Drivers : move conti_radar to radar folder

modules/drivers/proto/BUILD

@@ -16,6 +16,6 @@ proto_library(
     ],
     deps = [
         "//modules/common/proto:header_proto_lib",
-        "//modules/drivers/conti_radar/proto:conti_radar_proto_lib",
+        "//modules/drivers/radar/conti_radar/proto:conti_radar_proto_lib",
     ],
 )

modules/drivers/proto/conti_radar.proto

@@ -3,7 +3,7 @@ syntax = "proto2";
 package apollo.drivers;
 
 import "modules/common/proto/header.proto";
-import "modules/drivers/conti_radar/proto/conti_radar_conf.proto";
+import "modules/drivers/radar/conti_radar/proto/conti_radar_conf.proto";
 
 message ClusterListStatus_600 {
   optional int32 near = 1 [default = 0];

modules/drivers/conti_radar/BUILD → modules/drivers/radar/conti_radar/BUILD

@@ -16,7 +16,7 @@ cc_library(
         "//modules/drivers/canbus/can_client:can_client_factory",
         "//modules/drivers/canbus/can_comm:can_sender",
         "//modules/drivers/canbus/can_comm:message_manager_base",
-        "//modules/drivers/conti_radar/protocol:drivers_conti_radar_protocol",
+        "//modules/drivers/radar/conti_radar/protocol:drivers_conti_radar_protocol",
     ],
 )
 
@@ -50,7 +50,7 @@ cc_library(
         "//modules/drivers/canbus/can_client:can_client_factory",
         "//modules/drivers/canbus/can_comm:can_receiver",
         "//modules/drivers/canbus/can_comm:message_manager_base",
-        "//modules/drivers/conti_radar/protocol:drivers_conti_radar_protocol",
+        "//modules/drivers/radar/conti_radar/protocol:drivers_conti_radar_protocol",
     ],
 )
 

modules/drivers/conti_radar/README_cn.md → modules/drivers/radar/conti_radar/README_cn.md

@@ -2,7 +2,7 @@
 该驱动基于ROS开发，支持continental ARS。
 
 ### 配置
-radar的默认配置: [conf/conti_radar_conf.pb.txt](https://github.com/ApolloAuto/apollo/blob/master/modules/drivers/conti_radar/conf/conti_radar_conf.pb.txt)
+radar的默认配置: [conf/conti_radar_conf.pb.txt](https://github.com/ApolloAuto/apollo/blob/master/modules/drivers/radar/conti_radar/conf/conti_radar_conf.pb.txt)
 radar启动时，会先根据上述配置文件，向can卡发送指令，对radar进行配置。当接收到的radar状态信息与用户配置信息一致时，才开始解析数据并发送消息。
 
 ### 运行

modules/drivers/conti_radar/conf/conti_radar.conf → modules/drivers/radar/conti_radar/conf/conti_radar.conf

 --flagfile=modules/common/data/global_flagfile.txt
 --alsologtostderr=1
---sensor_conf_file=modules/drivers/conti_radar/conf/conti_radar_conf.pb.txt
---adapter_config_filename=modules/drivers/conti_radar/conf/adapter.conf
+--sensor_conf_file=modules/drivers/radar/conti_radar/conf/conti_radar_conf.pb.txt
+--adapter_config_filename=modules/drivers/radar/conti_radar/conf/adapter.conf
 --node_namespace=/apollo/drivers/conti_radar
 --sensor_node_name=conti_radar
 --canbus_driver_name=conti_radar

modules/drivers/conti_radar/conti_radar_canbus.cc → modules/drivers/radar/conti_radar/conti_radar_canbus.cc

@@ -18,8 +18,8 @@
  * @file
  */
 
-#include "modules/drivers/conti_radar/conti_radar_canbus.h"
-#include "modules/drivers/conti_radar/conti_radar_message_manager.h"
+#include "modules/drivers/radar/conti_radar/conti_radar_canbus.h"
+#include "modules/drivers/radar/conti_radar/conti_radar_message_manager.h"
 #include "modules/drivers/proto/conti_radar.pb.h"
 
