notebook

WORKSPACE

@@ -9,7 +9,7 @@ http_archive(
     name = "bazel_skylib",
     sha256 = "1c531376ac7e5a180e0237938a2536de0c54d93f5c278634818e0efc952dd56c",
     urls = [
-        "https://apollo-platform-system.cdn.bcebos.com/archive/6.0/bazel-skylib-1.0.3.tar.gz",
+        "https://apollo-system.cdn.bcebos.com/archive/6.0/bazel-skylib-1.0.3.tar.gz",
         "https://github.com/bazelbuild/bazel-skylib/releases/download/1.0.3/bazel-skylib-1.0.3.tar.gz",
     ],
 )
@@ -23,7 +23,7 @@ http_archive(
     sha256 = "602e7161d9195e50246177e7c55b2f39950a9cf7366f74ed5f22fd45750cd208",
     strip_prefix = "rules_proto-97d8af4dc474595af3900dd85cb3a29ad28cc313",
     urls = [
-        "https://apollo-platform-system.cdn.bcebos.com/archive/6.0/97d8af4dc474595af3900dd85cb3a29ad28cc313.tar.gz",
+        "https://apollo-system.cdn.bcebos.com/archive/6.0/97d8af4dc474595af3900dd85cb3a29ad28cc313.tar.gz",
         "https://github.com/bazelbuild/rules_proto/archive/97d8af4dc474595af3900dd85cb3a29ad28cc313.tar.gz",
     ],
 )
@@ -39,7 +39,7 @@ http_archive(
     sha256 = "b5668cde8bb6e3515057ef465a35ad712214962f0b3a314e551204266c7be90c",
     strip_prefix = "rules_python-0.0.2",
     urls = [
-        "https://apollo-platform-system.cdn.bcebos.com/archive/6.0/rules_python-0.0.2.tar.gz",
+        "https://apollo-system.cdn.bcebos.com/archive/6.0/rules_python-0.0.2.tar.gz",
         "https://github.com/bazelbuild/rules_python/releases/download/0.0.2/rules_python-0.0.2.tar.gz",
     ],
 )
@@ -66,7 +66,7 @@ http_archive(
     sha256 = "419dba362eaf8f1d36849ceee17c3e2ff8ff12ac666b42d3ff02a164ebe090e9",
     strip_prefix = "grpc-1.30.0",
     urls = [
-        "https://apollo-platform-system.cdn.bcebos.com/archive/6.0/v1.30.0.tar.gz",
+        "https://apollo-system.cdn.bcebos.com/archive/6.0/v1.30.0.tar.gz",
         "https://github.com/grpc/grpc/archive/v1.30.0.tar.gz",
     ],
 )

cyber/doxy-docs/source/CyberRT_Developer_Tools.md

@@ -169,7 +169,8 @@ $ cyber_recorder record -h
 usage: cyber_recorder record [options]
     -o, --output <file>                output record file
     -a, --all                          all channels
-    -c, --channel <name>               channel name
+    -c, --white-channel <name>         only record the specified channel
+    -k, --black-channel <name>         not record the specified channel
     -i, --segment-interval <seconds>   record segmented every n second(s)
     -m, --segment-size <MB>            record segmented every n megabyte(s)
     -h, --help                         show help message

cyber/tools/cyber_node/BUILD

@@ -9,5 +9,6 @@ py_binary(
     srcs = ["cyber_node.py"],
     deps = [
         "//cyber/python/cyber_py3:cyber",
+        "//cyber/proto:role_attributes_py_pb2"
     ],
 )

cyber/tools/cyber_recorder/main.cc

@@ -42,7 +42,7 @@ using apollo::cyber::record::Recoverer;
 using apollo::cyber::record::Spliter;
 
 const char INFO_OPTIONS[] = "h";
-const char RECORD_OPTIONS[] = "o:ac:i:m:h";
+const char RECORD_OPTIONS[] = "o:ac:k:i:m:h";
 const char PLAY_OPTIONS[] = "f:ac:k:lr:b:e:s:d:p:h";
 const char SPLIT_OPTIONS[] = "f:o:c:k:b:e:h";
 const char RECOVER_OPTIONS[] = "f:o:h";
@@ -424,7 +424,8 @@ int main(int argc, char** argv) {
     }
     ::apollo::cyber::Init(argv[0]);
     auto recorder = std::make_shared<Recorder>(opt_output_vec[0], opt_all,
-                                               opt_white_channels, opt_header);
+                                               opt_white_channels,
+                                               opt_black_channels, opt_header);
     bool record_result = recorder->Start();
     if (record_result) {
       while (!::apollo::cyber::IsShutdown()) {

