开发、编译、部署

代码仓结构

以aimdk_examples为例, 合理的目录结构和文件命名如下：

aimdk_examples/
├── config/                          # 配置文件目录
│   └── aimdk_examples/             # 模块配置和数据文件
│       ├── BUILD                   # Bazel 构建文件
│       ├── aimdk_examples_config.yaml  # 模块运行配置
│       └── ...                     # 其他配置文件
│
├── scripts/                         # 启动脚本目录
│   ├── aimdk_examples/              # 模块名目录
│   │   ├── BUILD
│   │   └── start_aimdk_examples.sh # 模块启动脚本
│   └── ...                         # 其他脚本
│
├── src/                            # 源代码目录
│   ├── app/                        # 应用程序入口
│   │   ├── xxx/                    # 具体应用模块
│   │   │   ├── BUILD
│   │   │   └── main.cc            # 主函数入口文件
│   │   └── ...
│   │
│   └── module/                     # 模块实现
│       ├── xxx/                    # 具体功能模块
│       │   ├── BUILD
│       │   ├── xxx_module.cc      # 模块实现文件
│       │   ├── xxx_module.h       # 模块头文件
│       │   └── ...                # 其他相关文件
│       └── ...
│
├── tools/                          # 工具脚本目录
│   ├── build_module.sh            # 模块编译脚本
│   └── run_module.sh              # 模块运行脚本
│
├── WORKSPACE                       # Bazel 工作空间配置
├── .bazelrc                        # Bazel 运行时配置
├── .bazelversion                   # Bazel 版本锁定
├── .clang-format                   # 代码格式化规则
├── .gitignore                      # Git 忽略规则
└── README.md                       # 项目说明文档

编译链设计

以aimdk_examples模块为例配置相关 config/aimdk_examples/BUILD

load("@integration//rules/utils:pkg_lib.bzl", "pkg_lib")
package(default_visibility = ["//visibility:public"])

filegroup(
    name = "aimdk_examples_config",
    srcs = glob(["*.yaml","*.conf"]),
)

pkg_lib(
    name = "aimdk_examples_config_tar",
    srcs = [
        ":aimdk_examples_config",
    ],
)

启动脚本相关

scripts/aimdk_examples/BUILD

package(default_visibility = ["//visibility:public"])

filegroup(
    name = "aimdk_examples_script",
    srcs = [
        "start_aimdk_examples.sh",
    ],
)

App相关

src/app/BUILD

load("@rules_pkg//pkg:mappings.bzl", "pkg_attributes", "pkg_filegroup", "pkg_files")
load("@rules_pkg//pkg:pkg.bzl", "pkg_tar")
load("@integration//rules/utils:flattern_tar.bzl", "flatten_tar")

package(default_visibility = ["//visibility:public"])

cc_binary(
    name = "aimdk_examples",
    srcs = [
        "main.cpp",
    ],
    deps = [
        "//src/module/ik:ik_module",
        "@sdk//:libaimrt",
        "@sdk//:libaimrt_comm",
    ],
)

pkg_files(
    name = "aimdk_examples_script",
    srcs = [
        "//scripts/aimdk_examples:aimdk_examples_script",
    ],
    attributes = pkg_attributes(
        mode = "0755",
    ),
    prefix = "scripts/aimdk_examples",
)

pkg_filegroup(
    name = "aimdk_examples_filegroup",
    srcs = [
        ":aimdk_examples_script",
    ],
)

pkg_tar(
    name = "aimdk_examples_without_bin_tar",
    srcs = [
        ":aimdk_examples_filegroup",
    ],
    extension = "tar",
    mode = "0755",
    tags = ["tar"],
)

pkg_tar(
    name = "aimdk_examples_bin_tar",
    srcs = [
        ":aimdk_examples",
    ],
    extension = "tar",
    include_runfiles = True,
    mode = "0755",
    tags = ["tar"],
)

flatten_tar(
    name = "aimdk_examples_bin_flatten_tar",
    src = ":aimdk_examples_bin_tar",
    prefix = "bin",
)

module代码相关

load("@integration//rules/utils:header_utils.bzl", "cc_library_with_top_header")

package(default_visibility = ["//visibility:public"])

cc_library(
    name = "ik_module",
    srcs = glob([
        "*.cpp",
    ]),
    hdrs = glob([
        "*.h",
    ]),
    includes = [".."],
    deps = [
        "@sdk//:libaimrt_comm",
    ],
)

单模块完整包相关

BUILD

load("@rules_pkg//pkg:pkg.bzl", "pkg_tar")
load("@rules_pkg//pkg:mappings.bzl", "pkg_files")
load("@integration//rules/utils:patchelf_tar.bzl", "patchelf_tar")

package(default_visibility = ["//visibility:public"])

pkg_tar(
    name = "aimdk_examples_tar",
    srcs = [
    ],
    extension = "tar",
    mode = "0755",
    strip_prefix = ".",
    tags = ["tar"],
    include_runfiles = True,
    deps = [
        "//config/aimdk_examples:aimdk_examples_config_tar",
        "@integration//:all_plugins_tar",
        "//src/app:aimdk_examples_bin_flatten_tar",
        "//src/app:aimdk_examples_without_bin_tar",
    ],
)

