Apollo is a comprehensive autonomous driving platform developed by Baidu, providing a full software stack for self-driving vehicles. The repository contains a modular architecture built on Cyber RT, a high-performance runtime framework optimized for autonomous driving scenarios with low latency and high throughput. Key modules include perception (camera, LiDAR, radar, sensor fusion), planning (scenario-based with multiple planners), control (PID, LQR, MPC controllers), localization (RTK, NDT, MSF), prediction, routing, and V2X communication. The system integrates with hardware through extensive driver support for various sensors (Velodyne, Hesai, Continental radar, Mobileye, etc.) and vehicle platforms (Lincoln, Lexus, Geely, etc.). Dreamview provides a web-based visualization and monitoring interface. The codebase demonstrates strong engineering practices with clear module boundaries, extensive configuration management, comprehensive testing infrastructure, and support for both x86_64 and ARM64 (Orin) platforms. Recent versions introduce package management for easier deployment, Dreamview Plus for enhanced developer experience, and cloud-based model training services (Apollo Fuel).
Apollo Router is a production-grade GraphQL gateway written in Rust. It accepts incoming GraphQL HTTP requests, composes a supergraph schema from subgraph schemas, plans queries across subgraphs, and executes them through a tower-style service pipeline. It supports federation, subscriptions, persisted queries, demand control, entity caching, progressive overrides, connectors, and defer. Configuration is YAML-based and can be managed via Apollo GraphOS Uplink for schema/config propagation.
DynamicTp is a Java library for dynamic thread pool management, primarily targeting Spring Boot applications. It allows runtime modification of thread pool parameters (core size, max size, queue capacity, etc.) via configuration centers like Nacos, Apollo, Zookeeper, Consul, Etcd, and Polaris. The library provides a rich set of executor variants (eager, ordered, priority, scheduled) and integrates with over a dozen middleware frameworks (Dubbo, gRPC, RocketMQ, RabbitMQ, Tomcat, Jetty, Undertow, Hystrix, Motan, OkHttp3, Thrift, SofaRPC, Tars, LiteFlow, brpc) by wrapping their native thread pools. It includes comprehensive monitoring and alerting: metrics collection via Micrometer, JMX, and logging; notification channels for DingTalk, WeChat, Lark, email, and custom notifiers; and alarm thresholds for capacity, liveness, rejections, and timeouts. The architecture is modular: a core module defines executors, registries, and lifecycle management; a common module provides utilities, parsers, queues, and SPI extension points; adapter modules wrap middleware executors; starter modules provide Spring Boot auto-configuration; and extension modules add optional features like Redis rate limiting and OpenTelemetry tracing. Key entry points are the @EnableDynamicTp annotation, DtpRegistry for executor registration, and ThreadPoolBuilder for programmatic pool creation. External dependencies include Spring Boot, Guava EventBus, ByteBuddy (for interception), Micrometer, and various config-center client libraries.
This repository contains the original Apollo Guidance Computer (AGC) source code for the Apollo 11 mission, split into Comanche055 (Command Module) and Luminary099 (Lunar Module). The code is written in AGC assembly language and is a historical artifact, not runnable software: it requires the yaYUL assembler and a Virtual AGC emulator to execute. It implements real-time guidance, navigation, control, telemetry, and system routines, with extensive inline documentation including call stacks, input/output specs, and alarm codes.
This repository implements a React library for building forms based on GraphQL APIs, specifically designed to work with Apollo Client. The library provides a code generation CLI tool that extracts GraphQL mutation information and converts it to JSON Schema, along with a React component that renders forms and handles submission via GraphQL mutations. The architecture consists of: 1. A CLI tool (`lib/cli.ts`) for generating schema and type definitions from GraphQL endpoints 2. Core form logic in `lib/forms/` including the main `ApolloForm` component, utilities for schema processing, and rendering customization 3. Integration with React-jsonschema-form as the underlying form engine Key features include conditional fields, custom validation, theming support, and automatic JSON Schema generation from GraphQL schemas. The library demonstrates particular strength in its JSON Schema manipulation utilities, which handle complex operations like resolving $ref references and applying conditional logic to schemas.