HMI: Add RTK mode. (#1492)

* HMI: Add RTK mode.

* HMI: Remove ESD-CAN monitor from general RTK mode conf.

modules/calibration/modes/mkz_rtk.pb.txt

+cyber_modules {
+  key: "Canbus"
+  value: {
+    process_name: "canbus"
+    dag_files: "/apollo/modules/canbus/dag/canbus.dag"
+  }
+}
+cyber_modules {
+  key: "Control"
+  value: {
+    process_name: "control"
+    dag_files: "/apollo/modules/control/dag/control.dag"
+  }
+}
+cyber_modules {
+  key: "GPS"
+  value: {
+    process_name: "gnss"
+    dag_files: "/apollo/modules/drivers/gnss/dag/gnss.dag"
+  }
+}
+cyber_modules {
+  key: "Guardian"
+  value: {
+    process_name: "guardian"
+    dag_files: "/apollo/modules/guardian/dag/guardian.dag"
+  }
+}
+cyber_modules {
+  key: "Localization"
+  value: {
+    process_name: "localization"
+    dag_files: "/apollo/modules/localization/dag/localization.dag"
+  }
+}
+modules {
+  key: "RTK Recorder"
+  value: {
+    start_command: "nohup /apollo/scripts/rtk_recorder.sh start &"
+    stop_command: "/apollo/scripts/rtk_recorder.sh stop"
+    process_monitor_config {
+      command_keywords: "record_play/rtk_recorder.py"
+    }
+    # RTK Recorder is not running in self-driving mode.
+    required_for_safety: false
+  }
+}
+modules {
+  key: "RTK Player"
+  value: {
+    start_command: "nohup /apollo/scripts/rtk_player.sh start &"
+    stop_command: "/apollo/scripts/rtk_player.sh stop"
+    process_monitor_config {
+      command_keywords: "record_play/rtk_player.py"
+    }
+  }
+}
+monitored_components {
+  key: "GPS"
+  value: {
+    # Special GPSMonitor.
+  }
+}
+monitored_components {
+  key: "Localization"
+  value: {
+    # Special LocalizationMonitor.
+  }
+}

scripts/rtk_recorder.sh

@@ -34,7 +34,7 @@ function start() {
     cp data/log/garage.csv data/log/garage-${TIME}.csv
   fi
 
-  NUM_PROCESSES="$(pgrep -c -f "record_play/rtk_recorderpy")"
+  NUM_PROCESSES="$(pgrep -c -f "record_play/rtk_recorder.py")"
   if [ "${NUM_PROCESSES}" -eq 0 ]; then
     python modules/tools/record_play/rtk_recorder.py
   fi