ignore log

增加UDP测试
2025-04-28 16:43:26 +08:00 · 2025-04-28 16:41:21 +08:00
29 changed files with 2082 additions and 224 deletions
--- a/.gitignore
+++ b/.gitignore
@ -34,3 +34,4 @@

 # CMakeBuild
 build/
+log/
--- a/Release/Scenario/NewConfig.xml
+++ b/Release/Scenario/NewConfig.xml
@ -1,22 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Scenario>
-    <Environment
-        OSName="Debian"
-        Version="11"
-        RTXVersion="preempt-rt"
-        CPUAffinity="0,1"
-        BaseFrequency="120"
-        WorkPath="/home/jin/Myprj/XNSim/Release/"
-        ModelsPath="Models/"
-        ServicesPath="Services/"
-        DomainID="10"
-    />
-    <ConsoleOutput Debug="1" Info="1" Error="1" Warning="1" />
-    <Log Debug="0" Info="1" Error="1" Warning="1" />
-    <ModelGroup Name="新模型组" FreqGroup="0" Priority="99" CPUAff="0">
-        <!-- 这里添加模型 -->
-    </ModelGroup>
-    <ServicesList>
-        <!-- 这里添加服务 -->
-    </ServicesList>
-</Scenario>
--- a/Release/Scenario/NewConfig1.xml
+++ b/Release/Scenario/NewConfig1.xml
@ -1,22 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Scenario>
-    <Environment
-        OSName="Debian"
-        Version="11"
-        RTXVersion="preempt-rt"
-        CPUAffinity="0,1"
-        BaseFrequency="120"
-        WorkPath="/home/jin/Myprj/XNSim/Release/"
-        ModelsPath="Models/"
-        ServicesPath="Services/"
-        DomainID="10"
-    />
-    <ConsoleOutput Debug="1" Info="1" Error="1" Warning="1" />
-    <Log Debug="0" Info="1" Error="1" Warning="1" />
-    <ModelGroup Name="新模型组" FreqGroup="0" Priority="99" CPUAff="0">
-        <!-- 这里添加模型 -->
-    </ModelGroup>
-    <ServicesList>
-        <!-- 这里添加服务 -->
-    </ServicesList>
-</Scenario>
--- a/Release/Scenario/NewConfig2.sce
+++ b/Release/Scenario/NewConfig2.sce
@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-  <Scenario>
-        <Environment OSName="Debian" Version="11" RTXVersion="preempt-rt" CPUAffinity="0,1" BaseFrequency="120" WorkPath="/home/jin/Myprj/XNSim/Release/" ModelsPath="Models/" ServicesPath="Services/" DomainID="10"/>
-        <ConsoleOutput Debug="1" Info="1" Error="1" Warning="1"/>
-        <Log Debug="0" Info="1" Error="1" Warning="1"/>
-        <ModelGroup Name="新模型组" FreqGroup="0" Priority="99" CPUAff="0">
-              <!-- 这里添加模型 -->
-          </ModelGroup>
-          <ServicesList>
-                <!-- 这里添加服务 -->
-            </ServicesList>
-      </Scenario>
--- a/Release/Scenario/NewConfig3.xml
+++ b/Release/Scenario/NewConfig3.xml
@ -1,14 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Scenario>
-    <Environment OSName="RT-Linux" Version="5.10.0-26-rt-amd64" RTXVersion="none" BaseFrequency="100" WorkPath="." ModelsPath="./models" ServicesPath="./services" CPUAffinity="0,1" DomainID="0"/>
-    <ConsoleOutput Debug="1" Info="1" Warning="1" Error="1"/>
-    <Log Debug="0" Info="1" Warning="1" Error="1"/>
-    <ModelGroupList>
-        <ModelGroup Name="DefaultGroup" FreqGroup="0" Priority="99" CPUAff="0">
-            <Model Name="DefaultModel" ClassName="XNModel"/>
-        </ModelGroup>
-    </ModelGroupList>
-    <ServicesList>
-        <Service Name="DefaultService" ClassName="XNService"/>
-    </ServicesList>
-</Scenario>
--- a/Release/Scenario/OnlyFlightModel.xml
+++ b/Release/Scenario/OnlyFlightModel.xml
@ -1,13 +1,13 @@
 <?xml version="1.0" encoding="UTF-8"?>
  <Scenario>
-            	<Environment OSName="Debian" Version="11" RTXVersion="preempt-rt" CPUAffinity="0,1" BaseFrequency="120" WorkPath="/home/jin/Myprj/XNSim/Release/" ModelsPath="Models/" ServicesPath="Services/" DomainID="10"/>
+            	<Environment OSName="Debian" Version="11" RTXVersion="preempt-rt" CPUAffinity="0,1" BaseFrequency="120" WorkPath="/home/jin/MyCode/XNSim/Release/" ModelsPath="Models/" ServicesPath="Services/" DomainID="10"/>
            	<ConsoleOutput Debug="1" Info="1" Error="1" Warning="1"/>
            	<Log Debug="0" Info="1" Error="1" Warning="1"/>
                <ModelGroup Name="本体模型组" FreqGroup="0" Priority="99" CPUAff="0">
                  		<Model Name="ATA04气动模型" ClassName="XNAerodynamics"/>
                  		<Model Name="ATA04地面操纵模型" ClassName="XNGroundHandling"/>
                  		<Model Name="ATA04质量模型" ClassName="XNWeightBalance"/>
-                  		<Model Name="ATA04数据处理模型" ClassName="XNATA04DataProcessor"/>
+                  		<!--Model Name="ATA04数据处理模型" ClassName="XNATA04DataProcessor"/-->
            	</ModelGroup>
            	<ServicesList>
                  		<Service Name="UDP通信服务" ClassName="XNUDPService"/>
--- a/Release/Scenario/OnlyFlightModel_60Hz.xml
+++ b/Release/Scenario/OnlyFlightModel_60Hz.xml
@ -5,8 +5,8 @@
 	Version="11"
 	RTXVersion="preempt-rt"
 	CPUAffinity="0,1"
-	BaseFrequency="120"
-	WorkPath="/home/jin/Myprj/XNSim/Release/"
+	BaseFrequency="60"
+	WorkPath="/home/jin/MyCode/XNSim/Release/"
 	ModelsPath="Models/"
 	ServicesPath="Services/"
 	DomainID="10"
--- a/Release/Scenario/OnlyFlightModel_test.xml
+++ b/Release/Scenario/OnlyFlightModel_test.xml
