先移除了DDS接口的Qt依赖

Release/include/XNCore/XNDDSInterface.h

@@ -1,7 +1,20 @@
 #pragma once
 
-#include "XNObject.h"
+#include <string>
+#include <vector>
+#include <unordered_map>
+#include <mutex>
+#include <sstream>
+#include <iomanip>
+#include <array>
+#include <functional>
+#include <cstring>
+#include <iostream>
 #include <fastcdr/xcdr/optional.hpp>
+
+// 定义UDP包的最大大小
+constexpr size_t MAX_UDP_PACKET_SIZE = 40000;
+
 template <typename T>
 struct is_std_array : std::false_type {
 };
@@ -14,175 +27,215 @@ struct is_std_array<std::array<T, N>> : std::true_type {
 template <typename T>
 inline constexpr bool is_std_array_v = is_std_array<T>::value;
 
-class XNDDSInterface : public XNObject
+// 获取类型大小的辅助函数
+template <typename T>
+constexpr size_t getTypeSize()
+{
+	if constexpr (is_std_array_v<T>) {
+		// 对于std::array，计算所有元素的总大小
+		return getTypeSize<typename T::value_type>() * std::tuple_size<T>::value;
+	} else {
+		return sizeof(T);
+	}
+}
+
+class XNDDSInterface
 {
-	Q_OBJECT
 public:
-	explicit XNDDSInterface(QObject *parent = nullptr) : XNObject(parent) {}
+	XNDDSInterface()		  = default;
-	virtual ~XNDDSInterface() {}
+	virtual ~XNDDSInterface() = default;
 
 	template <typename T>
-	QByteArray getQByteArray(eprosima::fastcdr::optional<T> data)
+	void getByteArray(eprosima::fastcdr::optional<T> data, uint8_t *buffer, size_t bufferSize)
 	{
-		QByteArray value;
+		if (bufferSize < getTypeSize<T>())
-		// 如果T是普通类型，将data中的数据转换为QByteArray
+			return;
+
 		if constexpr (std::is_arithmetic_v<T>) {
-			QDataStream dataStream(&value, QIODevice::WriteOnly);
-			dataStream.setByteOrder(QDataStream::LittleEndian);
 			if (data) {
-				dataStream << data.value();
+				std::memcpy(buffer, &data.value(), sizeof(T));
 			} else {
-				dataStream << (T)0;
+				T zero = 0;
+				std::memcpy(buffer, &zero, sizeof(T));
 			}
-		}
+		} else if constexpr (is_std_array_v<T>) {
-		// 如果T是std::array，则需要根据T的类型和大小，生成一个std::array<T, N>的QByteArray
-		else if constexpr (is_std_array_v<T>) {
 			if (data) {
-				value = getQByteArrayFromStdArray(data.value());
+				getByteArrayFromStdArray(data.value(), buffer, bufferSize);
 			} else {
 				T zero = {};
-				value  = getQByteArrayFromStdArray(zero);
+				getByteArrayFromStdArray(zero, buffer, bufferSize);
 			}
 		}
-		return value;
 	}
 
 	template <typename T, std::size_t N>
-	QByteArray getQByteArrayFromStdArray(std::array<T, N> data)
+	void getByteArrayFromStdArray(std::array<T, N> data, uint8_t *buffer, size_t bufferSize)
 	{
-		QByteArray value;
+		if (bufferSize < getTypeSize<T>() * N)
-		QDataStream dataStream(&value, QIODevice::WriteOnly);
+			return;
-		dataStream.setByteOrder(QDataStream::LittleEndian);
+
 		for (std::size_t i = 0; i < N; ++i) {
 			if constexpr (std::is_arithmetic_v<T>) {
-				dataStream << data[i];
+				std::memcpy(buffer + i * getTypeSize<T>(), &data[i], getTypeSize<T>());
 			} else {
-				dataStream << getQByteArrayFromStdArray(data[i]);
+				getByteArrayFromStdArray(data[i], buffer + i * getTypeSize<T>(), getTypeSize<T>());
 			}
 		}
-		return value;
 	}
 
