From a6818f35bcd9f90e72f1f009c70077a45e96ff5d Mon Sep 17 00:00:00 2001
From: jinchao <383321154@qq.com>
Date: Wed, 21 May 2025 12:17:50 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9DDSInterface=E5=AE=9E?=
 =?UTF-8?q?=E7=8E=B0=EF=BC=8C=E4=BF=AE=E5=A4=8DModelObject=E7=9A=84?=
 =?UTF-8?q?=E9=97=AE=E9=A2=98?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Release/include/XNCore/XNByteArray.h          |  99 +++++++
 Release/include/XNCore/XNCore_global.h        |   4 +
 Release/include/XNCore/XNDDSInterface.h       | 272 ++++++++----------
 Release/include/XNCore/XNModelObject.h        |  56 +++-
 Release/include/XNCore/XNModelObject_p.h      |   5 +
 Release/include/XNCore/XNThreadManager.h      |  16 ++
 Release/include/XNCore/XNTypeTraits.h         |  28 ++
 XNCore/.vscode/settings.json                  |   4 +-
 XNCore/CMakeLists.txt                         |   2 +
 XNCore/XNByteArray.h                          |  99 +++++++
 XNCore/XNCore_global.h                        |   4 +
 XNCore/XNDDSInterface.cpp                     | 107 +++++++
 XNCore/XNDDSInterface.h                       | 272 ++++++++----------
 XNCore/XNModelManager.cpp                     |  15 +-
 XNCore/XNModelObject.cpp                      |  78 ++++-
 XNCore/XNModelObject.h                        |  56 +++-
 XNCore/XNModelObject_p.h                      |   5 +
 XNCore/XNServiceManager.cpp                   |   3 +
 XNCore/XNThread.cpp                           |   3 +-
 XNCore/XNThreadManager.cpp                    |  12 +
 XNCore/XNThreadManager.h                      |  16 ++
 XNCore/XNTypeTraits.h                         |  28 ++
 XNModels/XNAerodynamics/.vscode/settings.json |  69 ++++-
 .../XNAerodynamics/XNAerodynamics.h           |   2 +-
 .../XNGroundHandling/XNGroundHandling.h       |  13 +-
 .../XNGroundHandling/XNGroundHandling_p.h     |  13 +-
 26 files changed, 951 insertions(+), 330 deletions(-)
 create mode 100644 Release/include/XNCore/XNByteArray.h
 create mode 100644 Release/include/XNCore/XNTypeTraits.h
 create mode 100644 XNCore/XNByteArray.h
 create mode 100644 XNCore/XNDDSInterface.cpp
 create mode 100644 XNCore/XNTypeTraits.h

diff --git a/Release/include/XNCore/XNByteArray.h b/Release/include/XNCore/XNByteArray.h
new file mode 100644
index 0000000..b6ba387
--- /dev/null
+++ b/Release/include/XNCore/XNByteArray.h
@@ -0,0 +1,99 @@
+#pragma once
+
+#include <vector>
+#include <cstdint>
+#include <cstring>
+
+/**
+ * @brief 自定义字节数组容器类
+ * @details 提供类似QByteArray的功能，用于处理二进制数据
+ */
+class XNByteArray
+{
+public:
+	XNByteArray() = default;
+	explicit XNByteArray(size_t size) : data_(size) {}
+
+	/**
+	 * @brief 从原始数据构造
+	 * @param buffer 原始数据缓冲区
+	 * @param size 数据大小
+	 */
+	XNByteArray(const uint8_t *buffer, size_t size) : data_(buffer, buffer + size) {}
+
+	/**
+	 * @brief 获取数据指针
+	 * @return 数据指针
+	 */
+	uint8_t *data() { return data_.data(); }
+
+	/**
+	 * @brief 获取常量数据指针
+	 * @return 常量数据指针
+	 */
+	const uint8_t *data() const { return data_.data(); }
+
+	/**
+	 * @brief 获取数据大小
+	 * @return 数据大小
+	 */
+	size_t size() const { return data_.size(); }
+
+	/**
+	 * @brief 调整大小
+	 * @param size 新大小
+	 */
+	void resize(size_t size) { data_.resize(size); }
+
+	/**
+	 * @brief 清空数据
+	 */
+	void clear() { data_.clear(); }
+
+	/**
+	 * @brief 追加数据
+	 * @param buffer 要追加的数据
+	 * @param size 数据大小
+	 */
+	void append(const uint8_t *buffer, size_t size)
+	{
+		size_t oldSize = data_.size();
+		data_.resize(oldSize + size);
+		std::memcpy(data_.data() + oldSize, buffer, size);
+	}
+
+	/**
+	 * @brief 追加另一个XNByteArray
+	 * @param other 要追加的XNByteArray
+	 */
+	void append(const XNByteArray &other) { append(other.data(), other.size()); }
+
+	/**
+	 * @brief 获取指定位置的字节
+	 * @param index 索引
+	 * @return 字节值
+	 */
+	uint8_t &operator[](size_t index) { return data_[index]; }
+
+	/**
+	 * @brief 获取指定位置的字节（常量版本）
+	 * @param index 索引
+	 * @return 字节值
+	 */
+	const uint8_t &operator[](size_t index) const { return data_[index]; }
+
+	/**
+	 * @brief 检查是否为空
+	 * @return 是否为空
+	 */
+	bool isEmpty() const { return data_.empty(); }
+
+	/**
+	 * @brief 预分配空间
+	 * @param size 要预分配的大小
+	 */
+	void reserve(size_t size) { data_.reserve(size); }
+
+private:
+	std::vector<uint8_t> data_;
+};
\ No newline at end of file
diff --git a/Release/include/XNCore/XNCore_global.h b/Release/include/XNCore/XNCore_global.h
index cf4c785..b4ce4bb 100644
--- a/Release/include/XNCore/XNCore_global.h
+++ b/Release/include/XNCore/XNCore_global.h
@@ -37,6 +37,9 @@
 #	include <sstream>
 #	include <dlfcn.h>
 #	include <filesystem>
+#	include <array>
+#	include <cstring>
+#	include <iostream>
 #endif
 
 #include <fastdds/dds/domain/DomainParticipant.hpp>
@@ -47,6 +50,7 @@
 #include <fastdds/dds/subscriber/Subscriber.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 #include <fastdds/dds/subscriber/DataReaderListener.hpp>
+#include <fastcdr/xcdr/optional.hpp>
 #define FAST_DDS_MACRO eprosima::fastdds::dds
 
 /**
diff --git a/Release/include/XNCore/XNDDSInterface.h b/Release/include/XNCore/XNDDSInterface.h
index b884b45..21ba78c 100644
--- a/Release/include/XNCore/XNDDSInterface.h
+++ b/Release/include/XNCore/XNDDSInterface.h
@@ -1,191 +1,149 @@
 #pragma once
 
-#include <string>
-#include <vector>
-#include <unordered_map>
-#include <mutex>
-#include <sstream>
-#include <iomanip>
-#include <array>
-#include <functional>
-#include <cstring>
-#include <iostream>
-#include <fastcdr/xcdr/optional.hpp>
+#include "XNObject.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;
 
-template <typename T>
-struct is_std_array : std::false_type {
-};
-
-template <typename T, std::size_t N>
-struct is_std_array<std::array<T, N>> : std::true_type {
-};
-
-// 变量模板简化使用
-template <typename T>
-inline constexpr bool is_std_array_v = is_std_array<T>::value;
-
-// 获取类型大小的辅助函数
-template <typename T>
-constexpr size_t getTypeSize()
-{
-	if constexpr (is_std_array_v<T>) {
-		// 对于std::array，计算所有元素的总大小
-		return getTypeSize<typename T::value_type>() * std::tuple_size<T>::value;
-	} else {
-		return sizeof(T);
-	}
-}
-
 class XNDDSInterface
 {
 public:
 	XNDDSInterface()		  = default;
 	virtual ~XNDDSInterface() = default;
 
