XNSim/Release/include/XNCore/XNDDSInterface.h

#pragma once

#include "XNFramework.h"
#include "XNDDSManager.h"
#include "XNByteArray.h"
#include "XNTypeTraits.h"
#include <stdexcept>

// 定义UDP包的最大大小
constexpr size_t MAX_UDP_PACKET_SIZE = 40000;

class XNDDSInterface
{
public:
	XNDDSInterface()		  = default;
	virtual ~XNDDSInterface() = default;

public:
	/**
	 * @brief 初始化
	 * @param framework: 框架
	 */
	virtual void Initialize(XNFrameworkPtr framework, uint32_t modelID, uint32_t DDS_type) = 0;

	/**
	 * @brief 获取该接口的UDP包
	 * @return 字节数组
	 */
	XNByteArray getUDPPackage();

	/**
	 * @brief 通过UDP包设置数据
	 * @param package: UDP包
	 */
	void setDataByUDPPackage(const XNByteArray &package);

	/**
	 * @brief 批量获取指定变量的数据
	 * @param varNames: 变量名列表
	 * @return: 变量名到数据的映射
	 */
	std::unordered_map<std::string, std::string>
	getStringData(const std::vector<std::string> &varNames);

	/**
	 * @brief 批量设置指定变量的数据
	 * @param data: 变量名到数据的映射
	 */
	void setDataByString(const std::unordered_map<std::string, std::string> &data);

protected:
	virtual void clearOutData() {}
	virtual void sendOutData() {}

protected:
	std::unordered_map<std::string, std::function<std::string()>> getDataFunction;
	std::unordered_map<std::string, std::function<void(std::string)>> setDataFunction;
	std::vector<std::function<XNByteArray(void)>> getByteArrayFunction;
	std::vector<std::function<void(XNByteArray)>> setByteArrayFunction;
	std::mutex dataMutex;
	std::mutex outDataMutex;
	uint8_t header[8]{0}; // 固定大小的头部
	size_t headerSize = 8;
	FAST_DDS_MACRO::DataWriter *dataWriter;
};

#define MAP_DATA_FUNC(NAME)                                                                        \
	getDataFunction[#NAME] = [this]() { return StringSerializer(data.NAME()); };                   \
	setDataFunction[#NAME] = [this](const std::string &value) {                                    \
		StringDeserializer(out_data.NAME(), value);                                                \
	};                                                                                             \
	getByteArrayFunction.push_back([this]() { return ByteArraySerializer(data.NAME()); });         \
	setByteArrayFunction.push_back([this](const XNByteArray &byteArray) {                          \
		ByteArrayDeserializer(out_data.NAME(), byteArray);                                         \
	});