I am making a component that contains 3 child components in this way:
Use custom events to achieve this.
you can pass message across your application using event dispatchers $emit(name, args); or $broadcast(name, args);
And you can listen for this events using method $on(name, listener);
Hope it helps
Ref: https://docs.angularjs.org/api/ng/type/$rootScope.Scope#$emit
Example: you can notify change like below from your header-component
$rootScope.$emit("menu-changed", "list");
And you can listen for the change in your main-component directive like
$rootScope.$on("menu-changed", function(evt, arg){
console.log(arg);
});