@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+  <Scenario>
+            	<Environment OSName="Debian" Version="11" RTXVersion="preempt-rt" CPUAffinity="0,1" BaseFrequency="120" WorkPath="/home/jin/MyCode/XNSim/Release/" ModelsPath="Models/" ServicesPath="Services/" DomainID="10"/>
+            	<ConsoleOutput Debug="1" Info="1" Error="1" Warning="1"/>
+            	<Log Debug="0" Info="1" Error="1" Warning="1"/>
+                <ModelGroup Name="本体模型组" FreqGroup="0" Priority="99" CPUAff="0">
+                  		<Model Name="ATA04气动模型" ClassName="XNAerodynamics"/>
+                  		<Model Name="ATA04地面操纵模型" ClassName="XNGroundHandling"/>
+                  		<Model Name="ATA04质量模型" ClassName="XNWeightBalance"/>
+                  		<Model Name="ATA04数据处理模型" ClassName="XNATA04DataProcessor"/>
+            	</ModelGroup>
+            	<ServicesList>
+                  		<Service Name="UDP通信服务" ClassName="XNUDPService"/>
+                  		<Service Name="UDP通信测试服务" ClassName="XNUDPTestService"/>
+            	</ServicesList>
+      </Scenario>
--- a/Release/Services/123.scfg
+++ b/Release/Services/123.scfg
@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Service>
-  <Name>123</Name>
-  <Description>服务描述</Description>
-  <Author>sdgsdf</Author>
-  <Version>1.0.0</Version>
-  <CreateTime>2025-04-21 16:16:14</CreateTime>
-  <ChangeTime>2025-04-21 16:16:46</ChangeTime>
-  <CommandList>
-    <Command Name="asdf" Call="asdf" Description="asdf" />
-  </CommandList>
-</Service>
--- a/Release/Services/XNUDPService.scfg
+++ b/Release/Services/XNUDPService.scfg
@ -1,17 +1,17 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <Service>
-  <Name>XNUDPService</Name>
-  <Description>UDP通信服务</Description>
-  <Author>Jin</Author>
-  <Version>1.0.0</Version>
-  <CreateTime>2025-02-04 10:00:00</CreateTime>
-  <ChangeTime>2025-02-04 10:00:00</ChangeTime>
-  <CommandList>
-    <Command Name="TestCmd" Description="Test" Call="TestCall" />
-  </CommandList>
-  <UDP>
-    <LocalPort>12345</LocalPort>
-    <TargetHost>127.0.0.1</TargetHost>
-    <TargetPort>54321</TargetPort>
-  </UDP>
+	<Name>XNUDPService</Name>
+	<Description>UDP通信服务</Description>
+	<Author>Jin</Author>
+	<Version>1.0.0</Version>
+	<CreateTime>2025-02-04 10:00:00</CreateTime>
+	<ChangeTime>2025-02-04 10:00:00</ChangeTime>
+	<CommandList>
+		<Command Name="TestCmd" Description="Test" Call="TestCall"/>
+	</CommandList>
+	<UDP>
+		<LocalPort>12345</LocalPort>
+		<TargetHost>127.0.0.1</TargetHost>
+		<TargetPort>54321</TargetPort>
+	</UDP>
 </Service>
--- a/Release/Services/XNUDPService2.scfg
+++ b/Release/Services/XNUDPService2.scfg
@ -1,15 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Service>
-  <Name>XNUDPService</Name>
-  <Description>UDP通信服务</Description>
-  <Author>Jin</Author>
-  <Version>1.0.0</Version>
-  <CreateTime>2025-02-04 10:00:00</CreateTime>
-  <ChangeTime>2025-02-04 10:00:00</ChangeTime>
-  <CommandList></CommandList>
-  <UDP>
-    <LocalPort>12345</LocalPort>
-    <TargetHost>127.0.0.1</TargetHost>
-    <TargetPort>54321</TargetPort>
-  </UDP>
-</Service>
--- a/Release/Services/XNUDPTestService.scfg
+++ b/Release/Services/XNUDPTestService.scfg
@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Service>
+	<Name>XNUDPTestService</Name>
+	<Description>UDP通信服务</Description>
+	<Author>Jin</Author>
+	<Version>1.0.0</Version>
+	<CreateTime>2025-02-04 10:00:00</CreateTime>
+	<ChangeTime>2025-02-04 10:00:00</ChangeTime>
+	<CommandList>
+		<Command Name="TestCmd" Description="Test" Call="TestCall"/>
+	</CommandList>
+	<UDP>
+		<LocalPort>54321</LocalPort>
+		<TargetHost>127.0.0.1</TargetHost>
+		<TargetPort>12345</TargetPort>
+	</UDP>
+</Service>
--- a/Release/shell/XNCore.conf
+++ b/Release/shell/XNCore.conf
@ -1,3 +1,3 @@
-/home/jin/Myprj/XNSim/Release/lib
-/home/jin/Myprj/XNSim/Release/Models
-/home/jin/Myprj/XNSim/Release/Services
+/home/jin/MyCode/XNSim/Release/lib
+/home/jin/MyCode/XNSim/Release/Models
+/home/jin/MyCode/XNSim/Release/Services
--- a/Release/shell/XNCore.sh
+++ b/Release/shell/XNCore.sh
@ -1,4 +1,4 @@
-export XNCore=/home/jin/Myprj/XNSim/Release
+export XNCore=/home/jin/MyCode/XNSim/Release
 export PATH=$XNCore:$PATH
 export LD_LIBRARY_PATH=$XNCore/lib:$LD_LIBRARY_PATH
 export QT_QPA_PLATFORM=xcb
--- a/XNModels/XNATA04DataProcessor/XNATA04DataProcessor.cpp
+++ b/XNModels/XNATA04DataProcessor/XNATA04DataProcessor.cpp
@ -54,6 +54,7 @@ void XNATA04DataProcessor::StepUpdate()
 	Q_D(XNATA04DataProcessor);
 	XNModelObject::StepUpdate();
 	SendUdpData();
+	SendUdpTestData();
 }

 void XNATA04DataProcessor::SendUdpData()
@ -981,97 +982,124 @@ void XNATA04DataProcessor::OnAeroInput(const QVariant &data)
 {
 	Q_D(XNATA04DataProcessor);
 	QByteArray inputData = data.toByteArray();
-	if (inputData.size() <= 5 || inputData[0] != 0x0b || inputData[1] != 0x04
-		|| inputData[2] != 0x00 || inputData[3] != 0x00 || inputData[4] != inputData.size()) {
-		LOG_WARNING("ATA04DataProcessor::OnAeroInput: invalid input data");
+
+	// 基本验证：长度和包头前四个字节
