command_processor_base.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 <string>
 
#include "cyber/cyber.h"
 
namespace apollo {
namespace external_command {
 
class CommandProcessorConfig;
class CommandStatus;
 
class CommandProcessorBase {
 public:
  CommandProcessorBase();
 
  virtual ~CommandProcessorBase() = default;
 
  virtual bool Init(const std::shared_ptr<cyber::Node>& node);
  virtual bool GetCommandStatus(int64_t command_id,
                                CommandStatus* status) const = 0;
 
 protected:
  const CommandProcessorConfig& GetProcessorConfig() const;
 
  const std::shared_ptr<cyber::Node>& Node() const;
 
 private:
  std::shared_ptr<CommandProcessorConfig> processor_config_;
  std::shared_ptr<cyber::Node> node_;
};
 
}  // namespace external_command
}  // namespace apollo