All: Final clean up of old file util usages. (#6865)

modules/common/configs/vehicle_config_helper.cc

@@ -19,8 +19,8 @@
 #include <algorithm>
 #include <cmath>
 
+#include "cyber/common/file.h"
 #include "modules/common/configs/config_gflags.h"
-#include "modules/common/util/file.h"
 
 namespace apollo {
 namespace common {
@@ -34,7 +34,7 @@ void VehicleConfigHelper::Init() { Init(FLAGS_vehicle_config_path); }
 
 void VehicleConfigHelper::Init(const std::string &config_file) {
   VehicleConfig params;
-  CHECK(apollo::common::util::GetProtoFromFile(config_file, &params))
+  CHECK(cyber::common::GetProtoFromFile(config_file, &params))
       << "Unable to parse vehicle config file " << config_file;
   Init(params);
 }

modules/common/kv_db/kv_db.cc

@@ -20,7 +20,6 @@
 #include "gflags/gflags.h"
 
 #include "cyber/common/log.h"
-#include "modules/common/util/file.h"
 #include "modules/common/util/string_util.h"
 #include "modules/common/util/util.h"
 

modules/common/util/file.h

@@ -35,21 +35,10 @@ namespace util {
 // usages we'll retire the aliases here.
 using apollo::cyber::common::SetProtoToASCIIFile;
 using apollo::cyber::common::GetProtoFromASCIIFile;
-using apollo::cyber::common::SetProtoToBinaryFile;
-using apollo::cyber::common::GetProtoFromBinaryFile;
 using apollo::cyber::common::GetProtoFromFile;
-using apollo::cyber::common::GetContent;
-using apollo::cyber::common::GetAbsolutePath;
 using apollo::cyber::common::PathExists;
 using apollo::cyber::common::DirectoryExists;
-using apollo::cyber::common::Glob;
-using apollo::cyber::common::CopyFile;
-using apollo::cyber::common::CopyDir;
-using apollo::cyber::common::Copy;
 using apollo::cyber::common::EnsureDirectory;
-using apollo::cyber::common::RemoveAllFiles;
-using apollo::cyber::common::ListSubPaths;
-using apollo::cyber::common::GetFileName;
 
 }  // namespace util
 }  // namespace common

modules/common/util/message_util.h

@@ -24,9 +24,9 @@
 #include <memory>
 #include <string>
 
+#include "cyber/common/file.h"
 #include "google/protobuf/message.h"
 #include "modules/common/time/time.h"
-#include "modules/common/util/file.h"
 #include "modules/common/util/string_util.h"
 
 /**
@@ -75,8 +75,8 @@ bool DumpMessage(const std::shared_ptr<T>& msg,
 
   auto type_name = T::descriptor()->full_name();
   std::string dump_path = dump_dir + "/" + type_name;
-  if (!DirectoryExists(dump_path)) {
-    if (!EnsureDirectory(dump_path)) {
+  if (!cyber::common::DirectoryExists(dump_path)) {
+    if (!cyber::common::EnsureDirectory(dump_path)) {
       AERROR << "Cannot enable dumping for '" << type_name
              << "' because the path " << dump_path
              << " cannot be created or is not a directory.";
@@ -85,7 +85,7 @@ bool DumpMessage(const std::shared_ptr<T>& msg,
   }
 
   auto sequence_num = msg->header().sequence_num();
-  return util::SetProtoToASCIIFile(
+  return cyber::common::SetProtoToASCIIFile(
       *msg, util::StrCat(dump_path, "/", sequence_num, ".pb.txt"));
 }
 

modules/common/util/message_util_test.cc

@@ -31,8 +31,8 @@ TEST(MessageUtilTest, DumpMessage) {
   auto simple_msg = std::make_shared<test::SimpleMessage>();
   FillHeader("test", simple_msg.get());
   EXPECT_TRUE(DumpMessage(simple_msg));
-  EXPECT_TRUE(
-      PathExists("/tmp/apollo.common.util.test.SimpleMessage/0.pb.txt"));
+  EXPECT_TRUE(cyber::common::PathExists(
+      "/tmp/apollo.common.util.test.SimpleMessage/0.pb.txt"));
 }
 
