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XNSim/XNModels/XNATA04DataProcessor/XNATA04DataProcessor.cpp

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build project
2025-04-28 12:25:20 +08:00
#include "XNATA04DataProcessor.h"
#include "XNATA04DataProcessor_p.h"
#include <XNCore/XNModelManager.h>
#include <XNCore/XNDDSManager.h>
#include <QMutexLocker>
XN_DLL_INITIALIZE(XNATA04DataProcessor)
XN_REGISTER_PARTICIPANT_BEGIN(XNATA04DataProcessor)
XN_PUBLISHTOPIC(XNSim::ATA04::Aerodynamics_input)
XN_PUBLISHTOPIC(XNSim::ATA04::WeightBalance_input)
XN_PUBLISHTOPIC(XNSim::ATA04::GroundHandling_input)
XN_SUBSCRIBETOPIC(XNSim::ATA04::WeightBalance_output, &XNATA04DataProcessor::OnWbOutput)
XN_SUBSCRIBETOPIC(XNSim::ATA04::GroundHandling_output, &XNATA04DataProcessor::OnGhOutput)
XN_SUBSCRIBETOPIC(XNSim::ATA04::Aerodynamics_output, &XNATA04DataProcessor::OnAeroOutput)
XN_SUBSCRIBETOPIC(XNSim::ATA04::Aerodynamics_heartbeat, &XNATA04DataProcessor::OnAeroHeartbeat)
XN_SUBSCRIBETOPIC(XNSim::ATA04::WeightBalance_heartbeat, &XNATA04DataProcessor::OnWbHeartbeat)
XN_SUBSCRIBETOPIC(XNSim::ATA04::GroundHandling_heartbeat, &XNATA04DataProcessor::OnGhHeartbeat)
XN_REGISTER_PARTICIPANT_END(XNATA04DataProcessor)
XNATA04DataProcessor::XNATA04DataProcessor(QObject *parent)
: XNModelObject(*new XNATA04DataProcessorPrivate(this), parent)
{
}
XNATA04DataProcessor::~XNATA04DataProcessor()
{
}
XNATA04DataProcessor::XNATA04DataProcessor(XNATA04DataProcessorPrivate &dd, QObject *parent)
: XNModelObject(dd, parent)
{
}
void XNATA04DataProcessor::OnInitialize()
{
Q_D(XNATA04DataProcessor);
XNModelObject::OnInitialize();
}
void XNATA04DataProcessor::OnPrepareForExecute()
{
Q_D(XNATA04DataProcessor);
XNModelObject::OnPrepareForExecute();
RegisterRTEventHandler("ATA04AeroInput", std::bind(&XNATA04DataProcessor::OnAeroInput, this,
std::placeholders::_1));
RegisterRTEventHandler(
"ATA04WbInput", std::bind(&XNATA04DataProcessor::OnWbInput, this, std::placeholders::_1));
RegisterRTEventHandler(
"ATA04GhInput", std::bind(&XNATA04DataProcessor::OnGhInput, this, std::placeholders::_1));
}
void XNATA04DataProcessor::StepUpdate()
{
Q_D(XNATA04DataProcessor);
XNModelObject::StepUpdate();
SendUdpData();
增加UDP测试
2025-04-28 16:41:21 +08:00
SendUdpTestData();
build project
2025-04-28 12:25:20 +08:00
}
void XNATA04DataProcessor::SendUdpData()
{
Q_D(XNATA04DataProcessor);
SendAeroOutput();
SendWbOutput();
SendGhOutput();
SendAeroHeartbeat();
SendWbHeartbeat();
SendGhHeartbeat();
}
void XNATA04DataProcessor::SendAeroOutput()
{
Q_D(XNATA04DataProcessor);
QMutexLocker locker(&d->_aeroOutputMutex);
QByteArray outputData;
QDataStream outputStream(&outputData, QIODevice::WriteOnly);
outputStream.setByteOrder(QDataStream::LittleEndian);
quint8 header[5] = {0x0a, 0x04, 0x00, 0x01, 0x00};
outputStream << header[0]; //报头1，表示由系统发出
outputStream << header[1]; //报头2，表示气动，0x04表示ATA04
outputStream << header[2]; //报头3，表示模型，0x00表示气动
outputStream << header[3]; //报头4，表示数据类型，0x01表示输出
outputStream << header[4]; //报头5，表示数据长度
//outputData.append(getQByteArray(d->_aeroOutput.l_04_o_aerocomac_fxb_f8()));
if (d->_aeroOutput.l_04_o_aerocomac_fxb_f8()) {
outputStream << d->_aeroOutput.l_04_o_aerocomac_fxb_f8().value();
} else {
outputStream << (double)0;
}
if (d->_aeroOutput.l_04_o_aerocomac_fyb_f8()) {
outputStream << d->_aeroOutput.l_04_o_aerocomac_fyb_f8().value();
} else {
outputStream << (double)0;
}
if (d->_aeroOutput.l_04_o_aerocomac_fzb_f8()) {
outputStream << d->_aeroOutput.l_04_o_aerocomac_fzb_f8().value();
} else {
outputStream << (double)0;
}
if (d->_aeroOutput.l_04_o_aerocomac_mxb_f8()) {
outputStream << d->_aeroOutput.l_04_o_aerocomac_mxb_f8().value();
} else {
outputStream << (double)0;
}
if (d->_aeroOutput.l_04_o_aerocomac_myb_f8()) {
outputStream << d->_aeroOutput.l_04_o_aerocomac_myb_f8().value();
} else {
outputStream << (double)0;
}
if (d->_aeroOutput.l_04_o_aerocomac_mzb_f8()) {
outputStream << d->_aeroOutput.l_04_o_aerocomac_mzb_f8().value();
} else {
outputStream << (double)0;
}
if (d->_aeroOutput.l_04_o_aerocomac_cls_f8()) {
outputStream << d->_aeroOutput.l_04_o_aerocomac_cls_f8().value();
} else {
outputStream << (double)0;
}
if (d->_aeroOutput.l_04_o_aerocomac_cl_f8()) {
outputStream << d->_aeroOutput.l_04_o_aerocomac_cl_f8().value();
} else {
outputStream << (double)0;
}
if (d->_aeroOutput.l_04_o_aerocomac_cd_f8()) {
outputStream << d->_aeroOutput.l_04_o_aerocomac_cd_f8().value();
} else {
outputStream << (double)0;
}
if (d->_aeroOutput.l_04_o_aerocomac_cm_f8()) {
outputStream << d->_aeroOutput.l_04_o_aerocomac_cm_f8().value();
} else {
outputStream << (double)0;
}
if (d->_aeroOutput.l_04_o_aerocomac_cr_f8()) {
outputStream << d->_aeroOutput.l_04_o_aerocomac_cr_f8().value();
} else {
outputStream << (double)0;
}
if (d->_aeroOutput.l_04_o_aerocomac_cy_f8()) {
outputStream << d->_aeroOutput.l_04_o_aerocomac_cy_f8().value();
} else {
outputStream << (double)0;
}
if (d->_aeroOutput.l_04_o_aerocomac_cn_f8()) {
outputStream << d->_aeroOutput.l_04_o_aerocomac_cn_f8().value();
} else {
outputStream << (double)0;
}
outputData[4] = outputData.size();
TriggerRTEvent("SendUDPData", QVariant::fromValue(outputData));
}
void XNATA04DataProcessor::SendGhOutput()
{
Q_D(XNATA04DataProcessor);
QMutexLocker locker(&d->_ghOutputMutex);
