framwork: rename to cyber

.gitignore

@@ -89,5 +89,5 @@ modules/calibration/data/
 # Data bag
 docs/demo_guide/*.bag
 
-# Cybertron
-cybertron/log/*
+# Logs
+cyber/log/*

apollo.sh

@@ -93,10 +93,10 @@ function check_esd_files() {
 
 function generate_build_targets() {
   if [ -z $NOT_BUILD_PERCEPTION ] ; then
-    BUILD_TARGETS=`bazel query //modules/... union //cybertron/...`
+    BUILD_TARGETS=`bazel query //modules/... union //cyber/...`
   else
     info 'Skip building perception module!'
-    BUILD_TARGETS=`bazel query //modules/... except //modules/perception/... except //modules/calibration/lidar_ex_checker/... union //cybertron/...`
+    BUILD_TARGETS=`bazel query //modules/... except //modules/perception/... except //modules/calibration/lidar_ex_checker/... union //cyber/...`
   fi
 
   if [ $? -ne 0 ]; then
@@ -175,7 +175,7 @@ function cibuild_extended() {
   info "Building with $JOB_ARG for $MACHINE_ARCH"
   BUILD_TARGETS="
     //modules/perception/...
-    //cybertron/...
+    //cyber/...
     //modules/dreamview/...
     //modules/drivers/radar/conti_radar/...
     //modules/drivers/radar/racobit_radar/...
@@ -210,7 +210,7 @@ function cibuild() {
 
   info "Building with $JOB_ARG for $MACHINE_ARCH"
   BUILD_TARGETS="
-    //cybertron/...
+    //cyber/...
     //modules/canbus/...
     //modules/common/...
     //modules/control/...
@@ -412,10 +412,10 @@ function citest_basic() {
 
   info "Building framework ..."
   cd /apollo
-  source cybertron/setup.bash
+  source cyber/setup.bash
 
   BUILD_TARGETS="
-    `bazel query //modules/... union //cybertron/...`
+    `bazel query //modules/... union //cyber/...`
   "
 
   JOB_ARG="--jobs=$(nproc) --ram_utilization_factor 80"
@@ -447,10 +447,10 @@ function citest_extended() {
 
   info "Building framework ..."
   cd /apollo
-  source cybertron/setup.bash
+  source cyber/setup.bash
 
   BUILD_TARGETS="
-    `bazel query //modules/planning/... union //modules/common/... union //cybertron/...`
+    `bazel query //modules/planning/... union //modules/common/... union //cyber/...`
     `bazel query //modules/prediction/... union //modules/control/...`
   "
 
@@ -472,7 +472,7 @@ function citest_extended() {
 function citest() {
   info "Building framework ..."
   cd /apollo
-  source cybertron/setup.bash
+  source cyber/setup.bash
 
   citest_basic
   citest_extended
@@ -500,7 +500,7 @@ function run_bash_lint() {
 
 function run_lint() {
   # Add cpplint rule to BUILD files that do not contain it.
-  for file in $(find cybertron modules -name BUILD |  grep -v gnss/third_party | \
+  for file in $(find cyber modules -name BUILD |  grep -v gnss/third_party | \
     xargs grep -l -E 'cc_library|cc_test|cc_binary' | xargs grep -L 'cpplint()')
   do
     sed -i '1i\load("//tools:cpplint.bzl", "cpplint")\n' $file

