模型接口实现统一重构

Release/IDL/C909_V1/ATA04/GroundHandling_heartbeat.cxx

@@ -0,0 +1,65 @@
+#include "GroundHandling_heartbeat.hpp"
+
+namespace XNSim::C909::ATA04
+{
+GroundHandling_heartbeat_Interface::GroundHandling_heartbeat_Interface()
+{
+	MAP_DATA_FUNC(groundhandling_model_heartbeat);
+	this->header[0] = 0xa6; // XNSim头，0xa6
+	this->header[1] = 0xc0; // 机型头，0xc0表示C909
+	this->header[2] = 0x04; // 章节头，0x04表示ATA04
+	this->header[3] = 0x01; // 模型头，0x01表示GroundHandling
+	this->header[4] = 0x02; // 结构体头，0x02表示心跳结构体
+	this->header[5] = 0x00; // 数据方向，0x00表示外部输入
+	this->header[6] = 0x00; // 数据大小
+	this->header[7] = 0x00; // 数据大小
+}
+
+GroundHandling_heartbeat_Interface::~GroundHandling_heartbeat_Interface()
+{
+}
+
+void GroundHandling_heartbeat_Interface::Initialize(XNFrameworkPtr framework, uint32_t modelId,
+													uint32_t DDS_type)
+{
+	auto ddsManager = framework->GetDDSManager();
+	if (!ddsManager) {
+		LOG_ERROR("DDSManager is nullptr");
+		return;
+	}
+	if (DDS_type == 0) { // 读取与发送都进行
+		dataWriter =
+			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
+				"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId);
+		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
+			"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId,
+			std::bind(&GroundHandling_heartbeat_Interface::heartbeatListener, this,
+					  std::placeholders::_1));
+	} else if (DDS_type == 1) { // 只读取
+		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
+			"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId,
+			std::bind(&GroundHandling_heartbeat_Interface::heartbeatListener, this,
+					  std::placeholders::_1));
+	} else if (DDS_type == 2) { // 只发送
+		dataWriter =
+			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
+				"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId);
+	}
+}
+
+void GroundHandling_heartbeat_Interface::clearOutData()
+{
+	this->out_data = XNSim::C909::ATA04::GroundHandling_heartbeat();
+}
+
+void GroundHandling_heartbeat_Interface::sendOutData()
+{
+	dataWriter->write(&this->out_data);
+}
+
+void GroundHandling_heartbeat_Interface::heartbeatListener(
+	const XNSim::C909::ATA04::GroundHandling_heartbeat &heartbeat)
+{
+	this->data = heartbeat;
+}
+} // namespace XNSim::C909::ATA04

Release/IDL/C909_V1/ATA04/GroundHandling_heartbeat.hpp

@@ -0,0 +1,39 @@
+#include "../C909_V1PubSubTypes.hpp"
+#include "XNCore/XNDDSInterface.h"
+
+namespace XNSim::C909::ATA04
+{
+class GroundHandling_heartbeat_Interface final : public XNDDSInterface
+{
+public:
+	GroundHandling_heartbeat_Interface();
+	virtual ~GroundHandling_heartbeat_Interface();
+	virtual void Initialize(XNFrameworkPtr framework, uint32_t modelId, uint32_t DDS_type) override;
+	void heartbeatListener(const XNSim::C909::ATA04::GroundHandling_heartbeat &heartbeat);
+	virtual void clearOutData() override;
+	virtual void sendOutData() override;
+	template <typename T>
+	void getData(T *model_data)
+	{
+		if (model_data == nullptr)
+			return;
+		assign_value_get(data.groundhandling_model_heartbeat(),
+						 model_data->groundhandling_model_heartbeat);
+	}
+
+	template <typename T>
+	void setData(T *model_data)
+	{
+		if (model_data == nullptr)
+			return;
+		clearOutData();
+		assign_value_set(data.groundhandling_model_heartbeat(),
+						 model_data->groundhandling_model_heartbeat);
+		sendOutData();
+	}
+
+private:
+	XNSim::C909::ATA04::GroundHandling_heartbeat data;
+	XNSim::C909::ATA04::GroundHandling_heartbeat out_data;
+};
+} // namespace XNSim::C909::ATA04

Release/IDL/C909_V1/ATA04/GroundHandling_input.cxx

@@ -0,0 +1,103 @@
+#include "GroundHandling_input.hpp"
+
+namespace XNSim::C909::ATA04
+{
+GroundHandling_input_Interface::GroundHandling_input_Interface()
+{
+	MAP_DATA_FUNC(l_04_i_gdcomac_frz_l1);
+	MAP_DATA_FUNC(l_04_i_gdcomac_chocks_l1);
+	MAP_DATA_FUNC(l_04_i_gdcomac_alt_agl_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_frzflt_l1);
+	MAP_DATA_FUNC(l_04_i_gdcomac_p_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_q_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_r_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_ug_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_vg_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_wg_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_blcg_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_bscg_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_wlcg_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_pb_active_l1);
+	MAP_DATA_FUNC(l_04_i_gdcomac_brake_torq_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_gear_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_gsteer_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_tire_pres_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_onjax_l1);
+	MAP_DATA_FUNC(l_04_i_gdcomac_contdep_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_thetag_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_phig_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_rwyrgh_i2);
+	MAP_DATA_FUNC(l_04_i_gdcomac_rwyhdg_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_reset_braketemp_l1);
+	MAP_DATA_FUNC(l_04_i_gdcomac_reset_tirepress_l1);
+	MAP_DATA_FUNC(l_04_i_gdcomac_temp_c_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_brake_temp_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_tire_tburst_l1);
+	MAP_DATA_FUNC(l_04_i_gdcomac_tire_tflat_l1);
+	MAP_DATA_FUNC(l_04_i_gdcomac_brk_reset_tpres_l1);
+	MAP_DATA_FUNC(l_04_i_gdcomac_rcon_ci_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_pb_towforce_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_gsteer_state_i4);
+	MAP_DATA_FUNC(l_04_i_gdcomac_trim_active_l1);
+	MAP_DATA_FUNC(l_04_i_gdcomac_phi_deg_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_theta_deg_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_psi_deg_f8);
+	MAP_DATA_FUNC(l_04_i_gdcomac_resetint_l1);
+	this->header[0] = 0xa6; // XNSim头，0xa6
+	this->header[1] = 0xc0; // 机型头，0xc0表示C909
+	this->header[2] = 0x04; // 章节头，0x04表示ATA04
+	this->header[3] = 0x01; // 模型头，0x01表示GroundHandling
+	this->header[4] = 0x00; // 结构体头，0x00表示输入结构体
+	this->header[5] = 0x00; // 数据方向，0x00表示外部输入
+	this->header[6] = 0x00; // 数据大小
+	this->header[7] = 0x00; // 数据大小
+}
+
+GroundHandling_input_Interface::~GroundHandling_input_Interface()
+{
+}
+
+void GroundHandling_input_Interface::Initialize(XNFrameworkPtr framework, uint32_t modelId,
+												uint32_t DDS_type)
+{
+	auto ddsManager = framework->GetDDSManager();
+	if (!ddsManager) {
+		LOG_ERROR("DDSManager is nullptr");
+		return;
+	}
+	if (DDS_type == 0) { // 读取与发送都进行
+		dataWriter =
+			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_inputPubSubType>(
+				"XNSim::C909::ATA04::GroundHandling_input", modelId);
+		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_inputPubSubType>(
+			"XNSim::C909::ATA04::GroundHandling_input", modelId,
+			std::bind(&GroundHandling_input_Interface::inputDataListener, this,
+					  std::placeholders::_1));
+	} else if (DDS_type == 1) { // 只读取
+		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_inputPubSubType>(
+			"XNSim::C909::ATA04::GroundHandling_input", modelId,
+			std::bind(&GroundHandling_input_Interface::inputDataListener, this,
+					  std::placeholders::_1));
+	} else if (DDS_type == 2) { // 只发送
+		dataWriter =
+			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_inputPubSubType>(
+				"XNSim::C909::ATA04::GroundHandling_input", modelId);
+	}
+}
+
+void GroundHandling_input_Interface::clearOutData()
+{
+	this->out_data = XNSim::C909::ATA04::GroundHandling_input();
+}
+
+void GroundHandling_input_Interface::sendOutData()
+{
+	dataWriter->write(&this->out_data);
+}
+
+void GroundHandling_input_Interface::inputDataListener(
+	const XNSim::C909::ATA04::GroundHandling_input &input)
+{
+	this->data = input;
+}
+} // namespace XNSim::C909::ATA04

Release/IDL/C909_V1/ATA04/GroundHandling_input.hpp

@@ -0,0 +1,141 @@
+#include "../C909_V1PubSubTypes.hpp"
+#include "XNCore/XNDDSInterface.h"
+
+namespace XNSim::C909::ATA04
+{
+class GroundHandling_input_Interface final : public XNDDSInterface
+{
+public:
+	GroundHandling_input_Interface();
+	virtual ~GroundHandling_input_Interface();
+
+	virtual void Initialize(XNFrameworkPtr framework, uint32_t modelId, uint32_t DDS_type) override;
+	virtual void clearOutData() override;
+	virtual void sendOutData() override;
+
+	void inputDataListener(const XNSim::C909::ATA04::GroundHandling_input &input);
+	template <typename T>
+	void getData(T *model_data)
+	{
+		if (model_data == nullptr)
+			return;
+		assign_value_get(data.l_04_i_gdcomac_frz_l1(), model_data->l_04_i_gdcomac_frz_l1);
+		assign_value_get(data.l_04_i_gdcomac_chocks_l1(), model_data->l_04_i_gdcomac_chocks_l1);
+		assign_value_get(data.l_04_i_gdcomac_alt_agl_f8(), model_data->l_04_i_gdcomac_alt_agl_f8);
+		assign_value_get(data.l_04_i_gdcomac_frzflt_l1(), model_data->l_04_i_gdcomac_frzflt_l1);
+		assign_value_get(data.l_04_i_gdcomac_p_f8(), model_data->l_04_i_gdcomac_p_f8);
+		assign_value_get(data.l_04_i_gdcomac_q_f8(), model_data->l_04_i_gdcomac_q_f8);
+		assign_value_get(data.l_04_i_gdcomac_r_f8(), model_data->l_04_i_gdcomac_r_f8);
+		assign_value_get(data.l_04_i_gdcomac_ug_f8(), model_data->l_04_i_gdcomac_ug_f8);
+		assign_value_get(data.l_04_i_gdcomac_vg_f8(), model_data->l_04_i_gdcomac_vg_f8);
+		assign_value_get(data.l_04_i_gdcomac_wg_f8(), model_data->l_04_i_gdcomac_wg_f8);
+		assign_value_get(data.l_04_i_gdcomac_blcg_f8(), model_data->l_04_i_gdcomac_blcg_f8);
+		assign_value_get(data.l_04_i_gdcomac_bscg_f8(), model_data->l_04_i_gdcomac_bscg_f8);
+		assign_value_get(data.l_04_i_gdcomac_wlcg_f8(), model_data->l_04_i_gdcomac_wlcg_f8);
+		assign_value_get(data.l_04_i_gdcomac_pb_active_l1(),
+						 model_data->l_04_i_gdcomac_pb_active_l1);
+		assign_value_get(data.l_04_i_gdcomac_brake_torq_f8(),
+						 model_data->l_04_i_gdcomac_brake_torq_f8);
+		assign_value_get(data.l_04_i_gdcomac_gear_f8(), model_data->l_04_i_gdcomac_gear_f8);
+		assign_value_get(data.l_04_i_gdcomac_gsteer_f8(), model_data->l_04_i_gdcomac_gsteer_f8);
+		assign_value_get(data.l_04_i_gdcomac_tire_pres_f8(),
+						 model_data->l_04_i_gdcomac_tire_pres_f8);
+		assign_value_get(data.l_04_i_gdcomac_onjax_l1(), model_data->l_04_i_gdcomac_onjax_l1);
+		assign_value_get(data.l_04_i_gdcomac_contdep_f8(), model_data->l_04_i_gdcomac_contdep_f8);
+		assign_value_get(data.l_04_i_gdcomac_thetag_f8(), model_data->l_04_i_gdcomac_thetag_f8);
+		assign_value_get(data.l_04_i_gdcomac_phig_f8(), model_data->l_04_i_gdcomac_phig_f8);
+		assign_value_get(data.l_04_i_gdcomac_rwyrgh_i2(), model_data->l_04_i_gdcomac_rwyrgh_i2);
+		assign_value_get(data.l_04_i_gdcomac_rwyhdg_f8(), model_data->l_04_i_gdcomac_rwyhdg_f8);
+		assign_value_get(data.l_04_i_gdcomac_reset_braketemp_l1(),
+						 model_data->l_04_i_gdcomac_reset_braketemp_l1);
+		assign_value_get(data.l_04_i_gdcomac_reset_tirepress_l1(),
+						 model_data->l_04_i_gdcomac_reset_tirepress_l1);
+		assign_value_get(data.l_04_i_gdcomac_temp_c_f8(), model_data->l_04_i_gdcomac_temp_c_f8);
+		assign_value_get(data.l_04_i_gdcomac_brake_temp_f8(),
+						 model_data->l_04_i_gdcomac_brake_temp_f8);
+		assign_value_get(data.l_04_i_gdcomac_tire_tburst_l1(),
+						 model_data->l_04_i_gdcomac_tire_tburst_l1);
+		assign_value_get(data.l_04_i_gdcomac_tire_tflat_l1(),
+						 model_data->l_04_i_gdcomac_tire_tflat_l1);
+		assign_value_get(data.l_04_i_gdcomac_brk_reset_tpres_l1(),
+						 model_data->l_04_i_gdcomac_brk_reset_tpres_l1);
+		assign_value_get(data.l_04_i_gdcomac_rcon_ci_f8(), model_data->l_04_i_gdcomac_rcon_ci_f8);
+		assign_value_get(data.l_04_i_gdcomac_pb_towforce_f8(),
+						 model_data->l_04_i_gdcomac_pb_towforce_f8);
+		assign_value_get(data.l_04_i_gdcomac_gsteer_state_i4(),
+						 model_data->l_04_i_gdcomac_gsteer_state_i4);
+		assign_value_get(data.l_04_i_gdcomac_trim_active_l1(),
+						 model_data->l_04_i_gdcomac_trim_active_l1);
+		assign_value_get(data.l_04_i_gdcomac_phi_deg_f8(), model_data->l_04_i_gdcomac_phi_deg_f8);
+		assign_value_get(data.l_04_i_gdcomac_theta_deg_f8(),
+						 model_data->l_04_i_gdcomac_theta_deg_f8);
+		assign_value_get(data.l_04_i_gdcomac_psi_deg_f8(), model_data->l_04_i_gdcomac_psi_deg_f8);
+		assign_value_get(data.l_04_i_gdcomac_resetint_l1(), model_data->l_04_i_gdcomac_resetint_l1);
+	}
+
+	template <typename T>
+	void setData(T *model_data)
+	{
+		if (model_data == nullptr)
+			return;
+		clearOutData();
+		assign_value_set(data.l_04_i_gdcomac_frz_l1(), model_data->l_04_i_gdcomac_frz_l1);
+		assign_value_set(data.l_04_i_gdcomac_chocks_l1(), model_data->l_04_i_gdcomac_chocks_l1);
+		assign_value_set(data.l_04_i_gdcomac_alt_agl_f8(), model_data->l_04_i_gdcomac_alt_agl_f8);
+		assign_value_set(data.l_04_i_gdcomac_frzflt_l1(), model_data->l_04_i_gdcomac_frzflt_l1);
+		assign_value_set(data.l_04_i_gdcomac_p_f8(), model_data->l_04_i_gdcomac_p_f8);
+		assign_value_set(data.l_04_i_gdcomac_q_f8(), model_data->l_04_i_gdcomac_q_f8);
+		assign_value_set(data.l_04_i_gdcomac_r_f8(), model_data->l_04_i_gdcomac_r_f8);
+		assign_value_set(data.l_04_i_gdcomac_ug_f8(), model_data->l_04_i_gdcomac_ug_f8);
+		assign_value_set(data.l_04_i_gdcomac_vg_f8(), model_data->l_04_i_gdcomac_vg_f8);
+		assign_value_set(data.l_04_i_gdcomac_wg_f8(), model_data->l_04_i_gdcomac_wg_f8);
+		assign_value_set(data.l_04_i_gdcomac_blcg_f8(), model_data->l_04_i_gdcomac_blcg_f8);
+		assign_value_set(data.l_04_i_gdcomac_bscg_f8(), model_data->l_04_i_gdcomac_bscg_f8);
+		assign_value_set(data.l_04_i_gdcomac_wlcg_f8(), model_data->l_04_i_gdcomac_wlcg_f8);
+		assign_value_set(data.l_04_i_gdcomac_pb_active_l1(),
+						 model_data->l_04_i_gdcomac_pb_active_l1);
+		assign_value_set(data.l_04_i_gdcomac_brake_torq_f8(),
+						 model_data->l_04_i_gdcomac_brake_torq_f8);
+		assign_value_set(data.l_04_i_gdcomac_gear_f8(), model_data->l_04_i_gdcomac_gear_f8);
+		assign_value_set(data.l_04_i_gdcomac_gsteer_f8(), model_data->l_04_i_gdcomac_gsteer_f8);
+		assign_value_set(data.l_04_i_gdcomac_tire_pres_f8(),
+						 model_data->l_04_i_gdcomac_tire_pres_f8);
+		assign_value_set(data.l_04_i_gdcomac_onjax_l1(), model_data->l_04_i_gdcomac_onjax_l1);
+		assign_value_set(data.l_04_i_gdcomac_contdep_f8(), model_data->l_04_i_gdcomac_contdep_f8);
+		assign_value_set(data.l_04_i_gdcomac_thetag_f8(), model_data->l_04_i_gdcomac_thetag_f8);
+		assign_value_set(data.l_04_i_gdcomac_phig_f8(), model_data->l_04_i_gdcomac_phig_f8);
+		assign_value_set(data.l_04_i_gdcomac_rwyrgh_i2(), model_data->l_04_i_gdcomac_rwyrgh_i2);
+		assign_value_set(data.l_04_i_gdcomac_rwyhdg_f8(), model_data->l_04_i_gdcomac_rwyhdg_f8);
+		assign_value_set(data.l_04_i_gdcomac_reset_braketemp_l1(),
+						 model_data->l_04_i_gdcomac_reset_braketemp_l1);
+		assign_value_set(data.l_04_i_gdcomac_reset_tirepress_l1(),
+						 model_data->l_04_i_gdcomac_reset_tirepress_l1);
+		assign_value_set(data.l_04_i_gdcomac_temp_c_f8(), model_data->l_04_i_gdcomac_temp_c_f8);
+		assign_value_set(data.l_04_i_gdcomac_brake_temp_f8(),
+						 model_data->l_04_i_gdcomac_brake_temp_f8);
+		assign_value_set(data.l_04_i_gdcomac_tire_tburst_l1(),
+						 model_data->l_04_i_gdcomac_tire_tburst_l1);
+		assign_value_set(data.l_04_i_gdcomac_tire_tflat_l1(),
+						 model_data->l_04_i_gdcomac_tire_tflat_l1);
+		assign_value_set(data.l_04_i_gdcomac_brk_reset_tpres_l1(),
+						 model_data->l_04_i_gdcomac_brk_reset_tpres_l1);
+		assign_value_set(data.l_04_i_gdcomac_rcon_ci_f8(), model_data->l_04_i_gdcomac_rcon_ci_f8);
+		assign_value_set(data.l_04_i_gdcomac_pb_towforce_f8(),
+						 model_data->l_04_i_gdcomac_pb_towforce_f8);
+		assign_value_set(data.l_04_i_gdcomac_gsteer_state_i4(),
+						 model_data->l_04_i_gdcomac_gsteer_state_i4);
+		assign_value_set(data.l_04_i_gdcomac_trim_active_l1(),
+						 model_data->l_04_i_gdcomac_trim_active_l1);
+		assign_value_set(data.l_04_i_gdcomac_phi_deg_f8(), model_data->l_04_i_gdcomac_phi_deg_f8);
+		assign_value_set(data.l_04_i_gdcomac_theta_deg_f8(),
+						 model_data->l_04_i_gdcomac_theta_deg_f8);
+		assign_value_set(data.l_04_i_gdcomac_psi_deg_f8(), model_data->l_04_i_gdcomac_psi_deg_f8);
+		assign_value_set(data.l_04_i_gdcomac_resetint_l1(), model_data->l_04_i_gdcomac_resetint_l1);
+		sendOutData();
+	}
+
+private:
+	XNSim::C909::ATA04::GroundHandling_input data;
+	XNSim::C909::ATA04::GroundHandling_input out_data;
+};
+} // namespace XNSim::C909::ATA04

Release/IDL/C909_V1/ATA04/GroundHandling_output.cxx

@@ -0,0 +1,99 @@
+#include "GroundHandling_output.hpp"
+
+namespace XNSim::C909::ATA04
+{
+GroundHandling_output_Interface::GroundHandling_output_Interface()
+{
+	MAP_DATA_FUNC(l_04_o_gdcomac_frz_l1);
+	MAP_DATA_FUNC(l_04_o_gdcomac_ac_on_ground_l1);
+	MAP_DATA_FUNC(l_04_o_gdcomac_ac_stationary_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_alt_tire_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_zcg_to_tire_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_fxb_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_fyb_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_fzb_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_mxb_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_myb_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_mzb_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_fygs_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_mzgs_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_mu_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_dstroke_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_sr_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_sy_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_sx_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_xft_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_yft_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_zft_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_distngrxcg_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_distmgrxcg_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_distmgrzcg_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_tire_vel_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_tire_burst_l1);
+	MAP_DATA_FUNC(l_04_o_gdcomac_tire_temp_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_wow_l1);
+	MAP_DATA_FUNC(l_04_o_gdcomac_utirew_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_vtirew_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_whl_omega_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_dstruc_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_wor_par_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_nd_f8);
+	MAP_DATA_FUNC(l_04_o_gdcomac_vczt_f8);
+	this->header[0] = 0xa6; // XNSim头，0xa6
+	this->header[1] = 0xc0; // 机型头，0xc0表示C909
+	this->header[2] = 0x04; // 章节头，0x04表示ATA04
+	this->header[3] = 0x01; // 模型头，0x01表示GroundHandling
+	this->header[4] = 0x01; // 结构体头，0x01表示输出结构体
+	this->header[5] = 0x00; // 数据方向，0x00表示外部输入
+	this->header[6] = 0x00; // 数据大小
+	this->header[7] = 0x00; // 数据大小
+}
+
+GroundHandling_output_Interface::~GroundHandling_output_Interface()
+{
+}
+
+void GroundHandling_output_Interface::Initialize(XNFrameworkPtr framework, uint32_t modelId,
+												 uint32_t DDS_type)
+{
+	auto ddsManager = framework->GetDDSManager();
+	if (!ddsManager) {
+		LOG_ERROR("DDSManager is nullptr");
+		return;
+	}
+	if (DDS_type == 0) { // 读取与发送都进行
+		dataWriter =
+			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_outputPubSubType>(
+				"XNSim::C909::ATA04::GroundHandling_output", modelId);
+		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_outputPubSubType>(
+			"XNSim::C909::ATA04::GroundHandling_output", modelId,
+			std::bind(&GroundHandling_output_Interface::outputDataListener, this,
+					  std::placeholders::_1));
+	} else if (DDS_type == 1) { // 只读取
+		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_outputPubSubType>(
+			"XNSim::C909::ATA04::GroundHandling_output", modelId,
+			std::bind(&GroundHandling_output_Interface::outputDataListener, this,
+					  std::placeholders::_1));
+	} else if (DDS_type == 2) { // 只发送
+		dataWriter =
+			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_outputPubSubType>(
+				"XNSim::C909::ATA04::GroundHandling_output", modelId);
+	}
+}
+
+void GroundHandling_output_Interface::clearOutData()
+{
+	this->out_data = XNSim::C909::ATA04::GroundHandling_output();
+}
+
+void GroundHandling_output_Interface::sendOutData()
+{
+	dataWriter->write(&this->out_data);
+}
+
+void GroundHandling_output_Interface::outputDataListener(
+	const XNSim::C909::ATA04::GroundHandling_output &output)
+{
+	this->data = output;
+}
+} // namespace XNSim::C909::ATA04

Release/IDL/C909_V1/ATA04/GroundHandling_output.hpp

@@ -0,0 +1,123 @@
+#include "../C909_V1PubSubTypes.hpp"
+#include "XNCore/XNDDSInterface.h"
+
+namespace XNSim::C909::ATA04
+{
+class GroundHandling_output_Interface final : public XNDDSInterface
+{
+public:
+	GroundHandling_output_Interface();
+	virtual ~GroundHandling_output_Interface();
+	virtual void Initialize(XNFrameworkPtr framework, uint32_t modelId, uint32_t DDS_type) override;
+	void outputDataListener(const XNSim::C909::ATA04::GroundHandling_output &output);
+	virtual void clearOutData() override;
+	virtual void sendOutData() override;
+	template <typename T>
+	void getData(T *model_data)
+	{
+		if (model_data == nullptr)
+			return;
+		assign_value_get(data.l_04_o_gdcomac_frz_l1(), model_data->l_04_o_gdcomac_frz_l1);
+		assign_value_get(data.l_04_o_gdcomac_ac_on_ground_l1(),
+						 model_data->l_04_o_gdcomac_ac_on_ground_l1);
+		assign_value_get(data.l_04_o_gdcomac_ac_stationary_f8(),
+						 model_data->l_04_o_gdcomac_ac_stationary_f8);
+		assign_value_get(data.l_04_o_gdcomac_alt_tire_f8(), model_data->l_04_o_gdcomac_alt_tire_f8);
+		assign_value_get(data.l_04_o_gdcomac_zcg_to_tire_f8(),
+						 model_data->l_04_o_gdcomac_zcg_to_tire_f8);
+		assign_value_get(data.l_04_o_gdcomac_fxb_f8(), model_data->l_04_o_gdcomac_fxb_f8);
+		assign_value_get(data.l_04_o_gdcomac_fyb_f8(), model_data->l_04_o_gdcomac_fyb_f8);
+		assign_value_get(data.l_04_o_gdcomac_fzb_f8(), model_data->l_04_o_gdcomac_fzb_f8);
+		assign_value_get(data.l_04_o_gdcomac_mxb_f8(), model_data->l_04_o_gdcomac_mxb_f8);
+		assign_value_get(data.l_04_o_gdcomac_myb_f8(), model_data->l_04_o_gdcomac_myb_f8);
+		assign_value_get(data.l_04_o_gdcomac_mzb_f8(), model_data->l_04_o_gdcomac_mzb_f8);
+		assign_value_get(data.l_04_o_gdcomac_fygs_f8(), model_data->l_04_o_gdcomac_fygs_f8);
+		assign_value_get(data.l_04_o_gdcomac_mzgs_f8(), model_data->l_04_o_gdcomac_mzgs_f8);
+		assign_value_get(data.l_04_o_gdcomac_mu_f8(), model_data->l_04_o_gdcomac_mu_f8);
+		assign_value_get(data.l_04_o_gdcomac_dstroke_f8(), model_data->l_04_o_gdcomac_dstroke_f8);
+		assign_value_get(data.l_04_o_gdcomac_sr_f8(), model_data->l_04_o_gdcomac_sr_f8);
+		assign_value_get(data.l_04_o_gdcomac_sy_f8(), model_data->l_04_o_gdcomac_sy_f8);
+		assign_value_get(data.l_04_o_gdcomac_sx_f8(), model_data->l_04_o_gdcomac_sx_f8);
+		assign_value_get(data.l_04_o_gdcomac_xft_f8(), model_data->l_04_o_gdcomac_xft_f8);
+		assign_value_get(data.l_04_o_gdcomac_yft_f8(), model_data->l_04_o_gdcomac_yft_f8);
+		assign_value_get(data.l_04_o_gdcomac_zft_f8(), model_data->l_04_o_gdcomac_zft_f8);
+		assign_value_get(data.l_04_o_gdcomac_distngrxcg_f8(),
+						 model_data->l_04_o_gdcomac_distngrxcg_f8);
+		assign_value_get(data.l_04_o_gdcomac_distmgrxcg_f8(),
+						 model_data->l_04_o_gdcomac_distmgrxcg_f8);
+		assign_value_get(data.l_04_o_gdcomac_distmgrzcg_f8(),
+						 model_data->l_04_o_gdcomac_distmgrzcg_f8);
+		assign_value_get(data.l_04_o_gdcomac_tire_vel_f8(), model_data->l_04_o_gdcomac_tire_vel_f8);
+		assign_value_get(data.l_04_o_gdcomac_tire_burst_l1(),
+						 model_data->l_04_o_gdcomac_tire_burst_l1);
+		assign_value_get(data.l_04_o_gdcomac_tire_temp_f8(),
+						 model_data->l_04_o_gdcomac_tire_temp_f8);
+		assign_value_get(data.l_04_o_gdcomac_wow_l1(), model_data->l_04_o_gdcomac_wow_l1);
+		assign_value_get(data.l_04_o_gdcomac_utirew_f8(), model_data->l_04_o_gdcomac_utirew_f8);
+		assign_value_get(data.l_04_o_gdcomac_vtirew_f8(), model_data->l_04_o_gdcomac_vtirew_f8);
+		assign_value_get(data.l_04_o_gdcomac_whl_omega_f8(),
+						 model_data->l_04_o_gdcomac_whl_omega_f8);
+		assign_value_get(data.l_04_o_gdcomac_dstruc_f8(), model_data->l_04_o_gdcomac_dstruc_f8);
+		assign_value_get(data.l_04_o_gdcomac_wor_par_f8(), model_data->l_04_o_gdcomac_wor_par_f8);
+		assign_value_get(data.l_04_o_gdcomac_nd_f8(), model_data->l_04_o_gdcomac_nd_f8);
+		assign_value_get(data.l_04_o_gdcomac_vczt_f8(), model_data->l_04_o_gdcomac_vczt_f8);
+	}
+
+	template <typename T>
+	void setData(T *model_data)
+	{
+		if (model_data == nullptr)
+			return;
+		clearOutData();
+		assign_value_set(data.l_04_o_gdcomac_frz_l1(), model_data->l_04_o_gdcomac_frz_l1);
+		assign_value_set(data.l_04_o_gdcomac_ac_on_ground_l1(),
+						 model_data->l_04_o_gdcomac_ac_on_ground_l1);
+		assign_value_set(data.l_04_o_gdcomac_ac_stationary_f8(),
+						 model_data->l_04_o_gdcomac_ac_stationary_f8);
+		assign_value_set(data.l_04_o_gdcomac_alt_tire_f8(), model_data->l_04_o_gdcomac_alt_tire_f8);
+		assign_value_set(data.l_04_o_gdcomac_zcg_to_tire_f8(),
+						 model_data->l_04_o_gdcomac_zcg_to_tire_f8);
+		assign_value_set(data.l_04_o_gdcomac_fxb_f8(), model_data->l_04_o_gdcomac_fxb_f8);
+		assign_value_set(data.l_04_o_gdcomac_fyb_f8(), model_data->l_04_o_gdcomac_fyb_f8);
+		assign_value_set(data.l_04_o_gdcomac_fzb_f8(), model_data->l_04_o_gdcomac_fzb_f8);
+		assign_value_set(data.l_04_o_gdcomac_mxb_f8(), model_data->l_04_o_gdcomac_mxb_f8);
+		assign_value_set(data.l_04_o_gdcomac_myb_f8(), model_data->l_04_o_gdcomac_myb_f8);
+		assign_value_set(data.l_04_o_gdcomac_mzb_f8(), model_data->l_04_o_gdcomac_mzb_f8);
+		assign_value_set(data.l_04_o_gdcomac_fygs_f8(), model_data->l_04_o_gdcomac_fygs_f8);
+		assign_value_set(data.l_04_o_gdcomac_mzgs_f8(), model_data->l_04_o_gdcomac_mzgs_f8);
+		assign_value_set(data.l_04_o_gdcomac_mu_f8(), model_data->l_04_o_gdcomac_mu_f8);
+		assign_value_set(data.l_04_o_gdcomac_dstroke_f8(), model_data->l_04_o_gdcomac_dstroke_f8);
+		assign_value_set(data.l_04_o_gdcomac_sr_f8(), model_data->l_04_o_gdcomac_sr_f8);
+		assign_value_set(data.l_04_o_gdcomac_sy_f8(), model_data->l_04_o_gdcomac_sy_f8);
+		assign_value_set(data.l_04_o_gdcomac_sx_f8(), model_data->l_04_o_gdcomac_sx_f8);
+		assign_value_set(data.l_04_o_gdcomac_xft_f8(), model_data->l_04_o_gdcomac_xft_f8);
+		assign_value_set(data.l_04_o_gdcomac_yft_f8(), model_data->l_04_o_gdcomac_yft_f8);
+		assign_value_set(data.l_04_o_gdcomac_zft_f8(), model_data->l_04_o_gdcomac_zft_f8);
+		assign_value_set(data.l_04_o_gdcomac_distngrxcg_f8(),
+						 model_data->l_04_o_gdcomac_distngrxcg_f8);
+		assign_value_set(data.l_04_o_gdcomac_distmgrxcg_f8(),
+						 model_data->l_04_o_gdcomac_distmgrxcg_f8);
+		assign_value_set(data.l_04_o_gdcomac_distmgrzcg_f8(),
+						 model_data->l_04_o_gdcomac_distmgrzcg_f8);
+		assign_value_set(data.l_04_o_gdcomac_tire_vel_f8(), model_data->l_04_o_gdcomac_tire_vel_f8);
+		assign_value_set(data.l_04_o_gdcomac_tire_burst_l1(),
+						 model_data->l_04_o_gdcomac_tire_burst_l1);
+		assign_value_set(data.l_04_o_gdcomac_tire_temp_f8(),
+						 model_data->l_04_o_gdcomac_tire_temp_f8);
+		assign_value_set(data.l_04_o_gdcomac_wow_l1(), model_data->l_04_o_gdcomac_wow_l1);
+		assign_value_set(data.l_04_o_gdcomac_utirew_f8(), model_data->l_04_o_gdcomac_utirew_f8);
+		assign_value_set(data.l_04_o_gdcomac_vtirew_f8(), model_data->l_04_o_gdcomac_vtirew_f8);
+		assign_value_set(data.l_04_o_gdcomac_whl_omega_f8(),
+						 model_data->l_04_o_gdcomac_whl_omega_f8);
+		assign_value_set(data.l_04_o_gdcomac_dstruc_f8(), model_data->l_04_o_gdcomac_dstruc_f8);
+		assign_value_set(data.l_04_o_gdcomac_wor_par_f8(), model_data->l_04_o_gdcomac_wor_par_f8);
+		assign_value_set(data.l_04_o_gdcomac_nd_f8(), model_data->l_04_o_gdcomac_nd_f8);
+		assign_value_set(data.l_04_o_gdcomac_vczt_f8(), model_data->l_04_o_gdcomac_vczt_f8);
+		sendOutData();
+	}
+
+private:
+	XNSim::C909::ATA04::GroundHandling_output data;
+	XNSim::C909::ATA04::GroundHandling_output out_data;
+};
+} // namespace XNSim::C909::ATA04