QByteArray outputData;
QDataStream outputStream(&outputData, QIODevice::WriteOnly);
outputStream.setByteOrder(QDataStream::LittleEndian);
quint8 header[5] = {0x0a, 0x04, 0x01, 0x01, 0x00};
outputStream << header[0]; //报头1，表示由系统发出
outputStream << header[1]; //报头2，表示气动，0x04表示ATA04
outputStream << header[2]; //报头3，表示模型，0x01表示地操模型
outputStream << header[3]; //报头4，表示数据类型，0x01表示输出
outputStream << header[4]; //报头5，表示数据长度
if (d->_ghOutput.l_04_o_gdcomac_frz_l1()) {
outputStream << d->_ghOutput.l_04_o_gdcomac_frz_l1().value();
} else {
outputStream << (quint8)0;
}
if (d->_ghOutput.l_04_o_gdcomac_ac_on_ground_l1()) {
outputStream << d->_ghOutput.l_04_o_gdcomac_ac_on_ground_l1().value();
} else {
outputStream << (quint8)0;
}
if (d->_ghOutput.l_04_o_gdcomac_ac_stationary_f8()) {
outputStream << d->_ghOutput.l_04_o_gdcomac_ac_stationary_f8().value();
} else {
outputStream << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_alt_tire_f8()) {
outputStream << d->_ghOutput.l_04_o_gdcomac_alt_tire_f8().value();
} else {
outputStream << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_zcg_to_tire_f8()) {
outputStream << d->_ghOutput.l_04_o_gdcomac_zcg_to_tire_f8().value();
} else {
outputStream << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_fxb_f8()) {
outputStream << d->_ghOutput.l_04_o_gdcomac_fxb_f8().value();
} else {
outputStream << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_fyb_f8()) {
outputStream << d->_ghOutput.l_04_o_gdcomac_fyb_f8().value();
} else {
outputStream << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_fzb_f8()) {
outputStream << d->_ghOutput.l_04_o_gdcomac_fzb_f8().value();
} else {
outputStream << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_mxb_f8()) {
outputStream << d->_ghOutput.l_04_o_gdcomac_mxb_f8().value();
} else {
outputStream << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_myb_f8()) {
outputStream << d->_ghOutput.l_04_o_gdcomac_myb_f8().value();
} else {
outputStream << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_mzb_f8()) {
outputStream << d->_ghOutput.l_04_o_gdcomac_mzb_f8().value();
} else {
outputStream << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_fygs_f8()) {
for (int i = 0; i < 3; i++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_fygs_f8().value()[i];
}
} else {
outputStream << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_mzgs_f8()) {
for (int i = 0; i < 3; i++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_mzgs_f8().value()[i];
}
} else {
outputStream << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_mu_f8()) {
for (int i = 0; i < 3; i++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_mu_f8().value()[i];
}
} else {
outputStream << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_dstroke_f8()) {
for (int i = 0; i < 3; i++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_dstroke_f8().value()[i];
}
} else {
outputStream << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_sr_f8()) {
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_sr_f8().value()[i][j];
}
}
} else {
outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_sy_f8()) {
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_sy_f8().value()[i][j];
}
}
} else {
outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_sx_f8()) {
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_sx_f8().value()[i][j];
}
}
} else {
outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_xft_f8()) {
for (int i = 0; i < 3; i++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_xft_f8().value()[i];
}
} else {
outputStream << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_yft_f8()) {
for (int i = 0; i < 3; i++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_yft_f8().value()[i];
}
} else {
outputStream << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_zft_f8()) {
for (int i = 0; i < 3; i++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_zft_f8().value()[i];
}
} else {
outputStream << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_distngrxcg_f8()) {
outputStream << d->_ghOutput.l_04_o_gdcomac_distngrxcg_f8().value();
} else {
outputStream << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_distmgrxcg_f8()) {
outputStream << d->_ghOutput.l_04_o_gdcomac_distmgrxcg_f8().value();
} else {
outputStream << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_distmgrzcg_f8()) {
outputStream << d->_ghOutput.l_04_o_gdcomac_distmgrzcg_f8().value();
} else {
outputStream << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_tire_vel_f8()) {
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_tire_vel_f8().value()[i][j];
}
}
} else {
outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_tire_temp_f8()) {
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_tire_temp_f8().value()[i][j];
}
}
} else {
outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_tire_burst_l1()) {
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_tire_burst_l1().value()[i][j];
}
}
} else {
outputStream << (quint8)0 << (quint8)0 << (quint8)0 << (quint8)0 << (quint8)0 << (quint8)0;
}
if (d->_ghOutput.l_04_o_gdcomac_wow_l1()) {
outputStream << d->_ghOutput.l_04_o_gdcomac_wow_l1().value();
} else {
outputStream << (quint8)0;
}
if (d->_ghOutput.l_04_o_gdcomac_utirew_f8()) {
