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feat: release 9.0.0-alpha1
- 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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6,351 files changed

+192725
-476480
lines changed

‎.clang-format

+3
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@@ -12,6 +12,9 @@ IncludeCategories:
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# Miscelaneous system libraries
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- Regex: '<(immintrin.h|malloc.h|wait.h|x86intrin.h|cuda.*)>'
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Priority: 3
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# third-party libraries
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- Regex: '<(tinyxml2.h)>'
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Priority: 3
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# C standard libraries
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- Regex: '<(arpa/|netinet/|net/if|sys/)?[^\./]*\.h>'
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Priority: 1

‎BUILD

+100-71
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@@ -11,47 +11,60 @@ exports_files([
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])
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install(
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name = "install",
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name = "deprecated_install",
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deps = if_gpu([
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"//modules/perception:install",
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"//modules/planning:install",
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"//modules/v2x:install",
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"//third_party/centerpoint_infer_op:install",
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"//third_party/paddleinference:install",
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"//third_party/tf2:install",
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"//third_party/caddn_infer_op:install",
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], [
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"//cyber:install",
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"//tools:install",
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"//modules/data:install",
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#"//cyber/examples:install",
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#"//docker/scripts:install",
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#"//docs:install",
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"//modules/audio:install",
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"//modules/bridge:install",
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"//modules/calibration:install",
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"//modules/canbus:install",
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"//modules/canbus_vehicle:install",
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"//modules/common:install",
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"//modules/common_msgs:install",
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"//modules/contrib/cyber_bridge:install",
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"//modules/control:install",
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"//modules/planning:install",
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"//modules/dreamview:install",
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"//modules/drivers:install",
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"//modules/guardian:install",
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"//modules/localization:install",
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"//modules/map:install",
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"//modules/monitor:install",
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"//modules/prediction:install",
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"//modules/routing:install",
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"//modules/storytelling:install",
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"//modules/task_manager:install",
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"//modules/third_party_perception:install",
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"//modules/tools:install",
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"//modules/transform:install",
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"//third_party/absl:install",
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"//third_party/ad_rss_lib:install",
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"//third_party/boost:install",
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"//third_party/civetweb:install",
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"//third_party/eigen3:install",
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"//third_party/gtest:install",
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"//third_party/ipopt:install",
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"//third_party/libtorch:install",
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"//third_party/fastrtps:install",
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"//third_party/gflags:install",
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"//third_party/glog:install",
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"//third_party/nlohmann_json:install",
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"//third_party/opencv:install",
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"//third_party/osqp:install",
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"//third_party/pcl:install",
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"//third_party/vtk:install",
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"//third_party/proj:install",
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"//third_party/protobuf:install",
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"//third_party/py:install",
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"//third_party/opengl:install",
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"//third_party/openh264:install",
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"//third_party/cpplint:install",
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"//third_party/portaudio:install",
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"//third_party/fftw3:install",
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"//third_party/glew:install",
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"//third_party/adolc:install",
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"//third_party/atlas:install",
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"//third_party/benchmark:install",
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"//third_party/ncurses5:install",
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"//third_party/sqlite3:install",
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"//third_party/tensorrt:install",
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"//third_party/tinyxml2:install",
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"//third_party/uuid:install",
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"//third_party/yaml_cpp:install",
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"//third_party/qt5:install",
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"//third_party/npp:install",
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"//third_party/camera_library:install",
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"//third_party/can_card_library:install",
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"//third_party/gpus:install",
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"//third_party/localization_msf:install",
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"//third_party/ffmpeg:install",
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"//third_party/adv_plat:install",
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"//scripts:install",
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"//tools:install",
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], [
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"//third_party/absl:install",
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"//third_party/ad_rss_lib:install",
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"//third_party/tf2:install",
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"//third_party/boost:install",
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"//third_party/civetweb:install",
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"//third_party/eigen3:install",
@@ -79,6 +92,8 @@ install(
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"//third_party/adolc:install",
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"//third_party/atlas:install",
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"//third_party/benchmark:install",
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"//third_party/camera_library:install",
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"//third_party/can_card_library:install",
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"//third_party/ncurses5:install",
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"//third_party/sqlite3:install",
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"//third_party/tensorrt:install",
@@ -88,57 +103,75 @@ install(
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"//third_party/qt5:install",
89104
"//third_party/npp:install",
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"//third_party/gpus:install",
91-
"//third_party/tf2:install",
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"//third_party/localization_msf:install",
93-
"//third_party/can_card_library:install",
94-
"//third_party/camera_library:install",
95-
"//third_party/rtklib:install",
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"//third_party/ffmpeg:install",
97108
"//third_party/adv_plat:install",
109+
"//scripts:install",
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"//tools:install",
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]),
99112
)
100113