cyber/tools/cyber_recorder/recorder.cc

@@ -23,22 +23,37 @@ namespace cyber {
 namespace record {
 
 Recorder::Recorder(const std::string& output, bool all_channels,
-                   const std::vector<std::string>& channel_vec)
-    : output_(output), all_channels_(all_channels), channel_vec_(channel_vec) {
+                   const std::vector<std::string>& white_channels,
+                   const std::vector<std::string>& black_channels)
+    : output_(output),
+      all_channels_(all_channels),
+      white_channels_(white_channels),
+      black_channels_(black_channels) {
   header_ = HeaderBuilder::GetHeader();
 }
 
 Recorder::Recorder(const std::string& output, bool all_channels,
-                   const std::vector<std::string>& channel_vec,
+                   const std::vector<std::string>& white_channels,
+                   const std::vector<std::string>& black_channels,
                    const proto::Header& header)
     : output_(output),
       all_channels_(all_channels),
-      channel_vec_(channel_vec),
+      white_channels_(white_channels),
+      black_channels_(black_channels),
       header_(header) {}
 
 Recorder::~Recorder() { Stop(); }
 
 bool Recorder::Start() {
+  for (const auto& channel_name : white_channels_) {
+    if (std::find(black_channels_.begin(), black_channels_.end(),
+                  channel_name) != black_channels_.end()) {
+      AERROR << "find channel in both of white list and black list, channel: "
+             << channel_name;
+      return false;
+    }
+  }
+
   writer_.reset(new RecordWriter(header_));
   if (!writer_->Open(output_)) {
     AERROR << "Datafile open file error.";
@@ -110,11 +125,20 @@ void Recorder::FindNewChannel(const RoleAttributes& role_attr) {
     return;
   }
   if (!all_channels_ &&
-      std::find(channel_vec_.begin(), channel_vec_.end(),
-                role_attr.channel_name()) == channel_vec_.end()) {
-    ADEBUG << "New channel was found, but not in record list.";
+      std::find(white_channels_.begin(), white_channels_.end(),
+                role_attr.channel_name()) == white_channels_.end()) {
+    ADEBUG << "New channel '" << role_attr.channel_name()
+           << "' was found, but not in record list.";
     return;
   }
+
+  if (std::find(black_channels_.begin(), black_channels_.end(),
+      role_attr.channel_name()) != black_channels_.end()) {
+    ADEBUG << "New channel '" << role_attr.channel_name()
+           << "' was found, but it appears in the blacklist.";
+    return;
+  }
+
   if (channel_reader_map_.find(role_attr.channel_name()) ==
       channel_reader_map_.end()) {
     if (!writer_->WriteChannel(role_attr.channel_name(),

cyber/tools/cyber_recorder/recorder.h

@@ -47,9 +47,11 @@ namespace record {
 class Recorder : public std::enable_shared_from_this<Recorder> {
  public:
   Recorder(const std::string& output, bool all_channels,
-           const std::vector<std::string>& channel_vec);
+           const std::vector<std::string>& white_channels,
+           const std::vector<std::string>& black_channels);
   Recorder(const std::string& output, bool all_channels,
-           const std::vector<std::string>& channel_vec,
+           const std::vector<std::string>& white_channels,
+           const std::vector<std::string>& black_channels,
            const proto::Header& header);
   ~Recorder();
   bool Start();
@@ -64,7 +66,8 @@ class Recorder : public std::enable_shared_from_this<Recorder> {
   Connection<const ChangeMsg&> change_conn_;
   std::string output_;
   bool all_channels_ = true;
-  std::vector<std::string> channel_vec_;
+  std::vector<std::string> white_channels_;
+  std::vector<std::string> black_channels_;
   proto::Header header_;
   std::unordered_map<std::string, std::shared_ptr<ReaderBase>>
       channel_reader_map_;

docker/build/installers/install_adv_plat.sh

@@ -56,7 +56,7 @@ fi
 
 PKG_NAME="apollo-contrib-baidu-1.0.tar.gz"
 CHECKSUM="cd385dae6d23c6fd70c2c0dcd0ce306241f84a638f50988c6ca52952c304bbec"
-DOWNLOAD_LINK="https://apollo-platform-system.bj.bcebos.com/archive/6.0/${PKG_NAME}"
+DOWNLOAD_LINK="https://apollo-system.cdn.bcebos.com/archive/6.0/${PKG_NAME}"
 