-	void getUDPPackage(uint8_t *buffer, size_t bufferSize)
-	{
-		if (bufferSize < MAX_UDP_PACKET_SIZE)
-			return;
+public:
+	/**
+	 * @brief 初始化
+	 * @param framework: 框架
+	 */
+	virtual void Initialize(XNFrameworkPtr framework) = 0;
 
-		size_t currentPos = 0;
+	/**
+	 * @brief 获取该接口的UDP包
+	 * @return 字节数组
+	 */
+	XNByteArray getUDPPackage();
 
-		// 复制头部
-		if (headerSize >= 5) {
-			std::memcpy(buffer, header, 5);
-			currentPos = 5;
-		}
-
-		// 复制数据
-		for (auto func : getByteArrayFunction) {
-			if (currentPos + func.size <= MAX_UDP_PACKET_SIZE) {
-				func.func(buffer + currentPos, func.size);
-				currentPos += func.size;
-			} else {
-				break; // 超出最大包大小
-			}
-		}
-
-		// 更新包大小
-		if (currentPos >= 5) {
-			buffer[4] = static_cast<uint8_t>(currentPos);
-		}
-	}
-
-	std::string getData(const std::string &varName)
-	{
-		int index1				= -1;
-		int index2				= -1;
-		std::string trueVarName = varName;
-
-		size_t startPos = varName.find('[');
-		if (startPos != std::string::npos) {
-			size_t midPos = varName.find("][", startPos);
-			size_t endPos = varName.find_last_of(']');
-
-			if (midPos != std::string::npos) {
-				try {
-					index1 = std::stoi(varName.substr(startPos + 1, midPos - startPos - 1));
-					index2 = std::stoi(varName.substr(midPos + 2, endPos - midPos - 2));
-				} catch (...) {
-					std::cerr << "无法解析数组索引: " << varName << std::endl;
-					index1 = 0;
-					index2 = 0;
-				}
-			} else if (endPos != std::string::npos) {
-				try {
-					index1 = std::stoi(varName.substr(startPos + 1, endPos - startPos - 1));
-				} catch (...) {
-					std::cerr << "无法解析数组索引: " << varName << std::endl;
-					index1 = 0;
-				}
-			}
-			trueVarName = varName.substr(0, startPos);
-		}
-
-		auto it = getDataFunction.find(trueVarName);
-		if (it == getDataFunction.end()) {
-			return std::string();
-		}
-
-		std::lock_guard<std::mutex> lock(mutex);
-		std::string result = it->second();
-
-		if (index1 < 0) {
-			return result;
-		}
-
-		std::vector<std::string> list;
-		std::stringstream ss(result);
-		std::string item;
-		while (std::getline(ss, item, ',')) {
-			list.push_back(item);
-		}
-
-		if (index1 >= static_cast<int>(list.size())) {
-			std::cerr << "数组索引超出范围: " << varName << std::endl;
-			return std::string();
-		}
-
-		if (index2 < 0) {
-			return list[index1];
-		}
-
-		std::vector<std::string> list2;
-		std::stringstream ss2(list[index1]);
-		while (std::getline(ss2, item, ' ')) {
-			list2.push_back(item);
-		}
-
-		if (index2 >= static_cast<int>(list2.size())) {
-			std::cerr << "数组索引超出范围: " << varName << std::endl;
-			return std::string();
-		}
-
-		return list2[index2];
-	}
+	/**
+	 * @brief JSON前端获取指定变量的数据
+	 * @param varName: 变量名
+	 * @param nameSize: 变量名大小
+	 * @param varData: 数据
+	 * @param dataSize: 数据大小
+	 */
+	void getData(const char *varName, const size_t nameSize, char *varData, size_t dataSize);
 
 protected:
+	/**
+	 * @brief 获取指定变量的字节数据，用于网络通信
+	 * @param data: 数据
+	 * @return 字节数组
+	 */
 	template <typename T>
-	void getByteArray(eprosima::fastcdr::optional<T> data, uint8_t *buffer, size_t bufferSize)
+	XNByteArray getByteArray(eprosima::fastcdr::optional<T> data)
 	{
-		if (bufferSize < getTypeSize<T>())
-			return;
+		XNByteArray result(getTypeSize<T>());
 
 		if constexpr (std::is_arithmetic_v<T>) {
 			if (data) {
-				std::memcpy(buffer, &data.value(), sizeof(T));
+				std::memcpy(result.data(), &data.value(), sizeof(T));
 			} else {
 				T zero = 0;
-				std::memcpy(buffer, &zero, sizeof(T));
+				std::memcpy(result.data(), &zero, sizeof(T));
 			}
 		} else if constexpr (is_std_array_v<T>) {
 			if (data) {
-				getByteArrayFromStdArray(data.value(), buffer, bufferSize);
+				return getByteArrayFromStdArray(data.value());
 			} else {
 				T zero = {};
-				getByteArrayFromStdArray(zero, buffer, bufferSize);
+				return getByteArrayFromStdArray(zero);
 			}
+		} else {
+			static_assert(std::is_arithmetic_v<T> || is_std_array_v<T>,
+						  "Type must be arithmetic or std::array");
+		}
+
+		return result;
+	}
+
+	/**
+	 * @brief 设置指定变量的字节数据，用于网络通信
+	 * @param data: 数据
+	 * @param byteArray: 字节数组
+	 */
+	template <typename T>
+	void setByteArray(eprosima::fastcdr::optional<T> &data, const XNByteArray &byteArray)
+	{
+		if (byteArray.size() < getTypeSize<T>())
+			return;
+
+		if constexpr (std::is_arithmetic_v<T>) {
+			T temp;
+			std::memcpy(&temp, byteArray.data(), sizeof(T));
+			data = temp;
+		} else if constexpr (is_std_array_v<T>) {
+			if (!data) {
+				data = T{};
+			}
+			setByteArrayFromStdArray(data.value(), byteArray);
+		} else {
+			static_assert(std::is_arithmetic_v<T> || is_std_array_v<T>,
+						  "Type must be arithmetic or std::array");
 		}
 	}
 
+	/**
+	 * @brief 获取指定数组变量的字节数据，用于网络通信
+	 * @param data: 数据
+	 * @return 字节数组
+	 */
 	template <typename T, std::size_t N>
-	void getByteArrayFromStdArray(std::array<T, N> data, uint8_t *buffer, size_t bufferSize)
+	XNByteArray getByteArrayFromStdArray(const std::array<T, N> &data)
 	{
-		if (bufferSize < getTypeSize<T>() * N)
+		XNByteArray result(getTypeSize<T>() * N);
+
+		for (std::size_t i = 0; i < N; ++i) {
+			if constexpr (std::is_arithmetic_v<T>) {
+				std::memcpy(result.data() + i * getTypeSize<T>(), &data[i], getTypeSize<T>());
+			} else {
+				XNByteArray subArray = getByteArrayFromStdArray(data[i]);
+				std::memcpy(result.data() + i * getTypeSize<T>(), subArray.data(),
+							getTypeSize<T>());
+			}
+		}
+
+		return result;
+	}
+
+	/**
+	 * @brief 设置指定数组变量的字节数据，用于网络通信
+	 * @param data: 数据
+	 * @param byteArray: 字节数组
+	 */
+	template <typename T, std::size_t N>
+	void setByteArrayFromStdArray(std::array<T, N> &data, const XNByteArray &byteArray)
+	{
+		if (byteArray.size() < getTypeSize<T>() * N)
 			return;
 
 		for (std::size_t i = 0; i < N; ++i) {
 			if constexpr (std::is_arithmetic_v<T>) {
-				std::memcpy(buffer + i * getTypeSize<T>(), &data[i], getTypeSize<T>());
+				std::memcpy(&data[i], byteArray.data() + i * getTypeSize<T>(), getTypeSize<T>());
 			} else {
-				getByteArrayFromStdArray(data[i], buffer + i * getTypeSize<T>(), getTypeSize<T>());
+				XNByteArray subArray(byteArray.data() + i * getTypeSize<T>(), getTypeSize<T>());
+				setByteArrayFromStdArray(data[i], subArray);
 			}
 		}
 	}
 
