bazel迁移cmake要点及具体迁移工程示例(apollo radar)

bazel迁移cmake要点及具体迁移工程示例

迁移要点指南

迁移主要的内容包括以下部分，

依赖库管理

apollo存在的三方依赖，一部分包括网络导入（例gtest、absl等)，一部分使用本地环境导入（例boost等)

bazel的依赖管理通过**@repo//:target**

cmake依赖管理则通过fetchcontent/find_package/connan导入。

//bazel
apollo_component(name = "libcomponent.so",srcs = ["component.cc"],hdrs = ["component.h"],deps = ["@com_google_absl//:absl","@eigen","@osqp",],
)
//cmake
include(FetchContent)
FetchContent_Declare(abslGIT_REPOSITORY https://github.com/abseil/abseil-cpp.gitGIT_SHALLOW TRUEGIT_PROGRESS TRUE)FetchContent_Declare(osqpGIT_REPOSITORY https://github.com/osqp/osqp.gitGIT_TAG v0.5.0GIT_SHALLOW TRUEGIT_PROGRESS TRUE)FetchContent_MakeAvailable(absl osqp)
target_link_libraries(examplePRIVATE osqpabsl::baseabsl::synchronizationPUBLIC $<BUILD_INTERFACE:absl::strings>)

proto编译

在bazel中，每一个proto都需要对应一个proto_library，较为繁琐

cmake中3.13版本后提供了proto编译的高层接口。

find_package(Protobuf 3.14.0 REQUIRED)file(GLOB_RECURSE src "*.cc"  "*.proto")add_library(AAA SHARED ${src})protobuf_generate(TARGET AAA 
)
target_link_libraries(AAA PRIVATE protobuf::libprotobuf)
target_include_directories(AAA PRIVATE ${CMAKE_CURRENT_BINARY_DIR})

根据以上语法，PROTO生成的cc文件会自动纳入AAA的待编译文件进行编译，但是默认未将头文件include，因此需要另外target_include_directories(AAA PRIVATE ${CMAKE_CURRENT_BINARY_DIR})

目标库及二进制文件生成

bazel原生有cc_library(库),cc_binary(二进制执行文件)，cc_test（测试)

分别对应cmake add_library，add_executable，gtest_discover_tests。

apollo 对原生的cc_library等进行了进一步封装apollo_cc_library，apollo_cc_binary，apollo_componet。

实际使用中，指定编译源码文件，编译选项、依赖库指定等，cmake基本都存在对应可替代命令。

apollo_component(name = "libconti_radar.so",srcs = ["conti_radar_canbus_component.cc"],hdrs = ["conti_radar_canbus_component.h"],copts = ['-DMODULE_NAME=\\"conti_radar\\"'],deps = [":conti_radar_message_manager","//cyber","//modules/common/adapters:adapter_gflags","//modules/common/monitor_log","//modules/drivers/canbus:apollo_drivers_canbus","//modules/drivers/canbus/proto:sensor_canbus_conf_cc_proto","//modules/drivers/radar/conti_radar/protocol:drivers_conti_radar_protocol","//modules/common_msgs/localization_msgs:localization_cc_proto","//modules/common_msgs/localization_msgs:pose_cc_proto","@eigen",],
)

file(GLOB_RECURSE SRCS "*.cc")add_library(conti_radar SHARED ${SRCS})target_link_libraries(conti_radar PRIVATE protobuf::libprotobuf cyber commoncanbus Eigen3::Eigen)target_include_directories(conti_radar PRIVATE ${CMAKE_SOURCE_DIR} ${CMAKE_BINARY_DIR}${CMAKE_CURRENT_BINARY_DIR})target_compile_definitions(conti_radar PRIVATE MODULE_NAME="conti_radar")

