apollo.sh

#! /usr/bin/env bash
set -e

TOP_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd -P)"
source "${TOP_DIR}/scripts/apollo.bashrc"

ARCH="$(uname -m)"
SUPPORTED_ARCHS=" x86_64 aarch64 "
APOLLO_VERSION="@non-git"
APOLLO_ENV=""

USE_ESD_CAN=false
: ${STAGE:=dev}

AVAILABLE_COMMANDS="config build build_dbg build_opt build_cpu build_gpu build_opt_gpu test coverage lint \
                    buildify check build_fe build_teleop build_prof doc clean format usage -h --help"

function check_architecture_support() {
    if [[ "${SUPPORTED_ARCHS}" != *" ${ARCH} "* ]]; then
        error "Unsupported CPU arch: ${ARCH}. Currently, Apollo only" \
            "supports running on the following CPU archs:"
        error "${TAB}${SUPPORTED_ARCHS}"
        exit 1
    fi
}

function check_platform_support() {
    local platform="$(uname -s)"
    if [[ "${platform}" != "Linux" ]]; then
        error "Unsupported platform: ${platform}."
        error "${TAB}Apollo is expected to run on Linux systems (E.g., Debian/Ubuntu)."
        exit 1
    fi
}

function check_minimal_memory_requirement() {
    local minimal_mem_gb="2.0"
    local actual_mem_gb="$(free -m | awk '/Mem:/ {printf("%0.2f", $2 / 1024.0)}')"
    if (($(echo "$actual_mem_gb < $minimal_mem_gb" | bc -l))); then
        warning "System memory [${actual_mem_gb}G] is lower than the minimum required" \
            "[${minimal_mem_gb}G]. Apollo build could fail."
    fi
}

function determine_esdcan_use() {
    local esdcan_dir="${APOLLO_ROOT_DIR}/third_party/can_card_library/esd_can"
    local use_esd=false
    if [[ "${ARCH}" == "x86_64" ]] &&
        [[ -f "${esdcan_dir}/include/ntcan.h" ]] &&
        [[ -f "${esdcan_dir}/lib/libntcan.so.4" ]]; then
        use_esd=true
    fi
    USE_ESD_CAN="${use_esd}"
}

function check_apollo_version() {
    local branch="$(git_branch)"
    if [ "${branch}" == "${APOLLO_VERSION}" ]; then
        return
    fi
    local sha1="$(git_sha1)"
    local stamp="$(git_date)"
    APOLLO_VERSION="${branch}-${stamp}-${sha1}"
}

function apollo_env_setup() {
    check_apollo_version

    check_architecture_support
    check_platform_support
    check_minimal_memory_requirement
    setup_gpu_support
    determine_esdcan_use

    APOLLO_ENV="STAGE=${STAGE}"
    APOLLO_ENV="${APOLLO_ENV} USE_ESD_CAN=${USE_ESD_CAN}"
    # Add more here ...

    info "${BLUE}Apollo Environment Settings:${NO_COLOR}"
    info "${TAB}APOLLO_ROOT_DIR:   ${GREEN}${APOLLO_ROOT_DIR}${NO_COLOR}"
    info "${TAB}APOLLO_CACHE_DIR:  ${GREEN}${APOLLO_CACHE_DIR}${NO_COLOR}"
    info "${TAB}APOLLO_IN_DOCKER:  ${GREEN}${APOLLO_IN_DOCKER}${NO_COLOR}"
    info "${TAB}APOLLO_VERSION:    ${GREEN}${APOLLO_VERSION}${NO_COLOR}"
    if "${APOLLO_IN_DOCKER}"; then
        info "${TAB}DOCKER_IMG:        ${GREEN}${DOCKER_IMG##*:}${NO_COLOR}"
    fi
    info "${TAB}APOLLO_ENV:        ${GREEN}${APOLLO_ENV}${NO_COLOR}"
    info "${TAB}USE_GPU_HOST:      ${GREEN}${USE_GPU_HOST}${NO_COLOR}"
    info "${TAB}USE_GPU_TARGET:    ${GREEN}${USE_GPU_TARGET}${NO_COLOR}"
    info "${TAB}GPU_PLATFORM:      ${GREEN}${GPU_PLATFORM}${NO_COLOR}"

    if [[ -z "${APOLLO_BAZEL_DIST_DIR}" ]]; then
        source "${TOP_DIR}/cyber/setup.bash"
    fi
    if [[ ! -d "${APOLLO_BAZEL_DIST_DIR}" ]]; then
        mkdir -p "${APOLLO_BAZEL_DIST_DIR}"
    fi

    env ${APOLLO_ENV} bash "${APOLLO_ROOT_DIR}/scripts/apollo_config.sh" --noninteractive
}

