Merge pull request #81 from minhanghuang/v10.0.0-rc1

v10.0.0 rc1
minhanghuang · Jan 18, 2025 · 16f0765 · 16f0765
2 parents 0ee5c54 + bca7c59
commit 16f0765
Show file tree

Hide file tree

Showing 258 changed files with 35,284 additions and 3,334 deletions.
diff --git a/...s/ubuntu-latest-arrch64-v9.0.0-build.yaml → .../ubuntu-latest-arrch64-v10.0.0-build.yaml b/...s/ubuntu-latest-arrch64-v9.0.0-build.yaml → .../ubuntu-latest-arrch64-v10.0.0-build.yaml
@@ -1,10 +1,10 @@
-name: ubuntu-latest v9.0.0 build arrch64
+name: ubuntu-latest v10.0.0 build arrch64
 run-name: ubuntu latest arrch64
 
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-arm-ubuntu-latest:
@@ -22,7 +22,7 @@ jobs:
 
           install: |
             apt update
-            apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+            apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
 
           run: |
             echo "-----------------------"

diff --git a/...workflows/ubuntu-latest-v9.0.0-build.yaml → ...orkflows/ubuntu-latest-v10.0.0-build.yaml b/...workflows/ubuntu-latest-v9.0.0-build.yaml → ...orkflows/ubuntu-latest-v10.0.0-build.yaml
@@ -1,10 +1,10 @@
-name: ubuntu-latest v9.0.0 build x86-64
+name: ubuntu-latest v10.0.0 build x86-64
 run-name: ubuntu latest x86-64
 
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-amd-ubuntu-latest:
@@ -21,7 +21,7 @@ jobs:
           DEBIAN_FRONTEND: noninteractive
         run: |
           apt update
-          apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+          apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
           cd /workspace/${{ github.repository }} && python3 install.py
 
       - name: Build

diff --git a/...kflows/ubuntu18-arrch64-v9.0.0-build.yaml → ...flows/ubuntu18-arrch64-v10.0.0-build.yaml b/...kflows/ubuntu18-arrch64-v9.0.0-build.yaml → ...flows/ubuntu18-arrch64-v10.0.0-build.yaml
@@ -1,10 +1,10 @@
-name: ubuntu18.04 v9.0.0 build arrch64
+name: ubuntu18.04 v10.0.0 build arrch64
 run-name: ubuntu18 arrch64
 
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-arm-ubuntu18:
@@ -26,7 +26,7 @@ jobs:
 
           install: |
             apt update
-            apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+            apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
 
           run: |
             echo "-----------------------"

diff --git a/.github/workflows/ubuntu18-v9.0.0-build.yaml → ...hub/workflows/ubuntu18-v10.0.0-build.yaml b/.github/workflows/ubuntu18-v9.0.0-build.yaml → ...hub/workflows/ubuntu18-v10.0.0-build.yaml
@@ -1,4 +1,4 @@
-name: ubuntu18.04 v9.0.0 build x86-64
+name: ubuntu18.04 v10.0.0 build x86-64
 run-name: ubuntu18 x86-64
 
 env:
@@ -7,11 +7,11 @@ env:
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
   pull_request:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-amd-ubuntu18:
@@ -30,7 +30,7 @@ jobs:
           DEBIAN_FRONTEND: noninteractive
         run: |
           apt update
-          apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+          apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
           python3 install.py
 
       - name: Build

diff --git a/...kflows/ubuntu20-arrch64-v9.0.0-build.yaml → ...flows/ubuntu20-arrch64-v10.0.0-build.yaml b/...kflows/ubuntu20-arrch64-v9.0.0-build.yaml → ...flows/ubuntu20-arrch64-v10.0.0-build.yaml
@@ -1,10 +1,10 @@
-name: ubuntu20.04 v9.0.0 build arrch64
+name: ubuntu20.04 v10.0.0 build arrch64
 run-name: ubuntu20 arrch64
 
