XNSim/XNServices/XNUDPTestService/XNUDPTestService.cpp

#include "XNUDPTestService.h"
#include "XNUDPTestService_p.h"
#include <XNCore/XNServiceManager.h>
#include <XNCore/XNDDSManager.h>
#include <QFile>
#include <QDomDocument>

XN_DLL_INITIALIZE(XNUDPTestService)

XN_REGISTER_SERVICE_BEGIN_SERVICE(XNUDPTestService)
XN_REGISTER_SERVICE_END_SERVICE(XNUDPTestService)

XNUDPTestService::XNUDPTestService(QObject *parent)
	: XNServiceObject(*new XNUDPTestServicePrivate(this), parent)
{
}

XNUDPTestService::~XNUDPTestService()
{
}

XNUDPTestService::XNUDPTestService(XNUDPTestServicePrivate &dd, QObject *parent)
	: XNServiceObject(dd, parent)
{
}

void XNUDPTestService::OnInitialize()
{
	Q_D(XNUDPTestService);
	XNServiceObject::OnInitialize();

	// 读取配置文件
	QFile file(GetXmlPath());
	if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
		LOG_WARNING("Failed to open config file:%1", GetXmlPath());
		return;
	}

	QDomDocument doc;
	if (!doc.setContent(&file)) {
		file.close();
		LOG_WARNING("Failed to parse config file:%1", GetXmlPath());
		return;
	}
	file.close();

	// 读取UDP配置
	QDomElement udpElement = doc.documentElement().firstChildElement("UDP");
	if (!udpElement.isNull()) {
		d->localPort  = udpElement.firstChildElement("LocalPort").text().toUInt();
		d->targetHost = udpElement.firstChildElement("TargetHost").text();
		d->targetPort = udpElement.firstChildElement("TargetPort").text().toUInt();
	} else {
		LOG_WARNING("UDP configuration not found, using default values");
		d->localPort  = 12345;
		d->targetHost = "127.0.0.1";
		d->targetPort = 54321;
	}
}

void XNUDPTestService::OnPrepareForExecute()
{
	Q_D(XNUDPTestService);
	XNServiceObject::OnPrepareForExecute();

	// 初始化UDP socket
	d->udpSocket = new QUdpSocket(this);

	// 绑定本地端口
	if (!d->udpSocket->bind(QHostAddress::Any, d->localPort)) {
		LOG_WARNING("UDP socket bind failed on port:%1", d->localPort);
		return;
	}

	// 连接UDP socket的信号
	connect(d->udpSocket, &QUdpSocket::readyRead, this, &XNUDPTestService::HandleIncomingData);

	RegisterRTEventHandler("SendTestUDPData",
						   std::bind(&XNUDPTestService::SendData, this, std::placeholders::_1));
}

void XNUDPTestService::HandleIncomingData()
{
	Q_D(XNUDPTestService);
	return;
	while (d->udpSocket->hasPendingDatagrams()) {
		QByteArray datagram;
		datagram.resize(d->udpSocket->pendingDatagramSize());
		QHostAddress sender;
		quint16 senderPort;

		d->udpSocket->readDatagram(datagram.data(), datagram.size(), &sender, &senderPort);

		// 处理接收到的数据
		if (datagram.size() <= 5 || datagram[0] != 0x0b || datagram[4] != datagram.size()) {
			LOG_WARNING("Invalid UDP datagram received");
			continue;
		}
		if (datagram[1] == 0x04) {
			if (datagram[2] == 0x00 && datagram[3] == 0x00) {
				TriggerRTEvent("ATA04AeroInput", datagram);
				continue;
			} else if (datagram[2] == 0x01 && datagram[3] == 0x00) {
				TriggerRTEvent("ATA04GhInput", datagram);
				continue;
			} else if (datagram[2] == 0x02 && datagram[3] == 0x00) {
				TriggerRTEvent("ATA04WbInput", datagram);
				continue;
			}
		}
		// TODO: 根据具体需求处理其它数据
		//TriggerRTEvent("ReceiveUDPData", datagram);
	}
}

void XNUDPTestService::SendData(const QVariant &data)
{
	Q_D(XNUDPTestService);
	if (!d->udpSocket) {
		LOG_WARNING("UDP socket not initialized");
		return;
	}

	// 将QVariant转换为字节数组
	QByteArray datagram;
	QDataStream stream(&datagram, QIODevice::WriteOnly);
	stream << data;

	// 发送数据
	qint64 bytesSent =
		d->udpSocket->writeDatagram(datagram, QHostAddress(d->targetHost), d->targetPort);
	if (bytesSent == -1) {
		LOG_WARNING("Failed to send UDP datagram:%1", d->udpSocket->errorString());
	}
}