project init

README.md

@@ -1,5 +1,12 @@
 # modularization
 
+# 项目说明
+
+应用部项目-垃圾清运车
+
+
+---
+
 技术发展室模块化自动驾驶系统源代码仓库  
 
 注意：如果是AGX的环境，请先运行agx_setup.sh脚本，防止漏装软件。

autodeploy.sh

@@ -14,19 +14,21 @@ driver_gps_hcp2
 driver_can_nvidia_agx
 driver_map_trace
 driver_map_xodrload
-driver_rpc_server
-driver_cloud_grpc_client
-driver_grpc_server
-driver_rpc_server
-driver_group_grpc_client
+#driver_rpc_server
+driver_radar_continental_ARS408_SRR308
+#driver_cloud_grpc_client
+#driver_grpc_server
+#driver_rpc_server
+#driver_group_grpc_client
 
 ######detection#####
-detection_lidar_PointPillars_MultiHead
-detection_radar_delphi_esr
-detection_chassis
+#detection_lidar_PointPillars_MultiHead
+#detection_radar_delphi_esr
+#detection_chassis
 
-######fusion#####
+#####fusion#####
 lidar_radar_fusion_cnn
+fusion_pointcloud_bus
 
 ######controller######
 controller_hapo
@@ -35,18 +37,19 @@ controller_hapo
 decition_brain_sf
 
 ######tools########
-view_pointcloud
+pointcloudviewer
 view_gps
-view_rawcan
+#view_rawcan
 view_radar
 IVSysMan
 ivmapmake
 view_ivlog
-tool_querymsg
+#tool_querymsg
 tool_xodrobj
 ivlog_record
 adciv_record
 ui_ads_hmi
+tool_configivsysman
 )
 
 for x in ${app_name[@]}
@@ -85,8 +88,6 @@ done
 
 cp ./bin/*.so ./deploy/app/lib/
 
-patchelf --set-rpath '$ORIGIN' ./deploy/app/lib/libfastrtps.so*
-
 qt_com=`arch`
 if [ $qt_com = "aarch64" ];then
 cp -r /usr/lib/aarch64-linux-gnu/nss/* ./deploy/app/lib/
@@ -97,6 +98,7 @@ fi
 cp ./sh/BaiDuMap.html ./deploy/app/
 cp ./sh/car.png ./deploy/app/
 cp ./sh/asphalt.jpg ./deploy/app/
+cp ./sh/IVSysMan.xml ./deploy/app/
 
 echo ""
 echo "***************"

autogen.sh

@@ -174,6 +174,31 @@ rm Makefile
 rm .qmake.stash
 cd ../../../
 
+cd src/common/ivservice/
+$qtmake ivservice.pro
+make $MAKEOPT
+build_result=$?
+check_result $build_result
+store_result
+make clean
+cp libivservice.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+
+cd src/common/makeprotointerface/
+$qtmake makeprotointerface.pro
+make $MAKEOPT
+build_result=$?
+check_result $build_result
+store_result
+make clean
+cp makeprotointerface ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
 controller_app_name=(
     controller_hapo
 )
@@ -194,11 +219,11 @@ do
 	cd ../../../
 done
 decition_app_name=(
-#	decition_brain_sf
+	decition_brain_sf
 	#decition_brain_ge3
 	#decition_brain_qingyuan
 	#decition_brain_vv7
-)
+	)
 
 for x in ${decition_app_name[@]}
 do
@@ -222,11 +247,12 @@ driver_app_name=(
 	driver_can_nvidia_agx
 	driver_map_trace
 	driver_map_xodrload
-	driver_rpc_server
-	driver_cloud_grpc_client
-	driver_grpc_server
-	driver_rpc_server
-	driver_group_grpc_client
+#	driver_rpc_server
+	driver_radar_continental_ARS408_SRR308
+#	driver_cloud_grpc_client
+#	driver_grpc_server
+#	driver_rpc_server
+#	driver_group_grpc_client
 )
 