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-arm-ubuntu20:
@@ -22,7 +22,7 @@ jobs:
 
           install: |
             apt update
-            apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+            apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
 
           run: |
             echo "-----------------------"

diff --git a/.github/workflows/ubuntu20-v9.0.0-build.yaml → ...hub/workflows/ubuntu20-v10.0.0-build.yaml b/.github/workflows/ubuntu20-v9.0.0-build.yaml → ...hub/workflows/ubuntu20-v10.0.0-build.yaml
@@ -1,10 +1,10 @@
-name: ubuntu20.04 v9.0.0 build x86-64
+name: ubuntu20.04 v10.0.0 build x86-64
 run-name: ubuntu20 x86-64
 
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-amd-ubuntu20:
@@ -21,7 +21,7 @@ jobs:
           DEBIAN_FRONTEND: noninteractive
         run: |
           apt update
-          apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+          apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
           cd /workspace/${{ github.repository }} && python3 install.py
 
       - name: Build

diff --git a/...kflows/ubuntu22-arrch64-v9.0.0-build.yaml → ...flows/ubuntu22-arrch64-v10.0.0-build.yaml b/...kflows/ubuntu22-arrch64-v9.0.0-build.yaml → ...flows/ubuntu22-arrch64-v10.0.0-build.yaml
@@ -1,10 +1,10 @@
-name: ubuntu22.04 v9.0.0 build arrch64
+name: ubuntu22.04 v10.0.0 build arrch64
 run-name: ubuntu22 arrch64
 
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-arm-ubuntu22:
@@ -22,7 +22,7 @@ jobs:
 
           install: |
             apt update
-            apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+            apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
 
           run: |
             echo "-----------------------"

diff --git a/.github/workflows/ubuntu22-v9.0.0-build.yaml → ...hub/workflows/ubuntu22-v10.0.0-build.yaml b/.github/workflows/ubuntu22-v9.0.0-build.yaml → ...hub/workflows/ubuntu22-v10.0.0-build.yaml
@@ -1,10 +1,10 @@
-name: ubuntu22.04 v9.0.0 build x86-64
+name: ubuntu22.04 v10.0.0 build x86-64
 run-name: ubuntu22 x86-64
 
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-amd-ubuntu22:
@@ -21,7 +21,7 @@ jobs:
           DEBIAN_FRONTEND: noninteractive
         run: |
           apt update
-          apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+          apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
           cd /workspace/${{ github.repository }} && python3 install.py
 
       - name: Build

diff --git a/.github/workflows/ubuntu24-v9.0.0-build.yaml → ...hub/workflows/ubuntu24-v10.0.0-build.yaml b/.github/workflows/ubuntu24-v9.0.0-build.yaml → ...hub/workflows/ubuntu24-v10.0.0-build.yaml
@@ -1,10 +1,10 @@
-name: ubuntu24.04 v9.0.0 build x86-64
+name: ubuntu24.04 v10.0.0 build x86-64
 run-name: ubuntu24 x86-64
 
 on:
   push:
     branches:
-      - v9.0.0
+      - v10.0.0
 
 jobs:
   build-amd-ubuntu24:
@@ -21,7 +21,7 @@ jobs:
           DEBIAN_FRONTEND: noninteractive
         run: |
           apt update
-          apt install -y lsb-release git wget pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev
+          apt install -y lsb-release git wget libcurl4-openssl-dev pkg-config g++ cmake uuid-dev libncurses5-dev python3-dev autoconf automake libtool libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
           cd /workspace/${{ github.repository }} && python3 install.py
 
       - name: Build

diff --git a/.gitignore b/.gitignore
@@ -7,6 +7,11 @@
 *.log
 .DS_Store
 
+# protobuf source file
+*.pb.cc
+*.pb.h
+*_pb2.py
+
 build/
 cmake-build*
 third_party/

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,8 +1,8 @@
 cmake_minimum_required(VERSION 3.5.1)
 
-project(cyber VERSION 9.0.0) # Apollo Version
+project(cyber VERSION 10.0.0) # Apollo Version
 
