Planning: Migrate to cyber file util.

modules/planning/common/frame_test.cc

@@ -20,10 +20,10 @@
 
 #include "modules/planning/common/frame.h"
 
+#include "cyber/common/file.h"
 #include "gtest/gtest.h"
 #include "modules/perception/proto/perception_obstacle.pb.h"
 #include "modules/prediction/proto/prediction_obstacle.pb.h"
-#include "modules/common/util/file.h"
 #include "modules/common/util/util.h"
 #include "modules/planning/common/planning_gflags.h"
 
@@ -33,7 +33,7 @@ namespace planning {
 class FrameTest : public ::testing::Test {
  public:
   virtual void SetUp() {
-    ASSERT_TRUE(common::util::GetProtoFromFile(
+    ASSERT_TRUE(cyber::common::GetProtoFromFile(
         "modules/planning/common/testdata/sample_prediction.pb.txt",
         &prediction_obstacles_));
   }

modules/planning/common/obstacle_test.cc

@@ -20,12 +20,12 @@
 
 #include "modules/planning/common/obstacle.h"
 
+#include "cyber/common/file.h"
 #include "gtest/gtest.h"
 
 #include "modules/perception/proto/perception_obstacle.pb.h"
 #include "modules/prediction/proto/prediction_obstacle.pb.h"
 
-#include "modules/common/util/file.h"
 #include "modules/common/util/util.h"
 #include "modules/planning/common/planning_gflags.h"
 
@@ -61,7 +61,7 @@ class ObstacleTest : public ::testing::Test {
  public:
   virtual void SetUp() {
     prediction::PredictionObstacles prediction_obstacles;
-    ASSERT_TRUE(common::util::GetProtoFromFile(
+    ASSERT_TRUE(cyber::common::GetProtoFromFile(
         "modules/planning/common/testdata/sample_prediction.pb.txt",
         &prediction_obstacles));
     auto obstacles = Obstacle::CreateObstacles(prediction_obstacles);

modules/planning/common/trajectory/discretized_trajectory_test.cc

@@ -20,10 +20,9 @@
 
 #include "modules/planning/common/trajectory/discretized_trajectory.h"
 
+#include "cyber/common/file.h"
 #include "gtest/gtest.h"
 
-#include "modules/common/util/file.h"
-
 namespace apollo {
 namespace planning {
 
@@ -31,8 +30,8 @@ TEST(basic_test, DiscretizedTrajectory) {
   const std::string path_of_standard_trajectory =
       "modules/planning/testdata/trajectory_data/standard_trajectory.pb.txt";
   ADCTrajectory trajectory;
-  EXPECT_TRUE(
-      common::util::GetProtoFromFile(path_of_standard_trajectory, &trajectory));
+  EXPECT_TRUE(cyber::common::GetProtoFromFile(path_of_standard_trajectory,
+                                              &trajectory));
   DiscretizedTrajectory discretized_trajectory(trajectory);
   EXPECT_DOUBLE_EQ(discretized_trajectory.GetTemporalLength(),
                    7.9999999999999885);

modules/planning/common/trajectory/publishable_trajectory_test.cc

@@ -20,9 +20,9 @@
 
 #include "modules/planning/common/trajectory/publishable_trajectory.h"
 
+#include "cyber/common/file.h"
 #include "gtest/gtest.h"
 
-#include "modules/common/util/file.h"
 #include "modules/common/util/util.h"
 
 namespace apollo {
@@ -32,8 +32,8 @@ TEST(basic_test, DiscretizedTrajectory) {
   const std::string path_of_standard_trajectory =
       "modules/planning/testdata/trajectory_data/standard_trajectory.pb.txt";
   ADCTrajectory trajectory;
-  EXPECT_TRUE(
-      common::util::GetProtoFromFile(path_of_standard_trajectory, &trajectory));
+  EXPECT_TRUE(cyber::common::GetProtoFromFile(path_of_standard_trajectory,
+                                              &trajectory));
   DiscretizedTrajectory discretized_trajectory(trajectory);
 
   PublishableTrajectory publishable_trajectory(12349834.26,

modules/planning/integration_tests/planning_test_base.cc

@@ -16,6 +16,7 @@
 
 #include "modules/planning/integration_tests/planning_test_base.h"
 
