fix(core/inference): Resolve noexcept conflicts and add TensorRT version compatibilit

1. C++ noexcept specification fixes:
   - Align base/derived class noexcept declarations
   - Explicitly mark overriding methods with noexcept override
   - Address "looser throw specifier" compiler errors

2. TensorRT plugin version compatibility:
   - Implement conditional compilation via NV_TENSORRT_MAJOR checks
   - Add version detection header: #include <NvInferVersion.h>
   - Maintain separate implementation paths:
     * TRT7: Legacy API workflow
     * TRT8: Modern API adaptation

Author: mang0825

modules/perception/camera/lib/obstacle/detector/bev_detection/BUILD

@@ -26,8 +26,10 @@ cc_library(
         "@eigen",
         "@opencv//:core",
         "@opencv//:highgui",
-        "@paddleinference//:paddleinference_lib",
-    ],
+    ]+ select({
+        "@platforms//cpu:x86_64": ["@paddleinference-x86_64//:paddleinference_lib"],
+        "@platforms//cpu:aarch64": ["@paddleinference-aarch64//:paddleinference_lib"],
+    }),
 )
 
 cpplint()

modules/perception/camera/lib/obstacle/detector/caddn/BUILD

@@ -22,14 +22,18 @@ cc_library(
         "//modules/perception/inference:inference_lib",
         "//modules/perception/inference/utils:inference_resize_lib",
         "//modules/perception/inference/utils:inference_util_lib",
-        "@paddleinference//:paddleinference_lib",
-        "@caddn_infer_op//:caddn_infer_op",
         "@eigen",
         "@opencv//:imgcodecs",
         "@opencv//:imgproc",
         "@opencv//:highgui",
         "@local_config_cuda//cuda:cudart",
-    ],
+    ]+ select({
+        "@platforms//cpu:x86_64": ["@paddleinference-x86_64//:paddleinference_lib"],
+        "@platforms//cpu:aarch64": ["@paddleinference-aarch64//:paddleinference_lib"],
+    })+ select({
+        "@platforms//cpu:x86_64": ["@caddn_infer_op-x86_64//:caddn_infer_op"],
+        "@platforms//cpu:aarch64": ["@caddn_infer_op-aarch64//:caddn_infer_op"],
+    }),
 )
 
 cpplint()

modules/perception/inference/onnx/onnx_obstacle_detector.h

@@ -42,7 +42,7 @@ class Logger : public nvinfer1::ILogger {
   explicit Logger(Severity severity = Severity::kWARNING)
       : reportable_severity(severity) {}
 
-  void log(Severity severity, const char* msg) override {
+  void log(Severity severity, const char* msg)noexcept override {
     // suppress messages with severity enum value greater than the reportable
     if (severity > reportable_severity) return;
 

modules/perception/inference/paddlepaddle/BUILD

@@ -9,8 +9,10 @@ cc_library(
   hdrs = ["paddle_net.h"],
   deps = [
     "//modules/perception/inference:inference_lib",
-    "@paddleinference//:paddleinference_lib",
-  ],
+  ]+ select({
+        "@platforms//cpu:x86_64": ["@paddleinference-x86_64//:paddleinference_lib"],
+        "@platforms//cpu:aarch64": ["@paddleinference-aarch64//:paddleinference_lib"],
+    }),
 )
 
 cpplint()

modules/perception/inference/tensorrt/BUILD

@@ -6,7 +6,8 @@ package(default_visibility = ["//visibility:public"])
 cc_library(
     name = "rt_common",
     srcs = ["rt_common.cc"],
-    hdrs = ["rt_common.h"],
+    hdrs = ["rt_common.h",
+            "rt_legacy.h"],
     deps = [
         "//cyber",
         "//modules/perception/base:common",
@@ -94,6 +95,7 @@ cc_library(
     deps = [
         ":batch_stream",
         ":rt_utils",
+        ":rt_common",
         "@com_google_protobuf//:protobuf",
         "@local_config_cuda//cuda:cudart",
         "@local_config_tensorrt//:tensorrt",
@@ -121,6 +123,7 @@ cc_library(
     srcs = ["batch_stream.cc"],
     hdrs = ["batch_stream.h"],
     deps = [
+        ":rt_common",
         "//cyber",
         "//modules/perception/proto:rt_cc_proto",
         "@com_google_absl//:absl",

modules/perception/inference/tensorrt/batch_stream.cc

@@ -16,6 +16,12 @@
 
 #include "modules/perception/inference/tensorrt/batch_stream.h"
 
