module_controller.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.
 *****************************************************************************/
#ifndef CYBER_MAINBOARD_MODULE_CONTROLLER_H_
#define CYBER_MAINBOARD_MODULE_CONTROLLER_H_
 
#include <memory>
#include <string>
#include <vector>
 
#include "cyber/proto/dag_conf.pb.h"
 
#include "cyber/class_loader/class_loader_manager.h"
#include "cyber/component/component.h"
#include "cyber/mainboard/module_argument.h"
 
namespace apollo {
namespace cyber {
namespace mainboard {
 
using apollo::cyber::proto::DagConfig;
 
class ModuleController {
 public:
  explicit ModuleController(const ModuleArgument& args);
  virtual ~ModuleController() = default;
 
  bool Init();
  bool LoadAll();
  void Clear();
 
 private:
  bool LoadModule(const std::string& path);
  bool LoadModule(const DagConfig& dag_config);
  int GetComponentNum(const std::string& path);
  int total_component_nums = 0;
  bool has_timer_component = false;
 
  ModuleArgument args_;
  class_loader::ClassLoaderManager class_loader_manager_;
  std::vector<std::shared_ptr<ComponentBase>> component_list_;
};
 
inline ModuleController::ModuleController(const ModuleArgument& args)
    : args_(args) {}
 
inline bool ModuleController::Init() { return LoadAll(); }
 
}  // namespace mainboard
}  // namespace cyber
}  // namespace apollo
 
#endif  // CYBER_MAINBOARD_MODULE_CONTROLLER_H_