 /**

modules/drivers/conti_radar/conti_radar_canbus.h → modules/drivers/radar/conti_radar/conti_radar_canbus.h

@@ -18,8 +18,8 @@
  * @file
  */
 
-#ifndef MODULES_DRIVERS_CONTI_RADAR_CONTI_RADAR_CANBUS_H_
-#define MODULES_DRIVERS_CONTI_RADAR_CONTI_RADAR_CANBUS_H_
+#ifndef MODULES_DRIVERS_RADAR_CONTI_RADAR_CONTI_RADAR_CANBUS_H_
+#define MODULES_DRIVERS_RADAR_CONTI_RADAR_CONTI_RADAR_CANBUS_H_
 
 #include <memory>
 #include <string>
@@ -44,8 +44,8 @@
 #include "modules/drivers/canbus/proto/can_card_parameter.pb.h"
 #include "modules/drivers/canbus/proto/sensor_canbus_conf.pb.h"
 #include "modules/drivers/canbus/sensor_gflags.h"
-#include "modules/drivers/conti_radar/conti_radar_message_manager.h"
-#include "modules/drivers/conti_radar/protocol/radar_config_200.h"
+#include "modules/drivers/radar/conti_radar/conti_radar_message_manager.h"
+#include "modules/drivers/radar/conti_radar/protocol/radar_config_200.h"
 #include "modules/drivers/proto/conti_radar.pb.h"
 
 /**
@@ -123,4 +123,4 @@ class ContiRadarCanbus : public apollo::common::ApolloApp {
 }  // namespace drivers
 }  // namespace apollo
 
-#endif  // MODULES_DRIVERS_CONTI_RADAR_CONTI_RADAR_CANBUS_H_
+#endif  // MODULES_DRIVERS_RADAR_CONTI_RADAR_CONTI_RADAR_CANBUS_H_

modules/drivers/conti_radar/conti_radar_message_manager.cc → modules/drivers/radar/conti_radar/conti_radar_message_manager.cc

@@ -19,16 +19,16 @@
  * @brief The class of ContiRadarMessageManager
  */
 
-#include "modules/drivers/conti_radar/conti_radar_message_manager.h"
-
-#include "modules/drivers/conti_radar/protocol/cluster_general_info_701.h"
-#include "modules/drivers/conti_radar/protocol/cluster_list_status_600.h"
-#include "modules/drivers/conti_radar/protocol/cluster_quality_info_702.h"
-#include "modules/drivers/conti_radar/protocol/object_extended_info_60d.h"
-#include "modules/drivers/conti_radar/protocol/object_general_info_60b.h"
-#include "modules/drivers/conti_radar/protocol/object_list_status_60a.h"
-#include "modules/drivers/conti_radar/protocol/object_quality_info_60c.h"
-#include "modules/drivers/conti_radar/protocol/radar_state_201.h"
+#include "modules/drivers/radar/conti_radar/conti_radar_message_manager.h"
+
+#include "modules/drivers/radar/conti_radar/protocol/cluster_general_info_701.h"
+#include "modules/drivers/radar/conti_radar/protocol/cluster_list_status_600.h"
+#include "modules/drivers/radar/conti_radar/protocol/cluster_quality_info_702.h"
+#include "modules/drivers/radar/conti_radar/protocol/object_extended_info_60d.h"
+#include "modules/drivers/radar/conti_radar/protocol/object_general_info_60b.h"
+#include "modules/drivers/radar/conti_radar/protocol/object_list_status_60a.h"
+#include "modules/drivers/radar/conti_radar/protocol/object_quality_info_60c.h"
+#include "modules/drivers/radar/conti_radar/protocol/radar_state_201.h"
 
 namespace apollo {
 namespace drivers {

modules/drivers/conti_radar/conti_radar_message_manager.h → modules/drivers/radar/conti_radar/conti_radar_message_manager.h

