fix: aem and lidar driver bugfix

- cyber:
	 - 24dc9440e8 fix(aem): fix aem-enter and gtsam,openss install
- docs:
	 - 15727616bc fix(docs): add calibration document supplement
- drivers:
	 - 355937ba82 fix(lidar): fix lslidar driver
	 - 4e675ff980 Commit code for CXZL gnss module (#15558)

Signed-off-by: wangchuang03 <[email protected]>
Change-Id: Ic922257c66adc045259853ba13c104cca4054f72

Author: wangchuang03

aem/aem-bootstrap

@@ -45,13 +45,15 @@ Options:
 
 start() {
   local use_origin_dv=0
+  local log_subfix=""
   if [[ -z "${APOLLO_DISTRIBUTION_VERSION}" ]]; then
     warn "APOLLO_DISTRIBUTION_VERSION is not set. fallback to 8.0"
     buildtool bootstrap start dreamview-dev
     buildtool bootstrap start monitor-dev
   else
     case "$1" in
       --plus)
+        log_subfix="_plus"
         buildtool bootstrap start dreamview_plus
         buildtool bootstrap start monitor
         ;;
@@ -75,7 +77,7 @@ start() {
   if [[ "${http_status}" == 200 ]]; then
     info "dreamview is started at ${dv_full_url}"
   else
-    error "failed to start dreamview, please check the logs ( ${APOLLO_ENV_ROOT}/opt/apollo/neo/data/log/dreamview.log or ${APOLLO_ENV_ROOT}/opt/apollo/neo/data/log/monitor.log ) for more details."
+    error "failed to start dreamview, please check the logs ( data/log/dreamview${log_subfix}.INFO or data/log/monitor.INFO ) for more details."
   fi
 }
 

aem/aem-enter

@@ -59,6 +59,9 @@ execute() {
 
   parse_arguments "$@"
 
+  # compatible for versions before 10.0
+  export APOLLO_ENV_CONTAINER_NAME="${APOLLO_ENV_CONTAINER_PREFIX}${APOLLO_ENV_NAME}"
+
   [[ -f "${APOLLO_ENVS_ROOT}/${APOLLO_ENV_NAME}/env.config" ]] && set -a && source "${APOLLO_ENVS_ROOT}/${APOLLO_ENV_NAME}/env.config" && set +a
 
   apollo_enter_env

aem/ansible/roles/legacy_scripts/files/installers/install_gtsam.sh

@@ -41,7 +41,7 @@ PATCHES=(
 )
 
 src_prepare_pre() {
-  # apt_get_update_and_install libboost-all-dev
+  apt_get_update_and_install libboost-all-dev
   apt_get_update_and_install apollo-neo-3rd-boost
   # TODO: pack to 3rd-boost release tarball
   boost_cmake_files_url='https://apollo-system.cdn.bcebos.com/archive/10.0/3rd-boost_1.74.0_cmake_files.tar.gz'

aem/ansible/roles/legacy_scripts/files/installers/install_openssl.sh

@@ -45,6 +45,10 @@ src_configure() {
   popd
 }
 
+pkg_install() {
+  :
+}
+
 pkg_install_post() {
   if [[ -d "${INSTALL_PREFIX}/lib64" ]] && [[ ! -e "${INSTALL_PREFIX}/lib" ]]; then
     ln -snf lib64 "${INSTALL_PREFIX}/lib"

aem/env.sh

@@ -23,7 +23,7 @@ else
   export AEM_HOME=${AEM_HOME:-$(dirname $(realpath $0))}
 fi
 export AEM_SYS_SHARE=${AEM_SYS_SHARE:-${AEM_HOME}/share/aem}
-export AEM_VERSION='10.0.0-rc1-r3'
+export AEM_VERSION='10.0.0-rc1-r4'
 
 export APOLLO_ENVS_ROOT=${APOLLO_ENVS_ROOT:-${HOME}/.aem/envs}
 export APOLLO_ENV_NAME="${USER}"

docs/工具使用/标定工具/动力学标定.md

@@ -10,8 +10,10 @@
 
 ## 模块启动依赖
 
-标定工具依赖定位 Localization、GPS 以及 Caubus 模块，标定前请您确保相关模块启动正常。
-
+标定工具依赖定位 Localization、GPS 以及 Caubus 模块，标定前请您确保相关模块启动正常。因为动力学标定依赖tensorflow，请执行以下命令安装tensorflow环境。
+```bash
+pip3 show tensorflow >/dev/null || pip3 install tensorflow==2.11.0 -i https://pypi.tuna.tsinghua.edu.cn/simple
+```
 ## 操作步骤
 