项目导出

部分库需要导出供他人使用的库，需要使用cmake导出cmake包，供使用者调用

生成xxxConfig.cmake供调用者find_package，以及配套的版本控制、依赖、头文件管理。

include(CMakePackageConfigHelpers)
configure_package_config_file(${CMAKE_SOURCE_DIR}/cmake/common-config.cmake.in"${CMAKE_CURRENT_BINARY_DIR}/common-TargetsConfig.cmake"INSTALL_DESTINATION "${CMAKE_INSTALL_DATADIR}/cmake/common")write_basic_package_version_file(${CMAKE_CURRENT_BINARY_DIR}/common-TargetConfigVersion.cmakeVERSION ${PROJECT_VERSION}COMPATIBILITY AnyNewerVersion)install(FILES"${PROJECT_BINARY_DIR}/cmake/${TARGET_NAME}-config.cmake""${PROJECT_BINARY_DIR}/cmake/${TARGET_NAME}-config-version.cmake"DESTINATION "${CMAKE_INSTALL_DATADIR}/cmake/${TARGET_NAME}"
)install(TARGETS ${TARGET_NAME}EXPORT ${TARGET_NAME}-targetsARCHIVE DESTINATION libLIBRARY DESTINATION libRUNTIME DESTINATION bin
)install(EXPORT ${TARGET_NAME}-targetsDESTINATION "${CMAKE_INSTALL_DATADIR}/cmake/${TARGET_NAME}"
)

runtime_data

主要之一些配置/参数/资源等文档的打包。

bazel不支持相关文件install等操作，apollo另外封装自实现了模块资源的安装。

// apollo 
filegroup(name = "runtime_data",srcs = glob(["conf/*.txt","conf/*.conf","dag/*.dag","launch/*.launch",]),
)//cmake
install(DIRECTORY .DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}FILES_MATCHINGPATTERN "conf/*.txt"PATTERN "conf/*.conf"PATTERN "dag/*.dag"PATTERN "launch/*.launch")

软件打包

cpack或者直接ci/cd做

include(InstallRequiredSystemLibraries)
set(CPACK_INCLUDE_TOPLEVEL_DIRECTORY FALSE)
set(CPACK_PROJECT_NAME ${PROJECT_NAME})
set(CPACK_PROJECT_VERSION ${PROJECT_VERSION})
set(CPACK_GENERATOR ZIP)
include(CPack)

cpack是集成在cmake中内建工具，可以获取cmake编译系统中的信息，可以方便的在包名输出平台、版本号、编译时间等等编译时信息

conti_rardar完整迁移过程

目录位于modules/drivers/radar/conti_radar。

根据目录内的BUILD文件

apollo_cc_library(name = "conti_radar_message_manager",srcs = ["conti_radar_message_manager.cc"],hdrs = ["conti_radar_message_manager.h"],deps = ["//modules/common/util:util_tool","//modules/drivers/canbus:apollo_drivers_canbus","//modules/drivers/radar/conti_radar/protocol:drivers_conti_radar_protocol",],
)apollo_component(name = "libconti_radar.so",srcs = ["conti_radar_canbus_component.cc"],hdrs = ["conti_radar_canbus_component.h"],copts = ['-DMODULE_NAME=\\"conti_radar\\"'],deps = [":conti_radar_message_manager","//cyber","//modules/common/adapters:adapter_gflags","//modules/common/monitor_log","//modules/drivers/canbus:apollo_drivers_canbus","//modules/drivers/canbus/proto:sensor_canbus_conf_cc_proto","//modules/drivers/radar/conti_radar/protocol:drivers_conti_radar_protocol","//modules/common_msgs/localization_msgs:localization_cc_proto","//modules/common_msgs/localization_msgs:pose_cc_proto","@eigen",],
)

除了CYBER，另外依赖的canbus、common_msg、common子模块，以及eigen等三方库。

conti_radar_message_manager只对内暴露，不需要定义为一个库。

common_msg

目录：modules/common_msgs

里面存放的都是proto文件，查看网络上的cmake版本cyberrt，将这些proto生成的cc文件编译进libcyber了。

不需要另外编译，不过cmake版本cyberrt编译未导出这些proto文件以及头文件，cyberrt cmake脚本需要做一些调整。

我这里简单处理，直接将modules/common_msgs直接复制进自己的工程内；

common

目录：modules/commom

代码主要是一些工具类模块。每个子目录都对应了一个编译对象。

• adapters
• configs/data
• filters
• kv_db
• latency_recorder
• math
• monitor_log
• proto
• status
• util
• vehicle_state