+	/**
+	 * @brief 获取指定变量的字符串数据，用于JSON前端
+	 * @param data: 数据
+	 * @return: 数据（字符串格式）
+	 */
 	template <typename T>
 	std::string getString(eprosima::fastcdr::optional<T> data)
 	{
@@ -206,6 +164,11 @@ protected:
 		return std::string();
 	}
 
+	/**
+	 * @brief 获取指定数组变量的字符串数据，用于JSON前端
+	 * @param data: 数据
+	 * @return: 数据（字符串格式）
+	 */
 	template <typename T, std::size_t N>
 	std::string getStringFromStdArray(std::array<T, N> data)
 	{
@@ -222,24 +185,35 @@ protected:
 		return ss.str();
 	}
 
+private:
+	/**
+	 * @brief 通过变量名获取指定的数据
+	 * @param varName: 变量名
+	 * @return: 数据（字符串格式）
+	 */
+	std::string getData(const std::string &varName);
+
 protected:
 	struct ByteArrayFunc {
-		std::function<void(uint8_t *, size_t)> func;
+		std::function<XNByteArray(void)> func;
 		size_t size;
 	};
 
 	std::unordered_map<std::string, std::function<std::string()>> getDataFunction;
 	std::vector<ByteArrayFunc> getByteArrayFunction;
+	std::unordered_map<std::string, std::function<void(XNByteArray)>> setByteArrayFunction;
 	std::mutex mutex;
 	uint8_t header[5]{}; // 固定大小的头部
 	size_t headerSize = 0;
 };
 
-#define MAP_GET_DATA_FUNC(NAME)                                                                    \
+#define MAP_DATA_FUNC(NAME)                                                                        \
 	getDataFunction[#NAME] = [this]() { return getString(data.NAME()); };                          \
 	getByteArrayFunction.push_back(                                                                \
-		{[this](uint8_t *buffer, size_t size) { getByteArray(data.NAME(), buffer, size); },        \
-		 getTypeSize<decltype(data.NAME())>()})
+		{[this]() { return getByteArray(data.NAME()); }, getTypeSize<decltype(data.NAME())>()});   \
+	setByteArrayFunction[#NAME] = [this](XNByteArray byteArray) {                                  \
+		setByteArray(data.NAME(), byteArray);                                                      \
+	}
 
 #define ASSIGN_VALUE_GET(NAME)                                                                     \
 	if (data.NAME()) {                                                                             \
diff --git a/Release/include/XNCore/XNModelObject.h b/Release/include/XNCore/XNModelObject.h
index f6b6467..91dc622 100644
--- a/Release/include/XNCore/XNModelObject.h
+++ b/Release/include/XNCore/XNModelObject.h
@@ -121,6 +121,54 @@ public:
 	 */
 	void SetVersion(const std::string &sVersion);
 
+	/**
+	 * @brief 获取模型运行频率组
+	 * @return uint32_t:	模型运行频率组
+	 */
+	uint32_t GetRunFreq() const;
+
+	/**
+	 * @brief 设置模型运行频率组
+	 * @param runFreq:	uint32_t类型，模型运行频率组
+	 */
+	void SetRunFreq(uint32_t runFreq);
+
+	/**
+	 * @brief 获取模型运行节点
+	 * @return uint32_t:	模型运行节点
+	 */
+	uint32_t GetRunNode() const;
+
+	/**
+	 * @brief 设置模型运行节点
+	 * @param runNode:	uint32_t类型，模型运行节点
+	 */
+	void SetRunNode(uint32_t runNode);
+
+	/**
+	 * @brief 获取模型运行优先级
+	 * @return uint32_t:	模型运行优先级
+	 */
+	uint32_t GetRunPriority() const;
+
+	/**
+	 * @brief 设置模型运行优先级
+	 * @param runPriority:	uint32_t类型，模型运行优先级
+	 */
+	void SetRunPriority(uint32_t runPriority);
+
+	/**
+	 * @brief 获取模型设置频率
+	 * @return double:	模型设置频率
+	 */
+	double GetSetFreq() const;
+
+	/**
+	 * @brief 设置模型设置频率
+	 * @param setFreq:	double类型，模型设置频率
+	 */
+	void SetSetFreq(double setFreq);
+
 	/**
 	 * @brief 单步执行函数
 	 * @details 模型默认的周期性执行函数
@@ -169,12 +217,18 @@ public:
 		TriggerEvent(eventName, eventData, true, XNEvent::Priority::RealTime);
 	}
 
+	void SetInitializeType(uint32_t initialType);
+
+	void SetThreadID(uint32_t threadID);
+
+	uint32_t GetThreadID() const;
+
 	/**
 	 * @brief 初始化函数
 	 * @details
 	 * 模型的初始化函数接口，子类继承时要调用父类初始化接口，或在此函数中使用AddMyFunction方法注册需要被线程调用的函数
 	 */
-	virtual void Initialize(uint32_t initialType, uint32_t threadID);
+	virtual void Initialize();
 
 	/**
 	 * @brief 仿真系统运行前做最后处理
diff --git a/Release/include/XNCore/XNModelObject_p.h b/Release/include/XNCore/XNModelObject_p.h
index 6374413..6b3703c 100644
--- a/Release/include/XNCore/XNModelObject_p.h
+++ b/Release/include/XNCore/XNModelObject_p.h
@@ -84,6 +84,11 @@ struct XNModelObjectPrivate : public XNObjectPrivate {
 	 */
 	double _setFreq;
 
+	/**
+	 * @brief 模型初始化类型
+	 */
+	uint32_t _initialType;
+
 	/**
 	 * @brief 模型线程ID
 	 */
diff --git a/Release/include/XNCore/XNThreadManager.h b/Release/include/XNCore/XNThreadManager.h
index 968a90d..9c3ad77 100644
--- a/Release/include/XNCore/XNThreadManager.h
+++ b/Release/include/XNCore/XNThreadManager.h
@@ -81,6 +81,22 @@ public:
 	 */
 	virtual bool PrepareForExecute() override;
 
