XNSim/XNEngine/XNEngine.cpp

/**
 * @file XNEngine.cpp
 * @author	jinchao 
 * @brief 引擎类
 * @version	1.0
 * @date 2025-02-14
 * 
 * @copyright Copyright (c) 2025 COMAC
 * 
 */
#include "XNEngine.h"
#include "../XNCore/XNTimeManager.h"
#include "../XNCore/XNThreadManager.h"
#include "../XNCore/XNDDSManager.h"
#include "../XNCore/XNEventManager.h"
#include "../XNCore/XNServiceManager.h"
#include "../XNCore/XNModelManager.h"
#include "../XNCore/XNScenarioManager.h"

// 引擎类构造函数
XNEngine::XNEngine()
{
	// 创建框架对象
	framework = new XNFramework();
	// 引擎状态写入器
	engineStatusWriter = nullptr;
	// 测试模式
	isTestMode = false;
	// 初始化类型
	initializeType = 0;
}

// 引擎类析构函数
XNEngine::~XNEngine()
{
}

// 仿真控制监听器
void XNEngine::SimControlListener(const XNSim::XNSimControl::XNRuntimeControl &cmd)
{
	if (cmd.XNSimCmd() == 1) {
		// 如果命令是暂停
		framework->SimControl(0, SimControlCmd::Suspend);
	} else if (cmd.XNSimCmd() == 2) {
		// 如果命令是继续
		framework->SimControl(0, SimControlCmd::Continue);
	} else if (cmd.XNSimCmd() == 3) {
		// 如果命令是终止
		framework->SimControl(0, SimControlCmd::Abort);
		//TODO 后续收到结束指令后再结束,还需要最后发一次终止状态
		engineRunning = false;
	}
}

// 设置日志级别
bool XNEngine::SetLogLevel(const std::string &XmlPath)
{
	// 打开配置文件
	std::ifstream file(XmlPath);
	if (!file.is_open()) {
		std::cerr << "0x1003 Failed to open the runtime environment configuration file, "
					 "the engine will exit!"
				  << std::endl;
		return false;
	}
	// 解析配置文件
	tinyxml2::XMLDocument doc;
	if (doc.LoadFile(XmlPath.c_str()) != tinyxml2::XML_SUCCESS) {
		std::cerr << "0x1004 Failed to parse the runtime environment configuration file, "
					 "the engine will exit!"
				  << std::endl;
		return false;
	}
	// 获取根元素
	tinyxml2::XMLElement *root = doc.FirstChildElement("RuntimeEnvironment");
	if (!root) {
		std::cerr << "0x1005 Failed to find RuntimeEnvironment element in configuration file!"
				  << std::endl;
		return false;
	}

	// 顺便读取一下CPU亲和性
	int cpus = sysconf(_SC_NPROCESSORS_ONLN);
	std::cout << "Current number of CPU cores-> " << cpus << std::endl;

	// 设置CPU亲和性
	cpu_set_t mask;
	CPU_ZERO(&mask);
	CPUAffinity = 0;

	// 获取CPU亲和性配置
	tinyxml2::XMLElement *envNode = root->FirstChildElement("Environment");
	if (envNode) {
		const char *cpuAffinityStr = envNode->Attribute("CPUAffinity");
		if (cpuAffinityStr) {
			std::string affinityStr(cpuAffinityStr);
			std::istringstream iss(affinityStr);
			std::string cpuIndex;
			while (std::getline(iss, cpuIndex, ',')) {
				try {
					int index = std::stoi(cpuIndex);
					if (index >= 0 && index < cpus) {
						CPUAffinity |= (1 << index);
						CPU_SET(index, &mask);
					}
				} catch (const std::exception &e) {
					std::cerr << "Invalid CPU affinity value: " << cpuIndex << std::endl;
				}
			}
		}
	}

	if (sched_setaffinity(0, sizeof(mask), &mask) == -1) {
		std::cerr << "0x1020 Failed to set engine CPU affinity-> " << strerror(errno) << std::endl;
		return false;
	}
	std::cout << "Successfully set engine CPU affinity-> " << CPUAffinity << std::endl;

