libcyber

libcyber is a fork of Apollo cyber, which supports cross-compilation.

Build and Install

Build

clone

git clone --single-branch --branch main https://github.com/MambaWong/libcyber.git

external libs

• fasrrtps & fastcdr
• ncurses

cyber

cd libcyber
bazel build --platforms=@gcc_toolchain//platforms:aarch64_linux -c opt --copt=-fpic //cyber/...

Install

Set CYBER_INSTALL_PREFIX as the installation directory for cyber.

cyber

bazel run --platforms=@gcc_toolchain//platforms:aarch64_linux -c opt --copt=-fpic //cyber:install -- ${CYBER_INSTALL_PREFIX}/cyber --pre_clean

bazel run --platforms=@gcc_toolchain//platforms:aarch64_linux -c opt --copt=-fpic //cyber:install_src -- ${CYBER_INSTALL_PREFIX}/cyber

external

CYBER_SYSROOT_DIR defaults to /opt/cyber/sysroot/.

mkdir ${CYBER_INSTALL_PREFIX}/cyber/lib/external

cp ${CYBER_SYSROOT_DIR}/lib/libfastrtps.so.1 ${CYBER_SYSROOT_DIR}/lib/libfastcdr.so.1 ${CYBER_INSTALL_PREFIX}/cyber/lib/external
cp ${CYBER_SYSROOT_DIR}/lib/libncurses.so.6 ${CYBER_INSTALL_PREFIX}/cyber/lib/external

Examples

Setup

Host

cd ${CYBER_INSTALL_PREFIX}
tar czvf cyber.tar.gz cyber/

#
scp cyber.tar.gz username@target_ip:/workspaces/

Target

cd /workspaces/
tar xzvf cyber.tar.gz
cd cyber && mkdir -p ./data/log

In each open terminal, execute the following commands.

cd /workspaces/cyber/

LD_LIBRARY_PATH=$(echo $(find "$(pwd)/lib" -mindepth 1 -type d -exec realpath {} \;) | tr ' ' ':'):$LD_LIBRARY_PATH

export APOLLO_DAG_PATH=./share/cyber/examples/
export APOLLO_LIB_PATH=./lib/
export CYBER_PATH=./share/cyber/
export GLOG_log_dir="$(pwd)/data/log"
export GLOG_alsologtostderr=1
export GLOG_minloglevel=0
export GLOG_v=5

Publisher/Subscriber

Open two terminals and execute the following commands respectively.

• talker

  ./bin/talker

• listener

  ./bin/listener

Component

Open three terminals and execute the following commands respectively.

./bin/channel_prediction_writer

./bin/channel_test_writer

./bin/mainboard -d common_component_example/common.dag

Acknowledgement

libcyber referenced the following projects：

• Apollo
• CyberRT
• wheelos.core