#TODO(all): Update node modules
function build_dreamview_frontend() {
    pushd "${APOLLO_ROOT_DIR}/modules/dreamview/frontend" >/dev/null
    yarn build
    popd >/dev/null
}

function build_test_and_lint() {
    env ${APOLLO_ENV} bash "${build_sh}"
    env ${APOLLO_ENV} bash "${test_sh}" --config=unit_test
    env ${APOLLO_ENV} bash "${APOLLO_ROOT_DIR}/scripts/apollo_lint.sh" --cpp
    success "Build and Test and Lint finished."
}

function _usage() {
    echo -e "\n${RED}Usage${NO_COLOR}:
    .${BOLD}/apollo.sh${NO_COLOR} [OPTION]"
    echo -e "\n${RED}Options${NO_COLOR}:
    ${BLUE}config [options]${NO_COLOR}: config bazel build environment either non-interactively (default) or interactively.
    ${BLUE}build [module]${NO_COLOR}: run build for cyber (<module> = cyber) or modules/<module>.  If <module> unspecified, build all.
    ${BLUE}build_dbg [module]${NO_COLOR}: run debug build.
    ${BLUE}build_opt [module]${NO_COLOR}: run optimized build.
    ${BLUE}build_cpu [module]${NO_COLOR}: build in CPU mode. Equivalent to 'bazel build --config=cpu'
    ${BLUE}build_gpu [module]${NO_COLOR}: run build in GPU mode. Equivalent to 'bazel build --config=gpu'
    ${BLUE}build_nvidia [module]${NO_COLOR}: run build in GPU mode for NVIDIA GPU target. Equivalent to 'bazel build --config=gpu --config=nvidia'
    ${BLUE}build_amd [module]${NO_COLOR}: run build in GPU mode for AMD GPU target. Equivalent to 'bazel build --config=gpu --config=amd'
    ${BLUE}build_opt_gpu [module]${NO_COLOR}: optimized build in GPU mode. Equivalent to 'bazel build --config=opt --config=gpu'
    ${BLUE}build_opt_nvidia [module]${NO_COLOR}: optimized build in GPU mode for NVIDIA GPU target. Equivalent to 'bazel build --config=opt --config=gpu --config=nvidia'
    ${BLUE}build_opt_amd [module]${NO_COLOR}: optimized build in GPU mode for AMD GPU target. Equivalent to 'bazel build --config=opt --config=gpu --config=amd'
    ${BLUE}test [module]${NO_COLOR}: run unittest for cyber (module='cyber') or modules/<module>. If unspecified, test all.
    ${BLUE}coverage [module]${NO_COLOR}: run coverage test for cyber (module='cyber') or modules/<module>. If unspecified, coverage all.
    ${BLUE}lint${NO_COLOR}: run code style check
    ${BLUE}buildify${NO_COLOR}: run 'buildifier' to fix style of bazel files.
    ${BLUE}check${NO_COLOR}: run build, test and lint on all modules. Recommmened before checking in new code.
    ${BLUE}build_fe${NO_COLOR}: compile frontend JS code for Dreamview. Requires all node_modules pre-installed.
    ${BLUE}build_teleop${NO_COLOR}: run build with teleop enabled.
    ${BLUE}build_prof [module]${NO_COLOR}: build with perf profiling support. Not implemented yet.
    ${BLUE}doc${NO_COLOR}: generate doxygen document
    ${BLUE}release${NO_COLOR}: build Apollo binary releases
    ${BLUE}clean${NO_COLOR}: cleanup bazel output and log/coredump files
    ${BLUE}format${NO_COLOR}: format C++/Python/Bazel/Shell files
    ${BLUE}usage${NO_COLOR}: show this message and exit
    "
}

function _check_command() {
    local name="${BASH_SOURCE[0]}"
    local commands="$(echo ${AVAILABLE_COMMANDS} | xargs)"
    local help_msg="Run './apollo.sh --help' for usage."
    local cmd="$@"

