updated runtime standalone functions

.bazelignore

 .cache
-docs
 docker/build

BUILD

@@ -15,6 +15,7 @@ install(
         "//cyber:install",
         "//cyber/examples:install",
         "//docker/scripts:install",
+        "//docs/demo_guide:install",
         "//modules/audio:install",
         "//modules/bridge:install",
         "//modules/canbus:install",

cyber/.release.bash

@@ -10,7 +10,7 @@ export CYBER_DOMAIN_ID=80
 export CYBER_IP=127.0.0.1
 
 export GLOG_log_dir="${APOLLO_ROOT_DIR}/data/log"
-export GLOG_alsologtostderr=1
+export GLOG_alsologtostderr=0
 export GLOG_colorlogtostderr=1
 export GLOG_minloglevel=0
 

cyber/tools/BUILD

 load("//tools/install:install.bzl", "install")
+
 package(
     default_visibility = ["//visibility:public"],
 )
@@ -7,7 +8,7 @@ install(
     name = "install",
     deps = [
         "//cyber/tools/cyber_launch:install",
+        "//cyber/tools/cyber_monitor:install",
         "//cyber/tools/cyber_recorder:install",
     ],
 )
-

cyber/tools/cyber_monitor/BUILD

 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library")
 load("//tools:cpplint.bzl", "cpplint")
+load("//tools/install:install.bzl", "install")
 
 package(default_visibility = ["//visibility:public"])
 
+install(
+    name = "install",
+    targets = [
+        ":cyber_monitor",
+    ],
+)
+
 cc_binary(
     name = "cyber_monitor",
     srcs = [

docker/build/runtime.x86_64.dockerfile.sample

@@ -57,7 +57,7 @@ RUN bash /opt/apollo/installers/install_mkl.sh
 # TODO(storypku): NodeJS
 COPY --from=devel /usr/local/fast-rtps  /usr/local/fast-rtps
 COPY --from=devel /usr/local/libtorch_gpu /usr/local/libtorch_gpu
-COPY --from=devel /usr/local/qt5/lib /usr/local/qt5/lib
+COPY --from=devel /usr/local/qt5 /usr/local/qt5
 COPY --from=devel /etc/ld.so.conf.d/qt.conf /etc/ld.so.conf.d/qt.conf
 COPY --from=devel /opt/apollo/pkgs /opt/apollo/pkgs
 COPY --from=devel /opt/apollo/sysroot/lib /opt/apollo/sysroot/lib

docker/build/standalone.x86_64.dockerfile

@@ -3,54 +3,48 @@ ARG TARGET_ARCH=x86_64
 ARG IMAGE_VERSION=18.04-20210517_1712
 ARG BASE_IMAGE=${DOCKER_REPO}:runtime-${TARGET_ARCH}-${IMAGE_VERSION}
 
-ARG DOCKER_USER
-ARG DOCKER_USER_ID
-ARG DOCKER_GRP
-ARG DOCKER_GRP_ID
-
 FROM ${DOCKER_REPO}:data_volume-audio_model-${TARGET_ARCH}-latest as apollo_audio_volume
 FROM ${DOCKER_REPO}:yolov4_volume-emergency_detection_model-${TARGET_ARCH}-latest as apollo_yolov4_volume
 FROM ${DOCKER_REPO}:faster_rcnn_volume-traffic_light_detection_model-${TARGET_ARCH}-latest as apollo_faster_rcnn_volume
 FROM ${DOCKER_REPO}:smoke_volume-yolo_obstacle_detection_model-${TARGET_ARCH}-latest as apollo_smoke_volume
 
+FROM ${DOCKER_REPO}:map_volume-sunnyvale_big_loop-latest as sunnyvale_big_loop_volume
+FROM ${DOCKER_REPO}:map_volume-sunnyvale_loop-latest as sunnyvale_loop_volume
+FROM ${DOCKER_REPO}:map_volume-sunnyvale_with_two_offices-latest as sunnyvale_with_two_offices_volume
+FROM ${DOCKER_REPO}:map_volume-san_mateo-latest as san_mateo_volume
+
 FROM ${BASE_IMAGE}
 
