Drivers: Migrate to cyber file util.

modules/drivers/canbus/can_client/can_client_tool.cc

@@ -19,12 +19,12 @@
 #include <memory>
 #include <thread>
 
+#include "cyber/common/file.h"
 #include "cyber/common/log.h"
 #include "gflags/gflags.h"
 #include "modules/common/proto/error_code.pb.h"
 #include "modules/common/time/time.h"
 #include "modules/common/util/factory.h"
-#include "modules/common/util/file.h"
 #include "modules/drivers/canbus/can_client/can_client.h"
 #include "modules/drivers/canbus/can_client/can_client_factory.h"
 #include "modules/drivers/canbus/common/byte.h"
@@ -265,8 +265,8 @@ int main(int32_t argc, char **argv) {
   auto can_client_factory = CanClientFactory::Instance();
   can_client_factory->RegisterCanClients();
 
-  if (!apollo::common::util::GetProtoFromFile(FLAGS_can_client_conf_file_a,
-                                              &can_client_conf_a)) {
+  if (!apollo::cyber::common::GetProtoFromFile(FLAGS_can_client_conf_file_a,
+                                               &can_client_conf_a)) {
     AERROR << "Unable to load canbus conf file: "
            << FLAGS_can_client_conf_file_a;
     return 1;
@@ -287,8 +287,8 @@ int main(int32_t argc, char **argv) {
   CANCardParameter can_client_conf_b;
   std::unique_ptr<CanClient> client_b;
   if (!FLAGS_only_one_send) {
-    if (!apollo::common::util::GetProtoFromFile(FLAGS_can_client_conf_file_b,
-                                                &can_client_conf_b)) {
+    if (!apollo::cyber::common::GetProtoFromFile(FLAGS_can_client_conf_file_b,
+                                                 &can_client_conf_b)) {
       AERROR << "Unable to load canbus conf file: "
              << FLAGS_can_client_conf_file_b;
       return 1;

modules/drivers/canbus/sensor_canbus.h

@@ -28,6 +28,7 @@
 #include <utility>
 #include <vector>
 
+#include "cyber/common/file.h"
 #include "cyber/component/component.h"
 
 #include "modules/common/adapters/adapter_manager.h"
@@ -109,7 +110,7 @@ class SensorCanbus : public apollo::cyber::Component {
 template <typename SensorType>
 bool SensorCanbus<SensorType>::Init() {
   // load conf
-  if (!common::util::GetProtoFromFile(FLAGS_sensor_conf_file, &canbus_conf_)) {
+  if (!cyber::common::GetProtoFromFile(FLAGS_sensor_conf_file, &canbus_conf_)) {
     return OnError("Unable to load canbus conf file: " +
                    FLAGS_sensor_conf_file);
   }

modules/drivers/radar/racobit_radar/racobit_radar_canbus_component.cc

@@ -20,6 +20,7 @@
 
 #include "modules/drivers/radar/racobit_radar/racobit_radar_canbus_component.h"
 
+#include "cyber/common/file.h"
 #include "modules/common/adapters/adapter_gflags.h"
 #include "modules/drivers/proto/racobit_radar.pb.h"
 #include "modules/drivers/radar/racobit_radar/racobit_radar_message_manager.h"
@@ -45,8 +46,8 @@ bool RacobitRadarCanbusComponent::Init() {
   ADEBUG << "Canbus_conf:" << racobit_radar_conf_.ShortDebugString();
   racobit_radar_writer_ =
       node_->CreateWriter<RacobitRadar>(FLAGS_racobit_radar_topic);
-  if (!::apollo::common::util::GetProtoFromFile(ConfigFilePath(),
-                                                &racobit_radar_conf_)) {
+  if (!cyber::common::GetProtoFromFile(ConfigFilePath(),
+                                       &racobit_radar_conf_)) {
     return OnError("Unable to load canbus conf file: " + ConfigFilePath()).ok();
   }
 

modules/drivers/radar/ultrasonic_radar/ultrasonic_radar_canbus.cc

@@ -14,9 +14,11 @@
  * limitations under the License.
  *****************************************************************************/
 
+#include "modules/drivers/radar/ultrasonic_radar/ultrasonic_radar_canbus.h"
+
+#include "cyber/common/file.h"
 #include "modules/common/util/util.h"
 #include "modules/drivers/proto/ultrasonic_radar.pb.h"
-#include "modules/drivers/radar/ultrasonic_radar/ultrasonic_radar_canbus.h"
 #include "modules/drivers/radar/ultrasonic_radar/ultrasonic_radar_message_manager.h"
 
 /**
@@ -44,8 +46,7 @@ std::string UltrasonicRadarCanbus::Name() const {
 apollo::common::Status UltrasonicRadarCanbus::Init(
   const std::string& config_path,
   const std::shared_ptr<::apollo::cyber::Writer<Ultrasonic>>& writer) {
-  if (!apollo::common::util::GetProtoFromFile(config_path,
-                                              &ultrasonic_radar_conf_)) {
+  if (!cyber::common::GetProtoFromFile(config_path, &ultrasonic_radar_conf_)) {
     return OnError("Unable to load canbus conf file: " + config_path);
   }