XNSim/XNCore/XNModelObject.cpp

/**
 * @file XNModelObject.cpp
 * @author	jinchao
 * @brief 模型基类源文件
 * @version	1.0
 * @date 2024-11-07
 *
 * @copyright Copyright (c) 2024 XN
 *
 */
#include "XNModelObject.h"
#include "XNModelObject_p.h"
#include "XNFramework.h"
#include "XNThreadManager.h"
#include "XNModelManager.h"
#include "XNDDSManager.h"
#include "XNIDL/XNSimStatusPubSubTypes.hpp"

// 默认构造函数
XNModelObject::XNModelObject() : XNObject(new XNModelObjectPrivate())
{
}

// 默认析构函数
XNModelObject::~XNModelObject()
{
}

XNModelObject::XNModelObject(PrivateType *p) : XNObject(p)
{
}

void XNModelObject::SetFramework(XNFrameworkPtr framework)
{
	T_D();
	d->_framework = framework;
}

XNFrameworkPtr XNModelObject::GetFramework() const
{
	T_D();
	return d->_framework;
}

// 获取模型描述
const std::string &XNModelObject::GetDescription()
{
	T_D();
	return d->_sDescription;
}

// 设置模型描述
void XNModelObject::SetDescription(const std::string &sDescription)
{
	T_D();
	d->_sDescription = sDescription;
}

// 获取作者
const std::string &XNModelObject::GetAuthor()
{
	T_D();
	return d->_sAuthor;
}

// 设置作者
void XNModelObject::SetAuthor(const std::string &sAuthor)
{
	T_D();
	d->_sAuthor = sAuthor;
}

// 获取模型配置文件路径
const std::string &XNModelObject::GetXmlPath()
{
	T_D();
	return d->_sXmlPath;
}

// 设置模型配置文件路径
void XNModelObject::SetXmlPath(const std::string &sXmlPath)
{
	T_D();
	d->_sXmlPath = sXmlPath;
}

// 获取模型创建时间
const XNTimePoint &XNModelObject::GetCreateTime()
{
	T_D();
	return d->_cCreatTime;
}

// 设置模型创建时间
void XNModelObject::SetCreateTime(const XNTimePoint &cTime)
{
	T_D();
	d->_cCreatTime = cTime;
}

// 获取模型修改时间
const XNTimePoint &XNModelObject::GetChangeTime()
{
	T_D();
	return d->_cChangeTime;
}

// 设置模型修改时间
void XNModelObject::SetChangeTime(const XNTimePoint &cTime)
{
	T_D();
	d->_cChangeTime = cTime;
}

// 获取模型版本号
const std::string &XNModelObject::GetVersion()
{
	T_D();
	return d->_sVersion;
}

// 设置模型版本号
void XNModelObject::SetVersion(const std::string &sVersion)
{
	T_D();
	d->_sVersion = sVersion;
}

void XNModelObject::SetInitializeType(uint32_t initialType)
{
	T_D();
	d->_initialType = initialType;
}

void XNModelObject::SetThreadID(uint32_t threadID)
{
	T_D();
	d->_threadID = threadID;
}

uint32_t XNModelObject::GetThreadID() const
{
	T_D();
	return d->_threadID;
}

uint32_t XNModelObject::GetRunFreq() const
{
	T_D();
	return d->_runFreq;
}

void XNModelObject::SetRunFreq(uint32_t runFreq)
{
	T_D();
	d->_runFreq = runFreq;
}

uint32_t XNModelObject::GetRunNode() const
{
	T_D();
	return d->_runNode;
}

void XNModelObject::SetRunNode(uint32_t runNode)
{
	T_D();
	d->_runNode = runNode;
}

uint32_t XNModelObject::GetRunPriority() const
{
	T_D();
	return d->_runPriority;
}

void XNModelObject::SetRunPriority(uint32_t runPriority)
{
	T_D();
	d->_runPriority = runPriority;
}

double XNModelObject::GetSetFreq() const
{
	T_D();
	return d->_setFreq;
}

void XNModelObject::SetSetFreq(double setFreq)
{
	T_D();
	d->_setFreq = setFreq;
}