Release/IDL/C909_V1/C909_V1.idl

@@ -0,0 +1,232 @@
+module XNSim
+{
+	module C909
+	{
+		module ATA04
+		{
+			struct Aerodynamics_input
+			{
+				@optional double l_04_i_aerocomac_alpha_f8;
+				@optional double l_04_i_aerocomac_alpdot_f8;
+				@optional double l_04_i_aerocomac_beta_f8;
+				@optional double l_04_i_aerocomac_press_alt_f8;
+				@optional double l_04_i_aerocomac_tas_f8;
+				@optional double l_04_i_aerocomac_mach_f8;
+				@optional double l_04_i_aerocomac_nx_f8;
+				@optional double l_04_i_aerocomac_ny_f8;
+				@optional double l_04_i_aerocomac_nz_f8;
+				@optional double l_04_i_aerocomac_p_f8;
+				@optional double l_04_i_aerocomac_q_f8;
+				@optional double l_04_i_aerocomac_r_f8;
+				@optional double l_04_i_aerocomac_qbar_f8;
+				@optional double l_04_i_aerocomac_blcg_f8;
+				@optional double l_04_i_aerocomac_bscg_f8;
+				@optional double l_04_i_aerocomac_wlcg_f8;
+				@optional double l_04_i_aerocomac_ail_f8[10];
+				@optional double l_04_i_aerocomac_elv_f8[4];
+				@optional double l_04_i_aerocomac_rud_f8[2];
+				@optional double l_04_i_aerocomac_stab_f8;
+				@optional double l_04_i_aerocomac_gear_f8[7];
+				@optional double l_04_i_aerocomac_flap_f8[10];
+				@optional double l_04_i_aerocomac_slat_f8[20];
+				@optional double l_04_i_aerocomac_spl_f8[20];
+				@optional double l_04_i_aerocomac_tnet_f8[4];
+				@optional double l_04_i_aerocomac_kice_f8[20];
+				@optional double l_04_i_aerocomac_alt_agl_f8;
+			};
+			struct Aerodynamics_output
+			{
+				@optional double l_04_o_aerocomac_fxb_f8;
+				@optional double l_04_o_aerocomac_fyb_f8;
+				@optional double l_04_o_aerocomac_fzb_f8;
+				@optional double l_04_o_aerocomac_mxb_f8;
+				@optional double l_04_o_aerocomac_myb_f8;
+				@optional double l_04_o_aerocomac_mzb_f8;
+				@optional double l_04_o_aerocomac_cls_f8;
+				@optional double l_04_o_aerocomac_cl_f8;
+				@optional double l_04_o_aerocomac_cd_f8;
+				@optional double l_04_o_aerocomac_cm_f8;
+				@optional double l_04_o_aerocomac_cr_f8;
+				@optional double l_04_o_aerocomac_cy_f8;
+				@optional double l_04_o_aerocomac_cn_f8;
+			};
+			struct Aerodynamics_heartbeat
+			{
+				@optional long aero_model_heartbeat;
+			};
+			struct GroundHandling_input
+			{
+				@optional char l_04_i_gdcomac_frz_l1;
+				@optional char l_04_i_gdcomac_chocks_l1;
+				@optional double l_04_i_gdcomac_alt_agl_f8;
+				@optional char l_04_i_gdcomac_frzflt_l1;
+				@optional double l_04_i_gdcomac_p_f8;
+				@optional double l_04_i_gdcomac_q_f8;
+				@optional double l_04_i_gdcomac_r_f8;
+				@optional double l_04_i_gdcomac_ug_f8;
+				@optional double l_04_i_gdcomac_vg_f8;
+				@optional double l_04_i_gdcomac_wg_f8;
+				@optional double l_04_i_gdcomac_blcg_f8;
+				@optional double l_04_i_gdcomac_bscg_f8;
+				@optional double l_04_i_gdcomac_wlcg_f8;
+				@optional char l_04_i_gdcomac_pb_active_l1;
+				@optional double l_04_i_gdcomac_brake_torq_f8[3][2];
+				@optional double l_04_i_gdcomac_gear_f8[3];
+				@optional double l_04_i_gdcomac_gsteer_f8[10];
+				@optional double l_04_i_gdcomac_tire_pres_f8[3][2];
+				@optional char l_04_i_gdcomac_onjax_l1;
+				@optional double l_04_i_gdcomac_contdep_f8[7];
+				@optional double l_04_i_gdcomac_thetag_f8;
+				@optional double l_04_i_gdcomac_phig_f8;
+				@optional long l_04_i_gdcomac_rwyrgh_i2;
+				@optional double l_04_i_gdcomac_rwyhdg_f8;
+				@optional char l_04_i_gdcomac_reset_braketemp_l1;
+				@optional char l_04_i_gdcomac_reset_tirepress_l1;
+				@optional double l_04_i_gdcomac_temp_c_f8;
+				@optional double l_04_i_gdcomac_brake_temp_f8[3][2];
+				@optional char l_04_i_gdcomac_tire_tburst_l1[3][2];
+				@optional char l_04_i_gdcomac_tire_tflat_l1[3][2];
+				@optional char l_04_i_gdcomac_brk_reset_tpres_l1;
+				@optional double l_04_i_gdcomac_rcon_ci_f8[14];
+				@optional double l_04_i_gdcomac_pb_towforce_f8;
+				@optional long l_04_i_gdcomac_gsteer_state_i4;
+				@optional char l_04_i_gdcomac_trim_active_l1;
+				@optional double l_04_i_gdcomac_phi_deg_f8;
+				@optional double l_04_i_gdcomac_theta_deg_f8;
+				@optional double l_04_i_gdcomac_psi_deg_f8;
+				@optional char l_04_i_gdcomac_resetint_l1;
+			};
+			struct GroundHandling_output
+			{
+				@optional char l_04_o_gdcomac_frz_l1;
+				@optional char l_04_o_gdcomac_ac_on_ground_l1;
+				@optional double l_04_o_gdcomac_ac_stationary_f8;
+				@optional double l_04_o_gdcomac_alt_tire_f8;
+				@optional double l_04_o_gdcomac_zcg_to_tire_f8;
+				@optional double l_04_o_gdcomac_fxb_f8;
+				@optional double l_04_o_gdcomac_fyb_f8;
+				@optional double l_04_o_gdcomac_fzb_f8;
+				@optional double l_04_o_gdcomac_mxb_f8;
+				@optional double l_04_o_gdcomac_myb_f8;
+				@optional double l_04_o_gdcomac_mzb_f8;
+				@optional double l_04_o_gdcomac_fygs_f8[3];
+				@optional double l_04_o_gdcomac_mzgs_f8[3];
+				@optional double l_04_o_gdcomac_mu_f8[3];
+				@optional double l_04_o_gdcomac_dstroke_f8[3];
+				@optional double l_04_o_gdcomac_sr_f8[3][2];
+				@optional double l_04_o_gdcomac_sy_f8[3][2];
+				@optional double l_04_o_gdcomac_sx_f8[3][2];
+				@optional double l_04_o_gdcomac_xft_f8[3];
+				@optional double l_04_o_gdcomac_yft_f8[3];
+				@optional double l_04_o_gdcomac_zft_f8[3];
+				@optional double l_04_o_gdcomac_distngrxcg_f8;
+				@optional double l_04_o_gdcomac_distmgrxcg_f8;
+				@optional double l_04_o_gdcomac_distmgrzcg_f8;
+				@optional double l_04_o_gdcomac_tire_vel_f8[3][2];
+				@optional char l_04_o_gdcomac_tire_burst_l1[3][2];
+				@optional double l_04_o_gdcomac_tire_temp_f8[3][2];
+				@optional char l_04_o_gdcomac_wow_l1;
+				@optional double l_04_o_gdcomac_utirew_f8[3][2];
+				@optional double l_04_o_gdcomac_vtirew_f8[3][2];
+				@optional double l_04_o_gdcomac_whl_omega_f8[3][2];
+				@optional double l_04_o_gdcomac_dstruc_f8[6];
+				@optional double l_04_o_gdcomac_wor_par_f8[3];
+				@optional double l_04_o_gdcomac_nd_f8[3];
+				@optional double l_04_o_gdcomac_vczt_f8[3][2];
+			};
+			struct GroundHandling_heartbeat
+			{
+				@optional long groundhandling_model_heartbeat;
+			};
+			struct WeightBalance_input
+			{
+				@optional double l_04_i_wbcomac_theta_deg_f8;
+				@optional char l_04_i_wbcomac_gear_mode_l1;
+				@optional double l_04_i_wbcomac_acset_gw_f8;
+				@optional double l_04_i_wbcomac_acset_cg_f8;
+				@optional float l_04_i_wbcomac_acset_tankfuel_f4[20];
+				@optional double l_04_i_wbcomac_acset_totfuel_f8;
+				@optional double l_04_i_wbcomac_acset_zfw_f8;
+				@optional double l_04_i_wbcomac_acset_zfwcg_f8;
+				@optional char l_04_i_wbcomac_eng_efsep_l1[4];
+				@optional double l_04_i_wbcomac_fuel_f8[20];
+				@optional double l_04_i_wbcomac_gear_avg_f8;
+				@optional double l_04_i_wbcomac_kice_f8[20];
+				@optional char l_04_i_wbcomac_bycglim_l1;
+				@optional char l_04_i_wbcomac_bygwlim_l1;
+				@optional char l_04_i_wbcomac_frz_l1;
+				@optional char l_04_i_wbcomac_zcgfrz_l1;
+				@optional char l_04_i_wbcomac_zcgfrz_grfx_l1;
+				@optional char l_04_i_wbcomac_ycgfrz_l1;
+				@optional char l_04_i_wbcomac_inertfrz_l1;
+				@optional double l_04_i_wbcomac_potreq_gw_f8;
+				@optional double l_04_i_wbcomac_potreq_gwcg_f8;
+				@optional double l_04_i_wbcomac_phi_deg_f8;
+				@optional double l_04_i_wbcomac_psi_deg_f8;
+			};
+			struct WeightBalance_output
+			{
+				@optional char l_04_o_wbcomac_frz_l1;
+				@optional char l_04_o_wbcomac_zcgfrz_l1;
+				@optional char l_04_o_wbcomac_zcgfrz_grfx_l1;
+				@optional char l_04_o_wbcomac_ycgfrz_l1;
+				@optional char l_04_o_wbcomac_inertfrz_l1;
+				@optional float l_04_o_wbcomac_gw_f4;
+				@optional float l_04_o_wbcomac_cg_f4;
+				@optional double l_04_o_wbcomac_blcg_f8;
+				@optional double l_04_o_wbcomac_bscg_f8;
+				@optional double l_04_o_wbcomac_wlcg_f8;
+				@optional double l_04_o_wbcomac_xcg_f8;
+				@optional double l_04_o_wbcomac_ixx_f8;
+				@optional double l_04_o_wbcomac_ixy_f8;
+				@optional double l_04_o_wbcomac_ixz_f8;
+				@optional double l_04_o_wbcomac_iyy_f8;
+				@optional double l_04_o_wbcomac_iyz_f8;
+				@optional double l_04_o_wbcomac_izz_f8;
+				@optional float l_04_o_wbcomac_zfw_f4;
+				@optional float l_04_o_wbcomac_zfwcg_f4;
+				@optional float l_04_o_wbcomac_zfw_blcg_f4;
+				@optional float l_04_o_wbcomac_zfw_wlcg_f4;
+				@optional double l_04_o_wbcomac_fuel_cmd_f8[20];
+				@optional long l_04_o_wbcomac_fuel_mode_i4;
+				@optional double l_04_o_wbcomac_fuel_ixx_f8;
+				@optional double l_04_o_wbcomac_fuel_ixy_f8;
+				@optional double l_04_o_wbcomac_fuel_ixz_f8;
+				@optional double l_04_o_wbcomac_fuel_iyy_f8;
+				@optional double l_04_o_wbcomac_fuel_iyz_f8;
+				@optional double l_04_o_wbcomac_fuel_izz_f8;
+				@optional double l_04_o_wbcomac_l_wt_fuel_f8;
+				@optional double l_04_o_wbcomac_ice_airframe_total_f8;
+				@optional double l_04_o_wbcomac_ice_eng_f8[4];
+				@optional double l_04_o_wbcomac_ice_eng_total_f8;
+				@optional double l_04_o_wbcomac_ice_fuselage_f8;
+				@optional double l_04_o_wbcomac_ice_stab_left_f8;
+				@optional double l_04_o_wbcomac_ice_stab_right_f8;
+				@optional double l_04_o_wbcomac_ice_stab_total_f8;
+				@optional double l_04_o_wbcomac_ice_total_f8;
+				@optional double l_04_o_wbcomac_ice_total_frac_f8;
+				@optional double l_04_o_wbcomac_ice_vert_tail_f8;
+				@optional double l_04_o_wbcomac_ice_wing_left_f8;
+				@optional double l_04_o_wbcomac_ice_wing_right_f8;
+				@optional double l_04_o_wbcomac_ice_wing_total_f8;
+				@optional char l_04_o_wbcomac_init_l1;
+				@optional double l_04_o_wbcomac_potmin_gw_f8;
+				@optional double l_04_o_wbcomac_potmax_gw_f8;
+				@optional double l_04_o_wbcomac_potmin_gwcg_f8;
+				@optional double l_04_o_wbcomac_potmax_gwcg_f8;
+				@optional float l_04_o_wbcomac_min_cg_f4;
+				@optional float l_04_o_wbcomac_min_gw_f4;
+				@optional float l_04_o_wbcomac_min_zfw_f4;
+				@optional float l_04_o_wbcomac_min_zfwcg_f4;
+				@optional float l_04_o_wbcomac_max_cg_f4;
+				@optional float l_04_o_wbcomac_max_gw_f4;
+				@optional float l_04_o_wbcomac_max_zfw_f4;
+				@optional float l_04_o_wbcomac_max_zfwcg_f4;
+			};
+			struct WeightBalance_heartbeat
+			{
+				@optional long weightbody_model_heartbeat;
+			};
+		};
+	};
+};

Release/IDL/C909_V1/C909_V1CdrAux.hpp

@@ -0,0 +1,102 @@
+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*!
+ * @file C909_V1CdrAux.hpp
+ * This source file contains some definitions of CDR related functions.
+ *
+ * This file was generated by the tool fastddsgen.
+ */
+
+#ifndef FAST_DDS_GENERATED__XNSIM_C909_ATA04_C909_V1CDRAUX_HPP
+#define FAST_DDS_GENERATED__XNSIM_C909_ATA04_C909_V1CDRAUX_HPP
+
+#include "C909_V1.hpp"
+
+constexpr uint32_t XNSim_C909_ATA04_GroundHandling_input_max_cdr_typesize {1093UL};
+constexpr uint32_t XNSim_C909_ATA04_GroundHandling_input_max_key_cdr_typesize {0UL};
+
+constexpr uint32_t XNSim_C909_ATA04_GroundHandling_heartbeat_max_cdr_typesize {12UL};
+constexpr uint32_t XNSim_C909_ATA04_GroundHandling_heartbeat_max_key_cdr_typesize {0UL};
+
+constexpr uint32_t XNSim_C909_ATA04_Aerodynamics_output_max_cdr_typesize {312UL};
+constexpr uint32_t XNSim_C909_ATA04_Aerodynamics_output_max_key_cdr_typesize {0UL};
+
+constexpr uint32_t XNSim_C909_ATA04_WeightBalance_output_max_cdr_typesize {1184UL};
+constexpr uint32_t XNSim_C909_ATA04_WeightBalance_output_max_key_cdr_typesize {0UL};
+
+constexpr uint32_t XNSim_C909_ATA04_WeightBalance_heartbeat_max_cdr_typesize {12UL};
+constexpr uint32_t XNSim_C909_ATA04_WeightBalance_heartbeat_max_key_cdr_typesize {0UL};
+
+constexpr uint32_t XNSim_C909_ATA04_GroundHandling_output_max_cdr_typesize {1328UL};
+constexpr uint32_t XNSim_C909_ATA04_GroundHandling_output_max_key_cdr_typesize {0UL};
+
+constexpr uint32_t XNSim_C909_ATA04_WeightBalance_input_max_cdr_typesize {784UL};
+constexpr uint32_t XNSim_C909_ATA04_WeightBalance_input_max_key_cdr_typesize {0UL};
+
+constexpr uint32_t XNSim_C909_ATA04_Aerodynamics_input_max_cdr_typesize {1352UL};
+constexpr uint32_t XNSim_C909_ATA04_Aerodynamics_input_max_key_cdr_typesize {0UL};
+
+constexpr uint32_t XNSim_C909_ATA04_Aerodynamics_heartbeat_max_cdr_typesize {12UL};
+constexpr uint32_t XNSim_C909_ATA04_Aerodynamics_heartbeat_max_key_cdr_typesize {0UL};
+
+
+namespace eprosima {
+namespace fastcdr {
+
+class Cdr;
+class CdrSizeCalculator;
+
+eProsima_user_DllExport void serialize_key(
+        eprosima::fastcdr::Cdr& scdr,
+        const XNSim::C909::ATA04::Aerodynamics_input& data);
+
+eProsima_user_DllExport void serialize_key(
+        eprosima::fastcdr::Cdr& scdr,
+        const XNSim::C909::ATA04::Aerodynamics_output& data);
+
+eProsima_user_DllExport void serialize_key(
+        eprosima::fastcdr::Cdr& scdr,
+        const XNSim::C909::ATA04::Aerodynamics_heartbeat& data);
+
+eProsima_user_DllExport void serialize_key(
+        eprosima::fastcdr::Cdr& scdr,
+        const XNSim::C909::ATA04::GroundHandling_input& data);
+
+eProsima_user_DllExport void serialize_key(
+        eprosima::fastcdr::Cdr& scdr,
+        const XNSim::C909::ATA04::GroundHandling_output& data);
+
+eProsima_user_DllExport void serialize_key(
+        eprosima::fastcdr::Cdr& scdr,
+        const XNSim::C909::ATA04::GroundHandling_heartbeat& data);
+
+eProsima_user_DllExport void serialize_key(
+        eprosima::fastcdr::Cdr& scdr,
+        const XNSim::C909::ATA04::WeightBalance_input& data);
+
+eProsima_user_DllExport void serialize_key(
+        eprosima::fastcdr::Cdr& scdr,
+        const XNSim::C909::ATA04::WeightBalance_output& data);
+
+eProsima_user_DllExport void serialize_key(
+        eprosima::fastcdr::Cdr& scdr,
+        const XNSim::C909::ATA04::WeightBalance_heartbeat& data);
+
+
+} // namespace fastcdr
+} // namespace eprosima
+
+#endif // FAST_DDS_GENERATED__XNSIM_C909_ATA04_C909_V1CDRAUX_HPP
+

