58 lines
1.4 KiB
C++
58 lines
1.4 KiB
C++
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#include "SystemControl.h"
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#include "../XNCore/XNIDL/XNSimStatusPubSubTypes.hpp"
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SystemControl::~SystemControl()
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{
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//注销引擎控制发布者
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TopicManager::Instance()->unregisterPublisher("XNSim::XNSimControl::XNRuntimeControl");
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m_EngineControlWriter = nullptr;
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}
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std::string SystemControl::Initialize()
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{
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m_EngineControlWriter = nullptr;
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XNDDSErrorCode ret = TopicManager::Instance()
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->registerPublisher<XNSim::XNSimControl::XNRuntimeControlPubSubType>(
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"XNSim::XNSimControl::XNRuntimeControl", m_EngineControlWriter);
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if (ret != XNDDSErrorCode::SUCCESS || m_EngineControlWriter == nullptr) {
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return "Failed to register engine control publisher, error code: "
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+ std::to_string(static_cast<int>(ret));
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}
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return "Success";
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}
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void SystemControl::Pause()
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{
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// 暂停引擎
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if (m_EngineControlWriter == nullptr) {
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return;
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}
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XNSim::XNSimControl::XNRuntimeControl cmd;
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cmd.XNSimCmd(1);
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cmd.XNThrCmd(0);
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m_EngineControlWriter->write(&cmd);
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}
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void SystemControl::Resume()
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{
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// 恢复引擎
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if (m_EngineControlWriter == nullptr) {
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return;
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}
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XNSim::XNSimControl::XNRuntimeControl cmd;
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cmd.XNSimCmd(2);
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cmd.XNThrCmd(0);
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m_EngineControlWriter->write(&cmd);
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}
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void SystemControl::Stop()
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{
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// 停止引擎
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if (m_EngineControlWriter == nullptr) {
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return;
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}
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XNSim::XNSimControl::XNRuntimeControl cmd;
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cmd.XNSimCmd(3);
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cmd.XNThrCmd(0);
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m_EngineControlWriter->write(&cmd);
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}
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