-	QByteArray getUDPPackage()
+	void getUDPPackage(uint8_t *buffer, size_t bufferSize)
 	{
-		QByteArray package;
+		if (bufferSize < MAX_UDP_PACKET_SIZE)
-		QByteArray header = this->header.mid(0, 5);
+			return;
-		package.append(header);
+
-		for (auto func : getByteArrayFunction) {
+		size_t currentPos = 0;
-			package.append(func());
+
+		// 复制头部
+		if (headerSize >= 5) {
+			std::memcpy(buffer, header, 5);
+			currentPos = 5;
+		}
+
+		// 复制数据
+		for (auto func : getByteArrayFunction) {
+			if (currentPos + func.size <= MAX_UDP_PACKET_SIZE) {
+				func.func(buffer + currentPos, func.size);
+				currentPos += func.size;
+			} else {
+				break; // 超出最大包大小
+			}
+		}
+
+		// 更新包大小
+		if (currentPos >= 5) {
+			buffer[4] = static_cast<uint8_t>(currentPos);
 		}
-		package[4] = package.size();
-		return package;
 	}
 
 	template <typename T>
-	QString getQString(eprosima::fastcdr::optional<T> data)
+	std::string getString(eprosima::fastcdr::optional<T> data)
 	{
 		if constexpr (std::is_arithmetic_v<T>) {
 			if (data) {
-				return QString::number(data.value());
+				return std::to_string(data.value());
 			} else {
-				return QString::number(0);
+				return std::to_string(0);
 			}
 		} else if constexpr (std::is_same_v<T, std::string>) {
 			if (data) {
-				return getQStringFromStdArray(data.value());
+				return getStringFromStdArray(data.value());
 			} else {
 				T zero = {};
-				return getQStringFromStdArray(zero);
+				return getStringFromStdArray(zero);
 			}
 		}
-		return QString();
+		return std::string();
 	}
 
 	template <typename T, std::size_t N>
-	QString getQStringFromStdArray(std::array<T, N> data)
+	std::string getStringFromStdArray(std::array<T, N> data)
 	{
-		QStringList list;
+		std::stringstream ss;
 		for (std::size_t i = 0; i < N; ++i) {
+			if (i > 0)
+				ss << ",";
 			if constexpr (std::is_arithmetic_v<T>) {
-				list.append(QString::number(data[i]));
+				ss << data[i];
 			} else {
-				list.append(getQStringFromStdArray(data[i]));
+				ss << getStringFromStdArray(data[i]);
 			}
 		}
-		return list.join(",");
+		return ss.str();
 	}
 
-	QString getData(const QString &varName)
+	std::string getData(const std::string &varName)
 	{
 		int index1				= -1;
 		int index2				= -1;
-		QString trueVarName = varName;
+		std::string trueVarName = varName;
-		// 检查变量名中是否存在数组标记
-		if (varName.contains('[')) {
-			// 解析数组索引
-			int startPos = varName.indexOf('[');
-			int midPos	 = varName.indexOf("][");
-			int endPos	 = varName.lastIndexOf(']');
 
-			// 如果是二维数组 (格式: name[index1][index2])
+		size_t startPos = varName.find('[');
-			if (midPos != -1) {
+		if (startPos != std::string::npos) {
-				bool ok1 = false, ok2 = false;
+			size_t midPos = varName.find("][", startPos);
-				index1 = varName.mid(startPos + 1, midPos - startPos - 1).toInt(&ok1);
+			size_t endPos = varName.find_last_of(']');
-				index2 = varName.mid(midPos + 2, endPos - midPos - 2).toInt(&ok2);
 