 TEST(MessageUtilTest, MessageFingerprint) {

modules/common/vehicle_state/vehicle_state_provider_test.cc

@@ -21,8 +21,8 @@
 #include "Eigen/Core"
 #include "gtest/gtest.h"
 
+#include "cyber/common/file.h"
 #include "modules/canbus/proto/chassis.pb.h"
-#include "modules/common/util/file.h"
 #include "modules/localization/common/localization_gflags.h"
 #include "modules/localization/proto/localization.pb.h"
 
@@ -38,7 +38,7 @@ class VehicleStateProviderTest : public ::testing::Test {
   virtual void SetUp() {
     std::string localization_file =
         "modules/localization/testdata/3_localization_result_1.pb.txt";
-    CHECK(common::util::GetProtoFromFile(localization_file, &localization_));
+    CHECK(cyber::common::GetProtoFromFile(localization_file, &localization_));
     chassis_.set_speed_mps(3.0);
     chassis_.set_gear_location(canbus::Chassis::GEAR_DRIVE);
     FLAGS_enable_map_reference_unify = false;

modules/control/common/leadlag_controller_test.cc

@@ -19,8 +19,8 @@
 #include <iostream>
 #include <string>
 
+#include "cyber/common/file.h"
 #include "gtest/gtest.h"
-#include "modules/common/util/file.h"
 #include "modules/control/proto/control_conf.pb.h"
 #include "modules/control/proto/leadlag_conf.pb.h"
 
@@ -32,7 +32,7 @@ class LeadlagControllerTest : public ::testing::Test {
   virtual void SetUp() {
     std::string control_conf_file =
         "/apollo/modules/control/testdata/conf/control_conf.pb.txt";
-    CHECK(common::util::GetProtoFromFile(control_conf_file, &control_conf_));
+    CHECK(cyber::common::GetProtoFromFile(control_conf_file, &control_conf_));
     lon_controller_conf_ = control_conf_.lon_controller_conf();
   }
 

modules/control/control_component_test.cc

@@ -201,8 +201,8 @@ bool ControlComponentTest::RunControl(const std::string& test_case_name) {
     cyber::common::SetProtoToASCIIFile(control_command_, golden_result_file);
   } else {
     ControlCommand golden_result;
-    bool load_success =
-        common::util::GetProtoFromASCIIFile(full_golden_path, &golden_result);
+    bool load_success = cyber::common::GetProtoFromASCIIFile(
+        full_golden_path, &golden_result);
     if (!load_success) {
       AERROR << "Failed to load golden file: " << full_golden_path;
       cyber::common::SetProtoToASCIIFile(control_command_, tmp_golden_path);

modules/control/integration_tests/control_test_base.cc

@@ -160,7 +160,7 @@ bool ControlTestBase::test_control(const std::string &test_case_name,
         cyber::common::GetProtoFromASCIIFile(full_golden_path, &golden_result);
     if (!load_success) {
       AERROR << "Failed to load golden file: " << full_golden_path;
-      common::util::SetProtoToASCIIFile(control_command_, tmp_golden_path);
+      cyber::common::SetProtoToASCIIFile(control_command_, tmp_golden_path);
       AINFO << "Current result is written to " << tmp_golden_path;
       return false;
     }

modules/data/data_component.cc

@@ -16,7 +16,6 @@
 #include "modules/data/data_component.h"
 