Release/IDL/C909_V1/C909_V1PubSubTypes.hpp

@@ -0,0 +1,780 @@
+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*!
+ * @file C909_V1PubSubTypes.hpp
+ * This header file contains the declaration of the serialization functions.
+ *
+ * This file was generated by the tool fastddsgen.
+ */
+
+
+#ifndef FAST_DDS_GENERATED__XNSIM_C909_ATA04_C909_V1_PUBSUBTYPES_HPP
+#define FAST_DDS_GENERATED__XNSIM_C909_ATA04_C909_V1_PUBSUBTYPES_HPP
+
+#include <fastdds/dds/core/policy/QosPolicies.hpp>
+#include <fastdds/dds/topic/TopicDataType.hpp>
+#include <fastdds/rtps/common/InstanceHandle.hpp>
+#include <fastdds/rtps/common/SerializedPayload.hpp>
+#include <fastdds/utils/md5.hpp>
+
+#include "C909_V1.hpp"
+
+
+#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
+#error \
+    Generated C909_V1 is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
+#endif  // FASTDDS_GEN_API_VER
+
+namespace XNSim
+{
+    namespace C909
+    {
+        namespace ATA04
+        {
+
+            /*!
+             * @brief This class represents the TopicDataType of the type Aerodynamics_input defined by the user in the IDL file.
+             * @ingroup C909_V1
+             */
+            class Aerodynamics_inputPubSubType : public eprosima::fastdds::dds::TopicDataType
+            {
+            public:
+
+                typedef Aerodynamics_input type;
+
+                eProsima_user_DllExport Aerodynamics_inputPubSubType();
+
+                eProsima_user_DllExport ~Aerodynamics_inputPubSubType() override;
+
+                eProsima_user_DllExport bool serialize(
+                        const void* const data,
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool deserialize(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        void* data) override;
+
+                eProsima_user_DllExport uint32_t calculate_serialized_size(
+                        const void* const data,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        const void* const data,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport void* create_data() override;
+
+                eProsima_user_DllExport void delete_data(
+                        void* data) override;
+
+                //Register TypeObject representation in Fast DDS TypeObjectRegistry
+                eProsima_user_DllExport void register_type_object_representation() override;
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+                eProsima_user_DllExport inline bool is_bounded() const override
+                {
+                    return true;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+                eProsima_user_DllExport inline bool is_plain(
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
+                {
+                    static_cast<void>(data_representation);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+                eProsima_user_DllExport inline bool construct_sample(
+                        void* memory) const override
+                {
+                    static_cast<void>(memory);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+
+            private:
+
+                eprosima::fastdds::MD5 md5_;
+                unsigned char* key_buffer_;
+
+            };
+
+            /*!
+             * @brief This class represents the TopicDataType of the type Aerodynamics_output defined by the user in the IDL file.
+             * @ingroup C909_V1
+             */
+            class Aerodynamics_outputPubSubType : public eprosima::fastdds::dds::TopicDataType
+            {
+            public:
+
+                typedef Aerodynamics_output type;
+
+                eProsima_user_DllExport Aerodynamics_outputPubSubType();
+
+                eProsima_user_DllExport ~Aerodynamics_outputPubSubType() override;
+
+                eProsima_user_DllExport bool serialize(
+                        const void* const data,
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool deserialize(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        void* data) override;
+
+                eProsima_user_DllExport uint32_t calculate_serialized_size(
+                        const void* const data,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        const void* const data,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport void* create_data() override;
+
+                eProsima_user_DllExport void delete_data(
+                        void* data) override;
+
+                //Register TypeObject representation in Fast DDS TypeObjectRegistry
+                eProsima_user_DllExport void register_type_object_representation() override;
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+                eProsima_user_DllExport inline bool is_bounded() const override
+                {
+                    return true;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+                eProsima_user_DllExport inline bool is_plain(
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
+                {
+                    static_cast<void>(data_representation);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+                eProsima_user_DllExport inline bool construct_sample(
+                        void* memory) const override
+                {
+                    static_cast<void>(memory);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+
+            private:
+
+                eprosima::fastdds::MD5 md5_;
+                unsigned char* key_buffer_;
+
+            };
+
+            /*!
+             * @brief This class represents the TopicDataType of the type Aerodynamics_heartbeat defined by the user in the IDL file.
+             * @ingroup C909_V1
+             */
+            class Aerodynamics_heartbeatPubSubType : public eprosima::fastdds::dds::TopicDataType
+            {
+            public:
+
+                typedef Aerodynamics_heartbeat type;
+
+                eProsima_user_DllExport Aerodynamics_heartbeatPubSubType();
+
+                eProsima_user_DllExport ~Aerodynamics_heartbeatPubSubType() override;
+
+                eProsima_user_DllExport bool serialize(
+                        const void* const data,
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool deserialize(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        void* data) override;
+
+                eProsima_user_DllExport uint32_t calculate_serialized_size(
+                        const void* const data,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        const void* const data,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport void* create_data() override;
+
+                eProsima_user_DllExport void delete_data(
+                        void* data) override;
+
+                //Register TypeObject representation in Fast DDS TypeObjectRegistry
+                eProsima_user_DllExport void register_type_object_representation() override;
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+                eProsima_user_DllExport inline bool is_bounded() const override
+                {
+                    return true;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+                eProsima_user_DllExport inline bool is_plain(
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
+                {
+                    static_cast<void>(data_representation);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+                eProsima_user_DllExport inline bool construct_sample(
+                        void* memory) const override
+                {
+                    static_cast<void>(memory);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+
+            private:
+
+                eprosima::fastdds::MD5 md5_;
+                unsigned char* key_buffer_;
+
+            };
+
+            /*!
+             * @brief This class represents the TopicDataType of the type GroundHandling_input defined by the user in the IDL file.
+             * @ingroup C909_V1
+             */
+            class GroundHandling_inputPubSubType : public eprosima::fastdds::dds::TopicDataType
+            {
+            public:
+
+                typedef GroundHandling_input type;
+
+                eProsima_user_DllExport GroundHandling_inputPubSubType();
+
+                eProsima_user_DllExport ~GroundHandling_inputPubSubType() override;
+
+                eProsima_user_DllExport bool serialize(
+                        const void* const data,
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool deserialize(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        void* data) override;
+
+                eProsima_user_DllExport uint32_t calculate_serialized_size(
+                        const void* const data,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        const void* const data,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport void* create_data() override;
+
+                eProsima_user_DllExport void delete_data(
+                        void* data) override;
+
+                //Register TypeObject representation in Fast DDS TypeObjectRegistry
+                eProsima_user_DllExport void register_type_object_representation() override;
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+                eProsima_user_DllExport inline bool is_bounded() const override
+                {
+                    return true;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+                eProsima_user_DllExport inline bool is_plain(
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
+                {
+                    static_cast<void>(data_representation);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+                eProsima_user_DllExport inline bool construct_sample(
+                        void* memory) const override
+                {
+                    static_cast<void>(memory);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+
+            private:
+
+                eprosima::fastdds::MD5 md5_;
+                unsigned char* key_buffer_;
+
+            };
+
+            /*!
+             * @brief This class represents the TopicDataType of the type GroundHandling_output defined by the user in the IDL file.
+             * @ingroup C909_V1
+             */
+            class GroundHandling_outputPubSubType : public eprosima::fastdds::dds::TopicDataType
+            {
+            public:
+
+                typedef GroundHandling_output type;
+
+                eProsima_user_DllExport GroundHandling_outputPubSubType();
+
+                eProsima_user_DllExport ~GroundHandling_outputPubSubType() override;
+
+                eProsima_user_DllExport bool serialize(
+                        const void* const data,
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool deserialize(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        void* data) override;
+
+                eProsima_user_DllExport uint32_t calculate_serialized_size(
+                        const void* const data,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        const void* const data,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport void* create_data() override;
+
+                eProsima_user_DllExport void delete_data(
+                        void* data) override;
+
+                //Register TypeObject representation in Fast DDS TypeObjectRegistry
+                eProsima_user_DllExport void register_type_object_representation() override;
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+                eProsima_user_DllExport inline bool is_bounded() const override
+                {
+                    return true;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+                eProsima_user_DllExport inline bool is_plain(
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
+                {
+                    static_cast<void>(data_representation);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+                eProsima_user_DllExport inline bool construct_sample(
+                        void* memory) const override
+                {
+                    static_cast<void>(memory);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+
+            private:
+
+                eprosima::fastdds::MD5 md5_;
+                unsigned char* key_buffer_;
+
+            };
+
+            /*!
+             * @brief This class represents the TopicDataType of the type GroundHandling_heartbeat defined by the user in the IDL file.
+             * @ingroup C909_V1
+             */
+            class GroundHandling_heartbeatPubSubType : public eprosima::fastdds::dds::TopicDataType
+            {
+            public:
+
+                typedef GroundHandling_heartbeat type;
+
+                eProsima_user_DllExport GroundHandling_heartbeatPubSubType();
+
+                eProsima_user_DllExport ~GroundHandling_heartbeatPubSubType() override;
+
+                eProsima_user_DllExport bool serialize(
+                        const void* const data,
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool deserialize(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        void* data) override;
+
+                eProsima_user_DllExport uint32_t calculate_serialized_size(
+                        const void* const data,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        const void* const data,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport void* create_data() override;
+
+                eProsima_user_DllExport void delete_data(
+                        void* data) override;
+
+                //Register TypeObject representation in Fast DDS TypeObjectRegistry
+                eProsima_user_DllExport void register_type_object_representation() override;
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+                eProsima_user_DllExport inline bool is_bounded() const override
+                {
+                    return true;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+                eProsima_user_DllExport inline bool is_plain(
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
+                {
+                    static_cast<void>(data_representation);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+                eProsima_user_DllExport inline bool construct_sample(
+                        void* memory) const override
+                {
+                    static_cast<void>(memory);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+
+            private:
+
+                eprosima::fastdds::MD5 md5_;
+                unsigned char* key_buffer_;
+
+            };
+
+            /*!
+             * @brief This class represents the TopicDataType of the type WeightBalance_input defined by the user in the IDL file.
+             * @ingroup C909_V1
+             */
+            class WeightBalance_inputPubSubType : public eprosima::fastdds::dds::TopicDataType
+            {
+            public:
+
+                typedef WeightBalance_input type;
+
+                eProsima_user_DllExport WeightBalance_inputPubSubType();
+
+                eProsima_user_DllExport ~WeightBalance_inputPubSubType() override;
+
+                eProsima_user_DllExport bool serialize(
+                        const void* const data,
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool deserialize(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        void* data) override;
+
+                eProsima_user_DllExport uint32_t calculate_serialized_size(
+                        const void* const data,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        const void* const data,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport void* create_data() override;
+
+                eProsima_user_DllExport void delete_data(
+                        void* data) override;
+
+                //Register TypeObject representation in Fast DDS TypeObjectRegistry
+                eProsima_user_DllExport void register_type_object_representation() override;
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+                eProsima_user_DllExport inline bool is_bounded() const override
+                {
+                    return true;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+                eProsima_user_DllExport inline bool is_plain(
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
+                {
+                    static_cast<void>(data_representation);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+                eProsima_user_DllExport inline bool construct_sample(
+                        void* memory) const override
+                {
+                    static_cast<void>(memory);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+
+            private:
+
+                eprosima::fastdds::MD5 md5_;
+                unsigned char* key_buffer_;
+
+            };
+
+            /*!
+             * @brief This class represents the TopicDataType of the type WeightBalance_output defined by the user in the IDL file.
+             * @ingroup C909_V1
+             */
+            class WeightBalance_outputPubSubType : public eprosima::fastdds::dds::TopicDataType
+            {
+            public:
+
+                typedef WeightBalance_output type;
+
+                eProsima_user_DllExport WeightBalance_outputPubSubType();
+
+                eProsima_user_DllExport ~WeightBalance_outputPubSubType() override;
+
+                eProsima_user_DllExport bool serialize(
+                        const void* const data,
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool deserialize(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        void* data) override;
+
+                eProsima_user_DllExport uint32_t calculate_serialized_size(
+                        const void* const data,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        const void* const data,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport void* create_data() override;
+
+                eProsima_user_DllExport void delete_data(
+                        void* data) override;
+
+                //Register TypeObject representation in Fast DDS TypeObjectRegistry
+                eProsima_user_DllExport void register_type_object_representation() override;
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+                eProsima_user_DllExport inline bool is_bounded() const override
+                {
+                    return true;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+                eProsima_user_DllExport inline bool is_plain(
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
+                {
+                    static_cast<void>(data_representation);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+                eProsima_user_DllExport inline bool construct_sample(
+                        void* memory) const override
+                {
+                    static_cast<void>(memory);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+
+            private:
+
+                eprosima::fastdds::MD5 md5_;
+                unsigned char* key_buffer_;
+
+            };
+
+            /*!
+             * @brief This class represents the TopicDataType of the type WeightBalance_heartbeat defined by the user in the IDL file.
+             * @ingroup C909_V1
+             */
+            class WeightBalance_heartbeatPubSubType : public eprosima::fastdds::dds::TopicDataType
+            {
+            public:
+
+                typedef WeightBalance_heartbeat type;
+
+                eProsima_user_DllExport WeightBalance_heartbeatPubSubType();
+
+                eProsima_user_DllExport ~WeightBalance_heartbeatPubSubType() override;
+
+                eProsima_user_DllExport bool serialize(
+                        const void* const data,
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool deserialize(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        void* data) override;
+
+                eProsima_user_DllExport uint32_t calculate_serialized_size(
+                        const void* const data,
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport bool compute_key(
+                        const void* const data,
+                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+                        bool force_md5 = false) override;
+
+                eProsima_user_DllExport void* create_data() override;
+
+                eProsima_user_DllExport void delete_data(
+                        void* data) override;
+
+                //Register TypeObject representation in Fast DDS TypeObjectRegistry
+                eProsima_user_DllExport void register_type_object_representation() override;
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+                eProsima_user_DllExport inline bool is_bounded() const override
+                {
+                    return true;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+                eProsima_user_DllExport inline bool is_plain(
+                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
+                {
+                    static_cast<void>(data_representation);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+            #ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+                eProsima_user_DllExport inline bool construct_sample(
+                        void* memory) const override
+                {
+                    static_cast<void>(memory);
+                    return false;
+                }
+
+            #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+
+            private:
+
+                eprosima::fastdds::MD5 md5_;
+                unsigned char* key_buffer_;
+
+            };
+        } // namespace ATA04
+    } // namespace C909
+} // namespace XNSim
+
+#endif // FAST_DDS_GENERATED__XNSIM_C909_ATA04_C909_V1_PUBSUBTYPES_HPP
+

Release/IDL/C909_V1/C909_V1TypeObjectSupport.hpp

@@ -0,0 +1,169 @@
+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*!
+ * @file C909_V1TypeObjectSupport.hpp
+ * Header file containing the API required to register the TypeObject representation of the described types in the IDL file
+ *
+ * This file was generated by the tool fastddsgen.
+ */
+
+#ifndef FAST_DDS_GENERATED__XNSIM_C909_ATA04_C909_V1_TYPE_OBJECT_SUPPORT_HPP
+#define FAST_DDS_GENERATED__XNSIM_C909_ATA04_C909_V1_TYPE_OBJECT_SUPPORT_HPP
+
+#include <fastdds/dds/xtypes/type_representation/TypeObject.hpp>
+
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#define eProsima_user_DllExport __declspec( dllexport )
+#else
+#define eProsima_user_DllExport
+#endif  // EPROSIMA_USER_DLL_EXPORT
+#else
+#define eProsima_user_DllExport
+#endif  // _WIN32
+
+#ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
+
+namespace XNSim {
+namespace C909 {
+namespace ATA04 {
+/**
+ * @brief Register Aerodynamics_input related TypeIdentifier.
+ *        Fully-descriptive TypeIdentifiers are directly registered.
+ *        Hash TypeIdentifiers require to fill the TypeObject information and hash it, consequently, the TypeObject is
+ *        indirectly registered as well.
+ *
+ * @param[out] TypeIdentifier of the registered type.
+ *             The returned TypeIdentifier corresponds to the complete TypeIdentifier in case of hashed TypeIdentifiers.
+ *             Invalid TypeIdentifier is returned in case of error.
+ */
+eProsima_user_DllExport void register_Aerodynamics_input_type_identifier(
+        eprosima::fastdds::dds::xtypes::TypeIdentifierPair& type_ids);
+
+/**
+ * @brief Register Aerodynamics_output related TypeIdentifier.
+ *        Fully-descriptive TypeIdentifiers are directly registered.
+ *        Hash TypeIdentifiers require to fill the TypeObject information and hash it, consequently, the TypeObject is
+ *        indirectly registered as well.
+ *
+ * @param[out] TypeIdentifier of the registered type.
+ *             The returned TypeIdentifier corresponds to the complete TypeIdentifier in case of hashed TypeIdentifiers.
+ *             Invalid TypeIdentifier is returned in case of error.
+ */
+eProsima_user_DllExport void register_Aerodynamics_output_type_identifier(
+        eprosima::fastdds::dds::xtypes::TypeIdentifierPair& type_ids);
+
+/**
+ * @brief Register Aerodynamics_heartbeat related TypeIdentifier.
+ *        Fully-descriptive TypeIdentifiers are directly registered.
+ *        Hash TypeIdentifiers require to fill the TypeObject information and hash it, consequently, the TypeObject is
+ *        indirectly registered as well.
+ *
+ * @param[out] TypeIdentifier of the registered type.
+ *             The returned TypeIdentifier corresponds to the complete TypeIdentifier in case of hashed TypeIdentifiers.
+ *             Invalid TypeIdentifier is returned in case of error.
+ */
+eProsima_user_DllExport void register_Aerodynamics_heartbeat_type_identifier(
+        eprosima::fastdds::dds::xtypes::TypeIdentifierPair& type_ids);
+
+/**
+ * @brief Register GroundHandling_input related TypeIdentifier.
+ *        Fully-descriptive TypeIdentifiers are directly registered.
+ *        Hash TypeIdentifiers require to fill the TypeObject information and hash it, consequently, the TypeObject is
+ *        indirectly registered as well.
+ *
+ * @param[out] TypeIdentifier of the registered type.
+ *             The returned TypeIdentifier corresponds to the complete TypeIdentifier in case of hashed TypeIdentifiers.
+ *             Invalid TypeIdentifier is returned in case of error.
+ */
+eProsima_user_DllExport void register_GroundHandling_input_type_identifier(
+        eprosima::fastdds::dds::xtypes::TypeIdentifierPair& type_ids);
+
+/**
+ * @brief Register GroundHandling_output related TypeIdentifier.
+ *        Fully-descriptive TypeIdentifiers are directly registered.
+ *        Hash TypeIdentifiers require to fill the TypeObject information and hash it, consequently, the TypeObject is
+ *        indirectly registered as well.
+ *
+ * @param[out] TypeIdentifier of the registered type.
+ *             The returned TypeIdentifier corresponds to the complete TypeIdentifier in case of hashed TypeIdentifiers.
+ *             Invalid TypeIdentifier is returned in case of error.
+ */
+eProsima_user_DllExport void register_GroundHandling_output_type_identifier(
+        eprosima::fastdds::dds::xtypes::TypeIdentifierPair& type_ids);
+
+/**
+ * @brief Register GroundHandling_heartbeat related TypeIdentifier.
+ *        Fully-descriptive TypeIdentifiers are directly registered.
+ *        Hash TypeIdentifiers require to fill the TypeObject information and hash it, consequently, the TypeObject is
+ *        indirectly registered as well.
+ *
+ * @param[out] TypeIdentifier of the registered type.
+ *             The returned TypeIdentifier corresponds to the complete TypeIdentifier in case of hashed TypeIdentifiers.
+ *             Invalid TypeIdentifier is returned in case of error.
+ */
+eProsima_user_DllExport void register_GroundHandling_heartbeat_type_identifier(
+        eprosima::fastdds::dds::xtypes::TypeIdentifierPair& type_ids);
+
+/**
+ * @brief Register WeightBalance_input related TypeIdentifier.
+ *        Fully-descriptive TypeIdentifiers are directly registered.
+ *        Hash TypeIdentifiers require to fill the TypeObject information and hash it, consequently, the TypeObject is
+ *        indirectly registered as well.
+ *
+ * @param[out] TypeIdentifier of the registered type.
+ *             The returned TypeIdentifier corresponds to the complete TypeIdentifier in case of hashed TypeIdentifiers.
+ *             Invalid TypeIdentifier is returned in case of error.
+ */
+eProsima_user_DllExport void register_WeightBalance_input_type_identifier(
+        eprosima::fastdds::dds::xtypes::TypeIdentifierPair& type_ids);
+
+/**
+ * @brief Register WeightBalance_output related TypeIdentifier.
+ *        Fully-descriptive TypeIdentifiers are directly registered.
+ *        Hash TypeIdentifiers require to fill the TypeObject information and hash it, consequently, the TypeObject is
+ *        indirectly registered as well.
+ *
+ * @param[out] TypeIdentifier of the registered type.
+ *             The returned TypeIdentifier corresponds to the complete TypeIdentifier in case of hashed TypeIdentifiers.
+ *             Invalid TypeIdentifier is returned in case of error.
+ */
+eProsima_user_DllExport void register_WeightBalance_output_type_identifier(
+        eprosima::fastdds::dds::xtypes::TypeIdentifierPair& type_ids);
+
+/**
+ * @brief Register WeightBalance_heartbeat related TypeIdentifier.
+ *        Fully-descriptive TypeIdentifiers are directly registered.
+ *        Hash TypeIdentifiers require to fill the TypeObject information and hash it, consequently, the TypeObject is
+ *        indirectly registered as well.
+ *
+ * @param[out] TypeIdentifier of the registered type.
+ *             The returned TypeIdentifier corresponds to the complete TypeIdentifier in case of hashed TypeIdentifiers.
+ *             Invalid TypeIdentifier is returned in case of error.
+ */
+eProsima_user_DllExport void register_WeightBalance_heartbeat_type_identifier(
+        eprosima::fastdds::dds::xtypes::TypeIdentifierPair& type_ids);
+
+} // namespace ATA04
+
+} // namespace C909
+
+} // namespace XNSim
+
+
+#endif // DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
+
+#endif // FAST_DDS_GENERATED__XNSIM_C909_ATA04_C909_V1_TYPE_OBJECT_SUPPORT_HPP

Release/IDL/C909_V1/CMakeLists.txt

@@ -0,0 +1,65 @@
+cmake_minimum_required(VERSION 3.16)
+
+project(C909_V1_Interface LANGUAGES CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+# 获取环境变量
+if(DEFINED ENV{XNCore})
+    set(XNCore_PATH $ENV{XNCore})
+else()
+    message(FATAL_ERROR "Environment variable XNCore is not set.")
+endif()
+
+# 添加 XNCore_PATH 下的 include 目录为包含目录
+include_directories(${XNCore_PATH}/include)
+
+if(NOT fastcdr_FOUND)
+    find_package(fastcdr 2 REQUIRED)
+endif()
+
+if(NOT fastdds_FOUND)
+    find_package(fastdds 3 REQUIRED)
+endif()
+
+find_package(OpenSSL REQUIRED)
+
+add_library(C909_V1_Interface SHARED
+  C909_V1.hpp
+  C909_V1CdrAux.hpp
+  C909_V1CdrAux.ipp
+  C909_V1PubSubTypes.hpp
+  C909_V1PubSubTypes.cxx
+  C909_V1TypeObjectSupport.hpp
+  C909_V1TypeObjectSupport.cxx
+  ATA04/GroundHandling_input.hpp
+  ATA04/GroundHandling_input.cxx
+  ATA04/GroundHandling_output.hpp
+  ATA04/GroundHandling_output.cxx
+  ATA04/GroundHandling_heartbeat.hpp
+  ATA04/GroundHandling_heartbeat.cxx
+)
+
+
+target_link_libraries(C909_V1_Interface PRIVATE 
+	fastcdr
+	fastdds
+	OpenSSL::SSL
+	OpenSSL::Crypto
+    ${XNCore_PATH}/lib/libXNCore.so
+)
+
+target_compile_definitions(C909_V1_Interface PRIVATE C909_V1_INTERFACE_LIBRARY)
+
+if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+    set(CMAKE_INSTALL_PREFIX "${XNCore_PATH}" CACHE PATH "Install path prefix" FORCE)
+endif()
+
+include(GNUInstallDirs)
+install(TARGETS C909_V1_Interface
+    BUNDLE DESTINATION .
+    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    RUNTIME DESTINATION .
+)

Release/IDL/XNAerodynamics.idl

@@ -1,56 +0,0 @@
-module XNSim
-{
-	module ATA04
-	{
-		struct Aerodynamics_input
-		{
-			@optional double l_04_i_aerocomac_alpha_f8;
-			@optional double l_04_i_aerocomac_alpdot_f8;
-			@optional double l_04_i_aerocomac_beta_f8;
-			@optional double l_04_i_aerocomac_press_alt_f8;
-			@optional double l_04_i_aerocomac_tas_f8;
-			@optional double l_04_i_aerocomac_mach_f8;
-			@optional double l_04_i_aerocomac_nx_f8;
-			@optional double l_04_i_aerocomac_ny_f8;
-			@optional double l_04_i_aerocomac_nz_f8;
-			@optional double l_04_i_aerocomac_p_f8;
-			@optional double l_04_i_aerocomac_q_f8;
-			@optional double l_04_i_aerocomac_r_f8;
-			@optional double l_04_i_aerocomac_qbar_f8;
-			@optional double l_04_i_aerocomac_blcg_f8;
-			@optional double l_04_i_aerocomac_bscg_f8;
-			@optional double l_04_i_aerocomac_wlcg_f8;
-			@optional double l_04_i_aerocomac_ail_f8[10];
-			@optional double l_04_i_aerocomac_elv_f8[4];
-			@optional double l_04_i_aerocomac_rud_f8[2];
-			@optional double l_04_i_aerocomac_stab_f8;
-			@optional double l_04_i_aerocomac_gear_f8[7];
-			@optional double l_04_i_aerocomac_flap_f8[10];
-			@optional double l_04_i_aerocomac_slat_f8[20];
-			@optional double l_04_i_aerocomac_spl_f8[20];
-			@optional double l_04_i_aerocomac_tnet_f8[4];
-			@optional double l_04_i_aerocomac_kice_f8[20];
-			@optional double l_04_i_aerocomac_alt_agl_f8;
-		};
-		struct Aerodynamics_output
-		{
-			@optional double l_04_o_aerocomac_fxb_f8;
-			@optional double l_04_o_aerocomac_fyb_f8;
-			@optional double l_04_o_aerocomac_fzb_f8;
-			@optional double l_04_o_aerocomac_mxb_f8;
-			@optional double l_04_o_aerocomac_myb_f8;
-			@optional double l_04_o_aerocomac_mzb_f8;
-			@optional double l_04_o_aerocomac_cls_f8;
-			@optional double l_04_o_aerocomac_cl_f8;
-			@optional double l_04_o_aerocomac_cd_f8;
-			@optional double l_04_o_aerocomac_cm_f8;
-			@optional double l_04_o_aerocomac_cr_f8;
-			@optional double l_04_o_aerocomac_cy_f8;
-			@optional double l_04_o_aerocomac_cn_f8;
-		};
-		struct Aerodynamics_heartbeat
-		{
-			long aero_model_heartbeat;
-		};
-	};
-};

Release/IDL/XNGroundHandling.idl

@@ -1,90 +0,0 @@
-module XNSim
-{
-	module ATA04
-	{
-		struct GroundHandling_input
-		{
-			@optional char l_04_i_gdcomac_frz_l1;
-			@optional char l_04_i_gdcomac_chocks_l1;
-			@optional double l_04_i_gdcomac_alt_agl_f8;
-			@optional char l_04_i_gdcomac_frzflt_l1;
-			@optional double l_04_i_gdcomac_p_f8;
-			@optional double l_04_i_gdcomac_q_f8;
-			@optional double l_04_i_gdcomac_r_f8;
-			@optional double l_04_i_gdcomac_ug_f8;
-			@optional double l_04_i_gdcomac_vg_f8;
-			@optional double l_04_i_gdcomac_wg_f8;
-			@optional double l_04_i_gdcomac_blcg_f8;
-			@optional double l_04_i_gdcomac_bscg_f8;
-			@optional double l_04_i_gdcomac_wlcg_f8;
-			@optional char l_04_i_gdcomac_pb_active_l1;
-			@optional double l_04_i_gdcomac_brake_torq_f8[3][2];
-			@optional double l_04_i_gdcomac_gear_f8[3];
-			@optional double l_04_i_gdcomac_gsteer_f8[10];
-			@optional double l_04_i_gdcomac_tire_pres_f8[3][2];
-			@optional char l_04_i_gdcomac_onjax_l1;
-			@optional double l_04_i_gdcomac_contdep_f8[7];
-			@optional double l_04_i_gdcomac_thetag_f8;
-			@optional double l_04_i_gdcomac_phig_f8;
-			@optional long l_04_i_gdcomac_rwyrgh_i2;
-			@optional double l_04_i_gdcomac_rwyhdg_f8;
-			@optional char l_04_i_gdcomac_reset_braketemp_l1;
-			@optional char l_04_i_gdcomac_reset_tirepress_l1;
-			@optional double l_04_i_gdcomac_temp_c_f8;
-			@optional double l_04_i_gdcomac_brake_temp_f8[3][2];
-			@optional char l_04_i_gdcomac_tire_tburst_l1[3][2];
-			@optional char l_04_i_gdcomac_tire_tflat_l1[3][2];
-			@optional char l_04_i_gdcomac_brk_reset_tpres_l1;
-			@optional double l_04_i_gdcomac_rcon_ci_f8[14];
-			@optional double l_04_i_gdcomac_pb_towforce_f8;
-			@optional long l_04_i_gdcomac_gsteer_state_i4;
-			@optional char l_04_i_gdcomac_trim_active_l1;
-			@optional double l_04_i_gdcomac_phi_deg_f8;
-			@optional double l_04_i_gdcomac_theta_deg_f8;
-			@optional double l_04_i_gdcomac_psi_deg_f8;
-			@optional char l_04_i_gdcomac_resetint_l1;
-		};
-		struct GroundHandling_output
-		{
-			@optional char l_04_o_gdcomac_frz_l1;
-			@optional char l_04_o_gdcomac_ac_on_ground_l1;
-			@optional double l_04_o_gdcomac_ac_stationary_f8;
-			@optional double l_04_o_gdcomac_alt_tire_f8;
-			@optional double l_04_o_gdcomac_zcg_to_tire_f8;
-			@optional double l_04_o_gdcomac_fxb_f8;
-			@optional double l_04_o_gdcomac_fyb_f8;
-			@optional double l_04_o_gdcomac_fzb_f8;
-			@optional double l_04_o_gdcomac_mxb_f8;
-			@optional double l_04_o_gdcomac_myb_f8;
-			@optional double l_04_o_gdcomac_mzb_f8;
-			@optional double l_04_o_gdcomac_fygs_f8[3];
-			@optional double l_04_o_gdcomac_mzgs_f8[3];
-			@optional double l_04_o_gdcomac_mu_f8[3];
-			@optional double l_04_o_gdcomac_dstroke_f8[3];
-			@optional double l_04_o_gdcomac_sr_f8[3][2];
-			@optional double l_04_o_gdcomac_sy_f8[3][2];
-			@optional double l_04_o_gdcomac_sx_f8[3][2];
-			@optional double l_04_o_gdcomac_xft_f8[3];
-			@optional double l_04_o_gdcomac_yft_f8[3];
-			@optional double l_04_o_gdcomac_zft_f8[3];
-			@optional double l_04_o_gdcomac_distngrxcg_f8;
-			@optional double l_04_o_gdcomac_distmgrxcg_f8;
-			@optional double l_04_o_gdcomac_distmgrzcg_f8;
-			@optional double l_04_o_gdcomac_tire_vel_f8[3][2];
-			@optional char l_04_o_gdcomac_tire_burst_l1[3][2];
-			@optional double l_04_o_gdcomac_tire_temp_f8[3][2];
-			@optional char l_04_o_gdcomac_wow_l1;
-			@optional double l_04_o_gdcomac_utirew_f8[3][2];
-			@optional double l_04_o_gdcomac_vtirew_f8[3][2];
-			@optional double l_04_o_gdcomac_whl_omega_f8[3][2];
-			@optional double l_04_o_gdcomac_dstruc_f8[6];
-			@optional double l_04_o_gdcomac_wor_par_f8[3];
-			@optional double l_04_o_gdcomac_nd_f8[3];
-			@optional double l_04_o_gdcomac_vczt_f8[3][2];
-		};
-		struct GroundHandling_heartbeat
-		{
-			long groundhandling_model_heartbeat;
-		};
-	};
-};

Release/IDL/XNWeightBalance.idl

@@ -1,95 +0,0 @@
-module XNSim
-{
-	module ATA04
-	{
-		struct WeightBalance_input
-		{
-			@optional double l_04_i_wbcomac_theta_deg_f8;
-			@optional char l_04_i_wbcomac_gear_mode_l1;
-			@optional double l_04_i_wbcomac_acset_gw_f8;
-			@optional double l_04_i_wbcomac_acset_cg_f8;
-			@optional float l_04_i_wbcomac_acset_tankfuel_f4[20];
-			@optional double l_04_i_wbcomac_acset_totfuel_f8;
-			@optional double l_04_i_wbcomac_acset_zfw_f8;
-			@optional double l_04_i_wbcomac_acset_zfwcg_f8;
-			@optional char l_04_i_wbcomac_eng_efsep_l1[4];
-			@optional double l_04_i_wbcomac_fuel_f8[20];
-			@optional double l_04_i_wbcomac_gear_avg_f8;
-			@optional double l_04_i_wbcomac_kice_f8[20];
-			@optional char l_04_i_wbcomac_bycglim_l1;
-			@optional char l_04_i_wbcomac_bygwlim_l1;
-			@optional char l_04_i_wbcomac_frz_l1;
-			@optional char l_04_i_wbcomac_zcgfrz_l1;
-			@optional char l_04_i_wbcomac_zcgfrz_grfx_l1;
-			@optional char l_04_i_wbcomac_ycgfrz_l1;
-			@optional char l_04_i_wbcomac_inertfrz_l1;
-			@optional double l_04_i_wbcomac_potreq_gw_f8;
-			@optional double l_04_i_wbcomac_potreq_gwcg_f8;
-			@optional double l_04_i_wbcomac_phi_deg_f8;
-			@optional double l_04_i_wbcomac_psi_deg_f8;
-		};
-		struct WeightBalance_output
-		{
-			@optional char l_04_o_wbcomac_frz_l1;
-			@optional char l_04_o_wbcomac_zcgfrz_l1;
-			@optional char l_04_o_wbcomac_zcgfrz_grfx_l1;
-			@optional char l_04_o_wbcomac_ycgfrz_l1;
-			@optional char l_04_o_wbcomac_inertfrz_l1;
-			@optional float l_04_o_wbcomac_gw_f4;
-			@optional float l_04_o_wbcomac_cg_f4;
-			@optional double l_04_o_wbcomac_blcg_f8;
-			@optional double l_04_o_wbcomac_bscg_f8;
-			@optional double l_04_o_wbcomac_wlcg_f8;
-			@optional double l_04_o_wbcomac_xcg_f8;
-			@optional double l_04_o_wbcomac_ixx_f8;
-			@optional double l_04_o_wbcomac_ixy_f8;
-			@optional double l_04_o_wbcomac_ixz_f8;
-			@optional double l_04_o_wbcomac_iyy_f8;
-			@optional double l_04_o_wbcomac_iyz_f8;
-			@optional double l_04_o_wbcomac_izz_f8;
-			@optional float l_04_o_wbcomac_zfw_f4;
-			@optional float l_04_o_wbcomac_zfwcg_f4;
-			@optional float l_04_o_wbcomac_zfw_blcg_f4;
-			@optional float l_04_o_wbcomac_zfw_wlcg_f4;
-			@optional double l_04_o_wbcomac_fuel_cmd_f8[20];
-			@optional long l_04_o_wbcomac_fuel_mode_i4;
-			@optional double l_04_o_wbcomac_fuel_ixx_f8;
-			@optional double l_04_o_wbcomac_fuel_ixy_f8;
-			@optional double l_04_o_wbcomac_fuel_ixz_f8;
-			@optional double l_04_o_wbcomac_fuel_iyy_f8;
-			@optional double l_04_o_wbcomac_fuel_iyz_f8;
-			@optional double l_04_o_wbcomac_fuel_izz_f8;
-			@optional double l_04_o_wbcomac_l_wt_fuel_f8;
-			@optional double l_04_o_wbcomac_ice_airframe_total_f8;
-			@optional double l_04_o_wbcomac_ice_eng_f8[4];
-			@optional double l_04_o_wbcomac_ice_eng_total_f8;
-			@optional double l_04_o_wbcomac_ice_fuselage_f8;
-			@optional double l_04_o_wbcomac_ice_stab_left_f8;
-			@optional double l_04_o_wbcomac_ice_stab_right_f8;
-			@optional double l_04_o_wbcomac_ice_stab_total_f8;
-			@optional double l_04_o_wbcomac_ice_total_f8;
-			@optional double l_04_o_wbcomac_ice_total_frac_f8;
-			@optional double l_04_o_wbcomac_ice_vert_tail_f8;
-			@optional double l_04_o_wbcomac_ice_wing_left_f8;
-			@optional double l_04_o_wbcomac_ice_wing_right_f8;
-			@optional double l_04_o_wbcomac_ice_wing_total_f8;
-			@optional char l_04_o_wbcomac_init_l1;
-			@optional double l_04_o_wbcomac_potmin_gw_f8;
-			@optional double l_04_o_wbcomac_potmax_gw_f8;
-			@optional double l_04_o_wbcomac_potmin_gwcg_f8;
-			@optional double l_04_o_wbcomac_potmax_gwcg_f8;
-			@optional float l_04_o_wbcomac_min_cg_f4;
-			@optional float l_04_o_wbcomac_min_gw_f4;
-			@optional float l_04_o_wbcomac_min_zfw_f4;
-			@optional float l_04_o_wbcomac_min_zfwcg_f4;
-			@optional float l_04_o_wbcomac_max_cg_f4;
-			@optional float l_04_o_wbcomac_max_gw_f4;
-			@optional float l_04_o_wbcomac_max_zfw_f4;
-			@optional float l_04_o_wbcomac_max_zfwcg_f4;
-		};
-		struct WeightBalance_heartbeat
-		{
-			long weightbody_model_heartbeat;
-		};
-	};
-};