+#include "cyber/common/file.h"
 #include "cyber/common/log.h"
 
 #include "modules/canbus/proto/chassis.pb.h"
@@ -25,7 +26,6 @@
 #include "modules/routing/proto/routing.pb.h"
 
 #include "modules/common/adapters/adapter_gflags.h"
-#include "modules/common/util/file.h"
 #include "modules/planning/common/planning_gflags.h"
 
 namespace apollo {
@@ -85,7 +85,7 @@ bool PlanningTestBase::FeedTestData() {
     AERROR << "Requires FLAGS_test_chassis_file to be set";
     return false;
   }
-  if (!apollo::common::util::GetProtoFromFile(
+  if (!apollo::cyber::common::GetProtoFromFile(
           FLAGS_test_data_dir + "/" + FLAGS_test_chassis_file, &chassis)) {
     AERROR << "failed to load file: " << FLAGS_test_chassis_file;
     return false;
@@ -96,7 +96,7 @@ bool PlanningTestBase::FeedTestData() {
     return false;
   }
   LocalizationEstimate localization;
-  if (!apollo::common::util::GetProtoFromFile(
+  if (!apollo::cyber::common::GetProtoFromFile(
           FLAGS_test_data_dir + "/" + FLAGS_test_localization_file,
           &localization)) {
     AERROR << "failed to load file: " << FLAGS_test_localization_file;
@@ -111,7 +111,7 @@ bool PlanningTestBase::FeedTestData() {
     return false;
   }
   PredictionObstacles prediction;
-  if (!apollo::common::util::GetProtoFromFile(
+  if (!apollo::cyber::common::GetProtoFromFile(
           FLAGS_test_data_dir + "/" + FLAGS_test_prediction_file,
           &prediction)) {
     AERROR << "failed to load file: " << FLAGS_test_prediction_file;
@@ -123,7 +123,7 @@ bool PlanningTestBase::FeedTestData() {
     return false;
   }
   RoutingResponse routing_response;
-  if (!apollo::common::util::GetProtoFromFile(
+  if (!apollo::cyber::common::GetProtoFromFile(
           FLAGS_test_data_dir + "/" + FLAGS_test_routing_response_file,
           &routing_response)) {
     AERROR << "failed to load file: " << FLAGS_test_routing_response_file;
@@ -132,7 +132,7 @@ bool PlanningTestBase::FeedTestData() {
   // traffic_light_detection
   // optional
   TrafficLightDetection traffic_light_detection;
-  if (!apollo::common::util::GetProtoFromFile(
+  if (!apollo::cyber::common::GetProtoFromFile(
           FLAGS_test_data_dir + "/" + FLAGS_test_traffic_light_file,
           &traffic_light_detection)) {
     AERROR << "failed to load file: " << FLAGS_test_traffic_light_file;
@@ -163,8 +163,8 @@ void PlanningTestBase::SetUp() {
 
   CHECK(FeedTestData()) << "Failed to feed test data";
 
-  CHECK(apollo::common::util::GetProtoFromFile(FLAGS_planning_config_file,
-                                               &config_))
+  CHECK(apollo::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";
@@ -176,7 +176,7 @@ void PlanningTestBase::SetUp() {
     const auto prev_planning_file =
         FLAGS_test_data_dir + "/" + FLAGS_test_previous_planning_file;
     ADCTrajectory prev_planning;
-    CHECK(common::util::GetProtoFromFile(prev_planning_file, &prev_planning));
+    CHECK(cyber::common::GetProtoFromFile(prev_planning_file, &prev_planning));
     planning_->last_publishable_trajectory_.reset(
         new PublishableTrajectory(prev_planning));
   }
@@ -195,7 +195,7 @@ void PlanningTestBase::UpdateData() {
     const auto prev_planning_file =
         FLAGS_test_data_dir + "/" + FLAGS_test_previous_planning_file;
     ADCTrajectory prev_planning;
-    CHECK(common::util::GetProtoFromFile(prev_planning_file, &prev_planning));
+    CHECK(cyber::common::GetProtoFromFile(prev_planning_file, &prev_planning));
     planning_->last_publishable_trajectory_.reset(
         new PublishableTrajectory(prev_planning));
   }

modules/planning/navi_planning.cc

@@ -20,6 +20,7 @@
 #include <list>
 #include <map>
 
+#include "cyber/common/file.h"
 #include "google/protobuf/repeated_field.h"
 