 #include "cyber/common/log.h"
-
 #include "modules/common/adapters/adapter_gflags.h"
 #include "modules/common/util/message_util.h"
 #include "modules/data/common/data_gflags.h"
@@ -26,8 +25,7 @@ namespace apollo {
 namespace data {
 
 bool DataComponent::Init() {
-  CHECK(apollo::common::util::GetProtoFromFile(FLAGS_data_conf_file,
-                                               &data_conf_))
+  CHECK(cyber::common::GetProtoFromFile(FLAGS_data_conf_file, &data_conf_))
       << "Unable to load data conf file: " << FLAGS_data_conf_file;
 
   if (!data_conf_.data_enabled()) {
@@ -45,8 +43,7 @@ bool DataComponent::Init() {
 
 bool DataComponent::Proc(
     const std::shared_ptr<DataInputCommand> &request) {
-  ADEBUG << "Received data input command: "
-         << request->DebugString();
+  ADEBUG << "Received data input command: " << request->DebugString();
 
   OnDataInputCommand(request);
 
@@ -58,10 +55,8 @@ bool DataComponent::Proc(
 void DataComponent::CreateReader() {
   data_input_cmd_reader_ = node_->CreateReader<DataInputCommand>(
       FLAGS_data_topic,
-      std::bind(
-          &DataComponent::OnDataInputCommand,
-          this,
-          std::placeholders::_1));
+      std::bind(&DataComponent::OnDataInputCommand, this,
+                std::placeholders::_1));
   CHECK(data_input_cmd_reader_ != nullptr);
 }
 

modules/dreamview/backend/dreamview.cc

@@ -21,7 +21,6 @@
 #include "cyber/common/file.h"
 #include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/time/time.h"
-
 #include "modules/dreamview/backend/common/dreamview_gflags.h"
 
 namespace apollo {
@@ -29,7 +28,7 @@ namespace dreamview {
 
 using apollo::common::Status;
 using apollo::common::VehicleConfigHelper;
-using apollo::common::util::PathExists;
+using cyber::common::PathExists;
 
 Dreamview::~Dreamview() { Stop(); }
 

modules/dreamview/backend/hmi/hmi_worker.cc

@@ -85,7 +85,7 @@ std::string TitleCase(const std::string& origin) {
 // List subdirs and return a dict of {subdir_title: subdir_path}.
 Map<std::string, std::string> ListDirAsDict(const std::string& dir) {
   Map<std::string, std::string> result;
-  const auto subdirs = apollo::common::util::ListSubPaths(dir);
+  const auto subdirs = cyber::common::ListSubPaths(dir);
   for (const auto& subdir : subdirs) {
     const auto subdir_title = TitleCase(subdir);
     const auto subdir_path = StrCat(dir, "/", subdir);
@@ -99,9 +99,9 @@ Map<std::string, std::string> ListFilesAsDict(const std::string& dir,
                                               const std::string& extension) {
   Map<std::string, std::string> result;
   const std::string pattern = StrCat(dir, "/*", extension);
-  for (const std::string& file_path : apollo::common::util::Glob(pattern)) {
+  for (const std::string& file_path : cyber::common::Glob(pattern)) {
     // Remove the extention and convert to title case as the file title.
-    const std::string filename = apollo::common::util::GetFileName(file_path);
+    const std::string filename = cyber::common::GetFileName(file_path);
     const std::string file_title =
         TitleCase(filename.substr(0, filename.length() - extension.length()));
     result.insert({file_title, file_path});

modules/dreamview/backend/simulation_world/simulation_world_updater.cc

@@ -16,6 +16,7 @@
 
 #include "modules/dreamview/backend/simulation_world/simulation_world_updater.h"
 
+#include "cyber/common/file.h"
 #include "google/protobuf/util/json_util.h"
 #include "modules/common/util/json_util.h"
 #include "modules/common/util/map_util.h"
@@ -27,7 +28,7 @@ namespace dreamview {
 
 using apollo::common::monitor::MonitorMessageItem;
 using apollo::common::util::ContainsKey;
-using apollo::common::util::GetProtoFromASCIIFile;
+using apollo::cyber::common::GetProtoFromASCIIFile;
 using apollo::hdmap::EndWayPointFile;
 using apollo::relative_map::NavigationInfo;
 using apollo::routing::RoutingRequest;

modules/localization/rtk/rtk_localization_test.cc

@@ -19,6 +19,7 @@
 #include "google/protobuf/text_format.h"
 #include "gtest/gtest.h"
 