Release/Models/XNAerodynamics.idl

@@ -1,56 +0,0 @@
-module XNSim
-{
-	module ATA04
-	{
-		struct Aerodynamics_input
-		{
-			@optional double l_04_i_aerocomac_alpha_f8;
-			@optional double l_04_i_aerocomac_alpdot_f8;
-			@optional double l_04_i_aerocomac_beta_f8;
-			@optional double l_04_i_aerocomac_press_alt_f8;
-			@optional double l_04_i_aerocomac_tas_f8;
-			@optional double l_04_i_aerocomac_mach_f8;
-			@optional double l_04_i_aerocomac_nx_f8;
-			@optional double l_04_i_aerocomac_ny_f8;
-			@optional double l_04_i_aerocomac_nz_f8;
-			@optional double l_04_i_aerocomac_p_f8;
-			@optional double l_04_i_aerocomac_q_f8;
-			@optional double l_04_i_aerocomac_r_f8;
-			@optional double l_04_i_aerocomac_qbar_f8;
-			@optional double l_04_i_aerocomac_blcg_f8;
-			@optional double l_04_i_aerocomac_bscg_f8;
-			@optional double l_04_i_aerocomac_wlcg_f8;
-			@optional double l_04_i_aerocomac_ail_f8[10];
-			@optional double l_04_i_aerocomac_elv_f8[4];
-			@optional double l_04_i_aerocomac_rud_f8[2];
-			@optional double l_04_i_aerocomac_stab_f8;
-			@optional double l_04_i_aerocomac_gear_f8[7];
-			@optional double l_04_i_aerocomac_flap_f8[10];
-			@optional double l_04_i_aerocomac_slat_f8[20];
-			@optional double l_04_i_aerocomac_spl_f8[20];
-			@optional double l_04_i_aerocomac_tnet_f8[4];
-			@optional double l_04_i_aerocomac_kice_f8[20];
-			@optional double l_04_i_aerocomac_alt_agl_f8;
-		};
-		struct Aerodynamics_output
-		{
-			@optional double l_04_o_aerocomac_fxb_f8;
-			@optional double l_04_o_aerocomac_fyb_f8;
-			@optional double l_04_o_aerocomac_fzb_f8;
-			@optional double l_04_o_aerocomac_mxb_f8;
-			@optional double l_04_o_aerocomac_myb_f8;
-			@optional double l_04_o_aerocomac_mzb_f8;
-			@optional double l_04_o_aerocomac_cls_f8;
-			@optional double l_04_o_aerocomac_cl_f8;
-			@optional double l_04_o_aerocomac_cd_f8;
-			@optional double l_04_o_aerocomac_cm_f8;
-			@optional double l_04_o_aerocomac_cr_f8;
-			@optional double l_04_o_aerocomac_cy_f8;
-			@optional double l_04_o_aerocomac_cn_f8;
-		};
-		struct Aerodynamics_heartbeat
-		{
-			long aero_model_heartbeat;
-		};
-	};
-};

Release/Models/XNGroundHandling.idl

@@ -1,93 +0,0 @@
-module XNSim
-{
-	module C909
-	{
-		module ATA04
-		{
-			struct GroundHandling_input
-			{
-				@optional char l_04_i_gdcomac_frz_l1;
-				@optional char l_04_i_gdcomac_chocks_l1;
-				@optional double l_04_i_gdcomac_alt_agl_f8;
-				@optional char l_04_i_gdcomac_frzflt_l1;
-				@optional double l_04_i_gdcomac_p_f8;
-				@optional double l_04_i_gdcomac_q_f8;
-				@optional double l_04_i_gdcomac_r_f8;
-				@optional double l_04_i_gdcomac_ug_f8;
-				@optional double l_04_i_gdcomac_vg_f8;
-				@optional double l_04_i_gdcomac_wg_f8;
-				@optional double l_04_i_gdcomac_blcg_f8;
-				@optional double l_04_i_gdcomac_bscg_f8;
-				@optional double l_04_i_gdcomac_wlcg_f8;
-				@optional char l_04_i_gdcomac_pb_active_l1;
-				@optional double l_04_i_gdcomac_brake_torq_f8[3][2];
-				@optional double l_04_i_gdcomac_gear_f8[3];
-				@optional double l_04_i_gdcomac_gsteer_f8[10];
-				@optional double l_04_i_gdcomac_tire_pres_f8[3][2];
-				@optional char l_04_i_gdcomac_onjax_l1;
-				@optional double l_04_i_gdcomac_contdep_f8[7];
-				@optional double l_04_i_gdcomac_thetag_f8;
-				@optional double l_04_i_gdcomac_phig_f8;
-				@optional long l_04_i_gdcomac_rwyrgh_i2;
-				@optional double l_04_i_gdcomac_rwyhdg_f8;
-				@optional char l_04_i_gdcomac_reset_braketemp_l1;
-				@optional char l_04_i_gdcomac_reset_tirepress_l1;
-				@optional double l_04_i_gdcomac_temp_c_f8;
-				@optional double l_04_i_gdcomac_brake_temp_f8[3][2];
-				@optional char l_04_i_gdcomac_tire_tburst_l1[3][2];
-				@optional char l_04_i_gdcomac_tire_tflat_l1[3][2];
-				@optional char l_04_i_gdcomac_brk_reset_tpres_l1;
-				@optional double l_04_i_gdcomac_rcon_ci_f8[14];
-				@optional double l_04_i_gdcomac_pb_towforce_f8;
-				@optional long l_04_i_gdcomac_gsteer_state_i4;
-				@optional char l_04_i_gdcomac_trim_active_l1;
-				@optional double l_04_i_gdcomac_phi_deg_f8;
-				@optional double l_04_i_gdcomac_theta_deg_f8;
-				@optional double l_04_i_gdcomac_psi_deg_f8;
-				@optional char l_04_i_gdcomac_resetint_l1;
-			};
-			struct GroundHandling_output
-			{
-				@optional char l_04_o_gdcomac_frz_l1;
-				@optional char l_04_o_gdcomac_ac_on_ground_l1;
-				@optional double l_04_o_gdcomac_ac_stationary_f8;
-				@optional double l_04_o_gdcomac_alt_tire_f8;
-				@optional double l_04_o_gdcomac_zcg_to_tire_f8;
-				@optional double l_04_o_gdcomac_fxb_f8;
-				@optional double l_04_o_gdcomac_fyb_f8;
-				@optional double l_04_o_gdcomac_fzb_f8;
-				@optional double l_04_o_gdcomac_mxb_f8;
-				@optional double l_04_o_gdcomac_myb_f8;
-				@optional double l_04_o_gdcomac_mzb_f8;
-				@optional double l_04_o_gdcomac_fygs_f8[3];
-				@optional double l_04_o_gdcomac_mzgs_f8[3];
-				@optional double l_04_o_gdcomac_mu_f8[3];
-				@optional double l_04_o_gdcomac_dstroke_f8[3];
-				@optional double l_04_o_gdcomac_sr_f8[3][2];
-				@optional double l_04_o_gdcomac_sy_f8[3][2];
-				@optional double l_04_o_gdcomac_sx_f8[3][2];
-				@optional double l_04_o_gdcomac_xft_f8[3];
-				@optional double l_04_o_gdcomac_yft_f8[3];
-				@optional double l_04_o_gdcomac_zft_f8[3];
-				@optional double l_04_o_gdcomac_distngrxcg_f8;
-				@optional double l_04_o_gdcomac_distmgrxcg_f8;
-				@optional double l_04_o_gdcomac_distmgrzcg_f8;
-				@optional double l_04_o_gdcomac_tire_vel_f8[3][2];
-				@optional char l_04_o_gdcomac_tire_burst_l1[3][2];
-				@optional double l_04_o_gdcomac_tire_temp_f8[3][2];
-				@optional char l_04_o_gdcomac_wow_l1;
-				@optional double l_04_o_gdcomac_utirew_f8[3][2];
-				@optional double l_04_o_gdcomac_vtirew_f8[3][2];
-				@optional double l_04_o_gdcomac_whl_omega_f8[3][2];
-				@optional double l_04_o_gdcomac_dstruc_f8[6];
-				@optional double l_04_o_gdcomac_wor_par_f8[3];
-				@optional double l_04_o_gdcomac_nd_f8[3];
-				@optional double l_04_o_gdcomac_vczt_f8[3][2];
-			};
-			struct GroundHandling_heartbeat
-			{
-				@optional long groundhandling_model_heartbeat;
-			};
-		};
-	};
-};

Release/Models/XNGroundHandling.mcfg

@@ -8,6 +8,6 @@
     <ChangeTime>2025-02-19 16:22:19</ChangeTime>
     <Node>0-0</Node>
     <Priority>99</Priority>
-    <MathLib>ATA04_SACSCGroundHandling_2.0.27.1H_20241106/libSACSCGroundHandling.so</MathLib>
+    <MathLib>ATA04_SACSCGroundHandling_2.0.143.1H_20250506/libSACSCGroundHandling.so.2.0.143.1H</MathLib>
     <CommandList/>
 </Model>

Release/Models/XNWeightBalance.idl

@@ -1,95 +0,0 @@
-module XNSim
-{
-	module ATA04
-	{
-		struct WeightBalance_input
-		{
-			@optional double l_04_i_wbcomac_theta_deg_f8;
-			@optional char l_04_i_wbcomac_gear_mode_l1;
-			@optional double l_04_i_wbcomac_acset_gw_f8;
-			@optional double l_04_i_wbcomac_acset_cg_f8;
-			@optional float l_04_i_wbcomac_acset_tankfuel_f4[20];
-			@optional double l_04_i_wbcomac_acset_totfuel_f8;
-			@optional double l_04_i_wbcomac_acset_zfw_f8;
-			@optional double l_04_i_wbcomac_acset_zfwcg_f8;
-			@optional char l_04_i_wbcomac_eng_efsep_l1[4];
-			@optional double l_04_i_wbcomac_fuel_f8[20];
-			@optional double l_04_i_wbcomac_gear_avg_f8;
-			@optional double l_04_i_wbcomac_kice_f8[20];
-			@optional char l_04_i_wbcomac_bycglim_l1;
-			@optional char l_04_i_wbcomac_bygwlim_l1;
-			@optional char l_04_i_wbcomac_frz_l1;
-			@optional char l_04_i_wbcomac_zcgfrz_l1;
-			@optional char l_04_i_wbcomac_zcgfrz_grfx_l1;
-			@optional char l_04_i_wbcomac_ycgfrz_l1;
-			@optional char l_04_i_wbcomac_inertfrz_l1;
-			@optional double l_04_i_wbcomac_potreq_gw_f8;
-			@optional double l_04_i_wbcomac_potreq_gwcg_f8;
-			@optional double l_04_i_wbcomac_phi_deg_f8;
-			@optional double l_04_i_wbcomac_psi_deg_f8;
-		};
-		struct WeightBalance_output
-		{
-			@optional char l_04_o_wbcomac_frz_l1;
-			@optional char l_04_o_wbcomac_zcgfrz_l1;
-			@optional char l_04_o_wbcomac_zcgfrz_grfx_l1;
-			@optional char l_04_o_wbcomac_ycgfrz_l1;
-			@optional char l_04_o_wbcomac_inertfrz_l1;
-			@optional float l_04_o_wbcomac_gw_f4;
-			@optional float l_04_o_wbcomac_cg_f4;
-			@optional double l_04_o_wbcomac_blcg_f8;
-			@optional double l_04_o_wbcomac_bscg_f8;
-			@optional double l_04_o_wbcomac_wlcg_f8;
-			@optional double l_04_o_wbcomac_xcg_f8;
-			@optional double l_04_o_wbcomac_ixx_f8;
-			@optional double l_04_o_wbcomac_ixy_f8;
-			@optional double l_04_o_wbcomac_ixz_f8;
-			@optional double l_04_o_wbcomac_iyy_f8;
-			@optional double l_04_o_wbcomac_iyz_f8;
-			@optional double l_04_o_wbcomac_izz_f8;
-			@optional float l_04_o_wbcomac_zfw_f4;
-			@optional float l_04_o_wbcomac_zfwcg_f4;
-			@optional float l_04_o_wbcomac_zfw_blcg_f4;
-			@optional float l_04_o_wbcomac_zfw_wlcg_f4;
-			@optional double l_04_o_wbcomac_fuel_cmd_f8[20];
-			@optional long l_04_o_wbcomac_fuel_mode_i4;
-			@optional double l_04_o_wbcomac_fuel_ixx_f8;
-			@optional double l_04_o_wbcomac_fuel_ixy_f8;
-			@optional double l_04_o_wbcomac_fuel_ixz_f8;
-			@optional double l_04_o_wbcomac_fuel_iyy_f8;
-			@optional double l_04_o_wbcomac_fuel_iyz_f8;
-			@optional double l_04_o_wbcomac_fuel_izz_f8;
-			@optional double l_04_o_wbcomac_l_wt_fuel_f8;
-			@optional double l_04_o_wbcomac_ice_airframe_total_f8;
-			@optional double l_04_o_wbcomac_ice_eng_f8[4];
-			@optional double l_04_o_wbcomac_ice_eng_total_f8;
-			@optional double l_04_o_wbcomac_ice_fuselage_f8;
-			@optional double l_04_o_wbcomac_ice_stab_left_f8;
-			@optional double l_04_o_wbcomac_ice_stab_right_f8;
-			@optional double l_04_o_wbcomac_ice_stab_total_f8;
-			@optional double l_04_o_wbcomac_ice_total_f8;
-			@optional double l_04_o_wbcomac_ice_total_frac_f8;
-			@optional double l_04_o_wbcomac_ice_vert_tail_f8;
-			@optional double l_04_o_wbcomac_ice_wing_left_f8;
-			@optional double l_04_o_wbcomac_ice_wing_right_f8;
-			@optional double l_04_o_wbcomac_ice_wing_total_f8;
-			@optional char l_04_o_wbcomac_init_l1;
-			@optional double l_04_o_wbcomac_potmin_gw_f8;
-			@optional double l_04_o_wbcomac_potmax_gw_f8;
-			@optional double l_04_o_wbcomac_potmin_gwcg_f8;
-			@optional double l_04_o_wbcomac_potmax_gwcg_f8;
-			@optional float l_04_o_wbcomac_min_cg_f4;
-			@optional float l_04_o_wbcomac_min_gw_f4;
-			@optional float l_04_o_wbcomac_min_zfw_f4;
-			@optional float l_04_o_wbcomac_min_zfwcg_f4;
-			@optional float l_04_o_wbcomac_max_cg_f4;
-			@optional float l_04_o_wbcomac_max_gw_f4;
-			@optional float l_04_o_wbcomac_max_zfw_f4;
-			@optional float l_04_o_wbcomac_max_zfwcg_f4;
-		};
-		struct WeightBalance_heartbeat
-		{
-			long weightbody_model_heartbeat;
-		};
-	};
-};

Release/Models/asdasdf.mcfg

@@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?><Model>
-	<Name>asdf</Name>
-	<Description>模型描述</Description>
-	<Author>用户</Author>
-	<Version>1.0.0</Version>
-	<CreateTime>2025-04-23 15:43:50</CreateTime>
-	<ChangeTime>2025-04-23 15:43:50</ChangeTime>
-	<Node>0-0</Node>
-	<Priority>99</Priority>
-	<MathLib/>
-	<CommandList><Command Name="asdf" Call="asdf" Description="asdf"/></CommandList>
-</Model>

Release/Models/asdf.mcfg

@@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?><Model>
-	<Name>asdf</Name>
-	<Description>模型描述</Description>
-	<Author>用户</Author>
-	<Version>1.0.0</Version>
-	<CreateTime>2025-04-23 15:43:50</CreateTime>
-	<ChangeTime>2025-04-23 15:43:50</ChangeTime>
-	<Node>0-0</Node>
-	<Priority>99</Priority>
-	<MathLib/>
-	<CommandList><Command Name="sdf" Call="asdf" Description="adsf"/></CommandList>
-</Model>

Release/Models/asdfasd.mcfg

@@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?><Model>
-	<Name>asdf</Name>
-	<Description>模型描述</Description>
-	<Author>用户</Author>
-	<Version>1.0.0</Version>
-	<CreateTime>2025-04-23 15:43:50</CreateTime>
-	<ChangeTime>2025-04-23 15:43:50</ChangeTime>
-	<Node>0-0</Node>
-	<Priority>99</Priority>
-	<MathLib/>
-	<CommandList/>
-</Model>

Release/Scenario/testGRD.xml

@@ -7,4 +7,7 @@
                   	<Model Name="ATA04地面操纵模型" ClassName="XNGroundHandling"/>
                   	<Model Name="ATA04数据处理模型" ClassName="XNATA04DataProcessor"/>
             	</ModelGroup>
+            	<ServicesList>
+                  		<Service Name="UDP通信服务" ClassName="XNUDPService"/>
+            	</ServicesList>
       </Scenario>

