task.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 <string>
 
#include <cxxabi.h>
 
#include "modules/common/status/status.h"
#include "modules/planning/planning_base/common/dependency_injector.h"
#include "modules/planning/planning_base/common/frame.h"
#include "modules/planning/planning_base/common/reference_line_info.h"
#include "modules/planning/planning_base/common/util/config_util.h"
 
namespace apollo {
namespace planning {
 
class Task {
 public:
  Task();
 
  virtual ~Task() = default;
 
  const std::string& Name() const;
 
  virtual bool Init(const std::string& config_dir, const std::string& name,
                    const std::shared_ptr<DependencyInjector>& injector);
 
  virtual common::Status Execute(Frame* frame,
                                 ReferenceLineInfo* reference_line_info);
 
  virtual common::Status Execute(Frame* frame);
 
 protected:
  template <typename T>
  bool LoadConfig(T* config);
 
  Frame* frame_;
  ReferenceLineInfo* reference_line_info_;
  std::shared_ptr<DependencyInjector> injector_;
 
  std::string config_path_;
  std::string default_config_path_;
  std::string name_;
};
 
template <typename T>
bool Task::LoadConfig(T* config) {
  return ConfigUtil::LoadMergedConfig(default_config_path_, config_path_,
                                      config);
}
 
}  // namespace planning
}  // namespace apollo