chore: sync 10.0 updates

- cyber:
	 - 45d620d88d fix: issue of reading and writing files in relative path
	 - 4f023e7f9c feat: checking eplite env
	 - bc76ae23e5 add shared arena buffer for point
	 - 7289a4bb1b fix(model-download): fix perception model url
	 - da937026b0 fix: switch default tag of image and fix model download script
- drivers:
	 - bc76ae23e5 add shared arena buffer for point

Signed-off-by: liangjinping <[email protected]>
Change-Id: Ifb816dd40202840a2b8501bce1db2f99b2404bd3

Author: lykling

aem/env.sh

@@ -33,8 +33,8 @@ export APOLLO_ENV_BACKEND="${APOLLO_ENV_BACKEND:-docker}"
 export APOLLO_ENV_CONTAINER_PREFIX=${APOLLO_ENV_CONTAINER_PREFIX:-apollo_neo_dev_}
 export APOLLO_ENV_CONTAINER_REPO_X86='registry.baidubce.com/apollo/apollo-env-gpu'
 export APOLLO_ENV_CONTAINER_REPO_ARM='registry.baidubce.com/apollo/apollo-env-arm'
-export APOLLO_ENV_CONTAINER_TAG_X86='9.0-u22-preview'
-export APOLLO_ENV_CONTAINER_TAG_ARM='9.0-preview'
+export APOLLO_ENV_CONTAINER_TAG_X86='10.0-u22'
+export APOLLO_ENV_CONTAINER_TAG_ARM='10.0-u20'
 export APOLLO_ENV_CONTAINER_NAME="${APOLLO_ENV_CONTAINER_NAME:-${APOLLO_ENV_CONTAINER_PREFIX}${APOLLO_ENV_NAME}}"
 export APOLLO_ENV_CONTAINER_USER="${APOLLO_ENV_CONTAINER_USER:-${USER}}"
 export APOLLO_ENV_CONTAINER_GROUP="${APOLLO_ENV_CONTAINER_GROUP:-$(id -gn)}"

aem/funcs.sh

@@ -712,6 +712,10 @@ apollo_create_container_env_options() {
   # shell history
   env_opts+=('-e' "HISTFILE=${APOLLO_ENV_WORKROOT}/.cache/.bash_history")
 
+  # eplite
+  cat /etc/bash.bashrc | grep AIPE_WITH_UNIX_DOMAIN_SOCKET >/dev/null 2>&1
+  [[ $? == 0 ]] && env_opts+=('-e' "AIPE_WITH_UNIX_DOMAIN_SOCKET=ON")
+
   echo "${env_opts[*]}"
 }
 export -f apollo_create_container_env_options

cyber/base/BUILD

@@ -6,7 +6,7 @@ package(default_visibility = ["//visibility:public"])
 apollo_cc_library(
     name = "cyber_base",
     hdrs = [
-        # "arena_queue.h",
+        "arena_queue.h",
         "atomic_hash_map.h",
         "atomic_rw_lock.h",
         "bounded_queue.h",