-				if (!ok1 || !ok2) {
+			if (midPos != std::string::npos) {
-					qWarning() << "无法解析数组索引:" << varName;
+				try {
+					index1 = std::stoi(varName.substr(startPos + 1, midPos - startPos - 1));
+					index2 = std::stoi(varName.substr(midPos + 2, endPos - midPos - 2));
+				} catch (...) {
+					std::cerr << "无法解析数组索引: " << varName << std::endl;
 					index1 = 0;
 					index2 = 0;
 				}
-			}
+			} else if (endPos != std::string::npos) {
-			// 如果是一维数组 (格式: name[index1])
+				try {
-			else if (startPos != -1 && endPos != -1) {
+					index1 = std::stoi(varName.substr(startPos + 1, endPos - startPos - 1));
-				bool ok = false;
+				} catch (...) {
-				index1	= varName.mid(startPos + 1, endPos - startPos - 1).toInt(&ok);
+					std::cerr << "无法解析数组索引: " << varName << std::endl;
-
-				if (!ok) {
-					qWarning() << "无法解析数组索引:" << varName;
 					index1 = 0;
 				}
 			}
-			trueVarName = varName.left(startPos);
+			trueVarName = varName.substr(0, startPos);
 		}
+
 		auto it = getDataFunction.find(trueVarName);
 		if (it == getDataFunction.end()) {
-			return QString(); // 返回空字符串表示未找到
+			return std::string();
 		}
+
+		std::lock_guard<std::mutex> lock(mutex);
+		std::string result = it->second();
+
 		if (index1 < 0) {
-			QMutexLocker locker(&mutex);
+			return result;
-			return it.value()();
-		} else if (index2 < 0) {
-			QMutexLocker locker(&mutex);
-			QStringList list = it.value()().split(",");
-			if (index1 >= list.size()) {
-				qWarning() << "数组索引超出范围:" << varName;
-				return QString();
 		}
+
+		std::vector<std::string> list;
+		std::stringstream ss(result);
+		std::string item;
+		while (std::getline(ss, item, ',')) {
+			list.push_back(item);
+		}
+
+		if (index1 >= static_cast<int>(list.size())) {
+			std::cerr << "数组索引超出范围: " << varName << std::endl;
+			return std::string();
+		}
+
+		if (index2 < 0) {
 			return list[index1];
-		} else {
-			QMutexLocker locker(&mutex);
-			QStringList list = it.value()().split(",");
-			if (index1 >= list.size()) {
-				qWarning() << "数组索引超出范围:" << varName;
-				return QString();
 		}
-			QStringList list2 = list[index1].split(" ");
+
-			if (index2 >= list2.size()) {
+		std::vector<std::string> list2;
-				qWarning() << "数组索引超出范围:" << varName;
+		std::stringstream ss2(list[index1]);
-				return QString();
+		while (std::getline(ss2, item, ' ')) {
+			list2.push_back(item);
 		}
+
+		if (index2 >= static_cast<int>(list2.size())) {
+			std::cerr << "数组索引超出范围: " << varName << std::endl;
+			return std::string();
+		}
+
 		return list2[index2];
 	}
-	}
 
 protected:
-	QHash<QString, std::function<QString()>> getDataFunction;
+	struct ByteArrayFunc {
-	QVector<std::function<QByteArray()>> getByteArrayFunction;
+		std::function<void(uint8_t *, size_t)> func;
-	QMutex mutex;
+		size_t size;
-	QByteArray header;
+	};
+
+	std::unordered_map<std::string, std::function<std::string()>> getDataFunction;
+	std::vector<ByteArrayFunc> getByteArrayFunction;
+	std::mutex mutex;
+	uint8_t header[5]{}; // 固定大小的头部
+	size_t headerSize = 0;
 };
 
 #define MAP_GET_DATA_FUNC(NAME)                                                                    \
-	getDataFunction[#NAME] = [this]() { return getQString(data.NAME()); };                         \
+	getDataFunction[#NAME] = [this]() { return getString(data.NAME()); };                          \
-	getByteArrayFunction.push_back([this]() { return getQByteArray(data.NAME()); })
+	getByteArrayFunction.push_back(                                                                \
+		{[this](uint8_t *buffer, size_t size) { getByteArray(data.NAME(), buffer, size); },        \
+		 getTypeSize<decltype(data.NAME())>()})

