
@staticmethod
def disk_avail_size(disk_path):
"""Get disk available size."""
statvfs = os.statvfs(disk_path)
return statvfs.f_frsize * statvfs.f_bavail
class Recorder(object):
"""Data recorder."""
def __init__(self, args):
self.args = args
self.disk_manager = DiskManager()
def start(self):
"""Start recording."""
if Recorder.is_running():
print('Another data recorder is running, skip.')
return
disks = self.disk_manager.disks
# Use the best disk, or fallback '/apollo' if none available.
disk_to_use = disks[0]['mountpoint'] if len(disks) > 0 else '/apollo'
topics = list(MAP_COLLECTION_DATA_TOPICS)
self.record_task(disk_to_use, topics)
def stop(self):
"""Stop recording."""
shell_cmd('pkill -f "cyber_recorder record"')
def record_task(self, disk, topics):
"""Record tasks into the <disk>/data/bag/<task_id> directory."""
task_id = datetime.datetime.now().strftime('%Y-%m-%d-%H-%M-%S')
task_dir = os.path.join(disk, 'data/bag', task_id)
print('Recording bag to {}'.format(task_dir))
log_file = '/apollo/data/log/apollo_record.out'
topics_str = ' -c '.join(topics)
os.makedirs(task_dir)
cmd = '''
cd "{}"
source /apollo/scripts/apollo_base.sh
source /apollo/cyber/setup.bash
nohup cyber_recorder record -c {} >{} 2>&1 &
'''.format(task_dir, topics_str, log_file)
shell_cmd(cmd)
@staticmethod
def is_running():
"""Test if the given process running."""
_, stdout, _ = shell_cmd('pgrep -f "cyber_recorder record" | grep -cv \'^1$\'', False)
# If stdout is the pgrep command itself, no such process is running.
return stdout.strip() != '1' if stdout else False
def main():
"""Main entry."""
arg_manager = ArgManager()
args = arg_manager.args()
recorder = Recorder(args)
if args.stop:
recorder.stop()
else:
recorder.start()
if __name__ == '__main__':
main()
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/routing.sh
|
#!/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.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
source "${DIR}/apollo_base.sh"
# run function from apollo_base.sh
# run command_name module_name
run_module routing "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/clear.py
|
#!/usr/bin/env python3
###############################################################################
# Copyright 2018 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.
###############################################################################
"""
clear the extra -dev due to install rule
"""
import os
from pathlib import Path
output_dir = "/opt/apollo/neo/packages"
if __name__ == "__main__":
for d in os.listdir(output_dir):
d_wrapper = Path(os.path.join(output_dir, d))
cyberfile = d_wrapper / "local" / "cyberfile.xml"
if cyberfile.exists():
content = None
with cyberfile.open("r") as f:
content = f.read()
while "-dev-dev" in content:
content = content.replace("-dev-dev", "-dev")
with cyberfile.open("w+") as f:
f.write(content)
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/apollo_lint.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
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
# shellcheck source=./apollo.bashrc
source "${TOP_DIR}/scripts/apollo.bashrc"
: ${STAGE:=dev}
PYTHON_LINT_FLAG=0
CPP_LINT_FLAG=0
SHELL_LINT_FLAG=0
function _cpp_lint_impl() {
bazel test --config=cpplint "$@"
}
function run_cpp_lint() {
pushd "${APOLLO_ROOT_DIR}" >/dev/null
local cpp_dirs="cyber"
if [[ "${STAGE}" == "dev" ]]; then
cpp_dirs="${cpp_dirs} modules"
fi
for prey in $(find ${cpp_dirs} -name BUILD \
| xargs grep -l -E 'cc_library|cc_test|cc_binary|gpu_library' \
| xargs grep -L 'cpplint()'); do
warning "unattended BUILD file found: ${prey}. Add cpplint() automatically."
sed -i '1i\load("//tools:cpplint.bzl", "cpplint")\n' "${prey}"
sed -i -e '$a\\ncpplint()' "${prey}"
local buidifier
buidifier="$(command -v buildifier)"
if [ ! -z "${buidifier}" ]; then
${buidifier} -lint=fix "${prey}"
fi
done
popd >/dev/null
local targets="//cyber/..."
_cpp_lint_impl "${targets}"
if [[ "${STAGE}" == "dev" ]]; then
_cpp_lint_impl "//modules/..."
fi
}
function run_sh_lint() {
local shellcheck_cmd
shellcheck_cmd="$(command -v shellcheck)"
if [ -z "${shellcheck_cmd}" ]; then
warning "Command 'shellcheck' not found. For Debian/Ubuntu systems," \
"please run the following command to install it: "
warning " sudo apt-get -y update"
warning " sudo apt-get -y install shellcheck"
exit 1
fi
local sh_dirs="cyber scripts docker tools"
if [[ "${STAGE}" == "dev" ]]; then
sh_dirs="modules ${sh_dirs}"
fi
sh_dirs=$(printf "${APOLLO_ROOT_DIR}/%s " ${sh_dirs})
run find ${sh_dirs} -type f \( -name "*.sh" -or -name "*.bashrc" \) -exec \
shellcheck -x --shell=bash {} +
for script in ${APOLLO_ROOT_DIR}/*.sh; do
run shellcheck -x --shell=bash "${script}"
done
}
function run_py_lint() {
local flake8_cmd
flake8_cmd="$(command -v flake8)"
if [ -z "${flake8_cmd}" ]; then
warning "Command flake8 not found. You can install it manually via:"
warning " '[sudo -H] python3 -m pip install flake8'"
exit 1
fi
local py_dirs="cyber docker tools"
if [[ "${STAGE}" == "dev" ]]; then
py_dirs="modules ${py_dirs}"
fi
py_dirs=$(printf "${APOLLO_ROOT_DIR}/%s " ${py_dirs})
run find ${py_dirs} -type f \( -name "*.py" \) -exec \
flake8 {} \;
}
function print_usage() {
info "Usage: $0 [Options]"
info "Options:"
info "${TAB}--py Lint Python files"
info "${TAB}--sh Lint Bash scripts"
info "${TAB}--cpp Lint cpp source files"
info "${TAB}-a|--all Lint all. Equivalent to \"--py --sh --cpp\""
info "${TAB}-h|--help Show this message and exit"
}
function parse_cmdline_args() {
if [[ "$#" -eq 0 ]]; then
CPP_LINT_FLAG=1
return 0
fi
while [[ "$#" -gt 0 ]]; do
local opt="$1"
shift
case "${opt}" in
--py)
PYTHON_LINT_FLAG=1
;;
--cpp)
CPP_LINT_FLAG=1
;;
--sh)
SHELL_LINT_FLAG=1
;;
-a | --all)
PYTHON_LINT_FLAG=1
CPP_LINT_FLAG=1
SHELL_LINT_FLAG=1
;;
-h | --help)
print_usage
exit 0
;;
*)
warning "Unknown option: ${opt}"
print_usage
exit 1
;;
esac
done
}
function main() {
parse_cmdline_args "$@"
if [[ "${CPP_LINT_FLAG}" -eq 1 ]]; then
run_cpp_lint
fi
if [[ "${PYTHON_LINT_FLAG}" -eq 1 ]]; then
run_py_lint
fi
if [[ "${SHELL_LINT_FLAG}" -eq 1 ]]; then
run_sh_lint
fi
}
main "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/transform.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2018 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.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${DIR}/scripts/apollo_base.sh"
function start() {
LOG="${APOLLO_ROOT_DIR}/data/log/transform.out"
CMD="cyber_launch start /apollo/modules/transform/launch/static_transform.launch"
NUM_PROCESSES="$(pgrep -f "modules/transform/dag/static_transform.dag" | grep -cv '^1$')"
if [ "${NUM_PROCESSES}" -eq 0 ]; then
eval "nohup ${CMD} </dev/null >${LOG} 2>&1 &"
fi
}
function stop() {
eval "nohup cyber_launch stop /apollo/modules/transform/launch/static_transform.launch < /dev/null 2>&1 &"
}
# run command_name module_name
function run() {
case $1 in
start)
start
;;
stop)
stop
;;
restart)
stop
start
;;
*)
start
;;
esac
}
run "$1"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/transcribe.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo_base.sh"
${TOP_DIR}/bazel-bin/modules/tools/rosbag/transcribe "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/shfmt.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.
###############################################################################
# Usage:
# shfmt.sh <path/to/src/dir/or/files>
# Fail on error
set -e
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo.bashrc"
SHELL_FORMAT_CMD="shfmt"
function _find_shell_srcs() {
find "$@" -type f -name "*.sh" \
-o -name "*.bash" \
-o -name "*.bashrc"
}
function _shell_ext() {
local __ext
__ext="$(file_ext $1)"
for ext in "sh" "bash" "bashrc"; do
if [ "${ext}" == "${__ext}" ]; then
return 0
fi
done
return 1
}
function check_shfmt() {
SHELL_FORMAT_CMD="$(command -v shfmt)"
if [ -z "${SHELL_FORMAT_CMD}" ]; then
error "Oops, shfmt missing..."
error "Please make sure shfmt is installed and check your PATH settings."
exit 1
fi
}
function shell_format_run() {
# Use settings in .editorconfig
${SHELL_FORMAT_CMD} -w "$@"
}
function run_shfmt() {
for target in "$@"; do
if [ -f "${target}" ]; then
if _shell_ext "${target}"; then
shell_format_run "${target}"
info "Done formatting ${target}"
else
warning "Do nothing. ${target} is not a bash scripts."
fi
else
local srcs
srcs="$(_find_shell_srcs ${target})"
if [ -z "${srcs}" ]; then
ok "No need to format shell scripts under ${target} as none found"
continue
fi
shell_format_run ${srcs}
ok "Done formatting shell scripts under ${target}"
fi
done
}
function main() {
check_shfmt
if [ "$#" -eq 0 ]; then
error "Usage: $0 <path/to/dirs/or/files>"
exit 1
fi
run_shfmt "$@"
}
main "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/third_party_perception.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
cd "${DIR}/.."
source "$DIR/apollo_base.sh"
# run function from apollo_base.sh
# run command_name module_name
# run third_party_perception "$@" --use_navigation_mode
cyber_launch stop modules/third_party_perception/launch/third_party_perception.launch
cyber_launch start modules/third_party_perception/launch/third_party_perception.launch
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/install_gcc.sh
|
#! /usr/bin/env bash
# This script installs multiple versions of gcc/g++ on ubuntu 18.04.
if [ ! -x "$(which add-apt-repository)" ]; then
sudo apt-get -y update
sudo apt-get -y install software-properties-common
fi
ubuntu_release="$(lsb_release -rs)"
if [ "${ubuntu_release}" == "16.04" ] || [ "${ubuntu_release}" == "18.04" ]; then
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
fi
sudo apt-get -y update \
&& sudo apt-get -y install \
gcc-7 \
g++-7 \
gcc-8 \
g++-8 \
gcc-9 \
g++-9 \
&& sudo apt-get clean
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 90
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-9 90
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 80
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-8 80
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 70
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 70
# sudo update-alternatives --config gcc
# sudo update-alternatives --config g++
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/map_xysl.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
source "$DIR/apollo_base.sh"
${DIR}/../bazel-bin/modules/map/tools/map_xysl --flagfile=${DIR}/../modules/common/data/global_flagfile.txt $@
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/canbus.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo_base.sh"
# run function from apollo_base.sh
run_module canbus "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/record_message.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2022 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.
