地操模型已经成功运行，还需测试服务功能
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<?xml version="1.0" encoding="UTF-8"?>
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<Scenario>
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<Environment
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OSName="Debian"
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Version="11"
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RTXVersion="preempt-rt"
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CPUAffinity="0,1"
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BaseFrequency="120"
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WorkPath="/home/jin/Myprj/XNSim/Release/"
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ModelsPath="Models/"
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ServicesPath="Services/"
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DomainID="10"
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/>
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<ConsoleOutput Debug="1" Info="1" Error="1" Warning="1" />
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<Log Debug="0" Info="1" Error="1" Warning="1" />
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<ModelGroup Name="本体模型组" FreqGroup="0" Priority="99" CPUAff="0">
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<Model Name="ATA04气动模型" ClassName="XNAerodynamics" />
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<Model Name="ATA04地面操纵模型" ClassName="XNGroundHandling" />
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<Model Name="ATA04质量模型" ClassName="XNWeightBalance" />
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<Model Name="ATA04数据处理模型" ClassName="XNATA04DataProcessor" />
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</ModelGroup>
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<ServicesList>
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<Service Name="UDP通信服务" ClassName="XNUDPService" />
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</ServicesList>
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</Scenario>
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@ -1,22 +0,0 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<Scenario>
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<Environment
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OSName="Debian"
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Version="11"
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RTXVersion="preempt-rt"
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CPUAffinity="0,1"
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BaseFrequency="120"
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WorkPath="/home/jin/Myprj/XNSim/Release/"
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ModelsPath="Models/"
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ServicesPath="Services/"
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DomainID="10"
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/>
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<ConsoleOutput Debug="1" Info="1" Error="1" Warning="1" />
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<Log Debug="0" Info="1" Error="1" Warning="1" />
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<ModelGroup Name="新模型组" FreqGroup="0" Priority="99" CPUAff="0">
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<!-- 这里添加模型 -->
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</ModelGroup>
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<ServicesList>
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<!-- 这里添加服务 -->
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</ServicesList>
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</Scenario>
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9
Release/Scenario/testGRD.xml
Executable file
9
Release/Scenario/testGRD.xml
Executable file
@ -0,0 +1,9 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<Scenario>
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<Environment OSName="Debian" Version="11" RTXVersion="preempt-rt" CPUAffinity="0,1" WorkPath="/home/jin/MyCode/XNSim/Release/" ModelsPath="Models/" ServicesPath="Services/" DomainID="10"/>
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<ConsoleOutput Debug="1" Info="1" Error="1" Warning="1"/>
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<Log Debug="0" Info="1" Error="1" Warning="1"/>
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<ModelGroup Name="本体模型组" Freq="120" Priority="99" CPUAff="0">
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<Model Name="ATA04地面操纵模型" ClassName="XNGroundHandling"/>
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</ModelGroup>
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</Scenario>
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BIN
Release/XNEngine
BIN
Release/XNEngine
Binary file not shown.
