controller_agent.h

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/******************************************************************************
 * 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.
 *****************************************************************************/

#pragma once

#include <memory>
#include <vector>

#include "modules/common/util/factory.h"
#include "modules/control/common/dependency_injector.h"
#include "modules/control/controller/controller.h"
#include "modules/control/proto/control_cmd.pb.h"
#include "modules/control/proto/control_conf.pb.h"
#include "modules/planning/proto/planning.pb.h"

namespace apollo {
namespace control {

class ControllerAgent {
 public:
  common::Status Init(std::shared_ptr<DependencyInjector> injector,
                      const ControlConf *control_conf);

  common::Status ComputeControlCommand(
      const localization::LocalizationEstimate *localization,
      const canbus::Chassis *chassis, const planning::ADCTrajectory *trajectory,
      control::ControlCommand *cmd);

  common::Status Reset();

 private:
  void RegisterControllers(const ControlConf *control_conf);

  common::Status InitializeConf(const ControlConf *control_conf);

  const ControlConf *control_conf_ = nullptr;
  common::util::Factory<ControlConf::ControllerType, Controller>
      controller_factory_;
  std::vector<std::unique_ptr<Controller>> controller_list_;
  std::shared_ptr<DependencyInjector> injector_ = nullptr;
};

}  // namespace control
}  // namespace apollo