 download_if_not_cached "${PKG_NAME}" "${CHECKSUM}" "${DOWNLOAD_LINK}"
 

docker/build/installers/install_bazel.sh

@@ -71,8 +71,8 @@ elif [ "$TARGET_ARCH" == "aarch64" ]; then
 
   BUILDTOOLS_VERSION="3.3.0"
   PKG_NAME="buildifier-${BUILDTOOLS_VERSION}-linux-arm64"
-  CHECKSUM="11df20761f6a14adcc21ea684225e029d6a5f4a881eb3477ea8c24afda316bdf"
-  DOWNLOAD_LINK="https://apollo-platform-system.bj.bcebos.com/archive/6.0/${PKG_NAME}"
+  CHECKSUM="19d5b358cb099e264086b26091661fd7548df0a2400e47fd98238cfe0a3e67f9"
+  DOWNLOAD_LINK="https://apollo-system.cdn.bcebos.com/archive/6.0/${PKG_NAME}"
   download_if_not_cached "${PKG_NAME}" "${CHECKSUM}" "${DOWNLOAD_LINK}"
 
   cp -f ${PKG_NAME} "${SYSROOT_DIR}/bin/buildifier"

docker/build/installers/install_cmake.sh

@@ -40,7 +40,7 @@ elif [[ "${TARGET_ARCH}" == "aarch64" ]]; then
         CHECKSUM="53056707081491123e705db30df6e38685f9661dc593e1790950c4ba399d3490"
         DECOMPRESSED_NAME="cmake-${VERSION}-aarch64-linux-gnu"
         PKG_NAME="${DECOMPRESSED_NAME}.tar.gz"
-        DOWNLOAD_LINK="https://apollo-platform-system.bj.bcebos.com/archive/6.0/${PKG_NAME}"
+        DOWNLOAD_LINK="https://apollo-system.cdn.bcebos.com/archive/6.0/${PKG_NAME}"
         download_if_not_cached "${PKG_NAME}" "${CHECKSUM}" "${DOWNLOAD_LINK}"
         tar xzf "${PKG_NAME}"
         pushd ${DECOMPRESSED_NAME}

docker/build/installers/install_device_query.sh

@@ -54,7 +54,7 @@ else
     exit 1
 fi
 
-DOWNLOAD_LINK="https://apollo-platform-system.cdn.bcebos.com/archive/6.0/${DEVICE_QUERY_BINARY}"
+DOWNLOAD_LINK="https://apollo-system.cdn.bcebos.com/archive/6.0/${DEVICE_QUERY_BINARY}"
 download_if_not_cached "${DEVICE_QUERY_BINARY}" "${CHECKSUM}" "${DOWNLOAD_LINK}"
 
 [[ -d "${DEMO_SUITE_DEST_DIR}" ]] || mkdir -p "${DEMO_SUITE_DEST_DIR}"

docker/build/installers/install_fast-rtps.sh

@@ -41,7 +41,7 @@ DEST_DIR="/usr/local/fast-rtps"
 if [[ "${TARGET_ARCH}" == "x86_64" ]]; then
     PKG_NAME="fast-rtps-1.5.0.prebuilt.x86_64.tar.gz"
     CHECKSUM="ca0534db4f757cb41a9feaebac07a13dd4b63af0a217b2cb456e20b0836bc797"
-    DOWNLOAD_LINK="https://apollo-platform-system.bj.bcebos.com/archive/6.0/${PKG_NAME}"
+    DOWNLOAD_LINK="https://apollo-system.cdn.bcebos.com/archive/6.0/${PKG_NAME}"
 
     download_if_not_cached "${PKG_NAME}" "${CHECKSUM}" "${DOWNLOAD_LINK}"
 
@@ -51,7 +51,7 @@ if [[ "${TARGET_ARCH}" == "x86_64" ]]; then
 else # aarch64
     PKG_NAME="fast-rtps-1.5.0.prebuilt.aarch64.tar.gz"
     CHECKSUM="061da391763949e39ed0ac4d0596112818e8692b938aa845d54fac1a1aa550db"
-    DOWNLOAD_LINK="https://apollo-platform-system.bj.bcebos.com/archive/6.0/${PKG_NAME}"
+    DOWNLOAD_LINK="https://apollo-system.cdn.bcebos.com/archive/6.0/${PKG_NAME}"
 
     download_if_not_cached "${PKG_NAME}" "${CHECKSUM}" "${DOWNLOAD_LINK}"
     tar xzf ${PKG_NAME}

docker/build/installers/install_jetson_ml.sh

@@ -28,7 +28,8 @@
 set -e
 cd "$(dirname "${BASH_SOURCE[0]}")"
 
