chore: update 10.x and fix issues

- cyber: - a6160493e7 fix: fix container name issue - 799ed5600f chore: add env setup cmd to rcfile after container created - 6c5c3267a1 chore: enable timezone mutable in container - 81ab328121 chore: change aem copy dest - 2e2b96521a chore: enable aem auto complete - be2a9ea41e chore: change aem path in container and fix permission issue for setup.sh - 28e9b37502 chore: add geographiclib and gtsam - 27f9d02b77 chore: upgrade openssl to 3.0.2 in u22 env - 11b24ab9c5 chore: add lib symbolic link for openssl-3 - 82aa48e946 fix(cyber): fix args file path found - f2b995fcae fix: aem remove issue for env before 9.x - docs: - 887f342fdb fix: fix install_src issue and docs TOF - 6df71bab19 docs: update README.md - dreamview: - 78cf80c513 merge: merge branch 9.2 dvp frontend into preview - 9763d2fb72 build(dvp): build dreamview_plus frontend - 60f0cfe153 build(dvp): build dreamview_plus frontend - 8491ac8cef fix: 修复第一次启动dreamview时切换simControl失败的问题 - 06bbeb4e4e build(dvp): build dreamviewplus - planning: - e7ec14fa03 fix(planning): Setting use_sqp to true in open space scene Signed-off-by: liangjinping <[email protected]> Change-Id: I105fe6239ea9a5e07f8298ac0a74d690c6a42e55
ApolloAuto · Dec 3, 2024 · 38ae485 · 38ae485
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diff --git a/README.md b/README.md
@@ -164,7 +164,7 @@ Apollo Open Source Platform 9.0 further focuses on enhancing the development and
 
 ![](docs/02_Quick%20Start/demo_guide/images/Apollo_9_0.png)
 
-[**Apollo 10.0:**](http://172.20.102.14:8802/docs/apollo/latest/md_docs_2_xE5_x8F_x91_xE7_x89_x88_xE8_xAF_xB4_xE6_x98_x8E_2_xE6_x96_xB0_xE7_x89_x88_xE8_xAF_xB4_xE6_x98_x8E.html)
+[**Apollo 10.0:**](https://apollo.baidu.com/docs/apollo/latest/md_docs_2_xE5_x8F_x91_xE7_x89_x88_xE8_xAF_xB4_xE6_x98_x8E_2_xE6_x96_xB0_xE7_x89_x88_xE8_xAF_xB4_xE6_x98_x8E.html)
 
 In Apollo 8.0, the concept of package management tailored for user learning scenarios was introduced to enable users to deploy and use Apollo more conveniently and efficiently. In Apollo 9.0, the package management tool was updated to Version 2.0, making it easier for users to conduct secondary development and effortlessly build their own autonomous driving applications based on Apollo. In Apollo 10.0, we realize that autonomous driving cannot remain at the stage of local validation. Instead, it requires a comprehensive upgrade, and needs to be applied to scenarios on a large scale. In terms of performance, the performance and stability of various layers and modules are optimied, and extensive tools are provided to improve optimization efficiency. At the cost level, the hardware costs are recuded by enriching the hardware ecosystem which provides users with more options. Besides, the software development costs are lowered by upgrading the operating system, establishing communication with other frameworks, and reusing ecological software capabilities. Regarding safety, functional safety strategies and functional safety framework capabilities are reinforced. See [Release Notes](./RELEASE.md) for more details.
 