+	if (inputData.size() <= 5) {
+		LOG_WARNING("ATA04DataProcessor::OnAeroInput: data too short, size=%d", inputData.size());
 		return;
 	}
+
+	// 现在我们知道数据包确实以0b 04 00 00开头
+	if (inputData[0] != 0x0b || inputData[1] != 0x04 || inputData[2] != 0x00
+		|| inputData[3] != 0x00) {
+		LOG_WARNING("ATA04DataProcessor::OnAeroInput: invalid header, expected 0b 04 00 00, got "
+					"%02x %02x %02x %02x",
+					(quint8)inputData[0], (quint8)inputData[1], (quint8)inputData[2],
+					(quint8)inputData[3]);
+		return;
+	}
+
+	// 使用与发送方相同版本的QDataStream读取数据
 	QDataStream inputStream(&inputData, QIODevice::ReadOnly);
 	inputStream.setByteOrder(QDataStream::LittleEndian);
+	inputStream.setVersion(QDataStream::Qt_6_0);
+
+	// 跳过5字节的头
 	for (int i = 0; i < 5; i++) {
 		char tmp;
 		inputStream >> tmp;
 	}
+
 	QMutexLocker locker(&d->_aeroInputMutex);
-	double tmp;
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_alpha_f8(tmp);
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_alpdot_f8(tmp);
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_beta_f8(tmp);
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_press_alt_f8(tmp);
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_tas_f8(tmp);
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_mach_f8(tmp);
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_nx_f8(tmp);
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_ny_f8(tmp);
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_nz_f8(tmp);
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_p_f8(tmp);
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_q_f8(tmp);
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_r_f8(tmp);
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_qbar_f8(tmp);
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_blcg_f8(tmp);
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_bscg_f8(tmp);
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_wlcg_f8(tmp);
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_stab_f8(tmp);
-	std::array<double, 10> tmpArray;
-	for (int i = 0; i < 10; i++) {
-		inputStream >> tmpArray[i];
+
+	// 尝试读取数据，并添加异常处理
+	try {
+		double tmp;
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_alpha_f8(tmp);
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_alpdot_f8(tmp);
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_beta_f8(tmp);
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_press_alt_f8(tmp);
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_tas_f8(tmp);
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_mach_f8(tmp);
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_nx_f8(tmp);
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_ny_f8(tmp);
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_nz_f8(tmp);
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_p_f8(tmp);
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_q_f8(tmp);
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_r_f8(tmp);
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_qbar_f8(tmp);
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_blcg_f8(tmp);
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_bscg_f8(tmp);
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_wlcg_f8(tmp);
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_stab_f8(tmp);
+		std::array<double, 10> tmpArray;
+		for (int i = 0; i < 10; i++) {
+			inputStream >> tmpArray[i];
+		}
+		d->_aeroInput.l_04_i_aerocomac_ail_f8(tmpArray);
+		std::array<double, 4> tmpArray2;
+		for (int i = 0; i < 4; i++) {
+			inputStream >> tmpArray2[i];
+		}
+		d->_aeroInput.l_04_i_aerocomac_elv_f8(tmpArray2);
+		std::array<double, 2> tmpArray3;
+		for (int i = 0; i < 2; i++) {
+			inputStream >> tmpArray3[i];
+		}
+		d->_aeroInput.l_04_i_aerocomac_rud_f8(tmpArray3);
+		std::array<double, 7> tmpArray4;
+		for (int i = 0; i < 7; i++) {
+			inputStream >> tmpArray4[i];
+		}
+		d->_aeroInput.l_04_i_aerocomac_gear_f8(tmpArray4);
+		for (int i = 0; i < 10; i++) {
+			inputStream >> tmpArray[i];
+		}
+		d->_aeroInput.l_04_i_aerocomac_flap_f8(tmpArray);
+		std::array<double, 20> tmpArray5;
+		for (int i = 0; i < 20; i++) {
+			inputStream >> tmpArray5[i];
+		}
+		d->_aeroInput.l_04_i_aerocomac_slat_f8(tmpArray5);
+		for (int i = 0; i < 20; i++) {
+			inputStream >> tmpArray5[i];
+		}
+		d->_aeroInput.l_04_i_aerocomac_spl_f8(tmpArray5);
+		for (int i = 0; i < 4; i++) {
+			inputStream >> tmpArray2[i];
+		}
+		d->_aeroInput.l_04_i_aerocomac_tnet_f8(tmpArray2);
+		for (int i = 0; i < 20; i++) {
+			inputStream >> tmpArray5[i];
+		}
+		d->_aeroInput.l_04_i_aerocomac_kice_f8(tmpArray5);
+		inputStream >> tmp;
+		d->_aeroInput.l_04_i_aerocomac_alt_agl_f8(tmp);
+		d->_dataWriters["XNSim::ATA04::Aerodynamics_input"]->write(&d->_aeroInput);
+	} catch (const std::exception &e) {
+		LOG_WARNING("ATA04DataProcessor::OnAeroInput: exception during data parsing: %s", e.what());
+		return;
+	} catch (...) {
+		LOG_WARNING("ATA04DataProcessor::OnAeroInput: unknown exception during data parsing");
+		return;