 #include "modules/common/math/quaternion.h"
@@ -68,7 +69,7 @@ Status NaviPlanning::Init(const PlanningConfig& config) {
 
   planner_dispatcher_->Init();
 
-  CHECK(apollo::common::util::GetProtoFromFile(
+  CHECK(apollo::cyber::common::GetProtoFromFile(
       FLAGS_traffic_rule_config_filename, &traffic_rule_configs_))
       << "Failed to load traffic rule config file "
       << FLAGS_traffic_rule_config_filename;

modules/planning/on_lane_planning.cc

@@ -17,6 +17,7 @@
 #include <list>
 #include <utility>
 
+#include "cyber/common/file.h"
 #include "gtest/gtest_prod.h"
 
 #include "modules/routing/proto/routing.pb.h"
@@ -75,7 +76,7 @@ Status OnLanePlanning::Init(const PlanningConfig& config) {
 
   planner_dispatcher_->Init();
 
-  CHECK(apollo::common::util::GetProtoFromFile(
+  CHECK(apollo::cyber::common::GetProtoFromFile(
       FLAGS_traffic_rule_config_filename, &traffic_rule_configs_))
       << "Failed to load traffic rule config file "
       << FLAGS_traffic_rule_config_filename;

modules/planning/open_space/coarse_trajectory_generator/hybrid_a_star_test.cc

@@ -18,12 +18,14 @@
  * @file
  */
 
+#include "modules/planning/open_space/coarse_trajectory_generator/hybrid_a_star.h"
+
+#include "cyber/common/file.h"
 #include "gtest/gtest.h"
 #include "modules/common/math/box2d.h"
 #include "modules/common/math/vec2d.h"
 #include "modules/planning/common/obstacle.h"
 #include "modules/planning/common/planning_gflags.h"
-#include "modules/planning/open_space/coarse_trajectory_generator/hybrid_a_star.h"
 
 namespace apollo {
 namespace planning {
@@ -35,7 +37,7 @@ class HybridATest : public ::testing::Test {
         "/apollo/modules/planning/testdata/conf/"
         "open_space_standard_parking_lot.pb.txt";
 
-    CHECK(apollo::common::util::GetProtoFromFile(
+    CHECK(apollo::cyber::common::GetProtoFromFile(
         FLAGS_planner_open_space_config_filename, &planner_open_space_config_))
         << "Failed to load open space config file "
         << FLAGS_planner_open_space_config_filename;

modules/planning/open_space/coarse_trajectory_generator/reeds_shepp_path_test.cc

@@ -20,6 +20,7 @@
 
 #include "modules/planning/open_space/coarse_trajectory_generator/reeds_shepp_path.h"
 
+#include "cyber/common/file.h"
 #include "gtest/gtest.h"
 #include "modules/common/configs/proto/vehicle_config.pb.h"
 #include "modules/common/configs/vehicle_config_helper.h"
@@ -34,7 +35,7 @@ namespace planning {
 class reeds_shepp : public ::testing::Test {
  public:
   virtual void SetUp() {
-    ASSERT_TRUE(common::util::GetProtoFromFile(
+    ASSERT_TRUE(cyber::common::GetProtoFromFile(
         FLAGS_planner_open_space_config_filename, &planner_open_space_config_));
     vehicle_param_ = common::VehicleConfigHelper::GetConfig().vehicle_param();
     reedshepp_test = std::unique_ptr<ReedShepp>(

modules/planning/open_space/trajectory_partition/trajectory_partitioner.cc

@@ -18,6 +18,7 @@
  * @file
  **/
 
+#include "cyber/common/file.h"
 #include "modules/planning/open_space/trajectory_partition/trajectory_partitioner.h"
 
 namespace apollo {
@@ -29,8 +30,8 @@ using apollo::common::VehicleState;
 using apollo::common::time::Clock;
 