+	/**
+	 * @brief 设置线程频率
+	 * @param threadID:	UINT32类型，线程ID
+	 * @param freq:	double类型，线程频率
+	 * @details 设置线程频率接口
+	 */
+	void SetThreadFreqByID(uint32_t threadID, double freq);
+
+	/**
+	 * @brief 获取线程频率
+	 * @param threadID:	UINT32类型，线程ID
+	 * @return double:	线程频率
+	 * @details 获取线程频率接口
+	 */
+	double GetThreadFreqByID(uint32_t threadID);
+
 	/**
 	 * @brief 仿真控制
 	 * @param objectId:	对象ID
diff --git a/Release/include/XNCore/XNTypeTraits.h b/Release/include/XNCore/XNTypeTraits.h
new file mode 100644
index 0000000..2be257d
--- /dev/null
+++ b/Release/include/XNCore/XNTypeTraits.h
@@ -0,0 +1,28 @@
+#pragma once
+#include <array>
+#include <type_traits>
+#include <cstddef>
+
+template <typename T>
+struct is_std_array : std::false_type {
+};
+
+template <typename T, std::size_t N>
+struct is_std_array<std::array<T, N>> : std::true_type {
+};
+
+// 变量模板简化使用
+template <typename T>
+inline constexpr bool is_std_array_v = is_std_array<T>::value;
+
+// 获取类型大小的辅助函数
+template <typename T>
+constexpr size_t getTypeSize()
+{
+	if constexpr (is_std_array_v<T>) {
+		// 对于std::array，计算所有元素的总大小
+		return getTypeSize<typename T::value_type>() * std::tuple_size<T>::value;
+	} else {
+		return sizeof(T);
+	}
+}
\ No newline at end of file
diff --git a/XNCore/.vscode/settings.json b/XNCore/.vscode/settings.json
index 3cea849..47ef93c 100755
--- a/XNCore/.vscode/settings.json
+++ b/XNCore/.vscode/settings.json
@@ -79,6 +79,8 @@
 		"csignal": "cpp",
 		"any": "cpp",
 		"unordered_set": "cpp",
-		"fstream": "cpp"
+		"fstream": "cpp",
+		"forward_list": "cpp",
+		"valarray": "cpp"
 	}
 }
\ No newline at end of file
diff --git a/XNCore/CMakeLists.txt b/XNCore/CMakeLists.txt
index 91d8b7e..8404cf9 100755
--- a/XNCore/CMakeLists.txt
+++ b/XNCore/CMakeLists.txt
@@ -21,6 +21,8 @@ find_package(OpenSSL REQUIRED)
 add_library(XNCore SHARED
   XNCore_global.h
   XNCore_Function.cpp
+  XNTypeTraits.h
+  XNByteArray.h
   XNObject.h
   XNObject.cpp
   XNObject_p.h
diff --git a/XNCore/XNByteArray.h b/XNCore/XNByteArray.h
new file mode 100644
index 0000000..b6ba387
--- /dev/null
+++ b/XNCore/XNByteArray.h
@@ -0,0 +1,99 @@
+#pragma once
+
+#include <vector>
+#include <cstdint>
+#include <cstring>
+
+/**
+ * @brief 自定义字节数组容器类
+ * @details 提供类似QByteArray的功能，用于处理二进制数据
+ */
+class XNByteArray
+{
+public:
+	XNByteArray() = default;
+	explicit XNByteArray(size_t size) : data_(size) {}
+
+	/**
+	 * @brief 从原始数据构造
+	 * @param buffer 原始数据缓冲区
+	 * @param size 数据大小
+	 */
+	XNByteArray(const uint8_t *buffer, size_t size) : data_(buffer, buffer + size) {}
+
+	/**
+	 * @brief 获取数据指针
+	 * @return 数据指针
+	 */
+	uint8_t *data() { return data_.data(); }
+
+	/**
+	 * @brief 获取常量数据指针
+	 * @return 常量数据指针
+	 */
+	const uint8_t *data() const { return data_.data(); }
+
+	/**
+	 * @brief 获取数据大小
+	 * @return 数据大小
+	 */
+	size_t size() const { return data_.size(); }
+
+	/**
+	 * @brief 调整大小
+	 * @param size 新大小
+	 */
+	void resize(size_t size) { data_.resize(size); }
+
+	/**
+	 * @brief 清空数据
+	 */
+	void clear() { data_.clear(); }
+
+	/**
+	 * @brief 追加数据
+	 * @param buffer 要追加的数据
+	 * @param size 数据大小
+	 */
+	void append(const uint8_t *buffer, size_t size)
+	{
+		size_t oldSize = data_.size();
+		data_.resize(oldSize + size);
+		std::memcpy(data_.data() + oldSize, buffer, size);
+	}
+
+	/**
+	 * @brief 追加另一个XNByteArray
+	 * @param other 要追加的XNByteArray
+	 */
+	void append(const XNByteArray &other) { append(other.data(), other.size()); }
+
+	/**
+	 * @brief 获取指定位置的字节
+	 * @param index 索引
+	 * @return 字节值
+	 */
+	uint8_t &operator[](size_t index) { return data_[index]; }
+
+	/**
+	 * @brief 获取指定位置的字节（常量版本）
+	 * @param index 索引
+	 * @return 字节值
+	 */
+	const uint8_t &operator[](size_t index) const { return data_[index]; }
+
+	/**
+	 * @brief 检查是否为空
+	 * @return 是否为空
+	 */
+	bool isEmpty() const { return data_.empty(); }
+
+	/**
+	 * @brief 预分配空间
+	 * @param size 要预分配的大小
+	 */
+	void reserve(size_t size) { data_.reserve(size); }
+
+private:
+	std::vector<uint8_t> data_;
+};
\ No newline at end of file
diff --git a/XNCore/XNCore_global.h b/XNCore/XNCore_global.h
index cf4c785..b4ce4bb 100755
--- a/XNCore/XNCore_global.h
+++ b/XNCore/XNCore_global.h
@@ -37,6 +37,9 @@
 #	include <sstream>
 #	include <dlfcn.h>
 #	include <filesystem>
+#	include <array>
+#	include <cstring>
+#	include <iostream>
 #endif
 
 #include <fastdds/dds/domain/DomainParticipant.hpp>
@@ -47,6 +50,7 @@
 #include <fastdds/dds/subscriber/Subscriber.hpp>
 #include <fastdds/dds/topic/TypeSupport.hpp>
 #include <fastdds/dds/subscriber/DataReaderListener.hpp>
+#include <fastcdr/xcdr/optional.hpp>
 #define FAST_DDS_MACRO eprosima::fastdds::dds
 
 /**
diff --git a/XNCore/XNDDSInterface.cpp b/XNCore/XNDDSInterface.cpp
new file mode 100644
index 0000000..839d46d
--- /dev/null
+++ b/XNCore/XNDDSInterface.cpp
@@ -0,0 +1,107 @@
+#include "XNDDSInterface.h"
+#include "XNObject_p.h"
+#include <nlohmann/json.hpp>
+
+using json = nlohmann::json;
+
+void XNDDSInterface::getUDPPackage(uint8_t *buffer, size_t bufferSize)
+{
+	if (bufferSize < MAX_UDP_PACKET_SIZE)
+		return;
+
+	size_t currentPos = 0;
+
+	// 复制头部
+	if (headerSize >= 5) {
+		std::memcpy(buffer, header, 5);
+		currentPos = 5;
+	}
+
+	// 复制数据
+	for (auto func : getByteArrayFunction) {
+		if (currentPos + func.size <= MAX_UDP_PACKET_SIZE) {
+			func.func(buffer + currentPos, func.size);
+			currentPos += func.size;
+		} else {
+			break; // 超出最大包大小
+		}
+	}
+
+	// 更新包大小
+	if (currentPos >= 5) {
+		buffer[4] = static_cast<uint8_t>(currentPos);
+	}
+}
+
+std::string XNDDSInterface::getData(const std::string &varName)
+{
+	int index1				= -1;
+	int index2				= -1;
+	std::string trueVarName = varName;
+
+	size_t startPos = varName.find('[');
+	if (startPos != std::string::npos) {
+		size_t midPos = varName.find("][", startPos);
+		size_t endPos = varName.find_last_of(']');
+
+		if (midPos != std::string::npos) {
+			try {
+				index1 = std::stoi(varName.substr(startPos + 1, midPos - startPos - 1));
+				index2 = std::stoi(varName.substr(midPos + 2, endPos - midPos - 2));
+			} catch (...) {
+				std::cerr << "无法解析数组索引: " << varName << std::endl;
+				index1 = 0;
+				index2 = 0;
+			}
+		} else if (endPos != std::string::npos) {
+			try {
+				index1 = std::stoi(varName.substr(startPos + 1, endPos - startPos - 1));
+			} catch (...) {
+				std::cerr << "无法解析数组索引: " << varName << std::endl;
+				index1 = 0;
+			}
+		}
+		trueVarName = varName.substr(0, startPos);
+	}
+
+	auto it = getDataFunction.find(trueVarName);
+	if (it == getDataFunction.end()) {
+		return std::string();
+	}
+
+	std::lock_guard<std::mutex> lock(mutex);
+	std::string result = it->second();
+
+	if (index1 < 0) {
+		return result;
+	}
+
+	std::vector<std::string> list;
+	std::stringstream ss(result);
+	std::string item;
+	while (std::getline(ss, item, ',')) {
+		list.push_back(item);
+	}
+
+	if (index1 >= static_cast<int>(list.size())) {
+		std::cerr << "数组索引超出范围: " << varName << std::endl;
+		return std::string();
+	}
+
+	if (index2 < 0) {
+		return list[index1];
+	}
+
+	std::vector<std::string> list2;
+	std::stringstream ss2(list[index1]);
+	while (std::getline(ss2, item, ' ')) {
+		list2.push_back(item);
+	}
+
+	if (index2 >= static_cast<int>(list2.size())) {
+		std::cerr << "数组索引超出范围: " << varName << std::endl;
+		return std::string();
+	}
+
+	return list2[index2];
+}
\ No newline at end of file
diff --git a/XNCore/XNDDSInterface.h b/XNCore/XNDDSInterface.h
index b884b45..21ba78c 100644
--- a/XNCore/XNDDSInterface.h
+++ b/XNCore/XNDDSInterface.h
@@ -1,191 +1,149 @@
 #pragma once
 