+#include "cyber/common/file.h"
 #include "cyber/common/log.h"
 #include "modules/common/util/util.h"
 
@@ -32,7 +33,7 @@ class RTKLocalizationTest : public ::testing::Test {
  protected:
   template <class T>
   void load_data(const std::string &filename, T *data) {
-    CHECK(common::util::GetProtoFromFile(filename, data))
+    CHECK(cyber::common::GetProtoFromFile(filename, data))
         << "Failed to open file " << filename;
   }
 

modules/map/relative_map/tools/navigator.cc

@@ -53,8 +53,8 @@ int main(int argc, char** argv) {
   NavigatorConfig navigator_config;
   AINFO << "The navigator configuration filename is: "
         << FLAGS_navigator_config_filename;
-  if (!apollo::common::util::GetProtoFromFile(FLAGS_navigator_config_filename,
-                                              &navigator_config)) {
+  if (!apollo::cyber::common::GetProtoFromFile(FLAGS_navigator_config_filename,
+                                               &navigator_config)) {
     AERROR << "Failed to parse " << FLAGS_navigator_config_filename;
     return -1;
   }

modules/monitor/hardware/resource_monitor.cc

@@ -64,7 +64,7 @@ void ResourceMonitor::UpdateStatus(
   status->clear_status();
   // Monitor available disk space.
   for (const auto& disk_space : config.disk_spaces()) {
-    for (const auto& path : apollo::common::util::Glob(disk_space.path())) {
+    for (const auto& path : cyber::common::Glob(disk_space.path())) {
       const auto space = boost::filesystem::space(path);
       const int available_gb = static_cast<int>(space.available >> 30);
       if (available_gb < disk_space.insufficient_space_error()) {

modules/monitor/software/process_monitor.cc

@@ -27,7 +27,7 @@ DEFINE_string(process_monitor_name, "ProcessMonitor",
               "Name of the process monitor.");
 
 DEFINE_double(process_monitor_interval, 1.5,
-              "Process status checking interval (s).");
+              "Process status checking interval in seconds.");
 
 namespace apollo {
 namespace monitor {
@@ -40,10 +40,10 @@ ProcessMonitor::ProcessMonitor()
 void ProcessMonitor::RunOnce(const double current_time) {
   // Get running processes.
   std::vector<std::string> running_processes;
-  for (const auto& cmd_file : apollo::common::util::Glob("/proc/*/cmdline")) {
+  for (const auto& cmd_file : cyber::common::Glob("/proc/*/cmdline")) {
     // Get process command string.
     std::string cmd_string;
-    if (apollo::common::util::GetContent(cmd_file, &cmd_string) &&
+    if (cyber::common::GetContent(cmd_file, &cmd_string) &&
         !cmd_string.empty()) {
       // In /proc/<PID>/cmdline, the parts are seperated with \0, which will be
       // converted back to whitespaces here.

modules/perception/camera/app/lane_camera_perception.cc

@@ -23,8 +23,8 @@
 #include <utility>
 #include <vector>
 
+#include "cyber/common/file.h"
 #include "cyber/common/log.h"
-#include "modules/common/util/file.h"
 #include "modules/perception/base/object.h"
 #include "modules/perception/camera/app/debug_info.h"
 #include "modules/perception/camera/common/global_config.h"
@@ -48,7 +48,7 @@ bool LaneCameraPerception::Init(
   std::string config_file =
       GetAbsolutePath(options.root_dir, options.conf_file);
   config_file = GetAbsolutePath(work_root, config_file);
-  CHECK(apollo::common::util::GetProtoFromFile(
+  CHECK(cyber::common::GetProtoFromFile(
       config_file, &perception_param_)) << "Read config failed: ";
   CHECK(inference::CudaUtil::set_device_id(perception_param_.gpu_id()));
 