 TrajectoryPartitioner::TrajectoryPartitioner() {
-  CHECK(common::util::GetProtoFromFile(FLAGS_planner_open_space_config_filename,
-                                       &planner_open_space_config_))
+  CHECK(cyber::common::GetProtoFromFile(
+      FLAGS_planner_open_space_config_filename, &planner_open_space_config_))
       << "Failed to load open space config file "
       << FLAGS_planner_open_space_config_filename;
   gear_shift_max_t_ = planner_open_space_config_.trajectory_partition_config()

modules/planning/open_space/trajectory_smoother/distance_approach_ipopt_interface.h

@@ -37,7 +37,6 @@
 #include "modules/common/configs/proto/vehicle_config.pb.h"
 #include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/math/math_utils.h"
-#include "modules/common/util/file.h"
 #include "modules/common/util/util.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/proto/planner_open_space_config.pb.h"

modules/planning/open_space/trajectory_smoother/distance_approach_ipopt_interface_test.cc

@@ -17,10 +17,12 @@
 /**
  * @file
  **/
+#include "modules/planning/open_space/trajectory_smoother/distance_approach_ipopt_interface.h"
+
 #include <iostream>
 #include <fstream>
-#include "modules/planning/open_space/trajectory_smoother/distance_approach_ipopt_interface.h"
 
+#include "cyber/common/file.h"
 #include "gtest/gtest.h"
 
 namespace apollo {
@@ -32,7 +34,7 @@ class DistanceApproachIPOPTInterfaceTest : public ::testing::Test {
     FLAGS_planner_open_space_config_filename =
         "/apollo/modules/planning/testdata/conf/"
         "open_space_standard_parking_lot.pb.txt";
-    CHECK(apollo::common::util::GetProtoFromFile(
+    CHECK(apollo::cyber::common::GetProtoFromFile(
         FLAGS_planner_open_space_config_filename, &planner_open_space_config_))
         << "Failed to load open space config file "
         << FLAGS_planner_open_space_config_filename;

modules/planning/open_space/trajectory_smoother/distance_approach_problem_test.cc

@@ -19,6 +19,7 @@
  **/
 #include "modules/planning/open_space/trajectory_smoother/distance_approach_problem.h"
 
+#include "cyber/common/file.h"
 #include "gtest/gtest.h"
 #include "modules/planning/common/planning_gflags.h"
 
@@ -32,7 +33,7 @@ class DistanceApproachProblemTest : public ::testing::Test {
         "/apollo/modules/planning/testdata/conf/"
         "open_space_standard_parking_lot.pb.txt";
 
-    CHECK(apollo::common::util::GetProtoFromFile(
+    CHECK(apollo::cyber::common::GetProtoFromFile(
         FLAGS_planner_open_space_config_filename, &planner_open_space_config_))
         << "Failed to load open space config file "
         << FLAGS_planner_open_space_config_filename;

modules/planning/open_space/trajectory_smoother/dual_variable_warm_start_ipopt_interface_test.cc

@@ -19,9 +19,9 @@
  **/
 #include "modules/planning/open_space/trajectory_smoother/dual_variable_warm_start_ipopt_interface.h"
 
+#include "cyber/common/file.h"
 #include "gtest/gtest.h"
 
-#include "modules/common/util/file.h"
 #include "modules/planning/common/planning_gflags.h"
 
 namespace apollo {
@@ -34,7 +34,7 @@ class DualVariableWarmStartIPOPTInterfaceTest : public ::testing::Test {
         "/apollo/modules/planning/testdata/conf/"
         "open_space_standard_parking_lot.pb.txt";
 
-    CHECK(apollo::common::util::GetProtoFromFile(
+    CHECK(apollo::cyber::common::GetProtoFromFile(
         FLAGS_planner_open_space_config_filename, &planner_open_space_config_))
         << "Failed to load open space config file "
         << FLAGS_planner_open_space_config_filename;

modules/planning/planner/on_lane_planner_dispatcher.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/common/util/file.h"
+#include "cyber/common/file.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/planner/on_lane_planner_dispatcher.h"
 #include "modules/planning/proto/planning_config.pb.h"
@@ -24,8 +24,8 @@ namespace planning {
 
 std::unique_ptr<Planner> OnLanePlannerDispatcher::DispatchPlanner() {
   PlanningConfig planning_config;
-  apollo::common::util::GetProtoFromFile(FLAGS_planning_config_file,
-                                         &planning_config);
+  apollo::cyber::common::GetProtoFromFile(FLAGS_planning_config_file,
+                                          &planning_config);
   if (FLAGS_open_space_planner_switchable) {
     return planner_factory_.CreateObject(
         planning_config.standard_planning_config().planner_type(1));

modules/planning/planner/open_space/open_space_planner.cc

@@ -20,6 +20,7 @@
 
 #include "modules/planning/planner/open_space/open_space_planner.h"
 
