Merge pull request #4 from wheelos/docker

update docker build pipeline

Author: daohu527

.flake8

@@ -0,0 +1,4 @@
+[flake8]
+max-line-length = 88
+extend-ignore = E203, W503
+exclude = .git,__pycache__,build,dist

.github/workflows/lint-format.yml

@@ -60,12 +60,12 @@ jobs:
         if: github.event_name == 'pull_request'
         run: |
           echo "Running apollo_lint.sh in diff mode for PR..."
-          ${{ github.workspace }}/scripts/ci/apollo_ci.sh --all --diff origin/${{ github.base_ref }}
+          ${{ github.workspace }}/scripts/ci/apollo_lint.sh --all --diff origin/${{ github.base_ref }}
         env:
           GITHUB_BASE_REF: ${{ github.base_ref }}
 
       - name: Run Lint and Format Checks (Push Full Mode)
         if: github.event_name == 'push' && github.ref == 'refs/heads/main'
         run: |
           echo "Running apollo_lint.sh in full mode for push to main branch..."
-          ${{ github.workspace }}/scripts/ci/apollo_ci.sh --all
+          ${{ github.workspace }}/scripts/ci/apollo_lint.sh --all

.vscode/settings.json

@@ -5,9 +5,9 @@
   "editor.formatOnSave": true,
   "editor.formatOnPaste": true,
   "editor.codeActionsOnSave": {
-    "source.fixAll": true,
-    "source.fixAll.eslint": true,
-    "source.organizeImports": true
+    "source.fixAll": "explicit",
+    "source.fixAll.eslint": "explicit",
+    "source.organizeImports": "explicit"
   },
   "files.trimTrailingWhitespace": true,
   "files.insertFinalNewline": true,
@@ -25,7 +25,7 @@
   "editor.bracketPairColorization.enabled": true,
   "editor.guides.bracketPairs": "active",
   "editor.renderWhitespace": "boundary",
-  "editor.cursorSmoothCaretAnimation": true,
+  "editor.cursorSmoothCaretAnimation": "on",
   "editor.smoothScrolling": true,
   "editor.fontSize": 14,
   // ——————————————————————
@@ -69,7 +69,11 @@
   // Markdown
   "[markdown]": {
     "editor.wordWrap": "on",
-    "editor.quickSuggestions": true
+    "editor.quickSuggestions": {
+      "comments": "on",
+      "strings": "on",
+      "other": "on"
+    }
   },
   // Python (Black uses 88)
   "[python]": {

MODULE.bazel

@@ -11,6 +11,12 @@ bazel_dep(name = "rules_pkg", version = "0.10.1")
 bazel_dep(name = "rules_proto", version = "6.0.2")
 bazel_dep(name = "rules_python", version = "0.34.0")
 
+# TODO: Keep the version of Python toolchain consistent with Docker.
+# Note whether there is any duplication with .apollo.bazelrc?
+python = use_extension("@rules_python//python/extensions:python.bzl", "python")
+python.defaults(python_version = "3.8")
+python.toolchain(python_version = "3.8")
+
 # boost
 bazel_dep(name = "boost.bind", version = "1.87.0")
 bazel_dep(name = "boost.array", version = "1.87.0")

README.md

@@ -1,12 +1,16 @@
 # Welcome to Apollo's GitHub page!
 
-[Apollo-Lite](https://github.com/wheelos/apollo-lite) is a high-performance, flexible architecture accelerating the development, testing, and deployment of Autonomous Vehicles.
+[Apollo-Lite](https://github.com/wheelos/apollo-lite) is a high-performance,
+flexible architecture accelerating the development, testing, and deployment of
+Autonomous Vehicles.
 