 for x in ${driver_app_name[@]}
@@ -246,9 +272,9 @@ do
 done
 
 detect_app_name=(
-	detection_lidar_PointPillars_MultiHead
-	detection_radar_delphi_esr
-	detection_chassis
+#	detection_lidar_PointPillars_MultiHead
+#	detection_radar_delphi_esr
+#	detection_chassis
 )
 
 for x in ${detect_app_name[@]}
@@ -269,7 +295,8 @@ done
 
 
 fution_app_name=(
-#	lidar_radar_fusion_cnn
+	lidar_radar_fusion_cnn
+	fusion_pointcloud_bus
 )
 
 for x in ${fution_app_name[@]}
@@ -289,17 +316,18 @@ do
 done
 
 tool_app_name=(
-	view_pointcloud
+	pointcloudviewer
 	view_gps
-	view_rawcan
+#	view_rawcan
 	view_radar
 	IVSysMan
 	ivmapmake
 	view_ivlog
-	tool_querymsg
+#	tool_querymsg
 	tool_xodrobj
 	ivlog_record
 	adciv_record
+	tool_configivsysman
 )
 
 for x in ${tool_app_name[@]}

sh/rbshCar/ADS_decision (copy).xml

@@ -0,0 +1,39 @@
+<xml>	
+	<node name="ADCIntelligentVehicle-Replay">
+		<param name="vin" value="LMWHP1S28J1005878" />
+		<param name="iccid" value="898600MFSSYYG1234018" />
+		<param name="vehType" value="hapo" />
+		<param name="server" value="60.247.58.116" />
+		<param name="port" value="5600" />
+		<param name="id" value="1" />
+		<param name="speed" value="true" />
+		<param name="roadmode0" value="25" />
+		<param name="roadmode5" value="25" />
+		<param name="roadmode11" value="25" />
+		<param name="roadmode13" value="8" />
+		<param name="roadmode14" value="9" />
+		<param name="roadmode15" value="9" />
+		<param name="roadmode16" value="8" />
+		<param name="roadmode17" value="8" />
+		<param name="roadmode18" value="10" />
+		<param name="zhuchetime" value="8" />
+		<param name="epsoff" value="0" />
+                <param name="parklat" value="39.1364494" />
+                <param name="parklng" value="117.0868970" />
+                <param name="parkheading" value="347.6" />
+		<param name="parktype" value="0" />
+		<param name="lightlon" value="118.0866011"/>
+		<param name="lightlat" value="39.1362522" />
+		<param name="LidarRotation" value="95" />
+		<param name="LidarRangeUnit" value="5.0" />
+		<param name="lidarGpsXiuzheng" value="3.7" />
+		<param name="radarGpsXiuzheng" value="3.7" />
+		<param name="frontGpsXiuzheng" value="3.7" />
+		<param name="gpsOffset_X" value="0" />
+		<param name="gpsOffset_Y" value="1.5" />
+                <param name="vehWidth" value="2.26" /> 
+		<param name="inRoadAvoid" value="false" />
+		<param name="avoidObs" value="false" />
+	</node>
+</xml>
+

sh/rbshCar/ADS_decision.xml

@@ -0,0 +1,39 @@
+<xml>	
+	<node name="ADCIntelligentVehicle-Replay">
+		<param name="vin" value="LMWHP1S28J1005878" />
+		<param name="iccid" value="898600MFSSYYG1234018" />
+		<param name="vehType" value="hapo" />
+		<param name="server" value="60.247.58.116" />
+		<param name="port" value="5600" />
+		<param name="id" value="1" />
+		<param name="speed" value="true" />
+		<param name="roadmode0" value="25" />
+		<param name="roadmode5" value="25" />
+		<param name="roadmode11" value="25" />
+		<param name="roadmode13" value="8" />
+		<param name="roadmode14" value="9" />
+		<param name="roadmode15" value="9" />
+		<param name="roadmode16" value="8" />
+		<param name="roadmode17" value="8" />
+		<param name="roadmode18" value="24" />
+		<param name="zhuchetime" value="8" />
+		<param name="epsoff" value="0" />
+                <param name="parklat" value="39.1364494" />
+                <param name="parklng" value="117.0868970" />
+                <param name="parkheading" value="347.6" />
+		<param name="parktype" value="0" />
+		<param name="lightlon" value="118.0866011"/>
+		<param name="lightlat" value="39.1362522" />
+		<param name="LidarRotation" value="95" />
+		<param name="LidarRangeUnit" value="5.0" />
+		<param name="lidarGpsXiuzheng" value="3.7" />
+		<param name="radarGpsXiuzheng" value="3.7" />
+		<param name="frontGpsXiuzheng" value="3.7" />
+		<param name="gpsOffset_X" value="0.5" />
+		<param name="gpsOffset_Y" value="1.5" />
+                <param name="vehWidth" value="2.4" /> 
+		<param name="inRoadAvoid" value="false" />
+		<param name="avoidObs" value="false" />
+	</node>
+</xml>
+