	// 锁定内存
	if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
		std::cerr << "0x1021 Failed to lock engine memory-> " << strerror(errno) << std::endl;
		return false;
	}
	std::cout << "Successfully locked engine memory!" << std::endl;

	// 获取配置文件中的控制台输出元素
	tinyxml2::XMLElement *consoleOutputNode = root->FirstChildElement("ConsoleOutput");
	if (!consoleOutputNode) {
		std::cout << "The runtime environment configuration file does not contain "
					 "the ConsoleOutput element, the Console will Output all Log!"
				  << std::endl;
	} else {
		// 获取配置文件中的调试日志输出元素
		const char *debugConsoleOutput = consoleOutputNode->Attribute("Debug");
		if (debugConsoleOutput
			&& (strcmp(debugConsoleOutput, "true") == 0 || strcmp(debugConsoleOutput, "1") == 0
				|| strcmp(debugConsoleOutput, "True") == 0
				|| strcmp(debugConsoleOutput, "TRUE") == 0)) {
			XNLogger::instance().enableConsoleOutput(XNLogger::LogLevel::Debug, true);
		} else {
			XNLogger::instance().enableConsoleOutput(XNLogger::LogLevel::Debug, false);
		}

		// 获取配置文件中的信息日志输出元素
		const char *infoConsoleOutput = consoleOutputNode->Attribute("Info");
		if (infoConsoleOutput
			&& (strcmp(infoConsoleOutput, "true") == 0 || strcmp(infoConsoleOutput, "1") == 0
				|| strcmp(infoConsoleOutput, "True") == 0
				|| strcmp(infoConsoleOutput, "TRUE") == 0)) {
			XNLogger::instance().enableConsoleOutput(XNLogger::LogLevel::Info, true);
		} else {
			XNLogger::instance().enableConsoleOutput(XNLogger::LogLevel::Info, false);
		}

		// 获取配置文件中的警告日志输出元素
		const char *warningConsoleOutput = consoleOutputNode->Attribute("Warning");
		if (warningConsoleOutput
			&& (strcmp(warningConsoleOutput, "true") == 0 || strcmp(warningConsoleOutput, "1") == 0
				|| strcmp(warningConsoleOutput, "True") == 0
				|| strcmp(warningConsoleOutput, "TRUE") == 0)) {
			XNLogger::instance().enableConsoleOutput(XNLogger::LogLevel::Warning, true);
		} else {
			XNLogger::instance().enableConsoleOutput(XNLogger::LogLevel::Warning, false);
		}

		// 获取配置文件中的错误日志输出元素
		const char *errorConsoleOutput = consoleOutputNode->Attribute("Error");
		if (errorConsoleOutput
			&& (strcmp(errorConsoleOutput, "true") == 0 || strcmp(errorConsoleOutput, "1") == 0
				|| strcmp(errorConsoleOutput, "True") == 0
				|| strcmp(errorConsoleOutput, "TRUE") == 0)) {
			XNLogger::instance().enableConsoleOutput(XNLogger::LogLevel::Error, true);
		} else {
			XNLogger::instance().enableConsoleOutput(XNLogger::LogLevel::Error, false);
		}
	}

	// 获取配置文件中的日志元素
	tinyxml2::XMLElement *logNode = root->FirstChildElement("Log");
	if (!logNode) {
		std::cout << "The runtime environment configuration file does not contain "
					 "the Log element, the Log File will record all Log!"
				  << std::endl;
	} else {
		// 获取配置文件中的调试日志输出元素
		const char *debugLog = logNode->Attribute("Debug");
		if (debugLog
			&& (strcmp(debugLog, "true") == 0 || strcmp(debugLog, "1") == 0
				|| strcmp(debugLog, "True") == 0 || strcmp(debugLog, "TRUE") == 0)) {
			XNLogger::instance().enableFileOutput(XNLogger::LogLevel::Debug, true);
		} else {
			XNLogger::instance().enableFileOutput(XNLogger::LogLevel::Debug, false);
		}

		// 获取配置文件中的信息日志输出元素
		const char *infoLog = logNode->Attribute("Info");
		if (infoLog
			&& (strcmp(infoLog, "true") == 0 || strcmp(infoLog, "1") == 0
				|| strcmp(infoLog, "True") == 0 || strcmp(infoLog, "TRUE") == 0)) {
			XNLogger::instance().enableFileOutput(XNLogger::LogLevel::Info, true);
		} else {
			XNLogger::instance().enableFileOutput(XNLogger::LogLevel::Info, false);
		}