 ---
-> We choose to go to the moon in this decade and do the other things,
-> not because they are easy, but because they are hard.
+
+> We choose to go to the moon in this decade and do the other things, not
+> because they are easy, but because they are hard.
 >
 > -- John F. Kennedy, 1962
+
 ---
 
 ## Table of Contents
@@ -23,8 +27,12 @@
 
 ## Introduction
 
-Apollo is packed with powerful modules and features designed for autonomous driving development. Before you take it for a spin, please ensure your environment is properly calibrated and configured by following the prerequisites and installation instructions below.
-For a deeper dive, check out Apollo's [architecture overview](http://apollo.auto/docs/architecture_overview.html) to understand its core technologies and platform design.
+Apollo is packed with powerful modules and features designed for autonomous
+driving development. Before you take it for a spin, please ensure your
+environment is properly calibrated and configured by following the prerequisites
+and installation instructions below. For a deeper dive, check out Apollo's
+[architecture overview](http://apollo.auto/docs/architecture_overview.html) to
+understand its core technologies and platform design.
 
 ---
 
@@ -45,9 +53,13 @@ For a deeper dive, check out Apollo's [architecture overview](http://apollo.auto
 ## Quick Start
 
 ### 1. Setup Host Environment
-Run the following scripts in order to prepare your host machine, which will perform the following steps sequentially:
+
+Run the following scripts in order to prepare your host machine, which will
+perform the following steps sequentially:
+
 1. Install Docker (checks if already installed, then proceeds)
-2. Install NVIDIA Container Toolkit (checks if already installed, depends on Docker)
+2. Install NVIDIA Container Toolkit (checks if already installed, depends on
+   Docker)
 3. Perform host system configurations
 
 ```bash
@@ -56,11 +68,12 @@ bash docker/setup_host/setup_host.sh
 ```
 
 ### 2. Start Docker Container
+
 Download and start the Apollo container image (only needs to be done once):
 
 ```bash
-# docker pull & start
-bash docker/scripts/dev_start.sh
+# docker pull & start testing
+bash docker/scripts/dev_start.sh -d testing
 ```
 
 Enter the running container environment in subsequent sessions with:
@@ -70,17 +83,13 @@ Enter the running container environment in subsequent sessions with:
 bash docker/scripts/dev_into.sh
 ```
 
-### 3. Build Apollo
-
-Inside the container, install build dependencies:
+Setting Environment Variables
 