 ### 步骤一：参数确认

docs/工具使用/标定工具/环境配置.md

@@ -77,6 +77,7 @@ camera_calib { # camera标定配置
             lidar_rotation: 0 # lidar点云旋转角度，默认是0度，逆时针为正
             intrinsics_filename: "/apollo/modules/perception/data/params/camera_front_12mm_intrinsics.yaml" # 内参文件路径
             output_filename: "/apollo/modules/perception/data/params/camera_front_12mm_extrinsics.yaml" # 标定结果文件路径(文件要存在并有写入权限)
+            lidar_to_imu_extrinsic_file_path: "/apollo/modules/perception/data/params/lidar16_back_imu_extrinsics.yaml" #lidar-imu外参路径
         },
         {
             name: "camera_front_6mm" # camera名字，前端展示用
@@ -87,6 +88,7 @@ camera_calib { # camera标定配置
             lidar_rotation: 0 # lidar点云旋转角度，默认是0度，逆时针为正
             intrinsics_filename: "/apollo/modules/perception/data/params/camera_front_6mm_intrinsics.yaml" # 内参文件路径
             output_filename: "/apollo/modules/perception/data/params/camera_front_6mm_extrinsics.yaml" # 标定结果文件路径(文件要存在并有写入权限)
+            lidar_to_imu_extrinsic_file_path: "/apollo/modules/perception/data/params/lidar16_back_imu_extrinsics.yaml" #lidar-imu外参路径
         }
     ]
 }

modules/drivers/lidar/common/sync_queue.h

@@ -65,58 +65,46 @@ namespace drivers {
 template <typename T>
 class SyncQueue {
  public:
-    inline size_t push(const T& value) {
-        bool empty = false;
-        size_t size = 0;
-
-        {
-            std::lock_guard<std::mutex> lg(mtx_);
-            empty = queue_.empty();
-            queue_.push(value);
-            size = queue_.size();
-        }
-
-        if (empty)
-            cv_.notify_one();
-        return size;
+  inline size_t push(const T& value) {
+    std::lock_guard<std::mutex> lg(mtx_);
+    queue_.push(value);
+    return queue_.size();
+  }
+
+  inline T pop() {
+    T value;
+
+    std::lock_guard<std::mutex> lg(mtx_);
+    if (!queue_.empty()) {
+      value = queue_.front();
+      queue_.pop();
     }
 
-    inline T pop() {
-        T value;
-
-        std::lock_guard<std::mutex> lg(mtx_);
-        if (!queue_.empty()) {
-            value = queue_.front();
-            queue_.pop();
-        }
-
-        return value;
+    return value;
+  }
+
+  inline bool popWait(T& ret_ele, unsigned int usec = 1000000) {
+    {
+      std::lock_guard<std::mutex> lg(mtx_);
+      if (!queue_.empty()) {
+        ret_ele = queue_.front();
+        queue_.pop();
+        return true;
+      }
     }
+    std::this_thread::sleep_for(std::chrono::microseconds(usec));
+    return false;
+  }
 
-    inline bool popWait(T& ret_ele, unsigned int usec = 1000000) {
-        {
-            std::lock_guard<std::mutex> lg(mtx_);
-            if (!queue_.empty()) {
-                ret_ele = queue_.front();
-                queue_.pop();
-                return true;
-            }
-        }
-
-        std::this_thread::sleep_for(std::chrono::microseconds(1000));
-        return false;
-    }
-
-    inline void clear() {
-        std::queue<T> empty;
-        std::lock_guard<std::mutex> lg(mtx_);
-        swap(empty, queue_);
-    }
+  inline void clear() {
+    std::queue<T> empty;
+    std::lock_guard<std::mutex> lg(mtx_);
+    swap(empty, queue_);
+  }
 
  private:
-    std::queue<T> queue_;
-    std::mutex mtx_;
-    std::condition_variable cv_;
+  std::queue<T> queue_;
+  std::mutex mtx_;
 };
 
 }  // namespace drivers

modules/drivers/lidar/lslidar/component/lslidar_component.cpp

@@ -21,84 +21,86 @@ namespace drivers {
 namespace lslidar {
 
 LslidarComponent::~LslidarComponent() {
-    if (device_thread_->joinable()) {
-        device_thread_->join();
-    }
-    if (pointcloud_convert_thread_->joinable()) {
-        pointcloud_convert_thread_->join();
-    }
+  if (device_thread_->joinable()) {
+    device_thread_->join();
+  }
+  if (pointcloud_convert_thread_->joinable()) {
+    pointcloud_convert_thread_->join();
+  }
 }
 
 bool LslidarComponent::Init() {
-    if (!GetProtoConfig(&conf_)) {
-        AERROR << "load config error, file:" << config_file_path_;
-        return false;
-    }
+  if (!GetProtoConfig(&conf_)) {
+    AERROR << "load config error, file:" << config_file_path_;
+    return false;
+  }
 
-    this->InitBase(conf_.config_base());
+  this->InitBase(conf_.config_base());
 
