chore: Decoupled chassis code

modules/canbus/BUILD

@@ -15,6 +15,7 @@ cc_library(
         "//cyber",
         "//modules/canbus/common:canbus_common",
         "//modules/canbus/vehicle:vehicle_factory",
+        "//modules/canbus/vehicle:vehicle_plugins",
         "//modules/common/adapters:adapter_gflags",
         "//modules/common/monitor_log",
         "//modules/common/status",

modules/canbus/canbus_component.cc

@@ -58,7 +58,6 @@ bool CanbusComponent::Init() {
   AINFO << "Can client is successfully created.";
 
   VehicleFactory vehicle_factory;
-  vehicle_factory.RegisterVehicleFactory();
   auto vehicle_object =
       vehicle_factory.CreateVehicle(canbus_conf_.vehicle_parameter());
   if (!vehicle_object) {

modules/canbus/common/vehicle_detail_any.h

@@ -0,0 +1,85 @@
+// Copyright 2026 WheelOS. 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.
+
+//  Created Date: 2026-02-17
+//  Author: daohu527
+
+#pragma once
+
+#include <utility>
+
+#include "modules/common_msgs/chassis_msgs/chassis_detail.pb.h"
+
+namespace apollo {
+namespace canbus {
+namespace vehicle_detail {
+
+template <typename T>
+bool Has(const ChassisDetail& chassis) {
+  return chassis.has_vehicle_detail() && chassis.vehicle_detail().Is<T>();
+}
+
+template <typename T>
+const T& Get(const ChassisDetail& chassis) {
+  thread_local T cached;
+  cached.Clear();
+  if (Has<T>(chassis)) {
+    chassis.vehicle_detail().UnpackTo(&cached);
+  }
+  return cached;
+}
+
+template <typename T>
+bool UnpackTo(const ChassisDetail& chassis, T* detail) {
+  if (detail == nullptr) {
+    return false;
+  }
+  detail->Clear();
+  if (!Has<T>(chassis)) {
+    return false;
+  }
+  return chassis.vehicle_detail().UnpackTo(detail);
+}
+
+template <typename T>
+class Editor {
+ public:
+  explicit Editor(ChassisDetail* chassis) : chassis_(chassis) {
+    if (chassis_ != nullptr && Has<T>(*chassis_)) {
+      chassis_->vehicle_detail().UnpackTo(&detail_);
+    }
+  }
+
+  ~Editor() {
+    if (chassis_ != nullptr) {
+      chassis_->mutable_vehicle_detail()->PackFrom(detail_);
+    }
+  }
+
+  T* operator->() { return &detail_; }
+  T* get() { return &detail_; }
+
+ private:
+  ChassisDetail* chassis_ = nullptr;
+  T detail_;
+};
+
+template <typename T>
+Editor<T> Edit(ChassisDetail* chassis) {
+  return Editor<T>(chassis);
+}
+
+}  // namespace vehicle_detail
+}  // namespace canbus
+}  // namespace apollo

modules/canbus/vehicle/BUILD

@@ -44,6 +44,13 @@ cc_library(
     copts = CANBUS_COPTS,
     deps = [
         ":abstract_vehicle_factory",
+        "//modules/common/util:factory",
+    ],
+)
+
+cc_library(
+    name = "vehicle_plugins",
+    deps = [
         "//modules/canbus/vehicle/ch:ch_vehicle_factory",
         "//modules/canbus/vehicle/devkit:devkit_vehicle_factory",
         "//modules/canbus/vehicle/ge3:ge3_vehicle_factory",
@@ -56,8 +63,8 @@ cc_library(
         "//modules/canbus/vehicle/wey:wey_vehicle_factory",
         "//modules/canbus/vehicle/yunle:yunle_vehicle_factory",
         "//modules/canbus/vehicle/zhongyun:zhongyun_vehicle_factory",
-        "//modules/common/util:factory",
     ],
+    alwayslink = True,
 )
 
