先移除了DDS接口的Qt依赖
This commit is contained in:
parent
d92947628b
commit
fc315a882c
@ -1,7 +1,20 @@
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#pragma once
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#include "XNObject.h"
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#include <string>
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#include <vector>
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#include <unordered_map>
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#include <mutex>
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#include <sstream>
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#include <iomanip>
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#include <array>
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#include <functional>
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#include <cstring>
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#include <iostream>
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#include <fastcdr/xcdr/optional.hpp>
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// 定义UDP包的最大大小
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constexpr size_t MAX_UDP_PACKET_SIZE = 40000;
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template <typename T>
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struct is_std_array : std::false_type {
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};
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@ -14,175 +27,215 @@ struct is_std_array<std::array<T, N>> : std::true_type {
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template <typename T>
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inline constexpr bool is_std_array_v = is_std_array<T>::value;
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class XNDDSInterface : public XNObject
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// 获取类型大小的辅助函数
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template <typename T>
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constexpr size_t getTypeSize()
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{
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if constexpr (is_std_array_v<T>) {
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// 对于std::array，计算所有元素的总大小
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return getTypeSize<typename T::value_type>() * std::tuple_size<T>::value;
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} else {
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return sizeof(T);
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}
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}
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class XNDDSInterface
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{
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Q_OBJECT
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public:
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explicit XNDDSInterface(QObject *parent = nullptr) : XNObject(parent) {}
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virtual ~XNDDSInterface() {}
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XNDDSInterface() = default;
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virtual ~XNDDSInterface() = default;
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template <typename T>
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QByteArray getQByteArray(eprosima::fastcdr::optional<T> data)
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void getByteArray(eprosima::fastcdr::optional<T> data, uint8_t *buffer, size_t bufferSize)
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{
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QByteArray value;
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// 如果T是普通类型，将data中的数据转换为QByteArray
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if (bufferSize < getTypeSize<T>())
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return;
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if constexpr (std::is_arithmetic_v<T>) {
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QDataStream dataStream(&value, QIODevice::WriteOnly);
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dataStream.setByteOrder(QDataStream::LittleEndian);
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if (data) {
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dataStream << data.value();
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std::memcpy(buffer, &data.value(), sizeof(T));
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} else {
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dataStream << (T)0;
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T zero = 0;
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std::memcpy(buffer, &zero, sizeof(T));
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}
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}
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// 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
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else if constexpr (is_std_array_v<T>) {
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} else if constexpr (is_std_array_v<T>) {
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if (data) {
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value = getQByteArrayFromStdArray(data.value());
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getByteArrayFromStdArray(data.value(), buffer, bufferSize);
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} else {
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T zero = {};
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value = getQByteArrayFromStdArray(zero);
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getByteArrayFromStdArray(zero, buffer, bufferSize);
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}
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}
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return value;
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}
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template <typename T, std::size_t N>
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QByteArray getQByteArrayFromStdArray(std::array<T, N> data)
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void getByteArrayFromStdArray(std::array<T, N> data, uint8_t *buffer, size_t bufferSize)
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{
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QByteArray value;
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QDataStream dataStream(&value, QIODevice::WriteOnly);
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dataStream.setByteOrder(QDataStream::LittleEndian);
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if (bufferSize < getTypeSize<T>() * N)
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return;
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for (std::size_t i = 0; i < N; ++i) {
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if constexpr (std::is_arithmetic_v<T>) {
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dataStream << data[i];
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std::memcpy(buffer + i * getTypeSize<T>(), &data[i], getTypeSize<T>());
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} else {
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dataStream << getQByteArrayFromStdArray(data[i]);
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getByteArrayFromStdArray(data[i], buffer + i * getTypeSize<T>(), getTypeSize<T>());
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}
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}
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return value;
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}
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QByteArray getUDPPackage()
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void getUDPPackage(uint8_t *buffer, size_t bufferSize)
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{
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QByteArray package;
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QByteArray header = this->header.mid(0, 5);
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package.append(header);
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for (auto func : getByteArrayFunction) {
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package.append(func());
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if (bufferSize < MAX_UDP_PACKET_SIZE)
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return;
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size_t currentPos = 0;
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// 复制头部
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if (headerSize >= 5) {
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std::memcpy(buffer, header, 5);
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currentPos = 5;
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}
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// 复制数据
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for (auto func : getByteArrayFunction) {
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if (currentPos + func.size <= MAX_UDP_PACKET_SIZE) {
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func.func(buffer + currentPos, func.size);
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currentPos += func.size;
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} else {
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break; // 超出最大包大小
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}
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}
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// 更新包大小
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if (currentPos >= 5) {
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buffer[4] = static_cast<uint8_t>(currentPos);
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}
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package[4] = package.size();
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return package;
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}
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template <typename T>
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QString getQString(eprosima::fastcdr::optional<T> data)
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std::string getString(eprosima::fastcdr::optional<T> data)
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{
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if constexpr (std::is_arithmetic_v<T>) {
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if (data) {
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return QString::number(data.value());
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return std::to_string(data.value());
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} else {
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return QString::number(0);
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return std::to_string(0);
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}
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} else if constexpr (std::is_same_v<T, std::string>) {
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if (data) {
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return getQStringFromStdArray(data.value());
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return getStringFromStdArray(data.value());
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} else {
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T zero = {};
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return getQStringFromStdArray(zero);
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return getStringFromStdArray(zero);
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}
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}
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return QString();
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return std::string();
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}
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template <typename T, std::size_t N>
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QString getQStringFromStdArray(std::array<T, N> data)
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std::string getStringFromStdArray(std::array<T, N> data)
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{
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QStringList list;
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std::stringstream ss;
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for (std::size_t i = 0; i < N; ++i) {
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if (i > 0)
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ss << ",";
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if constexpr (std::is_arithmetic_v<T>) {
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list.append(QString::number(data[i]));
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ss << data[i];
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} else {
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list.append(getQStringFromStdArray(data[i]));
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ss << getStringFromStdArray(data[i]);
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}
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}
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return list.join(",");
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return ss.str();
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}
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QString getData(const QString &varName)
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std::string getData(const std::string &varName)
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{
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int index1 = -1;
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int index2 = -1;
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QString trueVarName = varName;
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// 检查变量名中是否存在数组标记
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if (varName.contains('[')) {
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// 解析数组索引
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int startPos = varName.indexOf('[');
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int midPos = varName.indexOf("][");
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int endPos = varName.lastIndexOf(']');
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int index1 = -1;
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int index2 = -1;
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std::string trueVarName = varName;
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// 如果是二维数组 (格式: name[index1][index2])
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if (midPos != -1) {
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bool ok1 = false, ok2 = false;
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index1 = varName.mid(startPos + 1, midPos - startPos - 1).toInt(&ok1);
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index2 = varName.mid(midPos + 2, endPos - midPos - 2).toInt(&ok2);
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size_t startPos = varName.find('[');
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if (startPos != std::string::npos) {
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size_t midPos = varName.find("][", startPos);
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size_t endPos = varName.find_last_of(']');
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if (!ok1 || !ok2) {
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qWarning() << "无法解析数组索引:" << varName;
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if (midPos != std::string::npos) {
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try {
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index1 = std::stoi(varName.substr(startPos + 1, midPos - startPos - 1));
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index2 = std::stoi(varName.substr(midPos + 2, endPos - midPos - 2));
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} catch (...) {
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std::cerr << "无法解析数组索引: " << varName << std::endl;
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index1 = 0;
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index2 = 0;
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}
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}
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// 如果是一维数组 (格式: name[index1])
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else if (startPos != -1 && endPos != -1) {
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bool ok = false;
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index1 = varName.mid(startPos + 1, endPos - startPos - 1).toInt(&ok);
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if (!ok) {
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qWarning() << "无法解析数组索引:" << varName;
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} else if (endPos != std::string::npos) {
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try {
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index1 = std::stoi(varName.substr(startPos + 1, endPos - startPos - 1));
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} catch (...) {
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std::cerr << "无法解析数组索引: " << varName << std::endl;
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index1 = 0;
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}
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}
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trueVarName = varName.left(startPos);
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trueVarName = varName.substr(0, startPos);
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}
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auto it = getDataFunction.find(trueVarName);
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if (it == getDataFunction.end()) {
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return QString(); // 返回空字符串表示未找到
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return std::string();
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}
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std::lock_guard<std::mutex> lock(mutex);
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std::string result = it->second();
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if (index1 < 0) {
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QMutexLocker locker(&mutex);
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return it.value()();
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} else if (index2 < 0) {
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QMutexLocker locker(&mutex);
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QStringList list = it.value()().split(",");
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if (index1 >= list.size()) {
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qWarning() << "数组索引超出范围:" << varName;
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return QString();
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}
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return list[index1];
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} else {
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QMutexLocker locker(&mutex);
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QStringList list = it.value()().split(",");
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if (index1 >= list.size()) {
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qWarning() << "数组索引超出范围:" << varName;
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return QString();
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}
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QStringList list2 = list[index1].split(" ");
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if (index2 >= list2.size()) {
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qWarning() << "数组索引超出范围:" << varName;
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return QString();
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}
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return list2[index2];
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return result;
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}
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std::vector<std::string> list;
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std::stringstream ss(result);
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std::string item;
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while (std::getline(ss, item, ',')) {
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list.push_back(item);
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}
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if (index1 >= static_cast<int>(list.size())) {
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std::cerr << "数组索引超出范围: " << varName << std::endl;
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return std::string();
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}
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if (index2 < 0) {
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return list[index1];
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}
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std::vector<std::string> list2;
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std::stringstream ss2(list[index1]);
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while (std::getline(ss2, item, ' ')) {
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list2.push_back(item);
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}
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if (index2 >= static_cast<int>(list2.size())) {
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std::cerr << "数组索引超出范围: " << varName << std::endl;
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return std::string();
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}
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return list2[index2];
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}
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protected:
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QHash<QString, std::function<QString()>> getDataFunction;