cyber/BUILD

@@ -0,0 +1,126 @@
+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "cyber",
+    deps = [
+        "//cyber:cyber_core",
+    ],
+    linkstatic = False,
+)
+
+cc_binary(
+    name = "mainboard",
+    srcs = glob([
+        "mainboard/*.cc",
+        "mainboard/*.h",
+    ]),
+    deps = [
+        ":cyber_core",
+        "//cyber/proto:dag_config_cc_proto",
+    ],
+    copts = [
+        "-pthread",
+    ],
+    linkstatic = False,
+)
+
+cc_binary(
+    name = "libcyber.so",
+    deps = [
+        ":cyber_core",
+          "@fastrtps//:fastrtps",
+    ],
+    #TODO: Using deps instead.
+    linkopts = [
+        "-luuid",
+    ],
+    linkshared = True,
+    linkstatic = True,
+)
+
+cc_library(
+    name = "binary",
+    hdrs = [
+        "binary.h",
+    ],
+)
+
+cc_library(
+    name = "state",
+    srcs = [
+        "state.cc",
+    ],
+    hdrs = [
+        "state.h",
+    ],
+)
+
+cc_library(
+    name = "init",
+    hdrs = [
+        "cyber.h",
+        "init.h",
+    ],
+    deps = [
+        "state",
+    ],
+)
+
+cc_library(
+    name = "cyber_core",
+    srcs = [
+        "cyber.cc",
+        "init.cc",
+    ],
+    deps = [
+          "//cyber:binary",
+          "//cyber:state",
+          "//cyber/base",
+          "//cyber/blocker:blocker_manager",
+          "//cyber/common",
+          "//cyber/component:component",
+          "//cyber/component:timer_component",
+          "//cyber/class_loader:class_loader",
+          "//cyber/class_loader:class_loader_manager",
+          "//cyber/croutine:croutine",
+          "//cyber/data:data",
+          "//cyber/event:perf_event",
+          "//cyber/event:perf_event_cache",
+          "//cyber:init",
+          "//cyber/logger:logger",
+          "//cyber/logger:async_logger",
+          "//cyber/message:message_traits",
+          "//cyber/message:raw_message_traits",
+          "//cyber/message:py_message_traits",
+          "//cyber/message:protobuf_traits",
+          "//cyber/message:intra_message_traits",
+          "//cyber/node:node",
+          "//cyber/proto:run_mode_conf_cc_proto",
+          "//cyber/parameter:parameter_client",
+          "//cyber/parameter:parameter_server",
+          "//cyber/record:record",
+          "//cyber/scheduler:scheduler",
+          "//cyber/service:client",
+          "//cyber/service:service",
+          "//cyber/service_discovery:topology_manager",
+          "//cyber/task:task",
+          "//cyber/time:time",
+          "//cyber/time:duration",
+          "//cyber/time:rate",
+          "//cyber/timer:timer",
+          "//cyber/transport:transport_lib",
+          "//third_party/tf2:tf2",
+          "@fastrtps",
+    ],
+    linkopts = [
+        "-luuid",
+        "-lprotobuf",
+        "-lglog",
+        "-lgflags",
+    ],
+)
+
+
+cpplint()

cyber/README.md

@@ -0,0 +1,2 @@
+# Introduction
+  Cyber is a collection of software frameworks for self-driving application development, providing operating system-like functionality on a heterogeneous computer. This allows you to build, test, and deploy self-driving applications more efficient.

cybertron/base/BUILD → cyber/base/BUILD

@@ -5,21 +5,21 @@ package(default_visibility = ["//visibility:public"])
 cc_library(
     name = "base",
     deps = [
-        "//cybertron/base:any",
-        "//cybertron/base:atomic_fifo",
-        "//cybertron/base:atomic_hash_map",
-        "//cybertron/base:atomic_rw_lock",
-        "//cybertron/base:bounded_queue",
-        "//cybertron/base:concurrent_object_pool",
-        "//cybertron/base:macros",
-        "//cybertron/base:object_pool",
-        "//cybertron/base:reentrant_rw_lock",
-        "//cybertron/base:rw_lock_guard",
-        "//cybertron/base:signal",
-        "//cybertron/base:thread_pool",
-        "//cybertron/base:thread_safe_queue",
-        "//cybertron/base:unbounded_queue",
-        "//cybertron/base:wait_strategy",
+        "//cyber/base:any",
+        "//cyber/base:atomic_fifo",
+        "//cyber/base:atomic_hash_map",
+        "//cyber/base:atomic_rw_lock",
+        "//cyber/base:bounded_queue",
+        "//cyber/base:concurrent_object_pool",
+        "//cyber/base:macros",
+        "//cyber/base:object_pool",
+        "//cyber/base:reentrant_rw_lock",
+        "//cyber/base:rw_lock_guard",
+        "//cyber/base:signal",
+        "//cyber/base:thread_pool",
+        "//cyber/base:thread_safe_queue",
+        "//cyber/base:unbounded_queue",
+        "//cyber/base:wait_strategy",
     ],
 )
 