@@ -193,7 +193,7 @@ Congratulations! You have successfully built out Apollo without Hardware. If you
 
 ## Quick Starts:
 
-- [Apollo 10.0 QuickStart Guide](https://apollo.baidu.com/docs/apollo/10.x/md_docs_2_xE5_xAE_x89_xE8_xA3_x85_xE6_x8C_x87_xE5_x8D_x97_2_xE5_x8C_x85_xE7_xAE_xA1_xE7_x90_x86_410bb1324792103828eeacd86377c551.html)
+- [Apollo 10.0 QuickStart Guide](https://apollo.baidu.com/docs/apollo/10.x/md_docs_2_xE5_xAE_x89_xE8_xA3_x85_xE6_x8C_x87_xE5_x8D_x97_2_xE5_xAE_x89_xE8_xA3_x85_xE6_x8C_x87_xE5_x8D_x97.html)
 
 - [Apollo 9.0 QuickStart Guide](https://apollo.baidu.com/docs/apollo/9.x/md_docs_2_xE5_xAE_x89_xE8_xA3_x85_xE6_x8C_x87_xE5_x8D_x97_2_xE5_x8C_x85_xE7_xAE_xA1_xE7_x90_x86_410bb1324792103828eeacd86377c551.html)
 

diff --git a/aem/aem-create b/aem/aem-create
@@ -240,7 +240,19 @@ execute() {
   check_agreement
 
   # load custom environment variables
+  local _old_apollo_env_name="${APOLLO_ENV_NAME}"
+  local _old_apollo_env_container_name="${APOLLO_ENV_CONTAINER_NAME}"
   [[ -f "${PWD}/.env" ]] && set -a && source "${PWD}/.env" && set +a
+  # fix related environment variables
+  if [[ "${_old_apollo_env_name}" != "${APOLLO_ENV_NAME}" ]]; then
+    if [[ "${_old_apollo_env_container_name}" == "${APOLLO_ENV_CONTAINER_NAME}" ]]; then
+      # container name is not set in .env
+      export APOLLO_ENV_CONTAINER_NAME="${APOLLO_ENV_CONTAINER_PREFIX}${APOLLO_ENV_NAME}"
+    fi
+  fi
+  if [[ "${APOLLO_ENV_BACKEND}" == "host" ]]; then
+    export APOLLO_ENV_WORKROOT="${APOLLO_ENV_WORKSPACE}"
+  fi
 
   parse_arguments "$@"
 

diff --git a/aem/aem-remove b/aem/aem-remove
@@ -55,10 +55,7 @@ execute() {
   parse_arguments "$@"
 
   if [[ ! -d "${APOLLO_ENVS_ROOT}/${APOLLO_ENV_NAME}" ]]; then
-    if [[ ! -d "${APOLLO_ENVS_ROOT}/${APOLLO_ENV_CONTAINER_PREFIX}${APOLLO_ENV_NAME}" ]]; then
-      error "env ${APOLLO_ENV_NAME} not found"
-      return 1
-    elif ! docker_container_exists "${APOLLO_ENV_CONTAINER_PREFIX}${APOLLO_ENV_NAME}"; then
+    if [[ ! -d "${APOLLO_ENVS_ROOT}/${APOLLO_ENV_CONTAINER_PREFIX}${APOLLO_ENV_NAME}" ]] && ! docker_container_exists "${APOLLO_ENV_CONTAINER_PREFIX}${APOLLO_ENV_NAME}"; then
       error "env ${APOLLO_ENV_NAME} not found"
       return 1
     fi

diff --git a/aem/ansible/roles/base_env/tasks/Ubuntu.18.04.x86_64.yml b/aem/ansible/roles/base_env/tasks/Ubuntu.18.04.x86_64.yml
@@ -32,6 +32,7 @@
       - wget
       - xz-utils
       - zip
+      - bash-completion
     state: latest
     update_cache: false
   when: "'apt' in ansible_facts.packages"

diff --git a/aem/ansible/roles/base_env/tasks/Ubuntu.20.04.aarch64.yml b/aem/ansible/roles/base_env/tasks/Ubuntu.20.04.aarch64.yml
@@ -32,6 +32,7 @@
       - wget
       - xz-utils
       - zip
+      - bash-completion
     state: latest
     update_cache: false
   when: "'apt' in ansible_facts.packages"