Release/include/DataModels/libSACSCGroundHandling_V2.0.143.1H/std_04_dll.h

@@ -0,0 +1,593 @@
+#ifndef CMCLIB_H
+#define CMCLIB_H
+
+#include <string>
+
+typedef struct ComacDataStructure_S {
+	int aero_model_heartbeat;
+	int weightbody_model_heartbeat;
+	int groundhandling_model_heartbeat;
+
+	double yitim;
+
+	struct input_aero_S*  input_aero;
+	struct output_aero_S* output_aero;
+
+	struct input_weight_S*  input_weight;
+	struct output_weight_S* output_weight;
+
+	struct input_ground_S*  input_ground;
+	struct output_ground_S* output_ground;
+};
+
+struct input_weight_S {
+	double l_04_i_wbcomac_theta_deg_f8;
+	double l_04_i_wbcomac_phi_deg_f8;
+	double l_04_i_wbcomac_psi_deg_f8;
+
+	unsigned char l_04_i_wbcomac_gear_mode_l1;
+
+	double l_04_i_wbcomac_acset_gw_f8;
+	double l_04_i_wbcomac_acset_cg_f8;
+
+	// [0]: left wing tank
+	// [1]: right wing tan
+	// [2]: center tank
+	float* l_04_i_wbcomac_acset_tankfuel_f4;
+	double l_04_i_wbcomac_acset_totfuel_f8;
+
+	double l_04_i_wbcomac_acset_zfw_f8;
+	double l_04_i_wbcomac_acset_zfwcg_f8;
+
+	// [0]: Engine #1
+	// [1]: Engine #2
+	unsigned char* l_04_i_wbcomac_eng_efsep_l1;
+
+	// [0]: left wing tank
+	// [1]: right wing tan
+	// [2]: center tank
+	double* l_04_i_wbcomac_fuel_f8;
+
+	double l_04_i_wbcomac_gear_avg_f8;
+
+	// [0]: outboard left wing
+	// [1]: inboard left wing
+	// [2]: root left wing
+	// [3]: root right wing
+	// [4]: inboard right wing
+	// [5]: outboard right wing
+	// [6]: fuselage icing
+	// [7]: left horizontal tail
+	// [8]: right horizontal tail
+	// [9]: vertical tail
+	// [10]: engine 1
+	// [11]: engine 2
+	double* l_04_i_wbcomac_kice_f8;
+
+	unsigned char l_04_i_wbcomac_bycglim_l1;
+	unsigned char l_04_i_wbcomac_bygwlim_l1;
+
+	unsigned char l_04_i_wbcomac_frz_l1;
+	unsigned char l_04_i_wbcomac_zcgfrz_l1;
+	unsigned char l_04_i_wbcomac_zcgfrz_grfx_l1;
+	unsigned char l_04_i_wbcomac_ycgfrz_l1;
+	unsigned char l_04_i_wbcomac_inertfrz_l1;
+
+	double l_04_i_wbcomac_potreq_gw_f8;
+	double l_04_i_wbcomac_potreq_gwcg_f8;
+};
+
+struct output_weight_S {
+
+	float l_04_o_wbcomac_gw_f4;
+	float l_04_o_wbcomac_cg_f4;
+
+	double l_04_o_wbcomac_xcg_f8;
+
+	double l_04_o_wbcomac_blcg_f8;
+	double l_04_o_wbcomac_bscg_f8;
+	double l_04_o_wbcomac_wlcg_f8;
+
+	double l_04_o_wbcomac_ixx_f8;
+	double l_04_o_wbcomac_ixy_f8;
+	double l_04_o_wbcomac_ixz_f8;
+	double l_04_o_wbcomac_iyy_f8;
+	double l_04_o_wbcomac_iyz_f8;
+	double l_04_o_wbcomac_izz_f8;
+
+	float l_04_o_wbcomac_zfw_f4;
+	float l_04_o_wbcomac_zfwcg_f4;
+	float l_04_o_wbcomac_zfw_blcg_f4;
+	float l_04_o_wbcomac_zfw_wlcg_f4;
+
+	// [0]: left wing tank   (if mode is 2)
+	// [1]: right wing tank  (if mode is 2)
+	// [2]: center tank      (if mode is 2) 
+	double* l_04_o_wbcomac_fuel_cmd_f8;
+
+	// 0 = backdrive inactive, 1 = total fuel backdrive, 2 = individual fuel tank backdrive
+	int l_04_o_wbcomac_fuel_mode_i4;
+
+	double l_04_o_wbcomac_fuel_ixx_f8;
+	double l_04_o_wbcomac_fuel_ixy_f8;
+	double l_04_o_wbcomac_fuel_ixz_f8;
+	double l_04_o_wbcomac_fuel_iyy_f8;
+	double l_04_o_wbcomac_fuel_iyz_f8;
+	double l_04_o_wbcomac_fuel_izz_f8;
+
+	double l_04_o_wbcomac_l_wt_fuel_f8;
+	double l_04_o_wbcomac_ice_airframe_total_f8;
+
+	// [0]: Engine #1
+	// [1]: Engine #2
+	double* l_04_o_wbcomac_ice_eng_f8;
+	double l_04_o_wbcomac_ice_eng_total_f8;
+
+	double l_04_o_wbcomac_ice_fuselage_f8;
+	double l_04_o_wbcomac_ice_stab_left_f8;
+	double l_04_o_wbcomac_ice_stab_right_f8;
+	double l_04_o_wbcomac_ice_stab_total_f8;
+	double l_04_o_wbcomac_ice_total_f8;
+	double l_04_o_wbcomac_ice_total_frac_f8;
+	double l_04_o_wbcomac_ice_vert_tail_f8;
+	double l_04_o_wbcomac_ice_wing_left_f8;
+	double l_04_o_wbcomac_ice_wing_right_f8;
+	double l_04_o_wbcomac_ice_wing_total_f8;
+
+	unsigned char l_04_o_wbcomac_frz_l1;
+	unsigned char l_04_o_wbcomac_zcgfrz_l1;
+	unsigned char l_04_o_wbcomac_zcgfrz_grfx_l1;
+	unsigned char l_04_o_wbcomac_ycgfrz_l1;
+	unsigned char l_04_o_wbcomac_inertfrz_l1;
+
+	unsigned char l_04_o_wbcomac_init_l1;
+
+	float l_04_o_wbcomac_min_gw_f4;
+	float l_04_o_wbcomac_max_gw_f4;
+
+	float l_04_o_wbcomac_min_cg_f4;    // 0 = Leading Edge MAC, 1 = Trailing Edge MAC
+	float l_04_o_wbcomac_max_cg_f4;    // 0 = Leading Edge MAC, 1 = Trailing Edge MAC
+
+	float l_04_o_wbcomac_min_zfw_f4;    // 0 = Leading Edge MAC, 1 = Trailing Edge MAC
+	float l_04_o_wbcomac_max_zfw_f4;    // 0 = Leading Edge MAC, 1 = Trailing Edge MAC
+
+	float l_04_o_wbcomac_min_zfwcg_f4;
+	float l_04_o_wbcomac_max_zfwcg_f4;
+
+	double l_04_o_wbcomac_potmin_gw_f8;  // 0 = Leading Edge MAC, 1 = Trailing Edge MAC  
+	double l_04_o_wbcomac_potmax_gw_f8;  // 0 = Leading Edge MAC, 1 = Trailing Edge MAC  
+
+	double l_04_o_wbcomac_potmin_gwcg_f8;
+	double l_04_o_wbcomac_potmax_gwcg_f8;
+};
+
+struct input_ground_S {
+
+	unsigned char l_04_i_gdcomac_frz_l1;
+
+	unsigned char l_04_i_gdcomac_chocks_l1; // 1 = A/C on chocks
+
+	double l_04_i_gdcomac_alt_agl_f8;
+
+	unsigned char l_04_i_gdcomac_frzflt_l1;
+
+	double l_04_i_gdcomac_p_f8;
+	double l_04_i_gdcomac_q_f8;
+	double l_04_i_gdcomac_r_f8;
+
+	double l_04_i_gdcomac_ug_f8;
+	double l_04_i_gdcomac_vg_f8;
+	double l_04_i_gdcomac_wg_f8;
+
+	double l_04_i_gdcomac_blcg_f8;
+	double l_04_i_gdcomac_bscg_f8;
+	double l_04_i_gdcomac_wlcg_f8;
+
+	unsigned char l_04_i_gdcomac_pb_active_l1;
+	double l_04_i_gdcomac_pb_towforce_f8; // "PUSHBACK TOW FORCE"
+
+	// [0][0]: Nose gear, Tire left
+	// [0][1]: Nose gear, Tire right
+	// [1][0]: Left gear, Tire left
+	// [1][1]: Left gear, Tire right
+	// [2][0]: Right gear, Tire left
+	// [2][1]: Right gear, Tire right
+	double** l_04_i_gdcomac_brake_torq_f8;
+
+	// [0] : Nose gear,
+	// [1] : Left gear,
+	// [2] : Right gear
+	double* l_04_i_gdcomac_gear_f8; // 1 = Gear down / 0 = Gear up
+
+	// [0] : Nose gear,
+	// [1] : Left gear,
+	// [2] : Right gear
+	double* l_04_i_gdcomac_gsteer_f8; // Positive: turn right
+
+	// [0][0] : Nose gear, Tire left
+	// [0][1] : Nose gear, Tire right
+	// [1][0] : Left gear, Tire left
+	// [1][1] : Left gear, Tire right
+	// [2][0] : Right gear, Tire left
+	// [2][1] : Right gear, Tire right
+	double** l_04_i_gdcomac_tire_pres_f8;
+
+	unsigned char  l_04_i_gdcomac_onjax_l1; // Positive: turn right
+
+	// [0]: Nose gear
+	// [1]: Left gear
+	// [2]: Right gea
+	double* l_04_i_gdcomac_contdep_f8; // Will be provided according to contamination type.
+
+	double l_04_i_gdcomac_thetag_f8;
+	double l_04_i_gdcomac_phig_f8;
+
+	int l_04_i_gdcomac_rwyrgh_i2;// 4 Levels of Roughness. From MIN to MAX.
+	double l_04_i_gdcomac_rwyhdg_f8;// North-South axis
+
+	unsigned char  l_04_i_gdcomac_reset_braketemp_l1;
+	unsigned char  l_04_i_gdcomac_reset_tirepress_l1;
+
+	double l_04_i_gdcomac_temp_c_f8;
+
+	// [0][0]: Nose gear, Tire left
+	// [0][1]: Nose gear, Tire right
+	// [1][0]: Left gear, Tire left
+	// [1][1]: Left gear, Tire right
+	// [2][0]: Right gear, Tire left
+	// [2][1]: Right gear, Tire right
+	double** l_04_i_gdcomac_brake_temp_f8;
+
+	// [0][0]: Nose gear, Tire left
+	// [0][1]: Nose gear, Tire right
+	// [1][0]: Left gear, Tire left
+	// [1][1]: Left gear, Tire right
+	// [2][0]: Right gear, Tire left
+	// [2][1]: Right gear, Tire right
+	unsigned char** l_04_i_gdcomac_tire_tburst_l1; // 1 =  Tire is burst
+
+	// [0][0]: Nose gear, Tire left
+	// [0][1]: Nose gear, Tire right
+	// [1][0]: Left gear, Tire left
+	// [1][1]: Left gear, Tire right
+	// [2][0]: Right gear, Tire left
+	// [2][1]: Right gear, Tire right
+	unsigned char** l_04_i_gdcomac_tire_tflat_l1;  // 1 =  Tire is flat 
+
+	unsigned char  l_04_i_gdcomac_brk_reset_tpres_l1;  // Reset the tire pressure to the value set from flight control. 
+
+	//  [0]: Dried 
+	//  [1]: Wet 
+	//  [2]: Flooded 
+	//  [3]: Wet with rubber
+	//  [4]: Flooded with ru
+	//  [5]: Melting Slush 
+	//  [6]: Freezing Slush 
+	//  [7]: Wet Snow
+	//  [8]: Dry Snow
+	//  [9]: Wet Ice
+	//  [10]: Cold Ice
+	//  [11]: Thin Dust/Dirs
+	//  [12]: Thick Dust/Dir
+	//  [13]: White Strip
+	double* l_04_i_gdcomac_rcon_ci_f8;
+
+	int l_04_i_gdcomac_gsteer_state_i4; // 0 = Engaged, 2 = Castoring
+
+	unsigned char l_04_i_gdcomac_trim_active_l1;
+
+	double l_04_i_gdcomac_theta_deg_f8;
+	double l_04_i_gdcomac_phi_deg_f8;
+	double l_04_i_gdcomac_psi_deg_f8;
+
+	unsigned char l_04_i_gdcomac_resetint_l1; // when this is true, the ground model should return the default values of the ground parameters
+
+	unsigned char l_04_i_gdcomac_eom_wgfrz_l1;
+	unsigned char l_04_i_gdcomac_eom_vgfrz_l1;
+	unsigned char l_04_i_gdcomac_eom_ugfrz_l1;
+	unsigned char l_04_i_gdcomac_eom_pfrz_l1;
+	unsigned char l_04_i_gdcomac_eom_qfrz_l1;
+	unsigned char l_04_i_gdcomac_eom_rfrz_l1;
+	unsigned char l_04_i_gdcomac_eom_hfrz_l1;
+	unsigned char l_04_i_gdcomac_eom_phifrz_l1;
+	unsigned char l_04_i_gdcomac_eom_thefrz_l1;
+	unsigned char l_04_i_gdcomac_eom_psifrz_l1;
+};
+
+struct output_ground_S {
+
+	unsigned char l_04_o_gdcomac_frz_l1;
+
+	unsigned char l_04_o_gdcomac_ac_on_ground_l1;   // 1 = A/C is on ground
+	double        l_04_o_gdcomac_ac_stationary_f8;  // 1 = A/C is moving / 0 = A/C is stationary
+
+	double l_04_o_gdcomac_alt_tire_f8;
+	double l_04_o_gdcomac_zcg_to_tire_f8;
+
+	double l_04_o_gdcomac_fxb_f8;
+	double l_04_o_gdcomac_fyb_f8;
+	double l_04_o_gdcomac_fzb_f8;
+
+	double l_04_o_gdcomac_mxb_f8;
+	double l_04_o_gdcomac_myb_f8;
+	double l_04_o_gdcomac_mzb_f8;
+
+	// [0]: Nose gear
+	// [1]: Left gear
+	// [2]: Right gea
+	double* l_04_o_gdcomac_fygs_f8;
+
+	// [0]: Nose gear
+	// [1]: Left gear
+	// [2]: Right gea
+	double* l_04_o_gdcomac_mzgs_f8;
+
+	// [0]: Nose gear
+	// [1]: Left gear
+	// [2]: Right gea
+	double* l_04_o_gdcomac_mu_f8;
+
+	// [0]: Nose gear
+	// [1]: Left gear
+	// [2]: Right gea
+	double* l_04_o_gdcomac_dstroke_f8;
+
+	// [0][0]: Nose gear, Tire left
+	// [0][1]: Nose gear, Tire right
+	// [1][0]: Left gear, Tire left
+	// [1][1]: Left gear, Tire right
+	// [2][0]: Right gear, Tire left
+	// [2][1]: Right gear, Tire right
+	double** l_04_o_gdcomac_sr_f8;
+
+	// [0][0]: Nose gear, Tire left
+	// [0][1]: Nose gear, Tire right
+	// [1][0]: Left gear, Tire left
+	// [1][1]: Left gear, Tire right
+	// [2][0]: Right gear, Tire left
+	// [2][1]: Right gear, Tire right
+	double** l_04_o_gdcomac_sy_f8;
+
+	// [0][0]: Nose gear, Tire left
+	// [0][1]: Nose gear, Tire right
+	// [1][0]: Left gear, Tire left
+	// [1][1]: Left gear, Tire right
+	// [2][0]: Right gear, Tire left
+	// [2][1]: Right gear, Tire right
+	double** l_04_o_gdcomac_sx_f8;
+
+	// [0]: Nose gear
+	// [1]: Left gear
+	// [2]: Right gea
+	double* l_04_o_gdcomac_xft_f8;
+
+	// [0]: Nose gear
+	// [1]: Left gear
+	// [2]: Right gea
+	double* l_04_o_gdcomac_yft_f8;
+
+	// [0]: Nose gear
+	// [1]: Left gear
+	// [2]: Right gea
+	double* l_04_o_gdcomac_zft_f8;
+
+	double l_04_o_gdcomac_distngrxcg_f8;
+	double l_04_o_gdcomac_distmgrxcg_f8;
+	double l_04_o_gdcomac_distmgrzcg_f8;
+
+	// [0][0]: Nose gear, Tire left
+	// [0][1]: Nose gear, Tire right
+	// [1][0]: Left gear, Tire left
+	// [1][1]: Left gear, Tire right
+	// [2][0]: Right gear, Tire left
+	// [2][1]: Right gear, Tire right
+	double** l_04_o_gdcomac_tire_vel_f8;
+
+	// [0][0]: Nose gear, Tire left
+	// [0][1]: Nose gear, Tire right
+	// [1][0]: Left gear, Tire left
+	// [1][1]: Left gear, Tire right
+	// [2][0]: Right gear, Tire left
+	// [2][1]: Right gear, Tire right
+	double** l_04_o_gdcomac_tire_temp_f8;
+
+	// [0][0]: Nose gear, Tire left
+	// [0][1]: Nose gear, Tire right
+	// [1][0]: Left gear, Tire left
+	// [1][1]: Left gear, Tire right
+	// [2][0]: Right gear, Tire left
+	// [2][1]: Right gear, Tire right
+	unsigned char** l_04_o_gdcomac_tire_burst_l1;
+
+	unsigned char l_04_o_gdcomac_wow_l1;
+
+	// [0][0]: Nose gear, Tire left
+	// [0][1]: Nose gear, Tire right
+	// [1][0]: Left gear, Tire left
+	// [1][1]: Left gear, Tire right
+	// [2][0]: Right gear, Tire left
+	// [2][1]: Right gear, Tire right
+	double** l_04_o_gdcomac_utirew_f8;
+
+	// [0][0]: Nose gear, Tire left
+	// [0][1]: Nose gear, Tire right
+	// [1][0]: Left gear, Tire left
+	// [1][1]: Left gear, Tire right
+	// [2][0]: Right gear, Tire left
+	// [2][1]: Right gear, Tire right
+	double** l_04_o_gdcomac_vtirew_f8;
+
+	// [0][0]: Nose gear, Tire left
+	// [0][1]: Nose gear, Tire right
+	// [1][0]: Left gear, Tire left
+	// [1][1]: Left gear, Tire right
+	// [2][0]: Right gear, Tire left
+	// [2][1]: Right gear, Tire right
+	double** l_04_o_gdcomac_whl_omega_f8;
+
+	// [0] = Nose 
+	// [1] = Left wing
+	// [2] = Right wing
+	// [3] = Left Body
+	// [4] = Right Body
+	// [5] = Tail
+	double*  l_04_o_gdcomac_dstruc_f8;
+
+	// [0]: Nose gear
+	// [1]: Left gear
+	// [2]: Right gea
+	double* l_04_o_gdcomac_nd_f8;
+
+	// [0]: Nose gear
+	// [1]: Left gear
+	// [2]: Right gea
+	double* l_04_o_gdcomac_wor_par_f8; // Only [0]: Nose gear can have yaw / is driven
+
+	// [0][0]: Nose gear, Tire left
+	// [0][1]: Nose gear, Tire right
+	// [1][0]: Left gear, Tire left
+	// [1][1]: Left gear, Tire right
+	// [2][0]: Right gear, Tire left
+	// [2][1]: Right gear, Tire right
+	double** l_04_o_gdcomac_vczt_f8;
+
+	unsigned char l_04_o_gdcomac_eom_wgfrz_l1;  // DISABLE INTEG. OF Z BODY VELOCI
+	unsigned char l_04_o_gdcomac_eom_vgfrz_l1;  // DISABLE INTEG. OF Y BODY VELOCI
+	unsigned char l_04_o_gdcomac_eom_ugfrz_l1;  // DISABLE INTEG. OF X BODY VELOCI
+	unsigned char l_04_o_gdcomac_eom_pfrz_l1;   // DISABLE INTEG. OF BODY AXIS ROL
+	unsigned char l_04_o_gdcomac_eom_qfrz_l1;   // DISABLE INTEG. OF BODY AXIS PIT
+	unsigned char l_04_o_gdcomac_eom_rfrz_l1;   // DISABLE INTEG. OF BODY AXIS YAW
+	unsigned char l_04_o_gdcomac_eom_hfrz_l1;   // DISABLE INTEG. OF ALTITUDE ABOV
+	unsigned char l_04_o_gdcomac_eom_phifrz_l1; // DISABLE INTEG. OF ROLL ANGLE
+	unsigned char l_04_o_gdcomac_eom_thefrz_l1; // DISABLE INTEG. OF PITCH ANGLE
+	unsigned char l_04_o_gdcomac_eom_psifrz_l1; // DISABLE INTEG. OF YAW ANGLE
+};
+
+
+struct output_aero_S {
+	double  l_04_o_aerocomac_fxb_f8;
+	double  l_04_o_aerocomac_fyb_f8;
+	double  l_04_o_aerocomac_fzb_f8;
+
+	double  l_04_o_aerocomac_mxb_f8;
+	double  l_04_o_aerocomac_myb_f8;
+	double  l_04_o_aerocomac_mzb_f8;
+
+	double  l_04_o_aerocomac_cls_f8;
+
+	double  l_04_o_aerocomac_cl_f8;
+	double  l_04_o_aerocomac_cd_f8;
+	double  l_04_o_aerocomac_cm_f8;
+
+	double  l_04_o_aerocomac_cr_f8;
+	double  l_04_o_aerocomac_cy_f8;
+	double  l_04_o_aerocomac_cn_f8;
+};
+
+struct input_aero_S {
+
+	// double l_04_i_aerocomac_uprt_swvtx_p_f8; // UPRT Simplified wake vortex rotational wind (Roll)
+	// double l_04_i_aerocomac_uprt_swvtx_q_f8; // UPRT Simplified wake vortex rotational wind (Pitch)
+
+	double l_04_i_aerocomac_alpha_f8;
+	double l_04_i_aerocomac_alpdot_f8;
+	double l_04_i_aerocomac_beta_f8;
+
+	double l_04_i_aerocomac_press_alt_f8;
+
+	double l_04_i_aerocomac_tas_f8;
+	double l_04_i_aerocomac_mach_f8;
+
+	double l_04_i_aerocomac_nx_f8;
+	double l_04_i_aerocomac_ny_f8;
+	double l_04_i_aerocomac_nz_f8;
+
+	double l_04_i_aerocomac_p_f8;
+	double l_04_i_aerocomac_q_f8;
+	double l_04_i_aerocomac_r_f8;
+
+	double l_04_i_aerocomac_qbar_f8;
+
+	double l_04_i_aerocomac_blcg_f8;
+	double l_04_i_aerocomac_bscg_f8;
+	double l_04_i_aerocomac_wlcg_f8;
+
+	double l_04_i_aerocomac_stab_f8;
+
+	// [0] : left aileron
+	// [1] : right aileron
+	double* l_04_i_aerocomac_ail_f8;
+
+	// [0] : left elevator
+	// [1] : right elevator
+	double* l_04_i_aerocomac_elv_f8;
+
+	// [0] : rudder
+	// [1] : not use
+	double* l_04_i_aerocomac_rud_f8;   // Size = 2
+
+	// [0] : Nose Gear
+	// [1] : Left Main Gear
+	// [2] : Right Main Gear
+	double* l_04_i_aerocomac_gear_f8;   // Index 1 : Nose Gear
+
+	// [0] : left wing flap
+	// [1] : right wing flap
+	double* l_04_i_aerocomac_flap_f8;
+
+	// [0] : left wing slat
+	// [1] : right wing slat
+	double* l_04_i_aerocomac_slat_f8;
+
+	// Spoiler 1 (deg +ve TED) // Index 1 to 8 : from left outboard spoiler to right outboard spoiler
+	// Spoiler 2 (deg +ve TED) // Index 1 to 8 : from left outboard spoiler to right outboard spoiler
+	// Spoiler 3 (deg +ve TED) // Index 1 to 8 : from left outboard spoiler to right outboard spoiler
+	// Spoiler 4 (deg +ve TED) // Index 1 to 8 : from left outboard spoiler to right outboard spoiler
+	// Spoiler 5 (deg +ve TED) // Index 1 to 8 : from left outboard spoiler to right outboard spoiler
+	// Spoiler 6 (deg +ve TED) // Index 1 to 8 : from left outboard spoiler to right outboard spoiler
+	// Spoiler 7 (deg +ve TED) // Index 1 to 8 : from left outboard spoiler to right outboard spoiler
+	// Spoiler 8 (deg +ve TED) // Index 1 to 8 : from left outboard spoiler to right outboard spoiler
+	double* l_04_i_aerocomac_spl_f8;
+
+	// [0] : engine #1
+	// [1] : engine #2
+	double* l_04_i_aerocomac_tnet_f8;
+
+	// [0]: outboard left wing
+	// [1]: inboard left wing
+	// [2]: root left wing
+	// [3]: root right wing
+	// [4]: inboard right wing
+	// [5]: outboard right wing
+	// [6]: fuselage icing
+	// [7]: left horizontal tail
+	// [8]: right horizontal tail
+	// [9]: vertical tail
+	// [10]: engine 1
+	// [11]: engine 2
+	double* l_04_i_aerocomac_kice_f8;
+	double l_04_i_aerocomac_alt_agl_f8;
+};
+
+void comacAeroModelPreProcess(ComacDataStructure_S* ComacDataStructure);
+void comacAeroModelPostProcess(ComacDataStructure_S* ComacDataStructure);
+
+void comacWeightModelPreProcess(ComacDataStructure_S* ComacDataStructure);
+void comacWeightModelPostProcess(ComacDataStructure_S* ComacDataStructure);
+
+void comacGroundModelPreProcess(ComacDataStructure_S* ComacDataStructure);
+void comacGroundModelPostProcess(ComacDataStructure_S* ComacDataStructure);
+
+ComacDataStructure_S* allocateComacDataStructure_S(double yitim_, int cnf_numgear_i4, int cnf_numtire_i4);
+
+void init_input_weight_S(input_weight_S* ptr);
+void init_output_weight_S(output_weight_S* ptr);
+
+void init_input_ground_S(input_ground_S* ptr, int ngear, int ntiregear);
+void init_output_ground_S(output_ground_S* ptr, int ngear, int ntiregear);
+
+void init_input_aero_S(input_aero_S* ptr, int ngear);
+void init_output_aero_S(output_aero_S* ptr);
+
+
+#endif //CMCLIB_H

Release/include/XNCore/XNModelObject.h

@@ -240,32 +240,6 @@ public:
 	virtual void RegisterDDSParticipant();
 };
 
-#define XN_DECLARE_DDS()                                                                           \
-public:                                                                                            \
-	virtual void RegisterDDSParticipant() override;
-
-#define XN_REGISTER_PARTICIPANT_BEGIN(class)                                                       \
-	void class ::RegisterDDSParticipant()                                                          \
-	{                                                                                              \
-		XNModelObject::RegisterDDSParticipant();                                                   \
-		T_D();                                                                                     \
-		auto framework = GetFramework();                                                           \
-		if (!framework)                                                                            \
-			return;                                                                                \
-		XNDDSManagerPtr ddsManager = framework->GetDDSManager();                                   \
-		if (!ddsManager)                                                                           \
-			return;                                                                                \
-		uint32_t MyID = GetUniqueId();
-
-#define XN_PUBLISHTOPIC(topic)                                                                     \
-	d->_dataWriters[#topic] = ddsManager->RegisterPublisher<topic##PubSubType>(#topic, MyID);
-
-#define XN_SUBSCRIBETOPIC(topic, fun)                                                              \
-	ddsManager->RegisterSubscriber<topic##PubSubType>(                                             \
-		#topic, MyID, std::bind(fun, this, std::placeholders::_1));
-
-#define XN_REGISTER_PARTICIPANT_END(class) }
-
 #define XN_MODEL_INITIALIZE(ClassName)                                                             \
 	extern "C" XNModelObjectPtr Initial##ClassName()                                               \
 	{                                                                                              \

Release/include/XNCore/XNModelObject_p.h

@@ -52,7 +52,7 @@ struct XNModelObjectPrivate : public XNObjectPrivate {
 	/**
 	 * @brief 发布者信息
 	 */
-	std::unordered_map<std::string, FAST_DDS_MACRO::DataWriter *> _dataWriters;
+	FAST_DDS_MACRO::DataWriter *_dataWriter;
 
 	/**
 	 * @brief 模型运行时间

Release/include/XNCore/XNServiceObject.h

@@ -43,7 +43,9 @@ public:
 
 	void TriggerRTEvent(const std::string &eventName, const std::any &eventData = std::any());
 
-	virtual void Initialize(uint32_t initialType);
+	void SetInitializeType(uint32_t initialType);
+
+	virtual void Initialize();
 	virtual void PrepareForExecute();
 
 	virtual void RegisterDDSParticipant();
@@ -56,35 +58,9 @@ protected:
 
 XNCLASS_PTR_DECLARE(XNServiceObject)
 
-#define XN_DECLARE_DDS_SERVICE()                                                                   \
-public:                                                                                            \
-	virtual void RegisterDDSParticipant() override;
-
-#define XN_REGISTER_SERVICE_BEGIN_SERVICE(class)                                                   \
-	void class ::RegisterDDSParticipant()                                                          \
-	{                                                                                              \
-		XNServiceObject::RegisterDDSParticipant();                                                 \
-		Q_D(class);                                                                                \
-		auto framework = GetFramework();                                                           \
-		if (!framework)                                                                            \
-			return;                                                                                \
-		XNDDSManagerPtr ddsManager = framework->GetDDSManager();                                   \
-		if (!ddsManager)                                                                           \
-			return;                                                                                \
-		quint32 MyID = getUniqueId();
-
-#define XN_PUBLISHTOPIC_SERVICE(topic)                                                             \
-	d->_dataWriters[#topic] = ddsManager->RegisterPublisher<topic##PubSubType>(#topic, MyID);
-
-#define XN_SUBSCRIBETOPIC_SERVICE(topic, fun)                                                      \
-	ddsManager->RegisterSubscriber<topic##PubSubType>(                                             \
-		#topic, MyID, std::bind(fun, this, std::placeholders::_1));
-
-#define XN_REGISTER_SERVICE_END_SERVICE(class) }
-
 #define XN_SERVICE_INITIALIZE(ClassName)                                                           \
 	extern "C" XNServiceObjectPtr Initial##ClassName()                                             \
 	{                                                                                              \
-		ClassNamePtr obj = std::make_shared<ClassName>();                                          \
+		ClassName##Ptr obj = std::make_shared<ClassName>();                                        \
 		return obj;                                                                                \
 	}

Release/include/XNCore/XNServiceObject_p.h

@@ -10,4 +10,5 @@ struct XNServiceObjectPrivate : public XNObjectPrivate {
 	std::string _sVersion;
 	std::unordered_map<std::string, FAST_DDS_MACRO::DataWriter *> _dataWriters;
 	XNFrameworkPtr pFramework;
+	uint32_t _initialType;
 };

XNCore/CMakeLists.txt

@@ -4,6 +4,7 @@ project(XNCore LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 if(NOT fastcdr_FOUND)
     find_package(fastcdr 2 REQUIRED)
@@ -75,6 +76,7 @@ target_link_libraries(XNCore PRIVATE
 	pthread
 	OpenSSL::SSL
 	OpenSSL::Crypto
+    dl
 )
 
 target_compile_definitions(XNCore PRIVATE XNCORE_LIBRARY)

XNCore/XNEventManager.cpp

@@ -291,5 +291,5 @@ void XNEventManager::EventProcessed(const std::string &eventName, bool success)
 {
 	T_D();
 	// 这里可以添加事件处理完成的回调逻辑
-	LOG_INFO("Event " + eventName + " processed " + (success ? "successfully" : "with error"));
+	//LOG_INFO("Event " + eventName + " processed " + (success ? "successfully" : "with error"));
 }

XNCore/XNModelObject.cpp

@@ -298,9 +298,7 @@ void XNModelObject::StepUpdate()
 {
 	T_D();
 	uint32_t setFreq = d->_setFreq < 1.0 ? 1 : (uint32_t)d->_setFreq;
-	if (d->_dataWriters.find("XNSim::XNSimStatus::XNModelStatus") != d->_dataWriters.end()
-		&& d->_dataWriters["XNSim::XNSimStatus::XNModelStatus"] != nullptr && d->_runCnt > 0
-		&& d->_runCnt % setFreq == 0) {
+	if (d->_dataWriter != nullptr && d->_runCnt > 0 && d->_runCnt % setFreq == 0) {
 		XNSim::XNSimStatus::XNModelStatus modelStatus;
 		modelStatus.XNModelName(GetObjectName());
 		modelStatus.XNModelID(GetUniqueId());
@@ -315,7 +313,7 @@ void XNModelObject::StepUpdate()
 			(now.tv_sec - d->_lastRunTime.tv_sec) + (now.tv_nsec - d->_lastRunTime.tv_nsec) / 1.0E9;
 		modelStatus.XNMdlCurFreq(d->_setFreq / time_diff);
 		modelStatus.XNMdlSetFreq(d->_setFreq);
-		d->_dataWriters["XNSim::XNSimStatus::XNModelStatus"]->write(&modelStatus);
+		d->_dataWriter->write(&modelStatus);
 		d->_lastRunTime = now;
 		LOG_DEBUG("Model: %1 Write DDS!", GetObjectName());
 	}
@@ -345,8 +343,9 @@ void XNModelObject::RegisterDDSParticipant()
 		LOG_WARNING("Failed to get DDSManager!");
 		return;
 	}
-	uint32_t MyID = GetUniqueId();
-	XN_PUBLISHTOPIC(XNSim::XNSimStatus::XNModelStatus);
+	uint32_t MyID  = GetUniqueId();
+	d->_dataWriter = ddsManager->RegisterPublisher<XNSim::XNSimStatus::XNModelStatusPubSubType>(
+		"XNSim::XNSimStatus::XNModelStatus", MyID);
 }
 
 int XNModelObject::RegisterEventHandler(const std::string &eventName, XNEventCallback callback,

XNCore/XNModelObject.h

@@ -240,32 +240,6 @@ public:
 	virtual void RegisterDDSParticipant();
 };
 
-#define XN_DECLARE_DDS()                                                                           \
-public:                                                                                            \
-	virtual void RegisterDDSParticipant() override;
-
-#define XN_REGISTER_PARTICIPANT_BEGIN(class)                                                       \
-	void class ::RegisterDDSParticipant()                                                          \
-	{                                                                                              \
-		XNModelObject::RegisterDDSParticipant();                                                   \
-		T_D();                                                                                     \
-		auto framework = GetFramework();                                                           \
-		if (!framework)                                                                            \
-			return;                                                                                \
-		XNDDSManagerPtr ddsManager = framework->GetDDSManager();                                   \
-		if (!ddsManager)                                                                           \
-			return;                                                                                \
-		uint32_t MyID = GetUniqueId();
-
-#define XN_PUBLISHTOPIC(topic)                                                                     \
-	d->_dataWriters[#topic] = ddsManager->RegisterPublisher<topic##PubSubType>(#topic, MyID);
-
-#define XN_SUBSCRIBETOPIC(topic, fun)                                                              \
-	ddsManager->RegisterSubscriber<topic##PubSubType>(                                             \
-		#topic, MyID, std::bind(fun, this, std::placeholders::_1));
-
-#define XN_REGISTER_PARTICIPANT_END(class) }
-
 #define XN_MODEL_INITIALIZE(ClassName)                                                             \
 	extern "C" XNModelObjectPtr Initial##ClassName()                                               \
 	{                                                                                              \

XNCore/XNModelObject_p.h

@@ -52,7 +52,7 @@ struct XNModelObjectPrivate : public XNObjectPrivate {
 	/**
 	 * @brief 发布者信息
 	 */
-	std::unordered_map<std::string, FAST_DDS_MACRO::DataWriter *> _dataWriters;
+	FAST_DDS_MACRO::DataWriter *_dataWriter;
 
 	/**
 	 * @brief 模型运行时间

XNCore/XNServiceManager.cpp

@@ -66,9 +66,9 @@ void XNServiceManager::LoadService(const std::string &servicePath, const std::st
 
 				// 注册服务到管理器
 				d->ServiceList[serviceID] = service;
-
+				service->SetInitializeType(initialType);
 				// 初始化服务
-				service->Initialize(initialType);
+				service->Initialize();
 			} else {
 				LOG_WARNING("0x2173 Service %s Not found in dynamic link library %s!",
 							serviceName.c_str(), servicePath.c_str());

XNCore/XNServiceObject.cpp

@@ -5,6 +5,8 @@
 
 XNServiceObject::XNServiceObject() : XNObject(new XNServiceObjectPrivate())
 {
+	T_D();
+	d->_initialType = 0;
 }
 
 XNServiceObject::~XNServiceObject()
@@ -127,10 +129,16 @@ void XNServiceObject::TriggerRTEvent(const std::string &eventName, const std::an
 	TriggerEvent(eventName, eventData, true, XNEvent::Priority::RealTime);
 }
 
-void XNServiceObject::Initialize(uint32_t initialType)
+void XNServiceObject::SetInitializeType(uint32_t initialType)
 {
 	T_D();
-	if (initialType == 0) {
+	d->_initialType = initialType;
+}
+
+void XNServiceObject::Initialize()
+{
+	T_D();
+	if (d->_initialType == 0) {
 		tinyxml2::XMLDocument doc;
 		if (doc.LoadFile(GetXmlPath().c_str()) != tinyxml2::XML_SUCCESS) {
 			LOG_WARNING("Failed to open the service configuration file: %1!", GetXmlPath());

XNCore/XNServiceObject.h

@@ -43,7 +43,9 @@ public:
 
 	void TriggerRTEvent(const std::string &eventName, const std::any &eventData = std::any());
 
-	virtual void Initialize(uint32_t initialType);
+	void SetInitializeType(uint32_t initialType);
+
+	virtual void Initialize();
 	virtual void PrepareForExecute();
 
 	virtual void RegisterDDSParticipant();
@@ -56,35 +58,9 @@ protected:
 
 XNCLASS_PTR_DECLARE(XNServiceObject)
 
-#define XN_DECLARE_DDS_SERVICE()                                                                   \
-public:                                                                                            \
-	virtual void RegisterDDSParticipant() override;
-
-#define XN_REGISTER_SERVICE_BEGIN_SERVICE(class)                                                   \
-	void class ::RegisterDDSParticipant()                                                          \
-	{                                                                                              \
-		XNServiceObject::RegisterDDSParticipant();                                                 \
-		Q_D(class);                                                                                \
-		auto framework = GetFramework();                                                           \
-		if (!framework)                                                                            \
-			return;                                                                                \
-		XNDDSManagerPtr ddsManager = framework->GetDDSManager();                                   \
-		if (!ddsManager)                                                                           \
-			return;                                                                                \
-		quint32 MyID = getUniqueId();
-
-#define XN_PUBLISHTOPIC_SERVICE(topic)                                                             \
-	d->_dataWriters[#topic] = ddsManager->RegisterPublisher<topic##PubSubType>(#topic, MyID);
-
-#define XN_SUBSCRIBETOPIC_SERVICE(topic, fun)                                                      \
-	ddsManager->RegisterSubscriber<topic##PubSubType>(                                             \
-		#topic, MyID, std::bind(fun, this, std::placeholders::_1));
-
-#define XN_REGISTER_SERVICE_END_SERVICE(class) }
-
 #define XN_SERVICE_INITIALIZE(ClassName)                                                           \
 	extern "C" XNServiceObjectPtr Initial##ClassName()                                             \
 	{                                                                                              \
-		ClassNamePtr obj = std::make_shared<ClassName>();                                          \
+		ClassName##Ptr obj = std::make_shared<ClassName>();                                        \
 		return obj;                                                                                \
 	}

XNCore/XNServiceObject_p.h

@@ -10,4 +10,5 @@ struct XNServiceObjectPrivate : public XNObjectPrivate {
 	std::string _sVersion;
 	std::unordered_map<std::string, FAST_DDS_MACRO::DataWriter *> _dataWriters;
 	XNFrameworkPtr pFramework;
+	uint32_t _initialType;
 };

XNCore/XNThread.cpp

@@ -59,7 +59,7 @@ bool XNThread::Initialize()
 	}
 
 	// 设置线程栈空间大小
-	ret = pthread_attr_setstacksize(&(d->attr), PTHREAD_STACK_MIN);
+	ret = pthread_attr_setstacksize(&(d->attr), PTHREAD_STACK_MIN * 20);
 	if (ret) {
 		LOG_ERROR("0x2211 Thread: %1 Set Stack Space Failed!", GetObjectName());
 		return false;

XNEngine/CMakeLists.txt

@@ -30,6 +30,7 @@ target_link_libraries(XNEngine PRIVATE
     pthread
     OpenSSL::SSL
     OpenSSL::Crypto
+    dl
 )
 
 # Check if CMAKE_INSTALL_PREFIX is set to its default value

XNEngine/XNEngine.cpp

@@ -90,7 +90,7 @@ bool XNEngine::SetLogLevel(const std::string &XmlPath)
 	CPU_ZERO(&mask);
 	CPUAffinity = 0;
 
-	// 获取CPU亲和性配置
+	//获取CPU亲和性配置
 	tinyxml2::XMLElement *envNode = root->FirstChildElement("Environment");
 	if (envNode) {
 		const char *cpuAffinityStr = envNode->Attribute("CPUAffinity");

XNModels/XNGroundHandling/CMakeLists.txt

@@ -4,6 +4,7 @@ project(XNGroundHandling LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 # 获取环境变量
 if(DEFINED ENV{XNCore})
@@ -14,6 +15,36 @@ endif()
 
 # 添加 XNCore_PATH 下的 include 目录为包含目录
 include_directories(${XNCore_PATH}/include)
+include_directories(${XNCore_PATH}/IDL)
 