 	}
-	d->_aeroInput.l_04_i_aerocomac_ail_f8(tmpArray);
-	std::array<double, 4> tmpArray2;
-	for (int i = 0; i < 4; i++) {
-		inputStream >> tmpArray2[i];
-	}
-	d->_aeroInput.l_04_i_aerocomac_elv_f8(tmpArray2);
-	std::array<double, 2> tmpArray3;
-	for (int i = 0; i < 2; i++) {
-		inputStream >> tmpArray3[i];
-	}
-	d->_aeroInput.l_04_i_aerocomac_rud_f8(tmpArray3);
-	std::array<double, 7> tmpArray4;
-	for (int i = 0; i < 7; i++) {
-		inputStream >> tmpArray4[i];
-	}
-	d->_aeroInput.l_04_i_aerocomac_gear_f8(tmpArray4);
-	for (int i = 0; i < 10; i++) {
-		inputStream >> tmpArray[i];
-	}
-	d->_aeroInput.l_04_i_aerocomac_flap_f8(tmpArray);
-	std::array<double, 20> tmpArray5;
-	for (int i = 0; i < 20; i++) {
-		inputStream >> tmpArray5[i];
-	}
-	d->_aeroInput.l_04_i_aerocomac_slat_f8(tmpArray5);
-	for (int i = 0; i < 20; i++) {
-		inputStream >> tmpArray5[i];
-	}
-	d->_aeroInput.l_04_i_aerocomac_spl_f8(tmpArray5);
-	for (int i = 0; i < 4; i++) {
-		inputStream >> tmpArray2[i];
-	}
-	d->_aeroInput.l_04_i_aerocomac_tnet_f8(tmpArray2);
-	for (int i = 0; i < 20; i++) {
-		inputStream >> tmpArray5[i];
-	}
-	d->_aeroInput.l_04_i_aerocomac_kice_f8(tmpArray5);
-	inputStream >> tmp;
-	d->_aeroInput.l_04_i_aerocomac_alt_agl_f8(tmp);
-	d->_dataWriters["XNSim::ATA04::Aerodynamics_input"]->write(&d->_aeroInput);
 }

 void XNATA04DataProcessor::OnWbOutput(const XNSim::ATA04::WeightBalance_output &input)
@ -1115,3 +1143,280 @@ void XNATA04DataProcessor::OnGhHeartbeat(const XNSim::ATA04::GroundHandling_hear
 	QMutexLocker locker(&d->_ghHeartbeatMutex);
 	d->_ghHeartbeat = input;
 }
+
+void XNATA04DataProcessor::SendUdpTestData()
+{
+	Q_D(XNATA04DataProcessor);
+
+	// 创建气动输入(AeroInput)数据包
+	QByteArray aeroData;
+	QDataStream aeroStream(&aeroData, QIODevice::WriteOnly);
+	aeroStream.setByteOrder(QDataStream::LittleEndian);
+	aeroStream.setVersion(QDataStream::Qt_6_0);
+
+	// 气动输入数据包头 (0x0b=从外部输入, 0x04=ATA04, 0x00=气动模型, 0x00=输入数据)
+	quint8 aeroHeader[5] = {0x0b, 0x04, 0x00, 0x00, 0x00};
+	aeroStream << aeroHeader[0] << aeroHeader[1] << aeroHeader[2] << aeroHeader[3] << aeroHeader[4];
+
+	// 气动数据字段
+	aeroStream << (double)5.0;	   // alpha
+	aeroStream << (double)0.5;	   // alpdot
+	aeroStream << (double)1.0;	   // beta
+	aeroStream << (double)10000.0; // press_alt
+	aeroStream << (double)250.0;   // tas
+	aeroStream << (double)0.8;	   // mach
+	aeroStream << (double)0.2;	   // nx
+	aeroStream << (double)0.0;	   // ny
+	aeroStream << (double)1.0;	   // nz
+	aeroStream << (double)0.0;	   // p
+	aeroStream << (double)0.0;	   // q
+	aeroStream << (double)0.0;	   // r
+	aeroStream << (double)12000.0; // qbar
+	aeroStream << (double)0.0;	   // blcg
+	aeroStream << (double)0.0;	   // bscg
+	aeroStream << (double)0.0;	   // wlcg
+	aeroStream << (double)0.0;	   // stab
+
+	// ail_f8 数组，需要10个double
+	for (int i = 0; i < 10; i++) {
+		aeroStream << (double)0.0;
+	}
+
+	// elv_f8 数组，需要4个double
+	for (int i = 0; i < 4; i++) {
+		aeroStream << (double)0.0;
+	}
+
+	// rud_f8 数组，需要2个double
+	for (int i = 0; i < 2; i++) {
+		aeroStream << (double)0.0;
+	}
+
+	// gear_f8 数组，需要7个double
+	for (int i = 0; i < 7; i++) {
+		aeroStream << (double)0.0;
+	}
+
+	// flap_f8 数组，需要10个double
+	for (int i = 0; i < 10; i++) {
+		aeroStream << (double)0.0;
+	}
+
+	// slat_f8 数组，需要20个double
+	for (int i = 0; i < 20; i++) {
+		aeroStream << (double)0.0;
+	}
+
+	// spl_f8 数组，需要20个double
+	for (int i = 0; i < 20; i++) {
+		aeroStream << (double)0.0;
+	}
+
+	// tnet_f8 数组，需要4个double
+	for (int i = 0; i < 4; i++) {
+		aeroStream << (double)20000.0;
+	}
+
+	// kice_f8 数组，需要20个double
+	for (int i = 0; i < 20; i++) {
+		aeroStream << (double)0.0;
+	}
+
+	// alt_agl
+	aeroStream << (double)1000.0;
+
+	// 更新数据包大小，确保不会溢出
+	if (aeroData.size() <= 255) {
+		aeroData[4] = aeroData.size();
+	} else {
+		LOG_WARNING("ATA04DataProcessor::SendUdpTestData: aeroData size exceeds byte limit: %d",
+					aeroData.size());
+		aeroData[4] = 255; // 设置为最大值
+	}
+
+	// 创建地面操作输入(GhInput)数据包
+	QByteArray ghData;
+	QDataStream ghStream(&ghData, QIODevice::WriteOnly);
+	ghStream.setByteOrder(QDataStream::LittleEndian);
+	ghStream.setVersion(QDataStream::Qt_6_0);
+	// 地面操作输入数据包头 (0x0b=从外部输入, 0x04=ATA04, 0x01=地面操作模型, 0x00=输入数据)
+	quint8 ghHeader[5] = {0x0b, 0x04, 0x01, 0x00, 0x00};
+	ghStream << ghHeader[0] << ghHeader[1] << ghHeader[2] << ghHeader[3] << ghHeader[4];
+
+	// 地面操作数据字段
+	ghStream << (quint8)0;	   // frz_l1
+	ghStream << (quint8)0;	   // chocks_l1
+	ghStream << (double)100.0; // alt_agl_f8
+	ghStream << (quint8)0;	   // frzflt_l1
+	ghStream << (double)0.0;   // p_f8
+	ghStream << (double)0.0;   // q_f8
+	ghStream << (double)0.0;   // r_f8
+	ghStream << (double)0.0;   // ug_f8
+	ghStream << (double)0.0;   // vg_f8
+	ghStream << (double)0.0;   // wg_f8
+	ghStream << (double)0.0;   // blcg_f8
+	ghStream << (double)0.0;   // bscg_f8
+	ghStream << (double)0.0;   // wlcg_f8
+	ghStream << (quint8)0;	   // pb_active_l1
+	ghStream << (double)0.0;   // pb_towforce_f8
+
+	// brake_torq_f8 数组 3x2
+	for (int i = 0; i < 3; i++) {
+		for (int j = 0; j < 2; j++) {
+			ghStream << (double)0.0;
+		}
+	}
+
+	// gear_f8 数组，需要3个double
+	for (int i = 0; i < 3; i++) {
+		ghStream << (double)0.0;
+	}
+
+	// 另一个3个double的数组
+	for (int i = 0; i < 3; i++) {
+		ghStream << (double)0.0;
+	}
+
+	// gsteer_f8 数组，需要10个double
+	for (int i = 0; i < 10; i++) {
+		ghStream << (double)0.0;
+	}
+
+	// tire_pres_f8 数组 3x2
+	for (int i = 0; i < 3; i++) {
+		for (int j = 0; j < 2; j++) {
+			ghStream << (double)30.0; // 30 psi的胎压
+		}
+	}
+
+	// 4个double数组
+	for (int i = 0; i < 4; i++) {
+		ghStream << (double)0.0;
+	}
+
+	ghStream << (quint8)0; // onjax_l1
+
+	// contdep_f8 数组，需要7个double
+	for (int i = 0; i < 7; i++) {
+		ghStream << (double)0.0;
+	}
+
+	ghStream << (double)0.0;  // thetag_f8
+	ghStream << (double)0.0;  // phig_f8
+	ghStream << (qint32)0;	  // rwyrgh_i2
+	ghStream << (double)0.0;  // rwyhdg_f8
+	ghStream << (quint8)0;	  // reset_braketemp_l1
+	ghStream << (quint8)0;	  // reset_tirepress_l1
+	ghStream << (double)20.0; // temp_c_f8
+
+	// brake_temp_f8 数组 3x2
+	for (int i = 0; i < 3; i++) {
+		for (int j = 0; j < 2; j++) {
+			ghStream << (double)50.0; // 50度的刹车温度
+		}
+	}
+
+	// tire_tburst_l1 数组 3x2
+	for (int i = 0; i < 3; i++) {
+		for (int j = 0; j < 2; j++) {
+			ghStream << (char)0;
+		}
+	}
+
+	// tire_tflat_l1 数组 3x2
+	for (int i = 0; i < 3; i++) {
+		for (int j = 0; j < 2; j++) {
+			ghStream << (char)0;
+		}
+	}
+
+	ghStream << (quint8)0; // brk_reset_tpres_l1
+
+	// rcon_ci_f8 数组，需要14个double
+	for (int i = 0; i < 14; i++) {
+		ghStream << (double)0.0;
+	}
+
+	ghStream << (qint32)0;	 // gsteer_state_i4
+	ghStream << (quint8)0;	 // trim_active_l1
+	ghStream << (double)0.0; // phi_deg_f8
+	ghStream << (double)0.0; // theta_deg_f8
+	ghStream << (double)0.0; // psi_deg_f8
+	ghStream << (quint8)0;	 // resetint_l1
+
+	// 更新数据包大小，确保不会溢出
+	if (ghData.size() <= 255) {
+		ghData[4] = ghData.size();
+	} else {
+		LOG_WARNING("ATA04DataProcessor::SendUdpTestData: ghData size exceeds byte limit: %d",
+					ghData.size());
+		ghData[4] = 255; // 设置为最大值
+	}
+
+	// 创建重量平衡输入(WbInput)数据包
+	QByteArray wbData;
+	QDataStream wbStream(&wbData, QIODevice::WriteOnly);
+	wbStream.setByteOrder(QDataStream::LittleEndian);
+	wbStream.setVersion(QDataStream::Qt_6_0);
+	// 重量平衡输入数据包头 (0x0b=从外部输入, 0x04=ATA04, 0x02=重量平衡模型, 0x00=输入数据)
+	quint8 wbHeader[5] = {0x0b, 0x04, 0x02, 0x00, 0x00};
+	wbStream << wbHeader[0] << wbHeader[1] << wbHeader[2] << wbHeader[3] << wbHeader[4];
+
+	// 重量平衡数据字段
+	wbStream << (double)0.0;	 // theta_deg_f8
+	wbStream << (double)0.0;	 // phi_deg_f8
+	wbStream << (double)0.0;	 // psi_deg_f8
+	wbStream << (quint8)0;		 // gear_mode_l1
+	wbStream << (double)60000.0; // acset_gw_f8 (60000kg飞机重量)
+	wbStream << (double)25.0;	 // acset_cg_f8 (25%MAC重心位置)
+
+	// acset_tankfuel_f4 数组，需要20个float
+	for (int i = 0; i < 20; i++) {
+		wbStream << (float)(i < 10 ? 1000.0 : 0.0); // 前10个油箱各1000kg
+	}
+
+	wbStream << (double)10000.0; // acset_totfuel_f8 (总油量10000kg)
+	wbStream << (double)50000.0; // acset_zfw_f8 (零油重50000kg)
+	wbStream << (double)24.0;	 // acset_zfwcg_f8 (零油重重心24%MAC)
+
+	// eng_efsep_l1 数组，需要4个char
+	for (int i = 0; i < 4; i++) {
+		wbStream << (char)0;
+	}
+
+	// fuel_f8 数组，需要20个double
+	for (int i = 0; i < 20; i++) {
+		wbStream << (double)(i < 10 ? 1000.0 : 0.0); // 前10个油箱各1000kg
+	}
+
+	wbStream << (double)0.0; // gear_avg_f8
+
+	// kice_f8 数组，需要20个double
+	for (int i = 0; i < 20; i++) {
+		wbStream << (double)0.0;
+	}
+
+	wbStream << (quint8)0;		 // bycglim_l1
+	wbStream << (quint8)0;		 // bygwlim_l1
+	wbStream << (quint8)0;		 // frz_l1
+	wbStream << (quint8)0;		 // zcgfrz_l1
+	wbStream << (quint8)0;		 // zcgfrz_grfx_l1
+	wbStream << (quint8)0;		 // ycgfrz_l1
+	wbStream << (quint8)0;		 // inertfrz_l1
+	wbStream << (double)60000.0; // potreq_gw_f8
+	wbStream << (double)25.0;	 // potreq_gwcg_f8
+
+	// 更新数据包大小，确保不会溢出
+	if (wbData.size() <= 255) {
+		wbData[4] = wbData.size();
+	} else {
+		LOG_WARNING("ATA04DataProcessor::SendUdpTestData: wbData size exceeds byte limit: %d",
+					wbData.size());
+		wbData[4] = 255; // 设置为最大值
+	}
+
+	// 发送测试数据包
+	TriggerRTEvent("SendTestUDPData", QVariant::fromValue(aeroData));
+	TriggerRTEvent("SendTestUDPData", QVariant::fromValue(ghData));
+	TriggerRTEvent("SendTestUDPData", QVariant::fromValue(wbData));
+}
--- a/XNModels/XNATA04DataProcessor/XNATA04DataProcessor.h
+++ b/XNModels/XNATA04DataProcessor/XNATA04DataProcessor.h
@ -59,6 +59,8 @@ private:
 	void SendWbHeartbeat();

 	void SendGhHeartbeat();
+
+	void SendUdpTestData();
 };

 Q_DECLARE_METATYPE(XNATA04DataProcessor)
--- a/XNServices/XNUDPService/XNUDPService.cpp
+++ b/XNServices/XNUDPService/XNUDPService.cpp
@ -89,25 +89,56 @@ void XNUDPService::HandleIncomingData()

 		d->udpSocket->readDatagram(datagram.data(), datagram.size(), &sender, &senderPort);

-		// 处理接收到的数据
-		if (datagram.size() <= 5 || datagram[0] != 0x0b || datagram[4] != datagram.size()) {
-			LOG_WARNING("Invalid UDP datagram received");
+		// 数据包头在第9个位置，直接跳过前9个字节
+		if (datagram.size() <= 9) {