diff --git a/aem/ansible/roles/base_env/tasks/Ubuntu.20.04.x86_64.yml b/aem/ansible/roles/base_env/tasks/Ubuntu.20.04.x86_64.yml
@@ -32,6 +32,7 @@
       - wget
       - xz-utils
       - zip
+      - bash-completion
     state: latest
     update_cache: false
   when: "'apt' in ansible_facts.packages"

diff --git a/aem/ansible/roles/base_env/tasks/Ubuntu.22.04.x86_64.yml b/aem/ansible/roles/base_env/tasks/Ubuntu.22.04.x86_64.yml
@@ -32,6 +32,7 @@
       - wget
       - xz-utils
       - zip
+      - bash-completion
     state: latest
     update_cache: false
   when: "'apt' in ansible_facts.packages"

diff --git a/aem/ansible/roles/legacy_scripts/files/installers/gtsam-4.2_compilation_flags_aarch64.patch b/aem/ansible/roles/legacy_scripts/files/installers/gtsam-4.2_compilation_flags_aarch64.patch
@@ -0,0 +1,14 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 5bad53988..ba50de92a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -29,6 +29,9 @@ set (CMAKE_PROJECT_VERSION_MAJOR ${GTSAM_VERSION_MAJOR})
+ set (CMAKE_PROJECT_VERSION_MINOR ${GTSAM_VERSION_MINOR})
+ set (CMAKE_PROJECT_VERSION_PATCH ${GTSAM_VERSION_PATCH})
+
++set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=native")
++set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
++
+ ###############################################################################
+ # Gather information, perform checks, set defaults
+
diff --git a/aem/ansible/roles/legacy_scripts/files/installers/gtsam-4.2_compilation_flags_x86_64.patch b/aem/ansible/roles/legacy_scripts/files/installers/gtsam-4.2_compilation_flags_x86_64.patch
@@ -0,0 +1,14 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 5bad53988..259b68ea4 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -29,6 +29,9 @@ set (CMAKE_PROJECT_VERSION_MAJOR ${GTSAM_VERSION_MAJOR})
+ set (CMAKE_PROJECT_VERSION_MINOR ${GTSAM_VERSION_MINOR})
+ set (CMAKE_PROJECT_VERSION_PATCH ${GTSAM_VERSION_PATCH})
+
++set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mavx2")
++set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mavx2")
++
+ ###############################################################################
+ # Gather information, perform checks, set defaults
+
diff --git a/aem/ansible/roles/legacy_scripts/files/installers/install_GeographicLib.sh b/aem/ansible/roles/legacy_scripts/files/installers/install_GeographicLib.sh
@@ -0,0 +1,45 @@
+#!/usr/bin/env bash
+
+###############################################################################
+# Copyright 2024 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+###############################################################################
+
+# Fail on first error.
+set -e
+
+INSTALL_ATOM=${INSTALL_ATOM:-GeographicLib-2.3}
+
+SCRIPT_DIR="$(
+  cd "$(dirname "${BASH_SOURCE[0]}")"
+  pwd -P
+)"
+[[ -f "${SCRIPT_DIR}/installer_base.sh" ]] && source ${SCRIPT_DIR}/installer_base.sh