迁移至cmake将以上所有编译对象统一成单一库，并且对外输出头文件、ptoto等。

common目录下的cmakelist如下：

FetchContent_Declare(abslGIT_REPOSITORY https://github.com/abseil/abseil-cpp.gitGIT_SHALLOW TRUEGIT_PROGRESS TRUE)FetchContent_Declare(osqpGIT_REPOSITORY https://github.com/osqp/osqp.gitGIT_TAG v0.5.0GIT_SHALLOW TRUEGIT_PROGRESS TRUE)# FetchContent_Declare( boost GIT_REPOSITORY
# https://github.com/boostorg/boost.git GIT_SHALLOW TRUE GIT_PROGRESS TRUE )FetchContent_MakeAvailable(absl osqp)find_package(Boost REQUIRED)file(GLOB_RECURSE src "*.cc" "*.proto")list(FILTER src EXCLUDE REGEX ".+test\.cc")add_library(common SHARED ${src})protobuf_generate(TARGET common IMPORT_DIRS ${CMAKE_SOURCE_DIR}# APPEND_PATH
)target_include_directories(commonPRIVATE ${CMAKE_SOURCE_DIR} ${CMAKE_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR}INTERFACE $<INSTALL_INTERFACE:include>)target_link_libraries(commonPRIVATE cyberprotobuf::libprotobufcan_cardEigen3::EigenosqpBoost::boostSQLite::SQLite3absl::baseabsl::synchronizationPUBLIC $<BUILD_INTERFACE:absl::strings>)include(CMakePackageConfigHelpers)
configure_package_config_file(${CMAKE_SOURCE_DIR}/cmake/common-config.cmake.in"${CMAKE_CURRENT_BINARY_DIR}/common-TargetsConfig.cmake"INSTALL_DESTINATION "${CMAKE_INSTALL_DATADIR}/cmake/common")write_basic_package_version_file(${CMAKE_CURRENT_BINARY_DIR}/common-TargetConfigVersion.cmakeVERSION ${PROJECT_VERSION}COMPATIBILITY AnyNewerVersion)install(FILES "${CMAKE_CURRENT_BINARY_DIR}/common-TargetsConfig.cmake""${CMAKE_CURRENT_BINARY_DIR}/common-TargetConfigVersion.cmake"DESTINATION "${CMAKE_INSTALL_DATADIR}/cmake/common")install(TARGETS commonEXPORT common-TargetsLIBRARY DESTINATION libARCHIVE DESTINATION libRUNTIME DESTINATION bin)install(EXPORT common-TargetsDESTINATION "${CMAKE_INSTALL_DATADIR}/cmake/common")file(RELATIVE_PATH rel_path "${CMAKE_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}")install(DIRECTORY .DESTINATION include/${rel_path}FILES_MATCHINGPATTERN "*.h"PATTERN "*.proto")list(FILTER src INCLUDE REGEX ".+\.proto")
foreach(proto_file IN LISTS src)get_filename_component(filename_we "${proto_file}" NAME_WE)get_filename_component(dir "${proto_file}" DIRECTORY)file(RELATIVE_PATH subdir "${CMAKE_CURRENT_SOURCE_DIR}" "${dir}")install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${subdir}/${filename_we}.pb.h"DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${rel_path}/${subdir})
endforeach()

canbus

目录： modules/drivers/canbus

bazel脚本

apollo_cc_library(name = "apollo_drivers_canbus",srcs = ["sensor_gflags.cc","can_client/can_client_factory.cc","can_client/fake/fake_can_client.cc","can_client/hermes_can/hermes_can_client.cc","can_client/socket/socket_can_client_raw.cc","common/byte.cc",],hdrs = ["sensor_gflags.h","can_client/can_client.h","can_client/can_client_factory.h","can_client/fake/fake_can_client.h","can_client/hermes_can/bcan.h","can_client/hermes_can/bcan_defs.h","can_client/hermes_can/hermes_can_client.h","can_client/socket/socket_can_client_raw.h","can_comm/can_receiver.h","can_comm/can_sender.h","can_comm/message_manager.h","can_comm/protocol_data.h","common/byte.cc","common/byte.h","common/canbus_consts.h",],deps = ["//cyber","//modules/common/util:common_util","//modules/common/monitor_log","//modules/common_msgs/basic_msgs:error_code_cc_proto","//modules/common_msgs/drivers_msgs:can_card_parameter_cc_proto","//third_party/can_card_library/hermes_can","@com_github_gflags_gflags//:gflags","@com_google_googletest//:gtest",],
)