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_utirew_f8().value()[i][j];
}
}
} else {
outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_vtirew_f8()) {
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_vtirew_f8().value()[i][j];
}
}
} else {
outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_whl_omega_f8()) {
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_whl_omega_f8().value()[i][j];
}
}
} else {
outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_dstruc_f8()) {
for (int i = 0; i < 6; i++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_dstruc_f8().value()[i];
}
} else {
outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_nd_f8()) {
for (int i = 0; i < 3; i++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_nd_f8().value()[i];
}
} else {
outputStream << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_wor_par_f8()) {
for (int i = 0; i < 3; i++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_wor_par_f8().value()[i];
}
} else {
outputStream << (double)0 << (double)0 << (double)0;
}
if (d->_ghOutput.l_04_o_gdcomac_vczt_f8()) {
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
outputStream << d->_ghOutput.l_04_o_gdcomac_vczt_f8().value()[i][j];
}
}
} else {
outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
}
outputData[4] = outputData.size();
TriggerRTEvent("SendUDPData", QVariant::fromValue(outputData));
}
void XNATA04DataProcessor::SendWbOutput()
{
Q_D(XNATA04DataProcessor);
QMutexLocker locker(&d->_wbOutputMutex);
QByteArray outputData;
QDataStream outputStream(&outputData, QIODevice::WriteOnly);
outputStream.setByteOrder(QDataStream::LittleEndian);
quint8 header[5] = {0x0a, 0x04, 0x02, 0x01, 0x00};
outputStream << header[0]; //报头1，表示由系统发出
outputStream << header[1]; //报头2，表示气动，0x04表示ATA04
outputStream << header[2]; //报头3，表示模型，0x02表示质量模型
outputStream << header[3]; //报头4，表示数据类型，0x01表示输出
outputStream << header[4]; //报头5，表示数据长度
if (d->_wbOutput.l_04_o_wbcomac_gw_f4()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_gw_f4().value();
} else {
outputStream << (float)0;
}
if (d->_wbOutput.l_04_o_wbcomac_cg_f4()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_cg_f4().value();
} else {
outputStream << (float)0;
}
if (d->_wbOutput.l_04_o_wbcomac_xcg_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_xcg_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_blcg_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_blcg_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_bscg_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_bscg_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_wlcg_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_wlcg_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_ixx_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_ixx_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_iyy_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_iyy_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_izz_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_izz_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_ixy_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_ixy_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_ixz_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_ixz_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_iyz_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_iyz_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_zfw_f4()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_zfw_f4().value();
} else {
outputStream << (float)0;
}
if (d->_wbOutput.l_04_o_wbcomac_zfwcg_f4()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_zfwcg_f4().value();
} else {
outputStream << (float)0;
}
if (d->_wbOutput.l_04_o_wbcomac_zfw_blcg_f4()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_zfw_blcg_f4().value();
} else {
outputStream << (float)0;
}
if (d->_wbOutput.l_04_o_wbcomac_zfw_wlcg_f4()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_zfw_wlcg_f4().value();
} else {
outputStream << (float)0;
}
if (d->_wbOutput.l_04_o_wbcomac_fuel_cmd_f8()) {
for (int i = 0; i < 3; i++) {
outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_cmd_f8().value()[i];
}
} else {
outputStream << (double)0 << (double)0 << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_fuel_mode_i4()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_mode_i4().value();
} else {
outputStream << (int)0;
}
if (d->_wbOutput.l_04_o_wbcomac_fuel_ixx_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_ixx_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_fuel_ixy_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_ixy_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_fuel_ixz_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_ixz_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_fuel_iyy_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_iyy_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_fuel_iyz_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_iyz_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_fuel_izz_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_izz_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_l_wt_fuel_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_l_wt_fuel_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_ice_airframe_total_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_ice_airframe_total_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_ice_eng_f8()) {