sh/rbshCar/IVSysMan-bak20211126.xml

@@ -0,0 +1,35 @@
+<xml>	
+	<module app="driver_can_nvidia_agx" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>
+	<module app="driver_gps_hcp2" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>
+	<module app="driver_lidar_rs16" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args="-r 139 -p 6699 -m lidarpc_left" autostart="true"  group="Driver"/>
+        <module app="driver_lidar_rs16" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args="-r 43 -p 6698 -m lidarpc_right" autostart="true"  group="Driver"/>
+	<module app="driver_map_trace" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true1"  group="Driver"/>
+	<module app="driver_map_xodrload" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>	
+	<module app="driver_cloud_grpc_client" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>	
+	<module app="driver_grpc_server" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>	
+	<module app="driver_rpc_server" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>	
+	<module app="driver_rpc_client" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>	
+	<module app="driver_vbox_gaohong" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Driver"/>	
+	<module app="fusion_pointcloud_bus" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Fusion"/>
+	<module app="lidar_radar_fusion_cnn" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Fusion"/>	
+	<module app="detection_lidar_cnn_segmentation" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Detection"/>
+	<module app="detection_lidar_cnntogrid" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Detection"/>
+	<module app="detection_lidar_ukf_pda" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Detection"/>
+	<module app="detection_radar_delphi_esr" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="tr1sue"  group="Detection"/>
+	<module app="detection_radar_delphi_esr_send" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Detection"/>
+        <module app="detection_chassis" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Detection"/>
+	<module app="detection_gps_hcp2" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true1"  group="Detection"/>
+        <module app="controller_hapo" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Control"/>
+	<module app="decition_brain" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Control"/>
+	<module app="decition_brain_sf" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Control"/>
+	<module app="view_gps" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
+	<module app="view_pointcloud" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
+	<module app="v2xTcpClient" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true1"  group="Tool"/>
+	<module app="view_radar" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
+	<module app="ivmapmake" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
+	<module app="view_ivlog" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
+	<module app="ui_ads_hmi" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true"  group="Tool"/>
+	<module app="adciv_record" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="tru1e"  group="Tool"/>
+	<module app="ivlog_record" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="true1"  group="Tool"/>
+	<module app="tool_xodrobj" dir="/home/nvidia/code/git-ADS/modularization/deploy/app" args=" " autostart="false"  group="Tool"/>
+</xml>