modules/perception/onboard/component/lane_detection_component.cc

@@ -28,10 +28,10 @@
 #include <string>
 #include <tuple>
 
+#include "cyber/common/file.h"
 #include "cyber/common/log.h"
 #include "modules/common/math/math_utils.h"
 #include "modules/common/time/time_util.h"
-#include "modules/common/util/file.h"
 #include "modules/perception/common/perception_gflags.h"
 #include "modules/perception/common/sensor_manager/sensor_manager.h"
 #include "modules/perception/lib/utils/time_util.h"
@@ -53,7 +53,7 @@ static int GetGpuId(const camera::CameraPerceptionInitOptions &options) {
   std::string config_file =
       GetAbsolutePath(options.root_dir, options.conf_file);
   config_file = GetAbsolutePath(work_root, config_file);
-  if (!apollo::common::util::GetProtoFromFile(config_file, &perception_param)) {
+  if (!cyber::common::GetProtoFromFile(config_file, &perception_param)) {
     AERROR << "Read config failed: " << config_file;
     return -1;
   }

modules/planning/integration_tests/planning_test_base.cc

@@ -20,14 +20,13 @@
 #include "cyber/common/log.h"
 
 #include "modules/canbus/proto/chassis.pb.h"
+#include "modules/common/adapters/adapter_gflags.h"
 #include "modules/localization/proto/localization.pb.h"
 #include "modules/perception/proto/traffic_light_detection.pb.h"
+#include "modules/planning/common/planning_gflags.h"
 #include "modules/prediction/proto/prediction_obstacle.pb.h"
 #include "modules/routing/proto/routing.pb.h"
 
-#include "modules/common/adapters/adapter_gflags.h"
-#include "modules/planning/common/planning_gflags.h"
-
 namespace apollo {
 namespace planning {
 
@@ -163,8 +162,7 @@ void PlanningTestBase::SetUp() {
 
   CHECK(FeedTestData()) << "Failed to feed test data";
 
-  CHECK(apollo::cyber::common::GetProtoFromFile(FLAGS_planning_config_file,
-                                                &config_))
+  CHECK(cyber::common::GetProtoFromFile(FLAGS_planning_config_file, &config_))
       << "failed to load planning config file " << FLAGS_planning_config_file;
 
   CHECK(planning_->Init(config_).ok()) << "Failed to init planning module";
@@ -243,17 +241,17 @@ bool PlanningTestBase::RunPlanning(const std::string& test_case_name,
   TrimPlanning(&adc_trajectory_, no_trajectory_point);
   if (FLAGS_test_update_golden_log) {
     AINFO << "The golden file is regenerated:" << full_golden_path;
-    common::util::SetProtoToASCIIFile(adc_trajectory_, full_golden_path);
+    cyber::common::SetProtoToASCIIFile(adc_trajectory_, full_golden_path);
   } else {
     ADCTrajectory golden_result;
     bool load_success =
-        common::util::GetProtoFromASCIIFile(full_golden_path, &golden_result);
+        cyber::common::GetProtoFromASCIIFile(full_golden_path, &golden_result);
     TrimPlanning(&golden_result, no_trajectory_point);
     if (!load_success ||
         !common::util::IsProtoEqual(golden_result, adc_trajectory_)) {
       char tmp_fname[100] = "/tmp/XXXXXX";
       int fd = mkstemp(tmp_fname);
-      if (!common::util::SetProtoToASCIIFile(adc_trajectory_, fd)) {
+      if (!cyber::common::SetProtoToASCIIFile(adc_trajectory_, fd)) {
         AERROR << "Failed to write to file " << tmp_fname;
       }
       AERROR << "found error\ndiff -y " << tmp_fname << " " << full_golden_path;

modules/prediction/pipeline/feature_proto_file_to_model_features.cc

@@ -138,8 +138,8 @@ void OfflineProcessFeatureProtoFile(
   if (list_data_for_learning.data_for_learning_size() <= 0) {
     ADEBUG << "Skip writing empty data_for_learning.";
   } else {
-    apollo::common::util::SetProtoToBinaryFile(list_data_for_learning,
-                                               output_filename);
+    apollo::cyber::common::SetProtoToBinaryFile(
+        list_data_for_learning, output_filename);
   }
 }