+[[ -f "${SCRIPT_DIR}/cmake_package_install_funcs.sh" ]] && source ${SCRIPT_DIR}/cmake_package_install_funcs.sh
+
+if ldconfig -p | grep libGeographicLib.so | grep -q /usr/lib; then
+  info "libGeographicLib was already installed"
+  exit 0
+fi
+
+# fallback
+# SRC_URI="${SRC_URI:-https://jaist.dl.sourceforge.net/project/geographiclib/distrib-C%2B%2B/${PN}-${PV}.tar.gz}"
+SRC_URI="${SRC_URI:-https://apollo-system.cdn.bcebos.com/archive/10.0/${PN}-${PV}.tar.gz}"
+
+if [[ "${BASH_SOURCE[0]}" != "${0}" ]]; then
+  # Being sourced, do nothing
+  :
+else
+  install_package "$@"
+fi
diff --git a/aem/ansible/roles/legacy_scripts/files/installers/install_gtsam.sh b/aem/ansible/roles/legacy_scripts/files/installers/install_gtsam.sh
@@ -0,0 +1,68 @@
+#!/usr/bin/env bash
+
+###############################################################################
+# Copyright 2024 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.
+###############################################################################
+
+# Fail on first error.
+set -e
+
+INSTALL_ATOM=${INSTALL_ATOM:-gtsam-4.2}
+
+SCRIPT_DIR="$(
+  cd "$(dirname "${BASH_SOURCE[0]}")"
+  pwd -P
+)"
+[[ -f "${SCRIPT_DIR}/installer_base.sh" ]] && source ${SCRIPT_DIR}/installer_base.sh
+[[ -f "${SCRIPT_DIR}/cmake_package_install_funcs.sh" ]] && source ${SCRIPT_DIR}/cmake_package_install_funcs.sh
+
+if ldconfig -p | grep libgtsam.so | grep -q /usr/lib; then
+  info "gtsam was already installed"
+  exit 0
+fi
+
+# fallback
+# SRC_URI="${SRC_URI:-https://github.com/borglab/gtsam/archive/refs/tags/${PV}.tar.gz} -> ${PN}-${PV}.tar.gz}"
+SRC_URI="${SRC_URI:-https://apollo-system.cdn.bcebos.com/archive/10.0/${PN}-${PV}.tar.gz}"
+PATCHES=(
+  "${FILESDIR}/gtsam-4.2_compilation_flags_$(uname -m).patch"
+)
+
+src_prepare_pre() {
+  # apt_get_update_and_install libboost-all-dev
+  apt_get_update_and_install apollo-neo-3rd-boost
+  # TODO: pack to 3rd-boost release tarball
+  boost_cmake_files_url='https://apollo-system.cdn.bcebos.com/archive/10.0/3rd-boost_1.74.0_cmake_files.tar.gz'
+  curl -sSL "${boost_cmake_files_url}" | tar xz -C /opt/apollo/neo/packages/3rd-boost/latest
+}
+
+cmake_src_configure() {
+  mkdir -p "${WORKDIR}/${PF}_build"
+  pushd "${WORKDIR}/${PF}_build"
+  cmake ${WORKDIR}/${PF} \
+    -DBUILD_SHARED_LIBS=ON \
+    -DCMAKE_INSTALL_PREFIX="${INSTALL_PREFIX}" \
+    -DBoost_NO_SYSTEM_PATHS="true" \
+    -DBOOST_ROOT="${BOOST_ROOT:-/opt/apollo/neo/packages/3rd-boost/latest}" \
+    -DCMAKE_BUILD_TYPE=Release
+  popd
+}
+
+if [[ "${BASH_SOURCE[0]}" != "${0}" ]]; then
+  # Being sourced, do nothing
+  :
+else
+  install_package "$@"
+fi
diff --git a/aem/ansible/roles/legacy_scripts/files/installers/install_openssl.sh b/aem/ansible/roles/legacy_scripts/files/installers/install_openssl.sh
@@ -36,7 +36,8 @@ fi
 # Note: use for replacing boringssl in grpc
 
