Prediction: Migrate to cyber file util.

modules/prediction/common/feature_output.cc

@@ -18,7 +18,7 @@
 
 #include <vector>
 
-#include "modules/common/util/file.h"
+#include "cyber/common/file.h"
 #include "modules/prediction/common/prediction_system_gflags.h"
 
 namespace apollo {
@@ -97,7 +97,7 @@ void FeatureOutput::WriteFeatureProto() {
     const std::string file_name =
         FLAGS_prediction_data_dir + "/feature." +
         std::to_string(idx_feature_) + ".bin";
-    common::util::SetProtoToBinaryFile(features_, file_name);
+    cyber::common::SetProtoToBinaryFile(features_, file_name);
     features_.Clear();
     ++idx_feature_;
   }
@@ -110,7 +110,7 @@ void FeatureOutput::WriteDataForLearning() {
     const std::string file_name =
         FLAGS_prediction_data_dir + "/datalearn." +
         std::to_string(idx_learning_) + ".bin";
-    common::util::SetProtoToBinaryFile(list_data_for_learning_, file_name);
+    cyber::common::SetProtoToBinaryFile(list_data_for_learning_, file_name);
     list_data_for_learning_.Clear();
     ++idx_learning_;
   }
@@ -123,7 +123,7 @@ void FeatureOutput::WritePredictionResult() {
     const std::string file_name =
         FLAGS_prediction_data_dir + "/prediction_result." +
         std::to_string(idx_prediction_result_) + ".bin";
-    common::util::SetProtoToBinaryFile(list_prediction_result_, file_name);
+    cyber::common::SetProtoToBinaryFile(list_prediction_result_, file_name);
     list_prediction_result_.Clear();
     ++idx_prediction_result_;
   }

modules/prediction/container/container_manager_test.cc

@@ -16,7 +16,7 @@
 
 #include "modules/prediction/container/container_manager.h"
 
-#include "modules/common/util/file.h"
+#include "cyber/common/file.h"
 #include "modules/prediction/container/obstacles/obstacles_container.h"
 #include "modules/prediction/container/pose/pose_container.h"
 
@@ -36,7 +36,7 @@ class ContainerManagerTest : public ::testing::Test {
 
 TEST_F(ContainerManagerTest, GetContainer) {
   std::string conf_file = "modules/prediction/testdata/adapter_conf.pb.txt";
-  bool ret_load_conf = common::util::GetProtoFromFile(conf_file, &conf_);
+  bool ret_load_conf = cyber::common::GetProtoFromFile(conf_file, &conf_);
   EXPECT_TRUE(ret_load_conf);
   EXPECT_TRUE(conf_.IsInitialized());
 

modules/prediction/container/obstacles/obstacle_test.cc

@@ -14,7 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/common/util/file.h"
+#include "cyber/common/file.h"
+#include "modules/common/util/string_util.h"
 #include "modules/prediction/common/kml_map_based_test.h"
 #include "modules/prediction/common/prediction_gflags.h"
 #include "modules/prediction/container/obstacles/obstacles_container.h"
@@ -38,7 +39,7 @@ class ObstacleTest : public KMLMapBasedTest {
       const auto filename = common::util::StrCat(
           "modules/prediction/testdata/frame_sequence/frame_", i, ".pb.txt");
       perception::PerceptionObstacles perception_obstacles;
-      common::util::GetProtoFromFile(filename, &perception_obstacles);
+      cyber::common::GetProtoFromFile(filename, &perception_obstacles);
       container_.Insert(perception_obstacles);
       container_.BuildLaneGraph();
     }

modules/prediction/container/obstacles/obstacles_container_test.cc

@@ -16,7 +16,7 @@
 
 #include "modules/prediction/container/obstacles/obstacles_container.h"
 
