fix: Restore the compilation method of the source environment

Change-Id: I8e3241e6406bef0e6308598baba507bcfd4495da

Author: WildBeast114514

apollo.sh

@@ -124,7 +124,10 @@ function _usage() {
     ${BLUE}build_cpu [module]${NO_COLOR}: build in CPU mode. Equivalent to 'bazel build --config=cpu'
     ${BLUE}build_gpu [module]${NO_COLOR}: run build in GPU mode. Equivalent to 'bazel build --config=gpu'
     ${BLUE}build_opt_gpu [module]${NO_COLOR}: optimized build in GPU mode. Equivalent to 'bazel build --config=opt --config=gpu'
-    ${BLUE}build_legacy [module]${NO_COLOR}: legacy way to build apollo 
+    ${BLUE}build_pkg [module]${NO_COLOR}: build apollo on package-management way
+    ${BLUE}build_pkg_dbg [module]${NO_COLOR}: build apollo on package-management way
+    ${BLUE}build_pkg_opt [module]${NO_COLOR}: build apollo on package-management way
+    ${BLUE}build_pkg_opt_gpu [module]${NO_COLOR}: build apollo on package-management way
     ${BLUE}test [module]${NO_COLOR}: run unittest for cyber (module='cyber') or modules/<module>. If unspecified, test all.
     ${BLUE}coverage [module]${NO_COLOR}: run coverage test for cyber (module='cyber') or modules/<module>. If unspecified, coverage all.
     ${BLUE}lint${NO_COLOR}: run code style check
@@ -159,7 +162,7 @@ function main() {
     apollo_env_setup
 
     local build_sh="${APOLLO_ROOT_DIR}/scripts/apollo_build.sh"
-    local build_legacy_sh="${APOLLO_ROOT_DIR}/scripts/apollo_build_legacy.sh"
+    local build_pkg_sh="${APOLLO_ROOT_DIR}/scripts/apollo_build_pkg.sh"
     local pkg_sh="${APOLLO_ROOT_DIR}/scripts/apollo_build_package.sh"
     local test_sh="${APOLLO_ROOT_DIR}/scripts/apollo_test.sh"
     local coverage_sh="${APOLLO_ROOT_DIR}/scripts/apollo_coverage.sh"
@@ -174,12 +177,6 @@ function main() {
         build)
             env ${APOLLO_ENV} bash "${build_sh}" "$@"
             ;;
-        build_pkg*)
-            info deprecated, please use \'build, build_opt, build_opt_gpu, build_dbg\' command instead
-            ;;
-        build_legacy)
-            env ${APOLLO_ENV} bash "${build_legacy_sh}" --config=opt --config=gpu "$@"  
-            ;;
         build_opt)
             env ${APOLLO_ENV} bash "${build_sh}" --config=opt "$@"
             ;;
@@ -201,6 +198,18 @@ function main() {
         build_pnc)
             env ${APOLLO_ENV} bash "${build_sh}" --config=dbg --config=gpu "cyber planning prediction control routing dreamview external_command tools common_msgs"
             ;;
+        build_pkg)
+            env ${APOLLO_ENV} bash "${build_pkg_sh}" "$@"
+            ;;
+        build_pkg_opt)
+            env ${APOLLO_ENV} bash "${build_pkg_sh}" --config=opt "$@"
+            ;;
+        build_pkg_opt_gpu)
+            env ${APOLLO_ENV} bash "${build_pkg_sh}" --config=opt --config=gpu "$@"
+            ;;
+        build_pkg_dbg)
+            env ${APOLLO_ENV} bash "${build_pkg_sh}" --config=dbg "$@"
+            ;;
         build_prof)
             env ${APOLLO_ENV} bash "${build_sh}" --config=prof "$@"
             ;;

modules/bridge/udp_bridge_receiver_component.cc

@@ -158,11 +158,11 @@ bool UDPBridgeReceiverComponent<T>::MsgHandle(int fd) {
   const char *cursor = total_buf + offset;
   memcpy(header_size_buf, cursor, sizeof(hsize));
   hsize header_size = *(reinterpret_cast<hsize *>(header_size_buf));
-  if (header_size > FRAME_SIZE) {
-    AINFO << "header size is more than FRAME_SIZE!";
+  offset += sizeof(hsize) + 1;
+  if (header_size > FRAME_SIZE || header_size < offset) {
+    AINFO << "header size is more than FRAME_SIZE or less than offset!";
     return false;
   }
-  offset += sizeof(hsize) + 1;
 