编译后在bazel-bin中生成aimdk_examples_tar.tar包，包含模块运行所需binary及其依赖so、配置和脚本，解压后包结构： bazel-bin/aimdk_examples_tar

├── bin
│   ├── aimdk_examples
│   ├── aimrt_main
│   ├── iox-roudi
│   ├── ...
│   ├── libiceoryx_binding_c.so
│   ├── libiceoryx_hoofs.so
│   └── ...
├── config
│   └── aimdk_examples
│       ├── aimdk_examples_config.yaml
│       ├── ...
└── scripts
    └── aimdk_examples
        └── start_aimdk_examples.sh

本地构建工具

在 aimdk_examples 中提供统一的模块构建脚本 tools/build_module.sh，用于本地编译和构建模块。

#!/bin/bash
set -e

# Display help information for script usage
Usage() {
    cat <<EOF
    build_moudle.sh [options]
    -t: build target module name
    -c: clean the local bazel cache
    -a: build with the arch type(x86_64, orin_aarch64), default is x86_64
    -j: specify the number of concurrent jobs to run during the build process
    -g: build with '--copt=-g'
    -e: extra options
    -h: help
    e.g. build_module.sh -t aimdk_examples -a x86_64 -j 8 -g -e "--config=xxx --define=xxx=xxx"
EOF
    exit 1
}

# Parse command line arguments using getopt
ARGS=$(getopt -o a:chgt:j:e: --long arch:,clean_cache,help,debug,target:,jobs:,extra_options: -n "$0" -- "$@")
if [ $? != 0 ]; then
    Usage
fi

# Helper function to get formatted timestamp for logging
function get_time() {
    local time=$(date "+%H:%M:%S")
    echo "($time)"
}

# Process parsed arguments
eval set -- "${ARGS}"
echo $(get_time) INFO: formatted parameters=[$@]

# Initialize default values
ARCH_TYPE="x86_64"
BUILD_TARGET=""

# Process command line options
while true; do
    case "$1" in
    -a | --arch)
        echo "$(get_time) INFO: Building for arch type: $2"
        ARCH_TYPE=${2}
        shift 2
        ;;
    -j | --jobs)
        echo "$(get_time) INFO: Building using jobs: $2"
        JOBS_OPTIONS="--jobs=$2"
        shift 2
        ;;
    -e | --extra_options)
        echo "$(get_time) INFO: Building with extra options: $2"
        EXTRA_OPTIONS=${2}
        if [[ $EXTRA_OPTIONS == *"--config=source"* ]]; then
            CONFIG_SOURCE="--config=source"
        fi
        shift 2
        ;;
    -g | --debug)
        echo "$(get_time) INFO: Building in debug mode"
        GDB_FLAG="--copt=-g --copt=-O0"
        shift
        ;;
    -c | --clean_cache)
        echo "$(get_time) INFO: Building with cleaning cache first"
        CLEAN_CACHE_FLAG=true
        shift
        ;;
    -t | --target)
        echo "$(get_time) INFO: Build target"
        BUILD_TARGET=${2}_tar
        shift 2
        ;;
    --)
        shift
        break
        ;;
    -h | --help)
        Usage
        ;;
    *)
        Usage
        ;;
    esac
done

# Validate required target parameter
if [ -z "$BUILD_TARGET" ]; then
    echo "$(get_time) ERROR: Target must be specified, please use -t parameter"
    Usage
fi

# Main build function that executes bazel build command
build_module() {
    target=$1
    SHELL_FOLDER=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
    pushd "$SHELL_FOLDER"/../ || exit
    set -x
    bazel build \
        ${COMPILER} \
        ${GDB_FLAG} \
        ${JOBS_OPTIONS} \
        ${EXTRA_OPTIONS} \
        "${target}"
    set +x
    popd || exit
}

# Configure compiler settings based on target architecture
if [[ "x$ARCH_TYPE" == "xx86_64" ]]; then
    COMPILER="--config=x86_64"
elif [[ "x$ARCH_TYPE" == "xorin_aarch64" ]]; then
    COMPILER="--config=orin_aarch64"
else
    echo "$(get_time) ERROR: Unsupported ARCH_TYPE for ${ARCH_TYPE}"
    exit 1
fi

# Clean bazel cache if requested
if [ "${CLEAN_CACHE_FLAG}" == true ]; then
    set -x
    bazel clean --expunge || true
    set +x
fi

build_module ${BUILD_TARGET}

脚本使用： build_module.sh -t aimdk_examples -a x86_64 -j 8 -g -c -e “—config=xxx —define=xxx=xxx” 参数解释：

-t: 指定编译模块的名字, 必选
-a: 执行模块的架构类型，默认为x86_64，可选值为：x86_64和orin_aarch64, 可选
-j: 指定编译使用的线程数，默认值为0,表示会自动根据当前PC负载动态调整线程数，可选
-g: 是否编译成调试版本，可选
-c: 编译前是否清除之前的编译缓存，可选
-e: 可以指定额外的编译选型，如—config参数，—define参数等等