+#ifdef NV_TENSORRT_MAJOR
+    #if NV_TENSORRT_MAJOR == 8
+    #include "modules/perception/inference/tensorrt/rt_legacy.h"
+    #endif
+#endif
+
 #include <algorithm>
 
 #include "absl/strings/str_cat.h"

modules/perception/inference/tensorrt/batch_stream.h

@@ -16,6 +16,14 @@
 
 #pragma once
 
+#include <NvInferVersion.h>
+
+#ifdef NV_TENSORRT_MAJOR
+    #if NV_TENSORRT_MAJOR == 8
+    #include "modules/perception/inference/tensorrt/rt_legacy.h"
+    #endif
+#endif
+
 #include <string>
 #include <vector>
 

modules/perception/inference/tensorrt/entropy_calibrator.cc

@@ -15,9 +15,18 @@
  *****************************************************************************/
 #include "modules/perception/inference/tensorrt/entropy_calibrator.h"
 
+#include <NvInferVersion.h>
+
+#ifdef NV_TENSORRT_MAJOR
+#if NV_TENSORRT_MAJOR == 8
+#include "modules/perception/inference/tensorrt/rt_legacy.h"
+#endif
+#endif
+
 #include <algorithm>
 #include <fstream>
 
+#include "modules/perception/base/common.h"
 #include <cuda_runtime_api.h>
 
 namespace nvinfer1 {
@@ -38,7 +47,7 @@ Int8EntropyCalibrator::~Int8EntropyCalibrator() {
 }
 
 bool Int8EntropyCalibrator::getBatch(void *bindings[], const char *names[],
-                                     int nbBindings) {
+                                     int nbBindings)noexcept {
   if (!stream_.next()) {
     return false;
   }
@@ -49,7 +58,7 @@ bool Int8EntropyCalibrator::getBatch(void *bindings[], const char *names[],
   return true;
 }
 
-const void *Int8EntropyCalibrator::readCalibrationCache(size_t &length) {
+const void *Int8EntropyCalibrator::readCalibrationCache(size_t &length) noexcept{
   calibration_cache_.clear();
   std::ifstream input(
       apollo::perception::inference::locateFile(network_, "CalibrationTable"),
@@ -65,7 +74,7 @@ const void *Int8EntropyCalibrator::readCalibrationCache(size_t &length) {
 }
 
 void Int8EntropyCalibrator::writeCalibrationCache(const void *cache,
-                                                  size_t length) {
+                                                  size_t length) noexcept{
   std::ofstream output(
       apollo::perception::inference::locateFile(network_, "CalibrationTable"),
       std::ios::binary);

modules/perception/inference/tensorrt/entropy_calibrator.h

@@ -33,13 +33,15 @@ class Int8EntropyCalibrator : public IInt8EntropyCalibrator {
       bool read_cache, std::string network);
 
   virtual ~Int8EntropyCalibrator();
-  int getBatchSize() const override { return stream_.getBatchSize(); }
+  int getBatchSize() const noexcept override { return stream_.getBatchSize(); }
 
-  bool getBatch(void *bindings[], const char *names[], int nbBindings) override;
+  bool getBatch(void *bindings[], 
+    const char *names[], int nbBindings) noexcept override;
 
-  const void *readCalibrationCache(size_t &length) override;
+  const void *readCalibrationCache(size_t &length) noexcept override;
 
-  void writeCalibrationCache(const void *cache, size_t length) override;
+  void writeCalibrationCache(const void *cache,
+     size_t length) noexcept override;
 
  private:
   apollo::perception::inference::BatchStream stream_;

modules/perception/inference/tensorrt/plugins/BUILD

@@ -137,6 +137,7 @@ cc_test(
     deps = [
         ":perception_inference_tensorrt_plugins",
         "//modules/perception/inference/tensorrt:rt_common",
+        "//modules/perception/inference/tensorrt:rt_net",
         "@com_google_googletest//:gtest_main",
     ],
     linkstatic = True,