@@ -18,14 +18,14 @@
  * @file conti_radar_message_manager.h
  * @brief The class of ContiRadarMessageManager
  */
-#ifndef MODULES_DRIVERS_CONTI_RADAR_CONTI_RADAR_MESSAGE_MANAGER_H_
-#define MODULES_DRIVERS_CONTI_RADAR_CONTI_RADAR_MESSAGE_MANAGER_H_
+#ifndef MODULES_DRIVERS_RADAR_CONTI_RADAR_CONTI_RADAR_MESSAGE_MANAGER_H_
+#define MODULES_DRIVERS_RADAR_CONTI_RADAR_CONTI_RADAR_MESSAGE_MANAGER_H_
 
 #include <memory>
 #include "modules/drivers/canbus/can_client/can_client_factory.h"
 #include "modules/drivers/canbus/can_comm/can_sender.h"
 #include "modules/drivers/canbus/can_comm/message_manager.h"
-#include "modules/drivers/conti_radar/protocol/radar_config_200.h"
+#include "modules/drivers/radar/conti_radar/protocol/radar_config_200.h"
 #include "modules/drivers/proto/conti_radar.pb.h"
 
 #include "modules/common/adapters/adapter_manager.h"
@@ -65,4 +65,4 @@ class ContiRadarMessageManager : public MessageManager<ContiRadar> {
 }  // namespace drivers
 }  // namespace apollo
 
-#endif  // MODULES_DRIVERS_CONTI_RADAR_CONTI_RADAR_MESSAGE_MANAGER_H_
+#endif  // MODULES_DRIVERS_RADAR_CONTI_RADAR_CONTI_RADAR_MESSAGE_MANAGER_H_

modules/drivers/conti_radar/main.cc → modules/drivers/radar/conti_radar/main.cc

@@ -15,7 +15,7 @@
  *****************************************************************************/
 
 #include "modules/common/apollo_app.h"
-#include "modules/drivers/conti_radar/conti_radar_canbus.h"
+#include "modules/drivers/radar/conti_radar/conti_radar_canbus.h"
 
 using ::apollo::drivers::conti_radar::ContiRadarCanbus;
 APOLLO_MAIN(ContiRadarCanbus);

modules/drivers/conti_radar/protocol/cluster_general_info_701.cc → modules/drivers/radar/conti_radar/protocol/cluster_general_info_701.cc

@@ -14,14 +14,14 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/drivers/conti_radar/protocol/cluster_general_info_701.h"
+#include "modules/drivers/radar/conti_radar/protocol/cluster_general_info_701.h"
 
 #include "glog/logging.h"
 
 #include "modules/common/time/time.h"
 #include "modules/drivers/canbus/common/byte.h"
 #include "modules/drivers/canbus/common/canbus_consts.h"
-#include "modules/drivers/conti_radar/protocol/const_vars.h"
+#include "modules/drivers/radar/conti_radar/protocol/const_vars.h"
 
 namespace apollo {
 namespace drivers {

modules/drivers/conti_radar/protocol/cluster_general_info_701.h → modules/drivers/radar/conti_radar/protocol/cluster_general_info_701.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_CLUSTER_GENERAL_INFO_701_H_
-#define MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_CLUSTER_GENERAL_INFO_701_H_
+#ifndef MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_CLUSTER_GENERAL_INFO_701_H_
+#define MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_CLUSTER_GENERAL_INFO_701_H_
 