sh/rbshCar/IVSysMan.xml

@@ -0,0 +1,27 @@
+<xml>
+ <setting defaultpath="/home/nvidia/code/git-ADS/modularization/deploy/app"/>
+ <module dir="" app="ADS_decision.xml" group="Driver" args="" autostart="false"/>
+ <module dir="" app="adciv_record" group="Tool" args="" autostart="false"/>
+ <module dir="" app="adciv_replay" group="Driver" args="" autostart="false"/>
+ <module dir="" app="controller_hapo" group="Control" args="" autostart="true"/>
+ <module dir="" app="decition_brain_sf" group="Control" args="" autostart="true"/>
+ <module dir="" app="detection_gps_hcp2" group="Driver" args="" autostart="true"/>
+ <module dir="" app="driver_can_nvidia_agx" group="Driver" args="" autostart="true"/>
+ <module dir="" app="driver_gps_hcp2" group="Driver" args="" autostart="true"/>
+ <module dir="" app="driver_lidar_rs16" group="Driver" args="" autostart="true"/>
+ <module dir="" app="driver_lidar_rs16" group="Driver" args="" autostart="true"/>
+ <module dir="" app="driver_map_trace" group="Driver" args="" autostart="false"/>
+ <module dir="" app="driver_map_xodrload" group="Driver" args="" autostart="true"/>
+ <module dir="" app="driver_radar_continental_ARS408_SRR308" group="Driver" args="" autostart="true"/>
+ <module dir="" app="ivlog_record" group="Tool" args="" autostart="false"/>
+ <module dir="" app="ivmapmake" group="Tool" args="" autostart="false"/>
+ <module dir="" app="lidar_radar_fusion_cnn" group="fusion" args="" autostart="true"/>
+ <module dir="" app="fusion_point_cloud" group="fusion" args="" autostart="true"/>
+ <module dir="" app="tool_configivsysman" group="Tool" args="" autostart="false"/>
+ <module dir="" app="tool_xodrobj" group="Tool" args="" autostart="false"/>
+ <module dir="" app="ui_ads_hmi" group="Tool" args="" autostart="true"/>
+ <module dir="" app="view_gps" group="Tool" args="" autostart="false"/>
+ <module dir="" app="view_ivlog" group="Tool" args="" autostart="false"/>
+ <module dir="" app="view_pointcloud" group="Tool" args="" autostart="false"/>
+ <module dir="" app="view_radar" group="Tool" args="" autostart="false"/>
+</xml>

sh/rbshCar/adciv_record.xml

@@ -0,0 +1,26 @@
+<xml>	
+	<node name="bqev_record">
+		<param name="savedir" value="/home/nvidia/ivd" />
+		<param name="spacekeep(M)" value="2000" />
+		<param name="filemax" value = "10" />
+		<param name="compress" value = "true" />
+		<param name="filesizelim(M)" value="200" />
+		<param name="MEMNAME001" value="usbpic" />
+		<param name="MEMNAME002" value="brainstate" />
+		<param name="MEMNAME003" value="deciton" />
+		<param name="MEMNAME004" value="hcp2_gpsimu" />
+		<param name="MEMNAME005" value="hmi" />
+		<param name="MEMNAME006" value="platform" />
+		<param name="MEMNAME007" value="radar" />
+		<param name="MEMNAME008" value="canstate" />
+<!--		<param name="MEMNAME009" value="lidar_pc" />-->
+		<param name="MEMNAME009" value="lidar_obs" />
+		<param name="MEMNAME010" value="chassis" />
+		<param name="MEMNAME011" value="cansend" />
+		<param name="MEMNAME012" value="v2x" />
+		<param name="MEMNAME013" value="v2xStEn" />
+		<param name="MEMNAME014" value="lidar_track" />
+		<param name="MEMNAME015" value="mobileye" />	
+		<param name="MEMNAME016" value="ultra" />
+	</node>
+</xml>

sh/rbshCar/adciv_replay.xml

@@ -0,0 +1,20 @@
+<xml>	
+	<node name="bqev_replay">
+	<param name="MEMNAME001" value="usbpic" />
+		<param name="MEMNAME002" value="brainstate" />
+		<param name="MEMNAME003" value="deciton" />
+		<param name="MEMNAME004" value="hcp2_gpsimu" />
+		<param name="MEMNAME005" value="hmi" />
+		<param name="MEMNAME006" value="platform" />
+		<param name="MEMNAME007" value="radar" />
+		<param name="MEMNAME008" value="canstate" />
+<!--		<param name="MEMNAME009" value="lidar_pc" />-->
+		<param name="MEMNAME009" value="lidar_obs" />
+		<param name="MEMNAME010" value="chassis" />
+		<param name="MEMNAME011" value="cansend" />
+		<param name="MEMNAME012" value="v2x" />
+		<param name="MEMNAME013" value="v2xStEn" />
+		<param name="MEMNAME014" value="lidar_track" />
+		<param name="MEMNAME015" value="mobileye" />
+	</node>
+</xml>