@@ -37,7 +37,7 @@ cc_test(
         "any_test.cc",
     ],
     deps = [
-        "//cybertron/base:any",
+        "//cyber/base:any",
         "@gtest//:main",
     ],
 )
@@ -63,7 +63,7 @@ cc_test(
         "atomic_hash_map_test.cc",
     ],
     deps = [
-        "//cybertron/base:atomic_hash_map",
+        "//cyber/base:atomic_hash_map",
         "@gtest//:main",
     ],
 )
@@ -75,7 +75,7 @@ cc_library(
         "atomic_rw_lock.h",
     ],
     deps = [
-        "//cybertron/base:rw_lock_guard",
+        "//cyber/base:rw_lock_guard",
     ]
 )
 
@@ -86,8 +86,8 @@ cc_test(
         "atomic_rw_lock_test.cc",
     ],
     deps = [
-        "//cybertron/base:atomic_rw_lock",
-        "//cybertron/base:reentrant_rw_lock",
+        "//cyber/base:atomic_rw_lock",
+        "//cyber/base:reentrant_rw_lock",
         "@gtest//:main",
     ],
 )
@@ -98,8 +98,8 @@ cc_library(
         "bounded_queue.h",
     ],
     deps = [
-        "//cybertron/base:macros",
-        "//cybertron/base:wait_strategy",
+        "//cyber/base:macros",
+        "//cyber/base:wait_strategy",
     ],
 )
 
@@ -110,7 +110,7 @@ cc_test(
         "bounded_queue_test.cc",
     ],
     deps = [
-        "//cybertron/base:bounded_queue",
+        "//cyber/base:bounded_queue",
         "@gtest//:main",
     ],
 )
@@ -135,7 +135,7 @@ cc_library(
         "object_pool.h",
     ],
     deps = [
-        "//cybertron/base:macros",
+        "//cyber/base:macros",
     ],
 )
 
@@ -146,7 +146,7 @@ cc_test(
         "object_pool_test.cc",
     ],
     deps = [
-        "//cybertron/base:object_pool",
+        "//cyber/base:object_pool",
         "@gtest//:main",
     ],
 )
@@ -179,7 +179,7 @@ cc_test(
         "signal_test.cc",
     ],
     deps = [
-        "//cybertron/base:signal",
+        "//cyber/base:signal",
         "@gtest//:main",
     ],
 )

cybertron/base/any.h → cyber/base/any.h

@@ -14,15 +14,15 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef CYBERTRON_BASE_ANY_H_
-#define CYBERTRON_BASE_ANY_H_
+#ifndef CYBER_BASE_ANY_H_
+#define CYBER_BASE_ANY_H_
 
 #include <memory>
 #include <typeinfo>
 #include <utility>
 
 namespace apollo {
-namespace cybertron {
+namespace cyber {
 namespace data {
 
 class BadAnyCast : public std::bad_cast {
@@ -215,7 +215,7 @@ inline ValueType AnyCast(const Any& operand) {
 }
 
 }  // namespace data
-}  // namespace cybertron
+}  // namespace cyber
 }  // namespace apollo
 
-#endif  // CYBERTRON_BASE_ANY_H_
+#endif  // CYBER_BASE_ANY_H_

cybertron/base/any_test.cc → cyber/base/any_test.cc

@@ -19,11 +19,11 @@
 #include <thread>
 #include <utility>
 
-#include "cybertron/base/any.h"
+#include "cyber/base/any.h"
 #include "gtest/gtest.h"
 
 namespace apollo {
-namespace cybertron {
+namespace cyber {
 namespace data {
 class Foo {
  public:
@@ -124,5 +124,5 @@ TEST(AnyTest, cast_test) {
 }
 
 }  // namespace data
-}  // namespace cybertron
+}  // namespace cyber
 }  // namespace apollo