fix: cyber_recorder and some path fix

- cyber:
	 - 663c028c77 fix(tools):fix path bug
	 - f2f411550e fix: cyber_recorder bugfix
- dreamview:
	 - 67b71f2783  Feat(dreamview_plus\dreamview): change absolute path to relative path to load vehicle configs,distinguish different logics between modules/calibration/data and profiles
- planning:
	 - 11bde9ccfa fix(planning): set planning_interface_base enable_source=True
	 - a2bd3b5cd5 fix(tools): fix planning tool bug
- perception:
	 - c78716b538 fix(perception): update launch command in scripts

Signed-off-by: wangchuang03 <[email protected]>
Change-Id: I00d148549db9e2fd0e3f42666587fd65af0e9447

Author: wangchuang03

cyber/tools/cyber_recorder/recorder.cc

@@ -202,8 +202,16 @@ bool Recorder::InitReadersImpl() {
   }
 
   // listen new writers in future
-  change_conn_ = channel_manager->AddChangeListener(
-      std::bind(&Recorder::TopologyCallback, this, std::placeholders::_1));
+  // must use async callback, otherwise deadlock may be occurred.
+  auto topology_callback =
+      [this](const apollo::cyber::proto::ChangeMsg& change_msg) {
+        apollo::cyber::Async(
+            [this, change_msg] { this->TopologyCallback(change_msg); });
+      };
+  change_conn_ = channel_manager->AddChangeListener(topology_callback);
+  // change_conn_ = channel_manager->AddChangeListener(
+  //     std::bind(&Recorder::TopologyCallback, this, std::placeholders::_1));
+
   if (!change_conn_.IsConnected()) {
     AERROR << "change connection is not connected";
     return false;

modules/dreamview/backend/common/util/hmi_util.cc

@@ -23,6 +23,7 @@
 #include "absl/strings/str_split.h"
 
 #include "cyber/common/file.h"
+#include "cyber/common/environment.h"
 #include "modules/common/util/map_util.h"
 #include "modules/dreamview/backend/common/dreamview_gflags.h"
 
@@ -92,7 +93,13 @@ HMIConfig HMIUtil::LoadConfig(std::string config_path) {
       << "No modes config loaded";
 
   *config.mutable_maps() = ListDirAsDict(FLAGS_maps_data_path);
-  *config.mutable_vehicles() = ListDirAsDict(FLAGS_vehicles_config_path);
+  std::string vehicles_config_path;
+  if (apollo::cyber::common::GetFilePathWithEnv(FLAGS_vehicles_config_path,
+                                                "APOLLO_ENV_WORKROOT",
+                                                &vehicles_config_path)) {
+    AINFO << "Get vehicles config path success: " << vehicles_config_path;
+    *config.mutable_vehicles() = ListDirAsDict(vehicles_config_path);
+  }
   AINFO << "Loaded HMI config: " << config.DebugString();
   return config;
 }

modules/dreamview/conf/dreamview.conf

@@ -1,5 +1,5 @@
 --flagfile=modules/common/data/global_flagfile.txt
 
 # If you are in package develop mode, use profiles change vehicle type.
-# --vehicles_config_path=/apollo_workspace/profiles
+# --vehicles_config_path=profiles
 # --vehicle_changed_use_copy_mode=false

modules/dreamview_plus/conf/dreamview.conf

@@ -7,5 +7,5 @@
 --default_hmi_mode=Default
 --server_ports=8888
 # If you are in package develop mode, use profiles change vehicle type.
-# --vehicles_config_path=/apollo_workspace/profiles
+# --vehicles_config_path=profiles
 # --vehicle_changed_use_copy_mode=false

modules/perception/lidar_detection/tools/offline_lidar_detection.sh

@@ -21,7 +21,7 @@ output_path="/apollo/data/output/"
 
 mkdir -p $output_path && rm -rf $output_path/*
 
-/apollo/bazel-bin/modules/perception/lidar_detection/tools/offline_lidar_detection \
+offline_lidar_detection \
         --pcd_path=$pcd_path \
         --output_path=$output_path \
         --detector_name=CNNSegmentation \

modules/perception/pointcloud_ground_detection/tools/offline_pointcloud_ground_detection.sh

@@ -21,7 +21,7 @@ output_path="/apollo/data/output/"
 
 mkdir -p $output_path && rm -rf $output_path/*
 
-/apollo/bazel-bin/modules/perception/pointcloud_ground_detection/tools/offline_pointcloud_ground_detection \
+offline_pointcloud_ground_detection \
         --pcd_path=$pcd_path \
         --output_path=$output_path \
         --ground_detector_name=SpatioTemporalGroundDetector \

modules/perception/tools/offline_camera_detection/offline_camera_detection.sh

@@ -17,4 +17,4 @@
 ###############################################################################
 
 
-/apollo/bazel-bin/modules/perception/tools/offline_camera_detection/offline_camera_detection "$@"
+offline_camera_detection "$@"

modules/planning/planning_base/tools/planning_task_stats.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import argparse
 import os
 import fnmatch

modules/planning/planning_interface_base/BUILD

@@ -62,6 +62,6 @@ apollo_cc_library(
     ],
 )
 
-apollo_package(enable_source=False)
+apollo_package()
 
 cpplint()

modules/tools/open_space_visualization/distance_approach_python_interface.py

@@ -27,10 +27,7 @@
 
 APOLLO_DISTRIBUTION_HOME = os.environ.get(
     'APOLLO_DISTRIBUTION_HOME', '/opt/apollo/neo')
-if APOLLO_DISTRIBUTION_HOME.startswith('/opt/apollo/neo'):
-    lib_path = f"{APOLLO_DISTRIBUTION_HOME}/lib/modules/planning/planning_open_space/distance_approach_problem_wrapper_lib.so"
-else:
-    lib_path = f"{APOLLO_DISTRIBUTION_HOME}/bazel-bin/modules/planning/planning_open_space/distance_approach_problem_wrapper_lib.so"  
+lib_path = f"{APOLLO_DISTRIBUTION_HOME}/lib/modules/planning/planning_open_space/distance_approach_problem_wrapper_lib.so"
 
 lib = cdll.LoadLibrary(lib_path)