cyber: put assignment of inner_thr_confs in policy (#8408)

* cyber: simplify code

* cyber: put assignment of inner_thr_confs in policy

cyber/scheduler/policy/scheduler_choreography.cc

@@ -49,6 +49,9 @@ SchedulerChoreography::SchedulerChoreography() {
 
   apollo::cyber::proto::CyberConfig cfg;
   if (PathExists(cfg_file) && GetProtoFromFile(cfg_file, &cfg)) {
+    for (auto& thr : cfg.scheduler_conf().threads()) {
+      inner_thr_confs_[thr.name()] = thr;
+    }
     const apollo::cyber::proto::ChoreographyConf& choreography_conf =
         cfg.scheduler_conf().choreography_conf();
     proc_num_ = choreography_conf.choreography_processor_num();

cyber/scheduler/policy/scheduler_classic.cc

@@ -48,6 +48,10 @@ SchedulerClassic::SchedulerClassic() {
 
   apollo::cyber::proto::CyberConfig cfg;
   if (PathExists(cfg_file) && GetProtoFromFile(cfg_file, &cfg)) {
+    for (auto& thr : cfg.scheduler_conf().threads()) {
+      inner_thr_confs_[thr.name()] = thr;
+    }
+
     classic_conf_ = cfg.scheduler_conf().classic_conf();
     for (auto& group : classic_conf_.groups()) {
       auto& group_name = group.name();

cyber/scheduler/processor.cc

@@ -24,7 +24,6 @@
 #include "cyber/common/global_data.h"
 #include "cyber/common/log.h"
 #include "cyber/croutine/croutine.h"
-#include "cyber/scheduler/processor_context.h"
 
 namespace apollo {
 namespace cyber {

cyber/scheduler/processor.h

@@ -27,13 +27,12 @@
 
 #include "cyber/croutine/croutine.h"
 #include "cyber/proto/scheduler_conf.pb.h"
+#include "cyber/scheduler/processor_context.h"
 
 namespace apollo {
 namespace cyber {
 namespace scheduler {
 
-class ProcessorContext;
-
 using croutine::CRoutine;
 
 class Processor {

cyber/scheduler/processor_context.h

@@ -30,8 +30,6 @@ namespace scheduler {
 
 using croutine::CRoutine;
 
-class Processor;
-
 class ProcessorContext {
  public:
   virtual void Shutdown();

cyber/scheduler/scheduler_factory.cc

@@ -60,9 +60,6 @@ Scheduler* Instance() {
       std::unordered_map<std::string, InnerThread> inner_thr_confs;
       if (PathExists(cfg_file) && GetProtoFromFile(cfg_file, &cfg)) {
         policy = cfg.scheduler_conf().policy();
-        for (auto& thr : cfg.scheduler_conf().threads()) {
-          inner_thr_confs[thr.name()] = thr;
-        }
       } else {
         AWARN << "No sched conf found, use default conf.";
       }
@@ -74,7 +71,6 @@ Scheduler* Instance() {
         AWARN << "Invalid scheduler policy: " << policy;
         obj = new SchedulerClassic();
       }
-      obj->SetInnerThreadConfs(inner_thr_confs);
       instance.store(obj, std::memory_order_release);
     }
   }