###############################################################################
# """
# Save the full data into /apollo/data/bag/ReusedRecordsPool,
# which will be cleared every time the smart recorder get started.
# Meanwhile, restore the messages we are interested in to /apollo/data/bag/<task_id> directory.
# """
function start() {
local APOLLO_ROOT_DIR="/apollo"
TIME="$(date +%F-%H-%M-%S)"
MODULE="smart_recorder"
REUSE_POOL_DIR="${APOLLO_ROOT_DIR}/data/ReusedRecordsPool"
TASK_EXE_DIR="${APOLLO_ROOT_DIR}/data/${MODULE}/${TIME}"
LOG_DIR="${APOLLO_ROOT_DIR}/data/log"
mkdir -p $LOG_DIR
sudo chmod -R 777 $LOG_DIR
LOG="${LOG_DIR}/smart_recorder.out"
RECORD_EXE="${APOLLO_BIN_PREFIX}/modules/data/tools/${MODULE}/${MODULE}"
if [[ ! -f ${RECORD_EXE} ]]; then
RECORD_EXE="/opt/apollo/neo/packages/apollo-data-dev/latest/bin/tools/${MODULE}/${MODULE}"
fi
if [[ ! -f ${RECORD_EXE} ]]; then
echo "can't fine smart_recorder. Have you installed apollo-data-dev?"
exit -1
fi
NUM_PROCESSES="$(pgrep -f "smart_recorder" | grep -cv '^1$')"
if [ "${NUM_PROCESSES}" -ne 0 ]; then
pkill -SIGINT -f smart_recorder
fi
nohup ${RECORD_EXE} --source_records_dir=${REUSE_POOL_DIR} \
--restored_output_dir=${TASK_EXE_DIR} < /dev/null > ${LOG} 2>&1 &
}
function stop() {
pkill -SIGINT -f smart_recorder
}
case $1 in
start)
start
;;
stop)
stop
;;
restart)
stop
start
;;
*)
start
;;
esac
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/control_info.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo_base.sh"
${TOP_DIR}/bazel-bin/modules/tools/control_info/control_info "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/velodyne.sh
|
#!/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.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${DIR}/scripts/apollo_base.sh"
function start() {
LOG="${APOLLO_ROOT_DIR}/data/log/velodyne.out"
CMD="cyber_launch start /apollo/modules/drivers/lidar/velodyne/launch/velodyne.launch"
NUM_PROCESSES="$(pgrep -f "/apollo/modules/drivers/lidar/velodyne/dag/velodyne.dag" | grep -cv '^1$')"
if [ "${NUM_PROCESSES}" -eq 0 ]; then
eval "nohup ${CMD} </dev/null >${LOG} 2>&1 &"
fi
}
function stop() {
eval "nohup cyber_launch stop /apollo/modules/drivers/lidar/velodyne/launch/velodyne.launch < /dev/null 2>&1 &"
}
# run command_name module_name
function run() {
case $1 in
start)
start
;;
stop)
stop
;;
restart)
stop
start
;;
*)
start
;;
esac
}
run "$1"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/cyberfile.xml
|
<package format="2">
<name>origin-scripts</name>
<version>local</version>
<description>
Some apollo origin scripts.
</description>
<maintainer email="apollo-support@baidu.com">Apollo</maintainer>
<license>Apache License 2.0</license>
<url type="website">https://www.apollo.auto/</url>
<url type="repository">https://github.com/ApolloAuto/apollo</url>
<url type="bugtracker">https://github.com/ApolloAuto/apollo/issues</url>
<type>module-wrapper</type>
<src_path url="https://github.com/ApolloAuto/apollo">//dev/scripts</src_path>
</package>
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/after_install.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
APOLLO_OUTPUT="/opt/apollo/neo/packages"
clear_dev_scripts=${TOP_DIR}/scripts/clear.py
dreamview_launch=${APOLLO_OUTPUT}/dreamview-dev/local/launch/dreamview.launch
dreamview_src_launch=${APOLLO_OUTPUT}/dreamview-dev/local/src/launch/dreamview.launch
planning_dag=${APOLLO_OUTPUT}/planning-dev/local/dag/planning.dag
planning_src_dag=${APOLLO_OUTPUT}/planning-dev/local/src/dag/planning.dag
sed -i "s/\/apollo\/bazel-bin\/modules\/dreamview\/dreamview/dreamview/g" $dreamview_launch
sed -i "s/\/apollo\/bazel-bin\/modules\/dreamview\/dreamview/dreamview/g" $dreamview_src_launch
sed -i "s/\/opt\/apollo\/neo\/packages\/planning-gpu-dev\/latest\/lib\/libplanning_component.so/\/opt\/apollo\/neo\/packages\/planning-dev\/latest\/lib\/libplanning_component.so/g" $planning_dag
sed -i "s/\/opt\/apollo\/neo\/packages\/planning-gpu-dev\/latest\/lib\/libplanning_component.so/\/opt\/apollo\/neo\/packages\/planning-dev\/latest\/lib\/libplanning_component.so/g" $planning_src_dag
python3 $clear_dev_scripts
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/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 -ex
action="install"
if [[ $# -ge 1 ]]; then
action="$1"
fi
DEST_DIR_BASE="third_party/can_card_library/esd_can"
CURR_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
DEST_DIR="${CURR_DIR}/../${DEST_DIR_BASE}"
[[ -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"
CONTRIB_REPO="${CURR_DIR}/../../apollo-contrib"
if [[ -d "${CONTRIB_REPO}" ]]; then
echo "apollo-contrib found."
else
sudo git clone https://github.com/ApolloAuto/apollo-contrib.git ${CONTRIB_REPO}
fi
pushd "${CONTRIB_REPO}"
cp esd/include/* ${DEST_DIR}/include/
cp esd/lib64/libntcan.so.4.0.1 ${DEST_DIR}/lib
popd
pushd ${DEST_DIR}/lib
ln -s libntcan.so.4.0.1 libntcan.so.4.0
ln -s libntcan.so.4.0.1 libntcan.so.4
popd
fi
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/perception.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
source "${DIR}/apollo_base.sh"
# run function from apollo_base.sh
# run command_name module_name
# run perception "$@"
cyber_launch stop /apollo/modules/perception/production/launch/perception_all.launch
cyber_launch stop /apollo/modules/drivers/tools/image_decompress/launch/image_decompress.launch
cyber_launch stop /apollo/modules/transform/launch/static_transform.launch
cyber_launch start /apollo/modules/transform/launch/static_transform.launch &
cyber_launch start /apollo/modules/drivers/tools/image_decompress/launch/image_decompress.launch &
cyber_launch start /apollo/modules/perception/production/launch/perception_all.launch &
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/filter_planning.sh
|
#!/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.
###############################################################################
function print_help() {
echo "Example: filter_planning.sh -[pc|np|wp] [-d|--dir] record1 record2 record3 ..."
echo "-d|--dir the target storage directory"
echo "This script works in three modes:"
echo " -pc filter for perfect control, produces *.pc.record"
echo " -po filter only for perception topic, produces *.po.record"
echo " -np filter for planning dependencies, produces *.np.record"
echo " -wp filter for planning and its dependencies, produces *.wp.record"
echo " -pn filter out planning and prediction, produces *.npp.record"
echo " -co filter out perception, prediction and planning, produces *.co.record"
echo " -ni filter out pointcloud and images, produces *.ni.record"
}
routing_topic="/apollo/routing_response"
planning_topic="/apollo/planning"
prediction_topic="/apollo/prediction"
drive_event_topic="/apollo/drive_event"
pointcloud_topic="/apollo/sensor/velodyne64/compensator/PointCloud2"
perception_topic=(
'/apollo/perception/obstacles'
'/apollo/perception/traffic_light'
)
perfect_control_topic=()
perfect_control_topic+=${perception_topic[@]}
perfect_control_topic+=($routing_topic)
perfect_control_topic+=("$prediction_topic")
perfect_control_topic+=("/apollo/perception/traffic_light")
planning_deps=()
planning_deps+=${perfect_control_topic[@]}
planning_deps+=('/apollo/canbus/chassis')
planning_deps+=('/apollo/localization/pose')
planning_deps+=('/apollo/navigation')
planning_deps+=('/apollo/guardian')
planning_deps+=('/apollo/monitor/system_status')
planning_deps+=('/apollo/relative_map')
image_topic=(
'/apollo/sensor/camera/traffic/image_long'
'/apollo/sensor/camera/traffic/image_short'
)
planning_all=()
planning_all+=${planning_deps[@]}
planning_all+=($planning_topic)
planning_all+=($drive_event_topic)
#Three different filter mode
#create perfect control mode record
is_perfect_control=false
#create a rosrecord with planning and its dependencies
is_with_planning=false
#create a rosrecord only with planning's dependencies
is_no_planning=false
#only perception topic
is_perception=false
#no prediction and no planning
is_no_prediction_planning=false
#no perception, no prediction and no planning, with only camera topic
is_camera_only=false
# no pointcloud, no image
is_no_pointcloud_image=false
work_mode_num=0
#argument parsing code from https://stackoverflow.com/a/14203146
POSITIONAL=()
target_dir=""
while [[ $# -gt 0 ]]; do
key="$1"
case $key in
-po | --perception_only)
is_perception=true
work_mode_num=$((work_mode_num + 1))
shift # past argument
;;
-pc | --perfectcontrol)
is_perfect_control=true
work_mode_num=$((work_mode_num + 1))
shift # past argument
;;
-np | --noplanning)
is_no_planning=true
work_mode_num=$((work_mode_num + 1))
shift # past argument
;;
-pn | --nopredictionplanning)
is_no_prediction_planning=true
work_mode_num=$((work_mode_num + 1))
shift # past argument
;;
-wp | --withplanning)
is_with_planning=true
work_mode_num=$((work_mode_num + 1))
shift # past value
;;
-co | --cameraonly)
is_camera_only=true
work_mode_num=$((work_mode_num + 1))
shift # past value
;;
-ni | --noimage)
is_no_pointcloud_image=true
work_mode_num=$((work_mode_num + 1))
shift # past argument
;;
-d | --dir)
target_dir="$2"
shift # past argument
shift # past value
;;
-h | --help)
print_help
exit 0
;;
*) # unknown option
POSITIONAL+=("$1") # save it in an array for later
shift # past argument
;;
esac
done
if [[ $work_mode_num -eq 0 ]]; then
print_help
exit 0
fi
set -- "${POSITIONAL[@]}" # restore positional parameters
function filter() {
target=""
name=$(basename $1)
ext=${name##*.}
name="$name.$ext"
if $is_perfect_control; then
target="$2/${name%.*}.pc.record"
cyber_recorder split -f $1 $(echo ${perfect_control_topic[@]} | sed 's/^\| / -c /g') -o $target
fi
if $is_no_prediction_planning; then
target="$2/${name%.*}.npp.record"
cyber_recorder split -f $1 -k $prediction_topic -k $planning_topic -o $target
fi
if $is_perception; then
target="$2/${name%.*}.po.record"
cyber_recorder split -f $1 $(echo ${perception_topic[@]} | sed 's/^\| / -k /g') -o $target
fi
if $is_no_planning; then
target="$2/${name%.*}.np.record"
cyber_recorder split -f $1 -k $planning_topic -o $target
fi
if $is_with_planning; then
target="$2/${name%.*}.wp.record"
cyber_recorder split -f $1 $(echo ${planning_all[@]} | sed 's/^\| / -c /g') -o $target
fi
if $is_camera_only; then
target="$2/${name%.*}.co.record"
cyber_recorder split -f $1 $(echo ${image_topic[@]} | sed 's/^\| / -c /g') -o $target
fi
if $is_no_pointcloud_image; then
target="$2/${name%.*}.ni.record"
cyber_recorder split -f $1 $(echo ${pointcloud_topic} ${image_topic[@]} | sed 's/^\| / -k /g') -o $target
fi
echo "filtered ${record} to $target"
}
for record in $@; do
folder=""
if [ -z $target_dir ]; then
folder="$(dirname $record)"
else
folder=$target_dir
fi
filter $record $folder
done
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/localization_online_visualizer.sh
|
#! /bin/bash
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
cd "${DIR}/.."