-#include "modules/common/util/file.h"
+#include "cyber/common/file.h"
 #include "modules/prediction/common/kml_map_based_test.h"
 
 namespace apollo {
@@ -28,7 +28,7 @@ class ObstaclesContainerTest : public KMLMapBasedTest {
     std::string file =
         "modules/prediction/testdata/perception_vehicles_pedestrians.pb.txt";
     perception::PerceptionObstacles perception_obstacles;
-    common::util::GetProtoFromFile(file, &perception_obstacles);
+    cyber::common::GetProtoFromFile(file, &perception_obstacles);
     container_.Insert(perception_obstacles);
   }
 

modules/prediction/evaluator/cyclist/cyclist_keep_lane_evaluator_test.cc

@@ -16,7 +16,7 @@
 
 #include "modules/prediction/evaluator/cyclist/cyclist_keep_lane_evaluator.h"
 
-#include "modules/common/util/file.h"
+#include "cyber/common/file.h"
 #include "modules/prediction/common/kml_map_based_test.h"
 #include "modules/prediction/container/obstacles/obstacles_container.h"
 
@@ -28,7 +28,7 @@ class CyclistKeepLaneEvaluatorTest : public KMLMapBasedTest {
   void SetUp() override {
     std::string file =
         "modules/prediction/testdata/single_perception_cyclist_onlane.pb.txt";
-    CHECK(apollo::common::util::GetProtoFromFile(file, &perception_obstacles_));
+    CHECK(apollo::cyber::common::GetProtoFromFile(file, &perception_obstacles_));
   }
 
  protected:

modules/prediction/evaluator/evaluator_manager_test.cc

@@ -16,7 +16,7 @@
 
 #include "modules/prediction/evaluator/evaluator_manager.h"
 
-#include "modules/common/util/file.h"
+#include "cyber/common/file.h"
 #include "modules/prediction/common/kml_map_based_test.h"
 #include "modules/prediction/container/container_manager.h"
 #include "modules/prediction/container/obstacles/obstacles_container.h"
@@ -31,7 +31,7 @@ class EvaluatorManagerTest : public KMLMapBasedTest {
   virtual void SetUp() {
     std::string file =
         "modules/prediction/testdata/single_perception_vehicle_onlane.pb.txt";
-    CHECK(apollo::common::util::GetProtoFromFile(file, &perception_obstacles_));
+    CHECK(apollo::cyber::common::GetProtoFromFile(file, &perception_obstacles_));
   }
 
  protected:
@@ -42,7 +42,7 @@ class EvaluatorManagerTest : public KMLMapBasedTest {
 
 TEST_F(EvaluatorManagerTest, General) {
   std::string conf_file = "modules/prediction/testdata/adapter_conf.pb.txt";
-  bool ret_load_conf = common::util::GetProtoFromFile(
+  bool ret_load_conf = cyber::common::GetProtoFromFile(
       conf_file, &adapter_conf_);
   EXPECT_TRUE(ret_load_conf);
   EXPECT_TRUE(adapter_conf_.IsInitialized());

modules/prediction/evaluator/vehicle/cost_evaluator_test.cc

@@ -16,7 +16,7 @@
 
 #include "modules/prediction/evaluator/vehicle/cost_evaluator.h"
 
-#include "modules/common/util/file.h"
+#include "cyber/common/file.h"
 #include "modules/prediction/common/kml_map_based_test.h"
 #include "modules/prediction/container/obstacles/obstacles_container.h"
 
@@ -28,7 +28,7 @@ class CostEvaluatorTest : public KMLMapBasedTest {
   void SetUp() override {
     std::string file =
         "modules/prediction/testdata/single_perception_vehicle_onlane.pb.txt";
-    CHECK(apollo::common::util::GetProtoFromFile(file, &perception_obstacles_));
+    CHECK(apollo::cyber::common::GetProtoFromFile(file, &perception_obstacles_));
   }
 
  protected:

modules/prediction/evaluator/vehicle/cruise_mlp_evaluator.cc

@@ -17,7 +17,7 @@
 #include <limits>
 #include <utility>
 
-#include "modules/common/util/file.h"
+#include "cyber/common/file.h"
 #include "modules/prediction/common/feature_output.h"
 #include "modules/prediction/common/prediction_gflags.h"
 #include "modules/prediction/common/prediction_system_gflags.h"
@@ -29,7 +29,7 @@ namespace apollo {
 namespace prediction {
 
 using apollo::common::adapter::AdapterConfig;
-using apollo::common::util::GetProtoFromFile;
+using apollo::cyber::common::GetProtoFromFile;
 