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QVector<std::function<QByteArray()>> getByteArrayFunction;
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QMutex mutex;
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QByteArray header;
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struct ByteArrayFunc {
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std::function<void(uint8_t *, size_t)> func;
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size_t size;
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};
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std::unordered_map<std::string, std::function<std::string()>> getDataFunction;
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std::vector<ByteArrayFunc> getByteArrayFunction;
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std::mutex mutex;
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uint8_t header[5]{}; // 固定大小的头部
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size_t headerSize = 0;
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};
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#define MAP_GET_DATA_FUNC(NAME) \
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getDataFunction[#NAME] = [this]() { return getQString(data.NAME()); }; \
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getByteArrayFunction.push_back([this]() { return getQByteArray(data.NAME()); })
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getDataFunction[#NAME] = [this]() { return getString(data.NAME()); }; \
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getByteArrayFunction.push_back( \
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{[this](uint8_t *buffer, size_t size) { getByteArray(data.NAME(), buffer, size); }, \
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getTypeSize<decltype(data.NAME())>()})
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5
XNCore/.vscode/settings.json
vendored
5
XNCore/.vscode/settings.json
vendored
@ -75,6 +75,9 @@
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"complex": "cpp",
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"set": "cpp",
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"regex": "cpp",
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"qlibrary": "cpp"
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"qlibrary": "cpp",
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"csignal": "cpp",
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"any": "cpp",
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"unordered_set": "cpp"
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}
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}
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@ -1,7 +1,20 @@
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#pragma once
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#include "XNObject.h"
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#include <string>
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#include <vector>
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#include <unordered_map>
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#include <mutex>
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#include <sstream>
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#include <iomanip>
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#include <array>
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#include <functional>
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#include <cstring>
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#include <iostream>
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#include <fastcdr/xcdr/optional.hpp>
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// 定义UDP包的最大大小
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constexpr size_t MAX_UDP_PACKET_SIZE = 40000;
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template <typename T>
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struct is_std_array : std::false_type {
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};
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@ -14,175 +27,215 @@ struct is_std_array<std::array<T, N>> : std::true_type {
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template <typename T>
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inline constexpr bool is_std_array_v = is_std_array<T>::value;
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class XNDDSInterface : public XNObject
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// 获取类型大小的辅助函数
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template <typename T>
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constexpr size_t getTypeSize()
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{
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if constexpr (is_std_array_v<T>) {
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// 对于std::array，计算所有元素的总大小
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return getTypeSize<typename T::value_type>() * std::tuple_size<T>::value;
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} else {
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return sizeof(T);
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}
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}
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class XNDDSInterface
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{
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Q_OBJECT
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public:
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explicit XNDDSInterface(QObject *parent = nullptr) : XNObject(parent) {}
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virtual ~XNDDSInterface() {}
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XNDDSInterface() = default;
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virtual ~XNDDSInterface() = default;
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template <typename T>
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QByteArray getQByteArray(eprosima::fastcdr::optional<T> data)
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void getByteArray(eprosima::fastcdr::optional<T> data, uint8_t *buffer, size_t bufferSize)
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{
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QByteArray value;
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// 如果T是普通类型，将data中的数据转换为QByteArray
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if (bufferSize < getTypeSize<T>())
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return;
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if constexpr (std::is_arithmetic_v<T>) {
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QDataStream dataStream(&value, QIODevice::WriteOnly);
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dataStream.setByteOrder(QDataStream::LittleEndian);
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if (data) {
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dataStream << data.value();
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std::memcpy(buffer, &data.value(), sizeof(T));
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} else {
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dataStream << (T)0;
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T zero = 0;
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std::memcpy(buffer, &zero, sizeof(T));
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}