-#include <string>
-#include <vector>
-#include <unordered_map>
-#include <mutex>
-#include <sstream>
-#include <iomanip>
-#include <array>
-#include <functional>
-#include <cstring>
-#include <iostream>
-#include <fastcdr/xcdr/optional.hpp>
+#include "XNObject.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;
 
-template <typename T>
-struct is_std_array : std::false_type {
-};
-
-template <typename T, std::size_t N>
-struct is_std_array<std::array<T, N>> : std::true_type {
-};
-
-// 变量模板简化使用
-template <typename T>
-inline constexpr bool is_std_array_v = is_std_array<T>::value;
-
-// 获取类型大小的辅助函数
-template <typename T>
-constexpr size_t getTypeSize()
-{
-	if constexpr (is_std_array_v<T>) {
-		// 对于std::array，计算所有元素的总大小
-		return getTypeSize<typename T::value_type>() * std::tuple_size<T>::value;
-	} else {
-		return sizeof(T);
-	}
-}
-
 class XNDDSInterface
 {
 public:
 	XNDDSInterface()		  = default;
 	virtual ~XNDDSInterface() = default;
 
-	void getUDPPackage(uint8_t *buffer, size_t bufferSize)
-	{
-		if (bufferSize < MAX_UDP_PACKET_SIZE)
-			return;
+public:
+	/**
+	 * @brief 初始化
+	 * @param framework: 框架
+	 */
+	virtual void Initialize(XNFrameworkPtr framework) = 0;
 
-		size_t currentPos = 0;
+	/**
+	 * @brief 获取该接口的UDP包
+	 * @return 字节数组
+	 */
+	XNByteArray getUDPPackage();
 
-		// 复制头部
-		if (headerSize >= 5) {
-			std::memcpy(buffer, header, 5);
-			currentPos = 5;
-		}
-
-		// 复制数据
-		for (auto func : getByteArrayFunction) {
-			if (currentPos + func.size <= MAX_UDP_PACKET_SIZE) {
-				func.func(buffer + currentPos, func.size);
-				currentPos += func.size;
-			} else {
-				break; // 超出最大包大小
-			}
-		}
-
-		// 更新包大小
-		if (currentPos >= 5) {
-			buffer[4] = static_cast<uint8_t>(currentPos);
-		}
-	}
-
-	std::string getData(const std::string &varName)
-	{
-		int index1				= -1;
-		int index2				= -1;
-		std::string trueVarName = varName;
-
-		size_t startPos = varName.find('[');
-		if (startPos != std::string::npos) {
-			size_t midPos = varName.find("][", startPos);
-			size_t endPos = varName.find_last_of(']');
-
-			if (midPos != std::string::npos) {
-				try {
-					index1 = std::stoi(varName.substr(startPos + 1, midPos - startPos - 1));
-					index2 = std::stoi(varName.substr(midPos + 2, endPos - midPos - 2));
-				} catch (...) {
-					std::cerr << "无法解析数组索引: " << varName << std::endl;
-					index1 = 0;
-					index2 = 0;
-				}
-			} else if (endPos != std::string::npos) {
-				try {
-					index1 = std::stoi(varName.substr(startPos + 1, endPos - startPos - 1));
-				} catch (...) {
-					std::cerr << "无法解析数组索引: " << varName << std::endl;
-					index1 = 0;
-				}
-			}
-			trueVarName = varName.substr(0, startPos);
-		}
-
-		auto it = getDataFunction.find(trueVarName);
-		if (it == getDataFunction.end()) {
-			return std::string();
-		}
-
-		std::lock_guard<std::mutex> lock(mutex);
-		std::string result = it->second();
-
-		if (index1 < 0) {
-			return result;
-		}
-
-		std::vector<std::string> list;
-		std::stringstream ss(result);
-		std::string item;
-		while (std::getline(ss, item, ',')) {
-			list.push_back(item);
-		}
-
-		if (index1 >= static_cast<int>(list.size())) {
-			std::cerr << "数组索引超出范围: " << varName << std::endl;
-			return std::string();
-		}
-
-		if (index2 < 0) {
-			return list[index1];
-		}
-
-		std::vector<std::string> list2;
-		std::stringstream ss2(list[index1]);
-		while (std::getline(ss2, item, ' ')) {
-			list2.push_back(item);
-		}
-
-		if (index2 >= static_cast<int>(list2.size())) {
-			std::cerr << "数组索引超出范围: " << varName << std::endl;
-			return std::string();
-		}
-
-		return list2[index2];
-	}
+	/**
+	 * @brief JSON前端获取指定变量的数据
+	 * @param varName: 变量名
+	 * @param nameSize: 变量名大小
+	 * @param varData: 数据
+	 * @param dataSize: 数据大小
+	 */
+	void getData(const char *varName, const size_t nameSize, char *varData, size_t dataSize);
 
 protected:
+	/**
+	 * @brief 获取指定变量的字节数据，用于网络通信
+	 * @param data: 数据
+	 * @return 字节数组
+	 */
 	template <typename T>
-	void getByteArray(eprosima::fastcdr::optional<T> data, uint8_t *buffer, size_t bufferSize)
+	XNByteArray getByteArray(eprosima::fastcdr::optional<T> data)
 	{
-		if (bufferSize < getTypeSize<T>())
-			return;
+		XNByteArray result(getTypeSize<T>());
 
 		if constexpr (std::is_arithmetic_v<T>) {
 			if (data) {
-				std::memcpy(buffer, &data.value(), sizeof(T));
+				std::memcpy(result.data(), &data.value(), sizeof(T));
 			} else {
 				T zero = 0;
-				std::memcpy(buffer, &zero, sizeof(T));
+				std::memcpy(result.data(), &zero, sizeof(T));
 			}
 		} else if constexpr (is_std_array_v<T>) {
 			if (data) {
-				getByteArrayFromStdArray(data.value(), buffer, bufferSize);
+				return getByteArrayFromStdArray(data.value());
 			} else {
 				T zero = {};
-				getByteArrayFromStdArray(zero, buffer, bufferSize);
+				return getByteArrayFromStdArray(zero);
 			}
+		} else {
+			static_assert(std::is_arithmetic_v<T> || is_std_array_v<T>,
+						  "Type must be arithmetic or std::array");
+		}
+
+		return result;
+	}
+
+	/**
+	 * @brief 设置指定变量的字节数据，用于网络通信
+	 * @param data: 数据
+	 * @param byteArray: 字节数组
+	 */
+	template <typename T>
+	void setByteArray(eprosima::fastcdr::optional<T> &data, const XNByteArray &byteArray)
+	{
+		if (byteArray.size() < getTypeSize<T>())
+			return;
+
+		if constexpr (std::is_arithmetic_v<T>) {
+			T temp;
+			std::memcpy(&temp, byteArray.data(), sizeof(T));
+			data = temp;
+		} else if constexpr (is_std_array_v<T>) {
+			if (!data) {
+				data = T{};
+			}
+			setByteArrayFromStdArray(data.value(), byteArray);
+		} else {
+			static_assert(std::is_arithmetic_v<T> || is_std_array_v<T>,
+						  "Type must be arithmetic or std::array");
 		}
 	}
 
+	/**
+	 * @brief 获取指定数组变量的字节数据，用于网络通信
+	 * @param data: 数据
+	 * @return 字节数组
+	 */
 	template <typename T, std::size_t N>
-	void getByteArrayFromStdArray(std::array<T, N> data, uint8_t *buffer, size_t bufferSize)
+	XNByteArray getByteArrayFromStdArray(const std::array<T, N> &data)
 	{
-		if (bufferSize < getTypeSize<T>() * N)
+		XNByteArray result(getTypeSize<T>() * N);
+
+		for (std::size_t i = 0; i < N; ++i) {
+			if constexpr (std::is_arithmetic_v<T>) {
+				std::memcpy(result.data() + i * getTypeSize<T>(), &data[i], getTypeSize<T>());
+			} else {
+				XNByteArray subArray = getByteArrayFromStdArray(data[i]);
+				std::memcpy(result.data() + i * getTypeSize<T>(), subArray.data(),
+							getTypeSize<T>());
+			}
+		}
+
+		return result;
+	}
+
+	/**
+	 * @brief 设置指定数组变量的字节数据，用于网络通信
+	 * @param data: 数据
+	 * @param byteArray: 字节数组
+	 */
+	template <typename T, std::size_t N>
+	void setByteArrayFromStdArray(std::array<T, N> &data, const XNByteArray &byteArray)
+	{
+		if (byteArray.size() < getTypeSize<T>() * N)
 			return;
 
 		for (std::size_t i = 0; i < N; ++i) {
 			if constexpr (std::is_arithmetic_v<T>) {
-				std::memcpy(buffer + i * getTypeSize<T>(), &data[i], getTypeSize<T>());
+				std::memcpy(&data[i], byteArray.data() + i * getTypeSize<T>(), getTypeSize<T>());
 			} else {
-				getByteArrayFromStdArray(data[i], buffer + i * getTypeSize<T>(), getTypeSize<T>());
+				XNByteArray subArray(byteArray.data() + i * getTypeSize<T>(), getTypeSize<T>());
+				setByteArrayFromStdArray(data[i], subArray);
 			}
 		}
 	}
 
+	/**
+	 * @brief 获取指定变量的字符串数据，用于JSON前端
+	 * @param data: 数据
+	 * @return: 数据（字符串格式）
+	 */
 	template <typename T>
 	std::string getString(eprosima::fastcdr::optional<T> data)
 	{
@@ -206,6 +164,11 @@ protected:
 		return std::string();
 	}
 
+	/**
+	 * @brief 获取指定数组变量的字符串数据，用于JSON前端
+	 * @param data: 数据
+	 * @return: 数据（字符串格式）
+	 */
 	template <typename T, std::size_t N>
 	std::string getStringFromStdArray(std::array<T, N> data)
 	{
@@ -222,24 +185,35 @@ protected:
 		return ss.str();
 	}
 
+private:
+	/**
+	 * @brief 通过变量名获取指定的数据
+	 * @param varName: 变量名
+	 * @return: 数据（字符串格式）
+	 */
+	std::string getData(const std::string &varName);
+
 protected:
 	struct ByteArrayFunc {
-		std::function<void(uint8_t *, size_t)> func;
+		std::function<XNByteArray(void)> func;
 		size_t size;
 	};
 
 	std::unordered_map<std::string, std::function<std::string()>> getDataFunction;
 	std::vector<ByteArrayFunc> getByteArrayFunction;
+	std::unordered_map<std::string, std::function<void(XNByteArray)>> setByteArrayFunction;
 	std::mutex mutex;
 	uint8_t header[5]{}; // 固定大小的头部
 	size_t headerSize = 0;
 };
 
-#define MAP_GET_DATA_FUNC(NAME)                                                                    \
+#define MAP_DATA_FUNC(NAME)                                                                        \
 	getDataFunction[#NAME] = [this]() { return getString(data.NAME()); };                          \
 	getByteArrayFunction.push_back(                                                                \
-		{[this](uint8_t *buffer, size_t size) { getByteArray(data.NAME(), buffer, size); },        \
-		 getTypeSize<decltype(data.NAME())>()})
+		{[this]() { return getByteArray(data.NAME()); }, getTypeSize<decltype(data.NAME())>()});   \
+	setByteArrayFunction[#NAME] = [this](XNByteArray byteArray) {                                  \
+		setByteArray(data.NAME(), byteArray);                                                      \
+	}
 
 #define ASSIGN_VALUE_GET(NAME)                                                                     \
 	if (data.NAME()) {                                                                             \
diff --git a/XNCore/XNModelManager.cpp b/XNCore/XNModelManager.cpp
index 9596991..5d3c2ff 100755
--- a/XNCore/XNModelManager.cpp
+++ b/XNCore/XNModelManager.cpp
@@ -38,6 +38,9 @@ XNModelManager::XNModelManager(PrivateType *p) : XNBaseFrameObject(p)
 bool XNModelManager::PrepareForExecute()
 {
 	T_D();
+	for (auto &model : d->ModelMap) {
+		model.second->PrepareForExecute();
+	}
 	d->_status = XNFrameObjectStatus::Ready;
 	LOG_INFO("XNModelManager is prepared!");
 	return true;
@@ -72,7 +75,8 @@ void XNModelManager::LoadModel(const std::string &modelPath, const std::string &
 				model->SetUniqueId(modelID);
 				model->SetObjectName(className);
 				model->SetFramework(GetFramework());
-
+				model->SetInitializeType(initialType);
+				model->SetThreadID(threadID);
 				// 使用std::filesystem处理路径
 				std::filesystem::path configPath =
 					std::filesystem::path(modelPath).parent_path() / (className + ".mcfg");
@@ -82,7 +86,7 @@ void XNModelManager::LoadModel(const std::string &modelPath, const std::string &
 				d->ModelMap[modelID] = model;
 
 				// 初始化模型
-				model->Initialize(initialType, threadID);
+				model->Initialize();
 
 				// 注册到线程管理器
 				if (threadID != 0) {
@@ -90,7 +94,12 @@ void XNModelManager::LoadModel(const std::string &modelPath, const std::string &
 					if (framework) {
 						framework->GetThreadManager()->RegisterFunction(
 							modelID, std::bind(&XNModelObject::StepUpdate, model.get()), threadID,
-							0, 0, 0);
+							model->GetRunFreq(), model->GetRunNode(), model->GetRunPriority());
+						// 设置模型设置频率
+						double threadFreq =
+							framework->GetThreadManager()->GetThreadFreqByID(threadID);
+						double modelSetFreq = threadFreq / (double)(1 << model->GetRunFreq());
+						model->SetSetFreq(modelSetFreq);
 					}
 				}
 			} else {
diff --git a/XNCore/XNModelObject.cpp b/XNCore/XNModelObject.cpp
index f4277b9..2c9c483 100755
--- a/XNCore/XNModelObject.cpp
+++ b/XNCore/XNModelObject.cpp
@@ -126,12 +126,78 @@ void XNModelObject::SetVersion(const std::string &sVersion)
 	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(uint32_t initialType, uint32_t threadID)
+void XNModelObject::Initialize()
 {
 	// 先尝试调取动态库
 	T_D();
-	if (initialType == 0) {
+	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()) {
@@ -179,7 +245,6 @@ void XNModelObject::Initialize(uint32_t initialType, uint32_t threadID)
 