// 初始化函数
void XNModelObject::Initialize()
{
	// 先尝试调取动态库
	T_D();
	if (d->_initialType == 0) {
		// 读取配置文件，设置循环执行函数
		std::ifstream file(GetXmlPath());
		if (!file.is_open()) {
			LOG_WARNING("0x2161 Failed to open the model configuration file: %1!", GetXmlPath());
			return;
		}
		tinyxml2::XMLDocument doc;
		doc.LoadFile(GetXmlPath().c_str());
		tinyxml2::XMLElement *rootNode = doc.FirstChildElement("Model");
		if (!rootNode) {
			LOG_WARNING("0x2161 Failed to parse model configuration file: %1!", GetXmlPath());
			return;
		}
		// 读取配置文件的模型参数
		const char *modelName = rootNode->FirstChildElement("Name")->GetText();
		if (!modelName || std::string(modelName) != GetObjectName()) {
			LOG_WARNING(
				"0x2162 The model name in the configuration file of model %1 is not consistent "
				"with the model name in the configuration file of model %2!",
				GetObjectName(), modelName ? modelName : "null");
			return;
		}
		d->_sDescription = rootNode->FirstChildElement("Description")->GetText();
		d->_sAuthor		 = rootNode->FirstChildElement("Author")->GetText();
		d->_sVersion	 = rootNode->FirstChildElement("Version")->GetText();

		// 使用标准C++时间处理
		std::string createTimeStr = rootNode->FirstChildElement("CreateTime")->GetText();
		std::string changeTimeStr = rootNode->FirstChildElement("ChangeTime")->GetText();
		d->_cCreatTime			  = parseISOTime(createTimeStr);
		d->_cChangeTime			  = parseISOTime(changeTimeStr);

		std::string funcNode = rootNode->FirstChildElement("Node")->GetText();
		d->_runPriority		 = std::stoi(rootNode->FirstChildElement("Priority")->GetText());

		// 检查运行节点是否是 "x-x" 形式
		size_t tmp = funcNode.find('-');
		if (tmp == std::string::npos || tmp == 0) {
			LOG_WARNING(
				"0x2162 The value of the run node attribute in the configuration file of model "
				"%1 is not in the x-x format, registration not executed!",
				GetObjectName());
			return;
		}

		// 使用标准C++字符串处理
		d->_runFreq = std::stoi(funcNode.substr(0, tmp));
		d->_runNode = std::stoi(funcNode.substr(tmp + 1));

		// 注册周期性函数
		auto framework = GetFramework();
		if (framework) {
			auto threadManager = framework->GetThreadManager();
			if (threadManager) {
				threadManager->RegisterFunction(
					GetUniqueId(), std::bind(&XNModelObject::StepUpdate, this), d->_threadID,
					d->_runFreq, d->_runNode, d->_runPriority);
			}
		}

		// 加载动态库
		const char *mathlib = rootNode->FirstChildElement("MathLib")->GetText();
		if (mathlib && strlen(mathlib) > 0) {
			// 使用标准C++文件路径处理
			std::filesystem::path xmlPath(GetXmlPath());
			d->_sLibPath = xmlPath.parent_path().string() + "/" + mathlib;

			// 使用标准C++动态库加载
			d->_dynamicLib = dlopen(d->_sLibPath.c_str(), RTLD_LAZY);
			if (d->_dynamicLib) { // 动态库加载成功
				LOG_INFO("0x2163 Model %1 loaded algorithm dynamic library %2 successfully!",
						 GetObjectName(), d->_sLibPath);
			} else {
				LOG_WARNING(
					"0x2160 Model %1 failed to find algorithm dynamic library %2, will not call "
					"algorithm!",
					GetObjectName(), d->_sLibPath);
				d->_dynamicLib = nullptr;
			}
		}

