From b40b6e93e11a5e1b9c28cf3f36552286da43aec8 Mon Sep 17 00:00:00 2001 From: changsh726 <62049794+changsh726@users.noreply.github.com> Date: Mon, 8 Jun 2020 11:35:51 +0800 Subject: [PATCH] Bazel: make modules/prediction build passed. (#11394) --- external/libtorch_cpu.BUILD | 5 ++ external/libtorch_gpu.BUILD | 7 +- modules/prediction/BUILD | 5 +- modules/prediction/common/BUILD | 16 ++--- modules/prediction/common/message_process.cc | 68 ++++++++----------- modules/prediction/container/BUILD | 2 +- .../prediction/container/adc_trajectory/BUILD | 3 +- modules/prediction/container/obstacles/BUILD | 8 +-- modules/prediction/container/pose/BUILD | 4 +- .../prediction/container/storytelling/BUILD | 2 +- modules/prediction/evaluator/BUILD | 6 +- modules/prediction/evaluator/vehicle/BUILD | 13 +++- .../vehicle/junction_map_evaluator.cc | 7 +- .../vehicle/semantic_lstm_evaluator.cc | 25 ++++--- modules/prediction/network/BUILD | 2 +- modules/prediction/network/rnn_model/BUILD | 3 + modules/prediction/pipeline/BUILD | 3 + modules/prediction/predictor/BUILD | 5 +- .../prediction/predictor/extrapolation/BUILD | 2 +- .../prediction/predictor/interaction/BUILD | 2 +- modules/prediction/predictor/junction/BUILD | 3 + .../scenario/scenario_features/BUILD | 2 +- modules/prediction/submodules/BUILD | 12 ++-- modules/prediction/util/data_extraction.h | 4 +- what_works.sh | 6 +- 25 files changed, 126 insertions(+), 89 deletions(-) diff --git a/external/libtorch_cpu.BUILD b/external/libtorch_cpu.BUILD index 6730ae9c8ba..1ef371d0752 100644 --- a/external/libtorch_cpu.BUILD +++ b/external/libtorch_cpu.BUILD @@ -11,6 +11,11 @@ cc_library( linkstatic = False, linkopts = [ "-L/usr/local/libtorch_cpu/lib", + "-lc10", "-ltorch", + "-ltorch_cpu", + ], + deps = [ + "@python3", ], ) diff --git a/external/libtorch_gpu.BUILD b/external/libtorch_gpu.BUILD index da19571279a..b8f61456263 100644 --- a/external/libtorch_gpu.BUILD +++ b/external/libtorch_gpu.BUILD @@ -11,7 +11,12 @@ cc_library( linkstatic = False, linkopts = [ "-L/usr/local/libtorch_gpu/lib", - "-ltorch", + "-lc10", + "-ltorch", + "-ltorch_cpu", "-ltorch_cuda", ], + deps = [ + "@python3", + ], ) diff --git a/modules/prediction/BUILD b/modules/prediction/BUILD index bdc24f826e5..74b2edd01bc 100644 --- a/modules/prediction/BUILD +++ b/modules/prediction/BUILD @@ -16,7 +16,7 @@ cc_library( "//modules/prediction/common:message_process", "//modules/prediction/evaluator:evaluator_manager", "//modules/prediction/predictor:predictor_manager", - "//modules/prediction/proto:offline_features_proto", + "//modules/prediction/proto:offline_features_cc_proto", "//modules/prediction/scenario:scenario_manager", "//modules/prediction/submodules:evaluator_submodule_lib", "//modules/prediction/submodules:predictor_submodule_lib", @@ -35,6 +35,9 @@ cc_test( ":prediction_data", ":prediction_testdata", ], + linkopts = [ + "-lgomp", + ], deps = [ ":prediction_component_lib", ], diff --git a/modules/prediction/common/BUILD b/modules/prediction/common/BUILD index 6495cbd9389..22d903afcf0 100644 --- a/modules/prediction/common/BUILD +++ b/modules/prediction/common/BUILD @@ -83,8 +83,8 @@ cc_library( "//modules/common/util", "//modules/prediction/common:prediction_gflags", "//modules/prediction/container/obstacles:obstacle", - "//modules/prediction/proto:offline_features_proto", - "//modules/prediction/proto:prediction_proto", + "//modules/prediction/proto:offline_features_cc_proto", + "//modules/prediction/proto:prediction_obstacle_cc_proto", ], ) @@ -110,7 +110,7 @@ cc_library( "//modules/prediction/common:prediction_constants", "//modules/prediction/common:prediction_gflags", "//modules/prediction/common:prediction_system_gflags", - "//modules/prediction/proto:lane_graph_proto", + "//modules/prediction/proto:lane_graph_cc_proto", ], ) @@ -141,7 +141,7 @@ cc_library( deps = [ "//modules/common/math", "//modules/prediction/common:prediction_gflags", - "//modules/prediction/proto:lane_graph_proto", + "//modules/prediction/proto:lane_graph_cc_proto", ], ) @@ -165,7 +165,7 @@ cc_library( hdrs = ["environment_features.h"], deps = [ "//cyber", - "//modules/common/proto:geometry_proto", + "//modules/common/proto:geometry_cc_proto", ], ) @@ -188,7 +188,7 @@ cc_library( ], deps = [ ":prediction_map", - "//modules/prediction/proto:feature_proto", + "//modules/prediction/proto:feature_cc_proto", ], ) @@ -221,7 +221,7 @@ cc_library( "//modules/common/adapters:adapter_gflags", "//modules/prediction/evaluator:evaluator_manager", "//modules/prediction/predictor:predictor_manager", - "//modules/prediction/proto:offline_features_proto", + "//modules/prediction/proto:offline_features_cc_proto", "//modules/prediction/scenario:scenario_manager", "//modules/prediction/util:data_extraction", ], @@ -264,7 +264,7 @@ cc_library( "//modules/common/util", "//modules/prediction/container:container_manager", "//modules/prediction/container/pose:pose_container", - "//modules/prediction/proto:feature_proto", + "//modules/prediction/proto:feature_cc_proto", "@opencv", ], ) diff --git a/modules/prediction/common/message_process.cc b/modules/prediction/common/message_process.cc index 585403566aa..3bf4cef8572 100644 --- a/modules/prediction/common/message_process.cc +++ b/modules/prediction/common/message_process.cc @@ -21,6 +21,7 @@ #include "cyber/common/file.h" #include "cyber/record/record_reader.h" #include "cyber/record/record_writer.h" + #include "modules/common/adapters/adapter_gflags.h" #include "modules/prediction/common/feature_output.h" #include "modules/prediction/common/junction_analyzer.h" @@ -297,51 +298,38 @@ void MessageProcess::ProcessOfflineData( message.channel_name, perception_obstacles, message.time); } PredictionObstacles prediction_obstacles; - OnPerception(perception_obstacles, &prediction_obstacles); + OnPerception(perception_obstacles, container_manager, evaluator_manager, + predictor_manager, scenario_manager, + &prediction_obstacles); if (FLAGS_prediction_offline_mode == PredictionConstants::kDumpRecord) { - SingleMessage single_message; - std::string content = ""; - prediction_obstacles.SerializeToString(&content); - single_message.set_content(content); - single_message.set_time(message.time); - single_message.set_channel_name(FLAGS_prediction_topic); - writer.WriteMessage(RecordMessageToSingleMessage(message)); -======= - OnPerception(perception_obstacles, container_manager, - evaluator_manager, predictor_manager, scenario_manager, - &prediction_obstacles); - if (FLAGS_prediction_offline_mode == - PredictionConstants::kDumpRecord) { - writer.WriteMessage( - prediction_conf.topic_conf().perception_obstacle_topic(), - prediction_obstacles, message.time); - AINFO << "Generated a new prediction message."; ->>>>>>> master - } - } - } else if (message.channel_name == - prediction_conf.topic_conf().localization_topic()) { - LocalizationEstimate localization; - if (localization.ParseFromString(message.content)) { - if (FLAGS_prediction_offline_mode == - PredictionConstants::kDumpRecord) { - writer.WriteMessage( - message.channel_name, localization, message.time); - } - OnLocalization(container_manager.get(), localization); + writer.WriteMessage( + prediction_conf.topic_conf().perception_obstacle_topic(), + prediction_obstacles, message.time); + AINFO << "Generated a new prediction message."; } - } else if (message.channel_name == - prediction_conf.topic_conf().planning_trajectory_topic()) { - ADCTrajectory adc_trajectory; - if (adc_trajectory.ParseFromString(message.content)) { - OnPlanning(container_manager.get(), adc_trajectory); + } + } else if (message.channel_name == + prediction_conf.topic_conf().localization_topic()) { + LocalizationEstimate localization; + if (localization.ParseFromString(message.content)) { + if (FLAGS_prediction_offline_mode == PredictionConstants::kDumpRecord) { + writer.WriteMessage(message.channel_name, + localization, message.time); } + OnLocalization(container_manager.get(), localization); + } + } else if (message.channel_name == + prediction_conf.topic_conf().planning_trajectory_topic()) { + ADCTrajectory adc_trajectory; + if (adc_trajectory.ParseFromString(message.content)) { + OnPlanning(container_manager.get(), adc_trajectory); } } - if (FLAGS_prediction_offline_mode == PredictionConstants::kDumpRecord) { - writer.Close(); - } } + if (FLAGS_prediction_offline_mode == PredictionConstants::kDumpRecord) { + writer.Close(); + } +} } // namespace prediction -} // namespace prediction +} // namespace apollo diff --git a/modules/prediction/container/BUILD b/modules/prediction/container/BUILD index 788655da053..bb9578924eb 100644 --- a/modules/prediction/container/BUILD +++ b/modules/prediction/container/BUILD @@ -11,7 +11,7 @@ cc_library( "-DMODULE_NAME=\\\"prediction\\\"", ], deps = [ - "//modules/common/adapters/proto:adapter_config_proto", + "//modules/common/adapters/proto:adapter_config_cc_proto", "//modules/prediction/container/adc_trajectory:adc_trajectory_container", "//modules/prediction/container/obstacles:obstacles_container", "//modules/prediction/container/pose:pose_container", diff --git a/modules/prediction/container/adc_trajectory/BUILD b/modules/prediction/container/adc_trajectory/BUILD index 4c1a02c708e..3ff1c403b06 100644 --- a/modules/prediction/container/adc_trajectory/BUILD +++ b/modules/prediction/container/adc_trajectory/BUILD @@ -11,9 +11,10 @@ cc_library( "-DMODULE_NAME=\\\"prediction\\\"", ], deps = [ - "//modules/planning/proto:planning_proto", + "//modules/planning/proto:planning_cc_proto", "//modules/prediction/common:prediction_map", "//modules/prediction/container", + "//modules/prediction/proto:lane_graph_cc_proto", ], ) diff --git a/modules/prediction/container/obstacles/BUILD b/modules/prediction/container/obstacles/BUILD index f532ff9fb6f..78c9329e858 100644 --- a/modules/prediction/container/obstacles/BUILD +++ b/modules/prediction/container/obstacles/BUILD @@ -16,7 +16,7 @@ cc_library( "//modules/prediction/common:prediction_constants", "//modules/prediction/container", "//modules/prediction/container/obstacles:obstacle", - "//modules/prediction/proto:prediction_proto", + "//modules/prediction/proto:prediction_obstacle_cc_proto", "//modules/prediction/submodules:submodule_output", ], ) @@ -33,8 +33,8 @@ cc_library( "//modules/prediction/common:junction_analyzer", "//modules/prediction/container/obstacles:obstacle_clusters", "//modules/prediction/network/rnn_model", - "//modules/prediction/proto:prediction_conf_proto", - "//modules/prediction/proto:prediction_proto", + "//modules/prediction/proto:prediction_conf_cc_proto", + "//modules/prediction/proto:prediction_obstacle_cc_proto", ], ) @@ -77,7 +77,7 @@ cc_library( ], deps = [ "//modules/prediction/common:road_graph", - "//modules/prediction/proto:feature_proto", + "//modules/prediction/proto:feature_cc_proto", ], ) diff --git a/modules/prediction/container/pose/BUILD b/modules/prediction/container/pose/BUILD index 3a672dcb742..91dea8363c5 100644 --- a/modules/prediction/container/pose/BUILD +++ b/modules/prediction/container/pose/BUILD @@ -12,8 +12,8 @@ cc_library( ], deps = [ "//modules/common/math:quaternion", - "//modules/localization/proto:localization_proto", - "//modules/perception/proto:perception_proto", + "//modules/localization/proto:localization_cc_proto", + "//modules/perception/proto:perception_obstacle_cc_proto", "//modules/prediction/common:prediction_gflags", "//modules/prediction/container", ], diff --git a/modules/prediction/container/storytelling/BUILD b/modules/prediction/container/storytelling/BUILD index 530c8e064ac..6e9872d0a96 100644 --- a/modules/prediction/container/storytelling/BUILD +++ b/modules/prediction/container/storytelling/BUILD @@ -13,7 +13,7 @@ cc_library( deps = [ "//modules/prediction/common:prediction_map", "//modules/prediction/container", - "//modules/storytelling/proto:story_proto", + "//modules/storytelling/proto:story_cc_proto", ], ) diff --git a/modules/prediction/evaluator/BUILD b/modules/prediction/evaluator/BUILD index b83c6f6f032..ce5db2620ed 100644 --- a/modules/prediction/evaluator/BUILD +++ b/modules/prediction/evaluator/BUILD @@ -26,7 +26,8 @@ cc_library( "//modules/prediction/evaluator/vehicle:lane_scanning_evaluator", "//modules/prediction/evaluator/vehicle:mlp_evaluator", "//modules/prediction/evaluator/vehicle:semantic_lstm_evaluator", - "//modules/prediction/proto:prediction_conf_proto", + "//modules/prediction/proto:prediction_conf_cc_proto", + "//third_party:libtorch", ], ) @@ -38,6 +39,9 @@ cc_test( "//modules/prediction:prediction_data", "//modules/prediction:prediction_testdata", ], + linkopts = [ + "-lgomp", + ], deps = [ "//modules/prediction/common:kml_map_based_test", "//modules/prediction/evaluator:evaluator_manager", diff --git a/modules/prediction/evaluator/vehicle/BUILD b/modules/prediction/evaluator/vehicle/BUILD index e795c1d6cee..c09d353f775 100644 --- a/modules/prediction/evaluator/vehicle/BUILD +++ b/modules/prediction/evaluator/vehicle/BUILD @@ -16,7 +16,7 @@ cc_library( "//modules/prediction/common:validation_checker", "//modules/prediction/container/obstacles:obstacles_container", "//modules/prediction/evaluator", - "//modules/prediction/proto:fnn_vehicle_model_proto", + "//modules/prediction/proto:fnn_vehicle_model_cc_proto", ], ) @@ -70,6 +70,7 @@ cc_library( hdrs = ["junction_mlp_evaluator.h"], copts = [ "-DMODULE_NAME=\\\"prediction\\\"", + "-fopenmp", ], deps = [ "//modules/common/math:geometry", @@ -90,6 +91,9 @@ cc_test( "//modules/prediction:prediction_data", "//modules/prediction:prediction_testdata", ], + linkopts = [ + "-lgomp", + ], deps = [ "//modules/prediction/common:kml_map_based_test", "//modules/prediction/evaluator/vehicle:junction_mlp_evaluator", @@ -103,6 +107,7 @@ cc_library( hdrs = ["junction_map_evaluator.h"], copts = [ "-DMODULE_NAME=\\\"prediction\\\"", + "-fopenmp", ], deps = [ "//modules/prediction/common:prediction_util", @@ -119,6 +124,7 @@ cc_library( hdrs = ["cruise_mlp_evaluator.h"], copts = [ "-DMODULE_NAME=\\\"prediction\\\"", + "-fopenmp", ], deps = [ "//modules/prediction/common:prediction_util", @@ -137,6 +143,9 @@ cc_test( "//modules/prediction:prediction_data", "//modules/prediction:prediction_testdata", ], + linkopts = [ + "-lgomp", + ], deps = [ "//modules/prediction/common:kml_map_based_test", "//modules/prediction/evaluator/vehicle:cruise_mlp_evaluator", @@ -149,6 +158,7 @@ cc_library( hdrs = ["lane_scanning_evaluator.h"], copts = [ "-DMODULE_NAME=\\\"prediction\\\"", + "-fopenmp", ], deps = [ "//modules/prediction/container:container_manager", @@ -179,6 +189,7 @@ cc_library( hdrs = ["semantic_lstm_evaluator.h"], copts = [ "-DMODULE_NAME=\\\"prediction\\\"", + "-fopenmp", ], deps = [ "//modules/prediction/common:prediction_util", diff --git a/modules/prediction/evaluator/vehicle/junction_map_evaluator.cc b/modules/prediction/evaluator/vehicle/junction_map_evaluator.cc index 0bda66b8ddf..6a0deaad7e8 100644 --- a/modules/prediction/evaluator/vehicle/junction_map_evaluator.cc +++ b/modules/prediction/evaluator/vehicle/junction_map_evaluator.cc @@ -94,11 +94,12 @@ bool JunctionMapEvaluator::Evaluate(Obstacle* obstacle_ptr, junction_exit_mask[0][i] = static_cast(feature_values[i]); } - torch_inputs.push_back(c10::ivalue::Tuple::create( + at::Tensor torch_input_tensor; + torch_inputs.push_back(c10::ivalue::Tuple::createNamed( {std::move(img_tensor.to(device_)), std::move(junction_exit_mask.to(device_))}, - c10::TupleType::create( - std::vector(2, c10::TensorType::create())))); + c10::TupleType::create(std::vector( + 2, c10::TensorType::create(torch_input_tensor))))); // Compute probability std::vector probability; diff --git a/modules/prediction/evaluator/vehicle/semantic_lstm_evaluator.cc b/modules/prediction/evaluator/vehicle/semantic_lstm_evaluator.cc index 4acb4f9c5c6..91290caa768 100644 --- a/modules/prediction/evaluator/vehicle/semantic_lstm_evaluator.cc +++ b/modules/prediction/evaluator/vehicle/semantic_lstm_evaluator.cc @@ -98,11 +98,13 @@ bool SemanticLSTMEvaluator::Evaluate(Obstacle* obstacle_ptr, // Build input features for torch std::vector torch_inputs; - torch_inputs.push_back(c10::ivalue::Tuple::create( + + at::Tensor torch_input_tensor; + torch_inputs.push_back(c10::ivalue::Tuple::createNamed( {std::move(img_tensor.to(device_)), std::move(obstacle_pos.to(device_)), std::move(obstacle_pos_step.to(device_))}, - c10::TupleType::create( - std::vector(3, c10::TensorType::create())))); + c10::TupleType::create(std::vector( + 3, c10::TensorType::create(torch_input_tensor))))); // Compute pred_traj std::vector pred_traj; @@ -110,8 +112,9 @@ bool SemanticLSTMEvaluator::Evaluate(Obstacle* obstacle_ptr, auto start_time = std::chrono::system_clock::now(); at::Tensor torch_output_tensor = torch_default_output_tensor_; if (obstacle_ptr->IsPedestrian()) { - torch_output_tensor = torch_pedestrian_model_.forward(torch_inputs). - toTensor().to(torch::kCPU); + torch_output_tensor = torch_pedestrian_model_.forward(torch_inputs) + .toTensor() + .to(torch::kCPU); } else { torch_output_tensor = torch_vehicle_model_.forward(torch_inputs).toTensor().to(torch::kCPU); @@ -166,8 +169,8 @@ bool SemanticLSTMEvaluator::Evaluate(Obstacle* obstacle_ptr, rotation_matrix(1, 1) = std::cos(heading); Eigen::Matrix2d cov_matrix; - cov_matrix = rotation_matrix * cov_matrix_r * - (rotation_matrix.transpose()); + cov_matrix = + rotation_matrix * cov_matrix_r * (rotation_matrix.transpose()); double sigma_x = std::sqrt(std::abs(cov_matrix(0, 0))); double sigma_y = std::sqrt(std::abs(cov_matrix(1, 1))); double corr = cov_matrix(0, 1) / (sigma_x + FLAGS_double_precision) / @@ -258,11 +261,13 @@ void SemanticLSTMEvaluator::LoadModel() { torch::Tensor obstacle_pos = torch::zeros({1, 20, 2}); torch::Tensor obstacle_pos_step = torch::zeros({1, 20, 2}); std::vector torch_inputs; - torch_inputs.push_back(c10::ivalue::Tuple::create( + + at::Tensor torch_input_tensor; + torch_inputs.push_back(c10::ivalue::Tuple::createNamed( {std::move(img_tensor.to(device_)), std::move(obstacle_pos.to(device_)), std::move(obstacle_pos_step.to(device_))}, - c10::TupleType::create( - std::vector(3, c10::TensorType::create())))); + c10::TupleType::create(std::vector( + 3, c10::TensorType::create(torch_input_tensor))))); // Run one inference to avoid very slow first inference later torch_default_output_tensor_ = torch_vehicle_model_.forward(torch_inputs).toTensor().to(torch::kCPU); diff --git a/modules/prediction/network/BUILD b/modules/prediction/network/BUILD index da63f9e8fc6..f636b86a70d 100644 --- a/modules/prediction/network/BUILD +++ b/modules/prediction/network/BUILD @@ -39,7 +39,7 @@ cc_library( deps = [ "//modules/common/util", "//modules/prediction/network:net_layer", - "//modules/prediction/proto:network_model_cc_proto", + "//modules/prediction/proto:network_model_cc_proto", ], ) diff --git a/modules/prediction/network/rnn_model/BUILD b/modules/prediction/network/rnn_model/BUILD index e4359f35f82..e0ead2ba2e7 100644 --- a/modules/prediction/network/rnn_model/BUILD +++ b/modules/prediction/network/rnn_model/BUILD @@ -8,6 +8,8 @@ cc_library( srcs = ["rnn_model.cc"], hdrs = ["rnn_model.h"], deps = [ + "//cyber/base:macros", + "//cyber/common:macros", "//modules/prediction/network:net_model", ], ) @@ -20,6 +22,7 @@ cc_test( "//modules/prediction:prediction_data", ], deps = [ + "//cyber/common:file", "//modules/prediction/network/rnn_model", "@com_google_googletest//:gtest_main", ], diff --git a/modules/prediction/pipeline/BUILD b/modules/prediction/pipeline/BUILD index 192f1103a1b..8f6645c11a0 100644 --- a/modules/prediction/pipeline/BUILD +++ b/modules/prediction/pipeline/BUILD @@ -9,6 +9,9 @@ cc_binary( copts = [ "-DMODULE_NAME=\\\"prediction\\\"", ], + linkopts = [ + "-lgomp", + ], deps = [ "//modules/prediction/common:message_process", "//third_party:boost", diff --git a/modules/prediction/predictor/BUILD b/modules/prediction/predictor/BUILD index 5c7a2c720a9..a426e756b33 100644 --- a/modules/prediction/predictor/BUILD +++ b/modules/prediction/predictor/BUILD @@ -21,7 +21,7 @@ cc_library( "//modules/prediction/predictor/lane_sequence:lane_sequence_predictor", "//modules/prediction/predictor/move_sequence:move_sequence_predictor", "//modules/prediction/predictor/single_lane:single_lane_predictor", - "//modules/prediction/proto:prediction_conf_proto", + "//modules/prediction/proto:prediction_conf_cc_proto", "//modules/prediction/scenario:scenario_manager", ], ) @@ -34,6 +34,9 @@ cc_test( "//modules/prediction:prediction_data", "//modules/prediction:prediction_testdata", ], + linkopts = [ + "-lgomp", + ], deps = [ "//modules/prediction/common:kml_map_based_test", "//modules/prediction/evaluator:evaluator_manager", diff --git a/modules/prediction/predictor/extrapolation/BUILD b/modules/prediction/predictor/extrapolation/BUILD index fceedfe49b3..9390082eab4 100644 --- a/modules/prediction/predictor/extrapolation/BUILD +++ b/modules/prediction/predictor/extrapolation/BUILD @@ -18,7 +18,7 @@ cc_library( "//modules/prediction/container/obstacles:obstacle_clusters", "//modules/prediction/container/obstacles:obstacles_container", "//modules/prediction/predictor/sequence:sequence_predictor", - "//modules/prediction/proto:lane_graph_proto", + "//modules/prediction/proto:lane_graph_cc_proto", ], ) diff --git a/modules/prediction/predictor/interaction/BUILD b/modules/prediction/predictor/interaction/BUILD index 3bdb412eb6a..79c6b8ca96c 100644 --- a/modules/prediction/predictor/interaction/BUILD +++ b/modules/prediction/predictor/interaction/BUILD @@ -11,7 +11,7 @@ cc_library( "-DMODULE_NAME=\\\"prediction\\\"", ], deps = [ - "//modules/common/adapters/proto:adapter_config_proto", + "//modules/common/adapters/proto:adapter_config_cc_proto", "//modules/prediction/common:feature_output", "//modules/prediction/common:prediction_util", "//modules/prediction/predictor/sequence:sequence_predictor", diff --git a/modules/prediction/predictor/junction/BUILD b/modules/prediction/predictor/junction/BUILD index f86e4cec2f4..1a0442e1b22 100644 --- a/modules/prediction/predictor/junction/BUILD +++ b/modules/prediction/predictor/junction/BUILD @@ -24,6 +24,9 @@ cc_test( "//modules/prediction:prediction_data", "//modules/prediction:prediction_testdata", ], + linkopts = [ + "-lgomp", + ], deps = [ "//modules/prediction/common:kml_map_based_test", "//modules/prediction/container/obstacles:obstacles_container", diff --git a/modules/prediction/scenario/scenario_features/BUILD b/modules/prediction/scenario/scenario_features/BUILD