+#include "cyber/common/file.h"
 #include "cyber/common/log.h"
 #include "cyber/task/task.h"
 #include "modules/common/util/string_tokenizer.h"
@@ -34,8 +35,8 @@ Status OpenSpacePlanner::Init(const PlanningConfig& planning_confgs) {
   AINFO << "In OpenSpacePlanner::Init()";
 
   // TODO(QiL): integrate open_space planner into task config when refactor done
-  CHECK(common::util::GetProtoFromFile(FLAGS_planner_open_space_config_filename,
-                                       &planner_open_space_config_))
+  CHECK(cyber::common::GetProtoFromFile(
+      FLAGS_planner_open_space_config_filename, &planner_open_space_config_))
       << "Failed to load open space config file "
       << FLAGS_planner_open_space_config_filename;
 

modules/planning/planning_component.cc

@@ -15,6 +15,7 @@
  *****************************************************************************/
 #include "modules/planning/planning_component.h"
 
+#include "cyber/common/file.h"
 #include "modules/common/adapters/adapter_gflags.h"
 #include "modules/common/configs/config_gflags.h"
 #include "modules/common/util/message_util.h"
@@ -46,8 +47,8 @@ bool PlanningComponent::Init() {
       planning_base_ = std::make_unique<OnLanePlanning>();
     }
   }
-  CHECK(apollo::common::util::GetProtoFromFile(FLAGS_planning_config_file,
-                                               &config_))
+  CHECK(apollo::cyber::common::GetProtoFromFile(FLAGS_planning_config_file,
+                                                &config_))
       << "failed to load planning config file " << FLAGS_planning_config_file;
   planning_base_->Init(config_);
 

modules/planning/reference_line/qp_spline_reference_line_smoother.cc

@@ -27,7 +27,6 @@
 #include "cyber/common/log.h"
 #include "modules/common/math/vec2d.h"
 #include "modules/common/time/time.h"
-#include "modules/common/util/file.h"
 #include "modules/common/util/util.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/math/curve_math.h"

modules/planning/reference_line/reference_line_provider.cc

@@ -25,11 +25,11 @@
 #include <limits>
 #include <utility>
 
+#include "cyber/common/file.h"
 #include "cyber/task/task.h"
 #include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/math/math_utils.h"
 #include "modules/common/time/time.h"
-#include "modules/common/util/file.h"
 #include "modules/common/vehicle_state/vehicle_state_provider.h"
 #include "modules/map/hdmap/hdmap_util.h"
 #include "modules/map/pnc_map/path.h"
@@ -68,8 +68,8 @@ ReferenceLineProvider::ReferenceLineProvider(
     relative_map_ = relative_map;
   }
 
-  CHECK(common::util::GetProtoFromFile(FLAGS_smoother_config_filename,
-                                       &smoother_config_))
+  CHECK(cyber::common::GetProtoFromFile(FLAGS_smoother_config_filename,
+                                        &smoother_config_))
       << "Failed to load smoother config file "
       << FLAGS_smoother_config_filename;
   if (smoother_config_.has_qp_spline()) {

modules/planning/scenarios/lane_follow/lane_follow_scenario.cc

@@ -23,7 +23,6 @@
 #include "cyber/common/log.h"
 #include "modules/common/math/math_utils.h"
 #include "modules/common/time/time.h"
-#include "modules/common/util/file.h"
 #include "modules/common/util/string_tokenizer.h"
 #include "modules/common/util/string_util.h"
 #include "modules/common/vehicle_state/vehicle_state_provider.h"

modules/planning/scenarios/lane_follow/lane_follow_scenario_test.cc

@@ -23,8 +23,8 @@
 
 #include "gtest/gtest.h"
 