 #include "modules/drivers/canbus/can_comm/protocol_data.h"
 #include "modules/drivers/proto/conti_radar.pb.h"
@@ -53,5 +53,4 @@ class ClusterGeneralInfo701
 }  // namespace conti_radar
 }  // namespace drivers
 }  // namespace apollo
-
-#endif  // MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_CLUSTER_GENERAL_INFO_701_H_
+#endif  // MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_CLUSTER_GENERAL_INFO_701_H

modules/drivers/conti_radar/protocol/cluster_list_status_600.cc → modules/drivers/radar/conti_radar/protocol/cluster_list_status_600.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/drivers/conti_radar/protocol/cluster_list_status_600.h"
+#include "modules/drivers/radar/conti_radar/protocol/cluster_list_status_600.h"
 
 #include "glog/logging.h"
 

modules/drivers/conti_radar/protocol/cluster_list_status_600.h → modules/drivers/radar/conti_radar/protocol/cluster_list_status_600.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_CLUSTER_LIST_STATUS_600_H_
-#define MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_CLUSTER_LIST_STATUS_600_H_
+#ifndef MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_CLUSTER_LIST_STATUS_600_H_
+#define MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_CLUSTER_LIST_STATUS_600_H_
 
 #include "modules/drivers/canbus/can_comm/protocol_data.h"
 #include "modules/drivers/proto/conti_radar.pb.h"

modules/drivers/conti_radar/protocol/cluster_quality_info_702.cc → modules/drivers/radar/conti_radar/protocol/cluster_quality_info_702.cc

@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/drivers/conti_radar/protocol/cluster_quality_info_702.h"
-#include "modules/drivers/conti_radar/protocol/const_vars.h"
+#include "modules/drivers/radar/conti_radar/protocol/cluster_quality_info_702.h"
+#include "modules/drivers/radar/conti_radar/protocol/const_vars.h"
 
 #include "glog/logging.h"
 

modules/drivers/conti_radar/protocol/cluster_quality_info_702.h → modules/drivers/radar/conti_radar/protocol/cluster_quality_info_702.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_CLUSER_QUALITY_INFO_702_H_
-#define MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_CLUSER_QUALITY_INFO_702_H_
+#ifndef MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_CLUSER_QUALITY_INFO_702_H_
+#define MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_CLUSER_QUALITY_INFO_702_H_
 
 #include "modules/drivers/canbus/can_comm/protocol_data.h"
 #include "modules/drivers/proto/conti_radar.pb.h"

modules/drivers/conti_radar/protocol/const_vars.h → modules/drivers/radar/conti_radar/protocol/const_vars.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef MODULES_DRIVERS_CONTI_RADAR_CONST_VARS_H_
-#define MODULES_DRIVERS_CONTI_RADAR_CONST_VARS_H_
+#ifndef MODULES_DRIVERS_RADAR_CONTI_RADAR_CONST_VARS_H_
+#define MODULES_DRIVERS_RADAR_CONTI_RADAR_CONST_VARS_H_
 
 namespace apollo {
 namespace drivers {
@@ -84,4 +84,4 @@ const double OBJECT_LENGTH_RES = 0.2;
 }  // namespace drivers
 }  // namespace apollo
 
-#endif  // MODULES_DRIVERS_CONTI_RADAR_CONST_VARS_H_
+#endif  // MODULES_DRIVERS_RADAR_CONTI_RADAR_CONST_VARS_H_

modules/drivers/conti_radar/protocol/object_extended_info_60d.cc → modules/drivers/radar/conti_radar/protocol/object_extended_info_60d.cc

@@ -14,12 +14,12 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/drivers/conti_radar/protocol/object_extended_info_60d.h"
+#include "modules/drivers/radar/conti_radar/protocol/object_extended_info_60d.h"
 
 #include "glog/logging.h"
 #include "modules/drivers/canbus/common/byte.h"
 #include "modules/drivers/canbus/common/canbus_consts.h"
-#include "modules/drivers/conti_radar/protocol/const_vars.h"
+#include "modules/drivers/radar/conti_radar/protocol/const_vars.h"
 
 namespace apollo {
 namespace drivers {

modules/drivers/conti_radar/protocol/object_extended_info_60d.h → modules/drivers/radar/conti_radar/protocol/object_extended_info_60d.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_OBJECT_EXTENDED_INFO_60D_H_
-#define MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_OBJECT_EXTENDED_INFO_60D_H_
+#ifndef MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_OBJECT_EXTENDED_INFO_60D_H_
+#define MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_OBJECT_EXTENDED_INFO_60D_H_
 