source "${DIR}/apollo_base.sh"
cyber_launch start /apollo/modules/localization/launch/msf_visualizer.launch
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/record_play_pnc.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2018 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.
###############################################################################
source "$(dirname "${BASH_SOURCE[0]}")/apollo_base.sh"
if [ $# -lt 1 ]; then
echo "$0 record_file"
exit
fi
cyber_recorder play \
-c /apollo/perception/obstacles \
-c /apollo/control \
-c /apollo/canbus/chassis \
-c /apollo/localization/pose \
-c /apollo/routing_request \
-c /apollo/routing_response \
-c /apollo/prediction \
-c /apollo/planning \
-c /apollo/canbus/chassis \
-c /apollo/guardian \
-c /apollo/perception/traffic_light \
-c /apollo/monitor/system_status \
-c /tf_static \
-c /apollo/control/pad \
-c /apollo/drive_event \
-c /apollo/monitor \
-c /tf \
-c /apollo/sensor/gnss/best_pose \
-f $*
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/start_gdb_server.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2018 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
function print_usage() {
RED='\033[0;31m'
BLUE='\033[0;34m'
BOLD='\033[1m'
NONE='\033[0m'
echo -e "\n${RED}Usage${NONE}:
.${BOLD}/start_gdb_server.sh${NONE} MODULE_NAME PORT_NUMBER"
echo -e "${RED}MODULE_NAME${NONE}:
${BLUE}planning${NONE}: debug the planning module.
${BLUE}control${NONE}: debug the control module.
${BLUE}routing${NONE}: debug the routing module.
..., and so on."
echo -e "${RED}PORT_NUMBER${NONE}:
${NONE}a port number, such as '1111'."
}
if [ $# -lt 2 ]; then
print_usage
exit 1
fi
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
source "${DIR}/apollo_base.sh"
MODULE_NAME=$1
PORT_NUM=$2
shift 2
# If there is a gdbserver process running, stop it first.
GDBSERVER_NUMS=$(pgrep -c -x "gdbserver")
if [ ${GDBSERVER_NUMS} -ne 0 ]; then
sudo pkill -SIGKILL -f "gdbserver"
fi
echo ${MODULE_NAME}
# Because the "grep ${MODULE_NAME}" always generates a process with the name of
# "${MODULE_NAME}", I added another grep to remove grep itself from the output.
PROCESS_ID=$(ps -ef | grep "mainboard" | grep "${MODULE_NAME}" | grep -v "grep" | awk '{print $2}')
echo ${PROCESS_ID}
# If the moudle is not started, start it first.
if [ -z ${PROCESS_ID} ]; then
#echo "The '${MODULE_NAME}' module is not started, please start it in the dreamview first. "
#exit 1
# run function from apollo_base.sh
# run command_name module_name
run_module ${MODULE_NAME} "$@"
PROCESS_ID=$(ps -ef | grep "mainboard" | grep "${MODULE_NAME}" | grep -v "grep" | awk '{print $2}')
echo ${PROCESS_ID}
fi
sudo gdbserver :${PORT_NUM} --attach ${PROCESS_ID}
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/deploy_local_sanity_check.sh
|
#!/bin/bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
##Install
#$APOLLO_ROOT/scripts/deploy_local_sanity_check.sh
##Uninstall
#$APOLLO_ROOT/scripts/deploy_local_sanity_check.sh -u
APOLLO_ROOT=$(cd $(dirname $0)/.. && pwd)
APOLLO_FILE="modules/dreamview"
. $APOLLO_ROOT/scripts/apollo_base.sh
if [ ! -e "$APOLLO_FILE" ]; then
warning "Please run this script under Apollo source root dir."
exit 1
fi
if [ ! -e "$APOLLO_ROOT/.git" ]; then
warning "$APOLLO_ROOT seems not a git repo."
exit 1
fi
type curl > /dev/null 2>&1 || {
error >&2 "command curl not found, please install it with: sudo apt-get install curl"
exit 1
}
type perl > /dev/null 2>&1 || {
error >&2 "command perl not found, please install it with: sudo apt-get install perl-base"
exit 1
}
function uninstall() {
if [ -L "$APOLLO_ROOT/.git/hooks/post-commit" ]; then
pushd $APOLLO_ROOT/.git/hooks > /dev/null
rm post-commit
popd > /dev/null
ok "sanity check was removed."
fi
}
while [ $# -gt 0 ]; do
case "$1" in
-u) uninstall && exit 0 ;;
*) ;;
esac
shift
done
HOOKS_URL="http://code.qt.io/cgit/qt/qtrepotools.git/plain/git-hooks"
HOOKS_DIR=$APOLLO_ROOT/tools/git-hooks
HOOK_SCRITPS="git_post_commit_hook sanitize-commit"
if [ ! -e $HOOKS_DIR ]; then
mkdir -p $HOOKS_DIR
fi
pushd $HOOKS_DIR > /dev/null || error "Enter $HOOKS_DIR failed."
for i in $HOOK_SCRITPS; do
if [ ! -e "$HOOKS_DIR/$i" ]; then
#info "pulling hooks: $i ..."
curl -O $HOOKS_URL/$i
if [ $? -ne 0 ]; then
error "Failed to pull hooks: $i ."
fi
chmod +x $i
fi
done
popd > /dev/null
if [ ! -e "$APOLLO_ROOT/.git/hooks/post-commit" ]; then
pushd $APOLLO_ROOT/.git/hooks > /dev/null || error "Enter target dir failed. "
#info "deploy hooks..."
ln -s $HOOKS_DIR/git_post_commit_hook post-commit
if [ $? -eq 0 ]; then
ok "Deploy sanity check done."
else
error "Failed to deploy sanity check."
fi
popd > /dev/null
elif [ -L "$APOLLO_ROOT/.git/hooks/post-commit" ]; then
info "Sanity check seems already deployed."
elif [ -f "$APOLLO_ROOT/.git/hooks/post-commit" ]; then
info "$APOLLO_ROOT/.git/hooks/post-commit hook seems already exists, please backup it and run this script again."
fi
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/canbus_teleop.sh
|
#!/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.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
cd "${DIR}/.."
./bazel-bin/modules/canbus/tools/teleop
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/ota.sh
|
#!/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="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
CACHE_DIR="${APOLLO_ROOT}/.cache"
function update() {
UPDATE_TAG=$(python ${APOLLO_ROOT}/modules/tools/ota/query_client.py)
if [ "$?" != "0" ]; then
echo $UPDATE_TAG
exit 1
fi
tip="Type 'y' or 'Y' to start upgrade, or type any other key to exit"
echo $tip
read -n 1 user_agreed
if [ "$user_agreed" != "y" ] && [ "$user_agreed" != "Y" ]; then
exit 1
fi
cp ${APOLLO_ROOT}/scripts/ota.sh "${CACHE_DIR}"
ssh $DOCKER_USER@localhost bash ${CACHE_DIR}/ota.sh download $UPDATE_TAG
python ${APOLLO_ROOT}/modules/tools/ota/verify_client.py
if [ "$?" != "0" ]; then
exit 1
fi
[ -e "${CACHE_DIR}/apollo_release" ] && rm -rf "${CACHE_DIR}/apollo_release"
tar xzf ${CACHE_DIR}/apollo_release.tar.gz -C ${CACHE_DIR}
NEW_TAG="${UPDATE_TAG}-local"
ssh $DOCKER_USER@localhost bash ${CACHE_DIR}/ota.sh setup $NEW_TAG
python ${APOLLO_ROOT}/modules/tools/ota/update_client.py ${UPDATE_TAG}
}
function clean() {
rm -rf ${CACHE_DIR}/apollo_update
rm -rf ${CACHE_DIR}/apollo_release.tar.gz
rm -rf ${CACHE_DIR}/sec_apollo_release.tar.gz
rm -rf ${CACHE_DIR}/ota.sh
docker stop test_container 1> /dev/null
docker rm test_container 1> /dev/null
}
function setup() {
docker exec test_container cp -Lr /root/mnt/apollo_release/apollo /
docker commit test_container $1
echo "Please restart release docker with new release image: $1"
clean
}
function download() {
UPDATE_TAG=$1
docker pull $UPDATE_TAG
if [ "$?" != "0" ]; then
echo "Downloading fails!"
exit 1
else
echo "New release image has been downloaded!"
fi
docker ps -a --format "{{.Names}}" | grep 'test_container' 1> /dev/null
if [ $? == 0 ]; then
docker stop test_container 1> /dev/null
docker rm -f test_container 1> /dev/null
fi
docker run -d -it --name test_container -v ${CACHE_DIR}:/root/mnt $UPDATE_TAG
docker exec test_container cp /root/sec_apollo_release.tar.gz /root/mnt
}
case $1 in
update)
update
;;
download)
download $2
;;
setup)
setup $2
;;
*)
echo "Usage: ota.sh update"
;;
esac
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/msf_poses_interpolation.sh
|
#! /bin/bash
if [ $# -lt 4 ]; then
echo "Usage: msf_poses_interpolator.sh [input_poses_path] [ref_timestamps_path] [extrinsic_path] [output_poses_path]"
exit 1
fi
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
cd "${DIR}/.."