 cc_test(
@@ -66,6 +73,7 @@ cc_test(
     srcs = ["vehicle_factory_test.cc"],
     deps = [
         ":vehicle_factory",
+        ":vehicle_plugins",
         "@com_google_googletest//:gtest_main",
     ],
 )

modules/canbus/vehicle/ch/ch_vehicle_factory.cc

@@ -19,6 +19,7 @@
 #include "cyber/common/log.h"
 #include "modules/canbus/vehicle/ch/ch_controller.h"
 #include "modules/canbus/vehicle/ch/ch_message_manager.h"
+#include "modules/canbus/vehicle/vehicle_factory_register_macro.h"
 #include "modules/common/util/util.h"
 
 namespace apollo {
@@ -36,3 +37,6 @@ ChVehicleFactory::CreateMessageManager() {
 
 }  // namespace canbus
 }  // namespace apollo
+
+CANBUS_REGISTER_VEHICLE_FACTORY(apollo::common::CH,
+                                apollo::canbus::ChVehicleFactory)

modules/canbus/vehicle/devkit/devkit_vehicle_factory.cc

@@ -19,6 +19,7 @@
 #include "cyber/common/log.h"
 #include "modules/canbus/vehicle/devkit/devkit_controller.h"
 #include "modules/canbus/vehicle/devkit/devkit_message_manager.h"
+#include "modules/canbus/vehicle/vehicle_factory_register_macro.h"
 #include "modules/common/util/util.h"
 
 namespace apollo {
@@ -37,3 +38,6 @@ DevkitVehicleFactory::CreateMessageManager() {
 
 }  // namespace canbus
 }  // namespace apollo
+
+CANBUS_REGISTER_VEHICLE_FACTORY(apollo::common::DKIT,
+                                apollo::canbus::DevkitVehicleFactory)

modules/canbus/vehicle/ge3/ge3_vehicle_factory.cc

@@ -15,8 +15,10 @@
  *****************************************************************************/
 
 #include "modules/canbus/vehicle/ge3/ge3_vehicle_factory.h"
+
 #include "modules/canbus/vehicle/ge3/ge3_controller.h"
 #include "modules/canbus/vehicle/ge3/ge3_message_manager.h"
+#include "modules/canbus/vehicle/vehicle_factory_register_macro.h"
 #include "modules/common/util/util.h"
 
 namespace apollo {
@@ -35,3 +37,6 @@ Ge3VehicleFactory::CreateMessageManager() {
 
 }  // namespace canbus
 }  // namespace apollo
+
+CANBUS_REGISTER_VEHICLE_FACTORY(apollo::common::GE3,
+                                apollo::canbus::Ge3VehicleFactory)

modules/canbus/vehicle/gem/gem_vehicle_factory.cc

@@ -19,6 +19,7 @@
 #include "cyber/common/log.h"
 #include "modules/canbus/vehicle/gem/gem_controller.h"
 #include "modules/canbus/vehicle/gem/gem_message_manager.h"
+#include "modules/canbus/vehicle/vehicle_factory_register_macro.h"
 #include "modules/common/util/util.h"
 
 namespace apollo {
@@ -37,3 +38,6 @@ GemVehicleFactory::CreateMessageManager() {
 
 }  // namespace canbus
 }  // namespace apollo
+
+CANBUS_REGISTER_VEHICLE_FACTORY(apollo::common::GEM,
+                                apollo::canbus::GemVehicleFactory)

modules/canbus/vehicle/lexus/lexus_vehicle_factory.cc

@@ -19,6 +19,7 @@
 #include "cyber/common/log.h"
 #include "modules/canbus/vehicle/lexus/lexus_controller.h"
 #include "modules/canbus/vehicle/lexus/lexus_message_manager.h"
+#include "modules/canbus/vehicle/vehicle_factory_register_macro.h"
 #include "modules/common/util/util.h"
 
 namespace apollo {
@@ -37,3 +38,6 @@ LexusVehicleFactory::CreateMessageManager() {
 