 #include "modules/drivers/canbus/can_comm/protocol_data.h"
 #include "modules/drivers/proto/conti_radar.pb.h"

modules/drivers/conti_radar/protocol/object_general_info_60b.cc → modules/drivers/radar/conti_radar/protocol/object_general_info_60b.cc

@@ -14,14 +14,14 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/drivers/conti_radar/protocol/object_general_info_60b.h"
+#include "modules/drivers/radar/conti_radar/protocol/object_general_info_60b.h"
 
 #include "glog/logging.h"
 
 #include "modules/common/time/time.h"
 #include "modules/drivers/canbus/common/byte.h"
 #include "modules/drivers/canbus/common/canbus_consts.h"
-#include "modules/drivers/conti_radar/protocol/const_vars.h"
+#include "modules/drivers/radar/conti_radar/protocol/const_vars.h"
 
 namespace apollo {
 namespace drivers {

modules/drivers/conti_radar/protocol/object_general_info_60b.h → modules/drivers/radar/conti_radar/protocol/object_general_info_60b.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_OBJECT_GENERAL_INFO_60B_H_
-#define MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_OBJECT_GENERAL_INFO_60B_H_
+#ifndef MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_OBJECT_GENERAL_INFO_60B_H_
+#define MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_OBJECT_GENERAL_INFO_60B_H_
 
 #include "modules/drivers/canbus/can_comm/protocol_data.h"
 #include "modules/drivers/proto/conti_radar.pb.h"

modules/drivers/conti_radar/protocol/object_list_status_60a.cc → modules/drivers/radar/conti_radar/protocol/object_list_status_60a.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/drivers/conti_radar/protocol/object_list_status_60a.h"
+#include "modules/drivers/radar/conti_radar/protocol/object_list_status_60a.h"
 
 #include "glog/logging.h"
 

modules/drivers/conti_radar/protocol/object_list_status_60a.h → modules/drivers/radar/conti_radar/protocol/object_list_status_60a.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_OBJECT_LIST_STATUS_60A_H_
-#define MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_OBJECT_LIST_STATUS_60A_H_
+#ifndef MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_OBJECT_LIST_STATUS_60A_H_
+#define MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_OBJECT_LIST_STATUS_60A_H_
 
 #include "modules/drivers/canbus/can_comm/protocol_data.h"
 #include "modules/drivers/proto/conti_radar.pb.h"

modules/drivers/conti_radar/protocol/object_quality_info_60c.cc → modules/drivers/radar/conti_radar/protocol/object_quality_info_60c.cc

@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/drivers/conti_radar/protocol/object_quality_info_60c.h"
-#include "modules/drivers/conti_radar/protocol/const_vars.h"
+#include "modules/drivers/radar/conti_radar/protocol/object_quality_info_60c.h"
+#include "modules/drivers/radar/conti_radar/protocol/const_vars.h"
 
 #include "glog/logging.h"
 

modules/drivers/conti_radar/protocol/object_quality_info_60c.h → modules/drivers/radar/conti_radar/protocol/object_quality_info_60c.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_OBJECT_QUALITY_INFO_60C_H_
-#define MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_OBJECT_QUALITY_INFO_60C_H_
+#ifndef MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_OBJECT_QUALITY_INFO_60C_H_
+#define MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_OBJECT_QUALITY_INFO_60C_H_
 
 #include "modules/drivers/canbus/can_comm/protocol_data.h"
 #include "modules/drivers/proto/conti_radar.pb.h"

modules/drivers/conti_radar/protocol/radar_config_200.cc → modules/drivers/radar/conti_radar/protocol/radar_config_200.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/drivers/conti_radar/protocol/radar_config_200.h"
+#include "modules/drivers/radar/conti_radar/protocol/radar_config_200.h"
 