source "${DIR}/apollo_base.sh"
$APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/map_creation/poses_interpolator \
--input_poses_path $1 \
--ref_timestamps_path $2 \
--extrinsic_path $3 \
--output_poses_path $4
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/localization_ndt.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2019 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
source "${DIR}/apollo_base.sh"
# run function from apollo_base.sh
# run command_name module_name
case $1 in
start)
start_customized_path localization ndt_localization "$@"
;;
stop)
stop_customized_path localization ndt_localization "$@"
;;
restart)
stop_customized_path localization ndt_localization "$@"
start_customized_path localization ndt_localization "$@"
;;
*)
start_customized_path localization ndt_localization "$@"
;;
esac
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/create_map_from_xy.sh
|
#!/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)"
print_help() {
echo "$0 --xy [--map_name MAP_NAME][--left_lane_num 0][--right_lane_num 0]"
echo "$0 --xy set the input xy file, file that contains x,y"
echo "$0 --map_name set the name of the map, default is the base name of the csv file"
#echo "$0 --left_lane_num set the number of lanes at the left side of the trajectory, default is zero"
#echo "$0 --right_lane_num set the number of lanes at the right side of the trajectory, default is zero"
}
POSITIONAL=()
g_map_name=""
g_xy_file=""
#left_lane_num="0"
#right_lane_num="0"
while [[ $# -gt 0 ]]; do
key="$1"
case $key in
-d | --dir)
target_dir="$2"
shift # past argument
shift # past value
;;
--xy)
g_xy_file="$2"
shift # past argument
shift # past value
;;
#-l|--left_lane_num)
#left_lane_num="$2"
#shift # past argument
#shift # past value
#;;
#-r|--right_lane_num)
#right_lane_num="$2"
#shift # past argument
#shift # past value
#;;
-h | --help)
print_help
exit 0
;;
*) # unknown option
POSITIONAL+=("$1") # save it in an array for later
shift # past argument
;;
esac
done
if [ "$g_xy_file" == "" ]; then
echo "argument --xy is required"
print_help
exit 0
fi
if [ "$map_name" == "" ]; then
map_name=$(basename $g_xy_file)
map_name="${map_name%.*}"
fi
generate_map() {
xy_file=$1
dir_name="${APOLLO_ROOT_DIR}/modules/map/data/$2"
#left_num=$3
#right_num=$4
if [ -d ${dir_name} ]; then
rm -rf ${dir_name}.last
mv ${dir_name} ${dir_name}.last
fi
mkdir -p ${dir_name}
python ${APOLLO_ROOT_DIR}/modules/tools/map_gen/map_gen_single_lane.py $xy_file $dir_name/base_map.txt 1.0
echo "--map_dir=${dir_name}" >> modules/common/data/global_flagfile.txt
bash ${APOLLO_ROOT_DIR}/scripts/generate_routing_topo_graph.sh
${APOLLO_BIN_PREFIX}/modules/map/tools/sim_map_generator --map_dir=${dir_name} --output_dir=${dir_name}
}
generate_map $g_xy_file $map_name $left_lane_num $right_lane_num
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/planning_regenerate_golden.sh
|
#! /bin/bash
# regenerate planning golden test log data.
set -x
D=/apollo/bazel-bin/modules/planning/
for T in integration_tests/garage_test \
integration_tests/sunnyvale_loop_test \
integration_tests/sunnyvale_big_loop_test; do
$D/$T --test_update_golden_log
done
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/navigation_perception.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2018 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.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
source "${DIR}/apollo_base.sh"
# run function from apollo_base.sh
# run command_name module_name
run_module perception "$@" --flagfile=/apollo/modules/perception/conf/perception_lowcost.conf
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/docker_start_user.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.
#
###############################################################################
function _create_user_account() {
local user_name="$1"
local uid="$2"
local group_name="$3"
local gid="$4"
addgroup --gid "${gid}" "${group_name}"
adduser --disabled-password --force-badname --gecos '' \
"${user_name}" --uid "${uid}" --gid "${gid}" # 2>/dev/null
# copy init scripts manually
cp /etc/skel/.* $(getent passwd ${user_name} | cut -d: -f6)/
usermod -aG sudo "${user_name}"
usermod -aG video "${user_name}"
}
function setup_user_bashrc() {
local uid="$1"
local gid="$2"
local user_home="/home/$3"
# cp -rf /etc/skel/.{profile,bash*} "${user_home}"
local RCFILES_DIR="/opt/apollo/rcfiles"
local rc
if [[ -d "${RCFILES_DIR}" ]]; then
for entry in ${RCFILES_DIR}/*; do
rc=$(basename "${entry}")
if [[ "${rc}" = user.* ]]; then
cp -rf "${entry}" "${user_home}/${rc##user}"
fi
done
fi
# Set user files ownership to current user, such as .bashrc, .profile, etc.
# chown -R "${uid}:${gid}" "${user_home}"
chown -R "${uid}:${gid}" ${user_home}/.*
}
function setup_user_account_if_not_exist() {
local user_name="$1"
local uid="$2"
local group_name="$3"
local gid="$4"
if grep -q "^${user_name}:" /etc/passwd; then
echo "User ${user_name} already exist. Skip setting user account."
return
fi
_create_user_account "$@"
setup_user_bashrc "${uid}" "${gid}" "${user_name}"
}
function grant_device_permissions() {
# setup GPS device
[ -e /dev/novatel0 ] && chmod a+rw /dev/novatel0
[ -e /dev/novatel1 ] && chmod a+rw /dev/novatel1
[ -e /dev/novatel2 ] && chmod a+rw /dev/novatel2
[ -e /dev/ttyACM0 ] && chmod a+rw /dev/ttyACM0
[ -e /dev/imu ] && chmod a+rw /dev/imu
# setup camera device
[ -e /dev/camera/obstacle ] && chmod a+rw /dev/camera/obstacle
[ -e /dev/camera/trafficlights ] && chmod a+rw /dev/camera/trafficlights
# setup audio device
[ -e /dev/snd ] && usermod -a -G audio "$1"
# setup compute device
[ -e /dev/kfd ] && ! getent group render && \
echo "render:x:$(stat -c %g /dev/kfd):$1" >> /etc/group
getent group render && usermod -a -G render $1
true
}
function setup_apollo_directories() {
local apollo_dir="/opt/apollo"
[[ -d "${apollo_dir}" ]] || mkdir -p "${apollo_dir}"
# chown -R "${uid}:${gid}" "${apollo_dir}"
chmod a+rw /opt /opt/apollo
}
# FIXME(infra): This will change core pattern on the host also,
# where the `/apollo` directory may not exist.
function setup_core_pattern() {
if [[ -w /proc/sys/kernel/core_pattern ]]; then
echo "/apollo/data/core/core_%e.%p" > /proc/sys/kernel/core_pattern
fi
}
##===================== Main ==============================##
function main() {
local user_name="$1"
local uid="$2"
local group_name="$3"
local gid="$4"
if [ "${uid}" != "${gid}" ]; then
echo "Warning: uid(${uid}) != gid(${gid}) found."
fi
if [ "${user_name}" != "${group_name}" ]; then
echo "Warning: user_name(${user_name}) != group_name(${group_name}) found."
fi
setup_user_account_if_not_exist "$@"
setup_apollo_directories "${uid}" "${gid}"
grant_device_permissions "${user_name}"
setup_core_pattern
}
main "${DOCKER_USER}" "${DOCKER_USER_ID}" "${DOCKER_GRP}" "${DOCKER_GRP_ID}"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/apollo_release.sh
|
#! /usr/bin/env bash
set -e
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo.bashrc"
export OPT_APOLLO="$(dirname "${APOLLO_SYSROOT_DIR}")"
export PREFIX_DIR=/opt/apollo/neo/packages/
LIST_ONLY=0
RESOLVE_DEPS=0
PRE_CLEAN=0
BAZEL_OPTS=" -c opt --copt=-mavx2 --host_copt=-mavx2 --jobs=$(nproc) --local_ram_resources=HOST_RAM*0.5"
SHORTHAND_TARGETS=
CMDLINE_OPTIONS=
INSTALL_OPTIONS=
USE_GPU=-1
function _usage() {
info "Usage: $0 <module>(Can be empty) [Options]"
info "Options:"
info "${TAB} -p, --prefix <DIR> Use absolute path <DIR> as install prefix instead of '/apollo/output'"
info "${TAB} -l, --list Print the list of installed files; don't install anything"
info "${TAB} -c, --clean Ensure clean install by removing prefix dir if exist before installing"
info "${TAB} -r, --resolve Also resolve APT packages on which this release build depends"
info "${TAB} -h, --help Show this message and exit"
info "${TAB} --gpu Running GPU build"
info "${TAB} --cpu Running CPU build"
}
function _check_arg_for_opt() {
local opt="$1"
local optarg="$2"
if [[ -z "${optarg}" || "${optarg}" =~ ^-.* ]]; then
error "Missing argument for ${opt}. Exiting..."
exit 2
fi
}
function parse_cmdline_args() {
local prefix_dir=
local remained_args=
while [[ $# -gt 0 ]]; do
local opt="$1"
shift
case "${opt}" in
-p | --prefix)
_check_arg_for_opt "${opt}" "$1"
prefix_dir="$1"; shift
;;
-l | --list)
LIST_ONLY=1
;;
-r | --resolve)
RESOLVE_DEPS=1
;;
-c | --clean)
PRE_CLEAN=1
;;
-h | --help)
_usage
exit 0
;;
--cpu)
USE_GPU=0
;;
--gpu)
USE_GPU=1
;;
*)
remained_args="${remained_args} ${opt}"
;;
esac
done
if [[ "${RESOLVE_DEPS}" -gt 0 && "${LIST_ONLY}" -gt 0 ]]; then
error "'-l,--list' and '-r,--resolve' cannot be used together"
_usage
exit 1
fi
if [[ "${prefix_dir}" = /* ]]; then
PREFIX_DIR="${prefix_dir}"
elif [[ -n "${prefix_dir}" ]]; then
echo "Absolute prefix dir expected, got '${prefix_dir}'"
exit 1
fi
SHORTHAND_TARGETS="${remained_args}"
}
function determine_cpu_or_gpu_build() {
if [ "${USE_GPU}" -lt 0 ]; then
# USE_GPU unset, defaults to USE_GPU_TARGET
USE_GPU="${USE_GPU_TARGET}"
elif [ "${USE_GPU}" -gt "${USE_GPU_TARGET}" ]; then
warning "USE_GPU=${USE_GPU} without GPU can't compile. Exiting ..."
exit 1
fi
if [ "${USE_GPU}" -eq 1 ]; then
CMDLINE_OPTIONS="--config=gpu ${CMDLINE_OPTIONS}"
INSTALL_OPTIONS=" --gpu ${INSTALL_OPTIONS}"
ok "Running GPU build."
else
CMDLINE_OPTIONS="--config=cpu ${CMDLINE_OPTIONS}"
ok "Running CPU build."