 // Helper function for computing the mean value of a vector.
 double ComputeMean(const std::vector<double>& nums, size_t start, size_t end) {

modules/prediction/evaluator/vehicle/cruise_mlp_evaluator_test.cc

@@ -16,7 +16,7 @@
 
 #include "modules/prediction/evaluator/vehicle/cruise_mlp_evaluator.h"
 
-#include "modules/common/util/file.h"
+#include "cyber/common/file.h"
 #include "modules/prediction/common/kml_map_based_test.h"
 #include "modules/prediction/container/obstacles/obstacles_container.h"
 
@@ -28,7 +28,7 @@ class CruiseMLPEvaluatorTest : public KMLMapBasedTest {
   void SetUp() override {
     std::string file =
         "modules/prediction/testdata/single_perception_vehicle_onlane.pb.txt";
-    CHECK(apollo::common::util::GetProtoFromFile(file, &perception_obstacles_));
+    CHECK(apollo::cyber::common::GetProtoFromFile(file, &perception_obstacles_));
   }
 
  protected:

modules/prediction/evaluator/vehicle/lane_scanning_evaluator.cc

@@ -18,7 +18,7 @@
 #include <limits>
 #include <utility>
 
-#include "modules/common/util/file.h"
+#include "cyber/common/file.h"
 #include "modules/prediction/common/feature_output.h"
 #include "modules/prediction/common/prediction_gflags.h"
 #include "modules/prediction/common/prediction_system_gflags.h"
@@ -30,7 +30,7 @@ namespace apollo {
 namespace prediction {
 
 using apollo::common::adapter::AdapterConfig;
-using apollo::common::util::GetProtoFromFile;
+using apollo::cyber::common::GetProtoFromFile;
 
 LaneScanningEvaluator::LaneScanningEvaluator() {
 }

modules/prediction/evaluator/vehicle/mlp_evaluator.cc

@@ -18,7 +18,7 @@
 
 #include <limits>
 
-#include "modules/common/util/file.h"
+#include "cyber/common/file.h"
 #include "modules/prediction/common/feature_output.h"
 #include "modules/prediction/common/prediction_gflags.h"
 #include "modules/prediction/common/prediction_system_gflags.h"
@@ -333,7 +333,7 @@ void MLPEvaluator::SetLaneFeatureValues(Obstacle* obstacle_ptr,
 void MLPEvaluator::LoadModel(const std::string& model_file) {
   model_ptr_.reset(new FnnVehicleModel());
   CHECK(model_ptr_ != nullptr);
-  CHECK(common::util::GetProtoFromFile(model_file, model_ptr_.get()))
+  CHECK(cyber::common::GetProtoFromFile(model_file, model_ptr_.get()))
       << "Unable to load model file: " << model_file << ".";
 
   AINFO << "Succeeded in loading the model file: " << model_file << ".";

modules/prediction/evaluator/vehicle/mlp_evaluator_test.cc

@@ -16,7 +16,7 @@
 
 #include "modules/prediction/evaluator/vehicle/mlp_evaluator.h"
 
-#include "modules/common/util/file.h"
+#include "cyber/common/file.h"
 #include "modules/prediction/common/kml_map_based_test.h"
 #include "modules/prediction/container/obstacles/obstacles_container.h"
 
@@ -28,7 +28,7 @@ class MLPEvaluatorTest : public KMLMapBasedTest {
   void SetUp() override {
     std::string file =
         "modules/prediction/testdata/single_perception_vehicle_onlane.pb.txt";
-    CHECK(apollo::common::util::GetProtoFromFile(file, &perception_obstacles_));
+    CHECK(apollo::cyber::common::GetProtoFromFile(file, &perception_obstacles_));
   }
 
  protected:

modules/prediction/evaluator/vehicle/rnn_evaluator_test.cc

@@ -16,7 +16,7 @@
 
 #include "modules/prediction/evaluator/vehicle/rnn_evaluator.h"
 