		// 处理指令列表
		tinyxml2::XMLElement *nodeCmds = rootNode->FirstChildElement("CommandList");
		if (nodeCmds) {
			for (tinyxml2::XMLElement *nodeCmd = nodeCmds->FirstChildElement("Command");
				 nodeCmd != nullptr; nodeCmd   = nodeCmd->NextSiblingElement("Command")) {
				const char *cmdName		   = nodeCmd->Attribute("Name");
				const char *cmdDescription = nodeCmd->Attribute("Description");
				const char *cmdCall		   = nodeCmd->Attribute("Call");
				// TODO: 处理命令列表
			}
		}
	}
}

// 单步执行函数
void XNModelObject::StepUpdate()
{
	T_D();
	uint32_t setFreq = d->_setFreq < 1.0 ? 1 : (uint32_t)d->_setFreq;
	if (d->_dataWriters.find("XNSim::XNSimStatus::XNModelStatus") != d->_dataWriters.end()
		&& d->_dataWriters["XNSim::XNSimStatus::XNModelStatus"] != nullptr && d->_runCnt > 0
		&& d->_runCnt % setFreq == 0) {
		XNSim::XNSimStatus::XNModelStatus modelStatus;
		modelStatus.XNModelName(GetObjectName());
		modelStatus.XNModelID(GetUniqueId());
		modelStatus.XNModelSt(1);
		modelStatus.XNModelThID(d->_threadID);
		modelStatus.XNModelNode(d->_runNode);
		modelStatus.XNModelPro(d->_runPriority);
		modelStatus.XNModelRunCnt(d->_runCnt);
		timespec now;
		clock_gettime(CLOCK_MONOTONIC, &now);
		double time_diff =
			(now.tv_sec - d->_lastRunTime.tv_sec) + (now.tv_nsec - d->_lastRunTime.tv_nsec) / 1.0E9;
		modelStatus.XNMdlCurFreq(d->_setFreq / time_diff);
		modelStatus.XNMdlSetFreq(d->_setFreq);
		d->_dataWriters["XNSim::XNSimStatus::XNModelStatus"]->write(&modelStatus);
		d->_lastRunTime = now;
		LOG_DEBUG("Model: %1 Write DDS!", GetObjectName());
	}
	d->_runCnt++;
}

// 运行前最后准备函数
void XNModelObject::PrepareForExecute()
{
	T_D();
	d->_runCnt = 0;
	// 注册DDS
	RegisterDDSParticipant();
	clock_gettime(CLOCK_MONOTONIC, &d->_lastRunTime);
}

void XNModelObject::RegisterDDSParticipant()
{
	T_D();
	auto framework = GetFramework();
	if (framework == nullptr) {
		LOG_WARNING("Failed to get Framework!");
		return;
	}
	auto ddsManager = framework->GetDDSManager();
	if (ddsManager == nullptr) {
		LOG_WARNING("Failed to get DDSManager!");
		return;
	}
	uint32_t MyID = GetUniqueId();
	XN_PUBLISHTOPIC(XNSim::XNSimStatus::XNModelStatus);
}

int XNModelObject::RegisterEventHandler(const std::string &eventName, XNEventCallback callback,
										bool async, XNEvent::Priority priority)
{
	// 获取事件管理器
	auto framework = GetFramework();
	if (framework == nullptr) {
		LOG_WARNING("Failed to get Framework!");
		return -1;
	}

	XNEventManagerPtr eventManager = framework->GetEventManager();
	if (eventManager == nullptr) {
		LOG_WARNING("Failed to get EventManager!");
		return -1;
	}

	// 注册事件处理器
	return eventManager->RegisterEventHandler(eventName, callback, GetUniqueId(), async, priority);
}

void XNModelObject::TriggerEvent(const std::string &eventName, const std::any &eventData,
								 bool forceAsync, XNEvent::Priority priority)
{
	// 获取事件管理器
	auto framework = GetFramework();
	if (framework == nullptr) {
		LOG_WARNING("Failed to get Framework!");
		return;
	}

	XNEventManagerPtr eventManager = framework->GetEventManager();
	if (eventManager == nullptr) {
		LOG_WARNING("Failed to get EventManager!");
		return;
	}

	// 触发事件
	eventManager->TriggerEvent(eventName, eventData, forceAsync, priority);
}