-ENV DOCKER_USER=${DOCKER_USER:-apollo}
-ENV DOCKER_USER_ID=${DOCKER_USER_ID:-1001}
-ENV DOCKER_GRP=${DOCKER_GRP:-apollo}
-ENV DOCKER_GRP_ID=${DOCKER_GRP_ID:-1001}
-
-# We need to copy output first to make sure that the top-level /apollo directory is also owned by ${DOCKER_USER_ID}:${DOCKER_GRP_ID},
-# because COPY --chown creates target directory as root and only chowns the files it copies.
-# If we copy some volume first then /apollo is owned by root and different user will fail to create e.g.
-# nohup.out or /apollo/data there (in runtime image it's overlayed by a volume from host, so it doesn't harm)
-COPY \
-    --chown=${DOCKER_USER_ID}:${DOCKER_GRP_ID} \
-    output \
-    /apollo
-
-COPY \
-    --from=apollo_audio_volume \
-    --chown=${DOCKER_USER_ID}:${DOCKER_GRP_ID} \
+COPY output /apollo
+
+COPY --from=apollo_audio_volume \
     /apollo/modules/audio \
     /apollo/modules/audio
 
-COPY \
-    --from=apollo_yolov4_volume \
-    --chown=${DOCKER_USER_ID}:${DOCKER_GRP_ID} \
+COPY --from=apollo_yolov4_volume \
     /apollo/modules/perception/camera/lib/obstacle/detector/yolov4 \
     /apollo/modules/perception/camera/lib/obstacle/detector/yolov4
 
-COPY \
-    --from=apollo_faster_rcnn_volume \
-    --chown=${DOCKER_USER_ID}:${DOCKER_GRP_ID} \
+COPY --from=apollo_faster_rcnn_volume \
     /apollo/modules/perception/production/data/perception/camera/models/traffic_light_detection \
     /apollo/modules/perception/production/data/perception/camera/models/traffic_light_detection
 
-COPY \
-    --from=apollo_smoke_volume \
-    --chown=${DOCKER_USER_ID}:${DOCKER_GRP_ID} \
+COPY --from=apollo_smoke_volume \
     /apollo/modules/perception/production/data/perception/camera/models/yolo_obstacle_detector \
     /apollo/modules/perception/production/data/perception/camera/models/yolo_obstacle_detector
 
-RUN /apollo/scripts/docker_start_user.sh
+COPY --from=sunnyvale_big_loop_volume \
+    /apollo/modules/map/data/sunnyvale_big_loop \
+    /apollo/modules/map/data/sunnyvale_big_loop
+
+COPY --from=sunnyvale_loop_volume \
+    /apollo/modules/map/data/sunnyvale_loop \
+    /apollo/modules/map/data/sunnyvale_loop
+
+COPY --from=sunnyvale_with_two_offices_volume \
+    /apollo/modules/map/data/sunnyvale_with_two_offices \
+    /apollo/modules/map/data/sunnyvale_with_two_offices
+
+COPY --from=san_mateo_volume \
+    /apollo/modules/map/data/san_mateo \
+    /apollo/modules/map/data/san_mateo

docker/build/standalone.x86_64.sh

@@ -3,10 +3,6 @@
 # Copyright (c) 2021 LG Electronics, Inc. All Rights Reserved
 
 DOCKER_REPO=apolloauto/apollo
-DOCKER_USER=apollo
-DOCKER_USER_ID=1001
-DOCKER_GRP=apollo
-DOCKER_GRP_ID=1001
 TARGET_ARCH=x86_64
 IMAGE_VERSION=18.04-20210517_1712
 DEV_IMAGE=${DOCKER_REPO}:dev-${TARGET_ARCH}-${IMAGE_VERSION}
@@ -51,17 +47,8 @@ rm -f docker/build/syspkgs.txt
 