fi
}
function determine_release_targets() {
local targets_all
if [[ "$#" -eq 0 ]]; then
targets_all="//:install"
echo "${targets_all}"
return
fi
for component in $@; do
local release_targets
if [ "${component}" = "cyber" ]; then
release_targets="//cyber:install"
elif [[ -d "${APOLLO_ROOT_DIR}/modules/${component}" ]]; then
release_targets="//modules/${component}:install"
elif [ "${component}" = "scripts" ]; then
release_targets="//docker/scripts:install union //scripts:install"
else
error "Unknown option: ${component}"
_usage
exit 1
fi
if [ -z "${targets_all}" ]; then
targets_all="${release_targets}"
else
targets_all="${targets_all} union ${release_targets}"
fi
done
echo "${targets_all}"
}
function retrieve_so_deps() {
ldd $1 | awk '/=>/ {print $3}' | sort -u | \
grep -Ev "^(${OPT_APOLLO}|/usr/local|${PREFIX_DIR})/"
}
export -f retrieve_so_deps
function generate_solibs() {
listing="$1"
find ${PREFIX_DIR}/bin ${APOLLO_SYSROOT_DIR}/bin -executable -type f \
-exec bash -c 'retrieve_so_deps "$0"' {} \
>> ${listing} \;
find ${PREFIX_DIR}/lib ${PREFIX_DIR}/cyber ${PREFIX_DIR}/modules \
-name "*.so" -exec bash -c 'retrieve_so_deps "$0"' {} \
>> ${listing} \;
SYSLIB_DIRS=(
/usr/local/fast-rtps/lib
/usr/local/libtorch_cpu/lib
/usr/local/libtorch_gpu/lib
${APOLLO_SYSROOT_DIR}/lib
)
for libdir in ${SYSLIB_DIRS[@]}; do
find ${libdir} \( -type f -or -type l \) -name "*.so" \
-exec bash -c 'retrieve_so_deps "$0"' {} \
>> ${listing} \;
done
find /usr/local/qt5/ -name "*.so" -exec bash -c 'retrieve_so_deps "$0"' {} \
>> ${listing} \;
cat ${listing} | sort -u
}
function solib_locate() {
solib="$1"
if [[ ${solib} != "/"* || ! -e ${solib} ]]; then
return
fi
dest="$2"
# https://superuser.com/questions/363444
# /how-do-i-get-the-output-and-exit-value-of-a-subshell-when-using-bash-e
if ! msg="$(dpkg -S ${solib} 2>/dev/null)" ; then
echo "Warning: ${solib} doesn't seem to belong to any APT package."
else
result="$(echo "${msg}" | awk -F ': ' '{print $1}')"
echo "${result}" >> ${dest}
fi
}
PKGS_TXT="${PREFIX_DIR}/syspkgs.txt"
function generate_apt_pkgs() {
sudo apt-get -y update
listing="$(mktemp /tmp/syslibs.XXXXXX)"
pkgs="$(mktemp /tmp/pkgs.XXXXXX)"
for solib in $(generate_solibs "${listing}"); do
solib_locate "${solib}" "${pkgs}"
done
sort -u ${pkgs} > ${PKGS_TXT}
rm -f ${listing} ${pkgs}
}
function generate_py_packages() {
pushd ${PREFIX_DIR} > /dev/null
touch __init__.py
for dir in $(find cyber modules -type d); do
touch $dir/__init__.py
done
popd > /dev/null
}
function resolve_directory_path() {
pushd ${PREFIX_DIR} > /dev/null
info "Resolve directory path for Apollo binary distribution..."
mkdir -p bazel-bin
ln -s ../cyber bazel-bin/cyber
ln -s ../modules bazel-bin/modules
ok "Done."
popd > /dev/null
}
function run_install() {
local install_targets
install_targets="$(determine_release_targets ${SHORTHAND_TARGETS})"
bazel run ${BAZEL_OPTS} ${CMDLINE_OPTIONS} ${install_targets} \
-- ${install_opts} ${INSTALL_OPTIONS} "${PREFIX_DIR}"
# install files copy from source code.
bazel run ${BAZEL_OPTS} ${CMDLINE_OPTIONS} //:install_src \
-- ${install_opts} ${INSTALL_OPTIONS} "${PREFIX_DIR}"
}
function export_python_path() {
if [ `grep -c /opt/apollo/neo/packages/python-support/local ~/.bashrc` -ne 0 ]; then
echo '\nexport PYTHONPATH=/opt/apollo/neo/packages/python-support/local:$PYTHONPATH' >> ~/.bashrc
fi
}
function main() {
parse_cmdline_args "$@"
local install_opts=
if [[ "${LIST_ONLY}" -gt 0 ]]; then
install_opts="${install_opts} --list"
fi
if [[ "${PRE_CLEAN}" -gt 0 ]]; then
install_opts="${install_opts} --pre_clean"
fi
determine_cpu_or_gpu_build
run_install
if [[ "${LIST_ONLY}" -gt 0 ]]; then
return
fi
DIRS=("${PREFIX_DIR}/data/log" "${PREFIX_DIR}/data/bag" "${PREFIX_DIR}/data/core")
for dir in ${DIRS[@]}; do
if [[ ! -d "${dir}" ]]; then
mkdir -p "${dir}"
fi
done
if [[ "${RESOLVE_DEPS}" -gt 0 ]]; then
info "Resolve runtime library dependencies and generate APT packages list..."
generate_apt_pkgs
ok "Done. Packages list has been writen to ${PKGS_TXT}"
fi
export_python_path
# generate_py_packages
# resolve_directory_path
}
main "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/record_bag.sh
|
#!/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.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
source "${DIR}/apollo_base.sh"
function start() {
decide_task_dir $@
cd "${TASK_DIR}"
# Start recording.
record_bag_env_log
LOG="/tmp/apollo_record.out"
NUM_PROCESSES="$(pgrep -f "cyber_recorder record" | grep -cv '^1$')"
if [ "${NUM_PROCESSES}" -eq 0 ]; then
nohup cyber_recorder record -a -i 60 -m 2048 < /dev/null > "${LOG}" 2>&1 &
fi
}
function stop() {
pkill -SIGINT -f record
}
function help() {
echo "Usage:"
echo "$0 [start] Record bag to data/bag."
echo "$0 stop Stop recording."
echo "$0 help Show this help message."
}
case $1 in
start)
shift
start $@
;;
stop)
shift
stop $@
;;
help)
shift
help $@
;;
restart)
shift
stop $@
start $@
;;
*)
start $@
;;
esac
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/AGREEMENT.txt
|
THE APOLLO OPEN PLATFORM (“PLATFORM”) FOR AND ON BEHALF OF ITSELF AND ITS SUBSIDIARIES AND AFFILIATES UNDER COMMON CONTROL, IS WILLING TO LICENSE THE SOFTWARE TO YOU ONLY UPON THE CONDITION THAT YOU ACCEPT ALL OF THE TERMS CONTAINED IN THIS LICENSE AGREEMENT ("AGREEMENT"). PLEASE READ THE AGREEMENT CAREFULLY. BY SELECTING THE "ACCEPT LICENSE AGREEMENT" (OR THE EQUIVALENT) BUTTON AND/OR BY USING THE SOFTWARE YOU ACKNOWLEDGE THAT YOU HAVE READ THE TERMS AND AGREE TO THEM. IF YOU ARE AGREEING TO THESE TERMS ON BEHALF OF A COMPANY OR OTHER LEGAL ENTITY, YOU REPRESENT THAT YOU HAVE THE LEGAL AUTHORITY TO BIND THE LEGAL ENTITY TO THESE TERMS. IF YOU DO NOT HAVE SUCH AUTHORITY, OR IF YOU DO NOT WISH TO BE BOUND BY THE TERMS, THEN SELECT THE "DECLINE LICENSE AGREEMENT" (OR THE EQUIVALENT) BUTTON AND YOU MUST NOT USE THE SOFTWARE ON THIS SITE OR ANY OTHER MEDIA ON WHICH THE SOFTWARE IS CONTAINED.
1. DEFINITIONS. "Software" means the software identified above in binary form that you selected for download, install or use (in the version You selected for download, install or use) from Baidu or its authorized licensees, any other machine readable materials (including, but not limited to, libraries, source files, header files, and data files), any updates or error corrections provided by Baidu, and any user manuals, programming guides and other documentation provided to you by Baidu under this Agreement.
2. LICENSE GRANT: Subject to the terms and conditions of this Agreement, with the exception of different license terms and license grants for separate, individual third-party components as set forth below, the Software is licensed to you under the terms of the Apache 2.0 license available at: https://www.apache.org/licenses/LICENSE-2.0. You agree to these terms with respect to the Software.
3. THIRD PARTY CODE: Additional copyright notices and license terms applicable to portions of the Software are set forth below in Appendix A. You expressly agree to the license terms associated with third party code set forth in Appendix A. In addition to any terms and conditions of any third party license identified in Appendix A, the disclaimer of warranty and limitation of liability provisions in paragraphs 4 and 5 of this License Agreement shall apply to all Software in this distribution. YOU EXPRESSLY AGREE THAT YOU HAVE REVIEWED THE TERMS OF THE AGREEMENTS LINKED TO AND RESTATED IN APPENDIX A TO THIS AGREEMENT, AND THAT YOU AGREE TO THE TERMS OF THOSE AGREEMENTS.
4. DISCLAIMER OF WARRANTY. THE SOFTWARE IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND. BAIDU FURTHER DISCLAIMS ALL WARRANTIES, EXPRESS AND IMPLIED, INCLUDING WITHOUT LIMITATION, ANY IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE OR NONINFRINGEMENT.
5. LIMITATION OF LIABILITY. IN NO EVENT SHALL BAIDU BE LIABLE FOR ANY INDIRECT, INCIDENTAL, SPECIAL, PUNITIVE OR CONSEQUENTIAL DAMAGES, OR DAMAGES FOR LOSS OF PROFITS, REVENUE, DATA OR DATA USE, INCURRED BY YOU OR ANY THIRD PARTY, WHETHER IN AN ACTION IN CONTRACT OR TORT, EVEN IF BAIDU HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. BAIDU’S ENTIRE LIABILITY FOR DAMAGES HEREUNDER SHALL IN NO EVENT EXCEED ONE CENT (U.S. $0.01).
Copyright (c) 2018 Various License Holders. All Rights Reserved
Apollo software is built on top of various other open source software packages, a complete list of licenses are located at https://github.com/ApolloAuto/apollo/blob/master/third_party/ACKNOWLEDGEMENT.txt
By accepting this Service License Agreements, you confirm that you are not a resident or citizen of any country currently embargoed by the U.S. and that you are not otherwise prohibited from receiving the Licensed Software.
You agree to the terms of all the License Agreements.
