165 lines
2.7 KiB
C
165 lines
2.7 KiB
C
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#ifndef XNCORE_GLOBAL_H
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#define XNCORE_GLOBAL_H
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#include <QtCore/qglobal.h>
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#if defined(XNCORE_LIBRARY)
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# define XNCORE_EXPORT Q_DECL_EXPORT
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#else
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# define XNCORE_EXPORT Q_DECL_IMPORT
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#endif
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#ifdef __linux__
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# include <pthread.h>
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# include <sched.h>
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# include <sys/timeb.h>
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# include <sys/mman.h>
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# include <sys/stat.h>
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# include <errno.h>
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# include <time.h>
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# include <memory>
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# include <errno.h>
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# include <unistd.h>
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#endif
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#define FAST_DDS_MACRO eprosima::fastdds::dds
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/**
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* @brief 默认基频定义，单位 Hz
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*/
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#define BASE_RUN_FREQ 100.0
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/**
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* @brief 默认基础运行间隔定义 单位纳秒
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*/
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#define BASE_RUN_INTER (1.0E9 / BASE_RUN_FREQ)
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//模型周期性回调函数类型别名
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using XNCallBack = std::function<void()>;
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//DDS回调函数类型别名
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using XNDDSCallBack = std::function<void(void *)>;
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/**
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* @brief 纳秒睡眠相关时间结构体
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* @details 用于线程睡眠时间控制
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*/
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struct PERIOD_INFO {
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/**
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* @brief 系统提供的时间记录结构体，精确到纳秒
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*/
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timespec next_period;
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/**
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* @brief 睡眠时长，单位纳秒
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*/
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long period_ns;
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};
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/**
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* @brief 系统运行状态枚举类
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*/
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enum class RunStatus {
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/**
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* @brief 未开始
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*/
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NotStart = 0,
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/**
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* @brief 运行中
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*/
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Runing,
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/**
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* @brief 暂停
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*/
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Suspend,
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/**
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* @brief 中止
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*/
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Aborted,
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/**
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* @brief 结束
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*/
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Finished
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};
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/**
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* @brief 仿真控制命令枚举类
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*/
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enum class SimControlCmd {
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/**
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* @brief 开始
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*/
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Start,
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/**
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* @brief 继续
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*/
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Continue,
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/**
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* @brief 暂停
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*/
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Suspend,
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/**
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* @brief 中止
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*/
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Abort
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};
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/**
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* @brief 运行频率族枚举类
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*/
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enum class FreqLevel {
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/**
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* @brief 基础频率
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*/
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BaseFreq = 0, // 120/100/60 Hz
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/**
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* @brief 半频
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*/
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HalfFreq, // 60/50/30 Hz
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/**
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* @brief 四分之一频
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*/
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QuarterFreq, // 30/25/15 Hz
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/**
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* @brief 八分之一频
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*/
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EighthFreq, // 15/12.5/7.5 Hz
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/**
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* @brief 十六分之一频
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*/
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SixteenthFreq, // 7.5/6.25/3.75 Hz
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/**
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* @brief 三十二分之一频
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*/
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ThirtyTwothFreq, // 3.75/3.125/1.875 Hz
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};
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/**
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* @brief 框架对象状态枚举
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*/
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enum class XNFrameObjectStatus {
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/**
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* @brief 未初始化
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*/
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NotReady = 0,
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/**
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* @brief 已初始化
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*/
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Initialized,
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/**
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* @brief 已准备好
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*/
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Ready,
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/**
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* @brief 未知
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*/
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Unknown
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};
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#define XN_DLL_INITIALIZE(ClassName) \
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extern "C" void Initial##ClassName() \
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{ \
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qRegisterMetaType<ClassName>(#ClassName); \
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}
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#endif // XNCORE_GLOBAL_H
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