XNCore/.vscode/settings.json

@@ -75,6 +75,9 @@
 		"complex": "cpp",
 		"set": "cpp",
 		"regex": "cpp",
-		"qlibrary": "cpp"
+		"qlibrary": "cpp",
+		"csignal": "cpp",
+		"any": "cpp",
+		"unordered_set": "cpp"
 	}
 }

XNCore/XNDDSInterface.h

@@ -1,7 +1,20 @@
 #pragma once
 
-#include "XNObject.h"
+#include <string>
+#include <vector>
+#include <unordered_map>
+#include <mutex>
+#include <sstream>
+#include <iomanip>
+#include <array>
+#include <functional>
+#include <cstring>
+#include <iostream>
 #include <fastcdr/xcdr/optional.hpp>
+
+// 定义UDP包的最大大小
+constexpr size_t MAX_UDP_PACKET_SIZE = 40000;
+
 template <typename T>
 struct is_std_array : std::false_type {
 };
@@ -14,175 +27,215 @@ struct is_std_array<std::array<T, N>> : std::true_type {
 template <typename T>
 inline constexpr bool is_std_array_v = is_std_array<T>::value;
 
-class XNDDSInterface : public XNObject
+// 获取类型大小的辅助函数
+template <typename T>
+constexpr size_t getTypeSize()
+{
+	if constexpr (is_std_array_v<T>) {
+		// 对于std::array，计算所有元素的总大小
+		return getTypeSize<typename T::value_type>() * std::tuple_size<T>::value;
+	} else {
+		return sizeof(T);
+	}
+}
+
+class XNDDSInterface
 {
-	Q_OBJECT
 public:
-	explicit XNDDSInterface(QObject *parent = nullptr) : XNObject(parent) {}
+	XNDDSInterface()		  = default;
-	virtual ~XNDDSInterface() {}
+	virtual ~XNDDSInterface() = default;
 
 	template <typename T>
-	QByteArray getQByteArray(eprosima::fastcdr::optional<T> data)
+	void getByteArray(eprosima::fastcdr::optional<T> data, uint8_t *buffer, size_t bufferSize)
 	{
-		QByteArray value;
+		if (bufferSize < getTypeSize<T>())
-		// 如果T是普通类型，将data中的数据转换为QByteArray
+			return;
+
 		if constexpr (std::is_arithmetic_v<T>) {
-			QDataStream dataStream(&value, QIODevice::WriteOnly);
-			dataStream.setByteOrder(QDataStream::LittleEndian);
 			if (data) {
-				dataStream << data.value();
+				std::memcpy(buffer, &data.value(), sizeof(T));
 			} else {
-				dataStream << (T)0;
+				T zero = 0;
+				std::memcpy(buffer, &zero, sizeof(T));
 			}
-		}
+		} else if constexpr (is_std_array_v<T>) {
-		// 如果T是std::array，则需要根据T的类型和大小，生成一个std::array<T, N>的QByteArray
-		else if constexpr (is_std_array_v<T>) {
 			if (data) {
-				value = getQByteArrayFromStdArray(data.value());
+				getByteArrayFromStdArray(data.value(), buffer, bufferSize);
 			} else {
 				T zero = {};
-				value  = getQByteArrayFromStdArray(zero);
+				getByteArrayFromStdArray(zero, buffer, bufferSize);
 			}
 		}
-		return value;
 	}
 
 	template <typename T, std::size_t N>
-	QByteArray getQByteArrayFromStdArray(std::array<T, N> data)
+	void getByteArrayFromStdArray(std::array<T, N> data, uint8_t *buffer, size_t bufferSize)
 	{
-		QByteArray value;
+		if (bufferSize < getTypeSize<T>() * N)
-		QDataStream dataStream(&value, QIODevice::WriteOnly);
+			return;
-		dataStream.setByteOrder(QDataStream::LittleEndian);
+
 		for (std::size_t i = 0; i < N; ++i) {
 			if constexpr (std::is_arithmetic_v<T>) {
-				dataStream << data[i];
+				std::memcpy(buffer + i * getTypeSize<T>(), &data[i], getTypeSize<T>());
 			} else {
-				dataStream << getQByteArrayFromStdArray(data[i]);
+				getByteArrayFromStdArray(data[i], buffer + i * getTypeSize<T>(), getTypeSize<T>());
 			}
 		}
-		return value;
 	}
 
