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feat: release 9.0.0-alpha1
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- refactor of PnC and perception
- support arm
- support plugins
- optimize config and project dir structure
- bugfix

Signed-off-by: liangjinping <liangjinping@baidu.com>
Change-Id: I8c7b4cede58e2d512a50dcf908b5a5db6d664148
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@lykling
lykling committed Aug 2, 2023
1 parent 5937149 commit 34eaf82
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3 changes: 3 additions & 0 deletions .clang-format
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Expand Up @@ -12,6 +12,9 @@ IncludeCategories:
# Miscelaneous system libraries
- Regex: '<(immintrin.h|malloc.h|wait.h|x86intrin.h|cuda.*)>'
Priority: 3
# third-party libraries
- Regex: '<(tinyxml2.h)>'
Priority: 3
# C standard libraries
- Regex: '<(arpa/|netinet/|net/if|sys/)?[^\./]*\.h>'
Priority: 1
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171 changes: 100 additions & 71 deletions BUILD
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Expand Up @@ -11,47 +11,60 @@ exports_files([
])

install(
name = "install",
name = "deprecated_install",
deps = if_gpu([
"//modules/perception:install",
"//modules/planning:install",
"//modules/v2x:install",
"//third_party/centerpoint_infer_op:install",
"//third_party/paddleinference:install",
"//third_party/tf2:install",
"//third_party/caddn_infer_op:install",
], [
"//cyber:install",
"//tools:install",
"//modules/data:install",
#"//cyber/examples:install",
#"//docker/scripts:install",
#"//docs:install",
"//modules/audio:install",
"//modules/bridge:install",
"//modules/calibration:install",
"//modules/canbus:install",
"//modules/canbus_vehicle:install",
"//modules/common:install",
"//modules/common_msgs:install",
"//modules/contrib/cyber_bridge:install",
"//modules/control:install",
"//modules/planning:install",
"//modules/dreamview:install",
"//modules/drivers:install",
"//modules/guardian:install",
"//modules/localization:install",
"//modules/map:install",
"//modules/monitor:install",
"//modules/prediction:install",
"//modules/routing:install",
"//modules/storytelling:install",
"//modules/task_manager:install",
"//modules/third_party_perception:install",
"//modules/tools:install",
"//modules/transform:install",
"//third_party/absl:install",
"//third_party/ad_rss_lib:install",
"//third_party/boost:install",
"//third_party/civetweb:install",
"//third_party/eigen3:install",
"//third_party/gtest:install",
"//third_party/ipopt:install",
"//third_party/libtorch:install",
"//third_party/fastrtps:install",
"//third_party/gflags:install",
"//third_party/glog:install",
"//third_party/nlohmann_json:install",
"//third_party/opencv:install",
"//third_party/osqp:install",
"//third_party/pcl:install",
"//third_party/vtk:install",
"//third_party/proj:install",
"//third_party/protobuf:install",
"//third_party/py:install",
"//third_party/opengl:install",
"//third_party/openh264:install",
"//third_party/cpplint:install",
"//third_party/portaudio:install",
"//third_party/fftw3:install",
"//third_party/glew:install",
"//third_party/adolc:install",
"//third_party/atlas:install",
"//third_party/benchmark:install",
"//third_party/ncurses5:install",
"//third_party/sqlite3:install",
"//third_party/tensorrt:install",
"//third_party/tinyxml2:install",
"//third_party/uuid:install",
"//third_party/yaml_cpp:install",
"//third_party/qt5:install",
"//third_party/npp:install",
"//third_party/camera_library:install",
"//third_party/can_card_library:install",
"//third_party/gpus:install",
"//third_party/localization_msf:install",
"//third_party/ffmpeg:install",
"//third_party/adv_plat:install",
"//scripts:install",
"//tools:install",
], [
"//third_party/absl:install",
"//third_party/ad_rss_lib:install",
"//third_party/tf2:install",
"//third_party/boost:install",
"//third_party/civetweb:install",
"//third_party/eigen3:install",
Expand Down Expand Up @@ -79,6 +92,8 @@ install(
"//third_party/adolc:install",
"//third_party/atlas:install",
"//third_party/benchmark:install",
"//third_party/camera_library:install",
"//third_party/can_card_library:install",
"//third_party/ncurses5:install",
"//third_party/sqlite3:install",
"//third_party/tensorrt:install",
Expand All @@ -88,57 +103,75 @@ install(
"//third_party/qt5:install",
"//third_party/npp:install",
"//third_party/gpus:install",
"//third_party/tf2:install",
"//third_party/localization_msf:install",
"//third_party/can_card_library:install",
"//third_party/camera_library:install",
"//third_party/rtklib:install",
"//third_party/ffmpeg:install",
"//third_party/adv_plat:install",
"//scripts:install",
"//tools:install",
]),
)

install_src_files(
name = "install_src",
name = "deprecated_install_src",
deps = if_gpu([
"//modules/perception:install_src",
"//modules/planning:install_src",
"//modules/v2x:install_src",
"//third_party/centerpoint_infer_op:install_src",
"//third_party/paddleinference:install_src",
"//third_party/caddn_infer_op:install_src",
"//third_party/camera_library:install_src",
"//third_party/can_card_library:install_src",
"//third_party/tf2:install_src",