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/yapf.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2021 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
# Usage:
# yapf.sh <path/to/python/dir/or/files>
# Fail on error
set -e
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo.bashrc"
function check_yapf() {
if [ -z "$(command -v yapf)" ]; then
error "Oops, yapf missing..."
error "Please make sure yapf is installed and check your PATH" \
"settings. For Debian/Ubuntu, you can run the following command:"
error " sudo pip3 install --upgrade --no-cache-dir yapf"
exit 1
fi
}
function yapf_run() {
# TODO(storypku): yapf has a '--recursive' option.
yapf -i --style='{based_on_style: google}' "$@"
}
function run_yapf() {
for target in "$@"; do
if [ -f "${target}" ]; then
if py_ext "${target}"; then
yapf_run "${target}"
info "Done formatting ${target}"
else
warning "Do nothing. ${target} is not a Python file."
fi
else
local srcs
srcs="$(find_py_srcs ${target})"
if [ -z "${srcs}" ]; then
warning "Do nothing. No Python files found under ${target} ."
continue
fi
yapf_run ${srcs}
ok "Done formatting Python files under ${target}"
fi
done
}
function main() {
check_yapf
if [ "$#" -eq 0 ]; then
error "Usage: $0 <path/to/python/dirs/or/files>"
exit 1
fi
run_yapf "$@"
}
main "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/apollo_clean.sh
|
#! /usr/bin/env bash
###############################################################################
# Copyright 2020 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
set -e
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo.bashrc"
CORE_DIR="${TOP_DIR}/data/core"
LOG_DIR="${TOP_DIR}/data/log"
BAZEL_CLEAN_EXPUNGE=0
CORE_DUMP_CLEANUP=0
LOG_FILES_CLEANUP=0
function _clean_bazel_cache() {
local opt="--async"
if [ "$1" == "--expunge" ]; then
opt="--expunge_async"
fi
bazel clean ${opt}
# Remove bazel cache in associated directories
if [ -d /apollo-simulator ]; then
pushd /apollo-simulator >/dev/null
bazel clean ${opt}
popd >/dev/null
fi
}
function _clean_config() {
# Remove local bazel config.
bash "${TOP_DIR}/scripts/apollo_config.sh" --clean
}
function _clean_core() {
if [ -d "${CORE_DIR}" ]; then
rm -f ${CORE_DIR}/core_*
fi
}
function _clean_log() {
if [ -d "${LOG_DIR}" ]; then
rm -rf ${LOG_DIR}/*
fi
}
function _clean_docs() {
local docs_sh="${TOP_DIR}/scripts/apollo_docs.sh"
if [ -f "${docs_sh}" ]; then
bash "${docs_sh}" clean
fi
}
function _print_usage() {
echo -e "Usage:\n $0 [options]\nOptions:"
echo "${TAB}--bazel Remove bazel output"
echo "${TAB}--core Remove coredump files"
echo "${TAB}--log Remove log files"
echo "${TAB}-a, --all Equivalent to \"--bazel --core --log\""
echo "${TAB}--expunge Run \"bazel clean --expunge\""
echo "${TAB}-h, --help Show this message and exit"
}
function parse_arguments() {
if [[ $# -eq 0 ]]; then
_print_usage
exit 1
fi
while [ $# -gt 0 ]; do
local opt="$1"
shift
case "${opt}" in
--bazel)
[ "${BAZEL_CLEAN_EXPUNGE}" -eq 0 ] && BAZEL_CLEAN_EXPUNGE=1
;;
--core)
CORE_DUMP_CLEANUP=1
;;
--log)
LOG_FILES_CLEANUP=1
;;
--expunge)
BAZEL_CLEAN_EXPUNGE=2
;;
-a | --all)
CORE_DUMP_CLEANUP=1
LOG_FILES_CLEANUP=1
[ "${BAZEL_CLEAN_EXPUNGE}" -eq 0 ] && BAZEL_CLEAN_EXPUNGE=1
;;
-h | --help)
_print_usage
exit 1
;;
*)
_print_usage
exit 1
;;
esac
done
}
function main() {
parse_arguments "$@"
if ! "${APOLLO_IN_DOCKER}"; then
error "The clean operation should be run from within docker container"
exit 1
fi
if [ "${BAZEL_CLEAN_EXPUNGE}" -eq 2 ]; then
info "Clean bazel cache, opcode=${BAZEL_CLEAN_EXPUNGE}"
_clean_bazel_cache "--expunge"
elif [ "${BAZEL_CLEAN_EXPUNGE}" -eq 1 ]; then
info "Clean bazel cache, opcode=${BAZEL_CLEAN_EXPUNGE}"
_clean_bazel_cache
fi
_clean_config
_clean_docs
if [ "${CORE_DUMP_CLEANUP}" -eq 1 ]; then
info "Cleanup core dump files under data/core/ ..."
_clean_core
fi
if [ "${LOG_FILES_CLEANUP}" -eq 1 ]; then
info "Cleanup log files under data/log/ ..."
_clean_log
fi
success "Apollo cleanup done."
}
main "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/gps.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2017 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo_base.sh"
# run function from apollo_base.sh
run_customized_path drivers/gnss gnss "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/create_map_from_mobileye.sh
|
#!/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.
###############################################################################
if [ "$1" == "" ]; then
echo "Must designate a map name"
else
echo "Generating map ${MAP}"
MAP=$1
rm -rf modules/map/data/${MAP}
mkdir modules/map/data/${MAP}
if [ "$2" == "" ]; then
echo "Generating map with a single lane"
python ./modules/tools/create_map/create_map.py -i /tmp/lane.csv -o modules/map/data/${MAP}/base_map.txt -e modules/map/data/${MAP}/default_end_way_point.txt
else
LEFT_LANES=$2
RIGHT_LANES=$3
echo "Generating map with one center lane, ${LEFT_LANES} left lane(s), ${RIGHT_LANES} right lane(s)"
python ./modules/tools/create_map/create_map.py -i /tmp/lane.csv -o modules/map/data/${MAP}/base_map.txt -e modules/map/data/${MAP}/default_end_way_point.txt --left_lanes ${LEFT_LANES} --right_lanes ${RIGHT_LANES}
fi
echo "--map_dir=modules/map/data/${MAP}" >> modules/common/data/global_flagfile.txt
./scripts/generate_routing_topo_graph.sh
${APOLLO_BIN_PREFIX}/modules/map/tools/sim_map_generator --map_dir=modules/map/data/${MAP} --output_dir=modules/map/data/${MAP}
fi
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/mdfmt.sh
|
#! /usr/bin/env bash
###############################################################################
# Copyright 2020 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
set -e
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo.bashrc"
NPM_DOCS="https://docs.npmjs.com/downloading-and-installing-node-js-and-npm"
function check_if_tools_installed() {
if [ ! -x "$(command -v npm)" ]; then
error "Please install npm first. Refer to ${NPM_DOCS} for help."
exit 1
fi
if ! npm list -g | grep -q prettier; then
error "'prettier' not found. Please install it manually by running:"
error "${TAB}sudo npm install -g --save-dev --save-exact prettier"
exit 1
fi
}
function prettier_run() {
npx prettier --write "$@"
}
function format_markdown_by_prettier() {
for mypath in "$@"; do
if [ -d "${mypath}" ]; then
local srcs="$(find_prettier_srcs ${mypath})"
if [[ -n "${srcs}" ]]; then
prettier_run ${srcs}
fi
ok "Done formatting markdown/json/yaml files under ${mypath}."
elif [ -f "${mypath}" ]; then
if prettier_ext "${mypath}"; then
prettier_run "${mypath}"
else
warning "Only regular markdown/json/yaml files will be formatted. Ignored ${mypath}"
fi
else
warning "Special/Symlink file won't be formatted. Ignored ${mypath}"
fi
done
}
function main() {
if [ "$#" -eq 0 ]; then
warning "Usage: $0 <path/to/markdown/dir/or/file>"
exit 1
fi
check_if_tools_installed
format_markdown_by_prettier "$@"
}
main "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/bootstrap.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2017-2021 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
DREAMVIEW_URL="http://localhost:8888"
cd "${DIR}/.."
# Make sure supervisord has correct coredump file limit.
ulimit -c unlimited
source "${DIR}/apollo_base.sh"
function start() {
for mod in ${APOLLO_BOOTSTRAP_EXTRA_MODULES}; do
echo "Starting ${mod}"
nohup cyber_launch start ${mod} &
done
./scripts/monitor.sh start
./scripts/dreamview.sh start
if [ $? -eq 0 ]; then
sleep 2 # wait for some time before starting to check
http_status="$(curl -o /dev/null -x '' -I -L -s -w '%{http_code}' ${DREAMVIEW_URL})"
if [ $http_status -eq 200 ]; then
echo "Dreamview is running at" $DREAMVIEW_URL
else
echo "Failed to start Dreamview. Please check /apollo/nohup.out or /apollo/data/core for more information"
fi
fi
}
function stop() {
./scripts/dreamview.sh stop
./scripts/monitor.sh stop
for mod in ${APOLLO_BOOTSTRAP_EXTRA_MODULES}; do
echo "Stopping ${mod}"
nohup cyber_launch stop ${mod}
done
}
case $1 in
start)
start
;;
stop)
stop
;;
restart)
stop
start
;;
*)
start
;;
esac
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/apollo_buildify.sh
|
#! /usr/bin/env bash
###############################################################################
# Copyright 2020 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
set -e
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo.bashrc"
# STAGE="${STAGE:-dev}"
: ${STAGE:=dev}
function buildify() {
local stage="${STAGE}"
local buildifier_cmd="$(command -v buildifier)"
if [ -z "${buildifier_cmd}" ]; then
local download_link="https://github.com/bazelbuild/buildtools/releases"
error "Command buildifier not found. You can download and install" \
"(or build) it from:"
error "${TAB}${download_link}"
exit 1
fi
buildifier_cmd="${buildifier_cmd} -lint=fix"
local build_dirs="cyber third_party tools"
if [ "${stage}" == "dev" ]; then
build_dirs="modules ${build_dirs}"
fi
build_dirs=$(printf "${APOLLO_ROOT_DIR}/%s " $build_dirs)
set -x
find ${build_dirs} -type f \
\( -name "BUILD" -or -name "*.BUILD" -or -name "*.bzl" -or -name "*.bazel" \) \
-exec ${buildifier_cmd} {} +
set +x
success "buildifier run finished successfully."
if [ -f "${APOLLO_ROOT_DIR}/BUILD" ]; then
${buildifier_cmd} "${APOLLO_ROOT_DIR}/BUILD"
fi
if [ -f "${APOLLO_ROOT_DIR}/WORKSPACE.in" ]; then
${buildifier_cmd} "${APOLLO_ROOT_DIR}/WORKSPACE.in"
fi
}
function main() {
buildify "$@"
}
main "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/msf_simple_map_creator.sh
|
#! /bin/bash
if [ $# -lt 4 ]; then
echo "Usage: msf_simple_map_creator.sh [records folder] [extrinsic_file] [zone_id] [map folder] [lidar_type]"
exit 1
fi
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
cd "${DIR}/.."