-#include "modules/common/util/file.h"
+#include "cyber/common/file.h"
 #include "modules/prediction/common/kml_map_based_test.h"
 #include "modules/prediction/container/obstacles/obstacles_container.h"
 
@@ -28,7 +28,7 @@ class RNNEvaluatorTest : public KMLMapBasedTest {
   void SetUp() override {
     std::string file =
         "modules/prediction/testdata/single_perception_vehicle_onlane.pb.txt";
-    CHECK(apollo::common::util::GetProtoFromFile(file, &perception_obstacles_));
+    CHECK(apollo::cyber::common::GetProtoFromFile(file, &perception_obstacles_));
   }
 
  protected:

modules/prediction/network/rnn_model/rnn_model_test.cc

@@ -16,7 +16,7 @@
 
 #include "gtest/gtest.h"
 
-#include "modules/common/util/file.h"
+#include "cyber/common/file.h"
 #include "modules/prediction/network/rnn_model/rnn_model.h"
 
 namespace apollo {
@@ -32,7 +32,7 @@ TEST(NetModelTest, verification_test) {
   const std::string rnn_filename =
       "modules/prediction/data/rnn_vehicle_model.bin";
   NetParameter net_parameter = NetParameter();
-  EXPECT_TRUE(common::util::GetProtoFromFile(rnn_filename, &net_parameter));
+  EXPECT_TRUE(cyber::common::GetProtoFromFile(rnn_filename, &net_parameter));
   EXPECT_TRUE(RnnModel::Instance()->LoadModel(net_parameter));
 
   Eigen::MatrixXf obstacle_feature;

modules/prediction/pipeline/feature_proto_file_to_model_features.cc

@@ -50,7 +50,7 @@ void OfflineProcessFeatureProtoFile(
   AERROR << "start";
   // Load prediction conf
   PredictionConf prediction_conf;
-  if (!apollo::common::util::GetProtoFromFile(FLAGS_prediction_conf_file,
+  if (!apollo::cyber::common::GetProtoFromFile(FLAGS_prediction_conf_file,
                                       &prediction_conf)) {
     AERROR << "Unable to load prediction conf file: "
            << FLAGS_prediction_conf_file;
@@ -60,7 +60,7 @@ void OfflineProcessFeatureProtoFile(
             << prediction_conf.ShortDebugString();
 
   apollo::common::adapter::AdapterManagerConfig adapter_conf;
-  if (!apollo::common::util::GetProtoFromFile(
+  if (!apollo::cyber::common::GetProtoFromFile(
     FLAGS_prediction_adapter_config_filename, &adapter_conf)) {
     AERROR << "Unable to load adapter conf file: "
            << FLAGS_prediction_adapter_config_filename;

modules/prediction/predictor/move_sequence/move_sequence_predictor_test.cc

@@ -28,7 +28,7 @@ class MoveSequencePredictorTest : public KMLMapBasedTest {
   virtual void SetUp() {
     std::string file =
         "modules/prediction/testdata/single_perception_vehicle_onlane.pb.txt";
-    apollo::common::util::GetProtoFromFile(file, &perception_obstacles_);
+    cyber::common::GetProtoFromFile(file, &perception_obstacles_);
   }
 
  protected:

modules/prediction/predictor/single_lane/single_lane_predictor_test.cc

@@ -28,7 +28,7 @@ class SingleLanePredictorTest : public KMLMapBasedTest {
   virtual void SetUp() {
     std::string file =
         "modules/prediction/testdata/single_perception_vehicle_onlane.pb.txt";
-    apollo::common::util::GetProtoFromFile(file, &perception_obstacles_);
+    apollo::cyber::common::GetProtoFromFile(file, &perception_obstacles_);
   }
 
  protected: