XNEngine也改造完成了

Release/include/XNCore/XNCore_global.h

@@ -92,7 +92,7 @@ using XNTimePoint = std::chrono::system_clock::time_point;
 	 * @param timeStr ISO格式的时间字符串 (YYYY-MM-DDTHH:mm:ss)
 	 * @return 系统时间点
 	 */
-XNTimePoint parseISOTime(const std::string &timeStr);
+extern "C" XNTimePoint XNCORE_EXPORT parseISOTime(const std::string &timeStr);
 
 /**
  * @brief 系统运行状态枚举类

Release/include/XNCore/XNFramework.h

@@ -146,8 +146,10 @@ public:
 
 	/**
 	 * @brief 准备执行
+	 * @return true:	准备成功
+	 * @return false:	准备失败
 	 */
-	void PrepareForExecute();
+	bool PrepareForExecute();
 
 	/**
 	 * @brief 仿真控制
@@ -158,12 +160,9 @@ public:
 
 	/**
 	 * @brief 初始化
+	 * @param initialType 初始化类型
+	 * @return true:	初始化成功
+	 * @return false:	初始化失败
 	 */
-	void Initialize(uint32_t initialType);
+	bool Initialize(uint32_t initialType);
-
-	/**
-	 * @brief 仿真控制
-	 * @param cmd 命令
-	 */
-	void OnSimControl(uint32_t objectId, SimControlCmd cmd);
 };

XNCore/CMakeLists.txt

@@ -20,6 +20,7 @@ find_package(OpenSSL REQUIRED)
 
 add_library(XNCore SHARED
   XNCore_global.h
+  XNCore_Function.cpp
   XNObject.h
   XNObject.cpp
   XNObject_p.h

XNCore/XNCore_global.h

@@ -92,7 +92,7 @@ using XNTimePoint = std::chrono::system_clock::time_point;
 	 * @param timeStr ISO格式的时间字符串 (YYYY-MM-DDTHH:mm:ss)
 	 * @return 系统时间点
 	 */
-XNTimePoint parseISOTime(const std::string &timeStr);
+extern "C" XNTimePoint XNCORE_EXPORT parseISOTime(const std::string &timeStr);
 
 /**
  * @brief 系统运行状态枚举类

XNCore/XNFramework.cpp

@@ -86,95 +86,97 @@ void XNFramework::SetCpuAffinity(uint32_t cpuAffinity)
 	d->uCpuAffinity = cpuAffinity;
 }
 
-void XNFramework::Initialize(uint32_t initialType)
+bool XNFramework::Initialize(uint32_t initialType)
 {
 	T_D();
 	LOG_INFO("XNFramework Initialize ...");
 	bool ret = d->eventManager->Initialize();
 	if (!ret) {
 		LOG_ERROR("XNFramework Initialize Failed!");
-		return;
+		return false;
 	}
 	ret = d->timeManager->Initialize();
 	if (!ret) {
 		LOG_ERROR("XNFramework Initialize Failed!");
-		return;
+		return false;
 	}
 	ret = d->ddsManager->Initialize();
 	if (!ret) {
 		LOG_ERROR("XNFramework Initialize Failed!");
-		return;
+		return false;
 	}
 	ret = d->serviceManager->Initialize();
 	if (!ret) {
 		LOG_ERROR("XNFramework Initialize Failed!");
-		return;
+		return false;
 	}
 	ret = d->threadManager->Initialize();
 	if (!ret) {
 		LOG_ERROR("XNFramework Initialize Failed!");
-		return;
+		return false;
 	}
 	ret = d->modelManager->Initialize();
 	if (!ret) {
 		LOG_ERROR("XNFramework Initialize Failed!");
-		return;
+		return false;
 	}
 	ret = d->scenarioManager->Initialize();
 	if (!ret) {
 		LOG_ERROR("XNFramework Initialize Failed!");
-		return;
+		return false;
 	}
 	LOG_INFO("XNFramework Initialize Success!");
 	LOG_INFO("XNFramework Analyze Scenario Xml ...");
 	ret = d->scenarioManager->AnalysisScenarioXml(d->scenarioXml, initialType);
 	if (!ret) {
 		LOG_ERROR("XNFramework Analyze Scenario Xml Failed!");
-		return;
+		return false;
 	}
 	LOG_INFO("XNFramework Analyze Scenario Xml Success!");
+	return true;
 }
 
-void XNFramework::PrepareForExecute()
+bool XNFramework::PrepareForExecute()
 {
 	T_D();
 
 	bool ret = d->eventManager->PrepareForExecute();
 	if (!ret) {
 		LOG_ERROR("XNFramework PrepareForExecute Failed!");
-		return;
+		return false;
 	}
 	ret = d->timeManager->PrepareForExecute();
 	if (!ret) {
 		LOG_ERROR("XNFramework PrepareForExecute Failed!");
-		return;
+		return false;
 	}
 	ret = d->ddsManager->PrepareForExecute();
 	if (!ret) {
 		LOG_ERROR("XNFramework PrepareForExecute Failed!");
-		return;
+		return false;
 	}
 	ret = d->serviceManager->PrepareForExecute();
 	if (!ret) {
 		LOG_ERROR("XNFramework PrepareForExecute Failed!");
-		return;
+		return false;
 	}
 	ret = d->threadManager->PrepareForExecute();
 	if (!ret) {
 		LOG_ERROR("XNFramework PrepareForExecute Failed!");
-		return;
+		return false;
 	}
 	ret = d->modelManager->PrepareForExecute();
 	if (!ret) {
 		LOG_ERROR("XNFramework PrepareForExecute Failed!");
-		return;
+		return false;
 	}
 	ret = d->scenarioManager->PrepareForExecute();
 	if (!ret) {
 		LOG_ERROR("XNFramework PrepareForExecute Failed!");
-		return;
+		return false;
 	}
 	LOG_INFO("XNCore is prepared for execute! Simulation will start soon...");
+	return true;
 }
 
 void XNFramework::SetScenarioXml(const std::string &scenarioXml)

XNCore/XNFramework.h

@@ -146,8 +146,10 @@ public:
 
 	/**
 	 * @brief 准备执行
+	 * @return true:	准备成功
+	 * @return false:	准备失败
 	 */
-	void PrepareForExecute();
+	bool PrepareForExecute();
 
 	/**
 	 * @brief 仿真控制
@@ -158,12 +160,9 @@ public:
 
 	/**
 	 * @brief 初始化
+	 * @param initialType 初始化类型
+	 * @return true:	初始化成功
+	 * @return false:	初始化失败
 	 */
-	void Initialize(uint32_t initialType);
+	bool Initialize(uint32_t initialType);
-
-	/**
-	 * @brief 仿真控制
-	 * @param cmd 命令
-	 */
-	void OnSimControl(uint32_t objectId, SimControlCmd cmd);
 };

XNCore/XNModelObject.cpp

@@ -30,6 +30,18 @@ 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()
 {

XNEngine/.vscode/settings.json

@@ -68,6 +68,11 @@
 		"sstream": "cpp",
 		"cinttypes": "cpp",
 		"typeindex": "cpp",
-		"qcoreapplication": "cpp"
+		"qcoreapplication": "cpp",
+		"csignal": "cpp",
+		"any": "cpp",
+		"codecvt": "cpp",
+		"unordered_set": "cpp",
+		"fstream": "cpp"
 	}
 }

XNEngine/CMakeLists.txt

@@ -2,10 +2,6 @@ cmake_minimum_required(VERSION 3.16)
 
 project(XNEngine LANGUAGES CXX)
 
-set(CMAKE_AUTOUIC ON)
-set(CMAKE_AUTOMOC ON)
-set(CMAKE_AUTORCC ON)
-
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
@@ -17,54 +13,24 @@ if(NOT fastdds_FOUND)
     find_package(fastdds 3 REQUIRED)
 endif()
 
-find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Core Xml)
-find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Core Xml)
 find_package(Threads REQUIRED)
 find_package(OpenSSL REQUIRED)
 
-if(${QT_VERSION_MAJOR} GREATER_EQUAL 6)
+add_executable(XNEngine
-    qt_add_executable(XNEngine
+    main.cpp
-        MANUAL_FINALIZATION
+    XNEngine.h
-        main.cpp
+    XNEngine.cpp
-        XNEngine.h
+)
-        XNEngine.cpp
-    )
 
-    # 获取Qt库的安装路径
+find_library(XNCORE_LIBRARY NAMES XNCore PATHS ../XNCore/build)  
-    get_target_property(QT_LIB_DIR Qt${QT_VERSION_MAJOR}::Core LOCATION)
+target_link_libraries(XNEngine PRIVATE
-    get_filename_component(QT_LIB_DIR ${QT_LIB_DIR} DIRECTORY)
+    ${XNCORE_LIBRARY}
-    
+    fastcdr
-    # 设置rpath
+    fastdds
-    set_target_properties(XNEngine PROPERTIES
+    pthread
-        BUILD_WITH_INSTALL_RPATH TRUE
+    OpenSSL::SSL
-        INSTALL_RPATH "${QT_LIB_DIR}"
+    OpenSSL::Crypto
-    )
+)
-else()
-    add_executable(XNEngine
-        main.cpp
-        XNEngine.h
-        XNEngine.cpp
-    )
-endif()
-
-#if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
-	find_library(XNCORE_LIBRARY NAMES XNCore PATHS ../XNCore/build)  
-    target_link_libraries(XNEngine PRIVATE
-		Qt${QT_VERSION_MAJOR}::Core 
-		Qt${QT_VERSION_MAJOR}::Xml 
-		${XNCORE_LIBRARY}
-		fastcdr
-		fastdds
-		pthread
-		OpenSSL::SSL
-		OpenSSL::Crypto
-	)
-#elseif(CMAKE_SYSTEM_NAME STREQUAL "Windows")
-#    target_link_libraries(XNEngine 
-#		Qt${QT_VERSION_MAJOR}::Core 
-#		Qt${QT_VERSION_MAJOR}::Xml 
-#		XNCore)
-#endif()
 
 # Check if CMAKE_INSTALL_PREFIX is set to its default value
 if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
@@ -82,7 +48,3 @@ install(TARGETS XNEngine
 install(CODE "
     execute_process(COMMAND gio set -t string ${CMAKE_INSTALL_PREFIX}/XNEngine \"metadata::custom-icon\" \"file://${CMAKE_INSTALL_PREFIX}/resource/XNEngine.png\")
 ")
-
-if(QT_VERSION_MAJOR EQUAL 6)
-    qt_finalize_executable(XNEngine)
-endif()

XNEngine/XNEngine.cpp

@@ -9,8 +9,6 @@
  * 
  */
 #include "XNEngine.h"
-#include <QTimer>
-#include <QCoreApplication>
 #include "../XNCore/XNTimeManager.h"
 #include "../XNCore/XNThreadManager.h"
 #include "../XNCore/XNDDSManager.h"
@@ -20,27 +18,16 @@
 #include "../XNCore/XNScenarioManager.h"
 
 // 引擎类构造函数
-XNEngine::XNEngine(QObject *parent) : QObject(parent)
+XNEngine::XNEngine()
 {
-	// 设置对象名称
-	setObjectName("XNEngine");
 	// 创建框架对象
 	framework = new XNFramework();
-	// 连接初始化信号和槽
-	connect(this, &XNEngine::InitializeSignal, framework, &XNFramework::Initialize);
-	// 连接准备执行信号和槽
-	connect(this, &XNEngine::PrepareforExecuteSignal, framework, &XNFramework::OnPrepareForExecute);
-	// 连接初始化成功信号和槽
-	connect(framework, &XNFramework::InitializeSuccess, this, &XNEngine::OnInitializeSuccess);
-	// 连接准备执行成功信号和槽
-	connect(framework, &XNFramework::PrepareForExecuteSuccess, this,
-			&XNEngine::OnPrepareforExecuteSuccess);
-	// 连接仿真控制信号和槽
-	connect(this, &XNEngine::SimControlSignal, framework, &XNFramework::OnSimControl);
 	// 引擎状态写入器
 	engineStatusWriter = nullptr;
 	// 测试模式
 	isTestMode = false;
+	// 初始化类型
+	initializeType = 0;
 }
 
 // 引擎类析构函数
@@ -53,139 +40,189 @@ void XNEngine::SimControlListener(const XNSim::XNSimControl::XNRuntimeControl &c
 {
 	if (cmd.XNSimCmd() == 1) {
 		// 如果命令是暂停
-		emit SimControlSignal(0, SimControlCmd::Suspend);
+		framework->SimControl(0, SimControlCmd::Suspend);
 	} else if (cmd.XNSimCmd() == 2) {
 		// 如果命令是继续
-		emit SimControlSignal(0, SimControlCmd::Continue);
+		framework->SimControl(0, SimControlCmd::Continue);
 	} else if (cmd.XNSimCmd() == 3) {
 		// 如果命令是终止
-		emit SimControlSignal(0, SimControlCmd::Abort);
+		framework->SimControl(0, SimControlCmd::Abort);
 		//TODO 后续收到结束指令后再结束,还需要最后发一次终止状态
-		emit StopTimer();
+		engineRunning = false;
-		// 退出应用程序
-		QCoreApplication::quit();
 	}
 }
 
 // 设置日志级别
-bool XNEngine::SetLogLevel(const QString &XmlPath)
+bool XNEngine::SetLogLevel(const std::string &XmlPath)
 {
 	// 打开配置文件
-	QFile file(XmlPath);
+	std::ifstream file(XmlPath);
-	if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
+	if (!file.is_open()) {
-		qFatal("0x1003 Failed to open the runtime environment configuration file, "
+		std::cerr << "0x1003 Failed to open the runtime environment configuration file, "
-			   "the engine will exit!");
+					 "the engine will exit!"
+				  << std::endl;
+		return false;
 	}
 	// 解析配置文件
-	QDomDocument doc;
+	tinyxml2::XMLDocument doc;
-	if (!doc.setContent(&file)) {
+	if (doc.LoadFile(XmlPath.c_str()) != tinyxml2::XML_SUCCESS) {
-		qFatal("0x1004 Failed to parse the runtime environment configuration file, "
+		std::cerr << "0x1004 Failed to parse the runtime environment configuration file, "
-			   "the engine will exit!");
+					 "the engine will exit!"
+				  << std::endl;
+		return false;
 	}
 	// 获取根元素
-	QDomElement root = doc.documentElement();
+	tinyxml2::XMLElement *root = doc.FirstChildElement("RuntimeEnvironment");
+	if (!root) {
+		std::cerr << "0x1005 Failed to find RuntimeEnvironment element in configuration file!"
+				  << std::endl;
+		return false;
+	}
+
 	// 顺便读取一下CPU亲和性
 	int cpus = sysconf(_SC_NPROCESSORS_ONLN);
-	qInfo("Current number of CPU cores-> %d", cpus);
+	std::cout << "Current number of CPU cores-> " << cpus << std::endl;
+
 	// 设置CPU亲和性
 	cpu_set_t mask;
 	CPU_ZERO(&mask);
-	CPUAffinity					= 0;
+	CPUAffinity = 0;
-	QDomNode EnvironmentNode	= root.firstChildElement("Environment");
+
-	QString tmp					= EnvironmentNode.toElement().attribute("CPUAffinity");
+	// 获取CPU亲和性配置
-	QStringList cpuAffinityList = tmp.split(",", Qt::SkipEmptyParts);
+	tinyxml2::XMLElement *envNode = root->FirstChildElement("Environment");
-	for (const QString &cpuAffinity : cpuAffinityList) {
+	if (envNode) {
-		bool ok;
+		const char *cpuAffinityStr = envNode->Attribute("CPUAffinity");
-		quint32 cpuIndex = cpuAffinity.toUInt(&ok);
+		if (cpuAffinityStr) {
-		if (ok && cpuIndex < cpus) {
+			std::string affinityStr(cpuAffinityStr);
-			CPUAffinity |= (1 << cpuIndex);
+			std::istringstream iss(affinityStr);
-			CPU_SET(cpuIndex, &mask);
+			std::string cpuIndex;
+			while (std::getline(iss, cpuIndex, ',')) {
+				try {
+					int index = std::stoi(cpuIndex);
+					if (index >= 0 && index < cpus) {
+						CPUAffinity |= (1 << index);
+						CPU_SET(index, &mask);
+					}
+				} catch (const std::exception &e) {
+					std::cerr << "Invalid CPU affinity value: " << cpuIndex << std::endl;
+				}
+			}
 		}
 	}
+
 	if (sched_setaffinity(0, sizeof(mask), &mask) == -1) {
-		qFatal("0x1020 Failed to set engine CPU affinity-> %s", strerror(errno));
+		std::cerr << "0x1020 Failed to set engine CPU affinity-> " << strerror(errno) << std::endl;
+		return false;
 	}
-	qInfo("Successfully set engine CPU affinity-> %u", CPUAffinity);
+	std::cout << "Successfully set engine CPU affinity-> " << CPUAffinity << std::endl;
+
 	// 锁定内存
 	if (mlockall(MCL_CURRENT | MCL_FUTURE) == -1) {
-		qFatal("0x1021 Failed to lock engine memory-> %s", strerror(errno));
+		std::cerr << "0x1021 Failed to lock engine memory-> " << strerror(errno) << std::endl;
+		return false;
 	}
-	qInfo("Successfully locked engine memory!");
+	std::cout << "Successfully locked engine memory!" << std::endl;
+
 	// 获取配置文件中的控制台输出元素
-	QDomNode consoleOutputNode = root.firstChildElement("ConsoleOutput");
+	tinyxml2::XMLElement *consoleOutputNode = root->FirstChildElement("ConsoleOutput");
-	if (consoleOutputNode.isNull()) {
+	if (!consoleOutputNode) {
-		qWarning("The runtime environment configuration file does not contain"
+		std::cout << "The runtime environment configuration file does not contain "
-				 "the ConsoleOutput element, the Console will Output all Log!");
+					 "the ConsoleOutput element, the Console will Output all Log!"
+				  << std::endl;
 	} else {
 		// 获取配置文件中的调试日志输出元素
-		QString debugConsoleOutput = consoleOutputNode.toElement().attribute("Debug");
+		const char *debugConsoleOutput = consoleOutputNode->Attribute("Debug");
-		if (debugConsoleOutput == "true" || debugConsoleOutput == "1"
+		if (debugConsoleOutput
-			|| debugConsoleOutput == "True" || debugConsoleOutput == "TRUE") {
+			&& (strcmp(debugConsoleOutput, "true") == 0 || strcmp(debugConsoleOutput, "1") == 0
+				|| strcmp(debugConsoleOutput, "True") == 0
+				|| strcmp(debugConsoleOutput, "TRUE") == 0)) {
 			XNLogger::instance().enableConsoleOutput(XNLogger::LogLevel::Debug, true);
 		} else {
 			XNLogger::instance().enableConsoleOutput(XNLogger::LogLevel::Debug, false);
 		}
+
 		// 获取配置文件中的信息日志输出元素
-		QString infoConsoleOutput = consoleOutputNode.toElement().attribute("Info");
+		const char *infoConsoleOutput = consoleOutputNode->Attribute("Info");
-		if (infoConsoleOutput == "true" || infoConsoleOutput == "1" || infoConsoleOutput == "True"
+		if (infoConsoleOutput
-			|| infoConsoleOutput == "TRUE") {
+			&& (strcmp(infoConsoleOutput, "true") == 0 || strcmp(infoConsoleOutput, "1") == 0
+				|| strcmp(infoConsoleOutput, "True") == 0
+				|| strcmp(infoConsoleOutput, "TRUE") == 0)) {
 			XNLogger::instance().enableConsoleOutput(XNLogger::LogLevel::Info, true);
 		} else {
 			XNLogger::instance().enableConsoleOutput(XNLogger::LogLevel::Info, false);
 		}
+
 		// 获取配置文件中的警告日志输出元素
-		QString warningConsoleOutput = consoleOutputNode.toElement().attribute("Warning");
+		const char *warningConsoleOutput = consoleOutputNode->Attribute("Warning");
-		if (warningConsoleOutput == "true" || warningConsoleOutput == "1"
+		if (warningConsoleOutput
-			|| warningConsoleOutput == "True" || warningConsoleOutput == "TRUE") {
+			&& (strcmp(warningConsoleOutput, "true") == 0 || strcmp(warningConsoleOutput, "1") == 0
+				|| strcmp(warningConsoleOutput, "True") == 0
+				|| strcmp(warningConsoleOutput, "TRUE") == 0)) {
 			XNLogger::instance().enableConsoleOutput(XNLogger::LogLevel::Warning, true);
 		} else {
 			XNLogger::instance().enableConsoleOutput(XNLogger::LogLevel::Warning, false);
 		}
+
 		// 获取配置文件中的错误日志输出元素
-		QString errorConsoleOutput = consoleOutputNode.toElement().attribute("Error");
+		const char *errorConsoleOutput = consoleOutputNode->Attribute("Error");
-		if (errorConsoleOutput == "true" || errorConsoleOutput == "1"
+		if (errorConsoleOutput
-			|| errorConsoleOutput == "True" || errorConsoleOutput == "TRUE") {
+			&& (strcmp(errorConsoleOutput, "true") == 0 || strcmp(errorConsoleOutput, "1") == 0
+				|| strcmp(errorConsoleOutput, "True") == 0
+				|| strcmp(errorConsoleOutput, "TRUE") == 0)) {
 			XNLogger::instance().enableConsoleOutput(XNLogger::LogLevel::Error, true);
 		} else {
 			XNLogger::instance().enableConsoleOutput(XNLogger::LogLevel::Error, false);
 		}
 	}
+
 	// 获取配置文件中的日志元素
-	QDomNode logNode = root.firstChildElement("Log");
+	tinyxml2::XMLElement *logNode = root->FirstChildElement("Log");
-	if (logNode.isNull()) {
+	if (!logNode) {
-		qWarning("The runtime environment configuration file does not contain"
+		std::cout << "The runtime environment configuration file does not contain "
-				 "the Log element, the Log File will record all Log!");
+					 "the Log element, the Log File will record all Log!"
+				  << std::endl;
 	} else {
 		// 获取配置文件中的调试日志输出元素
-		QString debugLog = logNode.toElement().attribute("Debug");
+		const char *debugLog = logNode->Attribute("Debug");
-		if (debugLog == "true" || debugLog == "1" || debugLog == "True" || debugLog == "TRUE") {
+		if (debugLog
+			&& (strcmp(debugLog, "true") == 0 || strcmp(debugLog, "1") == 0
+				|| strcmp(debugLog, "True") == 0 || strcmp(debugLog, "TRUE") == 0)) {
 			XNLogger::instance().enableFileOutput(XNLogger::LogLevel::Debug, true);
 		} else {
 			XNLogger::instance().enableFileOutput(XNLogger::LogLevel::Debug, false);
 		}
+
 		// 获取配置文件中的信息日志输出元素
-		QString infoLog = logNode.toElement().attribute("Info");
+		const char *infoLog = logNode->Attribute("Info");
-		if (infoLog == "true" || infoLog == "1" || infoLog == "True" || infoLog == "TRUE") {
+		if (infoLog
+			&& (strcmp(infoLog, "true") == 0 || strcmp(infoLog, "1") == 0
+				|| strcmp(infoLog, "True") == 0 || strcmp(infoLog, "TRUE") == 0)) {
 			XNLogger::instance().enableFileOutput(XNLogger::LogLevel::Info, true);
 		} else {
 			XNLogger::instance().enableFileOutput(XNLogger::LogLevel::Info, false);
 		}
+
 		// 获取配置文件中的警告日志输出元素
-		QString warningLog = logNode.toElement().attribute("Warning");
+		const char *warningLog = logNode->Attribute("Warning");
-		if (warningLog == "true" || warningLog == "1" || warningLog == "True"
+		if (warningLog
-			|| warningLog == "TRUE") {
+			&& (strcmp(warningLog, "true") == 0 || strcmp(warningLog, "1") == 0
+				|| strcmp(warningLog, "True") == 0 || strcmp(warningLog, "TRUE") == 0)) {
 			XNLogger::instance().enableFileOutput(XNLogger::LogLevel::Warning, true);
 		} else {
 			XNLogger::instance().enableFileOutput(XNLogger::LogLevel::Warning, false);
 		}
+
 		// 获取配置文件中的错误日志输出元素
-		QString errorLog = logNode.toElement().attribute("Error");
+		const char *errorLog = logNode->Attribute("Error");
-		if (errorLog == "true" || errorLog == "1" || errorLog == "True" || errorLog == "TRUE") {
+		if (errorLog
+			&& (strcmp(errorLog, "true") == 0 || strcmp(errorLog, "1") == 0
+				|| strcmp(errorLog, "True") == 0 || strcmp(errorLog, "TRUE") == 0)) {
 			XNLogger::instance().enableFileOutput(XNLogger::LogLevel::Error, true);
 		} else {
 			XNLogger::instance().enableFileOutput(XNLogger::LogLevel::Error, false);
 		}
 	}
+
 	// 关闭配置文件
 	file.close();
 	// 返回成功
@@ -202,19 +239,19 @@ void XNEngine::PublishEngineStatus()
 		// 创建内核状态对象
 		XNSim::XNSimStatus::XNCoreStatus coreStatus;
 		// 设置引擎名称
-		engineStatus.XNEngineName(objectName().toStdString());
+		engineStatus.XNEngineName("XNEngine");
 		// 设置引擎ID
 		engineStatus.XNEngineID(getpid());
 		// 设置引擎亲和性
 		engineStatus.XNEngineAff(CPUAffinity);
 		// 获取时间管理器
-		XNTimeManager *timeManager = framework->findChild<XNTimeManager *>();
+		XNTimeManagerPtr timeManager = framework->GetTimeManager();
 		// 如果时间管理器存在
 		if (timeManager) {
 			// 设置引擎状态
-			engineStatus.XNEngineSt((quint32)timeManager->GetStatus());
+			engineStatus.XNEngineSt((uint32_t)timeManager->GetStatus());
 			// 设置内核状态
-			coreStatus.XNTMStatus((quint32)timeManager->GetFrameObjectStatus());
+			coreStatus.XNTMStatus((uint32_t)timeManager->GetFrameObjectStatus());
 		} else {
 			// 设置引擎状态
 			engineStatus.XNEngineSt(4);
@@ -222,11 +259,11 @@ void XNEngine::PublishEngineStatus()
 			coreStatus.XNTMStatus(2);
 		}
 		// 获取线程管理器
-		XNThreadManager *threadManager = framework->findChild<XNThreadManager *>();
+		XNThreadManagerPtr threadManager = framework->GetThreadManager();
 		// 如果线程管理器存在
 		if (threadManager) {
 			// 设置内核状态
-			coreStatus.XNThMStatus((quint32)threadManager->GetFrameObjectStatus());
+			coreStatus.XNThMStatus((uint32_t)threadManager->GetFrameObjectStatus());
 			// 设置引擎状态
 			engineStatus.XNThCnt(threadManager->GetThreadCount());
 		} else {
@@ -234,57 +271,57 @@ void XNEngine::PublishEngineStatus()
 			coreStatus.XNThMStatus(2);
 		}
 		// 获取DDS管理器
-		XNDDSManager *ddsManager = framework->findChild<XNDDSManager *>();
+		XNDDSManagerPtr ddsManager = framework->GetDDSManager();
 		// 如果DDS管理器存在
 		if (ddsManager) {
 			// 设置内核状态
-			coreStatus.XNDMStatus((quint32)ddsManager->GetFrameObjectStatus());
+			coreStatus.XNDMStatus((uint32_t)ddsManager->GetFrameObjectStatus());
 		} else {
 			// 设置内核状态
 			coreStatus.XNDMStatus(2);
 		}
 		// 获取事件管理器
-		XNEventManager *eventManager = framework->findChild<XNEventManager *>();
+		XNEventManagerPtr eventManager = framework->GetEventManager();
 		// 如果事件管理器存在
 		if (eventManager) {
 			// 设置内核状态
-			coreStatus.XNEMStatus((quint32)eventManager->GetFrameObjectStatus());
+			coreStatus.XNEMStatus((uint32_t)eventManager->GetFrameObjectStatus());
 		} else {
 			// 设置内核状态
 			coreStatus.XNEMStatus(2);
 		}
 		// 获取服务管理器
-		XNServiceManager *serviceManager = framework->findChild<XNServiceManager *>();
+		XNServiceManagerPtr serviceManager = framework->GetServiceManager();
 		// 如果服务管理器存在
 		if (serviceManager) {
 			// 设置内核状态
-			coreStatus.XNSMStatus((quint32)serviceManager->GetFrameObjectStatus());
+			coreStatus.XNSMStatus((uint32_t)serviceManager->GetFrameObjectStatus());
 		} else {
 			// 设置内核状态
 			coreStatus.XNSMStatus(2);
 		}
 		// 获取模型管理器
-		XNModelManager *modelManager = framework->findChild<XNModelManager *>();
+		XNModelManagerPtr modelManager = framework->GetModelManager();
 		// 如果模型管理器存在
 		if (modelManager) {
 			// 设置内核状态
-			coreStatus.XNMMStatus((quint32)modelManager->GetFrameObjectStatus());
+			coreStatus.XNMMStatus((uint32_t)modelManager->GetFrameObjectStatus());
 		} else {
 			// 设置内核状态
 			coreStatus.XNMMStatus(2);
 		}
 		// 获取场景管理器
-		XNScenarioManager *scenarioManager = framework->findChild<XNScenarioManager *>();
+		XNScenarioManagerPtr scenarioManager = framework->GetScenarioManager();
 		// 如果场景管理器存在
 		if (scenarioManager) {
 			// 设置内核状态
-			coreStatus.XNSDStatus((quint32)scenarioManager->GetFrameObjectStatus());
+			coreStatus.XNSDStatus((uint32_t)scenarioManager->GetFrameObjectStatus());
 		} else {
 			// 设置内核状态
 			coreStatus.XNSDStatus(2);
 		}
 		// 设置框架状态
-		coreStatus.XNFWStatus((quint32)frameworkStatus);
+		coreStatus.XNFWStatus((uint32_t)frameworkStatus);
 		// 设置引擎状态
 		engineStatus.XNCoreSt(coreStatus);
 		// 写入引擎状态
@@ -295,7 +332,7 @@ void XNEngine::PublishEngineStatus()
 }
 
 // 运行引擎
-bool XNEngine::Run(const QString &XmlPath)
+bool XNEngine::Run(const std::string &XmlPath)
 {
 	// 设置日志级别
 	bool isReady = SetLogLevel(XmlPath);
@@ -309,92 +346,75 @@ bool XNEngine::Run(const QString &XmlPath)
 	// 设置CPU亲和性
 	framework->SetCpuAffinity(CPUAffinity);
 	// 单次触发初始化信号
-	QTimer::singleShot(50, [this]() { emit InitializeSignal(); });
+	bool ret = framework->Initialize(0);
+	// 如果初始化失败
+	if (!ret) {
+		// 返回失败
+		return false;
+	}
+	// 如果初始化成功
+	// 设置框架状态
+	frameworkStatus = XNFrameObjectStatus::Initialized;
+	// 记录信息日志
+	LOG_INFO("XNEngine Initialize Success!");
+	// 如果测试模式
+	if (isTestMode) {
+		// 记录信息日志
+		LOG_INFO("Verification passed!");
+		// 返回成功
+		return true;
+	}
+	ret = framework->PrepareForExecute();
+	// 如果准备执行失败
+	if (!ret) {
+		// 返回失败
+		return false;
+	}
+	// 设置框架状态
+	frameworkStatus = XNFrameObjectStatus::Ready;
+	// 获取DDS管理器
+	XNDDSManagerPtr ddsManager = framework->GetDDSManager();
+	// 如果DDS管理器存在
+	if (ddsManager) {
+		// 注册仿真控制订阅者
+		auto func = std::bind(&XNEngine::SimControlListener, this, std::placeholders::_1);
+		ddsManager->RegisterSubscriber<XNSim::XNSimControl::XNRuntimeControlPubSubType>(
+			"XNSim::XNSimControl::XNRuntimeControl", 0, func);
+		// 触发仿真控制信号
+		framework->SimControl(0, SimControlCmd::Start);
+		// 注册引擎状态发布者
+		engineStatusWriter =
+			ddsManager->RegisterPublisher<XNSim::XNSimStatus::XNEngineStatusPubSubType>(
+				"XNSim::XNSimStatus::XNEngineStatus", 0);
+		// 如果引擎状态写入器存在
+		if (engineStatusWriter) {
+			// 设置引擎运行标志
+			engineRunning = true;
+			while (engineRunning) {
+				// 发布一次初始状态
+				PublishEngineStatus();
+				// 等待1秒
+				std::this_thread::sleep_for(std::chrono::seconds(1));
+			}
+			if (!engineRunning) {
+				// 取消注册引擎状态发布者
+				//ddsManager->UnregisterPublisher("XNSim::XNSimStatus::XNEngineStatus");
+				//ddsManager->UnregisterSubscriber("XNSim::XNSimControl::XNRuntimeControl");
+			}
+		}
+	} else {
+		// 记录错误日志
+		LOG_ERROR("0x1007 Failed to prepare for execution, the engine will exit!");
+	}
+
 	// 返回成功
 	return true;
 }
 
-// 初始化成功
+bool XNEngine::Run(const uint32_t &ConfigId)
-void XNEngine::OnInitializeSuccess(bool isSuccess)
 {
-	if (isSuccess) { // 如果初始化成功
+	return true;
-		// 如果不是测试模式
-		if (!isTestMode) {
-			// 设置框架状态
-			frameworkStatus = XNFrameObjectStatus::Initialized;
-			// 记录信息日志
-			LOG_INFO("XNEngine Initialize Success!");
-			// 触发准备执行信号
-			emit PrepareforExecuteSignal();
-		} else {
-			// 记录信息日志
-			LOG_INFO("Verification passed!");
-			// 退出应用程序
-			QCoreApplication::quit();
-		}
-	} else { // 如果初始化失败
-		// 如果不是测试模式
-		if (!isTestMode) {
-			// 设置框架状态
-			frameworkStatus = XNFrameObjectStatus::Unknown;
-			// 记录错误日志
-			qFatal("0x1006 Failed to initialize the engine, the engine will exit!");
-		} else {
-			// 记录信息日志
-			LOG_INFO("Verification failed!");
-			// 退出应用程序
-			QCoreApplication::quit();
-		}
-	}
 }
-
-// 准备执行成功
-void XNEngine::OnPrepareforExecuteSuccess(bool isSuccess)
-{
-	// 如果准备执行成功
-	if (isSuccess) {
-		// 设置框架状态
-		frameworkStatus = XNFrameObjectStatus::Ready;
-		// 获取DDS管理器
-		XNDDSManager *ddsManager = framework->findChild<XNDDSManager *>();
-		// 如果DDS管理器存在
-		if (ddsManager) {
-			// 注册引擎状态发布者
-			engineStatusWriter =
-				ddsManager->RegisterPublisher<XNSim::XNSimStatus::XNEngineStatusPubSubType>(
-					"XNSim::XNSimStatus::XNEngineStatus", 0);
-			// 如果引擎状态写入器存在
-			if (engineStatusWriter) {
-				// 创建定时器
-				QTimer *timer = new QTimer(this);
-				// 设置定时器对象名称
-				timer->setObjectName("XNEngineStatusTimer");
-				// 连接定时器超时信号和槽
-				connect(timer, &QTimer::timeout, this, &XNEngine::PublishEngineStatus);
-				// 连接停止定时器信号和槽
-				connect(this, &XNEngine::StopTimer, timer, &QTimer::stop, Qt::QueuedConnection);
-				// 启动定时器
-				timer->start(1000); // Timer will trigger every second
-			}
-
-			// 注册仿真控制订阅者
-			auto func = std::bind(&XNEngine::SimControlListener, this, std::placeholders::_1);
-			ddsManager->RegisterSubscriber<XNSim::XNSimControl::XNRuntimeControlPubSubType>(
-				"XNSim::XNSimControl::XNRuntimeControl", 0, func);
-			// 触发仿真控制信号
-			emit SimControlSignal(0, SimControlCmd::Start);
-		} else {
-			// 记录错误日志
-			qFatal("0x1007 Failed to prepare for execution, the engine will exit!");
-		}
-	} else {
-		// 设置框架状态
-		frameworkStatus = XNFrameObjectStatus::Unknown;
-		// 记录错误日志
-		qFatal("0x1007 Failed to prepare for execution, the engine will exit!");
-	}
-}
-
 // 设置测试模式
 void XNEngine::SetTestMode(bool isTestMode)
 {

XNEngine/XNEngine.h

@@ -9,22 +9,20 @@
  * 
  */
 #include "../XNCore/XNFramework.h"
-#include <QObject>
 #include <fastdds/dds/publisher/DataWriter.hpp>
 #include "../XNCore/XNIDL/XNSimStatusPubSubTypes.hpp"
 
 /**
  * @brief 引擎类
  */
-class XNEngine : public QObject
+class XNEngine
 {
-	Q_OBJECT
 public:
 	/**
 	 * @brief 构造函数
 	 * @param parent 父对象
 	 */
-	explicit XNEngine(QObject *parent = nullptr);
+	explicit XNEngine();
 	/**
 	 * @brief 析构函数
 	 */
@@ -35,33 +33,7 @@ public:
 	 */
 	void SimControlListener(const XNSim::XNSimControl::XNRuntimeControl &cmd);
 
-signals:
+public:
-	/**
-	 * @brief 初始化成功信号
-	 * @param isSuccess 是否成功
-	 */
-	void InitializeSignal();
-	/**
-	 * @brief 分析场景XML信号
-	 * @param XmlPath 场景XML路径
-	 */
-	void AnalysisScenarioXmlSignal(const QString &XmlPath);
-	/**
-	 * @brief 准备执行信号
-	 */
-	void PrepareforExecuteSignal();
-	/**
-	 * @brief 仿真控制信号
-	 * @param objectID 对象ID
-	 * @param cmd 仿真控制命令
-	 */
-	void SimControlSignal(quint32 objectID, SimControlCmd cmd);
-	/**
-	 * @brief 停止定时器信号
-	 */
-	void StopTimer();
-
-public slots:
 	/**
 	 * @brief 初始化成功槽函数
 	 * @param isSuccess 是否成功
@@ -77,7 +49,13 @@ public slots:
 	 * @param XmlPath 场景XML路径
 	 * @return 是否成功
 	 */
-	bool Run(const QString &XmlPath);
+	bool Run(const std::string &XmlPath);
+	/**
+	 * @brief 运行引擎
+	 * @param ConfigId 构型ID
+	 * @return 是否成功
+	 */
+	bool Run(const uint32_t &ConfigId);
 	/**
 	 * @brief 设置测试模式
 	 * @param isTestMode 是否为测试模式
@@ -90,7 +68,7 @@ private:
 	 * @param XmlPath 场景XML路径
 	 * @return 是否成功
 	 */
-	bool SetLogLevel(const QString &XmlPath);
+	bool SetLogLevel(const std::string &XmlPath);
 	/**
 	 * @brief 发布引擎状态
 	 */
@@ -100,6 +78,11 @@ private:
 	 * @brief 是否为测试模式
 	 */
 	bool isTestMode;
+
+	/**
+	 * @brief 初始化类型
+	 */
+	uint32_t initializeType;
 	/**
 	 * @brief 主框架
 	 */
@@ -115,5 +98,9 @@ private:
 	/**
 	 * @brief CPU亲和性
 	 */
-	quint32 CPUAffinity;
+	unsigned int CPUAffinity;
+	/**
+	 * @brief 引擎运行标志
+	 */
+	std::atomic<bool> engineRunning{false};
 };