for (int i = 0; i < 2; i++) {
outputStream << d->_wbOutput.l_04_o_wbcomac_ice_eng_f8().value()[i];
}
} else {
outputStream << (double)0 << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_ice_eng_total_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_ice_eng_total_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_ice_fuselage_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_ice_fuselage_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_ice_stab_left_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_ice_stab_left_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_ice_stab_right_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_ice_stab_right_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_ice_stab_total_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_ice_stab_total_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_ice_total_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_ice_total_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_ice_total_frac_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_ice_total_frac_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_ice_vert_tail_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_ice_vert_tail_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_ice_wing_left_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_ice_wing_left_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_ice_wing_right_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_ice_wing_right_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_ice_wing_total_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_ice_wing_total_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_frz_l1()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_frz_l1().value();
} else {
outputStream << (quint8)0;
}
if (d->_wbOutput.l_04_o_wbcomac_zcgfrz_l1()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_zcgfrz_l1().value();
} else {
outputStream << (quint8)0;
}
if (d->_wbOutput.l_04_o_wbcomac_zcgfrz_grfx_l1()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_zcgfrz_grfx_l1().value();
} else {
outputStream << (quint8)0;
}
if (d->_wbOutput.l_04_o_wbcomac_ycgfrz_l1()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_ycgfrz_l1().value();
} else {
outputStream << (quint8)0;
}
if (d->_wbOutput.l_04_o_wbcomac_inertfrz_l1()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_inertfrz_l1().value();
} else {
outputStream << (quint8)0;
}
if (d->_wbOutput.l_04_o_wbcomac_init_l1()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_init_l1().value();
} else {
outputStream << (quint8)0;
}
if (d->_wbOutput.l_04_o_wbcomac_min_gw_f4()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_min_gw_f4().value();
} else {
outputStream << (float)0;
}
if (d->_wbOutput.l_04_o_wbcomac_max_gw_f4()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_max_gw_f4().value();
} else {
outputStream << (float)0;
}
if (d->_wbOutput.l_04_o_wbcomac_min_cg_f4()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_min_cg_f4().value();
} else {
outputStream << (float)0;
}
if (d->_wbOutput.l_04_o_wbcomac_max_cg_f4()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_max_cg_f4().value();
} else {
outputStream << (float)0;
}
if (d->_wbOutput.l_04_o_wbcomac_min_zfw_f4()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_min_zfw_f4().value();
} else {
outputStream << (float)0;
}
if (d->_wbOutput.l_04_o_wbcomac_max_zfw_f4()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_max_zfw_f4().value();
} else {
outputStream << (float)0;
}
if (d->_wbOutput.l_04_o_wbcomac_min_zfwcg_f4()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_min_zfwcg_f4().value();
} else {
outputStream << (float)0;
}
if (d->_wbOutput.l_04_o_wbcomac_max_zfwcg_f4()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_max_zfwcg_f4().value();
} else {
outputStream << (float)0;
}
if (d->_wbOutput.l_04_o_wbcomac_potmin_gw_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_potmin_gw_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_potmax_gw_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_potmax_gw_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_potmin_gwcg_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_potmin_gwcg_f8().value();
} else {
outputStream << (double)0;
}
if (d->_wbOutput.l_04_o_wbcomac_potmax_gwcg_f8()) {
outputStream << d->_wbOutput.l_04_o_wbcomac_potmax_gwcg_f8().value();
} else {
outputStream << (double)0;
}
outputData[4] = outputData.size();
TriggerRTEvent("SendUDPData", QVariant::fromValue(outputData));
}
void XNATA04DataProcessor::SendAeroHeartbeat()
{
Q_D(XNATA04DataProcessor);
QMutexLocker locker(&d->_aeroHeartbeatMutex);
QByteArray heartbeatData;
QDataStream heartbeatStream(&heartbeatData, QIODevice::WriteOnly);
heartbeatStream.setByteOrder(QDataStream::LittleEndian);
quint8 header[5] = {0x0a, 0x04, 0x00, 0x02, 0x00};
heartbeatStream << header[0]; //报头1，表示由系统发出
heartbeatStream << header[1]; //报头2，表示气动，0x04表示ATA04
heartbeatStream << header[2]; //报头3，表示模型，0x00表示气动
heartbeatStream << header[3]; //报头4，表示数据类型，0x02表示心跳
heartbeatStream << header[4]; //报头5，表示数据长度
heartbeatStream << d->_aeroHeartbeat.aero_model_heartbeat();