 PV_NUM=$(echo "${PV}" | sed 's/[^0-9.]*//g')
-SRC_URI="${SRC_URI:-https://www.openssl.org/source/old/${PV_NUM}/${PN}-${PV}.tar.gz}"
+#SRC_URI="${SRC_URI:-https://www.openssl.org/source/old/${PV_NUM}/${PN}-${PV}.tar.gz}"
+SRC_URI="${SRC_URI:-https://apollo-system.cdn.bcebos.com/archive/10.0/${PN}-${PV}.tar.gz}"
 
 src_configure() {
   pushd "${WORKDIR}/${PF}"
@@ -45,6 +46,9 @@ src_configure() {
 }
 
 pkg_install_post() {
+  if [[ -d "${INSTALL_PREFIX}/lib64" ]] && [[ ! -e "${INSTALL_PREFIX}/lib" ]]; then
+    ln -snf lib64 "${INSTALL_PREFIX}/lib"
+  fi
   ok "Done installing ${PN}-${PV}"
 }
 

diff --git a/aem/ansible/roles/legacy_scripts/files/installers/manifest b/aem/ansible/roles/legacy_scripts/files/installers/manifest
@@ -20,6 +20,7 @@ magma-2.5.4.tar.gz 7948438 7734fb417ae0c367b418dea15096aef2e278a423e527c615aab47
 opencv-4.4.0.tar.gz 88887103 bb95acd849e458be7f7024d17968568d1ccd2f0681d47fd60d34ffb4b8c52563
 openh264-2.1.1.tar.gz 60239654 af173e90fce65f80722fa894e1af0d6b07572292e76de7b65273df4c0a8be678
 openssl-1.1.1w.tar.gz 9893384 cf3098950cb4d853ad95c0841f1f9c6d3dc102dccfcacd521d93925208b76ac8
+openssl-3.0.2.tar.gz 15038141 98e91ccead4d4756ae3c9cde5e09191a8e586d9f4d50838e7ec09d6411dfdb63
 osqp-0.5.0.tar.gz 928438 e0932d1f7bc56dbe526bee4a81331c1694d94c570f8ac6a6cb413f38904e0f64
 patchelf-0.12.tar.gz 103075 3dca33fb862213b3541350e1da262249959595903f559eae0fbc68966e9c3f56
 patchelf-0.14.3.tar.gz 123722 827a8ca914c69413f1ca0d967a637980a24edf000a938531a77e663317c853bb
@@ -32,3 +33,5 @@ protobuf-3.14.0.tar.gz 5319779 d0f5f605d0d656007ce6c8b5a82df3037e1d8fe8b121ed42e
 protobuf-3.21.12.tar.gz 5141502 930c2c3b5ecc6c9c12615cf5ad93f1cd6e12d0aba862b572e076259970ac3a53
 qdldl-0.1.4.tar.gz 17380 4eaed3b2d66d051cea0a57b0f80a81fc04ec72c8a906f8020b2b07e31d3b549c
 vtk-8.2.0.tar.gz 35511819 34c3dc775261be5e45a8049155f7228b6bd668106c72a3c435d95730d17d57bb
+GeographicLib-2.3.tar.gz 1701815 3114847839453ee6bbe2228e41dc73cad6de6160055442b747adc9c76f0a3198
+gtsam-4.2.tar.gz 29684572 9ff8846d0a83a245c284cb5760ec2d74535ef9b5885183ccfefd7ff122eba60e
diff --git a/aem/ansible/roles/ordinary_modules/tasks/Ubuntu.18.04.x86_64.yml b/aem/ansible/roles/ordinary_modules/tasks/Ubuntu.18.04.x86_64.yml
@@ -0,0 +1,11 @@
+---
+
+- name: Install openssl
+  become: true
+  ansible.builtin.shell:
+    cmd: /opt/apollo/installers/install_openssl.sh
+    executable: /bin/bash
+  args: []
+  environment:
+    INSTALL_ATOM: "openssl-1.1.1w"
+    INSTALL_PREFIX: "/opt/apollo/pkgs/openssl"
diff --git a/aem/ansible/roles/ordinary_modules/tasks/Ubuntu.20.04.aarch64.yml b/aem/ansible/roles/ordinary_modules/tasks/Ubuntu.20.04.aarch64.yml
@@ -0,0 +1,11 @@
+---
+
+- name: Install openssl
+  become: true
+  ansible.builtin.shell:
+    cmd: /opt/apollo/installers/install_openssl.sh
+    executable: /bin/bash
+  args: []
+  environment:
+    INSTALL_ATOM: "openssl-1.1.1w"
+    INSTALL_PREFIX: "/opt/apollo/pkgs/openssl"
diff --git a/aem/ansible/roles/ordinary_modules/tasks/Ubuntu.20.04.x86_64.yml b/aem/ansible/roles/ordinary_modules/tasks/Ubuntu.20.04.x86_64.yml
@@ -0,0 +1,11 @@
+---
+
+- name: Install openssl
+  become: true
+  ansible.builtin.shell:
+    cmd: /opt/apollo/installers/install_openssl.sh
+    executable: /bin/bash
+  args: []
+  environment:
+    INSTALL_ATOM: "openssl-1.1.1w"
+    INSTALL_PREFIX: "/opt/apollo/pkgs/openssl"
diff --git a/aem/ansible/roles/ordinary_modules/tasks/Ubuntu.22.04.x86_64.yml b/aem/ansible/roles/ordinary_modules/tasks/Ubuntu.22.04.x86_64.yml
@@ -0,0 +1,11 @@
+---
+
+- name: Install openssl
+  become: true
+  ansible.builtin.shell:
+    cmd: /opt/apollo/installers/install_openssl.sh
+    executable: /bin/bash
+  args: []
+  environment:
+    INSTALL_ATOM: "openssl-3.0.2"
+    INSTALL_PREFIX: "/opt/apollo/pkgs/openssl"
diff --git a/aem/ansible/roles/ordinary_modules/tasks/main.yml b/aem/ansible/roles/ordinary_modules/tasks/main.yml
@@ -113,6 +113,26 @@
     INSTALL_ATOM: "openh264-2.1.1"
     INSTALL_PREFIX: "/opt/apollo/sysroot"
 
