Merge pull request #11 from wheelos/update

Update

Author: daohu527

docker/build/installers/install_libtorch.sh

@@ -133,6 +133,10 @@ function install_libtorch_cpp() {
     download_if_not_cached "${pkg_filename}" "${pkg_checksum}" "${pkg_uri}"
     mkdir -p /usr/local/libtorch
     tar -xzf "${pkg_filename}" -C /usr/local/libtorch --strip-components=1
+
+    # Add runtime library path
+    ensure_ld_path "/usr/local/libtorch/lib"
+
     rm -rf "${pkg_filename}"
 
     ldconfig

docker/scripts/dev_start.sh

@@ -59,17 +59,17 @@ TIMEZONE_CN=(
 
 # --- Constants: Container Resources ---
 # Resource limits (can be overridden by environment variables)
-DOCKER_CPUS="${DOCKER_CPUS:-6}"
+DOCKER_CPUS="${DOCKER_CPUS:-8}"
 DOCKER_MEMORY="${DOCKER_MEMORY:-8g}"
 
 # --- Constants: Image Name and Versions ---
 # Default development image versions based on architecture and distribution
 # can be overridden by environment variables.
-DOCKER_IMAGE_REPO=${DOCKER_IMAGE_REPO:="apolloauto/apollo"}
+DOCKER_IMAGE_REPO=${DOCKER_IMAGE_REPO:="wheelos/apollo"}
 WHL_DOCKER_IMAGE_REPO=${WHL_DOCKER_IMAGE_REPO:="wheelos"}
-DOCKER_IMAGE_TAG_X86_64=${DOCKER_IMAGE_TAG_X86_64:="dev-x86_64-18.04-20221124_1708"}
+DOCKER_IMAGE_TAG_X86_64=${DOCKER_IMAGE_TAG_X86_64:="dev-x86_64-20.04-20250713_1555"}
 DOCKER_IMAGE_TAG_X86_64_TESTING=${DOCKER_IMAGE_TAG_X86_64_TESTING:="dev-x86_64-20.04-20250710_2109"}
-DOCKER_IMAGE_TAG_AARCH64=${DOCKER_IMAGE_TAG_AARCH64:="dev-aarch64-20.04-20231024_1054"}
+DOCKER_IMAGE_TAG_AARCH64=${DOCKER_IMAGE_TAG_AARCH64:="dev-aarch64-20.04-20250714_2123"}
 
 # --- Script Global Variables (Modified by arguments/logic) ---
 DOCKER_IMAGE_TAG=${DOCKER_IMAGE_TAG:=""} # Default empty
@@ -561,9 +561,10 @@ function main() {
     )
 
     # Add resource limits (cpus, memory)
+    # TODO(zero): move to CI, --memory will force OOM when the content exceeds the memory limit.
     local resource_opts=(
-        --cpus="${DOCKER_CPUS}"
-        --memory="${DOCKER_MEMORY}"
+        # --cpus="${DOCKER_CPUS}"
+        # --memory="${DOCKER_MEMORY}"
     )
 
     # --- Phase 4: Run the Container ---

modules/canbus/vehicle/vehicle_controller.cc

@@ -127,6 +127,7 @@ ErrorCode VehicleController::Update(const ControlCommand &control_command) {
       driving_mode() == Chassis::AUTO_SPEED_ONLY) {
     Gear(control_command.gear_location());
     Throttle(control_command.throttle());
+    Speed(control_command.speed());
     Acceleration(control_command.acceleration());
     Brake(control_command.brake());
     SetEpbBreak(control_command);

modules/canbus/vehicle/vehicle_controller.h

@@ -125,6 +125,12 @@ class VehicleController {
    */
   virtual void Throttle(double throttle) = 0;
 
+  /*
+   * @brief drive with speed
+   * unit: m/s
+   */
+  virtual void Speed(double speed) {}
+
   /*
    * @brief drive with new acceleration/deceleration:-7.0~7.0, unit:m/s^2,
    * acc:-7.0~7.0, unit:m/s^2

modules/control/controller/BUILD

@@ -79,6 +79,29 @@ cc_library(
     ],
 )
 
+cc_library(
+    name = "lon_speed_controller",
+    srcs = ["lon_speed_controller.cc"],
+    hdrs = ["lon_speed_controller.h"],
+    copts = CONTROL_COPTS,
+    deps = [
+        ":controller_interface",
+        "//cyber",
+        "//modules/common/configs:vehicle_config_helper",
+        "//modules/common/status",
+        "//modules/common_msgs/control_msgs:control_cmd_cc_proto",
+        "//modules/common_msgs/control_msgs:input_debug_cc_proto",
+        "//modules/control/common:control_gflags",
+        "//modules/control/common:leadlag_controller",
+        "//modules/control/common:pid_controller",
+        "//modules/control/common:trajectory_analyzer",
+        "//modules/control/proto:control_conf_cc_proto",
+        "//modules/control/proto:lon_controller_conf_cc_proto",
+        "//modules/localization/common:localization_gflags",
+        "@com_google_absl//absl/strings",
+    ],
+)
+
 cc_library(
     name = "mpc_controller",
     srcs = ["mpc_controller.cc"],
@@ -118,6 +141,7 @@ cc_library(
         ":controller_interface",
         ":lat_controller",
         ":lon_controller",
+        ":lon_speed_controller",
         ":mpc_controller",
         "@eigen",
     ],
@@ -132,6 +156,7 @@ cc_library(
         ":controller_interface",
         ":lat_controller",
         ":lon_controller",
+        ":lon_speed_controller",
         ":mpc_controller",
         "//cyber",
         "//modules/common/util:util_tool",

modules/control/controller/controller_agent.cc

@@ -23,6 +23,7 @@
 #include "modules/control/common/control_gflags.h"
 #include "modules/control/controller/lat_controller.h"
 #include "modules/control/controller/lon_controller.h"
+#include "modules/control/controller/lon_speed_controller.h"
 #include "modules/control/controller/mpc_controller.h"
 
 namespace apollo {
@@ -51,6 +52,11 @@ void ControllerAgent::RegisterControllers(const ControlConf *control_conf) {
             ControlConf::LON_CONTROLLER,
             []() -> Controller * { return new LonController(); });
         break;
+      case ControlConf::LON_SPEED_CONTROLLER:
+        controller_factory_.Register(
+            ControlConf::LON_SPEED_CONTROLLER,
+            []() -> Controller * { return new LonSpeedController(); });
+        break;
       default:
         AERROR << "Unknown active controller type:" << active_controller;
     }