chore: 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
- 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
- planning:
	 - e7ec14fa03 fix(planning): Setting use_sqp to true in open space scene

Signed-off-by: liangjinping <[email protected]>
Change-Id: Ifefaf3211235715dba13b9bce393347d6f823217

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 "$@"
 

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"

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"

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"

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"

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
+

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
+

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

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

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}"
 }
 

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

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"

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"

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"

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"

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'

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