 mv output docker/build
 
-mkdir -p docker/build/output/standalone-scripts/docker/scripts
-cp docker/scripts/{runtime_start.sh,runtime_into_standalone.sh,docker_base.sh} docker/build/output/standalone-scripts/docker/scripts
-mkdir -p docker/build/output/standalone-scripts/scripts
-cp scripts/{common.bashrc,apollo_base.sh,apollo.bashrc} docker/build/output/standalone-scripts/scripts
-
 docker build \
     --build-arg BASE_IMAGE=${RUNTIME_IMAGE} \
-    --build-arg DOCKER_USER=${DOCKER_USER} \
-    --build-arg DOCKER_USER_ID=${DOCKER_USER_ID} \
-    --build-arg DOCKER_GRP=${DOCKER_GRP} \
-    --build-arg DOCKER_GRP_ID=${DOCKER_GRP_ID} \
     -f docker/build/standalone.x86_64.dockerfile \
     docker/build/ \
     -t ${STANDALONE_IMAGE}
@@ -69,7 +56,6 @@ docker build \
 docker tag ${STANDALONE_IMAGE} ${STANDALONE_IMAGE_LATEST}
 
 /bin/echo -e "Docker image with prebuilt files was built and tagged as ${STANDALONE_IMAGE}, you can start it with: \n\
-  cd docker/build/output/standalone-scripts
-  RUNTIME_STANDALONE_USER=${DOCKER_USER} RUNTIME_STANDALONE_GROUP=${DOCKER_GRP} RUNTIME_STANDALONE_UID=${DOCKER_USER_ID} RUNTIME_STANDALONE_GID=${DOCKER_GRP_ID} docker/scripts/runtime_start.sh --standalone --local --tag standalone-${TARGET_ARCH}-${IMAGE_VERSION}\n\
+  bash docker/scripts/runtime_start.sh --standalone --local --tag standalone-${TARGET_ARCH}-${IMAGE_VERSION}\n\
 and switch into it with:\n\
-  RUNTIME_STANDALONE_USER=${DOCKER_USER} docker/scripts/runtime_into_standalone.sh"
+  bash docker/scripts/runtime_into_standalone.sh"

docker/scripts/runtime_into_standalone.sh

@@ -15,13 +15,11 @@
 # limitations under the License.
 ###############################################################################
 
-DOCKER_USER="${USER}"
 RUNTIME_CONTAINER="apollo_runtime_standalone_${USER}"
-[ -n "${RUNTIME_STANDALONE_USER}" ] && DOCKER_USER="${RUNTIME_STANDALONE_USER}"
 
 xhost +local:root 1>/dev/null 2>&1
 
-docker exec -u "${DOCKER_USER}" \
+docker exec -u "${USER}" \
     -it "${RUNTIME_CONTAINER}" \
     /bin/bash
 

docker/scripts/runtime_start.sh

@@ -159,7 +159,6 @@ function check_host_environment() {
     if [[ -f "${CURR_DIR}/dev_start.sh" ]]; then
         warning "${CURR_DIR}/dev_start.sh detected."
         warning "Apollo Runtime Docker is expected to run with release builds."
-        exit 3
     fi
 }
 
@@ -170,7 +169,11 @@ function setup_devices_and_mount_local_volumes() {
     setup_device
 
     local volumes=""
-    $RUNTIME_STANDALONE || volumes="-v ${APOLLO_ROOT_DIR}:/apollo"
+    if $RUNTIME_STANDALONE; then
+        volumes="-v ${APOLLO_ROOT_DIR}/data:/apollo/data"
+    else
+        volumes="-v ${APOLLO_ROOT_DIR}:/apollo"
+    fi
 
     local os_release="$(lsb_release -rs)"
     case "${os_release}" in
@@ -340,12 +343,6 @@ function main() {
     local docker_group="$(id -g -n)"
     local docker_gid="$(id -g)"
 
