All: Replace CopyFrom with shorter assignment.

modules/canbus/canbus_component.cc

@@ -225,9 +225,7 @@ void CanbusComponent::OnControlCommand(const ControlCommand &control_command) {
 
 void CanbusComponent::OnGuardianCommand(
     const GuardianCommand &guardian_command) {
-  apollo::control::ControlCommand control_command;
-  control_command.CopyFrom(guardian_command.control_command());
-  OnControlCommand(control_command);
+  OnControlCommand(guardian_command.control_command());
 }
 
 common::Status CanbusComponent::OnError(const std::string &error_msg) {

modules/canbus/tools/teleop.cc

@@ -143,10 +143,10 @@ class Teleop {
     Chassis::GearPosition gear = Chassis::GEAR_INVALID;
     PadMessage pad_msg;
     ControlCommand &control_command_ = control_command();
-    apollo::common::VehicleParam vehicle_params_;
-    vehicle_params_.CopyFrom(apollo::common::VehicleConfigHelper::Instance()
-                                 ->GetConfig()
-                                 .vehicle_param());
+    apollo::common::VehicleParam vehicle_params_ =
+        apollo::common::VehicleConfigHelper::Instance()
+            ->GetConfig()
+            .vehicle_param();
 
     // get the console in raw mode
     tcgetattr(kfd_, &cooked_);

modules/canbus/vehicle/vehicle_controller.cc

@@ -97,8 +97,7 @@ ErrorCode VehicleController::Update(const ControlCommand &command) {
     return ErrorCode::CANBUS_ERROR;
   }
 
-  ControlCommand control_command;
-  control_command.CopyFrom(command);
+  ControlCommand control_command = command;
 
   // Execute action to transform driving mode
   if (control_command.has_pad_msg() && control_command.pad_msg().has_action()) {

modules/control/control_component.cc

@@ -232,8 +232,7 @@ Status ControlComponent::ProduceControlCommand(
         local_view_.trajectory().header());
 
     if (local_view_.trajectory().is_replan()) {
-      latest_replan_trajectory_header_.CopyFrom(
-          local_view_.trajectory().header());
+      latest_replan_trajectory_header_ = local_view_.trajectory().header();
     }
 
     if (latest_replan_trajectory_header_.has_sequence_num()) {

modules/perception/camera/test/camera_lib_obstacle_detector_yolo_yolo_obstacle_detector_test.cc

@@ -146,8 +146,7 @@ TEST(YoloCameraDetectorTest, inference_init_test) {
       GetAbsolutePath(init_options.root_dir, init_options.conf_file);
   yolo::YoloParam yolo_param;
   cyber::common::GetProtoFromFile(config_path, &yolo_param);
-  yolo::YoloParam origin_yolo_param;
-  origin_yolo_param.CopyFrom(yolo_param);
+  yolo::YoloParam origin_yolo_param = yolo_param;
   yolo_param.mutable_model_param()->set_model_type("Unknownnet");
 
   {

modules/perception/inference/tensorrt/rt_common.cc

@@ -50,8 +50,7 @@ void ParseNetParam(const NetParameter &net_param,
                    std::map<std::string, std::string> *tensor_modify_map,
                    std::vector<LayerParameter> *order) {
   for (int i = 0; i < net_param.layer_size(); ++i) {
-    LayerParameter tensorrt_layer_param;
-    tensorrt_layer_param.CopyFrom(net_param.layer(i));
+    LayerParameter tensorrt_layer_param = net_param.layer(i);
     if (tensorrt_layer_param.type() == "Input") {
       InputParameter input = tensorrt_layer_param.input_param();
       nvinfer1::DimsCHW dims{static_cast<int>(input.shape(0).dim(1)),
@@ -69,8 +68,7 @@ void ParseNetParam(const NetParameter &net_param,
         order->push_back(tensorrt_layer_param);
         continue;
       }
-      LayerParameter fake_layer_param;
-      fake_layer_param.CopyFrom(tensorrt_layer_param);
+      LayerParameter fake_layer_param = tensorrt_layer_param;
       fake_layer_param.set_type("Padding");
       fake_layer_param.set_name(absl::StrCat("padding_split_", i));
       fake_layer_param.clear_pooling_param();

modules/planning/scenarios/bare_intersection/unprotected/bare_intersection_unprotected_scenario.cc

@@ -111,8 +111,7 @@ bool BareIntersectionUnprotectedScenario::GetScenarioConfig() {
     AERROR << "miss scenario specific config";
     return false;
   }
-  context_.scenario_config.CopyFrom(
-      config_.bare_intersection_unprotected_config());
+  context_.scenario_config = config_.bare_intersection_unprotected_config();
   return true;
 }