-	QByteArray getUDPPackage()
+	void getUDPPackage(uint8_t *buffer, size_t bufferSize)
 	{
-		QByteArray package;
+		if (bufferSize < MAX_UDP_PACKET_SIZE)
-		QByteArray header = this->header.mid(0, 5);
+			return;
-		package.append(header);
+
-		for (auto func : getByteArrayFunction) {
+		size_t currentPos = 0;
-			package.append(func());
+
+		// 复制头部
+		if (headerSize >= 5) {
+			std::memcpy(buffer, header, 5);
+			currentPos = 5;
+		}
+
+		// 复制数据
+		for (auto func : getByteArrayFunction) {
+			if (currentPos + func.size <= MAX_UDP_PACKET_SIZE) {
+				func.func(buffer + currentPos, func.size);
+				currentPos += func.size;
+			} else {
+				break; // 超出最大包大小
+			}
+		}
+
+		// 更新包大小
+		if (currentPos >= 5) {
+			buffer[4] = static_cast<uint8_t>(currentPos);
 		}
-		package[4] = package.size();
-		return package;
 	}
 
 	template <typename T>
-	QString getQString(eprosima::fastcdr::optional<T> data)
+	std::string getString(eprosima::fastcdr::optional<T> data)
 	{
 		if constexpr (std::is_arithmetic_v<T>) {
 			if (data) {
-				return QString::number(data.value());
+				return std::to_string(data.value());
 			} else {
-				return QString::number(0);
+				return std::to_string(0);
 			}
 		} else if constexpr (std::is_same_v<T, std::string>) {
 			if (data) {
-				return getQStringFromStdArray(data.value());
+				return getStringFromStdArray(data.value());
 			} else {
 				T zero = {};
-				return getQStringFromStdArray(zero);
+				return getStringFromStdArray(zero);
 			}
 		}
-		return QString();
+		return std::string();
 	}
 
 	template <typename T, std::size_t N>
-	QString getQStringFromStdArray(std::array<T, N> data)
+	std::string getStringFromStdArray(std::array<T, N> data)
 	{
-		QStringList list;
+		std::stringstream ss;
 		for (std::size_t i = 0; i < N; ++i) {
+			if (i > 0)
+				ss << ",";
 			if constexpr (std::is_arithmetic_v<T>) {
-				list.append(QString::number(data[i]));
+				ss << data[i];
 			} else {
-				list.append(getQStringFromStdArray(data[i]));
+				ss << getStringFromStdArray(data[i]);
 			}
 		}
-		return list.join(",");
+		return ss.str();
 	}
 
-	QString getData(const QString &varName)
+	std::string getData(const std::string &varName)
 	{
 		int index1				= -1;
 		int index2				= -1;
-		QString trueVarName = varName;
+		std::string trueVarName = varName;
-		// 检查变量名中是否存在数组标记
-		if (varName.contains('[')) {
-			// 解析数组索引
-			int startPos = varName.indexOf('[');
-			int midPos	 = varName.indexOf("][");
-			int endPos	 = varName.lastIndexOf(']');
 
-			// 如果是二维数组 (格式: name[index1][index2])
+		size_t startPos = varName.find('[');
-			if (midPos != -1) {
+		if (startPos != std::string::npos) {
-				bool ok1 = false, ok2 = false;
+			size_t midPos = varName.find("][", startPos);
-				index1 = varName.mid(startPos + 1, midPos - startPos - 1).toInt(&ok1);
+			size_t endPos = varName.find_last_of(']');
-				index2 = varName.mid(midPos + 2, endPos - midPos - 2).toInt(&ok2);
 