+#include "cyber/common/file.h"
 #include "cyber/common/log.h"
-#include "modules/common/util/file.h"
 #include "modules/planning/common/planning_gflags.h"
 
 namespace apollo {
@@ -45,7 +45,7 @@ TEST_F(LaneFollowScenarioTest, VerifyConf) {
       "/apollo/modules/planning/conf/scenario/lane_follow_config.pb.txt";
 
   ScenarioConfig config;
-  EXPECT_TRUE(apollo::common::util::GetProtoFromFile(
+  EXPECT_TRUE(apollo::cyber::common::GetProtoFromFile(
       FLAGS_scenario_lane_follow_config_file, &config));
 }
 
@@ -55,7 +55,7 @@ TEST_F(LaneFollowScenarioTest, Init) {
       "scenario/lane_follow_config.pb.txt";
 
   ScenarioConfig config;
-  EXPECT_TRUE(apollo::common::util::GetProtoFromFile(
+  EXPECT_TRUE(apollo::cyber::common::GetProtoFromFile(
       FLAGS_scenario_lane_follow_config_file, &config));
   ScenarioContext context;
   scenario_.reset(new LaneFollowScenario(config, &context));

modules/planning/scenarios/lane_follow/lane_follow_stage.cc

@@ -25,7 +25,6 @@
 #include "cyber/common/log.h"
 #include "modules/common/math/math_utils.h"
 #include "modules/common/time/time.h"
-#include "modules/common/util/file.h"
 #include "modules/common/util/string_tokenizer.h"
 #include "modules/common/util/string_util.h"
 #include "modules/common/vehicle_state/vehicle_state_provider.h"

modules/planning/scenarios/scenario.cc

@@ -20,6 +20,8 @@
 
 #include "modules/planning/scenarios/scenario.h"
 
+#include "cyber/common/file.h"
+
 namespace apollo {
 namespace planning {
 namespace scenario {
@@ -31,7 +33,7 @@ Scenario::Scenario(const ScenarioConfig& config, const ScenarioContext* context)
 
 bool Scenario::LoadConfig(const std::string& config_file,
                           ScenarioConfig* config) {
-  return apollo::common::util::GetProtoFromFile(config_file, config);
+  return apollo::cyber::common::GetProtoFromFile(config_file, config);
 }
 
 void Scenario::Init() {

modules/planning/scenarios/side_pass/side_pass_scenario_test.cc

@@ -23,8 +23,8 @@
 
 #include "gtest/gtest.h"
 
+#include "cyber/common/file.h"
 #include "cyber/common/log.h"
-#include "modules/common/util/file.h"
 #include "modules/planning/common/planning_gflags.h"
 
 namespace apollo {
@@ -45,7 +45,7 @@ TEST_F(SidePassScenarioTest, VerifyConf) {
       "/apollo/modules/planning/conf/scenario/side_pass_config.pb.txt";
 
   ScenarioConfig config;
-  EXPECT_TRUE(apollo::common::util::GetProtoFromFile(
+  EXPECT_TRUE(apollo::cyber::common::GetProtoFromFile(
       FLAGS_scenario_side_pass_config_file, &config));
 }
 
@@ -54,7 +54,7 @@ TEST_F(SidePassScenarioTest, Init) {
       "/apollo/modules/planning/testdata/conf/scenario/side_pass_config.pb.txt";
 
   ScenarioConfig config;
-  EXPECT_TRUE(apollo::common::util::GetProtoFromFile(
+  EXPECT_TRUE(apollo::cyber::common::GetProtoFromFile(
       FLAGS_scenario_side_pass_config_file, &config));
   ScenarioContext context;
   scenario_.reset(new SidePassScenario(config, &context));

modules/planning/scenarios/stop_sign/unprotected/stop_sign_unprotected_scenario_test.cc

@@ -24,8 +24,8 @@
 
 #include "gtest/gtest.h"
 