+			LOG_WARNING("Invalid size of UDP datagram received, size:%1", datagram.size());
 			continue;
 		}
-		if (datagram[1] == 0x04) {
-			if (datagram[2] == 0x00 && datagram[3] == 0x00) {
-				TriggerRTEvent("ATA04AeroInput", datagram);
+
+		// 创建一个新的数据包，去除前面的额外头信息
+		QByteArray actualData = datagram.mid(9);
+
+		// 使用处理后的数据
+		quint8 header	= (quint8)actualData[0];
+		quint8 type		= (quint8)actualData[1];
+		quint8 subType1 = (quint8)actualData[2];
+		quint8 subType2 = (quint8)actualData[3];
+		quint8 size		= (quint8)actualData[4];
+
+		// 处理接收到的数据
+		if (actualData.size() <= 5) {
+			LOG_WARNING("Invalid size of UDP datagram received, size:%1", actualData.size());
+			continue;
+		}
+
+		if (header != 0x0b) {
+			LOG_WARNING("Invalid header of UDP datagram received, header:%1", header);
+			continue;
+		}
+
+		//如果数据包大小大于size,则截取size大小的数据
+		if (actualData.size() > size) {
+			actualData = actualData.mid(0, size);
+		} else if (actualData.size() < size) {
+			LOG_WARNING("Invalid size of UDP datagram received, size:%1, expected:%2",
+						actualData.size(), size);
+			continue;
+		}
+
+		if (type == 0x04) {
+			if (subType1 == 0x00 && subType2 == 0x00) {
+				TriggerRTEvent("ATA04AeroInput", actualData);
 				continue;
-			} else if (datagram[2] == 0x01 && datagram[3] == 0x00) {
-				TriggerRTEvent("ATA04GhInput", datagram);
+			} else if (subType1 == 0x01 && subType2 == 0x00) {
+				TriggerRTEvent("ATA04GhInput", actualData);
 				continue;
-			} else if (datagram[2] == 0x02 && datagram[3] == 0x00) {
-				TriggerRTEvent("ATA04WbInput", datagram);
+			} else if (subType1 == 0x02 && subType2 == 0x00) {
+				TriggerRTEvent("ATA04WbInput", actualData);
 				continue;
 			}
 		}
 		// TODO: 根据具体需求处理其它数据
-		TriggerRTEvent("ReceiveUDPData", datagram);
+		TriggerRTEvent("ReceiveUDPData", actualData);
 	}
 }

--- a/XNServices/XNUDPTestService/.vscode/c_cpp_properties.json
+++ b/XNServices/XNUDPTestService/.vscode/c_cpp_properties.json
@ -0,0 +1,9 @@
+{
+    "configurations": [
+    {
+    "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+    "configurationProvider": "ms-vscode.cmake-tools"
+    }
+    ],
+    "version": 4
+}
--- a/XNServices/XNUDPTestService/.vscode/settings.json
+++ b/XNServices/XNUDPTestService/.vscode/settings.json
@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "functional": "cpp"
+    }
+}
--- a/XNServices/XNUDPTestService/CMakeLists.txt
+++ b/XNServices/XNUDPTestService/CMakeLists.txt
@ -0,0 +1,65 @@
+cmake_minimum_required(VERSION 3.16)
+
+project(XNUDPTestService 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)
+
+# 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)
+
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Core Network Xml)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Core Network Xml)
+
+add_library(XNUDPTestService SHARED
+  XNUDPTestService_global.h
+  XNUDPTestService.cpp
+  XNUDPTestService.h
+  XNUDPTestService_p.h
+)
+
+target_link_libraries(XNUDPTestService PRIVATE 
+	Qt${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 ${QT_LIB_DIR} DIRECTORY)
+
+# 设置rpath
+set_target_properties(XNUDPTestService PROPERTIES
+	BUILD_WITH_INSTALL_RPATH TRUE
+	INSTALL_RPATH "${QT_LIB_DIR}"
+)
+
+target_compile_definitions(XNUDPTestService PRIVATE XNUDPSERVICE_LIBRARY)
+
+if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+    set(CMAKE_INSTALL_PREFIX "${XNCore_PATH}/Services" CACHE PATH "Install path prefix" FORCE)
+endif()
+
+include(GNUInstallDirs)
+install(TARGETS XNUDPTestService
+    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 "*.scfg")
+
+# 使用 install 命令在安装时拷贝配置文件
+install(FILES ${CONFIG_FILE} DESTINATION ${CMAKE_INSTALL_PREFIX})
--- a/XNServices/XNUDPTestService/CMakeLists.txt.user
+++ b/XNServices/XNUDPTestService/CMakeLists.txt.user
@ -0,0 +1,424 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE QtCreatorProject>
+<!-- Written by QtCreator 14.0.1, 2025-01-26T10:40:40. -->
+<qtcreator>
+ <data>
+  <variable>EnvironmentId</variable>
+  <value type="QByteArray">{5b958118-2d32-49ab-8eab-9018ac74c7d6}</value>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.ActiveTarget</variable>
+  <value type="qlonglong">0</value>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.EditorSettings</variable>
+  <valuemap type="QVariantMap">
+   <value type="bool" key="EditorConfiguration.AutoIndent">true</value>
+   <value type="bool" key="EditorConfiguration.AutoSpacesForTabs">false</value>
+   <value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
+   <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
+    <value type="QString" key="language">Cpp</value>
+    <valuemap type="QVariantMap" key="value">
+     <value type="QByteArray" key="CurrentPreferences">CppGlobal</value>
+    </valuemap>
+   </valuemap>
+   <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
+    <value type="QString" key="language">QmlJS</value>
+    <valuemap type="QVariantMap" key="value">
+     <value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
+    </valuemap>
+   </valuemap>
+   <value type="qlonglong" key="EditorConfiguration.CodeStyle.Count">2</value>
+   <value type="QByteArray" key="EditorConfiguration.Codec">UTF-8</value>
+   <value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
+   <value type="int" key="EditorConfiguration.IndentSize">4</value>
+   <value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
+   <value type="int" key="EditorConfiguration.MarginColumn">80</value>
+   <value type="bool" key="EditorConfiguration.MouseHiding">true</value>
+   <value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
+   <value type="int" key="EditorConfiguration.PaddingMode">1</value>
+   <value type="int" key="EditorConfiguration.PreferAfterWhitespaceComments">0</value>
+   <value type="bool" key="EditorConfiguration.PreferSingleLineComments">false</value>
+   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
+   <value type="bool" key="EditorConfiguration.ShowMargin">false</value>
+   <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">2</value>
+   <value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
+   <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
+   <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
+   <value type="int" key="EditorConfiguration.TabSize">8</value>
+   <value type="bool" key="EditorConfiguration.UseGlobal">true</value>
+   <value type="bool" key="EditorConfiguration.UseIndenter">false</value>
+   <value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
+   <value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
+   <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
+   <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
+   <value type="QString" key="EditorConfiguration.ignoreFileTypes">*.md, *.MD, Makefile</value>
+   <value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
+   <value type="bool" key="EditorConfiguration.skipTrailingWhitespace">true</value>
+   <value type="bool" key="EditorConfiguration.tintMarginArea">true</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.PluginSettings</variable>
+  <valuemap type="QVariantMap">
+   <valuemap type="QVariantMap" key="AutoTest.ActiveFrameworks">
+    <value type="bool" key="AutoTest.Framework.Boost">true</value>
+    <value type="bool" key="AutoTest.Framework.CTest">false</value>
+    <value type="bool" key="AutoTest.Framework.Catch">true</value>
+    <value type="bool" key="AutoTest.Framework.GTest">true</value>
+    <value type="bool" key="AutoTest.Framework.QtQuickTest">true</value>
+    <value type="bool" key="AutoTest.Framework.QtTest">true</value>
+   </valuemap>
+   <value type="bool" key="AutoTest.ApplyFilter">false</value>
+   <valuemap type="QVariantMap" key="AutoTest.CheckStates"/>
+   <valuelist type="QVariantList" key="AutoTest.PathFilters"/>
+   <value type="int" key="AutoTest.RunAfterBuild">0</value>
+   <value type="bool" key="AutoTest.UseGlobal">true</value>
+   <valuemap type="QVariantMap" key="ClangTools">
+    <value type="bool" key="ClangTools.AnalyzeOpenFiles">true</value>
+    <value type="bool" key="ClangTools.BuildBeforeAnalysis">true</value>
+    <value type="QString" key="ClangTools.DiagnosticConfig">Builtin.DefaultTidyAndClazy</value>
+    <value type="int" key="ClangTools.ParallelJobs">5</value>
+    <value type="bool" key="ClangTools.PreferConfigFile">true</value>
+    <valuelist type="QVariantList" key="ClangTools.SelectedDirs"/>
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+    <value type="QString" key="PerfRecordArgsId">-e cpu-cycles --call-graph dwarf,4096 -F 250</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.CustomExecutableRunConfiguration</value>
+    <value type="QString" key="ProjectExplorer.RunConfiguration.BuildKey"></value>
+    <value type="bool" key="ProjectExplorer.RunConfiguration.Customized">false</value>
+    <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
+    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+   </valuemap>
+   <value type="qlonglong" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.TargetCount</variable>
+  <value type="qlonglong">1</value>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
+  <value type="int">22</value>
+ </data>
+ <data>
+  <variable>Version</variable>
+  <value type="int">22</value>
+ </data>
+</qtcreator>
--- a/XNServices/XNUDPTestService/XNUDPTestService.cpp
+++ b/XNServices/XNUDPTestService/XNUDPTestService.cpp
@ -0,0 +1,135 @@
+#include "XNUDPTestService.h"
+#include "XNUDPTestService_p.h"
+#include <XNCore/XNServiceManager.h>
+#include <XNCore/XNDDSManager.h>
+#include <QFile>
+#include <QDomDocument>
+
+XN_DLL_INITIALIZE(XNUDPTestService)
+
+XN_REGISTER_SERVICE_BEGIN_SERVICE(XNUDPTestService)
+XN_REGISTER_SERVICE_END_SERVICE(XNUDPTestService)
+
+XNUDPTestService::XNUDPTestService(QObject *parent)
+	: XNServiceObject(*new XNUDPTestServicePrivate(this), parent)
+{
+}
+
+XNUDPTestService::~XNUDPTestService()
+{
+}
+
+XNUDPTestService::XNUDPTestService(XNUDPTestServicePrivate &dd, QObject *parent)
+	: XNServiceObject(dd, parent)
+{