-				if (!ok1 || !ok2) {
+			if (midPos != std::string::npos) {
-					qWarning() << "无法解析数组索引:" << varName;
+				try {
+					index1 = std::stoi(varName.substr(startPos + 1, midPos - startPos - 1));
+					index2 = std::stoi(varName.substr(midPos + 2, endPos - midPos - 2));
+				} catch (...) {
+					std::cerr << "无法解析数组索引: " << varName << std::endl;
 					index1 = 0;
 					index2 = 0;
 				}
-			}
+			} else if (endPos != std::string::npos) {
-			// 如果是一维数组 (格式: name[index1])
+				try {
-			else if (startPos != -1 && endPos != -1) {
+					index1 = std::stoi(varName.substr(startPos + 1, endPos - startPos - 1));
-				bool ok = false;
+				} catch (...) {
-				index1	= varName.mid(startPos + 1, endPos - startPos - 1).toInt(&ok);
+					std::cerr << "无法解析数组索引: " << varName << std::endl;
-
-				if (!ok) {
-					qWarning() << "无法解析数组索引:" << varName;
 					index1 = 0;
 				}
 			}
-			trueVarName = varName.left(startPos);
+			trueVarName = varName.substr(0, startPos);
 		}
+
 		auto it = getDataFunction.find(trueVarName);
 		if (it == getDataFunction.end()) {
-			return QString(); // 返回空字符串表示未找到
+			return std::string();
 		}
+
+		std::lock_guard<std::mutex> lock(mutex);
+		std::string result = it->second();
+
 		if (index1 < 0) {
-			QMutexLocker locker(&mutex);
+			return result;
-			return it.value()();
-		} else if (index2 < 0) {
-			QMutexLocker locker(&mutex);
-			QStringList list = it.value()().split(",");
-			if (index1 >= list.size()) {
-				qWarning() << "数组索引超出范围:" << varName;
-				return QString();
 		}
+
+		std::vector<std::string> list;
+		std::stringstream ss(result);
+		std::string item;
+		while (std::getline(ss, item, ',')) {
+			list.push_back(item);
+		}
+
+		if (index1 >= static_cast<int>(list.size())) {
+			std::cerr << "数组索引超出范围: " << varName << std::endl;
+			return std::string();
+		}
+
+		if (index2 < 0) {
 			return list[index1];
-		} else {
-			QMutexLocker locker(&mutex);
-			QStringList list = it.value()().split(",");
-			if (index1 >= list.size()) {
-				qWarning() << "数组索引超出范围:" << varName;
-				return QString();
 		}
-			QStringList list2 = list[index1].split(" ");
+
-			if (index2 >= list2.size()) {
+		std::vector<std::string> list2;
-				qWarning() << "数组索引超出范围:" << varName;
+		std::stringstream ss2(list[index1]);
-				return QString();
+		while (std::getline(ss2, item, ' ')) {
+			list2.push_back(item);
 		}
+
+		if (index2 >= static_cast<int>(list2.size())) {
+			std::cerr << "数组索引超出范围: " << varName << std::endl;
+			return std::string();
+		}
+
 		return list2[index2];
 	}
-	}
 
 protected:
-	QHash<QString, std::function<QString()>> getDataFunction;
+	struct ByteArrayFunc {
-	QVector<std::function<QByteArray()>> getByteArrayFunction;
+		std::function<void(uint8_t *, size_t)> func;
-	QMutex mutex;
+		size_t size;
-	QByteArray header;
+	};
+
+	std::unordered_map<std::string, std::function<std::string()>> getDataFunction;
+	std::vector<ByteArrayFunc> getByteArrayFunction;
+	std::mutex mutex;
+	uint8_t header[5]{}; // 固定大小的头部
+	size_t headerSize = 0;
 };
 
 #define MAP_GET_DATA_FUNC(NAME)                                                                    \
-	getDataFunction[#NAME] = [this]() { return getQString(data.NAME()); };                         \
+	getDataFunction[#NAME] = [this]() { return getString(data.NAME()); };                          \
-	getByteArrayFunction.push_back([this]() { return getQByteArray(data.NAME()); })
+	getByteArrayFunction.push_back(                                                                \
+		{[this](uint8_t *buffer, size_t size) { getByteArray(data.NAME(), buffer, size); },        \
+		 getTypeSize<decltype(data.NAME())>()})