heartbeatData[4] = heartbeatData.size();
TriggerRTEvent("SendUDPData", QVariant::fromValue(heartbeatData));
}
void XNATA04DataProcessor::SendGhHeartbeat()
{
Q_D(XNATA04DataProcessor);
QMutexLocker locker(&d->_ghHeartbeatMutex);
QByteArray heartbeatData;
QDataStream heartbeatStream(&heartbeatData, QIODevice::WriteOnly);
heartbeatStream.setByteOrder(QDataStream::LittleEndian);
quint8 header[5] = {0x0a, 0x04, 0x01, 0x02, 0x00};
heartbeatStream << header[0]; //报头1，表示由系统发出
heartbeatStream << header[1]; //报头2，表示气动，0x04表示ATA04
heartbeatStream << header[2]; //报头3，表示模型，0x01表示地操
heartbeatStream << header[3]; //报头4，表示数据类型，0x02表示心跳
heartbeatStream << header[4]; //报头5，表示数据长度
heartbeatStream << d->_ghHeartbeat.groundhandling_model_heartbeat();
heartbeatData[4] = heartbeatData.size();
TriggerRTEvent("SendUDPData", QVariant::fromValue(heartbeatData));
}
void XNATA04DataProcessor::SendWbHeartbeat()
{
Q_D(XNATA04DataProcessor);
QMutexLocker locker(&d->_wbHeartbeatMutex);
QByteArray heartbeatData;
QDataStream heartbeatStream(&heartbeatData, QIODevice::WriteOnly);
heartbeatStream.setByteOrder(QDataStream::LittleEndian);
quint8 header[5] = {0x0a, 0x04, 0x02, 0x02, 0x00};
heartbeatStream << header[0]; //报头1，表示由系统发出
heartbeatStream << header[1]; //报头2，表示气动，0x04表示ATA04
heartbeatStream << header[2]; //报头3，表示模型，0x02表示质量
heartbeatStream << header[3]; //报头4，表示数据类型，0x02表示心跳
heartbeatStream << header[4]; //报头5，表示数据长度
heartbeatStream << d->_wbHeartbeat.weightbody_model_heartbeat();
heartbeatData[4] = heartbeatData.size();
TriggerRTEvent("SendUDPData", QVariant::fromValue(heartbeatData));
}
void XNATA04DataProcessor::OnWbInput(const QVariant &data)
{
Q_D(XNATA04DataProcessor);
QByteArray inputData = data.toByteArray();
if (inputData.size() <= 5 || inputData[0] != 0x0b || inputData[1] != 0x04
|| inputData[2] != 0x02 || inputData[3] != 0x00 || inputData[4] != inputData.size()) {
LOG_WARNING("ATA04DataProcessor::OnWbInput: invalid input data");
return;
}
QDataStream inputStream(&inputData, QIODevice::ReadOnly);
inputStream.setByteOrder(QDataStream::LittleEndian);
for (int i = 0; i < 5; i++) {
char tmp;
inputStream >> tmp;
}
QMutexLocker locker(&d->_wbInputMutex);
double dTmp;
inputStream >> dTmp;
d->_wbInput.l_04_i_wbcomac_theta_deg_f8(dTmp);
inputStream >> dTmp;
d->_wbInput.l_04_i_wbcomac_phi_deg_f8(dTmp);
inputStream >> dTmp;
d->_wbInput.l_04_i_wbcomac_psi_deg_f8(dTmp);
quint8 ucTmp;
inputStream >> ucTmp;
d->_wbInput.l_04_i_wbcomac_gear_mode_l1(ucTmp);
inputStream >> dTmp;
d->_wbInput.l_04_i_wbcomac_acset_gw_f8(dTmp);
inputStream >> dTmp;
d->_wbInput.l_04_i_wbcomac_acset_cg_f8(dTmp);
std::array<float, 20> farray20;
for (int i = 0; i < 20; i++) {
inputStream >> farray20[i];
}
d->_wbInput.l_04_i_wbcomac_acset_tankfuel_f4(farray20);
inputStream >> dTmp;
d->_wbInput.l_04_i_wbcomac_acset_totfuel_f8(dTmp);
inputStream >> dTmp;
d->_wbInput.l_04_i_wbcomac_acset_zfw_f8(dTmp);
inputStream >> dTmp;
d->_wbInput.l_04_i_wbcomac_acset_zfwcg_f8(dTmp);
std::array<char, 4> ucarray4;
for (int i = 0; i < 4; i++) {
inputStream >> ucarray4[i];
}
d->_wbInput.l_04_i_wbcomac_eng_efsep_l1(ucarray4);
std::array<double, 20> darray20;
for (int i = 0; i < 20; i++) {
inputStream >> darray20[i];
}
d->_wbInput.l_04_i_wbcomac_fuel_f8(darray20);
inputStream >> dTmp;
d->_wbInput.l_04_i_wbcomac_gear_avg_f8(dTmp);
for (int i = 0; i < 20; i++) {
inputStream >> darray20[i];
}
d->_wbInput.l_04_i_wbcomac_kice_f8(darray20);
inputStream >> ucTmp;
d->_wbInput.l_04_i_wbcomac_bycglim_l1(ucTmp);
inputStream >> ucTmp;
d->_wbInput.l_04_i_wbcomac_bygwlim_l1(ucTmp);
inputStream >> ucTmp;
d->_wbInput.l_04_i_wbcomac_frz_l1(ucTmp);
inputStream >> ucTmp;
d->_wbInput.l_04_i_wbcomac_zcgfrz_l1(ucTmp);
inputStream >> ucTmp;
d->_wbInput.l_04_i_wbcomac_zcgfrz_grfx_l1(ucTmp);
inputStream >> ucTmp;
d->_wbInput.l_04_i_wbcomac_ycgfrz_l1(ucTmp);
inputStream >> ucTmp;
d->_wbInput.l_04_i_wbcomac_inertfrz_l1(ucTmp);
inputStream >> dTmp;
d->_wbInput.l_04_i_wbcomac_potreq_gw_f8(dTmp);
inputStream >> dTmp;
d->_wbInput.l_04_i_wbcomac_potreq_gwcg_f8(dTmp);
d->_dataWriters["XNSim::ATA04::WeightBalance_input"]->write(&d->_wbInput);
}
void XNATA04DataProcessor::OnGhInput(const QVariant &data)
{
Q_D(XNATA04DataProcessor);
QByteArray inputData = data.toByteArray();
if (inputData.size() <= 5 || inputData[0] != 0x0b || inputData[1] != 0x04
|| inputData[2] != 0x01 || inputData[3] != 0x00 || inputData[4] != inputData.size()) {
LOG_WARNING("ATA04DataProcessor::OnGhInput: invalid input data");
return;
}
QDataStream inputStream(&inputData, QIODevice::ReadOnly);
inputStream.setByteOrder(QDataStream::LittleEndian);
for (int i = 0; i < 5; i++) {
char tmp;
inputStream >> tmp;
}
QMutexLocker locker(&d->_ghInputMutex);
quint8 uchartmp;
inputStream >> uchartmp;
d->_ghInput.l_04_i_gdcomac_frz_l1(uchartmp);
inputStream >> uchartmp;
d->_ghInput.l_04_i_gdcomac_chocks_l1(uchartmp);
double doubleTmp;
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_alt_agl_f8(doubleTmp);
inputStream >> uchartmp;
d->_ghInput.l_04_i_gdcomac_frzflt_l1(uchartmp);
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_p_f8(doubleTmp);
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_q_f8(doubleTmp);
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_r_f8(doubleTmp);