+- name: install GeographicLib
+  become: true
+  ansible.builtin.shell:
+    cmd: /opt/apollo/installers/install_GeographicLib.sh
+    executable: /bin/bash
+  args: []
+  environment:
+    INSTALL_ATOM: "GeographicLib-2.3"
+    INSTALL_PREFIX: "/usr"
+
+- name: install gtsam
+  become: true
+  ansible.builtin.shell:
+    cmd: /opt/apollo/installers/install_gtsam.sh
+    executable: /bin/bash
+  args: []
+  environment:
+    INSTALL_ATOM: "gtsam-4.2"
+    INSTALL_PREFIX: "/usr"
+
 # support for modules/audio
 #- name: Install fftw3 (for modules/audio)
 #  become: true
@@ -122,12 +142,16 @@
 #    state: latest
 #    update_cache: false
 
-- name: Install openssl
-  become: true
-  ansible.builtin.shell:
-    cmd: /opt/apollo/installers/install_openssl.sh
-    executable: /bin/bash
-  args: []
-  environment:
-    INSTALL_ATOM: "openssl-1.1.1w"
-    INSTALL_PREFIX: "/opt/apollo/pkgs/openssl"
+- name: install packages by OS
+  ansible.builtin.include_tasks: "{{ lookup('ansible.builtin.first_found', params) }}"
+  vars:
+    params:
+      files:
+        - "{{ ansible_distribution }}.{{ ansible_distribution_version }}.{{ ansible_architecture }}.yml"
+        - "{{ ansible_distribution }}.{{ ansible_distribution_version }}.yml"
+        - "{{ ansible_distribution }}.{{ ansible_architecture }}.yml"
+        - "{{ ansible_distribution }}.yml"
+        - "{{ ansible_os_family }}.yml"
+        - "default.yaml"
+      paths:
+        - 'tasks'
diff --git a/aem/auto_complete.bash b/aem/auto_complete.bash
@@ -0,0 +1,14 @@
+# usage: source auto_complete.bash
+
+COMMANDS="start start_cpu start_gpu enter remove stopall bootstrap build install init profile create list update setup_host usage -h --help"
+
+function _complete_func() {
+    COMPREPLY=()
+    local cur="${COMP_WORDS[COMP_CWORD]}"
+    local cmds="$(echo ${COMMANDS} | xargs)"
+
+    COMPREPLY=($(compgen -W "${cmds}" -- ${cur}))
+
+}
+
+complete -F _complete_func -o default aem