"//third_party/absl:install_src",
"//third_party/boost:install_src",
"//third_party/civetweb:install_src",
"//third_party/eigen3:install_src",
"//third_party/gtest:install_src",
"//third_party/ipopt:install_src",
"//third_party/libtorch:install_src",
"//third_party/fastrtps:install_src",
"//third_party/gflags:install_src",
"//third_party/glog:install_src",
"//third_party/nlohmann_json:install_src",
"//third_party/opencv:install_src",
"//third_party/osqp:install_src",
"//third_party/pcl:install_src",
"//third_party/vtk:install_src",
"//third_party/proj:install_src",
"//third_party/protobuf:install_src",
"//third_party/py:install_src",
"//third_party/opengl:install_src",
"//third_party/openh264:install_src",
"//third_party/cpplint:install_src",
"//third_party/portaudio:install_src",
"//third_party/fftw3:install_src",
"//third_party/glew:install_src",
"//third_party/adolc:install_src",
"//third_party/atlas:install_src",
"//third_party/benchmark:install_src",
"//third_party/ncurses5:install_src",
"//third_party/sqlite3:install_src",
"//third_party/tensorrt:install_src",
"//third_party/tinyxml2:install_src",
"//third_party/uuid:install_src",
"//third_party/yaml_cpp:install_src",
"//third_party/qt5:install_src",
"//third_party/npp:install_src",
"//third_party/gpus:install_src",
"//third_party/localization_msf:install_src",
"//third_party/ffmpeg:install_src",
"//third_party/adv_plat:install_src",
"//tools:install_src",
], [
"//cyber:install_src",
"//tools:install_src",
"//modules/common:install_src",
"//modules/data:install_src",
"//modules/common_msgs:install_src",
"//modules/control:install_src",
"//modules/dreamview:install_src",
"//modules/map:install_src",
"//modules/monitor:install_src",
"//modules/planning:install_src",
"//modules/routing:install_src",
"//modules/task_manager:install_src",
"//modules/transform:install_src",
"//modules/audio:install_src",
"//modules/bridge:install_src",
"//modules/calibration:install_src",
"//modules/canbus:install_src",
"//modules/canbus_vehicle:install_src",
"//modules/contrib/cyber_bridge:install_src",
"//modules/drivers:install_src",
"//modules/guardian:install_src",
"//modules/localization:install_src",
"//modules/prediction:install_src",
"//modules/storytelling:install_src",
"//modules/third_party_perception:install_src",
"//modules/tools:install_src",
"//third_party/absl:install_src",
"//third_party/boost:install_src",
"//third_party/civetweb:install_src",
"//third_party/eigen3:install_src",
"//third_party/gtest:install_src",
"//third_party/camera_library:install_src",
"//third_party/can_card_library:install_src",
"//third_party/tf2:install_src",

"//third_party/centerpoint_infer_op:install_src",
"//third_party/ipopt:install_src",
"//third_party/libtorch:install_src",
Expand Down Expand Up @@ -171,11 +204,7 @@ install_src_files(
"//third_party/qt5:install_src",
"//third_party/npp:install_src",
"//third_party/gpus:install_src",
"//third_party/tf2:install_src",
"//third_party/localization_msf:install_src",
"//third_party/can_card_library:install_src",
"//third_party/camera_library:install_src",
"//third_party/rtklib:install_src",
"//third_party/ffmpeg:install_src",
"//third_party/adv_plat:install_src",
]),
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2 changes: 2 additions & 0 deletions CPPLINT.cfg
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Expand Up @@ -13,5 +13,7 @@ filter=+build/include_what_you_use
filter=-build/header_guard
filter=+runtime/printf,+runtime/printf_format

filter=-runtime/references

linelength=80
includeorder=standardcfirst
5 changes: 2 additions & 3 deletions WORKSPACE
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Original file line number Diff line number Diff line change
Expand Up @@ -75,12 +75,11 @@ http_archive(
# grpc
http_archive(
name = "com_github_grpc_grpc",
sha256 = "419dba362eaf8f1d36849ceee17c3e2ff8ff12ac666b42d3ff02a164ebe090e9",
sha256 = "2378b608557a4331c6a6a97f89a9257aee2f8e56a095ce6619eea62e288fcfbe",
patches = ["//third_party/absl:grpc.patch"],
strip_prefix = "grpc-1.30.0",
urls = [
"https://apollo-system.cdn.bcebos.com/archive/6.0/v1.30.0.tar.gz",
"https://github.com/grpc/grpc/archive/v1.30.0.tar.gz",
"https://apollo-system.cdn.bcebos.com/archive/8.0/v1.30.0-apollo.tar.gz",
],
)
http_archive(
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6 changes: 6 additions & 0 deletions apollo.sh
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Expand Up @@ -186,6 +186,12 @@ function main() {
build_opt_gpu)
env ${APOLLO_ENV} bash "${build_sh}" --config=opt --config=gpu "$@"
;;
build_opt_gpu_pnc)
env ${APOLLO_ENV} bash "${build_sh}" --config=opt --config=gpu "cyber planning prediction control routing dreamview external_command tools common_msgs"
;;
build_pnc)
env ${APOLLO_ENV} bash "${build_sh}" --config=dbg --config=gpu "cyber planning prediction control routing dreamview external_command tools common_msgs"
;;
build_prof)
env ${APOLLO_ENV} bash "${build_sh}" --config=prof "$@"
;;
Expand Down
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