-    driver::LslidarDriver *driver
-            = driver::LslidarDriverFactory::CreateDriver(conf_);
-    if (!driver) {
-        return false;
-    }
-    dvr_.reset(driver);
-    dvr_->Init();
-    // spawn device poll thread
-    // runing_ = true;
-    device_thread_ = std::shared_ptr<std::thread>(new std::thread(
-            std::bind(&LslidarComponent::DevicePollProcess, this)));
-    pointcloud_convert_thread_ = std::make_shared<std::thread>(
-            &LslidarComponent::ScanQueuePollProcess, this);
+  driver::LslidarDriver *driver =
+      driver::LslidarDriverFactory::CreateDriver(conf_);
+  if (!driver) {
+    return false;
+  }
+  dvr_.reset(driver);
+  dvr_->Init();
+  // spawn device poll thread
+  // runing_ = true;
+  device_thread_ = std::shared_ptr<std::thread>(
+      new std::thread(std::bind(&LslidarComponent::DevicePollProcess, this)));
+  pointcloud_convert_thread_ = std::make_shared<std::thread>(
+      &LslidarComponent::ScanQueuePollProcess, this);
 
-    converter_ = std::make_shared<parser::Convert>();
-    converter_->init(conf_);
+  converter_ = std::make_shared<parser::Convert>();
+  converter_->init(conf_);
 
-    return true;
+  return true;
 }
 
 void LslidarComponent::ReadScanCallback(
-        const std::shared_ptr<LslidarScan> &scan_message) {
-    HandleScanFrame(scan_message);
+    const std::shared_ptr<LslidarScan> &scan_message) {
+  HandleScanFrame(scan_message);
 }
 
 void LslidarComponent::DevicePollProcess() {
-    while (!apollo::cyber::IsShutdown()) {
-        // poll device until end of file
-        std::shared_ptr<LslidarScan> scan
-                = std::make_shared<apollo::drivers::lslidar::LslidarScan>();
+  while (!apollo::cyber::IsShutdown()) {
+    // poll device until end of file
+    std::shared_ptr<LslidarScan> scan =
+        std::make_shared<apollo::drivers::lslidar::LslidarScan>();
 
-        bool ret = dvr_->Poll(scan);
-        if (ret) {
-            common::util::FillHeader("lslidar", scan.get());
-            AINFO << "publish scan!";
-            double time1 = apollo::cyber::Time().Now().ToSecond();
-            this->WriteScan(scan);
-            double time2 = apollo::cyber::Time().Now().ToSecond();
-            AINFO << "apollo::cyber::Time((time2 - time1)"
-                  << apollo::cyber::Time((time2 - time1) / 2.0).ToNanosecond();
-            scan_queue_.push(scan);
-        } else {
-            AWARN << "device poll failed";
-        }
+    bool ret = dvr_->Poll(scan);
+    if (ret) {
+      common::util::FillHeader("lslidar", scan.get());
+      AINFO << "publish scan!";
+      double time1 = apollo::cyber::Time().Now().ToSecond();
+      this->WriteScan(scan);
+      double time2 = apollo::cyber::Time().Now().ToSecond();
+      AINFO << "apollo::cyber::Time((time2 - time1)"
+            << apollo::cyber::Time((time2 - time1) / 2.0).ToNanosecond();
+      scan_queue_.push(scan);
+    } else {
+      AWARN << "device poll failed";
     }
+  }
 
-    AERROR << "CompLslidarDriver thread exit";
+  AERROR << "CompLslidarDriver thread exit";
 }
 
 void LslidarComponent::ScanQueuePollProcess() {
-    std::shared_ptr<LslidarScan> scan_frame;
-    while (!apollo::cyber::IsShutdown() && scan_queue_.popWait(scan_frame)) {
-        HandleScanFrame(scan_frame);
+  std::shared_ptr<LslidarScan> scan_frame;
+  while (!apollo::cyber::IsShutdown()) {
+    if (scan_queue_.popWait(scan_frame)) {
+      HandleScanFrame(scan_frame);
     }
+  }
 }
 
 void LslidarComponent::HandleScanFrame(
-        const std::shared_ptr<LslidarScan> &scan_frame) {
-    std::shared_ptr<apollo::drivers::PointCloud> point_cloud_out
-            = this->AllocatePointCloud();
-    converter_->ConvertPacketsToPointcloud(scan_frame, point_cloud_out);
-    this->WritePointCloud(point_cloud_out);
+    const std::shared_ptr<LslidarScan> &scan_frame) {
+  std::shared_ptr<apollo::drivers::PointCloud> point_cloud_out =
+      this->AllocatePointCloud();
+  converter_->ConvertPacketsToPointcloud(scan_frame, point_cloud_out);
+  this->WritePointCloud(point_cloud_out);
 }
 
 }  // namespace lslidar