source "${DIR}/apollo_base.sh"
GNSS_LOC_TOPIC="/apollo/localization/msf_gnss"
LIDAR_LOC_TOPIC="/apollo/localization/msf_lidar"
FUSION_LOC_TOPIC="/apollo/localization/pose"
ODOMETRY_LOC_TOPIC="/apollo/sensor/gnss/odometry"
GNSS_LOC_FILE="gnss_loc.txt"
LIDAR_LOC_FILE="lidar_loc.txt"
FUSION_LOC_FILE="fusion_loc.txt"
ODOMETRY_LOC_FILE="odometry_loc.txt"
IN_FOLDER=$1
EXTRINSIC_FILE=$2
ZONE_ID=$3
OUT_MAP_FOLDER=$4
LIDAR_TYPE=${5:-lidar128}
PARSED_DATA_FOLDER="$OUT_MAP_FOLDER/parsed_data"
CLOUD_TOPIC="/apollo/sensor/$LIDAR_TYPE/compensator/PointCloud2"
function data_exporter() {
local BAG_FILE=$1
local OUT_FOLDER=$2
/apollo/bazel-bin/modules/localization/msf/local_tool/data_extraction/cyber_record_parser \
--bag_file $BAG_FILE \
--out_folder $OUT_FOLDER \
--cloud_topic $CLOUD_TOPIC \
--gnss_loc_topic $GNSS_LOC_TOPIC \
--lidar_loc_topic $LIDAR_LOC_TOPIC \
--fusion_loc_topic $FUSION_LOC_TOPIC \
--odometry_loc_topic $ODOMETRY_LOC_TOPIC
}
function poses_interpolation() {
local INPUT_POSES_PATH=$1
local REF_TIMESTAMPS_PATH=$2
local EXTRINSIC_PATH=$3
local OUTPUT_POSES_PATH=$4
/apollo/bazel-bin/modules/localization/msf/local_tool/map_creation/poses_interpolator \
--input_poses_path $INPUT_POSES_PATH \
--ref_timestamps_path $REF_TIMESTAMPS_PATH \
--extrinsic_path $EXTRINSIC_PATH \
--output_poses_path $OUTPUT_POSES_PATH
}
function create_lossless_map() {
/apollo/bazel-bin/modules/localization/msf/local_tool/map_creation/lossless_map_creator \
--use_plane_inliers_only true \
--pcd_folders $1 \
--pose_files $2 \
--map_folder $OUT_MAP_FOLDER \
--zone_id $ZONE_ID \
--coordinate_type UTM \
--map_resolution_type single
}
function create_lossy_map() {
/apollo/bazel-bin/modules/localization/msf/local_tool/map_creation/lossless_map_to_lossy_map \
--srcdir $OUT_MAP_FOLDER/lossless_map \
--dstdir $OUT_MAP_FOLDER
rm -fr $OUT_MAP_FOLDER/lossless_map
rm -fr $OUT_MAP_FOLDER/parsed_data
mv $OUT_MAP_FOLDER/lossy_map $OUT_MAP_FOLDER/local_map
}
cd $IN_FOLDER
mkdir -p $OUT_MAP_FOLDER
mkdir -p $PARSED_DATA_FOLDER
for item in $(ls -l *.record* | awk '{print $9}'); do
SEGMENTS=$(echo $item | awk -F'.' '{print NF}')
DIR_NAME=$(echo $item | cut -d . -f ${SEGMENTS})
DIR_NAME="${PARSED_DATA_FOLDER}/${DIR_NAME}"
mkdir -p ${DIR_NAME}
data_exporter "${item}" "${DIR_NAME}"
poses_interpolation "${DIR_NAME}/pcd/${ODOMETRY_LOC_FILE}" "${DIR_NAME}/pcd/pcd_timestamp.txt" "${EXTRINSIC_FILE}" "${DIR_NAME}/pcd/corrected_poses.txt"
create_lossless_map "${DIR_NAME}/pcd" "${DIR_NAME}/pcd/corrected_poses.txt"
done
create_lossy_map
echo "Done."
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/proto_build_generator.py
|
#!/usr/bin/env python3
import os
import re
import sys
import subprocess
TAB = " " * 4
##==================== REFERENCE ===========================================##
#
# https://github.com/grpc/grpc/blob/master/bazel/test/python_test_repo/BUILD
#
##==================== HEADER TEMPLATE =====================================##
TEMPLATE_HEADER = """## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", {}"py_proto_library")
{}
package(default_visibility = ["//visibility:public"])
"""
HEADER_PY_GRPC = """"py_grpc_library", """
HEADER_CC_GRPC = \
"""load("@com_github_grpc_grpc//bazel:cc_grpc_library.bzl", "cc_grpc_library")
"""
##=================== NON-GRPC TEMPLATE ====================================##
TEMPLATE_NO_DEPS = \
"""cc_proto_library(
name = "{cc_name}",
deps = [
":{pb_name}",
],
)
proto_library(
name = "{pb_name}",
srcs = ["{protofile}"],
)
py_proto_library(
name = "{py_name}",
deps = [
":{pb_name}",
],
)
"""
TEMPLATE_DEPS = \
"""cc_proto_library(
name = "{cc_name}",
deps = [
":{pb_name}",
],
)
proto_library(
name = "{pb_name}",
srcs = ["{protofile}"],
deps = [
{pb_context}
],
)
py_proto_library(
name = "{py_name}",
deps = [
":{pb_name}",
{py_context}
],
)
"""
##=========================== GRPC TEMPLATE ================================##
TEMPLATE_GRPC_NO_DEPS = \
"""cc_grpc_library(
name = "{cc_name_grpc}",
srcs = [":{pb_name}"],
grpc_only = True,
deps = [":{cc_name}"],
)
cc_proto_library(
name = "{cc_name}",
deps = [
":{pb_name}",
],
)
proto_library(
name = "{pb_name}",
srcs = ["{protofile}"],
)
py_grpc_library(
name = "{py_name_grpc}",
srcs = [":{pb_name}"],
deps = [":{py_name}"],
)
py_proto_library(
name = "{py_name}",
deps = [
":{pb_name}",
],
)
"""
TEMPLATE_GRPC_DEPS = \
"""cc_grpc_library(
name = "{cc_name_grpc}",
srcs = [":{pb_name}"],
grpc_only = True,
deps = [":{cc_name}"],
)
cc_proto_library(
name = "{cc_name}",
deps = [
":{pb_name}",
],
)
proto_library(
name = "{pb_name}",
srcs = ["{protofile}"],
deps = [
{pb_context}
],
)
py_grpc_library(
name = "{py_name_grpc}",
srcs = [":{pb_name}"],
deps = [":{py_name}"],
)
py_proto_library(
name = "{py_name}",
deps = [
":{pb_name}",
{py_context}
],
)
"""
##==================== PRETTY FORMAT SETTINGS ==============================##
TEMPLATE_DEPENDENCY_FIRST_ENTRY = """"{}","""
TEMPLATE_DEPENDENCY_OTHER_ENTRY = """
{}"{}","""
##==========================================================================##
# ONLY .proto files in these topdirs are supported
ALLOWED_MODULES = ["modules", "cyber"]
def _path_check(build_file_path):
return any(
build_file_path.startswith(mod + "/") for mod in ALLOWED_MODULES)
##================ REGEX FOR GRPC CHECK ====================================##
PATT_SERVICE = re.compile("^service\s+\S+\s+{$")
PATT_RPC_RET = re.compile("^rpc\s+\S+\(\S+\)\s+returns")
PATT_RPC_ONLY = re.compile("^rpc\s+\S+\(\S+\)")
PATT_RET_ONLY = re.compile("^returns\s+\(\S+\)\s+{")
##=============== GRPC CHECK ==============================================##
def grpc_check(fpath):
"""
Check whether grpc service is enabled in this .proto file.
Note: only proto file with the following form will pass our check.
service MyService {
rpc MethodA(XXX) returns (XXX) {
rpc MethodB(XXX)
returns (XXX) {
}
}
"""
if not fpath.endswith(".proto"):
return False
grpc_found = False
with open(fpath) as fin:
kw1_found = False
kw2_found = False
for line in fin:
line = line.strip()
if kw1_found and kw2_found:
if PATT_RET_ONLY.match(line):
grpc_found = True
break
elif kw1_found:
if PATT_RPC_RET.match(line):
kw2_found = True
grpc_found = True
break
if PATT_RPC_ONLY.match(line):
kw2_found = True
elif PATT_SERVICE.match(line):
kw1_found = True
return grpc_found
##================== FORMAT GENERATED FILE =================================##
def run_buildifier(build_file_path):
script_path = "/apollo/scripts/buildifier.sh"
if os.path.exists(script_path):
subprocess.call(["bash", script_path, build_file_path])
##================== MAIN FUNCTION =========================================##
def main(build_file_path):
if not _path_check(build_file_path):
print("Expect to run this script at $APOLLO_ROOT_DIR")
return
workdir = os.path.dirname(build_file_path)
files_all = [f for f in os.listdir(workdir) if
os.path.isfile(os.path.join(workdir, f))
and f != "BUILD"
and f != "CMakeLists.txt"]
ok = all(f.endswith(".proto") for f in files_all)
if not ok:
print(
"Except for BUILD/CMakeLists.txt, some files under {} are NOT proto files.".