sh/rbshCar/autodeploy.sh

@@ -0,0 +1,106 @@
+PRO_DIR=`pwd`
+CONFIG_IVSysMan="IVSysMan_HAPO_1.xml"
+
+check_result=`whereis patchelf | awk '{print $2}'`
+if [ ! $check_result ];then
+    echo -e "\e[31m no found patchelf, Plz install patchelf first\e[0m"
+    exit 1
+fi
+
+app_name=(
+######driver######
+driver_lidar_rs16
+driver_gps_hcp2
+driver_can_nvidia_agx
+driver_map_trace
+driver_map_xodrload
+#driver_rpc_server
+driver_radar_continental_ARS408_SRR308
+#driver_cloud_grpc_client
+#driver_grpc_server
+#driver_rpc_server
+#driver_group_grpc_client
+
+######detection#####
+#detection_lidar_PointPillars_MultiHead
+#detection_radar_delphi_esr
+#detection_chassis
+
+#####fusion#####
+lidar_radar_fusion_cnn
+fusion_pointcloud_bus
+
+######controller######
+controller_hapo
+
+######decition######
+decition_brain_sf
+
+######tools########
+pointcloudviewer
+view_gps
+#view_rawcan
+view_radar
+IVSysMan
+ivmapmake
+view_ivlog
+#tool_querymsg
+tool_xodrobj
+ivlog_record
+adciv_record
+ui_ads_hmi
+tool_configivsysman
+)
+
+for x in ${app_name[@]}
+do
+	echo "deploy $x"
+	cp ./bin/${x} ./
+	./deploy.sh $x
+	if [ $? == 1 ];then
+		echo "build $x faile"
+		exit 1
+	fi
+	rm ${x}
+done
+
+lib_name=(
+	libmodulecomm.so
+	libndt_cpu.so
+	libxmlparam.so
+	libivfault.so
+	libivlog.so
+	libplatformif.so
+	libivexit.so
+	libivchart.so
+	libivbacktrace.so
+)
+
+for x in ${lib_name[@]}
+do
+	echo "link lib $x"
+	patchelf --set-rpath '$ORIGIN' ./bin/$x
+	if [ "$?" != 0 ];then
+		echo -e "\e[31m patchelf $EXE faile, Ensure patchelf tool installed\e[0m"
+		exit 1
+	fi
+done
+
+cp ./bin/*.so ./deploy/app/lib/
+
+qt_com=`arch`
+if [ $qt_com = "aarch64" ];then
+cp -r /usr/lib/aarch64-linux-gnu/nss/* ./deploy/app/lib/
+else
+cp -r /usr/lib/x86_64-linux-gnu/nss/* ./deploy/app/lib/
+fi
+
+cp ./sh/BaiDuMap.html ./deploy/app/
+cp ./sh/car.png ./deploy/app/
+cp ./sh/asphalt.jpg ./deploy/app/
+cp ./sh/IVSysMan.xml ./deploy/app/
+
+echo ""
+echo "***************"
+echo "***  done!  ***"
+echo "***************"