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_ug_f8(doubleTmp);
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_vg_f8(doubleTmp);
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_wg_f8(doubleTmp);
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_blcg_f8(doubleTmp);
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_bscg_f8(doubleTmp);
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_wlcg_f8(doubleTmp);
inputStream >> uchartmp;
d->_ghInput.l_04_i_gdcomac_pb_active_l1(uchartmp);
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_pb_towforce_f8(doubleTmp);
std::array<std::array<double, 2>, 3> tmpArray32;
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
inputStream >> tmpArray32[i][j];
}
}
d->_ghInput.l_04_i_gdcomac_brake_torq_f8(tmpArray32);
std::array<double, 3> tmpArray3;
for (int i = 0; i < 3; i++) {
inputStream >> tmpArray3[i];
}
d->_ghInput.l_04_i_gdcomac_gear_f8(tmpArray3);
for (int i = 0; i < 3; i++) {
inputStream >> tmpArray3[i];
}
std::array<double, 10> tmpArray10;
for (int i = 0; i < 10; i++) {
inputStream >> tmpArray10[i];
}
d->_ghInput.l_04_i_gdcomac_gsteer_f8(tmpArray10);
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
inputStream >> tmpArray32[i][j];
}
}
d->_ghInput.l_04_i_gdcomac_tire_pres_f8(tmpArray32);
std::array<double, 4> tmpArray4;
for (int i = 0; i < 4; i++) {
inputStream >> tmpArray4[i];
}
inputStream >> uchartmp;
d->_ghInput.l_04_i_gdcomac_onjax_l1(uchartmp);
std::array<double, 7> tmpArray7;
for (int i = 0; i < 7; i++) {
inputStream >> tmpArray7[i];
}
d->_ghInput.l_04_i_gdcomac_contdep_f8(tmpArray7);
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_thetag_f8(doubleTmp);
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_phig_f8(doubleTmp);
qint32 intTmp;
inputStream >> intTmp;
d->_ghInput.l_04_i_gdcomac_rwyrgh_i2(intTmp);
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_rwyhdg_f8(doubleTmp);
inputStream >> uchartmp;
d->_ghInput.l_04_i_gdcomac_reset_braketemp_l1(uchartmp);
inputStream >> uchartmp;
d->_ghInput.l_04_i_gdcomac_reset_tirepress_l1(uchartmp);
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_temp_c_f8(doubleTmp);
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
inputStream >> tmpArray32[i][j];
}
}
d->_ghInput.l_04_i_gdcomac_brake_temp_f8(tmpArray32);
std::array<std::array<char, 2>, 3> tmpArray322;
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
inputStream >> tmpArray322[i][j];
}
}
d->_ghInput.l_04_i_gdcomac_tire_tburst_l1(tmpArray322);
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
inputStream >> tmpArray322[i][j];
}
}
d->_ghInput.l_04_i_gdcomac_tire_tflat_l1(tmpArray322);
inputStream >> uchartmp;
d->_ghInput.l_04_i_gdcomac_brk_reset_tpres_l1(uchartmp);
std::array<double, 14> tmpArray14;
for (int i = 0; i < 14; i++) {
inputStream >> tmpArray14[i];
}
d->_ghInput.l_04_i_gdcomac_rcon_ci_f8(tmpArray14);
inputStream >> intTmp;
d->_ghInput.l_04_i_gdcomac_gsteer_state_i4(intTmp);
inputStream >> uchartmp;
d->_ghInput.l_04_i_gdcomac_trim_active_l1(uchartmp);
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_phi_deg_f8(doubleTmp);
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_theta_deg_f8(doubleTmp);
inputStream >> doubleTmp;
d->_ghInput.l_04_i_gdcomac_psi_deg_f8(doubleTmp);
inputStream >> uchartmp;
d->_ghInput.l_04_i_gdcomac_resetint_l1(uchartmp);
d->_dataWriters["XNSim::ATA04::GroundHandling_input"]->write(&d->_ghInput);
}
void XNATA04DataProcessor::OnAeroInput(const QVariant &data)
{
Q_D(XNATA04DataProcessor);
QByteArray inputData = data.toByteArray();
增加UDP测试
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// 基本验证：长度和包头前四个字节
if (inputData.size() <= 5) {
LOG_WARNING("ATA04DataProcessor::OnAeroInput: data too short, size=%d", inputData.size());
return;
}
// 现在我们知道数据包确实以0b 04 00 00开头
if (inputData[0] != 0x0b || inputData[1] != 0x04 || inputData[2] != 0x00
|| inputData[3] != 0x00) {
LOG_WARNING("ATA04DataProcessor::OnAeroInput: invalid header, expected 0b 04 00 00, got "
"%02x %02x %02x %02x",
(quint8)inputData[0], (quint8)inputData[1], (quint8)inputData[2],
(quint8)inputData[3]);
build project
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return;
}
增加UDP测试
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// 使用与发送方相同版本的QDataStream读取数据
build project
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QDataStream inputStream(&inputData, QIODevice::ReadOnly);
inputStream.setByteOrder(QDataStream::LittleEndian);
增加UDP测试
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inputStream.setVersion(QDataStream::Qt_6_0);
// 跳过5字节的头
build project
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for (int i = 0; i < 5; i++) {
char tmp;
inputStream >> tmp;
}
增加UDP测试
2025-04-28 16:41:21 +08:00
build project
2025-04-28 12:25:20 +08:00
QMutexLocker locker(&d->_aeroInputMutex);
增加UDP测试
2025-04-28 16:41:21 +08:00
// 尝试读取数据，并添加异常处理
try {
double tmp;
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_alpha_f8(tmp);
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_alpdot_f8(tmp);
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_beta_f8(tmp);
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_press_alt_f8(tmp);
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_tas_f8(tmp);
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_mach_f8(tmp);
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_nx_f8(tmp);