 		// 使用标准C++字符串处理
 		d->_runFreq = std::stoi(funcNode.substr(0, tmp));
-		d->_setFreq = d->_setFreq / std::pow(2.0, d->_runFreq);
 		d->_runNode = std::stoi(funcNode.substr(tmp + 1));
 
 		// 注册周期性函数
@@ -188,7 +253,7 @@ void XNModelObject::Initialize(uint32_t initialType, uint32_t threadID)
 			auto threadManager = framework->GetThreadManager();
 			if (threadManager) {
 				threadManager->RegisterFunction(
-					GetUniqueId(), std::bind(&XNModelObject::StepUpdate, this), threadID,
+					GetUniqueId(), std::bind(&XNModelObject::StepUpdate, this), d->_threadID,
 					d->_runFreq, d->_runNode, d->_runPriority);
 			}
 		}
@@ -284,9 +349,8 @@ void XNModelObject::RegisterDDSParticipant()
 	XN_PUBLISHTOPIC(XNSim::XNSimStatus::XNModelStatus);
 }
 
-int XNModelObject::RegisterEventHandler(const std::string &eventName,
-										std::function<void(const std::any &)> callback, bool async,
-										XNEvent::Priority priority)
+int XNModelObject::RegisterEventHandler(const std::string &eventName, XNEventCallback callback,
+										bool async, XNEvent::Priority priority)
 {
 	// 获取事件管理器
 	auto framework = GetFramework();
diff --git a/XNCore/XNModelObject.h b/XNCore/XNModelObject.h
index f6b6467..91dc622 100755
--- a/XNCore/XNModelObject.h
+++ b/XNCore/XNModelObject.h
@@ -121,6 +121,54 @@ public:
 	 */
 	void SetVersion(const std::string &sVersion);
 
+	/**
+	 * @brief 获取模型运行频率组
+	 * @return uint32_t:	模型运行频率组
+	 */
+	uint32_t GetRunFreq() const;
+
+	/**
+	 * @brief 设置模型运行频率组
+	 * @param runFreq:	uint32_t类型，模型运行频率组
+	 */
+	void SetRunFreq(uint32_t runFreq);
+
+	/**
+	 * @brief 获取模型运行节点
+	 * @return uint32_t:	模型运行节点
+	 */
+	uint32_t GetRunNode() const;
+
+	/**
+	 * @brief 设置模型运行节点
+	 * @param runNode:	uint32_t类型，模型运行节点
+	 */
+	void SetRunNode(uint32_t runNode);
+
+	/**
+	 * @brief 获取模型运行优先级
+	 * @return uint32_t:	模型运行优先级
+	 */
+	uint32_t GetRunPriority() const;
+
+	/**
+	 * @brief 设置模型运行优先级
+	 * @param runPriority:	uint32_t类型，模型运行优先级
+	 */
+	void SetRunPriority(uint32_t runPriority);
+
+	/**
+	 * @brief 获取模型设置频率
+	 * @return double:	模型设置频率
+	 */
+	double GetSetFreq() const;
+
+	/**
+	 * @brief 设置模型设置频率
+	 * @param setFreq:	double类型，模型设置频率
+	 */
+	void SetSetFreq(double setFreq);
+
 	/**
 	 * @brief 单步执行函数
 	 * @details 模型默认的周期性执行函数
@@ -169,12 +217,18 @@ public:
 		TriggerEvent(eventName, eventData, true, XNEvent::Priority::RealTime);
 	}
 
+	void SetInitializeType(uint32_t initialType);
+
+	void SetThreadID(uint32_t threadID);
+
+	uint32_t GetThreadID() const;
+
 	/**
 	 * @brief 初始化函数
 	 * @details
 	 * 模型的初始化函数接口，子类继承时要调用父类初始化接口，或在此函数中使用AddMyFunction方法注册需要被线程调用的函数
 	 */
-	virtual void Initialize(uint32_t initialType, uint32_t threadID);
+	virtual void Initialize();
 
 	/**
 	 * @brief 仿真系统运行前做最后处理
diff --git a/XNCore/XNModelObject_p.h b/XNCore/XNModelObject_p.h
index 6374413..6b3703c 100755
--- a/XNCore/XNModelObject_p.h
+++ b/XNCore/XNModelObject_p.h
@@ -84,6 +84,11 @@ struct XNModelObjectPrivate : public XNObjectPrivate {
 	 */
 	double _setFreq;
 
+	/**
+	 * @brief 模型初始化类型
+	 */
+	uint32_t _initialType;
+
 	/**
 	 * @brief 模型线程ID
 	 */
diff --git a/XNCore/XNServiceManager.cpp b/XNCore/XNServiceManager.cpp
index b7ead8b..4ee77fc 100755
--- a/XNCore/XNServiceManager.cpp
+++ b/XNCore/XNServiceManager.cpp
@@ -29,6 +29,9 @@ bool XNServiceManager::Initialize()
 bool XNServiceManager::PrepareForExecute()
 {
 	T_D();
+	for (auto &service : d->ServiceList) {
+		service.second->PrepareForExecute();
+	}
 	d->_status = XNFrameObjectStatus::Ready;
 	LOG_INFO("XNServiceManager is prepared!");
 	return true;
diff --git a/XNCore/XNThread.cpp b/XNCore/XNThread.cpp
index e12b3ab..85faacc 100755
--- a/XNCore/XNThread.cpp
+++ b/XNCore/XNThread.cpp
@@ -271,7 +271,8 @@ const double &XNThread::GetRunFrequecy()
 void XNThread::SetRunFrequecy(const double &dRunFrequecy)
 {
 	T_D();
-	d->_setFreq = dRunFrequecy;
+	d->_setFreq		   = dRunFrequecy;
+	d->pinfo.period_ns = 1.0E9 / dRunFrequecy;
 }
 
 // 获取线程运行优先级
diff --git a/XNCore/XNThreadManager.cpp b/XNCore/XNThreadManager.cpp
index a3637ad..f06d093 100755
--- a/XNCore/XNThreadManager.cpp
+++ b/XNCore/XNThreadManager.cpp
@@ -225,3 +225,15 @@ uint32_t XNThreadManager::AllocateThreadID()
 	d->threadList[threadID] = nullptr;
 	return threadID;
 }
+
+void XNThreadManager::SetThreadFreqByID(uint32_t threadID, double freq)
+{
+	T_D();
+	d->threadList[threadID]->SetRunFrequecy(freq);
+}
+
+double XNThreadManager::GetThreadFreqByID(uint32_t threadID)
+{
+	T_D();
+	return d->threadList[threadID]->GetRunFrequecy();
+}
diff --git a/XNCore/XNThreadManager.h b/XNCore/XNThreadManager.h
index 968a90d..9c3ad77 100755
--- a/XNCore/XNThreadManager.h
+++ b/XNCore/XNThreadManager.h
@@ -81,6 +81,22 @@ public:
 	 */
 	virtual bool PrepareForExecute() override;
 