 }  // namespace canbus
 }  // namespace apollo
+
+CANBUS_REGISTER_VEHICLE_FACTORY(apollo::common::LEXUS,
+                                apollo::canbus::LexusVehicleFactory)

modules/canbus/vehicle/lincoln/lincoln_vehicle_factory.cc

@@ -19,6 +19,7 @@
 #include "cyber/common/log.h"
 #include "modules/canbus/vehicle/lincoln/lincoln_controller.h"
 #include "modules/canbus/vehicle/lincoln/lincoln_message_manager.h"
+#include "modules/canbus/vehicle/vehicle_factory_register_macro.h"
 #include "modules/common/util/util.h"
 
 namespace apollo {
@@ -37,3 +38,6 @@ LincolnVehicleFactory::CreateMessageManager() {
 
 }  // namespace canbus
 }  // namespace apollo
+
+CANBUS_REGISTER_VEHICLE_FACTORY(apollo::common::LINCOLN_MKZ,
+                                apollo::canbus::LincolnVehicleFactory)

modules/canbus/vehicle/mk_mini/mk_mini_vehicle_factory.cc

@@ -19,6 +19,7 @@
 #include "cyber/common/log.h"
 #include "modules/canbus/vehicle/mk_mini/mk_mini_controller.h"
 #include "modules/canbus/vehicle/mk_mini/mk_mini_message_manager.h"
+#include "modules/canbus/vehicle/vehicle_factory_register_macro.h"
 #include "modules/common/util/util.h"
 
 namespace apollo {
@@ -37,3 +38,6 @@ Mk_miniVehicleFactory::CreateMessageManager() {
 
 }  // namespace canbus
 }  // namespace apollo
+
+CANBUS_REGISTER_VEHICLE_FACTORY(apollo::common::MK_MINI,
+                                apollo::canbus::Mk_miniVehicleFactory)

modules/canbus/vehicle/neolix_edu/neolix_edu_vehicle_factory.cc

@@ -19,6 +19,7 @@
 #include "cyber/common/log.h"
 #include "modules/canbus/vehicle/neolix_edu/neolix_edu_controller.h"
 #include "modules/canbus/vehicle/neolix_edu/neolix_edu_message_manager.h"
+#include "modules/canbus/vehicle/vehicle_factory_register_macro.h"
 #include "modules/common/util/util.h"
 
 namespace apollo {
@@ -38,3 +39,6 @@ Neolix_eduVehicleFactory::CreateMessageManager() {
 
 }  // namespace canbus
 }  // namespace apollo
+
+CANBUS_REGISTER_VEHICLE_FACTORY(apollo::common::NEOLIX,
+                                apollo::canbus::Neolix_eduVehicleFactory)

modules/canbus/vehicle/transit/transit_vehicle_factory.cc

@@ -19,6 +19,7 @@
 #include "cyber/common/log.h"
 #include "modules/canbus/vehicle/transit/transit_controller.h"
 #include "modules/canbus/vehicle/transit/transit_message_manager.h"
+#include "modules/canbus/vehicle/vehicle_factory_register_macro.h"
 #include "modules/common/util/util.h"
 
 namespace apollo {
@@ -37,3 +38,6 @@ TransitVehicleFactory::CreateMessageManager() {
 
 }  // namespace canbus
 }  // namespace apollo
+
+CANBUS_REGISTER_VEHICLE_FACTORY(apollo::common::TRANSIT,
+                                apollo::canbus::TransitVehicleFactory)

modules/canbus/vehicle/vehicle_factory.cc

@@ -17,63 +17,18 @@
 #include "modules/canbus/vehicle/vehicle_factory.h"
 
