第三方库依赖

第三方库依赖

所有三方库已预先集成在本地开发环境(aimde)中,通过 Bazel rule 统一管理。用户无需自行下载和安装三方库,只需在业务代码中按照规范引入即可,使用简单便捷。

集成仓三方库定义

通过 sdk_third_party_deps.bzl 引入

大部分三方库通过此文件引入,库文件统一存放在 /sdk/dev_tools/third_party_libs 目录下。 projects/external/sdk_third_party_deps.bzl

def third_party_deps():
    ...
    native.local_repository(
        name = "jsoncpp",
        path = "/sdk/dev_tools/third_party_libs/external/jsoncpp"
    )
    native.local_repository(
        name = "CURL_orin_aarch64",
        path = "/sdk/dev_tools/third_party_libs/external/CURL_orin_aarch64"
    )
    native.local_repository(
        name = "CURL_x86_64",
        path = "/sdk/dev_tools/third_party_libs/external/CURL_x86_64"
    )
    ...

通过 sdk_all_deps.bzl 引入

少部分三方库(如 cuda/cudnn/tensorrt)通过此文件引入,库文件分别安装在:

• x86架构: /usr/local 目录
• ARM架构: /opt/nvidia/orin_sysroot 目录 projects/external/sdk_all_deps.bzl

def local_deps():
    native.new_local_repository(
        name = "cuda_x86_64",
        build_file = "@integration//projects/third_party:cuda.BUILD",
        path = "/usr/local/cuda",
    )

    native.new_local_repository(
        name = "cuda_orin_aarch64",
        build_file = "@integration//projects/third_party:cuda.BUILD",
        path = "/opt/nvidia/orin_sysroot/usr/local/cuda-12.2",
    )
    ...

BUILD 文件中的架构适配

通过 alias 和 select 实现不同架构的自动选择:

alias(
    name = "cuda",
    actual = select({
        "@integration//toolchains/platforms:is_orin_aarch64": "@cuda_orin_aarch64//:cuda",
        "//conditions:default": "@cuda_x86_64//:cuda",
    }),
)

alias(
    name = "CURL",
    actual = select({
        "@integration//toolchains/platforms:is_orin_aarch64": "@CURL_orin_aarch64//:CURL",
        "//conditions:default": "@CURL_x86_64//:CURL",
    }),
)
...

业务仓三方库引入

方式1: 需要区分架构的三方库

使用集成仓 BUILD 中定义的 alias,引入格式: @integration//:库名 适用场景: 需要根据编译参数区分不同架构的预编译库(如 CURL)

cc_binary(
    name = "example",
    srcs = glob(["*.cpp"]),
    deps = [
        "@integration//:CURL",  # 自动选择对应架构的库
        ...
    ],
)

方式2: 无需区分架构的三方库

直接引用三方库名称,引入格式: @库名 适用场景: 不需要区分架构的三方库(如 jsoncpp)

cc_library(
    name = "ros2_util",
    hdrs = glob(["*.h"]),
    deps = [
        "@jsoncpp",  # 直接引用
        ...
    ],
)