		// 获取配置文件中的警告日志输出元素
		const char *warningLog = logNode->Attribute("Warning");
		if (warningLog
			&& (strcmp(warningLog, "true") == 0 || strcmp(warningLog, "1") == 0
				|| strcmp(warningLog, "True") == 0 || strcmp(warningLog, "TRUE") == 0)) {
			XNLogger::instance().enableFileOutput(XNLogger::LogLevel::Warning, true);
		} else {
			XNLogger::instance().enableFileOutput(XNLogger::LogLevel::Warning, false);
		}

		// 获取配置文件中的错误日志输出元素
		const char *errorLog = logNode->Attribute("Error");
		if (errorLog
			&& (strcmp(errorLog, "true") == 0 || strcmp(errorLog, "1") == 0
				|| strcmp(errorLog, "True") == 0 || strcmp(errorLog, "TRUE") == 0)) {
			XNLogger::instance().enableFileOutput(XNLogger::LogLevel::Error, true);
		} else {
			XNLogger::instance().enableFileOutput(XNLogger::LogLevel::Error, false);
		}
	}

	// 关闭配置文件
	file.close();
	// 返回成功
	return true;
}

// 发布引擎状态
void XNEngine::PublishEngineStatus()
{
	// 如果引擎状态写入器存在
	if (engineStatusWriter) {
		// 创建引擎状态对象
		XNSim::XNSimStatus::XNEngineStatus engineStatus;
		// 创建内核状态对象
		XNSim::XNSimStatus::XNCoreStatus coreStatus;
		// 设置引擎名称
		engineStatus.XNEngineName("XNEngine");
		// 设置引擎ID
		engineStatus.XNEngineID(getpid());
		// 设置引擎亲和性
		engineStatus.XNEngineAff(CPUAffinity);
		// 获取时间管理器
		XNTimeManagerPtr timeManager = framework->GetTimeManager();
		// 如果时间管理器存在
		if (timeManager) {
			// 设置引擎状态
			engineStatus.XNEngineSt((uint32_t)timeManager->GetStatus());
			// 设置内核状态
			coreStatus.XNTMStatus((uint32_t)timeManager->GetFrameObjectStatus());
		} else {
			// 设置引擎状态
			engineStatus.XNEngineSt(4);
			// 设置内核状态
			coreStatus.XNTMStatus(2);
		}
		// 获取线程管理器
		XNThreadManagerPtr threadManager = framework->GetThreadManager();
		// 如果线程管理器存在
		if (threadManager) {
			// 设置内核状态
			coreStatus.XNThMStatus((uint32_t)threadManager->GetFrameObjectStatus());
			// 设置引擎状态
			engineStatus.XNThCnt(threadManager->GetThreadCount());
		} else {
			// 设置内核状态
			coreStatus.XNThMStatus(2);
		}
		// 获取DDS管理器
		XNDDSManagerPtr ddsManager = framework->GetDDSManager();
		// 如果DDS管理器存在
		if (ddsManager) {
			// 设置内核状态
			coreStatus.XNDMStatus((uint32_t)ddsManager->GetFrameObjectStatus());
		} else {
			// 设置内核状态
			coreStatus.XNDMStatus(2);
		}
		// 获取事件管理器
		XNEventManagerPtr eventManager = framework->GetEventManager();
		// 如果事件管理器存在
		if (eventManager) {
			// 设置内核状态
			coreStatus.XNEMStatus((uint32_t)eventManager->GetFrameObjectStatus());
		} else {
			// 设置内核状态
			coreStatus.XNEMStatus(2);
		}
		// 获取服务管理器
		XNServiceManagerPtr serviceManager = framework->GetServiceManager();
		// 如果服务管理器存在
		if (serviceManager) {
			// 设置内核状态
			coreStatus.XNSMStatus((uint32_t)serviceManager->GetFrameObjectStatus());
		} else {
			// 设置内核状态
			coreStatus.XNSMStatus(2);
		}
		// 获取模型管理器
		XNModelManagerPtr modelManager = framework->GetModelManager();
		// 如果模型管理器存在
		if (modelManager) {
			// 设置内核状态
			coreStatus.XNMMStatus((uint32_t)modelManager->GetFrameObjectStatus());
		} else {
			// 设置内核状态
			coreStatus.XNMMStatus(2);
		}
		// 获取场景管理器
		XNScenarioManagerPtr scenarioManager = framework->GetScenarioManager();
		// 如果场景管理器存在
		if (scenarioManager) {
			// 设置内核状态
			coreStatus.XNSDStatus((uint32_t)scenarioManager->GetFrameObjectStatus());
		} else {
			// 设置内核状态
			coreStatus.XNSDStatus(2);
		}
		// 设置框架状态
		coreStatus.XNFWStatus((uint32_t)frameworkStatus);
		// 设置引擎状态
		engineStatus.XNCoreSt(coreStatus);
		// 写入引擎状态
		engineStatusWriter->write(&engineStatus);
		// 记录调试日志
		LOG_DEBUG("XNEngine Write DDS!");
	}
}