 #include "modules/canbus/proto/vehicle_parameter.pb.h"
-
-#include "modules/canbus/vehicle/ch/ch_vehicle_factory.h"
-#include "modules/canbus/vehicle/devkit/devkit_vehicle_factory.h"
-#include "modules/canbus/vehicle/ge3/ge3_vehicle_factory.h"
-#include "modules/canbus/vehicle/gem/gem_vehicle_factory.h"
-#include "modules/canbus/vehicle/lexus/lexus_vehicle_factory.h"
-#include "modules/canbus/vehicle/lincoln/lincoln_vehicle_factory.h"
-#include "modules/canbus/vehicle/mk_mini/mk_mini_vehicle_factory.h"
-#include "modules/canbus/vehicle/neolix_edu/neolix_edu_vehicle_factory.h"
-#include "modules/canbus/vehicle/transit/transit_vehicle_factory.h"
-#include "modules/canbus/vehicle/wey/wey_vehicle_factory.h"
-#include "modules/canbus/vehicle/yunle/yunle_vehicle_factory.h"
-#include "modules/canbus/vehicle/zhongyun/zhongyun_vehicle_factory.h"
 namespace apollo {
 namespace canbus {
 
-void VehicleFactory::RegisterVehicleFactory() {
-  Register(apollo::common::LINCOLN_MKZ, []() -> AbstractVehicleFactory * {
-    return new LincolnVehicleFactory();
-  });
-  Register(apollo::common::GEM, []() -> AbstractVehicleFactory * {
-    return new GemVehicleFactory();
-  });
-  Register(apollo::common::LEXUS, []() -> AbstractVehicleFactory * {
-    return new LexusVehicleFactory();
-  });
-  Register(apollo::common::TRANSIT, []() -> AbstractVehicleFactory * {
-    return new TransitVehicleFactory();
-  });
-  Register(apollo::common::GE3, []() -> AbstractVehicleFactory * {
-    return new Ge3VehicleFactory();
-  });
-  Register(apollo::common::WEY, []() -> AbstractVehicleFactory * {
-    return new WeyVehicleFactory();
-  });
-  Register(apollo::common::ZHONGYUN, []() -> AbstractVehicleFactory * {
-    return new ZhongyunVehicleFactory();
-  });
-  Register(apollo::common::CH,
-           []() -> AbstractVehicleFactory * { return new ChVehicleFactory(); });
-  Register(apollo::common::DKIT, []() -> AbstractVehicleFactory * {
-    return new DevkitVehicleFactory();
-  });
-  Register(apollo::common::NEOLIX, []() -> AbstractVehicleFactory * {
-    return new Neolix_eduVehicleFactory();
-  });
-  Register(apollo::common::MK_MINI, []() -> AbstractVehicleFactory * {
-    return new Mk_miniVehicleFactory();
-  });
-  Register(apollo::common::YUNLE, []() -> AbstractVehicleFactory * {
-    return new YunleVehicleFactory();
-  });
+VehicleFactoryRegistry& VehicleFactoryRegistry::Instance() {
+  static VehicleFactoryRegistry registry;
+  return registry;
 }
 
 std::unique_ptr<AbstractVehicleFactory> VehicleFactory::CreateVehicle(
-    const VehicleParameter &vehicle_parameter) {
-  auto abstract_factory = CreateObject(vehicle_parameter.brand());
+    const VehicleParameter& vehicle_parameter) {
+  auto abstract_factory = VehicleFactoryRegistry::Instance().CreateObject(
+      vehicle_parameter.brand());
   if (!abstract_factory) {
     AERROR << "failed to create vehicle factory with "
            << vehicle_parameter.DebugString();

modules/canbus/vehicle/vehicle_factory.h

@@ -38,21 +38,21 @@ namespace canbus {
  * @brief This class is a factory class that will generate different
  * vehicle factories based on the vehicle brand.
  */
-class VehicleFactory
+class VehicleFactoryRegistry
     : public common::util::Factory<apollo::common::VehicleBrand,
                                    AbstractVehicleFactory> {
  public:
-  /**
-   * @brief register supported vehicle factories.
-   */
-  void RegisterVehicleFactory();
+  static VehicleFactoryRegistry& Instance();
+};
 
+class VehicleFactory {
+ public:
   /**
    * @brief Creates an AbstractVehicleFactory object based on vehicle_parameter
    * @param vehicle_parameter is defined in vehicle_parameter.proto
    */
   std::unique_ptr<AbstractVehicleFactory> CreateVehicle(
-      const VehicleParameter &vehicle_parameter);
+      const VehicleParameter& vehicle_parameter);
 };
 
 }  // namespace canbus