对应cmakelist：

project(canbus VERSION 1.0.0)# find_package(PkgConfig REQUIRED) pkg_check_modules(Gflags REQUIRED
# IMPORTED_TARGET gflags)find_package(gflags REQUIRED)file(GLOB_RECURSE SRCS "*.proto")add_library(canbus SHAREDsensor_gflags.cccan_client/can_client_factory.cccan_client/fake/fake_can_client.cccan_client/hermes_can/hermes_can_client.cccan_client/socket/socket_can_client_raw.cccommon/byte.cc${SRCS})protobuf_generate(TARGET canbus IMPORT_DIRS ${CMAKE_SOURCE_DIR}# APPEND_PATH
)target_link_libraries(canbusPRIVATE cybercommoncan_cardgflags_sharedabsl::baseabsl::synchronizationabsl::strings)target_include_directories(canbus PRIVATE ${CMAKE_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR}${CMAKE_BINARY_DIR})install(TARGETS canbusLIBRARY DESTINATION libARCHIVE DESTINATION libRUNTIME DESTINATION bin)

conti_radar

目录：modules/drivers/radar/conti_radar

bazel

filegroup(name = "runtime_data",srcs = glob(["conf/*.txt","conf/*.conf","dag/*.dag","launch/*.launch",]),
)apollo_cc_library(name = "conti_radar_message_manager",srcs = ["conti_radar_message_manager.cc"],hdrs = ["conti_radar_message_manager.h"],deps = ["//modules/common/util:util_tool","//modules/drivers/canbus:apollo_drivers_canbus","//modules/drivers/radar/conti_radar/protocol:drivers_conti_radar_protocol",],
)apollo_component(name = "libconti_radar.so",srcs = ["conti_radar_canbus_component.cc"],hdrs = ["conti_radar_canbus_component.h"],copts = ['-DMODULE_NAME=\\"conti_radar\\"'],deps = [":conti_radar_message_manager","//cyber","//modules/common/adapters:adapter_gflags","//modules/common/monitor_log","//modules/drivers/canbus:apollo_drivers_canbus","//modules/drivers/canbus/proto:sensor_canbus_conf_cc_proto","//modules/drivers/radar/conti_radar/protocol:drivers_conti_radar_protocol","//modules/common_msgs/localization_msgs:localization_cc_proto","//modules/common_msgs/localization_msgs:pose_cc_proto","@eigen",],
)

cmake

project(conti_radar VERSION 1.0.0)file(GLOB_RECURSE SRCS "*.cc" "*.proto")add_library(conti_radar SHARED ${SRCS})
protobuf_generate(TARGET conti_radar# PROTOC_OUT_DIR ${CMAKE_CURRENT_SOURCE_DIR}IMPORT_DIRS ${CMAKE_SOURCE_DIR})target_link_libraries(conti_radar PRIVATE protobuf::libprotobuf cyber commoncanbus Eigen3::Eigen)target_include_directories(conti_radar PRIVATE ${CMAKE_SOURCE_DIR} ${CMAKE_BINARY_DIR}${CMAKE_CURRENT_BINARY_DIR})target_compile_definitions(conti_radar PRIVATE MODULE_NAME="conti_radar")install(TARGETS conti_radarLIBRARY DESTINATION libARCHIVE DESTINATION libRUNTIME DESTINATION bin)install(DIRECTORY .DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME}FILES_MATCHINGPATTERN "conf/*.txt"PATTERN "conf/*.conf"PATTERN "dag/*.dag"PATTERN "launch/*.launch")

编译

cd project

cmake -B build

cmake --build build --target install

打包

cd build

cpack