Revert "cyber_recorder close file asynchronously"

This reverts commit a98591bd.

cyber/record/record_writer.cc

@@ -16,11 +16,8 @@
 
 #include "cyber/record/record_writer.h"
 
-#include <chrono>
-#include <future>
 #include <iomanip>
 #include <iostream>
-#include <utility>
 
 #include "cyber/common/log.h"
 
@@ -144,11 +141,8 @@ bool RecordWriter::WriteMessage(const SingleMessage& message) {
        message.time() - segment_begin_time_ > header_.segment_interval()) ||
       (header_.segment_raw_size() > 0 &&
        segment_raw_size_ > header_.segment_raw_size())) {
-    ACHECK(old_file_writer_closer_.wait_for(std::chrono::milliseconds(0)) ==
-           std::future_status::ready);
-    // Close the file via the destructor asynchronously
-    old_file_writer_closer_ = std::async(
-        std::launch::async, [](FileWriterPtr p) {}, std::move(file_writer_));
+    file_writer_backup_.swap(file_writer_);
+    file_writer_backup_->Close();
     if (!SplitOutfile()) {
       AERROR << "Split out file is failed.";
       return false;

cyber/record/record_writer.h

@@ -18,7 +18,6 @@
 #define CYBER_RECORD_RECORD_WRITER_H_
 
 #include <cstdint>
-#include <future>
 #include <memory>
 #include <mutex>
 #include <set>
@@ -186,9 +185,7 @@ class RecordWriter : public RecordBase {
   MessageTypeMap channel_message_type_map_;
   MessageProtoDescMap channel_proto_desc_map_;
   FileWriterPtr file_writer_ = nullptr;
-  // Initialize with a dummy value to simplify checking later
-  std::future<void> old_file_writer_closer_ =
-      std::async(std::launch::async, []() {});
+  FileWriterPtr file_writer_backup_ = nullptr;
   std::mutex mutex_;
   std::stringstream sstream_;
 };