Open Cyber

Modified version of ApolloAuto/apollo/cyber. Baseline version is apollo v7.0.0.

Difference from ApolloAuto/apollo/cyber:

• Cyber is a standalone project
• Docker is not used

apollo/cyber (in ApolloAuto)	cyber (this standalone version)
/tools	merged into /build
/BUILD and /cyber/BUILD	merged int /BUILD
/scripts (files needed)	/scripts

Install prerequisites and dependencies

sudo apt update
sudo apt install python3-testresources

then

./install_deps.sh

[for arm64 only]

This script will download bazel (bazel-4.2.2-linux-arm64) from github and its size is >100M. The file can be put into cyber/build/installers to save downloading time.

build

install jdk before running bazel:

apt install default-jdk-headless

then

bazel build :cyber

or

bazel build //mainboard:mainboard

or build with cpplint:

bazel test //examples:talker_cpplint

cpplint errors will be displayed in the test.log file.

Installation

bazel run //tools:install /opt/cyber/

it will install tools into /opt/cyber like:

/opt/cyber/
├── bin
│   ├── cyber_channel
│   ├── cyber_launch
│   ├── cyber_monitor
│   └── cyber_recorder

to install the cyber:

bazel build :install

sudo apt install patchelf
bazel run :install /opt/cyber/

During build, if there is any bazel fetching error like this:

INFO: Repository six instantiated at:
  /home/nvidia/gitlab/cyber/WORKSPACE:72:10: in <toplevel>
  /home/nvidia/.cache/bazel/_bazel_nvidia/74e5ea07038a5a936b5238c85ebefb29/external/com_github_grpc_grpc/bazel/grpc_deps.bzl:331:21: in grpc_deps
  /home/nvidia/.cache/bazel/_bazel_nvidia/74e5ea07038a5a936b5238c85ebefb29/external/com_github_grpc_grpc/bazel/grpc_python_deps.bzl:11:21: in grpc_python_deps
Repository rule http_archive defined at:
  /home/nvidia/.cache/bazel/_bazel_nvidia/74e5ea07038a5a936b5238c85ebefb29/external/bazel_tools/tools/build_defs/repo/http.bzl:336:31: in <toplevel>
WARNING: Download from https://files.pythonhosted.org/packages/dd/bf/4138e7bfb757de47d1f4b6994648ec67a51efe58fa907c1e11e350cddfca/six-1.12.0.tar.gz failed: class java.io.IOException connect timed out
ERROR: An error occurred during the fetch of repository 'six':

1. Get cyber/build/bazel_tools/six-1.12.0.tar.gz's absolute path like /home/nvidia/gitlab/cyber/build/bazel_tools/six-1.12.0.tar.gz
2. Edit file of /home/nvidia/.cache/bazel/_bazel_nvidia/74e5ea07038a5a936b5238c85ebefb29/external/com_github_grpc_grpc/bazel/grpc_python_deps.bzl, change urls to be like:

#urls = ["https://files.pythonhosted.org/packages/dd/bf/4138e7bfb757de47d1f4b6994648ec67a51efe58fa907c1e11e350cddfca/six-1.12.0.tar.gz"],
urls = ["file:///home/nvidia/gitlab/cyber/build/bazel_tools/six-1.12.0.tar.gz"],

Install proto file

[temperary solution] in /opt/cyber/include run

protoc proto/*.proto --cpp_out=.

Run Example

First, initialize some env variables:

source /opt/cyber/setup.bash

then run

/opt/cyber/examples/talker

or

/opt/cyber/examples/listener

Log messages will be displayed. To turn off the log message, edit the config value in /opt/cyber/setup.bash.