本地运行工具

在 aimdk_examples 中提供统一的模块运行脚本 tools/run_module.sh，用于在 AIMDE 环境中运行 x86 架构的模块。

#!/bin/bash
set -e

# Function to display usage information
Usage() {
    cat <<EOF
    run_module.sh [options]
    -t: run target module name
    -c: config file absolute path, default file is in bazel-bin/"\$module_name"_tar/config/"\$module_name"/running_"\$module_name"_cfg.yaml
    -p: debug port
    -g: run with debug mode
    -h: help
    e.g.: 1) run_module.sh -t aimdk_examples -c config/aimdk_examples/aimdk_examples_config.yaml
EOF
    exit 1
}

# Parse command line arguments
ARGS=$(getopt -o t:c:p:gh --long target:,config:,port:,debug,help -n "$0" -- "$@")
if [ $? != 0 ]; then
    Usage
fi

# Get current timestamp for logging
function get_time() {
    local time=$(date "+%H:%M:%S")
    echo "($time)"
}

eval set -- "${ARGS}"
echo $(get_time) INFO: formatted parameters=[$@]

# Initialize variables
RUN_TARGET=""
PORT=6215

# Process command line options
while true; do
    case "$1" in
    -t | --target)
        echo "$(get_time) INFO: Run target: $2"
        RUN_TARGET=${2}
        shift 2
        ;;
    -c | --config)
        echo "$(get_time) INFO: Run with config: $2"
        CONFIG_PATH=${2}
        shift 2
        ;;
    -g | --debug)
        echo "$(get_time) INFO: Run with debug mode"
        DEBUG_FLAG=true
        shift
        ;;
    -p | --port)
        PORT=${2}
        shift 2
        ;;
    --)
        shift
        break
        ;;
    -h | --help)
        Usage
        ;;
    *)
        Usage
        ;;
    esac
done

# Validate required parameters
if [ -z "$RUN_TARGET" ]; then
    echo "$(get_time) ERROR: Target must be specified, please use -t parameter"
    Usage
fi

# Store current directory and change to script location
SHELL_FOLDER=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
pushd "$SHELL_FOLDER"/../ || exit
    # Setup paths and check target existence
    MODULE_TARGET_TAR_PATH="bazel-bin/${RUN_TARGET}_tar.tar"
    if [ ! -f "$MODULE_TARGET_TAR_PATH" ]; then
        echo "$(get_time) ERROR: Target tar does not exist: $MODULE_TARGET_TAR_PATH, please run build_module.sh to build the target tar first"
        exit 1
    fi

    # Prepare target directory and extract files
    rm -rf bazel-bin/${RUN_TARGET}_tar || true
    mkdir -p bazel-bin/${RUN_TARGET}_tar
    tar -xvf "$MODULE_TARGET_TAR_PATH" -C bazel-bin/${RUN_TARGET}_tar

    # Prepare execution command
    EXEC_SHELL_SCRIPT_PATH="bazel-bin/${RUN_TARGET}_tar/scripts/${RUN_TARGET}/start_${RUN_TARGET}.sh"
    chmod a+x ${EXEC_SHELL_SCRIPT_PATH}
    EXEC_COMMAND="${EXEC_SHELL_SCRIPT_PATH}"

    # Add optional parameters to command
    if [ -n "$CONFIG_PATH" ]; then
        EXEC_COMMAND+=" -c ${CONFIG_PATH}"
    fi
    if [ -n "$DEBUG_FLAG" ] && [ -n "$PORT" ]; then
        EXEC_COMMAND+=" -g -p ${PORT}"
    fi

    # Execute the command
    ${EXEC_COMMAND}
popd || exit

脚本使用： run_module.sh -t aimdk_examples -c config/aimdk_examples/aimdk_examples_config.yaml 参数解释：

-t: 指定编译模块的名字, 必选
-c: 指定配置文件的绝对路径，如何未指定，使用打包后默认的配置文件, 可选
-g: 是否启动调试模式，可选
-p：指定调试端口，默认值为6125，可选

部署和运行

编译单模块包

针对目标芯片架构编译模块：

bash tools/build_module.sh -t aimdk_examples -a orin_aarch64  # ARM架构(Orin)
# 或
bash tools/build_module.sh -t aimdk_examples -a x86_64        # x86架构

部署到目标设备

传输编译产物

将编译生成的tar包传输至目标设备：

sshpass -p 1 scp \
  -o UserKnownHostsFile=/dev/null \
  -o StrictHostKeyChecking=no \
  -o ConnectTimeout=120 \
  -P 61120 \
  /workspaces/aimde/aimdk_examples/bazel-bin/aimdk_examples_tar.tar \
  agi@192.168.111.140:/agibot/data/home/agi/ggm/

登录设备并解压

登录Orin板：

ssh agi@IP -p 61120

解压并清理安装包：

cd /agibot/data/home/agi/ggm/
tar -xvf aimdk_examples_tar.tar
rm -rf aimdk_examples_tar.tar

运行程序

进入部署目录并启动服务：

cd /agibot/data/home/agi/ggm/
bash scripts/aimdk_examples/start_aimdk_examples.sh