Cyber: add writer nodes for common_component_example and README.md

cyber/examples/common_component_example/BUILD

@@ -20,4 +20,22 @@ cc_library(
     ],
 )
 
+cc_binary(
+    name = "channel_test_writer",
+    srcs = ["channel_test_writer.cc"],
+    deps = [
+        "//cyber",
+        "//cyber/examples/proto:examples_cc_proto",
+    ],
+)
+
+cc_binary(
+    name = "channel_prediction_writer",
+    srcs = ["channel_prediction_writer.cc"],
+    deps = [
+        "//cyber",
+        "//cyber/examples/proto:examples_cc_proto",
+    ],
+)
+
 cpplint()

cyber/examples/common_component_example/README.md

@@ -0,0 +1,55 @@
+# Common Component Example of the CyberRT framework
+
+
+## How to Build
+
+```
+./apollo.sh build cyber
+```
+
+Or if you use Bazel directly,
+
+```
+bazel build //cyber/examples/common_component_example/...
+```
+
+## How to Run
+
+### Enable logging to stderr
+
+- Change `GLOG_alsologtostderr` from `0` to `1` in `cyber/setup.bash`
+- Run `source cyber/setup.bash` in current console.
+
+```
+export GLOG_alsologtostderr=1
+```
+
+### Start the sample component
+
+```
+cyber_launch start cyber/examples/common_component_example/common.launch
+```
+
+Or
+
+```
+mainbooard -d cyber/examples/common_component_example/common.dag
+```
+
+### Start the writer nodes
+
+Open two more terminals, run the following commands respectively.
+
+```
+bazel run  //cyber/examples/common_component_example:channel_test_writer
+```
+
+and ...
+
+```
+bazel run //cyber/examples/common_component_example:channel_prediction_writer
+```
+
+Now you should see console output of the `CommonComponentSample` example from the first terminal.
+
+

cyber/examples/common_component_example/channel_prediction_writer.cc

@@ -0,0 +1,47 @@
+/******************************************************************************
+ * Copyright 2018 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "cyber/cyber.h"
+#include "cyber/examples/proto/examples.pb.h"
+#include "cyber/time/rate.h"
+#include "cyber/time/time.h"
+
+using apollo::cyber::Rate;
+using apollo::cyber::Time;
+using apollo::cyber::examples::proto::Driver;
+
+int main(int argc, char *argv[]) {
+  // init cyber framework
+  apollo::cyber::Init(argv[0]);
+  // create talker node
+  auto talker_node = apollo::cyber::CreateNode("prediction_writer");
+  // create talker
+  auto talker = talker_node->CreateWriter<Driver>("/apollo/prediction");
+  Rate rate(3.0);
+
+  std::string content("apollo_prediction");
+  while (apollo::cyber::OK()) {
+    static uint64_t seq = 0;
+    auto msg = std::make_shared<Driver>();
+    msg->set_timestamp(Time::Now().ToNanosecond());
+    msg->set_msg_id(seq++);
+    msg->set_content(content + std::to_string(seq - 1));
+    talker->Write(msg);
+    AINFO << "/apollo/prediction sent message, seq=" << (seq - 1) << ";";
+    rate.Sleep();
+  }
+  return 0;
+}

cyber/examples/common_component_example/channel_test_writer.cc

@@ -0,0 +1,47 @@
+/******************************************************************************
+ * Copyright 2018 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "cyber/cyber.h"
+#include "cyber/examples/proto/examples.pb.h"
+#include "cyber/time/rate.h"
+#include "cyber/time/time.h"
+
+using apollo::cyber::Rate;
+using apollo::cyber::Time;
+using apollo::cyber::examples::proto::Driver;
+
+int main(int argc, char *argv[]) {
+  // init cyber framework
+  apollo::cyber::Init(argv[0]);
+  // create talker node
+  auto talker_node = apollo::cyber::CreateNode("channel_test_writer");
+  // create talker
+  auto talker = talker_node->CreateWriter<Driver>("/apollo/test");
+  Rate rate(2.0);
+
+  std::string content("apollo_test");
+  while (apollo::cyber::OK()) {
+    static uint64_t seq = 0;
+    auto msg = std::make_shared<Driver>();
+    msg->set_timestamp(Time::Now().ToNanosecond());
+    msg->set_msg_id(seq++);
+    msg->set_content(content + std::to_string(seq - 1));
+    talker->Write(msg);
+    AINFO << "/apollo/test sent message, seq=" << (seq - 1) << ";";
+    rate.Sleep();
+  }
+  return 0;
+}

docker/build/installers/install_qa_tools.sh

@@ -36,7 +36,12 @@ apt-get -y update && \
     valgrind    \
     libgoogle-perftools4  # gperftools
 
-ln -s /usr/lib/${TARGET_ARCH}-linux-gnu/libprofiler.so.0 /usr/lib/${TARGET_ARCH}-linux-gnu/libprofiler.so
+PROFILER_SO="/usr/lib/${TARGET_ARCH}-linux-gnu/libprofiler.so"
+
+if [ ! -e "${PROFILER_SO}" ]; then
+    # libgoogle-perftools4: /usr/lib/x86_64-linux-gnu/libprofiler.so.0
+    ln -s "${PROFILER_SO}.0" "${PROFILER_SO}"
+fi
 
 ## Pylint
 pip3_install pycodestyle