cyber/base/arena_queue.h

@@ -0,0 +1,262 @@
+/******************************************************************************
+ * Copyright 2024 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.
+ *****************************************************************************/
+
+#ifndef CYBER_BASE_ARENA_QUEUE_H_
+#define CYBER_BASE_ARENA_QUEUE_H_
+
+#include <unistd.h>
+
+#include <algorithm>
+#include <atomic>
+#include <cstdint>
+#include <cstdlib>
+#include <deque>
+#include <iostream>
+#include <memory>
+#include <utility>
+#include <vector>
+
+#include <google/protobuf/arena.h>
+
+#include "cyber/base/macros.h"
+#include "cyber/base/wait_strategy.h"
+
+namespace apollo {
+namespace cyber {
+namespace base {
+
+template <typename T>
+class ArenaQueue {
+ public:
+  using value_type = T;
+  using size_type = uint64_t;
+
+ public:
+  ArenaQueue() {}
+  ArenaQueue& operator=(const ArenaQueue& other) = delete;
+  ArenaQueue(const ArenaQueue& other) = delete;
+  ~ArenaQueue();
+  bool Init(uint64_t size);
+  bool Init(uint64_t size, google::protobuf::Arena* arena);
+
+  T* AddBack();
+  T* PopFront();
+  T* GetBack();
+  T* GetFront();
+
+  uint64_t Size();
+  bool Empty();
+  uint64_t Head() { return head_.load(); }
+  uint64_t Tail() { return tail_.load(); }
+  uint64_t Commit() { return commit_.load(); }
+  bool NextIndex(uint64_t& index) {
+    if (Empty()) {
+      return false;
+    }
+    if (arena_) {
+      if (GetIndex(index) < Tail() - 1) {
+        index = GetIndex(index + 1);
+        return true;
+      }
+      return false;
+    } else {
+      if (index < Size() - 1) {
+        index = index + 1;
+        return true;
+      }
+      return false;
+    }
+  }
+  bool GetHeadIndex(uint64_t& index) {
+    if (Empty()) {
+      return false;
+    }
+    if (arena_) {
+      index = GetIndex(head_ + 1);
+      return true;
+    } else {
+      index = 0;
+      return true;
+    }
+  }
+  bool GetTailIndex(uint64_t& index) {
+    if (Empty()) {
+      return false;
+    }
+    if (arena_) {
+      index = GetIndex(tail_ - 1);
+      return true;
+    } else {
+      index = Size() - 1;
+      return true;
+    }
+  }
+  bool GetEleByIndex(uint64_t i, T*& ptr) {
+    if (Empty()) {
+      return false;
+    }
+    if (arena_) {
+      ptr = pool_[GetIndex(i)];
+      return true;
+    } else {
+      if (i > Size() - 1) {
+        return false;
+      }
+      ptr = &normal_queue[i];
+      return true;
+    }
+  }
+  bool IsArenaEnable() { return arena_; }
+
+ private:
+  uint64_t GetIndex(uint64_t num);
+
+  alignas(CACHELINE_SIZE) std::atomic<uint64_t> head_ = {0};
+  alignas(CACHELINE_SIZE) std::atomic<uint64_t> tail_ = {1};
+  alignas(CACHELINE_SIZE) std::atomic<uint64_t> commit_ = {1};
+
+  uint64_t pool_size_ = 0;
+  std::vector<T*> pool_;
+  bool arena_;
+  std::deque<T> normal_queue;
+};
+
+template <typename T>
+ArenaQueue<T>::~ArenaQueue() {}
+
+template <typename T>
+inline bool ArenaQueue<T>::Init(uint64_t size) {
+  arena_ = false;
+  return true;
+}
+
+template <typename T>
+inline bool ArenaQueue<T>::Init(uint64_t size, google::protobuf::Arena* arena) {
+  pool_size_ = size + 2;
+  if (pool_.size() == pool_size_) {
+    return true;
+  }
+  pool_.clear();
+  for (uint64_t i = 0; i < pool_size_; ++i) {
+    pool_.push_back(google::protobuf::Arena::CreateMessage<T>(arena));
+  }
+  arena_ = true;
+  return true;
+}
+
+template <typename T>
+T* ArenaQueue<T>::GetBack() {
+  if (Empty()) {
+    return nullptr;
+  }
+  if (arena_) {
+    return pool_[GetIndex(tail_ - 1)];
+  } else {
+    return &normal_queue.back();
+  }
+}
+
+template <typename T>
+T* ArenaQueue<T>::GetFront() {
+  if (Empty()) {
+    return nullptr;
+  }
+  if (arena_) {
+    return pool_[GetIndex(head_ + 1)];
+  } else {
+    return &normal_queue.front();
+  }
+}
+
+template <typename T>
+T* ArenaQueue<T>::AddBack() {
+  if (arena_) {
+    uint64_t new_tail = 0;
+    uint64_t old_commit = 0;
+    uint64_t old_tail = tail_.load(std::memory_order_acquire);
+    do {
+      new_tail = old_tail + 1;
+      if (GetIndex(new_tail) ==
+          GetIndex(head_.load(std::memory_order_acquire))) {
+        return nullptr;
+      }
+    } while (!tail_.compare_exchange_weak(old_tail, new_tail,
+                                          std::memory_order_acq_rel,
+                                          std::memory_order_relaxed));
+    do {
+      old_commit = old_tail;
+    } while (cyber_unlikely(!commit_.compare_exchange_weak(
+        old_commit, new_tail, std::memory_order_acq_rel,
+        std::memory_order_relaxed)));
+    return pool_[GetIndex(old_tail)];
+  } else {
+    T instance;
+    normal_queue.push_back(instance);
+    return &normal_queue.back();
+  }
+}
+
+template <typename T>
+T* ArenaQueue<T>::PopFront() {
+  if (Empty()) {
+    return nullptr;
+  }
+  if (arena_) {
+    uint64_t new_head = 0;
+    uint64_t old_head = head_.load(std::memory_order_acquire);
+    do {
+      new_head = old_head + 1;
+      if (new_head == commit_.load(std::memory_order_acquire)) {
+        return nullptr;
+      }
+    } while (!head_.compare_exchange_weak(old_head, new_head,
+                                          std::memory_order_acq_rel,
+                                          std::memory_order_relaxed));
+    return pool_[GetIndex(new_head)];
+  } else {
+    normal_queue.pop_front();
+    return nullptr;
+  }
+}
+
+template <typename T>
+inline uint64_t ArenaQueue<T>::Size() {
+  if (arena_) {
+    return tail_ - head_ - 1;
+  } else {
+    return normal_queue.size();
+  }
+}
+
+template <typename T>
+inline bool ArenaQueue<T>::Empty() {
+  if (arena_) {
+    return Size() == 0;
+  } else {
+    return normal_queue.empty();
+  }
+}
+
+template <typename T>
+inline uint64_t ArenaQueue<T>::GetIndex(uint64_t num) {
+  return num - (num / pool_size_) * pool_size_;  // faster than %
+}
+
+}  // namespace base
+}  // namespace cyber
+}  // namespace apollo
+
+#endif  // CYBER_BASE_ARENA_QUEUE_H_

cyber/node/writer_base.h

@@ -83,6 +83,13 @@ class WriterBase {
     return role_attr_.channel_name();
   }
 
+  /**
+   * @brief Get Writer's Channel id
+   *
+   * @return const uint64_t& const reference to the channel id
+   */
+  const uint64_t GetChannelId() const { return role_attr_.channel_id(); }
+
   /**
    * @brief Is Writer initialized?
    *

cyber/proto/transport_conf.proto

@@ -21,6 +21,7 @@ message ArenaChannelConf {
   // 2^31 - 128 * 1024 * 1024, which is hardcode in the underlying implementation
   optional uint64 max_msg_size = 2 [default = 33554432];
   optional uint64 max_pool_size = 3 [default = 32];
+  optional uint64 shared_buffer_size = 4 [default = 0];
 };
 
 message ArenaShmConf {