format(workdir))
return
grpc_found = any(grpc_check(os.path.join(workdir, f)) for f in files_all)
fout = open(build_file_path, "w")
if grpc_found:
fout.write(TEMPLATE_HEADER.format(HEADER_PY_GRPC, HEADER_CC_GRPC))
else:
fout.write(TEMPLATE_HEADER.format("", ""))
for protofile in files_all:
(proto_deptext, py_proto_deptext) = generate_dependency_text(
workdir, protofile)
rules = generate_rule_for_protofile(workdir, protofile,
proto_deptext, py_proto_deptext)
fout.write(rules)
fout.close()
print("Congratulations, {} was successfully generated.".format(
build_file_path))
run_buildifier(build_file_path)
##=========== BAZEL BUILD RULE FOR A SINGLE PROTO FILE =====================##
def generate_rule_for_protofile(workdir, protofile, proto_deps, py_proto_deps):
grpc_found = grpc_check(os.path.join(workdir, protofile))
cc_name = cc_proto_name(protofile)
py_name = py_proto_name(protofile)
pb_name = proto_name(protofile)
if not grpc_found:
if len(proto_deps) == 0:
return TEMPLATE_NO_DEPS.format(cc_name=cc_name,
py_name=py_name,
pb_name=pb_name,
protofile=protofile)
return TEMPLATE_DEPS.format(cc_name=cc_name,
py_name=py_name,
pb_name=pb_name,
protofile=protofile,
pb_context=proto_deps,
py_context=py_proto_deps)
else:
cc_name_grpc = cc_grpc_name(protofile)
py_name_grpc = py_grpc_name(protofile)
if len(proto_deps) == 0:
return TEMPLATE_GRPC_NO_DEPS.format(cc_name=cc_name,
py_name=py_name,
pb_name=pb_name,
py_name_grpc=py_name_grpc,
cc_name_grpc=cc_name_grpc,
protofile=protofile)
else:
return TEMPLATE_GRPC_DEPS.format(cc_name=cc_name,
py_name=py_name,
pb_name=pb_name,
py_name_grpc=py_name_grpc,
cc_name_grpc=cc_name_grpc,
protofile=protofile,
pb_context=proto_deps,
py_context=py_proto_deps)
##================ UNIFIED TARGET NAMING FOR PROTO FILE ====================##
def cc_grpc_name(protofile):
(sketch, _) = os.path.splitext(protofile)
return sketch + "_cc_grpc"
def cc_proto_name(protofile):
(sketch, _) = os.path.splitext(protofile)
return sketch + "_cc_proto"
def py_grpc_name(protofile):
(sketch, _) = os.path.splitext(protofile)
return sketch + "_py_pb2_grpc"
def py_proto_name(protofile):
(sketch, _) = os.path.splitext(protofile)
return sketch + "_py_pb2"
def proto_name(protofile):
(sketch, _) = os.path.splitext(protofile)
return sketch + "_proto"
##====================== DEPENDENCY TEXT GENERATION ========================##
def generate_dependency_text(workdir, protofile):
dependencies = dependency_analysis(workdir, protofile)
if len(dependencies) == 0:
return ("", "")
proto_notes = []
py_proto_notes = []
for dep in dependencies:
depdir = os.path.dirname(dep)
dep_name = os.path.basename(dep)
proto_dep_name = proto_name(dep_name)
py_dep_name = py_proto_name(dep_name)
if depdir == workdir:
proto_notes.append(":{}".format(proto_dep_name))
py_proto_notes.append(":{}".format(py_dep_name))
else:
proto_notes.append("//{}:{}".format(depdir, proto_dep_name))
py_proto_notes.append("//{}:{}".format(depdir, py_dep_name))
proto_result = TEMPLATE_DEPENDENCY_FIRST_ENTRY.format(proto_notes[0])
for note in proto_notes[1:]:
proto_result += TEMPLATE_DEPENDENCY_OTHER_ENTRY.format(TAB * 2, note)
py_proto_result = TEMPLATE_DEPENDENCY_FIRST_ENTRY.format(py_proto_notes[0])
for note in py_proto_notes[1:]:
py_proto_result += TEMPLATE_DEPENDENCY_OTHER_ENTRY.format(
TAB * 2, note)
return (proto_result, py_proto_result)
##================= DEPENDENCY ANALYSIS ====================================##
def _import_line_check(line):
return "import " in line and \
any("\"{}/".format(mod) in line for mod in ALLOWED_MODULES)
def dependency_analysis(workdir, protofile):
dependencies = []
fullpath = os.path.join(workdir, protofile)
with open(fullpath) as fin:
for line in fin:
if _import_line_check(line):
dependencies.append(line.split('"')[1])
return dependencies
##================= COMMAND LINE ===========================================##
if __name__ == "__main__":
if len(sys.argv) != 2:
print("Usage:\n{}{} path/to/proto/BUILD".format(TAB, sys.argv[0]))
sys.exit(1)
main(sys.argv[1])
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/apollo_config.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
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/cyber/setup.bash"
BAZEL_CONF="${TOP_DIR}/.apollo.bazelrc"
function run_bootstrap() {
py3_bin="$(which python3 || true)"
# Set all env variables
"${py3_bin}" "${TOP_DIR}/tools/bootstrap.py" "$@"
}
function print_usage() {
info "Usage: $0 [Options]"
info "Options:"
info "${TAB}-i|--interactive Run in interactive mode"
info "${TAB}-n|--noninteractive Run in non-interactive mode"
info "${TAB}-h|--help Show this message and exit"
}
function main() {
local mycfg="$(basename ${BAZEL_CONF})"
if [[ "$#" -eq 0 ]]; then
print_usage
exit 1
fi
case "$1" in
--clean)
rm -f "${BAZEL_CONF}"
exit 0
;;
-h | --help)
print_usage
exit 0
;;
-i | --interactive)
info "Configure ${GREEN}${mycfg}${NO_COLOR} in interactive mode"
run_bootstrap --interactive
ok "Successfully configured ${GREEN}${mycfg}${NO_COLOR} in interactive mode."
exit 0
;;
-n | --noninteractive)
info "Configure ${GREEN}${mycfg}${NO_COLOR} in non-interactive mode"
run_bootstrap --interactive false
ok "Successfully configured ${GREEN}${mycfg}${NO_COLOR} in non-interactive mode."
exit 0
;;
*)
print_usage
exit 1
;;
esac
}
main "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/clang_format.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2019 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.
###############################################################################
# Usage:
# clang-format.sh <path/to/src/dir/or/files>
# Fail on error
set -e
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo.bashrc"
CLANG_FORMAT_CMD="clang-format"
function check_clang_format() {
if [[ -z "$(command -v clang-format)" ]]; then
error "Command \"clang-format\" not found."
error "Please make sure clang-format is installed and check your PATH" \
"settings. For Debian/Ubuntu, you can run the following command:"
error " sudo apt-get -y update && sudo apt-get -y install clang-format"
exit 1
fi
}
function clang_format_run() {
# Note: `${CLANG_FORMAT_CMD} -i -style=Google "$@"`
# will override the settings in .clang-format
${CLANG_FORMAT_CMD} -i "$@"
}
function run_clang_format() {
for target in "$@"; do
if [[ -f "${target}" ]]; then
if c_family_ext "${target}" || proto_ext "${target}"; then
clang_format_run "${target}"
info "Done formatting ${target}"
else
warning "Do nothing. ${target} is not a c/c++/cuda header/source or proto file."
fi
else
local srcs
srcs="$(find_proto_srcs ${target})"
if [[ -n "${srcs}" ]]; then
clang_format_run ${srcs}
fi
srcs="$(find_c_cpp_srcs ${target})"
if [[ -n "${srcs}" ]]; then
clang_format_run ${srcs}
fi
ok "Done formatting c/cpp/cuda/proto source files under ${target}"
fi
done
}
function main() {
check_clang_format
if [ "$#" -eq 0 ]; then
error "Usage: $0 <path/to/dirs/or/files>"
exit 1
fi
run_clang_format "$@"
}
main "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/perf.sh
|
#! /usr/bin/env bash
###############################################################################
# Copyright 2020 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################
# eg.
# perf.sh gen_data -m planning
# perf.sh gen_svg
set -e
TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd -P)"
source "${TOP_DIR}/scripts/apollo.bashrc"
source "${TOP_DIR}/scripts/apollo_base.sh"
OUTPUT_DIR="${TOP_DIR}/.cache/perf"
PERF_DATA="perf.data"
PERF_DATA_FULL_PATH="${OUTPUT_DIR}/${PERF_DATA}"
PERF_UNFOLD="perf.unfold"
PERF_FOLDED="perf.folded"
PERF_SVG="perf.svg"
PERF_CMD="perf"
FLAME_GRAPH_DIR="${TOP_DIR}/tools/FlameGraph"
FLAME_GRAPH_VERSION="1.0"
function print_usage() {
info "Usage: $0 COMMAND [ARGS] "
info "COMMANDS:"
info "${TAB}help # Show this message"
info "${TAB}gen_data generate perf.data by running specified command or module"
info "${TAB}gen_svg generate perf.svg from perf.data"
info "${TAB}clean cleanup .cache/perf and tools/FlameGraph"
}
function _check_perf() {
if [ -z "$(which perf)" ]; then
error "Seems that perf has not been installed..."
error "You can install it manually by running:"
error "${TAB}sudo apt-get -y update"
error "${TAB}sudo apt-get -y install linux-tools-$(uname -r) linux-tools-common"
exit 1
fi
}
function _check_out_dir() {
if [ ! -d "${OUTPUT_DIR}" ]; then
mkdir -p "${OUTPUT_DIR}"
fi
if [ -f "${PERF_DATA_FULL_PATH}" ]; then
rm -f "${PERF_DATA_FULL_PATH}"
fi
}
# Note(All): if permission denied, run `echo 1 > /proc/sys/kernel/perf_event_paranoid` as root user out of docker
function gen_perf_data() {
_check_perf
_check_out_dir
local cmd=$1
if [ "${cmd}" == "-m" ]; then
shift
local module=$1
if [ ! -z "${module}" ]; then
${PERF_CMD} record -e cpu-clock -o "${PERF_DATA_FULL_PATH}" -g mainboard -d \
/apollo/modules/${module}/dag/${module}.dag \
--flagfile=/apollo/modules/${module}/conf/${module}.conf \
--log_dir=/apollo/data/log
else
error "Please specify which module to run."
exit 1
fi
else
${PERF_CMD} record -e cpu-clock -o "${PERF_DATA_FULL_PATH}" -g "$@"
fi
}
function _check_flame_graph() {
if [ ! -d "${FLAME_GRAPH_DIR}" ]; then
local answer
typeset -l answer
echo -n "FlameGraph does not exist. Do you want to download it (Y/n)? "
answer=$(read_one_char_from_stdin)
echo
if [ "${answer}" == "y" ]; then
local download_link="https://github.com/brendangregg/FlameGraph/archive/v${FLAME_GRAPH_VERSION}.tar.gz"
local pkg_name="v${FLAME_GRAPH_VERSION}.tar.gz"
wget "${download_link}"
tar -xvf ${pkg_name}
mv -f "FlameGraph-${FLAME_GRAPH_VERSION}" "${FLAME_GRAPH_DIR}"
rm -f ${pkg_name}
else
exit 1
fi
fi
}
function gen_perf_svg() {
cd "${OUTPUT_DIR}"
if [ ! -f "${PERF_DATA}" ]; then
error "There is no perf.data under ${OUTPUT_DIR}"
exit 1
else
_check_flame_graph
${PERF_CMD} script -i "${PERF_DATA}" > "${PERF_UNFOLD}"
${FLAME_GRAPH_DIR}/stackcollapse-perf.pl ${PERF_UNFOLD} > ${PERF_FOLDED}
${FLAME_GRAPH_DIR}/flamegraph.pl ${PERF_FOLDED} > ${PERF_SVG}
fi
success "perf.svg generated under ${OUTPUT_DIR}"
}
function _clean_up() {
for folder in "$@"; do
if [ -d "${folder}" ]; then
rm -rf "${folder}"
success "Done cleanup ${folder}"
else
success "Nothing to do for empty directory '${folder}'."
fi
done
}
function clean_all() {
_clean_up "${OUTPUT_DIR}" "${FLAME_GRAPH_DIR}"
}
function main() {
if [ "$#" -eq 0 ]; then
print_usage
exit 1
fi
local opt="$1"
shift
case "${opt}" in
help)
print_usage
exit 1
;;
gen_data)
gen_perf_data "$@"
;;
gen_svg)
gen_perf_svg
;;
clean)
clean_all
;;
*)
echo "Unknown command: ${opt}"
print_usage
exit 1
;;
esac
}
main "$@"
| 0
|
apollo_public_repos/apollo
|
apollo_public_repos/apollo/scripts/bootstrap_lgsvl.sh
|
#!/usr/bin/env bash
###############################################################################
# Copyright 2020-2021 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.
###############################################################################
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
export APOLLO_BOOTSTRAP_EXTRA_MODULES="modules/drivers/tools/image_decompress/launch/image_decompress.launch"
${DIR}/bootstrap.sh $*
| 0
|
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.