   BridgeHeader header;
   size_t buf_size = header_size - offset;

scripts/apollo.bashrc

@@ -25,8 +25,6 @@ if [ -f /.dockerenv ]; then
   APOLLO_ROOT_DIR="/apollo"
 fi
 
-export PYTHONPATH=/opt/apollo/neo/python:$PYTHONPATH
-
 export APOLLO_CONFIG_HOME="${APOLLO_CONFIG_HOME:=$HOME/.apollo}"
 
 export APOLLO_ROOT_DIR="${APOLLO_ROOT_DIR}"
@@ -35,18 +33,17 @@ export APOLLO_CACHE_DIR="${APOLLO_ROOT_DIR}/.cache"
 export APOLLO_SYSROOT_DIR="/opt/apollo/sysroot"
 
 export APOLLO_DAG_PATH="${APOLLO_ROOT_DIR}"
-export APOLLO_LIB_PATH=/opt/apollo/neo/lib
+export APOLLO_LIB_PATH="${APOLLO_ROOT_DIR}/bazel-bin"
 export APOLLO_CONF_PATH="${APOLLO_ROOT_DIR}"
 export APOLLO_FLAG_PATH="${APOLLO_ROOT_DIR}"
 export APOLLO_LAUNCH_PATH="${APOLLO_ROOT_DIR}"
 export APOLLO_MODEL_PATH="${APOLLO_ROOT_DIR}/modules/perception/data/models"
 
-export APOLLO_DISTRIBUTION_HOME="${APOLLO_DISTRIBUTION_HOME:=/opt/apollo/neo}"
+export APOLLO_DISTRIBUTION_HOME="/apollo"
 export APOLLO_PLUGIN_INDEX_PATH="${APOLLO_DISTRIBUTION_HOME}/share/cyber_plugin_index"
-export APOLLO_PLUGIN_SEARCH_IN_BAZEL_OUTPUT=0
-export APOLLO_PLUGIN_DESCRIPTION_PATH="${APOLLO_ENV_WORKROOT:-/apollo_workspace}:${APOLLO_DISTRIBUTION_HOME}"
-export APOLLO_PLUGIN_LIB_PATH="${APOLLO_LIB_PATH}"
-export APOLLO_DISTRIBUTION_VERSION='9.0'
+export APOLLO_PLUGIN_SEARCH_IN_BAZEL_OUTPUT=1
+export APOLLO_PLUGIN_DESCRIPTION_PATH="${APOLLO_ROOT_DIR}"
+export APOLLO_PLUGIN_LIB_PATH="${APOLLO_ROOT_DIR}/bazel-bin:${APOLLO_DISTRIBUTION_HOME}/lib"
 
 export TAB="    " # 4 spaces
 
@@ -312,6 +309,9 @@ function setup_gpu_support() {
 }
 
 if ${APOLLO_IN_DOCKER}; then
-  pathprepend /opt/apollo/neo/bin
   setup_gpu_support
+
+  # add dreamview path
+  pathprepend ${APOLLO_ROOT_DIR}/bazel-bin/modules/dreamview
+  pathprepend ${APOLLO_ROOT_DIR}/bazel-bin/modules/dreamview_plus
 fi

scripts/apollo_base.sh

@@ -33,6 +33,7 @@ function site_restore() {
   [[ -e "${TOP_DIR}/WORKSPACE.source" ]] && rm -f "${TOP_DIR}/WORKSPACE" && cp "${TOP_DIR}/WORKSPACE.source" "${TOP_DIR}/WORKSPACE" 
   echo "" > "${TOP_DIR}/tools/package/rules_cc.patch" 
   [[ -e "${TOP_DIR}/tools/proto/proto.bzl.tpl" ]] && rm -f "${TOP_DIR}/tools/proto/proto.bzl" && cp "${TOP_DIR}/tools/proto/proto.bzl.tpl" "${TOP_DIR}/tools/proto/proto.bzl" 
+  [[ ! -z $(which buildtool) ]] && sudo apt remove -y apollo-neo-buildtool 
 }
 
 function env_prepare() {