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}
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// 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
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else if constexpr (is_std_array_v<T>) {
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} else if constexpr (is_std_array_v<T>) {
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if (data) {
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value = getQByteArrayFromStdArray(data.value());
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getByteArrayFromStdArray(data.value(), buffer, bufferSize);
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} else {
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T zero = {};
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value = getQByteArrayFromStdArray(zero);
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getByteArrayFromStdArray(zero, buffer, bufferSize);
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}
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}
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return value;
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}
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template <typename T, std::size_t N>
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QByteArray getQByteArrayFromStdArray(std::array<T, N> data)
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void getByteArrayFromStdArray(std::array<T, N> data, uint8_t *buffer, size_t bufferSize)
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{
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QByteArray value;
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QDataStream dataStream(&value, QIODevice::WriteOnly);
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dataStream.setByteOrder(QDataStream::LittleEndian);
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if (bufferSize < getTypeSize<T>() * N)
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return;
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for (std::size_t i = 0; i < N; ++i) {
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if constexpr (std::is_arithmetic_v<T>) {
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dataStream << data[i];
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std::memcpy(buffer + i * getTypeSize<T>(), &data[i], getTypeSize<T>());
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} else {
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dataStream << getQByteArrayFromStdArray(data[i]);
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getByteArrayFromStdArray(data[i], buffer + i * getTypeSize<T>(), getTypeSize<T>());
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}
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}
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return value;
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}
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QByteArray getUDPPackage()
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void getUDPPackage(uint8_t *buffer, size_t bufferSize)
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||||
{
|
||||
QByteArray package;
|
||||
QByteArray header = this->header.mid(0, 5);
|
||||
package.append(header);
|
||||
for (auto func : getByteArrayFunction) {
|
||||
package.append(func());
|
||||
if (bufferSize < MAX_UDP_PACKET_SIZE)
|
||||
return;
|
||||
|
||||
size_t currentPos = 0;
|
||||
|
||||
// 复制头部
|
||||
if (headerSize >= 5) {
|
||||
std::memcpy(buffer, header, 5);
|
||||
currentPos = 5;
|
||||
}
|
||||
|
||||
// 复制数据
|
||||
for (auto func : getByteArrayFunction) {
|
||||
if (currentPos + func.size <= MAX_UDP_PACKET_SIZE) {
|
||||
func.func(buffer + currentPos, func.size);
|
||||
currentPos += func.size;
|
||||
} else {
|
||||
break; // 超出最大包大小
|
||||
}
|
||||
}
|
||||
|
||||
// 更新包大小
|
||||
if (currentPos >= 5) {
|
||||
buffer[4] = static_cast<uint8_t>(currentPos);
|
||||
}
|
||||
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;
|
||||
// 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(']');
|
||||
int index1 = -1;
|
||||
int index2 = -1;
|
||||
std::string trueVarName = varName;
|
||||
|
||||
// 如果是二维数组 (格式: name[index1][index2])
|
||||
if (midPos != -1) {
|
||||
bool ok1 = false, ok2 = false;
|
||||
index1 = varName.mid(startPos + 1, midPos - startPos - 1).toInt(&ok1);
|
||||
index2 = varName.mid(midPos + 2, endPos - midPos - 2).toInt(&ok2);
|
||||
size_t startPos = varName.find('[');
|
||||
if (startPos != std::string::npos) {
|
||||
size_t midPos = varName.find("][", startPos);
|
||||
size_t endPos = varName.find_last_of(']');
|
||||
|
||||
if (!ok1 || !ok2) {
|
||||
qWarning() << "无法解析数组索引:" << varName;
|
||||
if (midPos != std::string::npos) {
|
||||
try {
|
||||
index1 = std::stoi(varName.substr(startPos + 1, midPos - startPos - 1));
|
||||
index2 = std::stoi(varName.substr(midPos + 2, endPos - midPos - 2));
|
||||
} catch (...) {
|
||||
std::cerr << "无法解析数组索引: " << varName << std::endl;
|
||||
index1 = 0;
|
||||
index2 = 0;
|
||||
}
|
||||
}
|
||||
// 如果是一维数组 (格式: name[index1])
|
||||
else if (startPos != -1 && endPos != -1) {
|
||||
bool ok = false;
|
||||
index1 = varName.mid(startPos + 1, endPos - startPos - 1).toInt(&ok);
|
||||
|
||||
if (!ok) {
|
||||
qWarning() << "无法解析数组索引:" << varName;
|
||||
} else if (endPos != std::string::npos) {
|
||||
try {
|
||||
index1 = std::stoi(varName.substr(startPos + 1, endPos - startPos - 1));
|
||||
} catch (...) {
|
||||
std::cerr << "无法解析数组索引: " << varName << std::endl;
|
||||
index1 = 0;
|
||||
}
|
||||
}
|
||||
trueVarName = varName.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 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();
|
||||
}
|
||||
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()) {
|
||||
qWarning() << "数组索引超出范围:" << varName;
|
||||
return QString();
|
||||
}
|
||||
return list2[index2];
|
||||
return result;
|
||||
}
|
||||
|
||||
std::vector<std::string> list;
|
||||
std::stringstream ss(result);
|
||||
std::string item;
|
||||
while (std::getline(ss, item, ',')) {
|
||||
list.push_back(item);
|
||||
}
|
||||
|
||||
if (index1 >= static_cast<int>(list.size())) {
|
||||
std::cerr << "数组索引超出范围: " << varName << std::endl;
|
||||
return std::string();
|
||||
}
|
||||
|
||||
if (index2 < 0) {
|
||||
return list[index1];
|
||||
}
|
||||
|
||||
std::vector<std::string> list2;
|
||||
std::stringstream ss2(list[index1]);
|
||||
while (std::getline(ss2, item, ' ')) {
|
||||
list2.push_back(item);
|
||||
}
|
||||
|
||||
if (index2 >= static_cast<int>(list2.size())) {
|
||||
std::cerr << "数组索引超出范围: " << varName << std::endl;
|
||||
return std::string();
|
||||
}
|
||||
|
||||
return list2[index2];
|
||||
}
|
||||
|
||||
protected:
|
||||
QHash<QString, std::function<QString()>> getDataFunction;
|
||||
QVector<std::function<QByteArray()>> getByteArrayFunction;
|
||||
QMutex mutex;
|
||||
QByteArray header;
|
||||
struct ByteArrayFunc {
|
||||
std::function<void(uint8_t *, size_t)> func;
|
||||
size_t size;
|
||||
};
|
||||
|
||||
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()); }; \
|
||||
getByteArrayFunction.push_back([this]() { return getQByteArray(data.NAME()); })
|
||||
getDataFunction[#NAME] = [this]() { return getString(data.NAME()); }; \
|
||||
getByteArrayFunction.push_back( \
|
||||
{[this](uint8_t *buffer, size_t size) { getByteArray(data.NAME(), buffer, size); }, \
|
||||
getTypeSize<decltype(data.NAME())>()})
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user