66 lines
2.3 KiB
C++
66 lines
2.3 KiB
C++
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#include "GroundHandling_heartbeat.hpp"
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namespace XNSim::C909::ATA04
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{
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GroundHandling_heartbeat_Interface::GroundHandling_heartbeat_Interface()
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{
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MAP_DATA_FUNC(groundhandling_model_heartbeat);
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this->header[0] = 0xa6; // XNSim头，0xa6
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this->header[1] = 0xc0; // 机型头，0xc0表示C909
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this->header[2] = 0x04; // 章节头，0x04表示ATA04
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this->header[3] = 0x01; // 模型头，0x01表示GroundHandling
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this->header[4] = 0x02; // 结构体头，0x02表示心跳结构体
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this->header[5] = 0x00; // 数据方向，0x00表示外部输入
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this->header[6] = 0x00; // 数据大小
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this->header[7] = 0x00; // 数据大小
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}
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GroundHandling_heartbeat_Interface::~GroundHandling_heartbeat_Interface()
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{
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}
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void GroundHandling_heartbeat_Interface::Initialize(XNFrameworkPtr framework, uint32_t modelId,
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uint32_t DDS_type)
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{
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auto ddsManager = framework->GetDDSManager();
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if (!ddsManager) {
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LOG_ERROR("DDSManager is nullptr");
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return;
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}
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if (DDS_type == 0) { // 读取与发送都进行
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dataWriter =
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ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
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"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId);
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ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
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"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId,
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std::bind(&GroundHandling_heartbeat_Interface::heartbeatListener, this,
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std::placeholders::_1));
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} else if (DDS_type == 1) { // 只读取
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ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
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"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId,
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std::bind(&GroundHandling_heartbeat_Interface::heartbeatListener, this,
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std::placeholders::_1));
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} else if (DDS_type == 2) { // 只发送
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dataWriter =
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ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
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"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId);
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}
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}
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void GroundHandling_heartbeat_Interface::clearOutData()
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{
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this->out_data = XNSim::C909::ATA04::GroundHandling_heartbeat();
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}
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void GroundHandling_heartbeat_Interface::sendOutData()
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{
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dataWriter->write(&this->out_data);
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}
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void GroundHandling_heartbeat_Interface::heartbeatListener(
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const XNSim::C909::ATA04::GroundHandling_heartbeat &heartbeat)
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{
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this->data = heartbeat;
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}
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} // namespace XNSim::C909::ATA04
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