    python scripts/command_checker.py --name "${name}" --command "${cmd}" --available "${commands}" --helpmsg "${help_msg}"
}

function check_config_cpu() {
    if [[ $* == *--config?cpu* ]] ; then
        export USE_GPU_TARGET="0"
    fi
}


function main() {
    if [ "$#" -eq 0 ]; then
        _usage
        exit 0
    fi

    check_config_cpu "$@"
    apollo_env_setup

    local build_sh="${APOLLO_ROOT_DIR}/scripts/apollo_build.sh"
    local test_sh="${APOLLO_ROOT_DIR}/scripts/apollo_test.sh"
    local coverage_sh="${APOLLO_ROOT_DIR}/scripts/apollo_coverage.sh"
    local ci_sh="${APOLLO_ROOT_DIR}/scripts/apollo_ci.sh"

    local cmd="$1"
    shift
    case "${cmd}" in
        config)
            env ${APOLLO_ENV} bash "${APOLLO_ROOT_DIR}/scripts/apollo_config.sh" "$@"
            ;;
        build)
            env ${APOLLO_ENV} bash "${build_sh}" "$@"
            ;;
        build_opt)
            env ${APOLLO_ENV} bash "${build_sh}" --config=opt "$@"
            ;;
        build_dbg)
            env ${APOLLO_ENV} bash "${build_sh}" --config=dbg "$@"
            ;;
        build_cpu)
            env ${APOLLO_ENV} bash "${build_sh}" --config=cpu "$@"
            ;;
        build_gpu)
            env ${APOLLO_ENV} bash "${build_sh}" --config=gpu "$@"
            ;;
        build_nvidia)
            env ${APOLLO_ENV} bash "${build_sh}" --config=gpu --config=nvidia "$@"
            ;;
        build_amd)
            env ${APOLLO_ENV} bash "${build_sh}" --config=gpu --config=amd "$@"
            ;;
        build_opt_gpu)
            env ${APOLLO_ENV} bash "${build_sh}" --config=opt --config=gpu "$@"
            ;;
        build_opt_nvidia)
            env ${APOLLO_ENV} bash "${build_sh}" --config=opt --config=gpu --config=nvidia "$@"
            ;;
        build_opt_amd)
            env ${APOLLO_ENV} bash "${build_sh}" --config=opt --config=gpu --config=amd "$@"
            ;;
        build_prof)
            env ${APOLLO_ENV} bash "${build_sh}" --config=prof "$@"
            ;;
        build_teleop)
            env ${APOLLO_ENV} bash "${build_sh}" --config=teleop "$@"
            ;;
        build_fe)
            build_dreamview_frontend
            ;;
        test)
            env ${APOLLO_ENV} bash "${test_sh}" --config=unit_test "$@"
            ;;
        coverage)
            env ${APOLLO_ENV} bash "${coverage_sh}" "$@"
            ;;
        cibuild)
            env ${APOLLO_ENV} bash "${ci_sh}" "build"
            ;;
        citest)
            env ${APOLLO_ENV} bash "${ci_sh}" "test"
            ;;
        cilint)
            env ${APOLLO_ENV} bash "${ci_sh}" "lint"
            ;;
        check)
            build_test_and_lint
            ;;
        buildify)
            env ${APOLLO_ENV} bash "${APOLLO_ROOT_DIR}/scripts/apollo_buildify.sh"
            ;;
        lint)
            env ${APOLLO_ENV} bash "${APOLLO_ROOT_DIR}/scripts/apollo_lint.sh" "$@"
            ;;
        clean)
            env ${APOLLO_ENV} bash "${APOLLO_ROOT_DIR}/scripts/apollo_clean.sh" "$@"
            ;;
        release)
            env ${APOLLO_ENV} bash "${APOLLO_ROOT_DIR}/scripts/apollo_release.sh" "$@"
            ;;
        doc)
            env ${APOLLO_ENV} bash "${APOLLO_ROOT_DIR}/scripts/apollo_docs.sh" "$@"
            ;;
        format)
            env ${APOLLO_ENV} bash "${APOLLO_ROOT_DIR}/scripts/apollo_format.sh" "$@"
            ;;
        usage)
            _usage
            ;;
        -h|--help)
            _usage
            ;;
        *)
            _check_command "${cmd}"
            ;;
    esac
}

main "$@"