// 运行引擎
bool XNEngine::Run(const std::string &XmlPath)
{
	// 设置日志级别
	bool isReady = SetLogLevel(XmlPath);
	// 如果设置日志级别失败
	if (!isReady) {
		// 返回失败
		return false;
	}
	// 设置场景XML路径
	framework->SetScenarioXml(XmlPath);
	// 设置CPU亲和性
	framework->SetCpuAffinity(CPUAffinity);
	// 单次触发初始化信号
	bool ret = framework->Initialize(0);
	// 如果初始化失败
	if (!ret) {
		// 返回失败
		return false;
	}
	// 如果初始化成功
	// 设置框架状态
	frameworkStatus = XNFrameObjectStatus::Initialized;
	// 记录信息日志
	LOG_INFO("XNEngine Initialize Success!");
	// 如果测试模式
	if (isTestMode) {
		// 记录信息日志
		LOG_INFO("Verification passed!");
		// 返回成功
		return true;
	}
	ret = framework->PrepareForExecute();
	// 如果准备执行失败
	if (!ret) {
		// 返回失败
		return false;
	}
	// 设置框架状态
	frameworkStatus = XNFrameObjectStatus::Ready;
	// 获取DDS管理器
	XNDDSManagerPtr ddsManager = framework->GetDDSManager();
	// 如果DDS管理器存在
	if (ddsManager) {
		// 注册仿真控制订阅者
		auto func = std::bind(&XNEngine::SimControlListener, this, std::placeholders::_1);
		ddsManager->RegisterSubscriber<XNSim::XNSimControl::XNRuntimeControlPubSubType>(
			"XNSim::XNSimControl::XNRuntimeControl", 0, func);
		// 触发仿真控制信号
		framework->SimControl(0, SimControlCmd::Start);
		// 注册引擎状态发布者
		engineStatusWriter =
			ddsManager->RegisterPublisher<XNSim::XNSimStatus::XNEngineStatusPubSubType>(
				"XNSim::XNSimStatus::XNEngineStatus", 0);
		// 如果引擎状态写入器存在
		if (engineStatusWriter) {
			// 设置引擎运行标志
			engineRunning = true;
			while (engineRunning) {
				// 发布一次初始状态
				PublishEngineStatus();
				// 等待1秒
				std::this_thread::sleep_for(std::chrono::seconds(1));
			}
			if (!engineRunning) {
				// 取消注册引擎状态发布者
				//ddsManager->UnregisterPublisher("XNSim::XNSimStatus::XNEngineStatus");
				//ddsManager->UnregisterSubscriber("XNSim::XNSimControl::XNRuntimeControl");
			}
		}
	} else {
		// 记录错误日志
		LOG_ERROR("0x1007 Failed to prepare for execution, the engine will exit!");
	}

	// 返回成功
	return true;
}

bool XNEngine::Run(const uint32_t &ConfigId)
{
	return true;
}
// 设置测试模式
void XNEngine::SetTestMode(bool isTestMode)
{
	// 设置测试模式
	this->isTestMode = isTestMode;
}