-add_subdirectory(XNGroundHandlingInterface)
-add_subdirectory(XNGroundHandling)
+add_library(XNGroundHandling SHARED
+  XNGroundHandling_global.h
+  XNGroundHandling.cpp
+  XNGroundHandling.h
+  XNGroundHandling_p.h
+  ${DDS_XNIDL_SOURCES_CXX}
+)
+
+target_link_libraries(XNGroundHandling PRIVATE 
+	${XNCore_PATH}/lib/libXNCore.so
+	${XNCore_PATH}/lib/libC909_V1_Interface.so
+    dl)
+
+target_compile_definitions(XNGroundHandling PRIVATE XNGROUNDHANDLING_LIBRARY)
+
+if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+    set(CMAKE_INSTALL_PREFIX "${XNCore_PATH}/Models" CACHE PATH "Install path prefix" FORCE)
+endif()
+
+include(GNUInstallDirs)
+install(TARGETS XNGroundHandling
+    BUNDLE DESTINATION .
+    LIBRARY DESTINATION .
+    RUNTIME DESTINATION .
+)
+
+# 添加自定义命令和目标以拷贝配置文件
+file(GLOB CONFIG_FILE "*.mcfg")
+
+# 使用 install 命令在安装时拷贝配置文件
+install(FILES ${CONFIG_FILE} DESTINATION ${CMAKE_INSTALL_PREFIX})

XNModels/XNGroundHandling/XNGroundHandling.mcfg

@@ -8,6 +8,6 @@
     <ChangeTime>2025-02-19 16:22:19</ChangeTime>
     <Node>0-0</Node>
     <Priority>99</Priority>
-    <MathLib>ATA04_SACSCGroundHandling_2.0.27.1H_20241106/libSACSCGroundHandling.so</MathLib>
+    <MathLib>ATA04_SACSCGroundHandling_2.0.143.1H_20250506/libSACSCGroundHandling.so.2.0.143.1H</MathLib>
     <CommandList/>
 </Model>

XNModels/XNGroundHandling/XNGroundHandling/CMakeLists.txt

@@ -1,30 +0,0 @@
-add_library(XNGroundHandling SHARED
-  XNGroundHandling_global.h
-  XNGroundHandling.cpp
-  XNGroundHandling.h
-  XNGroundHandling_p.h
-  ${DDS_XNIDL_SOURCES_CXX}
-)
-
-target_link_libraries(XNGroundHandling PRIVATE 
-	${XNCore_PATH}/lib/libXNCore.so
-	XNGroundHandlingInterface)
-
-target_compile_definitions(XNGroundHandling PRIVATE XNGROUNDHANDLING_LIBRARY)
-
-if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
-    set(CMAKE_INSTALL_PREFIX "${XNCore_PATH}/Models" CACHE PATH "Install path prefix" FORCE)
-endif()
-
-include(GNUInstallDirs)
-install(TARGETS XNGroundHandling
-    BUNDLE DESTINATION .
-    LIBRARY DESTINATION .
-    RUNTIME DESTINATION .
-)
-
-# 添加自定义命令和目标以拷贝配置文件
-file(GLOB CONFIG_FILE "*.mcfg")
-
-# 使用 install 命令在安装时拷贝配置文件
-install(FILES ${CONFIG_FILE} DESTINATION ${CMAKE_INSTALL_PREFIX})

XNModels/XNGroundHandling/XNGroundHandlingInterface/CMakeLists.txt

@@ -1,52 +0,0 @@
-cmake_minimum_required(VERSION 3.16)
-
-project(XNGroundHandlingInterface LANGUAGES CXX)
-
-if(NOT fastcdr_FOUND)
-    find_package(fastcdr 2 REQUIRED)
-endif()
-
-if(NOT fastdds_FOUND)
-    find_package(fastdds 3 REQUIRED)
-endif()
-
-find_package(OpenSSL REQUIRED)
-
-add_library(XNGroundHandlingInterface SHARED
-  XNGroundHandling.hpp
-  XNGroundHandlingInterface.hpp
-  XNGroundHandlingInterface.cxx
-  XNGroundHandlingCdrAux.hpp
-  XNGroundHandlingCdrAux.ipp
-  XNGroundHandlingPubSubTypes.hpp
-  XNGroundHandlingPubSubTypes.cxx
-  XNGroundHandlingTypeObjectSupport.hpp
-  XNGroundHandlingTypeObjectSupport.cxx
-)
-
-target_link_libraries(XNGroundHandlingInterface PRIVATE 
-	fastcdr
-	fastdds
-	OpenSSL::SSL
-	OpenSSL::Crypto
-    ${XNCore_PATH}/lib/libXNCore.so
-)
-
-target_compile_definitions(XNGroundHandlingInterface PRIVATE XNGROUNDHANDLINGINTERFACE_LIBRARY)
-
-if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
-    set(CMAKE_INSTALL_PREFIX "${XNCore_PATH}/Models" CACHE PATH "Install path prefix" FORCE)
-endif()
-
-include(GNUInstallDirs)
-install(TARGETS XNGroundHandlingInterface
-    BUNDLE DESTINATION .
-    LIBRARY DESTINATION .
-    RUNTIME DESTINATION .
-)
-
-# 添加自定义命令和目标以拷贝配置文件
-file(GLOB IDL_FILE "*.idl")
-
-# 使用 install 命令在安装时拷贝配置文件
-install(FILES ${IDL_FILE} DESTINATION ${CMAKE_INSTALL_PREFIX})

XNModels/XNGroundHandling/XNGroundHandlingInterface/XNGroundHandling.idl

@@ -1,93 +0,0 @@
-module XNSim
-{
-	module C909
-	{
-		module ATA04
-		{
-			struct GroundHandling_input
-			{
-				@optional char l_04_i_gdcomac_frz_l1;
-				@optional char l_04_i_gdcomac_chocks_l1;
-				@optional double l_04_i_gdcomac_alt_agl_f8;
-				@optional char l_04_i_gdcomac_frzflt_l1;
-				@optional double l_04_i_gdcomac_p_f8;
-				@optional double l_04_i_gdcomac_q_f8;
-				@optional double l_04_i_gdcomac_r_f8;
-				@optional double l_04_i_gdcomac_ug_f8;
-				@optional double l_04_i_gdcomac_vg_f8;
-				@optional double l_04_i_gdcomac_wg_f8;
-				@optional double l_04_i_gdcomac_blcg_f8;
-				@optional double l_04_i_gdcomac_bscg_f8;
-				@optional double l_04_i_gdcomac_wlcg_f8;
-				@optional char l_04_i_gdcomac_pb_active_l1;
-				@optional double l_04_i_gdcomac_brake_torq_f8[3][2];
-				@optional double l_04_i_gdcomac_gear_f8[3];
-				@optional double l_04_i_gdcomac_gsteer_f8[10];
-				@optional double l_04_i_gdcomac_tire_pres_f8[3][2];
-				@optional char l_04_i_gdcomac_onjax_l1;
-				@optional double l_04_i_gdcomac_contdep_f8[7];
-				@optional double l_04_i_gdcomac_thetag_f8;
-				@optional double l_04_i_gdcomac_phig_f8;
-				@optional long l_04_i_gdcomac_rwyrgh_i2;
-				@optional double l_04_i_gdcomac_rwyhdg_f8;
-				@optional char l_04_i_gdcomac_reset_braketemp_l1;
-				@optional char l_04_i_gdcomac_reset_tirepress_l1;
-				@optional double l_04_i_gdcomac_temp_c_f8;
-				@optional double l_04_i_gdcomac_brake_temp_f8[3][2];
-				@optional char l_04_i_gdcomac_tire_tburst_l1[3][2];
-				@optional char l_04_i_gdcomac_tire_tflat_l1[3][2];
-				@optional char l_04_i_gdcomac_brk_reset_tpres_l1;
-				@optional double l_04_i_gdcomac_rcon_ci_f8[14];
-				@optional double l_04_i_gdcomac_pb_towforce_f8;
-				@optional long l_04_i_gdcomac_gsteer_state_i4;
-				@optional char l_04_i_gdcomac_trim_active_l1;
-				@optional double l_04_i_gdcomac_phi_deg_f8;
-				@optional double l_04_i_gdcomac_theta_deg_f8;
-				@optional double l_04_i_gdcomac_psi_deg_f8;
-				@optional char l_04_i_gdcomac_resetint_l1;
-			};
-			struct GroundHandling_output
-			{
-				@optional char l_04_o_gdcomac_frz_l1;
-				@optional char l_04_o_gdcomac_ac_on_ground_l1;
-				@optional double l_04_o_gdcomac_ac_stationary_f8;
-				@optional double l_04_o_gdcomac_alt_tire_f8;
-				@optional double l_04_o_gdcomac_zcg_to_tire_f8;
-				@optional double l_04_o_gdcomac_fxb_f8;
-				@optional double l_04_o_gdcomac_fyb_f8;
-				@optional double l_04_o_gdcomac_fzb_f8;
-				@optional double l_04_o_gdcomac_mxb_f8;
-				@optional double l_04_o_gdcomac_myb_f8;
-				@optional double l_04_o_gdcomac_mzb_f8;
-				@optional double l_04_o_gdcomac_fygs_f8[3];
-				@optional double l_04_o_gdcomac_mzgs_f8[3];
-				@optional double l_04_o_gdcomac_mu_f8[3];
-				@optional double l_04_o_gdcomac_dstroke_f8[3];
-				@optional double l_04_o_gdcomac_sr_f8[3][2];
-				@optional double l_04_o_gdcomac_sy_f8[3][2];
-				@optional double l_04_o_gdcomac_sx_f8[3][2];
-				@optional double l_04_o_gdcomac_xft_f8[3];
-				@optional double l_04_o_gdcomac_yft_f8[3];
-				@optional double l_04_o_gdcomac_zft_f8[3];
-				@optional double l_04_o_gdcomac_distngrxcg_f8;
-				@optional double l_04_o_gdcomac_distmgrxcg_f8;
-				@optional double l_04_o_gdcomac_distmgrzcg_f8;
-				@optional double l_04_o_gdcomac_tire_vel_f8[3][2];
-				@optional char l_04_o_gdcomac_tire_burst_l1[3][2];
-				@optional double l_04_o_gdcomac_tire_temp_f8[3][2];
-				@optional char l_04_o_gdcomac_wow_l1;
-				@optional double l_04_o_gdcomac_utirew_f8[3][2];
-				@optional double l_04_o_gdcomac_vtirew_f8[3][2];
-				@optional double l_04_o_gdcomac_whl_omega_f8[3][2];
-				@optional double l_04_o_gdcomac_dstruc_f8[6];
-				@optional double l_04_o_gdcomac_wor_par_f8[3];
-				@optional double l_04_o_gdcomac_nd_f8[3];
-				@optional double l_04_o_gdcomac_vczt_f8[3][2];
-			};
-			struct GroundHandling_heartbeat
-			{
-				@optional long groundhandling_model_heartbeat;
-			};
-		};
-	};
-};

XNModels/XNGroundHandling/XNGroundHandlingInterface/XNGroundHandlingCdrAux.hpp

@@ -1,60 +0,0 @@
-// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/*!
- * @file XNGroundHandlingCdrAux.hpp
- * This source file contains some definitions of CDR related functions.
- *
- * This file was generated by the tool fastddsgen.
- */
-
-#ifndef FAST_DDS_GENERATED__XNSIM_C909_ATA04_XNGROUNDHANDLINGCDRAUX_HPP
-#define FAST_DDS_GENERATED__XNSIM_C909_ATA04_XNGROUNDHANDLINGCDRAUX_HPP
-
-#include "XNGroundHandling.hpp"
-
-constexpr uint32_t XNSim_C909_ATA04_GroundHandling_input_max_cdr_typesize {1093UL};
-constexpr uint32_t XNSim_C909_ATA04_GroundHandling_input_max_key_cdr_typesize {0UL};
-
-constexpr uint32_t XNSim_C909_ATA04_GroundHandling_heartbeat_max_cdr_typesize {12UL};
-constexpr uint32_t XNSim_C909_ATA04_GroundHandling_heartbeat_max_key_cdr_typesize {0UL};
-
-constexpr uint32_t XNSim_C909_ATA04_GroundHandling_output_max_cdr_typesize {1328UL};
-constexpr uint32_t XNSim_C909_ATA04_GroundHandling_output_max_key_cdr_typesize {0UL};
-
-
-namespace eprosima {
-namespace fastcdr {
-
-class Cdr;
-class CdrSizeCalculator;
-
-eProsima_user_DllExport void serialize_key(
-        eprosima::fastcdr::Cdr& scdr,
-        const XNSim::C909::ATA04::GroundHandling_input& data);
-
-eProsima_user_DllExport void serialize_key(
-        eprosima::fastcdr::Cdr& scdr,
-        const XNSim::C909::ATA04::GroundHandling_output& data);
-
-eProsima_user_DllExport void serialize_key(
-        eprosima::fastcdr::Cdr& scdr,
-        const XNSim::C909::ATA04::GroundHandling_heartbeat& data);
-
-
-} // namespace fastcdr
-} // namespace eprosima
-
-#endif // FAST_DDS_GENERATED__XNSIM_C909_ATA04_XNGROUNDHANDLINGCDRAUX_HPP
-

XNModels/XNGroundHandling/XNGroundHandlingInterface/XNGroundHandlingInterface.cxx

@@ -1,259 +0,0 @@
-#include "XNGroundHandlingInterface.hpp"
-
-namespace XNSim::C909::ATA04
-{
-GroundHandling_input_Interface::GroundHandling_input_Interface()
-{
-	MAP_DATA_FUNC(l_04_i_gdcomac_frz_l1);
-	MAP_DATA_FUNC(l_04_i_gdcomac_chocks_l1);
-	MAP_DATA_FUNC(l_04_i_gdcomac_alt_agl_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_frzflt_l1);
-	MAP_DATA_FUNC(l_04_i_gdcomac_p_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_q_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_r_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_ug_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_vg_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_wg_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_blcg_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_bscg_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_wlcg_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_pb_active_l1);
-	MAP_DATA_FUNC(l_04_i_gdcomac_brake_torq_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_gear_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_gsteer_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_tire_pres_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_onjax_l1);
-	MAP_DATA_FUNC(l_04_i_gdcomac_contdep_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_thetag_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_phig_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_rwyrgh_i2);
-	MAP_DATA_FUNC(l_04_i_gdcomac_rwyhdg_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_reset_braketemp_l1);
-	MAP_DATA_FUNC(l_04_i_gdcomac_reset_tirepress_l1);
-	MAP_DATA_FUNC(l_04_i_gdcomac_temp_c_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_brake_temp_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_tire_tburst_l1);
-	MAP_DATA_FUNC(l_04_i_gdcomac_tire_tflat_l1);
-	MAP_DATA_FUNC(l_04_i_gdcomac_brk_reset_tpres_l1);
-	MAP_DATA_FUNC(l_04_i_gdcomac_rcon_ci_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_pb_towforce_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_gsteer_state_i4);
-	MAP_DATA_FUNC(l_04_i_gdcomac_trim_active_l1);
-	MAP_DATA_FUNC(l_04_i_gdcomac_phi_deg_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_theta_deg_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_psi_deg_f8);
-	MAP_DATA_FUNC(l_04_i_gdcomac_resetint_l1);
-	this->header[0] = 0xa6; // XNSim头，0xa6
-	this->header[1] = 0xc0; // 机型头，0xc0表示C909
-	this->header[2] = 0x04; // 章节头，0x04表示ATA04
-	this->header[3] = 0x01; // 模型头，0x01表示GroundHandling
-	this->header[4] = 0x00; // 结构体头，0x00表示输入结构体
-	this->header[5] = 0x00; // 数据方向，0x00表示外部输入
-	this->header[6] = 0x00; // 数据大小
-	this->header[7] = 0x00; // 数据大小
-}
-
-GroundHandling_input_Interface::~GroundHandling_input_Interface()
-{
-}
-
-void GroundHandling_input_Interface::Initialize(XNFrameworkPtr framework, uint32_t modelId,
-												uint32_t DDS_type)
-{
-	auto ddsManager = framework->GetDDSManager();
-	if (!ddsManager) {
-		LOG_ERROR("DDSManager is nullptr");
-		return;
-	}
-	if (DDS_type == 0) { // 读取与发送都进行
-		dataWriter =
-			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_inputPubSubType>(
-				"XNSim::C909::ATA04::GroundHandling_input", modelId);
-		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_inputPubSubType>(
-			"XNSim::C909::ATA04::GroundHandling_input", modelId,
-			std::bind(&GroundHandling_input_Interface::inputDataListener, this,
-					  std::placeholders::_1));
-	} else if (DDS_type == 1) { // 只读取
-		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_inputPubSubType>(
-			"XNSim::C909::ATA04::GroundHandling_input", modelId,
-			std::bind(&GroundHandling_input_Interface::inputDataListener, this,
-					  std::placeholders::_1));
-	} else if (DDS_type == 2) { // 只发送
-		dataWriter =
-			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_inputPubSubType>(
-				"XNSim::C909::ATA04::GroundHandling_input", modelId);
-	}
-}
-
-void GroundHandling_input_Interface::clearOutData()
-{
-	this->out_data = XNSim::C909::ATA04::GroundHandling_input();
-}
-
-void GroundHandling_input_Interface::sendOutData()
-{
-	dataWriter->write(&this->out_data);
-}
-
-void GroundHandling_input_Interface::inputDataListener(
-	const XNSim::C909::ATA04::GroundHandling_input &input)
-{
-	this->data = input;
-}
-
-GroundHandling_output_Interface::GroundHandling_output_Interface()
-{
-	MAP_DATA_FUNC(l_04_o_gdcomac_frz_l1);
-	MAP_DATA_FUNC(l_04_o_gdcomac_ac_on_ground_l1);
-	MAP_DATA_FUNC(l_04_o_gdcomac_ac_stationary_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_alt_tire_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_zcg_to_tire_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_fxb_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_fyb_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_fzb_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_mxb_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_myb_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_mzb_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_fygs_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_mzgs_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_mu_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_dstroke_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_sr_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_sy_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_sx_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_xft_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_yft_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_zft_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_distngrxcg_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_distmgrxcg_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_distmgrzcg_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_tire_vel_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_tire_burst_l1);
-	MAP_DATA_FUNC(l_04_o_gdcomac_tire_temp_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_wow_l1);
-	MAP_DATA_FUNC(l_04_o_gdcomac_utirew_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_vtirew_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_whl_omega_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_dstruc_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_wor_par_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_nd_f8);
-	MAP_DATA_FUNC(l_04_o_gdcomac_vczt_f8);
-	this->header[0] = 0xa6; // XNSim头，0xa6
-	this->header[1] = 0xc0; // 机型头，0xc0表示C909
-	this->header[2] = 0x04; // 章节头，0x04表示ATA04
-	this->header[3] = 0x01; // 模型头，0x01表示GroundHandling
-	this->header[4] = 0x01; // 结构体头，0x01表示输出结构体
-	this->header[5] = 0x00; // 数据方向，0x00表示外部输入
-	this->header[6] = 0x00; // 数据大小
-	this->header[7] = 0x00; // 数据大小
-}
-
-GroundHandling_output_Interface::~GroundHandling_output_Interface()
-{
-}
-
-void GroundHandling_output_Interface::Initialize(XNFrameworkPtr framework, uint32_t modelId,
-												 uint32_t DDS_type)
-{
-	auto ddsManager = framework->GetDDSManager();
-	if (!ddsManager) {
-		LOG_ERROR("DDSManager is nullptr");
-		return;
-	}
-	if (DDS_type == 0) { // 读取与发送都进行
-		dataWriter =
-			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_outputPubSubType>(
-				"XNSim::C909::ATA04::GroundHandling_output", modelId);
-		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_outputPubSubType>(
-			"XNSim::C909::ATA04::GroundHandling_output", modelId,
-			std::bind(&GroundHandling_output_Interface::outputDataListener, this,
-					  std::placeholders::_1));
-	} else if (DDS_type == 1) { // 只读取
-		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_outputPubSubType>(
-			"XNSim::C909::ATA04::GroundHandling_output", modelId,
-			std::bind(&GroundHandling_output_Interface::outputDataListener, this,
-					  std::placeholders::_1));
-	} else if (DDS_type == 2) { // 只发送
-		dataWriter =
-			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_outputPubSubType>(
-				"XNSim::C909::ATA04::GroundHandling_output", modelId);
-	}
-}
-
-void GroundHandling_output_Interface::clearOutData()
-{
-	this->out_data = XNSim::C909::ATA04::GroundHandling_output();
-}
-
-void GroundHandling_output_Interface::sendOutData()
-{
-	dataWriter->write(&this->out_data);
-}
-
-void GroundHandling_output_Interface::outputDataListener(
-	const XNSim::C909::ATA04::GroundHandling_output &output)
-{
-	this->data = output;
-}
-
-GroundHandling_heartbeat_Interface::GroundHandling_heartbeat_Interface()
-{
-	MAP_DATA_FUNC(groundhandling_model_heartbeat);
-	this->header[0] = 0xa6; // XNSim头，0xa6
-	this->header[1] = 0xc0; // 机型头，0xc0表示C909
-	this->header[2] = 0x04; // 章节头，0x04表示ATA04
-	this->header[3] = 0x01; // 模型头，0x01表示GroundHandling
-	this->header[4] = 0x02; // 结构体头，0x02表示心跳结构体
-	this->header[5] = 0x00; // 数据方向，0x00表示外部输入
-	this->header[6] = 0x00; // 数据大小
-	this->header[7] = 0x00; // 数据大小
-}
-
-GroundHandling_heartbeat_Interface::~GroundHandling_heartbeat_Interface()
-{
-}
-
-void GroundHandling_heartbeat_Interface::Initialize(XNFrameworkPtr framework, uint32_t modelId,
-													uint32_t DDS_type)
-{
-	auto ddsManager = framework->GetDDSManager();
-	if (!ddsManager) {
-		LOG_ERROR("DDSManager is nullptr");
-		return;
-	}
-	if (DDS_type == 0) { // 读取与发送都进行
-		dataWriter =
-			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
-				"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId);
-		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
-			"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId,
-			std::bind(&GroundHandling_heartbeat_Interface::heartbeatListener, this,
-					  std::placeholders::_1));
-	} else if (DDS_type == 1) { // 只读取
-		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
-			"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId,
-			std::bind(&GroundHandling_heartbeat_Interface::heartbeatListener, this,
-					  std::placeholders::_1));
-	} else if (DDS_type == 2) { // 只发送
-		dataWriter =
-			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
-				"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId);
-	}
-}
-
-void GroundHandling_heartbeat_Interface::clearOutData()
-{
-	this->out_data = XNSim::C909::ATA04::GroundHandling_heartbeat();
-}
-
-void GroundHandling_heartbeat_Interface::sendOutData()
-{
-	dataWriter->write(&this->out_data);
-}
-
-void GroundHandling_heartbeat_Interface::heartbeatListener(
-	const XNSim::C909::ATA04::GroundHandling_heartbeat &heartbeat)
-{
-	this->data = heartbeat;
-}
-} // namespace XNSim::C909::ATA04

XNModels/XNGroundHandling/XNGroundHandlingInterface/XNGroundHandlingInterface.hpp

