Remove unused enter_auto_mode binary.

apollo.sh

@@ -177,7 +177,6 @@ function release() {
   done
   #control tools
   mkdir $MODULES_DIR/control/tools
-  cp bazel-bin/modules/control/tools/enter_auto_mode $MODULES_DIR/control/tools
   cp bazel-bin/modules/control/tools/pad_terminal $MODULES_DIR/control/tools
   #remove all pyc file in modules/
   find modules/ -name "*.pyc" | xargs -I {} rm {}

modules/control/tools/BUILD

@@ -16,18 +16,6 @@ cc_binary(
     ],
 )
 
-cc_binary(
-    name = "enter_auto_mode",
-    srcs = ["enter_auto_mode.cc"],
-    deps = [
-        "//external:gflags",
-        "//modules/canbus/proto:canbus_proto",
-        "//modules/common/adapters:adapter_manager",
-        "//modules/control/common",
-        "@ros//:ros_common",
-    ],
-)
-
 cc_binary(
     name = "control_tester",
     srcs = ["control_tester.cc"],

modules/control/tools/enter_auto_mode.cc

-/******************************************************************************
- * Copyright 2017 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 <chrono>
-#include <mutex>
-#include <thread>
-
-#include "glog/logging.h"
-
-#include "modules/canbus/proto/chassis.pb.h"
-#include "modules/control/proto/pad_msg.pb.h"
-
-#include "modules/common/adapters/adapter_manager.h"
-#include "modules/control/common/control_gflags.h"
-
-using apollo::common::adapter::AdapterConfig;
-using apollo::common::adapter::AdapterManager;
-using apollo::common::adapter::AdapterManagerConfig;
-using apollo::canbus::Chassis;
-
-namespace apollo {
-namespace control {
-namespace {
-
-class SwitchDrivingMode {
- public:
-  static void EnterAutoMode() {
-    // We always send a reset message before sending start.
-    SendPadMessage(Chassis::COMPLETE_MANUAL, DrivingAction::RESET);
-    WaitUntilManualMode();
-    // delay for canbus reset
-    sleep(1);
-    SendPadMessage(Chassis::COMPLETE_AUTO_DRIVE, DrivingAction::START);
-  }
-
-  static void MonitorDrivingMode(const apollo::canbus::Chassis& status) {
-    auto driving_mode = status.driving_mode();
-    std::lock_guard<std::mutex> guard(current_mode_mutex_);
-    if (driving_mode != current_mode_) {
-      AINFO << "Driving mode changed: " << current_mode_ << " -> "
-            << driving_mode;
-      current_mode_ = driving_mode;
-    }
-  }
-
- private:
-  static void SendPadMessage(Chassis::DrivingMode mode, DrivingAction action) {
-    AINFO << "Sending PadMessage, DrivingMode=" << mode
-          << ", DrivingAction=" << action;
-    PadMessage pb;
-    pb.set_driving_mode(mode);
-    pb.set_action(action);
-    AdapterManager::FillPadHeader("enter_auto_mode", pb.mutable_header());
-    AdapterManager::PublishPad(pb);
-  }
-
-  static void WaitUntilManualMode() {
-    while (true) {
-      {
-        // Lock and access current driving mode.
-        std::lock_guard<std::mutex> guard(current_mode_mutex_);
-        if (current_mode_ == Chassis::COMPLETE_MANUAL) {
-          return;
-        }
-      }
-      std::this_thread::sleep_for(std::chrono::seconds(1));
-    }
-  }
-
-  static std::mutex current_mode_mutex_;
-  static Chassis::DrivingMode current_mode_;
-};
-
-// Init static members.
-std::mutex SwitchDrivingMode::current_mode_mutex_;
-Chassis::DrivingMode SwitchDrivingMode::current_mode_ =
-    Chassis::COMPLETE_MANUAL;
-
-}  // namespace
-}  // namespace control
-}  // namespace apollo
-
-int main(int argc, char** argv) {
-  google::InitGoogleLogging(argv[0]);
-  FLAGS_alsologtostderr = true;
-  FLAGS_v = 4;
-
-  google::ParseCommandLineFlags(&argc, &argv, true);
-
-  ros::init(argc, argv, "enter_auto_mode");
-
-  // Setup AdapterManager.
-  AdapterManagerConfig config;
-  config.set_is_ros(true);
-  {
-    auto* sub_config = config.add_config();
-    sub_config->set_mode(AdapterConfig::PUBLISH_ONLY);
-    sub_config->set_type(AdapterConfig::PAD);
-  }
-
-  {
-    auto* sub_config = config.add_config();
-    sub_config->set_mode(AdapterConfig::RECEIVE_ONLY);
-    sub_config->set_type(AdapterConfig::CHASSIS);
-  }
-  AdapterManager::Init(config);
-  AdapterManager::SetChassisCallback(
-      apollo::control::SwitchDrivingMode::MonitorDrivingMode);
-
-  // FIXME: delay for ros pub/sub ready
-  sleep(1);
-  apollo::control::SwitchDrivingMode::EnterAutoMode();
-  return 0;
-}