sh/rbshCar/autogen.sh

@@ -0,0 +1,368 @@
+#qt_com=$(arch)
+qt_com=`arch`
+if [ $qt_com = "aarch64" ];then
+qtmake="/usr/lib/aarch64-linux-gnu/qt5/bin/qmake"
+else
+qtmake="/opt/Qt5.10.1/5.10.1/gcc_64/bin/qmake"
+fi
+
+if [ $(uname -m) == "x86_64" ]; then
+    qtmake="/usr/lib/x86_64-linux-gnu/qt5/bin/qmake"
+fi
+
+if [ ! $qtmake ];then
+	echo -e "\e[33m qtmake not set, auto find it\e[0m"
+	qtmake=`find /opt -name "qmake" 2>/dev/null | grep 'gcc_64'`
+fi
+
+if [ ! $qtmake ];then
+	echo -e "\e[33m can't find qmake \e[0m"
+	exit 1
+fi
+
+echo -e "\e[33m qtmake: $qtmake \e[0m"
+
+show_error=$1
+has_error=0
+check_result()
+{
+    if [ "$build_result" != 0 -a "$show_error" == "s" ];then
+		echo -e "\e[33m*************************************************\e[0m"
+        echo -e "\e[31m    Please modify build error first,Exit!\e[0m"
+		echo -e "\e[33m*************************************************\e[0m"
+ 	    exit 1
+	fi
+}
+
+store_result()
+{
+	if [ "$build_result" != 0 ];then
+		echo -e "\e[33m*************************************************\e[0m"
+	        echo -e "\e[31m    Please modify build error first,Exit!\e[0m"
+		echo -e "\e[33m*************************************************\e[0m"
+ 		error_log="$error_log \n `pwd`"
+		has_error=1
+	fi
+}
+
+show_result()
+{
+	if [ "$has_error" != 0 ];then
+		echo -e "\e[33m*************************************************\e[0m"
+	        echo -e "\e[31mPlease modify build error first,Exit!\e[0m"
+        	echo -e "\e[31m$error_log\e[0m"
+		echo -e "\e[33m*************************************************\e[0m"
+	else
+		echo -e "\e[33m*************************************************\e[0m"
+	        echo -e "\e[31m    Build Success! \e[0m"
+		echo -e "\e[33m*************************************************\e[0m"
+	fi
+}
+MAKEOPT=-j8
+
+mkdir bin
+
+cd src/include/proto
+sh ./protomake.sh
+cd ../../../
+
+cd src/common/modulecomm/
+$qtmake modulecomm.pro
+make $MAKEOPT
+build_result=$?
+check_result $build_result
+store_result
+make clean
+cp libmodulecomm.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+cd src/common/xmlparam/
+$qtmake xmlparam.pro
+make $MAKEOPT
+build_result=$?
+check_result $build_result
+store_result
+make clean
+cp libxmlparam.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+cd src/common/ndt_cpu/
+$qtmake ndt_cpu.pro
+make $MAKEOPT
+build_result=$?
+check_result $build_result
+store_result
+make clean
+cp libndt_cpu.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+cd src/common/ivlog/
+$qtmake ivlog.pro
+make $MAKEOPT
+build_result=$?
+check_result $build_result
+store_result
+make clean
+cp libivlog.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+cd src/common/ivfault/
+$qtmake ivfault.pro
+make $MAKEOPT
+build_result=$?
+check_result $build_result
+store_result
+make clean
+cp libivfault.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+cd src/common/platformif/
+$qtmake platformif.pro
+make $MAKEOPT
+build_result=$?
+check_result $build_result
+store_result
+make clean
+cp libplatformif.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+cd src/common/ivexit/
+$qtmake ivexit.pro
+make $MAKEOPT
+build_result=$?
+check_result $build_result
+store_result
+make clean
+cp libivexit.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+cd src/common/ivbacktrace/
+$qtmake ivbacktrace.pro
+make $MAKEOPT
+build_result=$?
+check_result $build_result
+store_result
+make clean