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_ny_f8(tmp);
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_nz_f8(tmp);
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_p_f8(tmp);
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_q_f8(tmp);
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_r_f8(tmp);
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_qbar_f8(tmp);
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_blcg_f8(tmp);
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_bscg_f8(tmp);
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_wlcg_f8(tmp);
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_stab_f8(tmp);
std::array<double, 10> tmpArray;
for (int i = 0; i < 10; i++) {
inputStream >> tmpArray[i];
}
d->_aeroInput.l_04_i_aerocomac_ail_f8(tmpArray);
std::array<double, 4> tmpArray2;
for (int i = 0; i < 4; i++) {
inputStream >> tmpArray2[i];
}
d->_aeroInput.l_04_i_aerocomac_elv_f8(tmpArray2);
std::array<double, 2> tmpArray3;
for (int i = 0; i < 2; i++) {
inputStream >> tmpArray3[i];
}
d->_aeroInput.l_04_i_aerocomac_rud_f8(tmpArray3);
std::array<double, 7> tmpArray4;
for (int i = 0; i < 7; i++) {
inputStream >> tmpArray4[i];
}
d->_aeroInput.l_04_i_aerocomac_gear_f8(tmpArray4);
for (int i = 0; i < 10; i++) {
inputStream >> tmpArray[i];
}
d->_aeroInput.l_04_i_aerocomac_flap_f8(tmpArray);
std::array<double, 20> tmpArray5;
for (int i = 0; i < 20; i++) {
inputStream >> tmpArray5[i];
}
d->_aeroInput.l_04_i_aerocomac_slat_f8(tmpArray5);
for (int i = 0; i < 20; i++) {
inputStream >> tmpArray5[i];
}
d->_aeroInput.l_04_i_aerocomac_spl_f8(tmpArray5);
for (int i = 0; i < 4; i++) {
inputStream >> tmpArray2[i];
}
d->_aeroInput.l_04_i_aerocomac_tnet_f8(tmpArray2);
for (int i = 0; i < 20; i++) {
inputStream >> tmpArray5[i];
}
d->_aeroInput.l_04_i_aerocomac_kice_f8(tmpArray5);
inputStream >> tmp;
d->_aeroInput.l_04_i_aerocomac_alt_agl_f8(tmp);
d->_dataWriters["XNSim::ATA04::Aerodynamics_input"]->write(&d->_aeroInput);
} catch (const std::exception &e) {
LOG_WARNING("ATA04DataProcessor::OnAeroInput: exception during data parsing: %s", e.what());
return;
} catch (...) {
LOG_WARNING("ATA04DataProcessor::OnAeroInput: unknown exception during data parsing");
return;
build project
2025-04-28 12:25:20 +08:00
}
}
void XNATA04DataProcessor::OnWbOutput(const XNSim::ATA04::WeightBalance_output &input)
{
Q_D(XNATA04DataProcessor);
QMutexLocker locker(&d->_wbOutputMutex);
d->_wbOutput = input;
}
void XNATA04DataProcessor::OnGhOutput(const XNSim::ATA04::GroundHandling_output &input)
{
Q_D(XNATA04DataProcessor);
QMutexLocker locker(&d->_ghOutputMutex);
d->_ghOutput = input;
}
void XNATA04DataProcessor::OnAeroOutput(const XNSim::ATA04::Aerodynamics_output &input)
{
Q_D(XNATA04DataProcessor);
QMutexLocker locker(&d->_aeroOutputMutex);
d->_aeroOutput = input;
}
void XNATA04DataProcessor::OnAeroHeartbeat(const XNSim::ATA04::Aerodynamics_heartbeat &input)
{
Q_D(XNATA04DataProcessor);
QMutexLocker locker(&d->_aeroHeartbeatMutex);
d->_aeroHeartbeat = input;
}
void XNATA04DataProcessor::OnWbHeartbeat(const XNSim::ATA04::WeightBalance_heartbeat &input)
{
Q_D(XNATA04DataProcessor);
QMutexLocker locker(&d->_wbHeartbeatMutex);
d->_wbHeartbeat = input;
}
void XNATA04DataProcessor::OnGhHeartbeat(const XNSim::ATA04::GroundHandling_heartbeat &input)
{
Q_D(XNATA04DataProcessor);
QMutexLocker locker(&d->_ghHeartbeatMutex);
d->_ghHeartbeat = input;
}
增加UDP测试
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void XNATA04DataProcessor::SendUdpTestData()
{
Q_D(XNATA04DataProcessor);
// 创建气动输入(AeroInput)数据包
QByteArray aeroData;
QDataStream aeroStream(&aeroData, QIODevice::WriteOnly);
aeroStream.setByteOrder(QDataStream::LittleEndian);
aeroStream.setVersion(QDataStream::Qt_6_0);
// 气动输入数据包头 (0x0b=从外部输入, 0x04=ATA04, 0x00=气动模型, 0x00=输入数据)
quint8 aeroHeader[5] = {0x0b, 0x04, 0x00, 0x00, 0x00};
aeroStream << aeroHeader[0] << aeroHeader[1] << aeroHeader[2] << aeroHeader[3] << aeroHeader[4];
// 气动数据字段
aeroStream << (double)5.0; // alpha
aeroStream << (double)0.5; // alpdot
aeroStream << (double)1.0; // beta
aeroStream << (double)10000.0; // press_alt
aeroStream << (double)250.0; // tas
aeroStream << (double)0.8; // mach
aeroStream << (double)0.2; // nx
aeroStream << (double)0.0; // ny
aeroStream << (double)1.0; // nz
aeroStream << (double)0.0; // p
aeroStream << (double)0.0; // q
aeroStream << (double)0.0; // r
aeroStream << (double)12000.0; // qbar
aeroStream << (double)0.0; // blcg
aeroStream << (double)0.0; // bscg
aeroStream << (double)0.0; // wlcg
aeroStream << (double)0.0; // stab
// ail_f8 数组，需要10个double
for (int i = 0; i < 10; i++) {
aeroStream << (double)0.0;
}
// elv_f8 数组，需要4个double
for (int i = 0; i < 4; i++) {
aeroStream << (double)0.0;
}
// rud_f8 数组，需要2个double
for (int i = 0; i < 2; i++) {
aeroStream << (double)0.0;
}
// gear_f8 数组，需要7个double
for (int i = 0; i < 7; i++) {
aeroStream << (double)0.0;
}
// flap_f8 数组，需要10个double
for (int i = 0; i < 10; i++) {
aeroStream << (double)0.0;
}
// slat_f8 数组，需要20个double
for (int i = 0; i < 20; i++) {
aeroStream << (double)0.0;
}
// spl_f8 数组，需要20个double
for (int i = 0; i < 20; i++) {
aeroStream << (double)0.0;
}
// tnet_f8 数组，需要4个double
for (int i = 0; i < 4; i++) {
aeroStream << (double)20000.0;
}