-    if $RUNTIME_STANDALONE; then
-        [ -n "${RUNTIME_STANDALONE_USER}" ] && docker_user="${RUNTIME_STANDALONE_USER}"
-        [ -n "${RUNTIME_STANDALONE_UID}" ] && docker_uid="${RUNTIME_STANDALONE_UID}"
-        [ -n "${RUNTIME_STANDALONE_GROUP}" ] && docker_group="${RUNTIME_STANDALONE_GROUP}"
-        [ -n "${RUNTIME_STANDALONE_GID}" ] && docker_gid="${RUNTIME_STANDALONE_GID}"
-    fi
     set -x
     ${DOCKER_RUN_CMD} -itd \
         --privileged \
@@ -362,7 +359,6 @@ function main() {
         -e NVIDIA_DRIVER_CAPABILITIES=compute,video,graphics,utility \
         ${MAP_VOLUMES_CONF} \
         ${OTHER_VOLUMES_CONF} \
-        ${LOCAL_VOLUMES_CONF} \
         ${local_volumes} \
         --net host \
         -w /apollo \
@@ -383,6 +379,8 @@ function main() {
 
     postrun_start_user ${RUNTIME_CONTAINER}
 
+    $RUNTIME_STANDALONE && docker exec -u root "${RUNTIME_CONTAINER}" bash -c "chown -R ${docker_uid}:${docker_gid} /apollo"
+
     ok "Congratulations! You have successfully finished setting up Apollo Runtime Environment."
     ok "To login into the newly created ${RUNTIME_CONTAINER} container, please run the following command:"
     $RUNTIME_STANDALONE || ok "  bash docker/scripts/runtime_into.sh"

docs/demo_guide/BUILD

+load("//tools/install:install.bzl", "install")
+
+package(
+    default_visibility = ["//visibility:public"],
+)
+
+install(
+    name = "install",
+    data = [
+        ":record_helper",
+    ],
+)
+
+filegroup(
+    name = "record_helper",
+    srcs = [
+        "record_helper.py",
+    ],
+)

modules/map/BUILD

 load("//tools/install:install.bzl", "install")
+
 package(
     default_visibility = ["//visibility:public"],
 )
@@ -6,6 +7,7 @@ package(
 install(
     name = "install",
     deps = [
+        "//modules/map/data:install",
         "//modules/map/tools:install",
     ],
 )

modules/map/data/BUILD

+load("//tools/install:install.bzl", "install")
+
 package(default_visibility = ["//visibility:public"])
 
+install(
+    name = "install",
+    data = [
+        ":demo",
+        ":borregas_ave",
+    ],
+)
+
 filegroup(
     name = "map_sunnyvale_big_loop",
     testonly = True,
@@ -15,3 +25,17 @@ filegroup(
         "sunnyvale_loop/**",
     ]),
 )
+
+filegroup(
+    name = "demo",
+    srcs = glob([
+        "demo/**",
+    ])
+)
+
+filegroup(
+    name = "borregas_ave",
+    srcs = glob([
+        "borregas_ave/**",
+    ])
+)

modules/tools/BUILD

@@ -9,5 +9,6 @@ install(
     deps = [
         "//modules/tools/create_map:install",
         "//modules/tools/map_gen:install",
+        "//modules/tools/visualizer:install",
     ],
 )

modules/tools/visualizer/BUILD

 load("@rules_cc//cc:defs.bzl", "cc_binary")
 load("//third_party/qt5:qt.bzl", "qt_cc_library")
+load("//tools/install:install.bzl", "install")
 
 package(default_visibility = ["//visibility:public"])
 
+install(
+    name = "install",
+    targets = [
+        ":cyber_visualizer",
+    ],
+    deps = [
+        "//cyber:install",
+    ],
+)
+
 cc_binary(
     name = "cyber_visualizer",
     copts = [

scripts/apollo_release.sh

@@ -101,6 +101,9 @@ function generate_solibs() {
             -exec bash -c 'retrieve_so_deps "$0"' {} \
                 >> ${listing} \;
     done
+    find /usr/local/qt5/ -name "*.so" -exec bash -c 'retrieve_so_deps "$0"' {}  \
+            >> ${listing} \;
+
     cat ${listing} | sort -u
 }