Environment manager base architecture implemented

env_manager/src/main.cpp

@@ -0,0 +1,60 @@
+#include "component_manager/component_manager.hpp"
+#include "config/config_file_resolver.hpp"
+#include "config/lua_file_resolver.hpp"
+#include "config/options.hpp"
+
+#include "config/config.hpp"
+
+#include "glog/logging.h"
+
+int main(int argc, const char* argv[])
+{
+    google::InitGoogleLogging(argv[0]);
+    FLAGS_logtostderr = 1;
+    
+    rclcpp::init(argc, argv);
+    auto exec = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+
+    std::vector<std::string> dirs = {};
+    auto cfg_resolver = 
+        ::std::make_unique<::env_manager::config::ConfigurationFileResolver>(
+            std::vector<std::string>{
+                std::string(env_manager::config::kSourceDirectory) +
+                "/config"
+            }
+        );
+
+    auto code = cfg_resolver->GetContent("config.lua");
+    //LOG(INFO) << code;
+    ::env_manager::config::LuaParameterDictionary lua_dict(
+            code, std::move(cfg_resolver)
+        );
+
+    auto env_manager_opts = 
+        ::env_manager::config::EnvManagerOption::create_option(
+            &lua_dict
+        );
+
+    std::vector<env_manager::component_manager::ComponentManager> comp_mngrs;
+
+    for (const auto& [env, opts]: env_manager_opts.environments)
+    {
+        LOG(INFO) << "Start to initialize environment: " << env;
+        env_manager::component_manager::ComponentManager cmg(exec);
+        cmg.register_components(opts.components, env_manager_opts.nodes, opts.ns);
+        //cmg.upload_components_to_executor(&exec);
+        comp_mngrs.push_back(std::move(cmg));
+    }
+
+    //std::string ns = "/";
+    //comp_mngrs.begin()->remap_components_namespace(ns);
+
+    exec->spin();
+
+    for (auto &cmg: comp_mngrs)
+        cmg.remove_components_from_executor();
+
+    rclcpp::shutdown();
+
+    return 0;
+}