// kice_f8 数组，需要20个double
for (int i = 0; i < 20; i++) {
aeroStream << (double)0.0;
}
// alt_agl
aeroStream << (double)1000.0;
// 更新数据包大小，确保不会溢出
if (aeroData.size() <= 255) {
aeroData[4] = aeroData.size();
} else {
LOG_WARNING("ATA04DataProcessor::SendUdpTestData: aeroData size exceeds byte limit: %d",
aeroData.size());
aeroData[4] = 255; // 设置为最大值
}
// 创建地面操作输入(GhInput)数据包
QByteArray ghData;
QDataStream ghStream(&ghData, QIODevice::WriteOnly);
ghStream.setByteOrder(QDataStream::LittleEndian);
ghStream.setVersion(QDataStream::Qt_6_0);
// 地面操作输入数据包头 (0x0b=从外部输入, 0x04=ATA04, 0x01=地面操作模型, 0x00=输入数据)
quint8 ghHeader[5] = {0x0b, 0x04, 0x01, 0x00, 0x00};
ghStream << ghHeader[0] << ghHeader[1] << ghHeader[2] << ghHeader[3] << ghHeader[4];
// 地面操作数据字段
ghStream << (quint8)0; // frz_l1
ghStream << (quint8)0; // chocks_l1
ghStream << (double)100.0; // alt_agl_f8
ghStream << (quint8)0; // frzflt_l1
ghStream << (double)0.0; // p_f8
ghStream << (double)0.0; // q_f8
ghStream << (double)0.0; // r_f8
ghStream << (double)0.0; // ug_f8
ghStream << (double)0.0; // vg_f8
ghStream << (double)0.0; // wg_f8
ghStream << (double)0.0; // blcg_f8
ghStream << (double)0.0; // bscg_f8
ghStream << (double)0.0; // wlcg_f8
ghStream << (quint8)0; // pb_active_l1
ghStream << (double)0.0; // pb_towforce_f8
// brake_torq_f8 数组 3x2
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
ghStream << (double)0.0;
}
}
// gear_f8 数组，需要3个double
for (int i = 0; i < 3; i++) {
ghStream << (double)0.0;
}
// 另一个3个double的数组
for (int i = 0; i < 3; i++) {
ghStream << (double)0.0;
}
// gsteer_f8 数组，需要10个double
for (int i = 0; i < 10; i++) {
ghStream << (double)0.0;
}
// tire_pres_f8 数组 3x2
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
ghStream << (double)30.0; // 30 psi的胎压
}
}
// 4个double数组
for (int i = 0; i < 4; i++) {
ghStream << (double)0.0;
}
ghStream << (quint8)0; // onjax_l1
// contdep_f8 数组，需要7个double
for (int i = 0; i < 7; i++) {
ghStream << (double)0.0;
}
ghStream << (double)0.0; // thetag_f8
ghStream << (double)0.0; // phig_f8
ghStream << (qint32)0; // rwyrgh_i2
ghStream << (double)0.0; // rwyhdg_f8
ghStream << (quint8)0; // reset_braketemp_l1
ghStream << (quint8)0; // reset_tirepress_l1
ghStream << (double)20.0; // temp_c_f8
// brake_temp_f8 数组 3x2
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
ghStream << (double)50.0; // 50度的刹车温度
}
}
// tire_tburst_l1 数组 3x2
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
ghStream << (char)0;
}
}
// tire_tflat_l1 数组 3x2
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 2; j++) {
ghStream << (char)0;
}
}
ghStream << (quint8)0; // brk_reset_tpres_l1
// rcon_ci_f8 数组，需要14个double
for (int i = 0; i < 14; i++) {
ghStream << (double)0.0;
}
ghStream << (qint32)0; // gsteer_state_i4
ghStream << (quint8)0; // trim_active_l1
ghStream << (double)0.0; // phi_deg_f8
ghStream << (double)0.0; // theta_deg_f8
ghStream << (double)0.0; // psi_deg_f8
ghStream << (quint8)0; // resetint_l1
// 更新数据包大小，确保不会溢出
if (ghData.size() <= 255) {
ghData[4] = ghData.size();
} else {
LOG_WARNING("ATA04DataProcessor::SendUdpTestData: ghData size exceeds byte limit: %d",
ghData.size());
ghData[4] = 255; // 设置为最大值
}
// 创建重量平衡输入(WbInput)数据包
QByteArray wbData;
QDataStream wbStream(&wbData, QIODevice::WriteOnly);
wbStream.setByteOrder(QDataStream::LittleEndian);
wbStream.setVersion(QDataStream::Qt_6_0);
// 重量平衡输入数据包头 (0x0b=从外部输入, 0x04=ATA04, 0x02=重量平衡模型, 0x00=输入数据)
quint8 wbHeader[5] = {0x0b, 0x04, 0x02, 0x00, 0x00};
wbStream << wbHeader[0] << wbHeader[1] << wbHeader[2] << wbHeader[3] << wbHeader[4];
// 重量平衡数据字段
wbStream << (double)0.0; // theta_deg_f8
wbStream << (double)0.0; // phi_deg_f8
wbStream << (double)0.0; // psi_deg_f8
wbStream << (quint8)0; // gear_mode_l1
wbStream << (double)60000.0; // acset_gw_f8 (60000kg飞机重量)
wbStream << (double)25.0; // acset_cg_f8 (25%MAC重心位置)
// acset_tankfuel_f4 数组，需要20个float
for (int i = 0; i < 20; i++) {
wbStream << (float)(i < 10 ? 1000.0 : 0.0); // 前10个油箱各1000kg
}
wbStream << (double)10000.0; // acset_totfuel_f8 (总油量10000kg)
wbStream << (double)50000.0; // acset_zfw_f8 (零油重50000kg)
wbStream << (double)24.0; // acset_zfwcg_f8 (零油重重心24%MAC)
// eng_efsep_l1 数组，需要4个char
for (int i = 0; i < 4; i++) {
wbStream << (char)0;
}
// fuel_f8 数组，需要20个double
for (int i = 0; i < 20; i++) {
wbStream << (double)(i < 10 ? 1000.0 : 0.0); // 前10个油箱各1000kg
}
wbStream << (double)0.0; // gear_avg_f8
// kice_f8 数组，需要20个double
for (int i = 0; i < 20; i++) {
wbStream << (double)0.0;
}
wbStream << (quint8)0; // bycglim_l1
wbStream << (quint8)0; // bygwlim_l1
wbStream << (quint8)0; // frz_l1
wbStream << (quint8)0; // zcgfrz_l1
wbStream << (quint8)0; // zcgfrz_grfx_l1
wbStream << (quint8)0; // ycgfrz_l1
wbStream << (quint8)0; // inertfrz_l1
wbStream << (double)60000.0; // potreq_gw_f8
wbStream << (double)25.0; // potreq_gwcg_f8
// 更新数据包大小，确保不会溢出
if (wbData.size() <= 255) {
wbData[4] = wbData.size();
} else {
LOG_WARNING("ATA04DataProcessor::SendUdpTestData: wbData size exceeds byte limit: %d",
wbData.size());
wbData[4] = 255; // 设置为最大值
}
// 发送测试数据包
TriggerRTEvent("SendTestUDPData", QVariant::fromValue(aeroData));
TriggerRTEvent("SendTestUDPData", QVariant::fromValue(ghData));
TriggerRTEvent("SendTestUDPData", QVariant::fromValue(wbData));
}
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