@@ -1,294 +0,0 @@
-#include "XNGroundHandling.hpp"
-#include "XNGroundHandlingPubSubTypes.hpp"
-#include "XNCore/XNDDSInterface.h"
-
-namespace XNSim::C909::ATA04
-{
-class GroundHandling_input_Interface final : public XNDDSInterface
-{
-public:
-	GroundHandling_input_Interface();
-	virtual ~GroundHandling_input_Interface();
-
-	virtual void Initialize(XNFrameworkPtr framework, uint32_t modelId, uint32_t DDS_type) override;
-	virtual void clearOutData() override;
-	virtual void sendOutData() override;
-
-	void inputDataListener(const XNSim::C909::ATA04::GroundHandling_input &input);
-	template <typename T>
-	void getData(T *model_data)
-	{
-		if (model_data == nullptr)
-			return;
-		assign_value_get(data.l_04_i_gdcomac_frz_l1(), model_data->l_04_i_gdcomac_frz_l1);
-		assign_value_get(data.l_04_i_gdcomac_chocks_l1(), model_data->l_04_i_gdcomac_chocks_l1);
-		assign_value_get(data.l_04_i_gdcomac_alt_agl_f8(), model_data->l_04_i_gdcomac_alt_agl_f8);
-		assign_value_get(data.l_04_i_gdcomac_frzflt_l1(), model_data->l_04_i_gdcomac_frzflt_l1);
-		assign_value_get(data.l_04_i_gdcomac_p_f8(), model_data->l_04_i_gdcomac_p_f8);
-		assign_value_get(data.l_04_i_gdcomac_q_f8(), model_data->l_04_i_gdcomac_q_f8);
-		assign_value_get(data.l_04_i_gdcomac_r_f8(), model_data->l_04_i_gdcomac_r_f8);
-		assign_value_get(data.l_04_i_gdcomac_ug_f8(), model_data->l_04_i_gdcomac_ug_f8);
-		assign_value_get(data.l_04_i_gdcomac_vg_f8(), model_data->l_04_i_gdcomac_vg_f8);
-		assign_value_get(data.l_04_i_gdcomac_wg_f8(), model_data->l_04_i_gdcomac_wg_f8);
-		assign_value_get(data.l_04_i_gdcomac_blcg_f8(), model_data->l_04_i_gdcomac_blcg_f8);
-		assign_value_get(data.l_04_i_gdcomac_bscg_f8(), model_data->l_04_i_gdcomac_bscg_f8);
-		assign_value_get(data.l_04_i_gdcomac_wlcg_f8(), model_data->l_04_i_gdcomac_wlcg_f8);
-		assign_value_get(data.l_04_i_gdcomac_pb_active_l1(),
-						 model_data->l_04_i_gdcomac_pb_active_l1);
-		assign_value_get(data.l_04_i_gdcomac_brake_torq_f8(),
-						 model_data->l_04_i_gdcomac_brake_torq_f8);
-		assign_value_get(data.l_04_i_gdcomac_gear_f8(), model_data->l_04_i_gdcomac_gear_f8);
-		assign_value_get(data.l_04_i_gdcomac_gsteer_f8(), model_data->l_04_i_gdcomac_gsteer_f8);
-		assign_value_get(data.l_04_i_gdcomac_tire_pres_f8(),
-						 model_data->l_04_i_gdcomac_tire_pres_f8);
-		assign_value_get(data.l_04_i_gdcomac_onjax_l1(), model_data->l_04_i_gdcomac_onjax_l1);
-		assign_value_get(data.l_04_i_gdcomac_contdep_f8(), model_data->l_04_i_gdcomac_contdep_f8);
-		assign_value_get(data.l_04_i_gdcomac_thetag_f8(), model_data->l_04_i_gdcomac_thetag_f8);
-		assign_value_get(data.l_04_i_gdcomac_phig_f8(), model_data->l_04_i_gdcomac_phig_f8);
-		assign_value_get(data.l_04_i_gdcomac_rwyrgh_i2(), model_data->l_04_i_gdcomac_rwyrgh_i2);
-		assign_value_get(data.l_04_i_gdcomac_rwyhdg_f8(), model_data->l_04_i_gdcomac_rwyhdg_f8);
-		assign_value_get(data.l_04_i_gdcomac_reset_braketemp_l1(),
-						 model_data->l_04_i_gdcomac_reset_braketemp_l1);
-		assign_value_get(data.l_04_i_gdcomac_reset_tirepress_l1(),
-						 model_data->l_04_i_gdcomac_reset_tirepress_l1);
-		assign_value_get(data.l_04_i_gdcomac_temp_c_f8(), model_data->l_04_i_gdcomac_temp_c_f8);
-		assign_value_get(data.l_04_i_gdcomac_brake_temp_f8(),
-						 model_data->l_04_i_gdcomac_brake_temp_f8);
-		assign_value_get(data.l_04_i_gdcomac_tire_tburst_l1(),
-						 model_data->l_04_i_gdcomac_tire_tburst_l1);
-		assign_value_get(data.l_04_i_gdcomac_tire_tflat_l1(),
-						 model_data->l_04_i_gdcomac_tire_tflat_l1);
-		assign_value_get(data.l_04_i_gdcomac_brk_reset_tpres_l1(),
-						 model_data->l_04_i_gdcomac_brk_reset_tpres_l1);
-		assign_value_get(data.l_04_i_gdcomac_rcon_ci_f8(), model_data->l_04_i_gdcomac_rcon_ci_f8);
-		assign_value_get(data.l_04_i_gdcomac_pb_towforce_f8(),
-						 model_data->l_04_i_gdcomac_pb_towforce_f8);
-		assign_value_get(data.l_04_i_gdcomac_gsteer_state_i4(),
-						 model_data->l_04_i_gdcomac_gsteer_state_i4);
-		assign_value_get(data.l_04_i_gdcomac_trim_active_l1(),
-						 model_data->l_04_i_gdcomac_trim_active_l1);
-		assign_value_get(data.l_04_i_gdcomac_phi_deg_f8(), model_data->l_04_i_gdcomac_phi_deg_f8);
-		assign_value_get(data.l_04_i_gdcomac_theta_deg_f8(),
-						 model_data->l_04_i_gdcomac_theta_deg_f8);
-		assign_value_get(data.l_04_i_gdcomac_psi_deg_f8(), model_data->l_04_i_gdcomac_psi_deg_f8);
-		assign_value_get(data.l_04_i_gdcomac_resetint_l1(), model_data->l_04_i_gdcomac_resetint_l1);
-	}
-
-	template <typename T>
-	void setData(T *model_data)
-	{
-		if (model_data == nullptr)
-			return;
-		clearOutData();
-		assign_value_set(data.l_04_i_gdcomac_frz_l1(), model_data->l_04_i_gdcomac_frz_l1);
-		assign_value_set(data.l_04_i_gdcomac_chocks_l1(), model_data->l_04_i_gdcomac_chocks_l1);
-		assign_value_set(data.l_04_i_gdcomac_alt_agl_f8(), model_data->l_04_i_gdcomac_alt_agl_f8);
-		assign_value_set(data.l_04_i_gdcomac_frzflt_l1(), model_data->l_04_i_gdcomac_frzflt_l1);
-		assign_value_set(data.l_04_i_gdcomac_p_f8(), model_data->l_04_i_gdcomac_p_f8);
-		assign_value_set(data.l_04_i_gdcomac_q_f8(), model_data->l_04_i_gdcomac_q_f8);
-		assign_value_set(data.l_04_i_gdcomac_r_f8(), model_data->l_04_i_gdcomac_r_f8);
-		assign_value_set(data.l_04_i_gdcomac_ug_f8(), model_data->l_04_i_gdcomac_ug_f8);
-		assign_value_set(data.l_04_i_gdcomac_vg_f8(), model_data->l_04_i_gdcomac_vg_f8);
-		assign_value_set(data.l_04_i_gdcomac_wg_f8(), model_data->l_04_i_gdcomac_wg_f8);
-		assign_value_set(data.l_04_i_gdcomac_blcg_f8(), model_data->l_04_i_gdcomac_blcg_f8);
-		assign_value_set(data.l_04_i_gdcomac_bscg_f8(), model_data->l_04_i_gdcomac_bscg_f8);
-		assign_value_set(data.l_04_i_gdcomac_wlcg_f8(), model_data->l_04_i_gdcomac_wlcg_f8);
-		assign_value_set(data.l_04_i_gdcomac_pb_active_l1(),
-						 model_data->l_04_i_gdcomac_pb_active_l1);
-		assign_value_set(data.l_04_i_gdcomac_brake_torq_f8(),
-						 model_data->l_04_i_gdcomac_brake_torq_f8);
-		assign_value_set(data.l_04_i_gdcomac_gear_f8(), model_data->l_04_i_gdcomac_gear_f8);
-		assign_value_set(data.l_04_i_gdcomac_gsteer_f8(), model_data->l_04_i_gdcomac_gsteer_f8);
-		assign_value_set(data.l_04_i_gdcomac_tire_pres_f8(),
-						 model_data->l_04_i_gdcomac_tire_pres_f8);
-		assign_value_set(data.l_04_i_gdcomac_onjax_l1(), model_data->l_04_i_gdcomac_onjax_l1);
-		assign_value_set(data.l_04_i_gdcomac_contdep_f8(), model_data->l_04_i_gdcomac_contdep_f8);
-		assign_value_set(data.l_04_i_gdcomac_thetag_f8(), model_data->l_04_i_gdcomac_thetag_f8);
-		assign_value_set(data.l_04_i_gdcomac_phig_f8(), model_data->l_04_i_gdcomac_phig_f8);
-		assign_value_set(data.l_04_i_gdcomac_rwyrgh_i2(), model_data->l_04_i_gdcomac_rwyrgh_i2);
-		assign_value_set(data.l_04_i_gdcomac_rwyhdg_f8(), model_data->l_04_i_gdcomac_rwyhdg_f8);
-		assign_value_set(data.l_04_i_gdcomac_reset_braketemp_l1(),
-						 model_data->l_04_i_gdcomac_reset_braketemp_l1);
-		assign_value_set(data.l_04_i_gdcomac_reset_tirepress_l1(),
-						 model_data->l_04_i_gdcomac_reset_tirepress_l1);
-		assign_value_set(data.l_04_i_gdcomac_temp_c_f8(), model_data->l_04_i_gdcomac_temp_c_f8);
-		assign_value_set(data.l_04_i_gdcomac_brake_temp_f8(),
-						 model_data->l_04_i_gdcomac_brake_temp_f8);
-		assign_value_set(data.l_04_i_gdcomac_tire_tburst_l1(),
-						 model_data->l_04_i_gdcomac_tire_tburst_l1);
-		assign_value_set(data.l_04_i_gdcomac_tire_tflat_l1(),
-						 model_data->l_04_i_gdcomac_tire_tflat_l1);
-		assign_value_set(data.l_04_i_gdcomac_brk_reset_tpres_l1(),
-						 model_data->l_04_i_gdcomac_brk_reset_tpres_l1);
-		assign_value_set(data.l_04_i_gdcomac_rcon_ci_f8(), model_data->l_04_i_gdcomac_rcon_ci_f8);
-		assign_value_set(data.l_04_i_gdcomac_pb_towforce_f8(),
-						 model_data->l_04_i_gdcomac_pb_towforce_f8);
-		assign_value_set(data.l_04_i_gdcomac_gsteer_state_i4(),
-						 model_data->l_04_i_gdcomac_gsteer_state_i4);
-		assign_value_set(data.l_04_i_gdcomac_trim_active_l1(),
-						 model_data->l_04_i_gdcomac_trim_active_l1);
-		assign_value_set(data.l_04_i_gdcomac_phi_deg_f8(), model_data->l_04_i_gdcomac_phi_deg_f8);
-		assign_value_set(data.l_04_i_gdcomac_theta_deg_f8(),
-						 model_data->l_04_i_gdcomac_theta_deg_f8);
-		assign_value_set(data.l_04_i_gdcomac_psi_deg_f8(), model_data->l_04_i_gdcomac_psi_deg_f8);
-		assign_value_set(data.l_04_i_gdcomac_resetint_l1(), model_data->l_04_i_gdcomac_resetint_l1);
-		sendOutData();
-	}
-
-private:
-	XNSim::C909::ATA04::GroundHandling_input data;
-	XNSim::C909::ATA04::GroundHandling_input out_data;
-};
-
-class GroundHandling_output_Interface final : public XNDDSInterface
-{
-public:
-	GroundHandling_output_Interface();
-	virtual ~GroundHandling_output_Interface();
-	virtual void Initialize(XNFrameworkPtr framework, uint32_t modelId, uint32_t DDS_type) override;
-	void outputDataListener(const XNSim::C909::ATA04::GroundHandling_output &output);
-	virtual void clearOutData() override;
-	virtual void sendOutData() override;
-	template <typename T>
-	void getData(T *model_data)
-	{
-		if (model_data == nullptr)
-			return;
-		assign_value_get(data.l_04_o_gdcomac_frz_l1(), model_data->l_04_o_gdcomac_frz_l1);
-		assign_value_get(data.l_04_o_gdcomac_ac_on_ground_l1(),
-						 model_data->l_04_o_gdcomac_ac_on_ground_l1);
-		assign_value_get(data.l_04_o_gdcomac_ac_stationary_f8(),
-						 model_data->l_04_o_gdcomac_ac_stationary_f8);
-		assign_value_get(data.l_04_o_gdcomac_alt_tire_f8(), model_data->l_04_o_gdcomac_alt_tire_f8);
-		assign_value_get(data.l_04_o_gdcomac_zcg_to_tire_f8(),
-						 model_data->l_04_o_gdcomac_zcg_to_tire_f8);
-		assign_value_get(data.l_04_o_gdcomac_fxb_f8(), model_data->l_04_o_gdcomac_fxb_f8);
-		assign_value_get(data.l_04_o_gdcomac_fyb_f8(), model_data->l_04_o_gdcomac_fyb_f8);
-		assign_value_get(data.l_04_o_gdcomac_fzb_f8(), model_data->l_04_o_gdcomac_fzb_f8);
-		assign_value_get(data.l_04_o_gdcomac_mxb_f8(), model_data->l_04_o_gdcomac_mxb_f8);
-		assign_value_get(data.l_04_o_gdcomac_myb_f8(), model_data->l_04_o_gdcomac_myb_f8);
-		assign_value_get(data.l_04_o_gdcomac_mzb_f8(), model_data->l_04_o_gdcomac_mzb_f8);
-		assign_value_get(data.l_04_o_gdcomac_fygs_f8(), model_data->l_04_o_gdcomac_fygs_f8);
-		assign_value_get(data.l_04_o_gdcomac_mzgs_f8(), model_data->l_04_o_gdcomac_mzgs_f8);
-		assign_value_get(data.l_04_o_gdcomac_mu_f8(), model_data->l_04_o_gdcomac_mu_f8);
-		assign_value_get(data.l_04_o_gdcomac_dstroke_f8(), model_data->l_04_o_gdcomac_dstroke_f8);
-		assign_value_get(data.l_04_o_gdcomac_sr_f8(), model_data->l_04_o_gdcomac_sr_f8);
-		assign_value_get(data.l_04_o_gdcomac_sy_f8(), model_data->l_04_o_gdcomac_sy_f8);
-		assign_value_get(data.l_04_o_gdcomac_sx_f8(), model_data->l_04_o_gdcomac_sx_f8);
-		assign_value_get(data.l_04_o_gdcomac_xft_f8(), model_data->l_04_o_gdcomac_xft_f8);
-		assign_value_get(data.l_04_o_gdcomac_yft_f8(), model_data->l_04_o_gdcomac_yft_f8);
-		assign_value_get(data.l_04_o_gdcomac_zft_f8(), model_data->l_04_o_gdcomac_zft_f8);
-		assign_value_get(data.l_04_o_gdcomac_distngrxcg_f8(),
-						 model_data->l_04_o_gdcomac_distngrxcg_f8);
-		assign_value_get(data.l_04_o_gdcomac_distmgrxcg_f8(),
-						 model_data->l_04_o_gdcomac_distmgrxcg_f8);
-		assign_value_get(data.l_04_o_gdcomac_distmgrzcg_f8(),
-						 model_data->l_04_o_gdcomac_distmgrzcg_f8);
-		assign_value_get(data.l_04_o_gdcomac_tire_vel_f8(), model_data->l_04_o_gdcomac_tire_vel_f8);
-		assign_value_get(data.l_04_o_gdcomac_tire_burst_l1(),
-						 model_data->l_04_o_gdcomac_tire_burst_l1);
-		assign_value_get(data.l_04_o_gdcomac_tire_temp_f8(),
-						 model_data->l_04_o_gdcomac_tire_temp_f8);
-		assign_value_get(data.l_04_o_gdcomac_wow_l1(), model_data->l_04_o_gdcomac_wow_l1);
-		assign_value_get(data.l_04_o_gdcomac_utirew_f8(), model_data->l_04_o_gdcomac_utirew_f8);
-		assign_value_get(data.l_04_o_gdcomac_vtirew_f8(), model_data->l_04_o_gdcomac_vtirew_f8);
-		assign_value_get(data.l_04_o_gdcomac_whl_omega_f8(),
-						 model_data->l_04_o_gdcomac_whl_omega_f8);
-		assign_value_get(data.l_04_o_gdcomac_dstruc_f8(), model_data->l_04_o_gdcomac_dstruc_f8);
-		assign_value_get(data.l_04_o_gdcomac_wor_par_f8(), model_data->l_04_o_gdcomac_wor_par_f8);
-		assign_value_get(data.l_04_o_gdcomac_nd_f8(), model_data->l_04_o_gdcomac_nd_f8);
-		assign_value_get(data.l_04_o_gdcomac_vczt_f8(), model_data->l_04_o_gdcomac_vczt_f8);
-	}
-
-	template <typename T>
-	void setData(T *model_data)
-	{
-		if (model_data == nullptr)
-			return;
-		clearOutData();
-		assign_value_set(data.l_04_o_gdcomac_frz_l1(), model_data->l_04_o_gdcomac_frz_l1);
-		assign_value_set(data.l_04_o_gdcomac_ac_on_ground_l1(),
-						 model_data->l_04_o_gdcomac_ac_on_ground_l1);
-		assign_value_set(data.l_04_o_gdcomac_ac_stationary_f8(),
-						 model_data->l_04_o_gdcomac_ac_stationary_f8);
-		assign_value_set(data.l_04_o_gdcomac_alt_tire_f8(), model_data->l_04_o_gdcomac_alt_tire_f8);
-		assign_value_set(data.l_04_o_gdcomac_zcg_to_tire_f8(),
-						 model_data->l_04_o_gdcomac_zcg_to_tire_f8);
-		assign_value_set(data.l_04_o_gdcomac_fxb_f8(), model_data->l_04_o_gdcomac_fxb_f8);
-		assign_value_set(data.l_04_o_gdcomac_fyb_f8(), model_data->l_04_o_gdcomac_fyb_f8);
-		assign_value_set(data.l_04_o_gdcomac_fzb_f8(), model_data->l_04_o_gdcomac_fzb_f8);
-		assign_value_set(data.l_04_o_gdcomac_mxb_f8(), model_data->l_04_o_gdcomac_mxb_f8);
-		assign_value_set(data.l_04_o_gdcomac_myb_f8(), model_data->l_04_o_gdcomac_myb_f8);
-		assign_value_set(data.l_04_o_gdcomac_mzb_f8(), model_data->l_04_o_gdcomac_mzb_f8);
-		assign_value_set(data.l_04_o_gdcomac_fygs_f8(), model_data->l_04_o_gdcomac_fygs_f8);
-		assign_value_set(data.l_04_o_gdcomac_mzgs_f8(), model_data->l_04_o_gdcomac_mzgs_f8);
-		assign_value_set(data.l_04_o_gdcomac_mu_f8(), model_data->l_04_o_gdcomac_mu_f8);
-		assign_value_set(data.l_04_o_gdcomac_dstroke_f8(), model_data->l_04_o_gdcomac_dstroke_f8);
-		assign_value_set(data.l_04_o_gdcomac_sr_f8(), model_data->l_04_o_gdcomac_sr_f8);
-		assign_value_set(data.l_04_o_gdcomac_sy_f8(), model_data->l_04_o_gdcomac_sy_f8);
-		assign_value_set(data.l_04_o_gdcomac_sx_f8(), model_data->l_04_o_gdcomac_sx_f8);
-		assign_value_set(data.l_04_o_gdcomac_xft_f8(), model_data->l_04_o_gdcomac_xft_f8);
-		assign_value_set(data.l_04_o_gdcomac_yft_f8(), model_data->l_04_o_gdcomac_yft_f8);
-		assign_value_set(data.l_04_o_gdcomac_zft_f8(), model_data->l_04_o_gdcomac_zft_f8);
-		assign_value_set(data.l_04_o_gdcomac_distngrxcg_f8(),
-						 model_data->l_04_o_gdcomac_distngrxcg_f8);
-		assign_value_set(data.l_04_o_gdcomac_distmgrxcg_f8(),
-						 model_data->l_04_o_gdcomac_distmgrxcg_f8);
-		assign_value_set(data.l_04_o_gdcomac_distmgrzcg_f8(),
-						 model_data->l_04_o_gdcomac_distmgrzcg_f8);
-		assign_value_set(data.l_04_o_gdcomac_tire_vel_f8(), model_data->l_04_o_gdcomac_tire_vel_f8);
-		assign_value_set(data.l_04_o_gdcomac_tire_burst_l1(),
-						 model_data->l_04_o_gdcomac_tire_burst_l1);
-		assign_value_set(data.l_04_o_gdcomac_tire_temp_f8(),
-						 model_data->l_04_o_gdcomac_tire_temp_f8);
-		assign_value_set(data.l_04_o_gdcomac_wow_l1(), model_data->l_04_o_gdcomac_wow_l1);
-		assign_value_set(data.l_04_o_gdcomac_utirew_f8(), model_data->l_04_o_gdcomac_utirew_f8);
-		assign_value_set(data.l_04_o_gdcomac_vtirew_f8(), model_data->l_04_o_gdcomac_vtirew_f8);
-		assign_value_set(data.l_04_o_gdcomac_whl_omega_f8(),
-						 model_data->l_04_o_gdcomac_whl_omega_f8);
-		assign_value_set(data.l_04_o_gdcomac_dstruc_f8(), model_data->l_04_o_gdcomac_dstruc_f8);
-		assign_value_set(data.l_04_o_gdcomac_wor_par_f8(), model_data->l_04_o_gdcomac_wor_par_f8);
-		assign_value_set(data.l_04_o_gdcomac_nd_f8(), model_data->l_04_o_gdcomac_nd_f8);
-		assign_value_set(data.l_04_o_gdcomac_vczt_f8(), model_data->l_04_o_gdcomac_vczt_f8);
-		sendOutData();
-	}
-
-private:
-	XNSim::C909::ATA04::GroundHandling_output data;
-	XNSim::C909::ATA04::GroundHandling_output out_data;
-};
-
-class GroundHandling_heartbeat_Interface final : public XNDDSInterface
-{
-public:
-	GroundHandling_heartbeat_Interface();
-	virtual ~GroundHandling_heartbeat_Interface();
-	virtual void Initialize(XNFrameworkPtr framework, uint32_t modelId, uint32_t DDS_type) override;
-	void heartbeatListener(const XNSim::C909::ATA04::GroundHandling_heartbeat &heartbeat);
-	virtual void clearOutData() override;
-	virtual void sendOutData() override;
-	template <typename T>
-	void getData(T *model_data)
-	{
-		if (model_data == nullptr)
-			return;
-		assign_value_get(data.groundhandling_model_heartbeat(),
-						 model_data->groundhandling_model_heartbeat);
-	}
-
-	template <typename T>
-	void setData(T *model_data)
-	{
-		if (model_data == nullptr)
-			return;
-		clearOutData();
-		assign_value_set(data.groundhandling_model_heartbeat(),
-						 model_data->groundhandling_model_heartbeat);
-		sendOutData();
-	}
-
-private:
-	XNSim::C909::ATA04::GroundHandling_heartbeat data;
-	XNSim::C909::ATA04::GroundHandling_heartbeat out_data;
-};
-} // namespace XNSim::C909::ATA04

XNModels/XNGroundHandling/XNGroundHandlingInterface/XNGroundHandlingPubSubTypes.cxx

@@ -1,591 +0,0 @@
-// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/*!
- * @file XNGroundHandlingPubSubTypes.cpp
- * This header file contains the implementation of the serialization functions.
- *
- * This file was generated by the tool fastddsgen.
- */
-
-#include "XNGroundHandlingPubSubTypes.hpp"
-
-#include <fastdds/dds/log/Log.hpp>
-#include <fastdds/rtps/common/CdrSerialization.hpp>
-
-#include "XNGroundHandlingCdrAux.hpp"
-#include "XNGroundHandlingTypeObjectSupport.hpp"
-
-using SerializedPayload_t = eprosima::fastdds::rtps::SerializedPayload_t;
-using InstanceHandle_t = eprosima::fastdds::rtps::InstanceHandle_t;
-using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
-
-namespace XNSim {
-    namespace C909 {
-        namespace ATA04 {
-            GroundHandling_inputPubSubType::GroundHandling_inputPubSubType()
-            {
-                set_name("XNSim::C909::ATA04::GroundHandling_input");
-                uint32_t type_size = XNSim_C909_ATA04_GroundHandling_input_max_cdr_typesize;
-                type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-                max_serialized_type_size = type_size + 4; /*encapsulation*/
-                is_compute_key_provided = false;
-                uint32_t key_length = XNSim_C909_ATA04_GroundHandling_input_max_key_cdr_typesize > 16 ? XNSim_C909_ATA04_GroundHandling_input_max_key_cdr_typesize : 16;
-                key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
-                memset(key_buffer_, 0, key_length);
-            }
-
-            GroundHandling_inputPubSubType::~GroundHandling_inputPubSubType()
-            {
-                if (key_buffer_ != nullptr)
-                {
-                    free(key_buffer_);
-                }
-            }
-
-            bool GroundHandling_inputPubSubType::serialize(
-                    const void* const data,
-                    SerializedPayload_t& payload,
-                    DataRepresentationId_t data_representation)
-            {
-                const GroundHandling_input* p_type = static_cast<const GroundHandling_input*>(data);
-
-                // Object that manages the raw buffer.
-                eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload.data), payload.max_size);
-                // Object that serializes the data.
-                eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-                        data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                        eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
-                payload.encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-                ser.set_encoding_flag(
-                    data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                    eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
-                    eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-
-                try
-                {
-                    // Serialize encapsulation
-                    ser.serialize_encapsulation();
-                    // Serialize the object.
-                    ser << *p_type;
-                    ser.set_dds_cdr_options({0,0});
-                }
-                catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-                {
-                    return false;
-                }
-
-                // Get the serialized length
-                payload.length = static_cast<uint32_t>(ser.get_serialized_data_length());
-                return true;
-            }
-
-            bool GroundHandling_inputPubSubType::deserialize(
-                    SerializedPayload_t& payload,
-                    void* data)
-            {
-                try
-                {
-                    // Convert DATA to pointer of your type
-                    GroundHandling_input* p_type = static_cast<GroundHandling_input*>(data);
-
-                    // Object that manages the raw buffer.
-                    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload.data), payload.length);
-
-                    // Object that deserializes the data.
-                    eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
-
-                    // Deserialize encapsulation.
-                    deser.read_encapsulation();
-                    payload.encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-
-                    // Deserialize the object.
-                    deser >> *p_type;
-                }
-                catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-                {
-                    return false;
-                }
-
-                return true;
-            }
-
-            uint32_t GroundHandling_inputPubSubType::calculate_serialized_size(
-                    const void* const data,
-                    DataRepresentationId_t data_representation)
-            {
-                try
-                {
-                    eprosima::fastcdr::CdrSizeCalculator calculator(
-                        data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                        eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                    size_t current_alignment {0};
-                    return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                                *static_cast<const GroundHandling_input*>(data), current_alignment)) +
-                            4u /*encapsulation*/;
-                }
-                catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-                {
-                    return 0;
-                }
-            }
-
-            void* GroundHandling_inputPubSubType::create_data()
-            {
-                return reinterpret_cast<void*>(new GroundHandling_input());
-            }
-
-            void GroundHandling_inputPubSubType::delete_data(
-                    void* data)
-            {
-                delete(reinterpret_cast<GroundHandling_input*>(data));
-            }
-
-            bool GroundHandling_inputPubSubType::compute_key(
-                    SerializedPayload_t& payload,
-                    InstanceHandle_t& handle,
-                    bool force_md5)
-            {
-                if (!is_compute_key_provided)
-                {
-                    return false;
-                }
-
-                GroundHandling_input data;
-                if (deserialize(payload, static_cast<void*>(&data)))
-                {
-                    return compute_key(static_cast<void*>(&data), handle, force_md5);
-                }
-
-                return false;
-            }
-
-            bool GroundHandling_inputPubSubType::compute_key(
-                    const void* const data,
-                    InstanceHandle_t& handle,
-                    bool force_md5)
-            {
-                if (!is_compute_key_provided)
-                {
-                    return false;
-                }
-
-                const GroundHandling_input* p_type = static_cast<const GroundHandling_input*>(data);
-
-                // Object that manages the raw buffer.
-                eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
-                        XNSim_C909_ATA04_GroundHandling_input_max_key_cdr_typesize);
-
-                // Object that serializes the data.
-                eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv2);
-                ser.set_encoding_flag(eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR2);
-                eprosima::fastcdr::serialize_key(ser, *p_type);
-                if (force_md5 || XNSim_C909_ATA04_GroundHandling_input_max_key_cdr_typesize > 16)
-                {
-                    md5_.init();
-                    md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
-                    md5_.finalize();
-                    for (uint8_t i = 0; i < 16; ++i)
-                    {
-                        handle.value[i] = md5_.digest[i];
-                    }
-                }
-                else
-                {
-                    for (uint8_t i = 0; i < 16; ++i)
-                    {
-                        handle.value[i] = key_buffer_[i];
-                    }
-                }
-                return true;
-            }
-
-            void GroundHandling_inputPubSubType::register_type_object_representation()
-            {
-                register_GroundHandling_input_type_identifier(type_identifiers_);
-            }
-
-            GroundHandling_outputPubSubType::GroundHandling_outputPubSubType()
-            {
-                set_name("XNSim::C909::ATA04::GroundHandling_output");
-                uint32_t type_size = XNSim_C909_ATA04_GroundHandling_output_max_cdr_typesize;
-                type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-                max_serialized_type_size = type_size + 4; /*encapsulation*/
-                is_compute_key_provided = false;
-                uint32_t key_length = XNSim_C909_ATA04_GroundHandling_output_max_key_cdr_typesize > 16 ? XNSim_C909_ATA04_GroundHandling_output_max_key_cdr_typesize : 16;
-                key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
-                memset(key_buffer_, 0, key_length);
-            }
-
-            GroundHandling_outputPubSubType::~GroundHandling_outputPubSubType()
-            {
-                if (key_buffer_ != nullptr)
-                {
-                    free(key_buffer_);
-                }
-            }
-
-            bool GroundHandling_outputPubSubType::serialize(
-                    const void* const data,
-                    SerializedPayload_t& payload,
-                    DataRepresentationId_t data_representation)
-            {
-                const GroundHandling_output* p_type = static_cast<const GroundHandling_output*>(data);
-
-                // Object that manages the raw buffer.
-                eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload.data), payload.max_size);
-                // Object that serializes the data.
-                eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-                        data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                        eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
-                payload.encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-                ser.set_encoding_flag(
-                    data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                    eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
-                    eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-
-                try
-                {
-                    // Serialize encapsulation
-                    ser.serialize_encapsulation();
-                    // Serialize the object.
-                    ser << *p_type;
-                    ser.set_dds_cdr_options({0,0});
-                }
-                catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-                {
-                    return false;
-                }
-
-                // Get the serialized length
-                payload.length = static_cast<uint32_t>(ser.get_serialized_data_length());
-                return true;
-            }
-
-            bool GroundHandling_outputPubSubType::deserialize(
-                    SerializedPayload_t& payload,
-                    void* data)
-            {
-                try
-                {
-                    // Convert DATA to pointer of your type
-                    GroundHandling_output* p_type = static_cast<GroundHandling_output*>(data);
-
-                    // Object that manages the raw buffer.
-                    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload.data), payload.length);
-
-                    // Object that deserializes the data.
-                    eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
-
-                    // Deserialize encapsulation.
-                    deser.read_encapsulation();
-                    payload.encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-
-                    // Deserialize the object.
-                    deser >> *p_type;
-                }
-                catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-                {
-                    return false;
-                }
-
-                return true;
-            }
-
-            uint32_t GroundHandling_outputPubSubType::calculate_serialized_size(
-                    const void* const data,
-                    DataRepresentationId_t data_representation)
-            {
-                try
-                {
-                    eprosima::fastcdr::CdrSizeCalculator calculator(
-                        data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                        eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                    size_t current_alignment {0};
-                    return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                                *static_cast<const GroundHandling_output*>(data), current_alignment)) +
-                            4u /*encapsulation*/;
-                }
-                catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-                {
-                    return 0;
-                }
-            }
-
-            void* GroundHandling_outputPubSubType::create_data()
-            {
-                return reinterpret_cast<void*>(new GroundHandling_output());
-            }
-
-            void GroundHandling_outputPubSubType::delete_data(
-                    void* data)
-            {
-                delete(reinterpret_cast<GroundHandling_output*>(data));
-            }
-
-            bool GroundHandling_outputPubSubType::compute_key(
-                    SerializedPayload_t& payload,
-                    InstanceHandle_t& handle,
-                    bool force_md5)
-            {
-                if (!is_compute_key_provided)
-                {
-                    return false;
-                }
-
-                GroundHandling_output data;
-                if (deserialize(payload, static_cast<void*>(&data)))
-                {
-                    return compute_key(static_cast<void*>(&data), handle, force_md5);
-                }
-
-                return false;
-            }
-
-            bool GroundHandling_outputPubSubType::compute_key(
-                    const void* const data,
-                    InstanceHandle_t& handle,
-                    bool force_md5)
-            {
-                if (!is_compute_key_provided)
-                {
-                    return false;
-                }
-
-                const GroundHandling_output* p_type = static_cast<const GroundHandling_output*>(data);
-
-                // Object that manages the raw buffer.
-                eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
-                        XNSim_C909_ATA04_GroundHandling_output_max_key_cdr_typesize);
-
-                // Object that serializes the data.
-                eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv2);
-                ser.set_encoding_flag(eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR2);
-                eprosima::fastcdr::serialize_key(ser, *p_type);
-                if (force_md5 || XNSim_C909_ATA04_GroundHandling_output_max_key_cdr_typesize > 16)
-                {
-                    md5_.init();
-                    md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
-                    md5_.finalize();
-                    for (uint8_t i = 0; i < 16; ++i)
-                    {
-                        handle.value[i] = md5_.digest[i];
-                    }
-                }
-                else
-                {
-                    for (uint8_t i = 0; i < 16; ++i)
-                    {
-                        handle.value[i] = key_buffer_[i];
-                    }
-                }
-                return true;
-            }
-
-            void GroundHandling_outputPubSubType::register_type_object_representation()
-            {
-                register_GroundHandling_output_type_identifier(type_identifiers_);
-            }
-
-            GroundHandling_heartbeatPubSubType::GroundHandling_heartbeatPubSubType()
-            {
-                set_name("XNSim::C909::ATA04::GroundHandling_heartbeat");
-                uint32_t type_size = XNSim_C909_ATA04_GroundHandling_heartbeat_max_cdr_typesize;
-                type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-                max_serialized_type_size = type_size + 4; /*encapsulation*/
-                is_compute_key_provided = false;
-                uint32_t key_length = XNSim_C909_ATA04_GroundHandling_heartbeat_max_key_cdr_typesize > 16 ? XNSim_C909_ATA04_GroundHandling_heartbeat_max_key_cdr_typesize : 16;
-                key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
-                memset(key_buffer_, 0, key_length);
-            }
-
-            GroundHandling_heartbeatPubSubType::~GroundHandling_heartbeatPubSubType()
-            {
-                if (key_buffer_ != nullptr)
-                {
-                    free(key_buffer_);
-                }
-            }
-
-            bool GroundHandling_heartbeatPubSubType::serialize(
-                    const void* const data,
-                    SerializedPayload_t& payload,
-                    DataRepresentationId_t data_representation)
-            {
-                const GroundHandling_heartbeat* p_type = static_cast<const GroundHandling_heartbeat*>(data);
-
-                // Object that manages the raw buffer.
-                eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload.data), payload.max_size);
-                // Object that serializes the data.
-                eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-                        data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                        eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
-                payload.encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-                ser.set_encoding_flag(
-                    data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                    eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
-                    eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-
-                try
-                {
-                    // Serialize encapsulation
-                    ser.serialize_encapsulation();
-                    // Serialize the object.
-                    ser << *p_type;
-                    ser.set_dds_cdr_options({0,0});
-                }
-                catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-                {
-                    return false;
-                }
-
-                // Get the serialized length
-                payload.length = static_cast<uint32_t>(ser.get_serialized_data_length());
-                return true;
-            }
-
-            bool GroundHandling_heartbeatPubSubType::deserialize(
-                    SerializedPayload_t& payload,
-                    void* data)
-            {
-                try
-                {
-                    // Convert DATA to pointer of your type
-                    GroundHandling_heartbeat* p_type = static_cast<GroundHandling_heartbeat*>(data);
-
-                    // Object that manages the raw buffer.
-                    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload.data), payload.length);
-
-                    // Object that deserializes the data.
-                    eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
-
-                    // Deserialize encapsulation.
-                    deser.read_encapsulation();
-                    payload.encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-
-                    // Deserialize the object.
-                    deser >> *p_type;
-                }
-                catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-                {
-                    return false;
-                }
-
-                return true;
-            }
-
-            uint32_t GroundHandling_heartbeatPubSubType::calculate_serialized_size(
-                    const void* const data,
-                    DataRepresentationId_t data_representation)
-            {
-                try
-                {
-                    eprosima::fastcdr::CdrSizeCalculator calculator(
-                        data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                        eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                    size_t current_alignment {0};
-                    return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                                *static_cast<const GroundHandling_heartbeat*>(data), current_alignment)) +
-                            4u /*encapsulation*/;
-                }
-                catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-                {
-                    return 0;
-                }
-            }
-
-            void* GroundHandling_heartbeatPubSubType::create_data()
-            {
-                return reinterpret_cast<void*>(new GroundHandling_heartbeat());
-            }
-
-            void GroundHandling_heartbeatPubSubType::delete_data(
-                    void* data)
-            {
-                delete(reinterpret_cast<GroundHandling_heartbeat*>(data));
-            }
-
-            bool GroundHandling_heartbeatPubSubType::compute_key(
-                    SerializedPayload_t& payload,
-                    InstanceHandle_t& handle,
-                    bool force_md5)
-            {
-                if (!is_compute_key_provided)
-                {
-                    return false;
-                }
-
-                GroundHandling_heartbeat data;
-                if (deserialize(payload, static_cast<void*>(&data)))
-                {
-                    return compute_key(static_cast<void*>(&data), handle, force_md5);
-                }
-
-                return false;
-            }
-
-            bool GroundHandling_heartbeatPubSubType::compute_key(
-                    const void* const data,
-                    InstanceHandle_t& handle,
-                    bool force_md5)
-            {
-                if (!is_compute_key_provided)
-                {
-                    return false;
-                }
-
-                const GroundHandling_heartbeat* p_type = static_cast<const GroundHandling_heartbeat*>(data);
-
-                // Object that manages the raw buffer.
-                eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
-                        XNSim_C909_ATA04_GroundHandling_heartbeat_max_key_cdr_typesize);
-
-                // Object that serializes the data.
-                eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv2);
-                ser.set_encoding_flag(eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR2);
-                eprosima::fastcdr::serialize_key(ser, *p_type);
-                if (force_md5 || XNSim_C909_ATA04_GroundHandling_heartbeat_max_key_cdr_typesize > 16)
-                {
-                    md5_.init();
-                    md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
-                    md5_.finalize();
-                    for (uint8_t i = 0; i < 16; ++i)
-                    {
-                        handle.value[i] = md5_.digest[i];
-                    }
-                }
-                else
-                {
-                    for (uint8_t i = 0; i < 16; ++i)
-                    {
-                        handle.value[i] = key_buffer_[i];
-                    }
-                }
-                return true;
-            }
-
-            void GroundHandling_heartbeatPubSubType::register_type_object_representation()
-            {
-                register_GroundHandling_heartbeat_type_identifier(type_identifiers_);
-            }
-
-        } // namespace ATA04
-
-    } // namespace C909
-
-} // namespace XNSim
-
-
-// Include auxiliary functions like for serializing/deserializing.
-#include "XNGroundHandlingCdrAux.ipp"