+#include "cyber/common/file.h"
 #include "cyber/common/log.h"
-#include "modules/common/util/file.h"
 #include "modules/planning/common/planning_gflags.h"
 
 namespace apollo {
@@ -47,7 +47,7 @@ TEST_F(StopSignUnprotectedScenarioTest, VerifyConf) {
       "scenario/stop_sign_unprotected_config.pb.txt";
 
   ScenarioConfig config;
-  EXPECT_TRUE(apollo::common::util::GetProtoFromFile(
+  EXPECT_TRUE(apollo::cyber::common::GetProtoFromFile(
       FLAGS_scenario_stop_sign_unprotected_config_file, &config));
 }
 
@@ -57,7 +57,7 @@ TEST_F(StopSignUnprotectedScenarioTest, Init) {
       "scenario/stop_sign_unprotected_config.pb.txt";
 
   ScenarioConfig config;
-  EXPECT_TRUE(apollo::common::util::GetProtoFromFile(
+  EXPECT_TRUE(apollo::cyber::common::GetProtoFromFile(
       FLAGS_scenario_stop_sign_unprotected_config_file, &config));
 
   ScenarioContext context;

modules/planning/scenarios/traffic_light/protected/traffic_light_protected_scenario_test.cc

@@ -24,8 +24,8 @@
 
 #include "gtest/gtest.h"
 
+#include "cyber/common/file.h"
 #include "cyber/common/log.h"
-#include "modules/common/util/file.h"
 #include "modules/planning/common/planning_gflags.h"
 
 namespace apollo {
@@ -47,7 +47,7 @@ TEST_F(TrafficLightProtectedScenarioTest, VerifyConf) {
       "scenario/traffic_light_protected_config.pb.txt";
 
   ScenarioConfig config;
-  EXPECT_TRUE(apollo::common::util::GetProtoFromFile(
+  EXPECT_TRUE(apollo::cyber::common::GetProtoFromFile(
       FLAGS_scenario_traffic_light_protected_config_file,
       &config));
 }
@@ -58,7 +58,7 @@ TEST_F(TrafficLightProtectedScenarioTest, Init) {
       "scenario/traffic_light_protected_config.pb.txt";
 
   ScenarioConfig config;
-  EXPECT_TRUE(apollo::common::util::GetProtoFromFile(
+  EXPECT_TRUE(apollo::cyber::common::GetProtoFromFile(
       FLAGS_scenario_traffic_light_protected_config_file,
       &config));
 

modules/planning/scenarios/traffic_light/unprotected_left_turn/traffic_light_unprotected_left_turn_scenario_test.cc

@@ -24,8 +24,8 @@
 
 #include "gtest/gtest.h"
 
+#include "cyber/common/file.h"
 #include "cyber/common/log.h"
-#include "modules/common/util/file.h"
 #include "modules/planning/common/planning_gflags.h"
 
 namespace apollo {
@@ -47,7 +47,7 @@ TEST_F(TrafficLightUnprotectedLeftTurnScenarioTest, VerifyConf) {
       "scenario/traffic_light_unprotected_left_turn_config.pb.txt";
 
   ScenarioConfig config;
-  EXPECT_TRUE(apollo::common::util::GetProtoFromFile(
+  EXPECT_TRUE(apollo::cyber::common::GetProtoFromFile(
       FLAGS_scenario_traffic_light_unprotected_left_turn_config_file,
       &config));
 }
@@ -58,7 +58,7 @@ TEST_F(TrafficLightUnprotectedLeftTurnScenarioTest, Init) {
       "scenario/traffic_light_unprotected_left_turn_config.pb.txt";
 
   ScenarioConfig config;
-  EXPECT_TRUE(apollo::common::util::GetProtoFromFile(
+  EXPECT_TRUE(apollo::cyber::common::GetProtoFromFile(
       FLAGS_scenario_traffic_light_unprotected_left_turn_config_file,
       &config));
 

modules/planning/scenarios/traffic_light/unprotected_right_turn/traffic_light_unprotected_right_turn_scenario_test.cc

@@ -24,8 +24,8 @@
 
 #include "gtest/gtest.h"
 
+#include "cyber/common/file.h"
 #include "cyber/common/log.h"
-#include "modules/common/util/file.h"
 #include "modules/planning/common/planning_gflags.h"
 
 namespace apollo {
@@ -47,7 +47,7 @@ TEST_F(TrafficLightUnprotectedRightTurnScenarioTest, VerifyConf) {
       "scenario/traffic_light_unprotected_right_turn_config.pb.txt";
 