 #include "modules/drivers/canbus/common/byte.h"
 

modules/drivers/conti_radar/protocol/radar_config_200.h → modules/drivers/radar/conti_radar/protocol/radar_config_200.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_RADAR_CONFIG_200_H_
-#define MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_RADAR_CONFIG_200_H_
+#ifndef MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_RADAR_CONFIG_200_H_
+#define MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_RADAR_CONFIG_200_H_
 
 #include "modules/drivers/canbus/can_comm/protocol_data.h"
 #include "modules/drivers/proto/conti_radar.pb.h"
@@ -106,4 +106,4 @@ class RadarConfig200
 }  // namespace drivers
 }  // namespace apollo
 
-#endif  // MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_RADAR_CONFIG_200_H_
+#endif  // MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_RADAR_CONFIG_200_H_

modules/drivers/conti_radar/protocol/radar_state_201.cc → modules/drivers/radar/conti_radar/protocol/radar_state_201.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/drivers/conti_radar/protocol/radar_state_201.h"
+#include "modules/drivers/radar/conti_radar/protocol/radar_state_201.h"
 
 #include "glog/logging.h"
 

modules/drivers/conti_radar/protocol/radar_state_201.h → modules/drivers/radar/conti_radar/protocol/radar_state_201.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_RADAR_STATE_201_H_
-#define MODULES_DRIVERS_CONTI_RADAR_PROTOCOL_RADAR_STATE_201_H_
+#ifndef MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_RADAR_STATE_201_H_
+#define MODULES_DRIVERS_RADAR_CONTI_RADAR_PROTOCOL_RADAR_STATE_201_H_
 
 #include "modules/drivers/canbus/can_comm/protocol_data.h"
 #include "modules/drivers/proto/conti_radar.pb.h"

modules/monitor/conf/monitor_conf.pb.txt

@@ -19,7 +19,7 @@ modules {
 modules {
   name: "radar"
   process_conf {
-    process_cmd_keywords: "modules/drivers/conti_radar/conti_radar"
+    process_cmd_keywords: "modules/drivers/radar/conti_radar/conti_radar"
   }
   topic_conf {
     type: CONTI_RADAR

modules/tools/supervisord/dev.conf

@@ -139,7 +139,7 @@ redirect_stderr=true
 stdout_logfile=/apollo/data/log/gnss_driver.out
 
 [program:conti_radar]
-command=/apollo/bazel-bin/modules/drivers/conti_radar/conti_radar --flagfile=/apollo/modules/drivers/conti_radar/conf/conti_radar.conf --log_dir=/apollo/data/log
+command=/apollo/bazel-bin/modules/drivers/radar/conti_radar/conti_radar --flagfile=/apollo/modules/drivers/radar/conti_radar/conf/conti_radar.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0

modules/tools/supervisord/release.conf

@@ -139,7 +139,7 @@ redirect_stderr=true
 stdout_logfile=/apollo/data/log/gnss_driver.out
 
 [program:conti_radar]
-command=/apollo/modules/drivers/conti_radar/conti_radar --flagfile=/apollo/modules/drivers/conti_radar/conf/conti_radar.conf --log_dir=/apollo/data/log
+command=/apollo/modules/drivers/radar/conti_radar/conti_radar --flagfile=/apollo/modules/drivers/radar/conti_radar/conf/conti_radar.conf --log_dir=/apollo/data/log
 autostart=false
 numprocs=1
 exitcodes=0

scripts/conti_radar.sh

@@ -25,5 +25,5 @@ source "$DIR/apollo_base.sh"
 
 # run function from apollo_base.sh
 # run command_name module_name
-run_customized_path drivers/conti_radar conti_radar "$@"
+run_customized_path drivers/radar/conti_radar conti_radar "$@"