remove event_collector since not being used

modules/data/conf/event_collector_adapter.conf

-config {
-  type: CHASSIS
-  mode: RECEIVE_ONLY
-  message_history_limit: 1
-}
-config {
-  type: MONITOR
-  mode: RECEIVE_ONLY
-  message_history_limit: 1
-}
-config {
-  type: DRIVE_EVENT
-  mode: RECEIVE_ONLY
-  message_history_limit: 1
-}
-is_ros: true

modules/data/tools/BUILD

-load("//tools:cpplint.bzl", "cpplint")
-
-package(default_visibility = ["//visibility:public"])
-
-cc_binary(
-    name = "event_collector_main",
-    srcs = ["event_collector_main.cc"],
-    deps = [
-        "//modules/common/util",
-    ],
-)
-
-cpplint()

modules/data/tools/README.md

-# Data Tools
-
-## Event Collector
-
-Collect events which we are interested in, including *drive events* and
-*disengagements*.
-
-### Usage
-
-It will generate `events.txt` in current directory, with row format:
-
-```text
-<timestamp> <type> <description if any>
-```
-
-On termination with SIGINT, it will also generate `events_related_bags.txt` in
-current directory, with row format:
-
-```text
-/path/to/bag <event timestamp offset>
-```
-
-Note that the offset may be larger than the bag end time, which means the event
-is actually in the next bag.