-LOCAL_HTTP_ADDR="http://172.17.0.1:8388"
+# PKG_DOWNLOAD_ADDR="http://172.17.0.1:8388"
+PKG_DOWNLOAD_ADDR="https://apollo-system.cdn.bcebos.com/archive/6.0"
 
 apt-get -y update && \
     apt-get -y install --no-install-recommends \

docker/scripts/cyber_start.sh

@@ -41,6 +41,7 @@ USE_GPU_HOST=0
 USE_LOCAL_IMAGE=0
 CUSTOM_VERSION=
 GEOLOC=
+GEO_REGISTRY=
 
 # Check whether user has agreed license agreement
 function check_agreement() {
@@ -259,37 +260,14 @@ function determine_target_version_and_arch() {
     CUSTOM_VERSION="${version}"
 }
 
-function _geo_specific_config_for_cn() {
-    local docker_cfg="/etc/docker/daemon.json"
-    if [ -e "${docker_cfg}" ] && \
-        jq '."registry-mirrors"[]' "${docker_cfg}" &>/dev/null ; then
-        echo "Existing registry mirrors in found ${docker_cfg} and will be used."
-        return
-    fi
-
-    if [ ! -e "${docker_cfg}" ]; then
-        echo "{\"experimental\":true, \"registry-mirrors\":[ \
-               \"http://hub-mirror.c.163.com\", \
-               \"https://reg-mirror.qiniu.com\", \
-               \"https://dockerhub.azk8s.cn\" \
-           ]}" | jq -s ".[]" | sudo tee -a "${docker_cfg}"
-    else
-        local tmpfile="$(mktemp /tmp/docker.daemon.XXXXXX)"
-        jq '.+={"registry-mirrors":["http://hub-mirror.c.163.com","https://reg-mirror.qiniu.com","https://dockerhub.azk8s.cn"]}' \
-            "${docker_cfg}" > "${tmpfile}"
-        sudo cp -f "${tmpfile}" "${docker_cfg}"
-    fi
-    service docker restart
-}
-
 function geo_specific_config() {
     local geo="$1"
     if [[ -z "${geo}" ]]; then
         return
     fi
     info "Setup geolocation specific configurations for ${geo}"
     if [[ "${geo}" == "cn" ]]; then
-        _geo_specific_config_for_cn
+        GEO_REGISTRY="registry.baidubce.com"
     fi
 }
 
@@ -372,12 +350,15 @@ function setup_devices_and_mount_volumes() {
 
     local os_release="$(lsb_release -rs)"
     case "${os_release}" in
-        14.04)
-            warning "[Deprecated] Support for Ubuntu 14.04 will be removed" \
+        16.04)
+            # Mount host devices into container (/dev)
+            warning "[Deprecated] Support for Ubuntu 16.04 will be removed" \
                     "in the near future. Please upgrade to ubuntu 18.04+."
+            if [[ "${HOST_ARCH}" == "${TARGET_ARCH}" ]]; then
+                volumes="${volumes} -v /dev:/dev"
+            fi
             ;;
-        16.04|18.04|20.04|*)
-            ## Question(storypku): Any special considerations here ?
+        18.04|20.04|*)
             if [[ "${HOST_ARCH}" == "${TARGET_ARCH}" ]]; then
                 volumes="${volumes} -v /dev:/dev"
             fi
@@ -420,9 +401,11 @@ function docker_pull_if_needed() {
         return
     fi
 
-    # Note(storypku): use may-be-modified ${DOCKER_REPO}
     image="${DOCKER_REPO}:${image##*:}"
     echo "Start pulling docker image: ${image}"
+    if [[ -n "${GEO_REGISTRY}" ]]; then
+        image="${GEO_REGISTRY}/${image}"
+    fi
     if ! ${DOCKER_PULL_CMD} "${image}"; then
         error "Failed to pull docker image: ${image}"
         exit 1
@@ -535,8 +518,6 @@ function main() {
     geo_specific_config "${GEOLOC}"
     docker_pull_if_needed "${image}" "${USE_LOCAL_IMAGE}"
 
-    image="${DOCKER_REPO}:${CUSTOM_VERSION}"
-
     remove_existing_cyber_container
 
     determine_gpu_use_host