external_command_process_component.h

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/******************************************************************************
 * Copyright 2023 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_msgs/external_command_msgs/command_status.pb.h"
#include "cyber/component/component.h"
 
namespace apollo {
namespace external_command {
 
class CommandProcessorBase;
 
class ExternalCommandProcessComponent : public cyber::Component<> {
 public:
  ExternalCommandProcessComponent() = default;
 
  ~ExternalCommandProcessComponent() = default;
 
  bool Init() override;
 
 private:
  std::vector<std::shared_ptr<CommandProcessorBase>> command_processors_;
  std::shared_ptr<cyber::Service<CommandStatusRequest, CommandStatus>>
      command_status_service_;
};
 
CYBER_REGISTER_COMPONENT(ExternalCommandProcessComponent)
 
}  // namespace external_command
}  // namespace apollo