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)   # Apollo v10
 set(TARGET_NAME ${PROJECT_NAME})
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 if(NOT CMAKE_BUILD_TYPE)
@@ -42,11 +42,13 @@ find_package(fastrtps REQUIRED)
 find_package(fastcdr REQUIRED)
 find_package(glog REQUIRED)
 find_package(Protobuf REQUIRED)
+find_package(Eigen3 REQUIRED)
 # find_package(Python REQUIRED COMPONENTS Interpreter Development)
 pkg_check_modules(Python REQUIRED python3)
 pkg_check_modules(Uuid REQUIRED uuid)
 pkg_check_modules(Gflags REQUIRED gflags)
 pkg_check_modules(NlohmannJson REQUIRED nlohmann_json)
+pkg_check_modules(GperfTools REQUIRED libtcmalloc)
 
 # set(Python_VERSION "${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}")
 set(Python_VERSION "${Python_VERSION}")
@@ -67,11 +69,13 @@ set(DEPENCENCY_INCLUDE_DIRS
   ${fastcdr_INCLUDE_DIR}
   ${fastrtps_INCLUDE_DIR}
   ${Protobuf_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
   ${Python_INCLUDE_DIRS}
   ${Uuid_INCLUDE_DIRS}
   ${glog_INCLUDE_DIRS}
   ${Gflags_INCLUDE_DIRS}
   ${NlohmannJson_INCLUDE_DIRS}
+  ${GperfTools_INCLUDE_DIRS}
 )
 
 set(DEPENCENCY_LIB_DIRS
@@ -83,6 +87,7 @@ set(DEPENCENCY_LIB_DIRS
   ${glog_LIBRARY_DIRS}
   ${Gflags_LIBRARY_DIRS}
   ${NlohmannJson_LIBRARY_DIRS}
+  ${GperfTools_LIBRARY_DIRS}
 )
 
 set(DEPENCENCY_LIBS
@@ -97,10 +102,9 @@ include_directories(
 
 link_directories(${DEPENCENCY_LIB_DIRS})
 
-file(GLOB CYBER_PROTO_FILES
-  "${CMAKE_CURRENT_SOURCE_DIR}/modules/common_msgs/**/*.proto"
-  "${CMAKE_CURRENT_SOURCE_DIR}/cyber/proto/*.proto"
-  "${CMAKE_CURRENT_SOURCE_DIR}/cyber/examples/proto/*.proto"
+file(GLOB_RECURSE CYBER_PROTO_FILES
+  "${CMAKE_CURRENT_SOURCE_DIR}/modules/*.proto"
+  "${CMAKE_CURRENT_SOURCE_DIR}/cyber/*.proto"
 )
 
 if(${CYBER_MSGS_CACHE})
@@ -161,6 +165,7 @@ file(GLOB CYBER_SRCS
     "cyber/transport/*/*.cc"
     "cyber/*.cc"
     "cyber/sysmo/*.cc"
+    "cyber/statistics/*.cc"
     ${CROUTINE_FILE}
 )
 
@@ -179,14 +184,18 @@ target_link_libraries(${TARGET_NAME}
     ${NlohmannJson_LIBRARIES}
     ${Protobuf_LIBRARIES}
     ${Uuid_LIBRARIES}
+    ${GperfTools_LIBRARIES} # gperftools
+    profiler                # gperftools
     fastrtps
     fastcdr
+    bvar
     atomic
     dl
     rt
 )
 
 add_subdirectory(cyber/mainboard)
+add_subdirectory(cyber/ros_bridge)
 add_subdirectory(cyber/examples)
 add_subdirectory(cyber/python)
 add_subdirectory(cyber/tools)

diff --git a/README.md b/README.md
@@ -1,35 +1,44 @@
-# Apollo(v9.0.0) CyberRT
+# Apollo(v10.0.0) CyberRT
 
 ![CyberRT](./docs/CyberRT.gif)
 
 | Target        |  CI Status  |
 | ------------- | :-----:|
-| Ubuntu18.04 x86_64   | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu18-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu18-v9.0.0-build.yaml) |
-| Ubuntu20.04 x86_64  | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu20-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu20-v9.0.0-build.yaml) |
-| Ubuntu22.04 x86_64  | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu22-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu22-v9.0.0-build.yaml) |
-| Ubuntu24.04 x86_64  | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu24-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu24-v9.0.0-build.yaml) |
-| Ubuntu latest x86_64  | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu-latest-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu-latest-v9.0.0-build.yaml) |
-| Ubuntu18.04 arrch64 | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu18-arrch64-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu18-arrch64-v9.0.0-build.yaml) |
-| Ubuntu20.04  arrch64 | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu20-arrch64-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu20-arrch64-v9.0.0-build.yaml) |
-| Ubuntu22.04 arrch64 | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu22-arrch64-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu22-arrch64-v9.0.0-build.yaml) |
-| Ubuntu latest arrch64 | [![build v9.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu-latest-arrch64-v9.0.0-build.yaml/badge.svg?branch=v9.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu-latest-arrch64-v9.0.0-build.yaml) |
+| Ubuntu18.04 x86_64   | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu18-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu18-v10.0.0-build.yaml) |
+| Ubuntu20.04 x86_64  | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu20-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu20-v10.0.0-build.yaml) |
+| Ubuntu22.04 x86_64  | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu22-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu22-v10.0.0-build.yaml) |
+| Ubuntu24.04 x86_64  | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu24-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu24-v10.0.0-build.yaml) |
+| Ubuntu latest x86_64  | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu-latest-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu-latest-v10.0.0-build.yaml) |
+| Ubuntu18.04 arrch64 | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu18-arrch64-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu18-arrch64-v10.0.0-build.yaml) |
+| Ubuntu20.04  arrch64 | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu20-arrch64-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu20-arrch64-v10.0.0-build.yaml) |
+| Ubuntu22.04 arrch64 | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu22-arrch64-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu22-arrch64-v10.0.0-build.yaml) |
+| Ubuntu latest arrch64 | [![build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu-latest-arrch64-v10.0.0-build.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/ubuntu-latest-arrch64-v10.0.0-build.yaml) |
 
 ## #1 Env
 
 > dependence
 
 ```shell
 sudo apt update
-sudo apt install -y uuid-dev libncurses5-dev python3-dev python3-pip
+sudo apt install -y wget libcurl4-openssl-dev autoconf automake libtool g++ pkg-config uuid-dev libncurses5-dev python3-dev python3-pip libeigen3-dev libtiff-dev libsqlite3-dev sqlite3
 python3 -m pip install protobuf==3.14.0
 ```
 
+| dependence   |  v9.0.0           |  v10.0.0  |
+| :---: |  :---: |:---:|
+| C++ STANDARD |   C++14           |   C+17    |
+| gcc/g++      |   system default  |   8.1+    |
+| FastDDS      |   v1.5.0           |   v2.14.3 |
+| protobuf      |   v3.14.0           |   v3.14.0 |
+| bvar      |              |   new |
+| gperftools      |              |   gperftools-2.8  |
+
 ## #2 Build
 
 1. clone
 
 ```shell
-git clone --single-branch --branch v9.0.0 https://github.com/minhanghuang/CyberRT.git
+git clone --single-branch --branch v10.0.0 https://github.com/minhanghuang/CyberRT.git
 cd CyberRT
 ```
 
@@ -38,8 +47,8 @@ cd CyberRT
 > install
 
 ```shell
-sudo python3 install.py
-# sudo python3 install.py --platform <your-platform-machine> --install_prefix <your-install-path>
+python3 install.py
+# python3 install.py --platform <your-platform-machine> --install_prefix <your-install-path>
 ```
 
 > export path

diff --git a/cyber/BUILD b/cyber/BUILD
@@ -62,7 +62,7 @@ apollo_cc_library(
         "//cyber/transport:cyber_transport",
         "@com_github_google_glog//:glog",
         "@com_google_protobuf//:protobuf",
-        "@fastrtps",
+        "@fastdds",
     ],
 )