XNModels/XNGroundHandling/XNGroundHandlingInterface/XNGroundHandlingPubSubTypes.hpp

@@ -1,294 +0,0 @@
-// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/*!
- * @file XNGroundHandlingPubSubTypes.hpp
- * This header file contains the declaration of the serialization functions.
- *
- * This file was generated by the tool fastddsgen.
- */
-
-
-#ifndef FAST_DDS_GENERATED__XNSIM_C909_ATA04_XNGROUNDHANDLING_PUBSUBTYPES_HPP
-#define FAST_DDS_GENERATED__XNSIM_C909_ATA04_XNGROUNDHANDLING_PUBSUBTYPES_HPP
-
-#include <fastdds/dds/core/policy/QosPolicies.hpp>
-#include <fastdds/dds/topic/TopicDataType.hpp>
-#include <fastdds/rtps/common/InstanceHandle.hpp>
-#include <fastdds/rtps/common/SerializedPayload.hpp>
-#include <fastdds/utils/md5.hpp>
-
-#include "XNGroundHandling.hpp"
-
-
-#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
-#error \
-    Generated XNGroundHandling is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
-#endif  // FASTDDS_GEN_API_VER
-
-namespace XNSim
-{
-    namespace C909
-    {
-        namespace ATA04
-        {
-
-            /*!
-             * @brief This class represents the TopicDataType of the type GroundHandling_input defined by the user in the IDL file.
-             * @ingroup XNGroundHandling
-             */
-            class GroundHandling_inputPubSubType : public eprosima::fastdds::dds::TopicDataType
-            {
-            public:
-
-                typedef GroundHandling_input type;
-
-                eProsima_user_DllExport GroundHandling_inputPubSubType();
-
-                eProsima_user_DllExport ~GroundHandling_inputPubSubType() override;
-
-                eProsima_user_DllExport bool serialize(
-                        const void* const data,
-                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
-                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
-
-                eProsima_user_DllExport bool deserialize(
-                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
-                        void* data) override;
-
-                eProsima_user_DllExport uint32_t calculate_serialized_size(
-                        const void* const data,
-                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
-
-                eProsima_user_DllExport bool compute_key(
-                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
-                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
-                        bool force_md5 = false) override;
-
-                eProsima_user_DllExport bool compute_key(
-                        const void* const data,
-                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
-                        bool force_md5 = false) override;
-
-                eProsima_user_DllExport void* create_data() override;
-
-                eProsima_user_DllExport void delete_data(
-                        void* data) override;
-
-                //Register TypeObject representation in Fast DDS TypeObjectRegistry
-                eProsima_user_DllExport void register_type_object_representation() override;
-
-            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
-                eProsima_user_DllExport inline bool is_bounded() const override
-                {
-                    return true;
-                }
-
-            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
-
-            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-
-                eProsima_user_DllExport inline bool is_plain(
-                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
-                {
-                    static_cast<void>(data_representation);
-                    return false;
-                }
-
-            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-
-            #ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
-                eProsima_user_DllExport inline bool construct_sample(
-                        void* memory) const override
-                {
-                    static_cast<void>(memory);
-                    return false;
-                }
-
-            #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
-
-            private:
-
-                eprosima::fastdds::MD5 md5_;
-                unsigned char* key_buffer_;
-
-            };
-
-            /*!
-             * @brief This class represents the TopicDataType of the type GroundHandling_output defined by the user in the IDL file.
-             * @ingroup XNGroundHandling
-             */
-            class GroundHandling_outputPubSubType : public eprosima::fastdds::dds::TopicDataType
-            {
-            public:
-
-                typedef GroundHandling_output type;
-
-                eProsima_user_DllExport GroundHandling_outputPubSubType();
-
-                eProsima_user_DllExport ~GroundHandling_outputPubSubType() override;
-
-                eProsima_user_DllExport bool serialize(
-                        const void* const data,
-                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
-                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
-
-                eProsima_user_DllExport bool deserialize(
-                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
-                        void* data) override;
-
-                eProsima_user_DllExport uint32_t calculate_serialized_size(
-                        const void* const data,
-                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
-
-                eProsima_user_DllExport bool compute_key(
-                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
-                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
-                        bool force_md5 = false) override;
-
-                eProsima_user_DllExport bool compute_key(
-                        const void* const data,
-                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
-                        bool force_md5 = false) override;
-
-                eProsima_user_DllExport void* create_data() override;
-
-                eProsima_user_DllExport void delete_data(
-                        void* data) override;
-
-                //Register TypeObject representation in Fast DDS TypeObjectRegistry
-                eProsima_user_DllExport void register_type_object_representation() override;
-
-            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
-                eProsima_user_DllExport inline bool is_bounded() const override
-                {
-                    return true;
-                }
-
-            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
-
-            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-
-                eProsima_user_DllExport inline bool is_plain(
-                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
-                {
-                    static_cast<void>(data_representation);
-                    return false;
-                }
-
-            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-
-            #ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
-                eProsima_user_DllExport inline bool construct_sample(
-                        void* memory) const override
-                {
-                    static_cast<void>(memory);
-                    return false;
-                }
-
-            #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
-
-            private:
-
-                eprosima::fastdds::MD5 md5_;
-                unsigned char* key_buffer_;
-
-            };
-
-            /*!
-             * @brief This class represents the TopicDataType of the type GroundHandling_heartbeat defined by the user in the IDL file.
-             * @ingroup XNGroundHandling
-             */
-            class GroundHandling_heartbeatPubSubType : public eprosima::fastdds::dds::TopicDataType
-            {
-            public:
-
-                typedef GroundHandling_heartbeat type;
-
-                eProsima_user_DllExport GroundHandling_heartbeatPubSubType();
-
-                eProsima_user_DllExport ~GroundHandling_heartbeatPubSubType() override;
-
-                eProsima_user_DllExport bool serialize(
-                        const void* const data,
-                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
-                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
-
-                eProsima_user_DllExport bool deserialize(
-                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
-                        void* data) override;
-
-                eProsima_user_DllExport uint32_t calculate_serialized_size(
-                        const void* const data,
-                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
-
-                eProsima_user_DllExport bool compute_key(
-                        eprosima::fastdds::rtps::SerializedPayload_t& payload,
-                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
-                        bool force_md5 = false) override;
-
-                eProsima_user_DllExport bool compute_key(
-                        const void* const data,
-                        eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
-                        bool force_md5 = false) override;
-
-                eProsima_user_DllExport void* create_data() override;
-
-                eProsima_user_DllExport void delete_data(
-                        void* data) override;
-
-                //Register TypeObject representation in Fast DDS TypeObjectRegistry
-                eProsima_user_DllExport void register_type_object_representation() override;
-
-            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
-                eProsima_user_DllExport inline bool is_bounded() const override
-                {
-                    return true;
-                }
-
-            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
-
-            #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-
-                eProsima_user_DllExport inline bool is_plain(
-                        eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
-                {
-                    static_cast<void>(data_representation);
-                    return false;
-                }
-
-            #endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-
-            #ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
-                eProsima_user_DllExport inline bool construct_sample(
-                        void* memory) const override
-                {
-                    static_cast<void>(memory);
-                    return false;
-                }
-
-            #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
-
-            private:
-
-                eprosima::fastdds::MD5 md5_;
-                unsigned char* key_buffer_;
-
-            };
-        } // namespace ATA04
-    } // namespace C909
-} // namespace XNSim
-
-#endif // FAST_DDS_GENERATED__XNSIM_C909_ATA04_XNGROUNDHANDLING_PUBSUBTYPES_HPP
-

XNModels/XNGroundHandling/XNGroundHandlingInterface/XNGroundHandlingTypeObjectSupport.hpp

@@ -1,91 +0,0 @@
-// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/*!
- * @file XNGroundHandlingTypeObjectSupport.hpp
- * Header file containing the API required to register the TypeObject representation of the described types in the IDL file
- *
- * This file was generated by the tool fastddsgen.
- */
-
-#ifndef FAST_DDS_GENERATED__XNSIM_C909_ATA04_XNGROUNDHANDLING_TYPE_OBJECT_SUPPORT_HPP
-#define FAST_DDS_GENERATED__XNSIM_C909_ATA04_XNGROUNDHANDLING_TYPE_OBJECT_SUPPORT_HPP
-
-#include <fastdds/dds/xtypes/type_representation/TypeObject.hpp>
-
-
-#if defined(_WIN32)
-#if defined(EPROSIMA_USER_DLL_EXPORT)
-#define eProsima_user_DllExport __declspec( dllexport )
-#else
-#define eProsima_user_DllExport
-#endif  // EPROSIMA_USER_DLL_EXPORT
-#else
-#define eProsima_user_DllExport
-#endif  // _WIN32
-
-#ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
-
-namespace XNSim {
-namespace C909 {
-namespace ATA04 {
-/**
- * @brief Register GroundHandling_input related TypeIdentifier.
- *        Fully-descriptive TypeIdentifiers are directly registered.
- *        Hash TypeIdentifiers require to fill the TypeObject information and hash it, consequently, the TypeObject is
- *        indirectly registered as well.
- *
- * @param[out] TypeIdentifier of the registered type.
- *             The returned TypeIdentifier corresponds to the complete TypeIdentifier in case of hashed TypeIdentifiers.
- *             Invalid TypeIdentifier is returned in case of error.
- */
-eProsima_user_DllExport void register_GroundHandling_input_type_identifier(
-        eprosima::fastdds::dds::xtypes::TypeIdentifierPair& type_ids);
-
-/**
- * @brief Register GroundHandling_output related TypeIdentifier.
- *        Fully-descriptive TypeIdentifiers are directly registered.
- *        Hash TypeIdentifiers require to fill the TypeObject information and hash it, consequently, the TypeObject is
- *        indirectly registered as well.
- *
- * @param[out] TypeIdentifier of the registered type.
- *             The returned TypeIdentifier corresponds to the complete TypeIdentifier in case of hashed TypeIdentifiers.
- *             Invalid TypeIdentifier is returned in case of error.
- */
-eProsima_user_DllExport void register_GroundHandling_output_type_identifier(
-        eprosima::fastdds::dds::xtypes::TypeIdentifierPair& type_ids);
-
-/**
- * @brief Register GroundHandling_heartbeat related TypeIdentifier.
- *        Fully-descriptive TypeIdentifiers are directly registered.
- *        Hash TypeIdentifiers require to fill the TypeObject information and hash it, consequently, the TypeObject is
- *        indirectly registered as well.
- *
- * @param[out] TypeIdentifier of the registered type.
- *             The returned TypeIdentifier corresponds to the complete TypeIdentifier in case of hashed TypeIdentifiers.
- *             Invalid TypeIdentifier is returned in case of error.
- */
-eProsima_user_DllExport void register_GroundHandling_heartbeat_type_identifier(
-        eprosima::fastdds::dds::xtypes::TypeIdentifierPair& type_ids);
-
-} // namespace ATA04
-
-} // namespace C909
-
-} // namespace XNSim
-
-
-#endif // DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
-
-#endif // FAST_DDS_GENERATED__XNSIM_C909_ATA04_XNGROUNDHANDLING_TYPE_OBJECT_SUPPORT_HPP

XNModels/XNGroundHandling/XNGroundHandling_p.h

@@ -1,7 +1,9 @@
 #pragma once
 #include <XNCore/XNModelObject_p.h>
-#include <DataModels/libSACSCGroundHandling_V2.0.27.1H/std_04_dll.h>
-#include "../XNGroundHandlingInterface/XNGroundHandlingInterface.hpp"
+#include <DataModels/libSACSCGroundHandling_V2.0.143.1H/std_04_dll.h>
+#include <C909_V1/ATA04/GroundHandling_input.hpp>
+#include <C909_V1/ATA04/GroundHandling_output.hpp>
+#include <C909_V1/ATA04/GroundHandling_heartbeat.hpp>
 
 typedef void (*FunctionType)(ComacDataStructure_S *);
 

XNServices/XNUDPService/CMakeLists.txt

@@ -2,9 +2,6 @@ cmake_minimum_required(VERSION 3.16)
 
 project(XNUDPService 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)
 
@@ -18,9 +15,6 @@ endif()
 # 添加 XNCore_PATH 下的 include 目录为包含目录
 include_directories(${XNCore_PATH}/include)
 
-find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Core Network Xml)
-find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Core Network Xml)
-
 add_library(XNUDPService SHARED
   XNUDPService_global.h
   XNUDPService.cpp
@@ -29,20 +23,7 @@ add_library(XNUDPService SHARED
 )
 
 target_link_libraries(XNUDPService PRIVATE 
-	Qt${QT_VERSION_MAJOR}::Core 
-	Qt${QT_VERSION_MAJOR}::Network
-	Qt${QT_VERSION_MAJOR}::Xml
-	${XNCore_PATH}/lib/libXNCore.so
-	)
-
-# 获取Qt库的安装路径
-get_target_property(QT_LIB_DIR Qt${QT_VERSION_MAJOR}::Core LOCATION)
-get_filename_component(QT_LIB_DIR ${QT_LIB_DIR} DIRECTORY)
-
-# 设置rpath
-set_target_properties(XNUDPService PROPERTIES
-	BUILD_WITH_INSTALL_RPATH TRUE
-	INSTALL_RPATH "${QT_LIB_DIR}"
+    ${XNCore_PATH}/lib/libXNCore.so
 )
 
 target_compile_definitions(XNUDPService PRIVATE XNUDPSERVICE_LIBRARY)

XNServices/XNUDPService/XNUDPService.cpp

@@ -2,53 +2,72 @@
 #include "XNUDPService_p.h"
 #include <XNCore/XNServiceManager.h>
 #include <XNCore/XNDDSManager.h>
-#include <QFile>
-#include <QDomDocument>
+#include <fstream>
+#include <sstream>
+#include <cstring>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <XNCore/XNByteArray.h>
 
-XN_DLL_INITIALIZE(XNUDPService)
+XN_SERVICE_INITIALIZE(XNUDPService)
 
-XN_REGISTER_SERVICE_BEGIN_SERVICE(XNUDPService)
-XN_REGISTER_SERVICE_END_SERVICE(XNUDPService)
-
-XNUDPService::XNUDPService(QObject *parent)
-	: XNServiceObject(*new XNUDPServicePrivate(this), parent)
+XNUDPService::XNUDPService() : XNServiceObject(new XNUDPServicePrivate())
 {
 }
 
 XNUDPService::~XNUDPService()
 {
-}
+	T_D();
+	if (d->udpSocket >= 0) {
+		close(d->udpSocket);
+		d->udpSocket = -1;
+	}
+};
 
-XNUDPService::XNUDPService(XNUDPServicePrivate &dd, QObject *parent) : XNServiceObject(dd, parent)
+XNUDPService::XNUDPService(PrivateType *p) : XNServiceObject(p)
 {
 }
 
-void XNUDPService::OnInitialize()
+void XNUDPService::Initialize()
 {
-	Q_D(XNUDPService);
-	XNServiceObject::OnInitialize();
-
+	XNServiceObject::Initialize();
+	T_D();
 	// 读取配置文件
-	QFile file(GetXmlPath());
-	if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
-		LOG_WARNING("Failed to open config file:%1", GetXmlPath());
+	std::ifstream file(GetXmlPath());
+	if (!file.is_open()) {
+		LOG_WARNING("Failed to open config file:%s", GetXmlPath().c_str());
 		return;
 	}
 
-	QDomDocument doc;
-	if (!doc.setContent(&file)) {
-		file.close();
-		LOG_WARNING("Failed to parse config file:%1", GetXmlPath());
-		return;
-	}
+	std::stringstream buffer;
+	buffer << file.rdbuf();
+	std::string content = buffer.str();
 	file.close();
 
-	// 读取UDP配置
-	QDomElement udpElement = doc.documentElement().firstChildElement("UDP");
-	if (!udpElement.isNull()) {
-		d->localPort  = udpElement.firstChildElement("LocalPort").text().toUInt();
-		d->targetHost = udpElement.firstChildElement("TargetHost").text();
-		d->targetPort = udpElement.firstChildElement("TargetPort").text().toUInt();
+	// 简单的XML解析
+	size_t udpPos = content.find("<UDP>");
+	if (udpPos != std::string::npos) {
+		size_t localPortPos	 = content.find("<LocalPort>", udpPos);
+		size_t targetHostPos = content.find("<TargetHost>", udpPos);
+		size_t targetPortPos = content.find("<TargetPort>", udpPos);
+
+		if (localPortPos != std::string::npos) {
+			size_t endPos = content.find("</LocalPort>", localPortPos);
+			d->localPort = std::stoi(content.substr(localPortPos + 11, endPos - localPortPos - 11));
+		}
+		if (targetHostPos != std::string::npos) {
+			size_t endPos = content.find("</TargetHost>", targetHostPos);
+			d->targetHost = content.substr(targetHostPos + 12, endPos - targetHostPos - 12);
+		}
+		if (targetPortPos != std::string::npos) {
+			size_t endPos = content.find("</TargetPort>", targetPortPos);
+			d->targetPort =
+				std::stoi(content.substr(targetPortPos + 12, endPos - targetPortPos - 12));
+		}
 	} else {
 		LOG_WARNING("UDP configuration not found, using default values");
 		d->localPort  = 12345;
@@ -57,22 +76,34 @@ void XNUDPService::OnInitialize()
 	}
 }
 
-void XNUDPService::OnPrepareForExecute()
+void XNUDPService::PrepareForExecute()
 {
-	Q_D(XNUDPService);
-	XNServiceObject::OnPrepareForExecute();
-
+	XNServiceObject::PrepareForExecute();
+	T_D();
 	// 初始化UDP socket
-	d->udpSocket = new QUdpSocket(this);
-
-	// 绑定本地端口
-	if (!d->udpSocket->bind(QHostAddress::Any, d->localPort)) {
-		LOG_WARNING("UDP socket bind failed on port:%1", d->localPort);
+	d->udpSocket = socket(AF_INET, SOCK_DGRAM, 0);
+	if (d->udpSocket < 0) {
+		LOG_WARNING("Failed to create UDP socket");
 		return;
 	}
 
-	// 连接UDP socket的信号
-	connect(d->udpSocket, &QUdpSocket::readyRead, this, &XNUDPService::HandleIncomingData);
+	// 设置非阻塞模式
+	int flags = fcntl(d->udpSocket, F_GETFL, 0);
+	fcntl(d->udpSocket, F_SETFL, flags | O_NONBLOCK);
+
+	// 绑定本地端口
+	struct sockaddr_in localAddr;
+	memset(&localAddr, 0, sizeof(localAddr));
+	localAddr.sin_family	  = AF_INET;
+	localAddr.sin_addr.s_addr = INADDR_ANY;
+	localAddr.sin_port		  = htons(d->localPort);
+
+	if (bind(d->udpSocket, (struct sockaddr *)&localAddr, sizeof(localAddr)) < 0) {
+		LOG_WARNING("UDP socket bind failed on port:%d", d->localPort);
+		close(d->udpSocket);
+		d->udpSocket = -1;
+		return;
+	}
 
 	RegisterRTEventHandler("SendUDPData",
 						   std::bind(&XNUDPService::SendData, this, std::placeholders::_1));
@@ -80,37 +111,51 @@ void XNUDPService::OnPrepareForExecute()
 
 void XNUDPService::HandleIncomingData()
 {
-	Q_D(XNUDPService);
-	while (d->udpSocket->hasPendingDatagrams()) {
-		QByteArray datagram;
-		datagram.resize(d->udpSocket->pendingDatagramSize());
-		QHostAddress sender;
-		quint16 senderPort;
+	T_D();
+	if (d->udpSocket < 0)
+		return;
 
-		d->udpSocket->readDatagram(datagram.data(), datagram.size(), &sender, &senderPort);
+	char buffer[65536];
+	struct sockaddr_in senderAddr;
+	socklen_t senderLen = sizeof(senderAddr);
 
-		if (datagram.size() <= 6) {
-			LOG_WARNING("Invalid size of UDP datagram received, size:%1", datagram.size());
+	while (true) {
+		ssize_t bytesRead = recvfrom(d->udpSocket, buffer, sizeof(buffer), 0,
+									 (struct sockaddr *)&senderAddr, &senderLen);
+
+		if (bytesRead <= 0) {
+			if (errno == EAGAIN || errno == EWOULDBLOCK) {
+				break; // 没有更多数据
+			}
+			LOG_WARNING("Error reading from UDP socket");
+			break;
+		}
+
+		if (bytesRead <= 6) {
+			LOG_WARNING("Invalid size of UDP datagram received, size:%zd", bytesRead);
 			continue;
 		}
 
-		// 使用处理后的数据
-		quint8 header	= (quint8)datagram[0];
-		quint8 type		= (quint8)datagram[1];
-		quint8 subType1 = (quint8)datagram[2];
-		quint8 subType2 = (quint8)datagram[3];
-		quint16 size	= (quint8)datagram[4] << 8 | (quint8)datagram[5];
+		// 解析数据包头
+		uint8_t header	 = buffer[0];
+		uint8_t type	 = buffer[1];
+		uint8_t subType1 = buffer[2];
+		uint8_t subType2 = buffer[3];
+		uint16_t size	 = (buffer[4] << 8) | buffer[5];
+
 		if (header != 0x0b) {
-			LOG_WARNING("Invalid header of UDP datagram received, header:%1", header);
+			LOG_WARNING("Invalid header of UDP datagram received, header:%d", header);
 			continue;
 		}
 
-		if (datagram.size() < size) {
-			LOG_WARNING("Invalid size of UDP datagram received, size:%1, expected:%2",
-						datagram.size(), size);
+		if (bytesRead < size) {
+			LOG_WARNING("Invalid size of UDP datagram received, size:%zd, expected:%d", bytesRead,
+						size);
 			continue;
 		}
 
+		std::vector<uint8_t> datagram(buffer, buffer + bytesRead);
+
 		if (type == 0x04) {
 			if (subType1 == 0x00 && subType2 == 0x00) {
 				TriggerRTEvent("ATA04AeroInput", datagram);
@@ -123,26 +168,29 @@ void XNUDPService::HandleIncomingData()
 				continue;
 			}
 		}
-		// TODO: 根据具体需求处理其它数据
 		TriggerRTEvent("ReceiveUDPData", datagram);
 	}
 }
 
-void XNUDPService::SendData(const QVariant &data)
+void XNUDPService::SendData(const std::any &data)
 {
-	Q_D(XNUDPService);
-	if (!d->udpSocket) {
+	T_D();
+	if (d->udpSocket < 0) {
 		LOG_WARNING("UDP socket not initialized");
 		return;
 	}
 
-	// 将QVariant转换为字节数组
-	QByteArray datagram = data.toByteArray();
+	struct sockaddr_in targetAddr;
+	memset(&targetAddr, 0, sizeof(targetAddr));
+	targetAddr.sin_family = AF_INET;
+	targetAddr.sin_port	  = htons(d->targetPort);
+	inet_pton(AF_INET, d->targetHost.c_str(), &targetAddr.sin_addr);
 
-	// 发送数据
-	qint64 bytesSent =
-		d->udpSocket->writeDatagram(datagram, QHostAddress(d->targetHost), d->targetPort);
-	if (bytesSent == -1) {
-		LOG_WARNING("Failed to send UDP datagram:%1", d->udpSocket->errorString());
+	XNByteArray packet = std::any_cast<XNByteArray>(data);
+	ssize_t bytesSent  = sendto(d->udpSocket, packet.data(), packet.size(), 0,
+								(struct sockaddr *)&targetAddr, sizeof(targetAddr));
+
+	if (bytesSent < 0) {
+		LOG_WARNING("Failed to send UDP datagram: %s", strerror(errno));
 	}
 }

XNServices/XNUDPService/XNUDPService.h

@@ -1,29 +1,27 @@
 #pragma once
 #include "XNUDPService_global.h"
 #include <XNCore/XNServiceObject.h>
-#include <QVariant>
-class XNUDPServicePrivate;
+#include <string>
+#include <memory>
+
+struct XNUDPServicePrivate;
 
 class XNUDPSERVICE_EXPORT XNUDPService : public XNServiceObject
 {
-	Q_OBJECT
-	Q_DISABLE_COPY(XNUDPService)
-	Q_DECLARE_PRIVATE(XNUDPService)
-	XN_DECLARE_DDS_SERVICE()
+	XN_METATYPE(XNUDPService, XNServiceObject)
+	XN_DECLARE_PRIVATE(XNUDPService)
 public:
-	explicit XNUDPService(QObject *parent = nullptr);
+	explicit XNUDPService();
 	virtual ~XNUDPService();
 
 protected:
-	XNUDPService(XNUDPServicePrivate &dd, QObject *parent = nullptr);
-
-public slots:
-	virtual void OnInitialize() override;
-	virtual void OnPrepareForExecute() override;
-	void HandleIncomingData();
+	XNUDPService(PrivateType *p);
 
 public:
-	void SendData(const QVariant &data);
+	virtual void Initialize() override;
+	virtual void PrepareForExecute() override;
+	void HandleIncomingData();
+	void SendData(const std::any &data);
 };
 
-Q_DECLARE_METATYPE(XNUDPService)
+XNCLASS_PTR_DECLARE(XNUDPService)

XNServices/XNUDPService/XNUDPService_global.h

@@ -1,12 +1,10 @@
 #ifndef XNUDPSERVICE_GLOBAL_H
 #define XNUDPSERVICE_GLOBAL_H
 
-#include <QtCore/qglobal.h>
-
 #if defined(XNUDPSERVICE_LIBRARY)
-#	define XNUDPSERVICE_EXPORT Q_DECL_EXPORT
+#	define XNUDPSERVICE_EXPORT __attribute__((visibility("default")))
 #else
-#	define XNUDPSERVICE_EXPORT Q_DECL_IMPORT
+#	define XNUDPSERVICE_EXPORT __attribute__((visibility("default")))
 #endif
 
 #endif // XNUDPSERVICE_GLOBAL_H

XNServices/XNUDPService/XNUDPService_p.h

@@ -1,17 +1,15 @@
 #pragma once
 #include <XNCore/XNServiceObject_p.h>
-#include <QUdpSocket>
-#include <QString>
+#include <string>
+#include <memory>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <unistd.h>
 
-class XNUDPServicePrivate : public XNServiceObjectPrivate
-{
-public:
-	Q_DECLARE_PUBLIC(XNUDPService)
-
-	XNUDPServicePrivate(XNUDPService *q) : XNServiceObjectPrivate(q) {}
-
-	QUdpSocket *udpSocket{nullptr};
-	QString targetHost;
-	quint16 targetPort{0};
-	quint16 localPort{0};
+struct XNUDPServicePrivate : public XNServiceObjectPrivate {
+	int udpSocket{-1};
+	std::string targetHost;
+	uint16_t targetPort{0};
+	uint16_t localPort{0};
 };