planner_dispatcher.h

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/******************************************************************************
 * Copyright 2018 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 "modules/common/status/status.h"
#include "modules/common/util/factory.h"
#include "modules/planning/planner/planner.h"

namespace apollo {
namespace planning {

class PlannerDispatcher {
 public:
  PlannerDispatcher() = default;
  virtual ~PlannerDispatcher() = default;

  virtual common::Status Init() {
    RegisterPlanners();
    return common::Status::OK();
  }

  virtual std::unique_ptr<Planner> DispatchPlanner(
      const PlanningConfig& planning_config,
      const std::shared_ptr<DependencyInjector>& injector) = 0;

 protected:
  void RegisterPlanners();

  common::util::Factory<
      PlannerType, Planner,
      Planner* (*)(const std::shared_ptr<DependencyInjector>& injector)>
      planner_factory_;
};

}  // namespace planning
}  // namespace apollo