+	/**
+	 * @brief 设置线程频率
+	 * @param threadID:	UINT32类型，线程ID
+	 * @param freq:	double类型，线程频率
+	 * @details 设置线程频率接口
+	 */
+	void SetThreadFreqByID(uint32_t threadID, double freq);
+
+	/**
+	 * @brief 获取线程频率
+	 * @param threadID:	UINT32类型，线程ID
+	 * @return double:	线程频率
+	 * @details 获取线程频率接口
+	 */
+	double GetThreadFreqByID(uint32_t threadID);
+
 	/**
 	 * @brief 仿真控制
 	 * @param objectId:	对象ID
diff --git a/XNCore/XNTypeTraits.h b/XNCore/XNTypeTraits.h
new file mode 100644
index 0000000..2be257d
--- /dev/null
+++ b/XNCore/XNTypeTraits.h
@@ -0,0 +1,28 @@
+#pragma once
+#include <array>
+#include <type_traits>
+#include <cstddef>
+
+template <typename T>
+struct is_std_array : std::false_type {
+};
+
+template <typename T, std::size_t N>
+struct is_std_array<std::array<T, N>> : std::true_type {
+};
+
+// 变量模板简化使用
+template <typename T>
+inline constexpr bool is_std_array_v = is_std_array<T>::value;
+
+// 获取类型大小的辅助函数
+template <typename T>
+constexpr size_t getTypeSize()
+{
+	if constexpr (is_std_array_v<T>) {
+		// 对于std::array，计算所有元素的总大小
+		return getTypeSize<typename T::value_type>() * std::tuple_size<T>::value;
+	} else {
+		return sizeof(T);
+	}
+}
\ No newline at end of file
diff --git a/XNModels/XNAerodynamics/.vscode/settings.json b/XNModels/XNAerodynamics/.vscode/settings.json
index 69ee91c..b417e52 100755
--- a/XNModels/XNAerodynamics/.vscode/settings.json
+++ b/XNModels/XNAerodynamics/.vscode/settings.json
@@ -7,6 +7,73 @@
 		"*.ipp": "cpp",
 		"*.tcc": "cpp",
 		"optional": "cpp",
-		"type_traits": "cpp"
+		"type_traits": "cpp",
+		"cctype": "cpp",
+		"clocale": "cpp",
+		"cmath": "cpp",
+		"csignal": "cpp",
+		"cstdarg": "cpp",
+		"cstddef": "cpp",
+		"cstdio": "cpp",
+		"cstdlib": "cpp",
+		"cstring": "cpp",
+		"ctime": "cpp",
+		"cwchar": "cpp",
+		"cwctype": "cpp",
+		"any": "cpp",
+		"array": "cpp",
+		"atomic": "cpp",
+		"bit": "cpp",
+		"bitset": "cpp",
+		"chrono": "cpp",
+		"codecvt": "cpp",
+		"compare": "cpp",
+		"complex": "cpp",
+		"concepts": "cpp",
+		"condition_variable": "cpp",
+		"cstdint": "cpp",
+		"deque": "cpp",
+		"list": "cpp",
+		"map": "cpp",
+		"set": "cpp",
+		"unordered_map": "cpp",
+		"unordered_set": "cpp",
+		"vector": "cpp",
+		"exception": "cpp",
+		"algorithm": "cpp",
+		"iterator": "cpp",
+		"memory": "cpp",
+		"memory_resource": "cpp",
+		"numeric": "cpp",
+		"random": "cpp",
+		"ratio": "cpp",
+		"regex": "cpp",
+		"string": "cpp",
+		"string_view": "cpp",
+		"system_error": "cpp",
+		"tuple": "cpp",
+		"utility": "cpp",
+		"fstream": "cpp",
+		"future": "cpp",
+		"initializer_list": "cpp",
+		"iomanip": "cpp",
+		"iosfwd": "cpp",
+		"iostream": "cpp",
+		"istream": "cpp",
+		"limits": "cpp",
+		"mutex": "cpp",
+		"new": "cpp",
+		"ostream": "cpp",
+		"ranges": "cpp",
+		"span": "cpp",
+		"sstream": "cpp",
+		"stdexcept": "cpp",
+		"stop_token": "cpp",
+		"streambuf": "cpp",
+		"thread": "cpp",
+		"cinttypes": "cpp",
+		"typeindex": "cpp",
+		"typeinfo": "cpp",
+		"variant": "cpp"
 	}
 }
\ No newline at end of file
diff --git a/XNModels/XNAerodynamics/XNAerodynamics/XNAerodynamics.h b/XNModels/XNAerodynamics/XNAerodynamics/XNAerodynamics.h
index f60f62a..8c1012e 100755
--- a/XNModels/XNAerodynamics/XNAerodynamics/XNAerodynamics.h
+++ b/XNModels/XNAerodynamics/XNAerodynamics/XNAerodynamics.h
@@ -18,7 +18,7 @@ protected:
 	XNAerodynamics(PrivateType *p);
 
 public:
-	virtual void Initialize(uint32_t initialType, uint32_t threadID) override;
+	virtual void Initialize() override;
 	virtual void PrepareForExecute() override;
 
 public:
diff --git a/XNModels/XNGroundHandling/XNGroundHandling/XNGroundHandling.h b/XNModels/XNGroundHandling/XNGroundHandling/XNGroundHandling.h
index 67f8563..84dc86d 100755
--- a/XNModels/XNGroundHandling/XNGroundHandling/XNGroundHandling.h
+++ b/XNModels/XNGroundHandling/XNGroundHandling/XNGroundHandling.h
@@ -3,13 +3,12 @@
 #include <XNCore/XNModelObject.h>
 #include "../XNGroundHandlingInterface/XNGroundHandlingInterface.hpp"
 
-class XNGroundHandlingPrivate;
+struct XNGroundHandlingPrivate;
 
 class XNGROUNDHANDLING_EXPORT XNGroundHandling : public XNModelObject
 {
-	Q_OBJECT
-	Q_DISABLE_COPY(XNGroundHandling)
-	Q_DECLARE_PRIVATE(XNGroundHandling)
+	XN_METATYPE(XNGroundHandling, XNModelObject)
+	XN_DECLARE_PRIVATE(XNGroundHandling)
 	XN_DECLARE_DDS()
 public:
 	explicit XNGroundHandling(QObject *parent = nullptr);
@@ -18,9 +17,9 @@ public:
 protected:
 	XNGroundHandling(XNGroundHandlingPrivate &dd, QObject *parent = nullptr);
 
-public slots:
-	virtual void OnInitialize() override;
-	virtual void OnPrepareForExecute() override;
+public:
+	virtual void Initialize() override;
+	virtual void PrepareForExecute() override;
 
 public:
 	virtual void StepUpdate() override;
diff --git a/XNModels/XNGroundHandling/XNGroundHandling/XNGroundHandling_p.h b/XNModels/XNGroundHandling/XNGroundHandling/XNGroundHandling_p.h
index bdf9d17..df69b8d 100755
--- a/XNModels/XNGroundHandling/XNGroundHandling/XNGroundHandling_p.h
+++ b/XNModels/XNGroundHandling/XNGroundHandling/XNGroundHandling_p.h
@@ -1,20 +1,15 @@
 #pragma once
 #include <XNCore/XNModelObject_p.h>
 #include <DataModels/libSACSCGroundHandling_V2.0.27.1H/std_04_dll.h>
-#include <QMutex>
 
 typedef void (*FunctionType)(ComacDataStructure_S *);
 
-class XNGroundHandlingPrivate : public XNModelObjectPrivate
-{
-public:
-	Q_DECLARE_PUBLIC(XNGroundHandling)
-
-	XNGroundHandlingPrivate(XNGroundHandling *q) : XNModelObjectPrivate(q) {}
-
+struct XNGroundHandlingPrivate : public XNModelObjectPrivate {
 	FunctionType _fun = nullptr;
 
 	ComacDataStructure_S _data;
 
-	QMutex _mutex;
+	std::string _entryPointName = "_Z29SACSCGroundHandlingEntryPointP20ComacDataStructure_S";
+
+	std::mutex _mutex;
 };