+cp libivbacktrace.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+cd src/common/ivchart/
+$qtmake ivchart.pro
+make $MAKEOPT
+build_result=$?
+check_result $build_result
+store_result
+make clean
+cp libivchart.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+cd src/common/ivservice/
+$qtmake ivservice.pro
+make $MAKEOPT
+build_result=$?
+check_result $build_result
+store_result
+make clean
+cp libivservice.so ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+
+cd src/common/makeprotointerface/
+$qtmake makeprotointerface.pro
+make $MAKEOPT
+build_result=$?
+check_result $build_result
+store_result
+make clean
+cp makeprotointerface ./../../../bin/
+rm Makefile
+rm .qmake.stash
+cd ../../../
+
+controller_app_name=(
+    controller_hapo
+)
+
+for x in ${controller_app_name[@]}
+do
+	cd src/controller/${x}/
+	$qtmake ${x}.pro
+	make $MAKEOPT
+	build_result=$?
+	check_result $build_result
+	store_result
+	make clean
+	cp ${x} ./../../../bin/
+	rm Makefile
+	rm .qmake.stash
+	rm ${x}
+	cd ../../../
+done
+decition_app_name=(
+	decition_brain_sf
+	#decition_brain_ge3
+	#decition_brain_qingyuan
+	#decition_brain_vv7
+	)
+
+for x in ${decition_app_name[@]}
+do
+	cd src/decition/${x}/
+	$qtmake ${x}.pro
+	make $MAKEOPT
+	build_result=$?
+	check_result $build_result
+	store_result
+	make clean
+	cp ${x} ./../../../bin/
+	rm Makefile
+	rm .qmake.stash
+	rm ${x}
+	cd ../../../
+done
+
+driver_app_name=(
+	driver_lidar_rs16
+	driver_gps_hcp2
+	driver_can_nvidia_agx
+	driver_map_trace
+	driver_map_xodrload
+#	driver_rpc_server
+	driver_radar_continental_ARS408_SRR308
+#	driver_cloud_grpc_client
+#	driver_grpc_server
+#	driver_rpc_server
+#	driver_group_grpc_client
+)
+
+for x in ${driver_app_name[@]}
+do
+	cd src/driver/${x}/
+	$qtmake ${x}.pro
+	make $MAKEOPT
+	build_result=$?
+	check_result $build_result
+	store_result
+	make clean
+	cp ${x} ./../../../bin/
+	rm Makefile
+	rm .qmake.stash
+	rm ${x}
+	cd ../../../
+done
+
+detect_app_name=(
+#	detection_lidar_PointPillars_MultiHead
+#	detection_radar_delphi_esr
+#	detection_chassis
+)
+
+for x in ${detect_app_name[@]}
+do
+	cd src/detection/${x}/
+	$qtmake ${x}.pro
+	make $MAKEOPT
+	build_result=$?
+	check_result $build_result
+	store_result
+	make clean
+	cp ${x} ./../../../bin/
+	rm Makefile
+	rm .qmake.stash
+	rm ${x}
+	cd ../../../
+done
+
+
+fution_app_name=(
+	lidar_radar_fusion_cnn
+	fusion_pointcloud_bus
+)
+
+for x in ${fution_app_name[@]}
+do
+	cd src/fusion/${x}/
+	$qtmake ${x}.pro
+	make $MAKEOPT
+	build_result=$?
+	check_result $build_result
+	store_result
+	make clean
+	cp ${x} ./../../../bin/
+	rm Makefile
+	rm .qmake.stash
+	rm ${x}
+	cd ../../../
+done
+
+tool_app_name=(
+	pointcloudviewer
+	view_gps
+#	view_rawcan
+	view_radar
+	IVSysMan
+	ivmapmake
+	view_ivlog
+#	tool_querymsg
+	tool_xodrobj
+	ivlog_record
+	adciv_record
+	tool_configivsysman
+)
+
+for x in ${tool_app_name[@]}
+do
+	cd src/tool/${x}/
+	$qtmake ${x}.pro
+	make $MAKEOPT
+	build_result=$?
+	check_result $build_result
+	store_result
+	make clean
+	cp ${x} ./../../../bin/
+	rm Makefile
+	rm .qmake.stash
+	rm ${x}
+	cd ../../../
+done
+
+ui_app_name=(
+	ui_ads_hmi
+)
+
+for x in ${ui_app_name[@]}
+do
+	cd src/ui/${x}/
+	$qtmake ${x}.pro
+	make $MAKEOPT
+	build_result=$?
+	check_result $build_result
+	store_result
+	make clean
+	cp ${x} ./../../../bin/
+	rm Makefile
+	rm .qmake.stash
+	rm ${x}
+	cd ../../../
+done
+show_result