@ -21,13 +21,6 @@ XNFramework::XNFramework() : XNObject(new XNFrameworkPrivate())
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d->modelManager = std::make_shared<XNModelManager>();
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d->serviceManager = std::make_shared<XNServiceManager>();
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d->eventManager = std::make_shared<XNEventManager>();
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d->ddsManager->SetFramework(XN_THISPTR);
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d->timeManager->SetFramework(XN_THISPTR);
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d->threadManager->SetFramework(XN_THISPTR);
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d->scenarioManager->SetFramework(XN_THISPTR);
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d->modelManager->SetFramework(XN_THISPTR);
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d->serviceManager->SetFramework(XN_THISPTR);
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d->eventManager->SetFramework(XN_THISPTR);
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}
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XNFramework::XNFramework(PrivateType *p) : XNObject(p)
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@ -90,6 +83,13 @@ bool XNFramework::Initialize(uint32_t initialType)
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{
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T_D();
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LOG_INFO("XNFramework Initialize ...");
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d->ddsManager->SetFramework(XN_THISPTR);
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d->timeManager->SetFramework(XN_THISPTR);
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d->threadManager->SetFramework(XN_THISPTR);
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d->scenarioManager->SetFramework(XN_THISPTR);
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d->modelManager->SetFramework(XN_THISPTR);
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d->serviceManager->SetFramework(XN_THISPTR);
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d->eventManager->SetFramework(XN_THISPTR);
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bool ret = d->eventManager->Initialize();
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if (!ret) {
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LOG_ERROR("XNFramework Initialize Failed!");
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@ -177,6 +177,7 @@ uint32_t XNThreadManager::AddThreadPool(std::string name, double freq, uint32_t
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// 创建线程对象
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XNThreadPtr thread = std::make_shared<XNThread>(name, freq, priority, CPUAff);
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thread->SetThreadID(AllocateThreadID());
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thread->SetFramework(GetFramework());
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LOG_INFO("Add Thread Success, Frequency: %1 Hz, Interval: %2 ns.", freq, 1.0e9 / freq);
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d->threadList[thread->GetThreadID()] = thread;
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return thread->GetThreadID();
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@ -21,7 +21,7 @@
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XNEngine::XNEngine()
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{
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// 创建框架对象
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framework = new XNFramework();
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framework = std::make_shared<XNFramework>();
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// 引擎状态写入器
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engineStatusWriter = nullptr;
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// 测试模式
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@ -38,6 +38,9 @@ XNEngine::~XNEngine()
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// 仿真控制监听器
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void XNEngine::SimControlListener(const XNSim::XNSimControl::XNRuntimeControl &cmd)
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{
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if (!framework) {
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return;
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}
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if (cmd.XNSimCmd() == 1) {
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// 如果命令是暂停
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framework->SimControl(0, SimControlCmd::Suspend);
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@ -72,10 +75,9 @@ bool XNEngine::SetLogLevel(const std::string &XmlPath)
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return false;
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}
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// 获取根元素
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tinyxml2::XMLElement *root = doc.FirstChildElement("RuntimeEnvironment");
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tinyxml2::XMLElement *root = doc.FirstChildElement("Scenario");
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if (!root) {
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std::cerr << "0x1005 Failed to find RuntimeEnvironment element in configuration file!"
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<< std::endl;
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std::cerr << "0x1005 Failed to find Scenario element in configuration file!" << std::endl;
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return false;
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}
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@ -232,6 +234,9 @@ bool XNEngine::SetLogLevel(const std::string &XmlPath)
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// 发布引擎状态
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void XNEngine::PublishEngineStatus()
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{
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if (!framework) {
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return;
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}
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// 如果引擎状态写入器存在
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if (engineStatusWriter) {
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// 创建引擎状态对象
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@ -334,6 +339,9 @@ void XNEngine::PublishEngineStatus()
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// 运行引擎
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bool XNEngine::Run(const std::string &XmlPath)
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{
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if (!framework) {
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return false;
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}
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// 设置日志级别
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bool isReady = SetLogLevel(XmlPath);
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// 如果设置日志级别失败
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@ -34,16 +34,6 @@ public:
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void SimControlListener(const XNSim::XNSimControl::XNRuntimeControl &cmd);
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public:
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/**
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* @brief 初始化成功槽函数
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* @param isSuccess 是否成功
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*/
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void OnInitializeSuccess(bool isSuccess);
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/**
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* @brief 准备执行成功槽函数
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* @param isSuccess 是否成功
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*/
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void OnPrepareforExecuteSuccess(bool isSuccess);
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/**
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* @brief 运行引擎
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* @param XmlPath 场景XML路径
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@ -86,7 +76,7 @@ private:
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/**
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* @brief 主框架
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*/
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XNFramework *framework;
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XNFrameworkPtr framework;
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/**
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* @brief 主框架状态
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*/
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}
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//检查是否同时包含-f和-id参数
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if (!hasConfigPath || !hasConfigId) {
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if (hasConfigPath && hasConfigId) {
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std::cerr
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<< "0x1006 Please specify either -f <config_file> or -id <config_id>, but not both. "
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"The engine will exit!"
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