 ```bash
-# update bazel & gcc
-sudo bash docker/build/installers/install_bazel.sh
-sudo bash docker/build/installers/install_gcc.sh
+source cyber/setup.bash
 ```
 
-> **Note:** Current container image does not have the latest Bazel and GCC. You need to manually install/upgrade them. Future container versions will include these by default.
+### 3. Build Apollo
 
 Build the entire Apollo project with:
 
@@ -100,16 +109,19 @@ To build a single module, use:
 
 ## Copyright and License
 
-Apollo is licensed under the [Apache License 2.0](LICENSE). Please adhere to the licensing terms when using or contributing to this project.
+Apollo is licensed under the [Apache License 2.0](LICENSE). Please adhere to the
+licensing terms when using or contributing to this project.
 
 ---
 
 ## Connect with us
 
 - ⭐ Star and Fork to support the project!
-- 💬 Join our [community discussion group](http://apollo.auto/community) to chat with developers.
+- 💬 Join our [community discussion group](http://apollo.auto/community) to chat
+  with developers.
 - 📧 For collaboration or business inquiries, contact: [email protected]
 
 ---
 
-Thank you for being part of Apollo's journey towards autonomous driving innovation!
+Thank you for being part of Apollo's journey towards autonomous driving
+innovation!

cyber/BUILD

@@ -32,7 +32,7 @@ install(
         #"cyber/proto/py_pb2.BUILD": "BUILD",
     },
     deps = [
-        "//cyber/python/cyber_py3:cyber_python_library",
+        # "//cyber/python/cyber_py3:cyber_python_library",
         #"//cyber/proto:pb_cyber",
         #"//cyber/proto:cyber_proto_hdrs",
         #"//cyber/proto:cyber_proto_so",

cyber/python/cyber_py3/BUILD

@@ -1,19 +1,33 @@
 load("@rules_python//python:defs.bzl", "py_library")
-load("//tools/install:install.bzl", "install", "install_files")
+load("@rules_python//python:packaging.bzl", "py_package", "py_wheel", "py_wheel_dist")
 
 package(default_visibility = ["//visibility:public"])
 
-filegroup(
-    name = "runtime_files",
-    srcs = glob([
-        "*.py",
-    ]) + ["cyber_py3.BUILD"]
+
+py_wheel(
+  name = "cyber_wheel",
+  distribution = "pycyber",
+  version = "0.1.0",
+  python_tag = "py3",
+  deps = [":cyber_pkg"],
+)
+
+py_wheel_dist(
+  name = "cyber_dist",
+  wheel = ":cyber_wheel",
+  out = "dist",
 )
 
-install(
-    name = "cyber_python_library",
-    data = [":runtime_files"],
-    data_dest = "cyber/python/cyber/python/cyber_py3"
+py_package(
+  name = "cyber_pkg",
+  packages = ["pycyber"],
+  deps = [
+    ":cyber",
+    ":cyber_time",
+    ":cyber_timer",
+    ":parameter",
+    ":record",
+  ],
 )
 
 py_library(
@@ -22,6 +36,7 @@ py_library(
     data = [
         "//cyber/python/internal:_cyber_time_wrapper.so",
         "//cyber/python/internal:_cyber_wrapper.so",
+        "@fastrtps",
     ],
 )
 
@@ -30,6 +45,7 @@ py_library(
     srcs = ["cyber_timer.py"],
     data = [
         "//cyber/python/internal:_cyber_timer_wrapper.so",
+        "@fastrtps",
     ],
 )
 
@@ -38,6 +54,7 @@ py_library(
     srcs = ["cyber.py"],
     data = [
         "//cyber/python/internal:_cyber_wrapper.so",
+        "@fastrtps",
     ],
 )
 
@@ -46,6 +63,7 @@ py_library(
     srcs = ["parameter.py"],
     data = [
         "//cyber/python/internal:_cyber_parameter_wrapper.so",
+        "@fastrtps",
     ],
 )
 
@@ -54,5 +72,6 @@ py_library(
     srcs = ["record.py"],
     data = [
         "//cyber/python/internal:_cyber_record_wrapper.so",
+        "@fastrtps",
     ],
 )

cyber/python/cyber_py3/cyber_py3.BUILD

@@ -42,7 +42,7 @@ def test_listener_class():
     test_node.spin()
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     cyber.init()
     test_listener_class()
     cyber.shutdown()

cyber/python/cyber_py3/examples/listener.py

@@ -27,11 +27,18 @@ for entry in "${mainboard_path}" \
 done
 pathprepend "${HOME}/.local/bin" PATH
 
-pathprepend "${APOLLO_ROOT_DIR}" PYTHONPATH
+# pathprepend "${APOLLO_ROOT_DIR}" PYTHONPATH
+
+# Set up the Python environment
+# For cyber python
 pathprepend "${bazel_bin_path}" PYTHONPATH
-pathprepend ${bazel_bin_path}/cyber/python/internal PYTHONPATH
-pathprepend "${PYTHON_INSTALL_PATH}/lib/python${PYTHON_VERSION}/site-packages" PYTHONPATH
-pathprepend "${PYTHON_INSTALL_PATH}/bin/" PATH
+# For cyber c++ wrap so
+pathprepend "${bazel_bin_path}/cyber/python/internal" PYTHONPATH
+# For common_msgs
+pathprepend "${bazel_bin_path}/modules" PYTHONPATH
+
+# for protobuf python
+export PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python
 
 export CYBER_DOMAIN_ID=80
 export CYBER_IP=127.0.0.1