XNEngine/main.cpp

@@ -8,8 +8,11 @@
  * @copyright Copyright (c) 2025 COMAC
  * 
  */
-#include <QCoreApplication>
+#include <iostream>
+#include <string>
+#include <cstdlib>
 #include "XNEngine.h"
+
 /**
  * @brief 主函数
  * @param argc 参数个数
@@ -18,59 +21,85 @@
  */
 int main(int argc, char *argv[])
 {
-	QCoreApplication a(argc, argv);
-
-	//检测输入参数个数
-	if (argc <= 1) {
-		qFatal("0x1000 The input parameters do not contain the path to the runtime environment "
-			   "configuration file, the engine will exit!");
-	}
-
-	//第一个参数必须为运行环境配置文件路径
-	QString SecPath = argv[1];
-
-	//检测第一个参数是否是运行环境配置文件
-	//限制以下临时变量的生存
-	{
-		int index = SecPath.lastIndexOf('.');
-		if (index != -1) {
-			QString suffix = SecPath.mid(index);
-			if (suffix != QString(".xml") && suffix != QString(".sce")) {
-				qFatal("0x1001 The runtime environment configuration file is not a .xml or .sce "
-					   "file, the engine will exit!");
-			}
-		} else {
-			qFatal("0x1002 The runtime environment configuration file is not a .xml or .sce "
-				   "file, the engine will exit!");
-		}
-	}
-
 	XNEngine engine;
-	quint32 frameworkType = 0;
+	//检测输入参数个数
-	//依次读取其它附加参数
+	if (argc <= 2) {
-	for (int i = 2; i < argc;) {
+		std::cerr << "0x1000 The input parameters is too less!" << std::endl;
-		QString arg = argv[i];
+		return -1;
-		//TODO Error1003 ~ 101f
+	}
-		if ("-fw" == arg) {
+
+	std::string configPath;
+	std::string configId;
+	bool hasConfigPath = false;
+	bool hasConfigId   = false;
+
+	//检查是否包含-f和-id参数
+	for (int i = 1; i < argc;) {
+		std::string arg = argv[i];
+		if ("-f" == arg) {
 			if ((i + 1) < argc) {
-				frameworkType = atoi(argv[i + 1]);
+				configPath	  = argv[i + 1];
+				hasConfigPath = true;
 				i += 2;
 			} else {
-				qFatal("0x1003 After the -fw parameter, the framework type is not specified, the "
+				std::cerr << "0x1004 After the -f parameter, the configuration file path is not "
-					   "engine will exit!");
+							 "specified, "
+							 "the engine will exit!"
+						  << std::endl;
+				return -1;
+			}
+		} else if ("-id" == arg) {
+			if ((i + 1) < argc) {
+				configId	= argv[i + 1];
+				hasConfigId = true;
+				i += 2;
+			} else {
+				std::cerr
+					<< "0x1005 After the -id parameter, the configuration ID is not specified, "
+					   "the engine will exit!"
+					<< std::endl;
+				return -1;
 			}
 		} else if ("-test" == arg) {
 			engine.SetTestMode(true);
 			i++;
 		} else {
-			i++;
+			std::cerr << "0x1007 The parameter " << arg << " is not valid, the engine will exit!"
+					  << std::endl;
+			return -1;
 		}
-		//TODO 其它参数解析
 	}
 
-	// 引擎运行
+	//检查是否同时包含-f和-id参数
-	bool isReady = engine.Run(SecPath);
+	if (!hasConfigPath || !hasConfigId) {
-	if (!isReady)
+		std::cerr
+			<< "0x1006 Please specify either -f <config_file> or -id <config_id>, but not both. "
+			   "The engine will exit!"
+			<< std::endl;
 		return -1;
-	return a.exec();
+	}
+
+	//检测配置文件格式
+	if (hasConfigPath) {
+		size_t index = configPath.find_last_of('.');
+		if (index != std::string::npos) {
+			std::string suffix = configPath.substr(index);
+			if (suffix != ".xml" && suffix != ".sce") {
+				std::cerr << "0x1001 The configuration file is not a .xml or .sce "
+							 "file, the engine will exit!"
+						  << std::endl;
+				return -1;
+			}
+		} else {
+			std::cerr << "0x1002 The configuration file is not a .xml or .sce "
+						 "file, the engine will exit!"
+					  << std::endl;
+			return -1;
+		}
+		return engine.Run(configPath);
+	} else if (hasConfigId) {
+		return engine.Run(configId);
+	}
+	// 引擎运行
+	return engine.Run(configId);
 }