sh/rbshCar/detection_chassis.xml

@@ -0,0 +1,6 @@
+<xml>	
+	<node name="detection_chassis">
+		<param name="vehicletype" value="HAPO" />
+	</node>
+</xml>
+

sh/rbshCar/detection_lidar_cnn_segmentation.xml

@@ -0,0 +1,8 @@
+<xml>	
+	<node name="detection_ndt_matching_gpu_multi.xml">
+		<param name="prototxt" value="/home/nvidia/code/git-ADS/modularization/deploy/app/models/lidar/model.prototxt" />
+		<param name="caffemodel" value="/home/nvidia/code/git-ADS/modularization/deploy/app/models/lidar/model.caffemodel" />
+		<param name="input" value="lidar_pc" />
+		<param name="output" value="lidar_cnn_dectect" />
+	</node>
+</xml>

sh/rbshCar/detection_mobileye.xml

@@ -0,0 +1,7 @@
+<xml>	
+	<node name="detection_mobileye">
+		<param name="canrecv" value="canrecv0_017100004F4" />
+		<param name="cansend" value="cansend0_017100004F4" />
+
+	</node>
+</xml>

sh/rbshCar/detection_radar_esr.xml

@@ -0,0 +1,8 @@
+<xml>	
+	<node name="detection_radar_delphi_esr">
+		<param name="canrecv" value="canrecv0" />
+		<param name="cansend" value="cansend0" />
+		<param name="radar" value="radar" />
+		<param name="modulename" value="detection_radar_delphi_esr" />
+	</node>
+</xml>

sh/rbshCar/driver_vbox_gaohong.xml

@@ -0,0 +1,8 @@
+<xml>	
+	<node name="driver_vbox_gaohong">
+		<param name="canrecv" value="canrecv0" />
+		<param name="cansend" value="cansend0" />
+		<param name="vbox" value="vbox" />
+		<param name="modulename" value="driver_vbox_gaohong" />
+	</node>
+</xml>

sh/rbshCar/ui_ads_hmi.xml

@@ -0,0 +1,12 @@
+<xml>	
+	<node name="ADCIntelligentVehicle-ui_ads_hmi">
+		<param name="radar" value="radar" />
+		<param name="gps" value="hcp2_gpsimu" />
+		<param name="dection" value="deciton" />
+		<param name="brainstate" value="brainstate" />
+		<param name="chassismsgname" value="chassis" />
+		<param name="esr_y_offset" value="3.7" />
+		<param name="lidar_y_offset" value="3.7" />
+	</node>
+</xml>
+

sh/rbshCar/v2xTcpClient.xml

@@ -0,0 +1,26 @@
+<xml>	
+	<node name="v2xTcpClient">
+		<param name="carVIN" value="catarc001" />
+		<param name="hostIP" value="47.95.196.28" />
+		<param name="hostPort" value="12123" />
+		<param name="stationCount" value="9" />
+		<param name="lat0" value="39.2278522" />
+		<param name="lon0" value="117.1789619" />
+		<param name="lat1" value="39.2279425" />
+		<param name="lon1" value="117.1798172" />
+		<param name="lat2" value="39.2279737" />
+		<param name="lon2" value="117.1802230" />
+		<param name="lat3" value="39.2275999" />
+		<param name="lon3" value="117.1834422" />
+		<param name="lat4" value="39.2280002" />
+		<param name="lon4" value="117.1853630" />
+		<param name="lat5" value="39.2294784" />
+		<param name="lon5" value="117.1854406" />
+		<param name="lat6" value="39.2308872" />
+		<param name="lon6" value="117.1829196" />
+		<param name="lat7" value="39.2287639" />
+		<param name="lon7" value="117.1809904" />
+		<param name="lat8" value="39.2278463" />
+		<param name="lon8" value="117.1789233" />
+	</node>
+</xml>

sh/rbshCar/view_radar (copy).xml

@@ -0,0 +1,6 @@
+<xml>	
+	<node name="view_radar">
+		<param name="radar0" value="radar" />
+	</node>
+</xml>
+

sh/rbshCar/view_radar.xml

@@ -0,0 +1,6 @@
+<xml>	
+	<node name="view_radar">
+		<param name="radar0" value="radar" />
+	</node>
+</xml>
+