modules/data/tools/event_collector_main.cc

-/******************************************************************************
- * Copyright 2018 The Apollo Authors. All Rights Reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *****************************************************************************/
-#include <fstream>
-#include <string>
-#include <vector>
-
-#include "gflags/gflags.h"
-#include "ros/include/ros/ros.h"
-#include "ros/include/rosbag/bag.h"
-#include "ros/include/rosbag/view.h"
-
-#include "modules/common/adapters/adapter_manager.h"
-#include "cybertron/common/log.h"
-#include "modules/common/util/file.h"
-#include "modules/common/util/string_util.h"
-
-DEFINE_string(adapter_config_filename,
-              "/apollo/modules/data/conf/event_collector_adapter.conf",
-              "Path for adapter configuration.");
-
-DEFINE_string(events_filename, "events.txt", "File to save event list.");
-
-DEFINE_string(events_related_bags_filename, "events_related_bags.txt",
-              "File to save events related bags list.");
-
-DEFINE_double(event_time_backtrack_seconds, 20,
-              "Backtrack from the event time to consider bags as related.");
-
-namespace apollo {
-namespace data {
-namespace {
-using apollo::common::adapter::AdapterManager;
-using apollo::canbus::Chassis;
-
-void OnSigInt(int32_t signal_num) {
-  // only response for ctrl + c
-  if (signal_num != SIGINT) {
-    return;
-  }
-  AINFO << "EventCollector got signal: " << signal_num;
-
-  // Only stop once.
-  static bool is_stopping = false;
-  if (!is_stopping) {
-    is_stopping = true;
-    ros::shutdown();
-  }
-}
-
-class EventCollector {
- public:
-  void Init(int32_t argc, char **argv) {
-    signal(SIGINT, OnSigInt);
-
-    ros::init(argc, argv, "EventCollector");
-    AdapterManager::Init(FLAGS_adapter_config_filename);
-  }
-
-  void Start() {
-    AdapterManager::AddDriveEventCallback(&EventCollector::OnDriveEvent, this);
-    AdapterManager::AddChassisCallback(&EventCollector::OnChassis, this);
-    AdapterManager::AddMonitorCallback(&EventCollector::OnMonitorMessage, this);
-    AINFO << "Start spining...";
-    ros::spin();
-  }
-
-  void Stop() {
-    // Save events_related_bags.
-    std::ofstream fout(FLAGS_events_related_bags_filename);
-    if (!fout) {
-      AERROR << "Failed to write " << FLAGS_events_related_bags_filename;
-      return;
-    }
-    AINFO << "Saving info to " << FLAGS_events_related_bags_filename << "...";
-    fout << std::fixed << std::setprecision(1);
-
-    sort(events_.begin(), events_.end());
-    for (const std::string& bag_filename :
-         apollo::common::util::ListSubPaths("./", DT_REG)) {
-      if (!apollo::common::util::EndWith(bag_filename, ".bag")) {
-        continue;
-      }
-
-      rosbag::Bag bag(bag_filename);
-      rosbag::View view(bag);
-      const double begin_time = view.getBeginTime().toSec();
-      const double end_time =
-          view.getEndTime().toSec() + FLAGS_event_time_backtrack_seconds;
-
-      bool started_line = false;
-      const std::tuple<double, std::string> key(begin_time, "");
-      for (auto iter = std::lower_bound(events_.begin(), events_.end(), key);
-           iter != events_.end() && std::get<0>(*iter) < end_time; ++iter) {
-        // event_time = std::get<0>(*iter)
-        // event_message = std::get<1>(*iter)
-        if (!started_line) {
-          started_line = true;
-          fout << bag_filename << "\n";
-        }
-        fout << "  Offset = " << std::get<0>(*iter) - begin_time << ", "
-             << std::get<1>(*iter) << "\n";
-      }
-    }
-  }
-
- private:
-  // Event time and message.
-  std::vector<std::tuple<double, std::string>> events_;
-  Chassis::DrivingMode last_driving_mode_;
-
-  void OnDriveEvent(const apollo::common::DriveEvent& event) {
-    // The header time is the real event time.
-    SaveEvent(event.header().timestamp_sec(), "DriveEvent", event.event());
-  }
-
-  void OnChassis(const Chassis& chassis) {
-    // Save event when driving_mode changes from COMPLETE_AUTO_DRIVE to
-    // EMERGENCY_MODE which is taken as a disengagement.
-    if (last_driving_mode_ == Chassis::COMPLETE_AUTO_DRIVE &&
-        chassis.driving_mode() == Chassis::EMERGENCY_MODE) {
-      SaveEvent(chassis.header().timestamp_sec(), "Disengagement");
-    }
-    last_driving_mode_ = chassis.driving_mode();
-  }
-
-  void OnMonitorMessage(
-      const apollo::common::monitor::MonitorMessage& monitor_msg) {
-    using apollo::common::monitor::MonitorMessageItem;
-    // Save all ERROR and FATAL monitor logs.
-    const double time_sec = monitor_msg.header().timestamp_sec();
-    for (const auto& item : monitor_msg.item()) {
-      if (item.log_level() == MonitorMessageItem::ERROR ||
-          item.log_level() == MonitorMessageItem::FATAL) {
-        SaveEvent(time_sec, "MonitorErrorLog", item.msg());
-      }
-    }
-  }
-
-  void SaveEvent(const double timestamp_sec, const std::string& type,
-                 const std::string& description = "") {
-    const auto msg = apollo::common::util::StrCat(
-        timestamp_sec, " [", type, "] ", description);
-
-    AINFO << "SaveEvent: " << msg;
-    events_.emplace_back(timestamp_sec, msg);
-
-    // Append new event and flush.
-    std::ofstream fout(FLAGS_events_filename, std::ofstream::app);
-    if (fout) {
-      fout << msg << std::endl;
-    } else {
-      AERROR << "Failed to write to " << FLAGS_events_filename;
-    }
-  }
-};
-
-}  // namespace
-}  // namespace data
-}  // namespace apollo
-
-int main(int32_t argc, char **argv) {
-  google::InitGoogleLogging(argv[0]);
-  google::ParseCommandLineFlags(&argc, &argv, true);
-
-  apollo::data::EventCollector event_collector;
-  event_collector.Init(argc, argv);
-  event_collector.Start();
-  event_collector.Stop();
-
-  return 0;
-}

scripts/record_bag.py

@@ -160,8 +160,6 @@ class DiskManager(object):
 
 class Recorder(object):
     """Data recorder."""
-    kEventCollector='modules/data/tools/event_collector_main'
-
 
     def __init__(self, args):
         self.args = args
@@ -191,8 +189,6 @@ class Recorder(object):
     def stop(self):
         """Stop recording."""
         shell_cmd('kill -TERM $(pgrep -f "cyber_recorder record" | grep -v pgrep)')
-        shell_cmd('kill -INT $(pgrep -f "{}" | grep -v pgrep)'.format(
-            Recorder.kEventCollector))
 
     def record_task(self, disk, topics):
         """Record tasks into the <disk>/data/bag/<task_id> directory."""
@@ -208,10 +204,8 @@ class Recorder(object):
             cd "{}"
             source /apollo/scripts/apollo_base.sh
             source /apollo/framework/install/setup.bash
-            nohup cyber_recorder record {} >{} 2>&1 &
-            nohup ${{APOLLO_BIN_PREFIX}}/{} >/dev/null 2>&1 &
-        '''.format(task_dir, topics_str, log_file,
-                   Recorder.kEventCollector)
+            nohup cyber_recorder record -c {} >{} 2>&1 &
+        '''.format(task_dir, topics_str, log_file)
         shell_cmd(cmd)
 
     @staticmethod