index 047d1563d21..3f2637a6c44 100644 --- a/modules/prediction/scenario/scenario_features/BUILD +++ b/modules/prediction/scenario/scenario_features/BUILD @@ -11,7 +11,7 @@ cc_library( "-DMODULE_NAME=\\\"prediction\\\"", ], deps = [ - "//modules/prediction/proto:scenario_proto", + "//modules/prediction/proto:scenario_cc_proto", ], ) diff --git a/modules/prediction/submodules/BUILD b/modules/prediction/submodules/BUILD index cce7a86c4cf..9376df9a9c9 100644 --- a/modules/prediction/submodules/BUILD +++ b/modules/prediction/submodules/BUILD @@ -12,7 +12,7 @@ cc_library( ], deps = [ "//modules/common/util:lru_cache", - "//modules/perception/proto:perception_proto", + "//modules/perception/proto:perception_obstacle_cc_proto", "//modules/prediction/common:prediction_gflags", "//modules/prediction/container/obstacles:obstacle", "@com_google_absl//absl/time", @@ -29,9 +29,9 @@ cc_library( deps = [ "//cyber", "//modules/common/adapters:adapter_gflags", - "//modules/common/adapters/proto:adapter_config_proto", + "//modules/common/adapters/proto:adapter_config_cc_proto", "//modules/common/time", - "//modules/perception/proto:perception_proto", + "//modules/perception/proto:perception_obstacle_cc_proto", "//modules/prediction/common:message_process", "//modules/prediction/common:prediction_gflags", "//modules/prediction/evaluator:evaluator_manager", @@ -56,15 +56,15 @@ cc_library( deps = [ "//cyber", "//modules/common/adapters:adapter_gflags", - "//modules/common/adapters/proto:adapter_config_proto", + "//modules/common/adapters/proto:adapter_config_cc_proto", "//modules/common/time", "//modules/common/util:message_util", - "//modules/perception/proto:perception_proto", + "//modules/perception/proto:perception_obstacle_cc_proto", "//modules/prediction/common:message_process", "//modules/prediction/common:prediction_gflags", "//modules/prediction/container/adc_trajectory:adc_trajectory_container", "//modules/prediction/predictor:predictor_manager", - "//modules/prediction/proto:prediction_proto", + "//modules/prediction/proto:prediction_obstacle_cc_proto", ], alwayslink = True, ) diff --git a/modules/prediction/util/data_extraction.h b/modules/prediction/util/data_extraction.h index 98640ade672..9751b273c18 100644 --- a/modules/prediction/util/data_extraction.h +++ b/modules/prediction/util/data_extraction.h @@ -16,10 +16,10 @@ #pragma once -#include -#include #include #include +#include +#include namespace apollo { namespace prediction { diff --git a/what_works.sh b/what_works.sh index 8308feb6ded..ec583e5f611 100755 --- a/what_works.sh +++ b/what_works.sh @@ -54,7 +54,8 @@ bazel_build_with_dist_cache \ //modules/v2x/... \ //modules/dreamview/... \ //modules/guardian/... \ - //modules/localization/... + //modules/localization/... \ + //modules/prediction/... bazel_test_with_dist_cache \ //cyber/... \ @@ -77,6 +78,7 @@ bazel_test_with_dist_cache //modules/drivers/... bash scripts/install_esdcan_library.sh uninstall bazel_build_with_dist_cache //modules/tools/... +bazel build //modules/tools/... # Note(storypku): bazel test works except some lint errors in cyber_visualizer. # Check cyber_visualizer's functionality once stablized. bazel_test_with_dist_cache $(bazel query //modules/tools/... except //modules/tools/visualizer/...) @@ -94,7 +96,7 @@ echo "########################### All check passed! ###########################" # TODO(?): bazel test //modules/map/... # TODO(?): bazel build //modules/contrib/... # TODO(?): bazel build //modules/perception/... -# TODO(changsh726): bazel build //modules/prediction/... +# TODO(?): bazel test //modules/prediction/... # TODO(?): bazel build //modules/third_party_perception/... # TODO(?): apollo.sh build # TODO(?): apollo.sh test