   ScenarioConfig config;
-  EXPECT_TRUE(apollo::common::util::GetProtoFromFile(
+  EXPECT_TRUE(apollo::cyber::common::GetProtoFromFile(
       FLAGS_scenario_traffic_light_unprotected_right_turn_config_file,
       &config));
 }
@@ -58,7 +58,7 @@ TEST_F(TrafficLightUnprotectedRightTurnScenarioTest, Init) {
       "scenario/traffic_light_unprotected_right_turn_config.pb.txt";
 
   ScenarioConfig config;
-  EXPECT_TRUE(apollo::common::util::GetProtoFromFile(
+  EXPECT_TRUE(apollo::cyber::common::GetProtoFromFile(
       FLAGS_scenario_traffic_light_unprotected_right_turn_config_file,
       &config));
 

modules/planning/tasks/optimizers/dp_poly_path/dp_poly_path_optimizer.cc

@@ -20,7 +20,6 @@
 
 #include "modules/planning/tasks/optimizers/dp_poly_path/dp_poly_path_optimizer.h"
 
-#include "modules/common/util/file.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/tasks/optimizers/road_graph/dp_road_graph.h"
 #include "modules/planning/tasks/optimizers/road_graph/waypoint_sampler.h"

modules/planning/tasks/optimizers/dp_st_speed/dp_st_graph_test.cc

@@ -25,14 +25,14 @@
 #include "modules/perception/proto/perception_obstacle.pb.h"
 #include "modules/planning/proto/planning_config.pb.h"
 
+#include "cyber/common/file.h"
 #include "cyber/common/log.h"
-#include "modules/common/util/file.h"
 #include "modules/planning/common/planning_gflags.h"
 
 namespace apollo {
 namespace planning {
 
-using apollo::common::util::GetProtoFromFile;
+using apollo::cyber::common::GetProtoFromFile;
 
 class DpStGraphTest : public ::testing::Test {
  public:

modules/planning/tasks/optimizers/poly_vt_speed/poly_vt_speed_optimizer.cc

@@ -24,7 +24,6 @@
 
 #include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/proto/pnc_point.pb.h"
-#include "modules/common/util/file.h"
 #include "modules/common/vehicle_state/vehicle_state_provider.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/proto/planning_internal.pb.h"

modules/planning/tasks/optimizers/proceed_with_caution_speed/proceed_with_caution_speed_generator_test.cc

@@ -25,7 +25,6 @@
 #include "modules/planning/proto/planning_config.pb.h"
 
 #include "cyber/common/log.h"
-#include "modules/common/util/file.h"
 // #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/common/planning_context.h"
 

modules/planning/tasks/optimizers/qp_spline_path/qp_spline_path_optimizer.cc

@@ -19,7 +19,6 @@
  **/
 #include "modules/planning/tasks/optimizers/qp_spline_path/qp_spline_path_optimizer.h"
 
-#include "modules/common/util/file.h"
 #include "modules/common/util/util.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/tasks/optimizers/qp_spline_path/qp_spline_path_generator.h"

modules/planning/tasks/optimizers/qp_spline_st_speed/qp_spline_st_speed_optimizer.cc

@@ -26,7 +26,6 @@
 #include "modules/common/proto/pnc_point.pb.h"
 
 #include "modules/common/configs/vehicle_config_helper.h"
-#include "modules/common/util/file.h"
 #include "modules/common/vehicle_state/vehicle_state_provider.h"
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/tasks/optimizers/qp_spline_st_speed/qp_piecewise_st_graph.h"

modules/planning/tasks/optimizers/st_graph/st_boundary_mapper.cc

@@ -32,7 +32,6 @@
 #include "modules/common/configs/vehicle_config_helper.h"
 #include "modules/common/math/line_segment2d.h"
 #include "modules/common/math/vec2d.h"
-#include "modules/common/util/file.h"
 #include "modules/common/util/string_util.h"
 #include "modules/common/util/util.h"
 #include "modules/common/vehicle_state/vehicle_state_provider.h"