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install_src_files(
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name = "install_src",
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name = "deprecated_install_src",
103116
deps = if_gpu([
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"//modules/perception:install_src",
105-
"//modules/planning:install_src",
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"//modules/v2x:install_src",
107117
"//third_party/centerpoint_infer_op:install_src",
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"//third_party/paddleinference:install_src",
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"//third_party/caddn_infer_op:install_src",
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"//third_party/camera_library:install_src",
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"//third_party/can_card_library:install_src",
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"//third_party/tf2:install_src",
123+
124+
"//third_party/absl:install_src",
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"//third_party/boost:install_src",
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"//third_party/civetweb:install_src",
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"//third_party/eigen3:install_src",
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"//third_party/gtest:install_src",
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"//third_party/ipopt:install_src",
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"//third_party/libtorch:install_src",
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"//third_party/fastrtps:install_src",
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"//third_party/gflags:install_src",
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"//third_party/glog:install_src",
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"//third_party/nlohmann_json:install_src",
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"//third_party/opencv:install_src",
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"//third_party/osqp:install_src",
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"//third_party/pcl:install_src",
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"//third_party/vtk:install_src",
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"//third_party/proj:install_src",
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"//third_party/protobuf:install_src",
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"//third_party/py:install_src",
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"//third_party/opengl:install_src",
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"//third_party/openh264:install_src",
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"//third_party/cpplint:install_src",
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"//third_party/portaudio:install_src",
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"//third_party/fftw3:install_src",
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"//third_party/glew:install_src",
148+
"//third_party/adolc:install_src",
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"//third_party/atlas:install_src",
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"//third_party/benchmark:install_src",
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"//third_party/ncurses5:install_src",
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"//third_party/sqlite3:install_src",
153+
"//third_party/tensorrt:install_src",
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"//third_party/tinyxml2:install_src",
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"//third_party/uuid:install_src",
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"//third_party/yaml_cpp:install_src",
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"//third_party/qt5:install_src",
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"//third_party/npp:install_src",
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"//third_party/gpus:install_src",
160+
"//third_party/localization_msf:install_src",
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"//third_party/ffmpeg:install_src",
162+
"//third_party/adv_plat:install_src",
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"//tools:install_src",
110164
], [
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"//cyber:install_src",
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"//tools:install_src",
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"//modules/common:install_src",
114-
"//modules/data:install_src",
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"//modules/common_msgs:install_src",
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"//modules/control:install_src",
117-
"//modules/dreamview:install_src",
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"//modules/map:install_src",
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"//modules/monitor:install_src",
120-
"//modules/planning:install_src",
121-
"//modules/routing:install_src",
122-
"//modules/task_manager:install_src",
123-
"//modules/transform:install_src",
124-
"//modules/audio:install_src",
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"//modules/bridge:install_src",
126-
"//modules/calibration:install_src",
127-
"//modules/canbus:install_src",
128-
"//modules/canbus_vehicle:install_src",
129-
"//modules/contrib/cyber_bridge:install_src",
130-
"//modules/drivers:install_src",
131-
"//modules/guardian:install_src",
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"//modules/localization:install_src",
133-
"//modules/prediction:install_src",
134-
"//modules/storytelling:install_src",
135-
"//modules/third_party_perception:install_src",
136-
"//modules/tools:install_src",
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"//third_party/absl:install_src",
138167
"//third_party/boost:install_src",
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"//third_party/civetweb:install_src",
140169
"//third_party/eigen3:install_src",
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"//third_party/gtest:install_src",
171+
"//third_party/camera_library:install_src",
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"//third_party/can_card_library:install_src",
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"//third_party/tf2:install_src",
174+
142175
"//third_party/centerpoint_infer_op:install_src",
143176
"//third_party/ipopt:install_src",
144177
"//third_party/libtorch:install_src",
@@ -171,11 +204,7 @@ install_src_files(
171204
"//third_party/qt5:install_src",
172205
"//third_party/npp:install_src",
173206
"//third_party/gpus:install_src",
174-
"//third_party/tf2:install_src",
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"//third_party/localization_msf:install_src",
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"//third_party/can_card_library:install_src",
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"//third_party/camera_library:install_src",
178-
"//third_party/rtklib:install_src",
179208
"//third_party/ffmpeg:install_src",
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"//third_party/adv_plat:install_src",
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]),

‎CPPLINT.cfg

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@@ -13,5 +13,7 @@ filter=+build/include_what_you_use
1313
filter=-build/header_guard
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filter=+runtime/printf,+runtime/printf_format
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16+
filter=-runtime/references
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linelength=80
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includeorder=standardcfirst

‎WORKSPACE

+2-3
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@@ -75,12 +75,11 @@ http_archive(
7575
# grpc
7676
http_archive(
7777
name = "com_github_grpc_grpc",
78-
sha256 = "419dba362eaf8f1d36849ceee17c3e2ff8ff12ac666b42d3ff02a164ebe090e9",
78+
sha256 = "2378b608557a4331c6a6a97f89a9257aee2f8e56a095ce6619eea62e288fcfbe",
7979
patches = ["//third_party/absl:grpc.patch"],
8080
strip_prefix = "grpc-1.30.0",
8181
urls = [
82-
"https://apollo-system.cdn.bcebos.com/archive/6.0/v1.30.0.tar.gz",
83-
"https://github.com/grpc/grpc/archive/v1.30.0.tar.gz",
82+
"https://apollo-system.cdn.bcebos.com/archive/8.0/v1.30.0-apollo.tar.gz",
8483
],
8584
)
8685
http_archive(

‎apollo.sh

+6
Original file line numberDiff line numberDiff line change
@@ -186,6 +186,12 @@ function main() {
186186
build_opt_gpu)
187187
env ${APOLLO_ENV} bash "${build_sh}" --config=opt --config=gpu "$@"
188188
;;
189+
build_opt_gpu_pnc)
190+
env ${APOLLO_ENV} bash "${build_sh}" --config=opt --config=gpu "cyber planning prediction control routing dreamview external_command tools common_msgs"
191+
;;
192+
build_pnc)
193+
env ${APOLLO_ENV} bash "${build_sh}" --config=dbg --config=gpu "cyber planning prediction control routing dreamview external_command tools common_msgs"
194+
;;
189195
build_prof)
190196
env ${APOLLO_ENV} bash "${build_sh}" --config=prof "$@"
191197
;;

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