+}
+
+void XNUDPTestService::OnInitialize()
+{
+	Q_D(XNUDPTestService);
+	XNServiceObject::OnInitialize();
+
+	// 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());
+		return;
+	}
+
+	QDomDocument doc;
+	if (!doc.setContent(&file)) {
+		file.close();
+		LOG_WARNING("Failed to parse config file:%1", GetXmlPath());
+		return;
+	}
+	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();
+	} else {
+		LOG_WARNING("UDP configuration not found, using default values");
+		d->localPort  = 12345;
+		d->targetHost = "127.0.0.1";
+		d->targetPort = 54321;
+	}
+}
+
+void XNUDPTestService::OnPrepareForExecute()
+{
+	Q_D(XNUDPTestService);
+	XNServiceObject::OnPrepareForExecute();
+
+	// 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);
+		return;
+	}
+
+	// 连接UDP socket的信号
+	connect(d->udpSocket, &QUdpSocket::readyRead, this, &XNUDPTestService::HandleIncomingData);
+
+	RegisterRTEventHandler("SendTestUDPData",
+						   std::bind(&XNUDPTestService::SendData, this, std::placeholders::_1));
+}
+
+void XNUDPTestService::HandleIncomingData()
+{
+	Q_D(XNUDPTestService);
+	return;
+	while (d->udpSocket->hasPendingDatagrams()) {
+		QByteArray datagram;
+		datagram.resize(d->udpSocket->pendingDatagramSize());
+		QHostAddress sender;
+		quint16 senderPort;
+
+		d->udpSocket->readDatagram(datagram.data(), datagram.size(), &sender, &senderPort);
+
+		// 处理接收到的数据
+		if (datagram.size() <= 5 || datagram[0] != 0x0b || datagram[4] != datagram.size()) {
+			LOG_WARNING("Invalid UDP datagram received");
+			continue;
+		}
+		if (datagram[1] == 0x04) {
+			if (datagram[2] == 0x00 && datagram[3] == 0x00) {
+				TriggerRTEvent("ATA04AeroInput", datagram);
+				continue;
+			} else if (datagram[2] == 0x01 && datagram[3] == 0x00) {
+				TriggerRTEvent("ATA04GhInput", datagram);
+				continue;
+			} else if (datagram[2] == 0x02 && datagram[3] == 0x00) {
+				TriggerRTEvent("ATA04WbInput", datagram);
+				continue;
+			}
+		}
+		// TODO: 根据具体需求处理其它数据
+		//TriggerRTEvent("ReceiveUDPData", datagram);
+	}
+}
+
+void XNUDPTestService::SendData(const QVariant &data)
+{
+	Q_D(XNUDPTestService);
+	if (!d->udpSocket) {
+		LOG_WARNING("UDP socket not initialized");
+		return;
+	}
+
+	// 将QVariant转换为字节数组
+	QByteArray datagram;
+	QDataStream stream(&datagram, QIODevice::WriteOnly);
+	stream << data;
+
+	// 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());
+	}
+}
--- a/XNServices/XNUDPTestService/XNUDPTestService.h
+++ b/XNServices/XNUDPTestService/XNUDPTestService.h
@ -0,0 +1,29 @@
+#pragma once
+#include "XNUDPTestService_global.h"
+#include <XNCore/XNServiceObject.h>
+#include <QVariant>
+class XNUDPTestServicePrivate;
+
+class XNUDPTESTSERVICE_EXPORT XNUDPTestService : public XNServiceObject
+{
+	Q_OBJECT
+	Q_DISABLE_COPY(XNUDPTestService)
+	Q_DECLARE_PRIVATE(XNUDPTestService)
+	XN_DECLARE_DDS_SERVICE()
+public:
+	explicit XNUDPTestService(QObject *parent = nullptr);
+	virtual ~XNUDPTestService();
+
+protected:
+	XNUDPTestService(XNUDPTestServicePrivate &dd, QObject *parent = nullptr);
+
+public slots:
+	virtual void OnInitialize() override;
+	virtual void OnPrepareForExecute() override;
+	void HandleIncomingData();
+
+public:
+	void SendData(const QVariant &data);
+};
+
+Q_DECLARE_METATYPE(XNUDPTestService)
--- a/XNServices/XNUDPTestService/XNUDPTestService.scfg
+++ b/XNServices/XNUDPTestService/XNUDPTestService.scfg
@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Service>
+	<Name>XNUDPTestService</Name>
+	<Description>UDP通信服务</Description>
+	<Author>Jin</Author>
+	<Version>1.0.0</Version>
+	<CreateTime>2025-02-04 10:00:00</CreateTime>
+	<ChangeTime>2025-02-04 10:00:00</ChangeTime>
+	<CommandList>
+		<Command Name="TestCmd" Description="Test" Call="TestCall"/>
+	</CommandList>
+	<UDP>
+		<LocalPort>54321</LocalPort>
+		<TargetHost>127.0.0.1</TargetHost>
+		<TargetPort>12345</TargetPort>
+	</UDP>
+</Service>
--- a/XNServices/XNUDPTestService/XNUDPTestService_global.h
+++ b/XNServices/XNUDPTestService/XNUDPTestService_global.h
@ -0,0 +1,12 @@
+#ifndef XNUDPTESTSERVICE_GLOBAL_H
+#define XNUDPTESTSERVICE_GLOBAL_H
+
+#include <QtCore/qglobal.h>
+
+#if defined(XNUDPTESTSERVICE_LIBRARY)
+#	define XNUDPTESTSERVICE_EXPORT Q_DECL_EXPORT
+#else
+#	define XNUDPTESTSERVICE_EXPORT Q_DECL_IMPORT
+#endif
+
+#endif // XNUDPTESTSERVICE_GLOBAL_H
--- a/XNServices/XNUDPTestService/XNUDPTestService_p.h
+++ b/XNServices/XNUDPTestService/XNUDPTestService_p.h
@ -0,0 +1,17 @@
+#pragma once
+#include <XNCore/XNServiceObject_p.h>
+#include <QUdpSocket>
+#include <QString>
+
+class XNUDPTestServicePrivate : public XNServiceObjectPrivate
+{
+public:
+	Q_DECLARE_PUBLIC(XNUDPTestService)
+
+	XNUDPTestServicePrivate(XNUDPTestService *q) : XNServiceObjectPrivate(q) {}
+
+	QUdpSocket *udpSocket{nullptr};
+	QString targetHost;
+	quint16 targetPort{0};
+	quint16 localPort{0};
+};
--- a/XNSimHtml/components/data-monitor.js
+++ b/XNSimHtml/components/data-monitor.js
@ -2,12 +2,225 @@ class DataMonitor extends HTMLElement {
    constructor() {
        super();
        this.attachShadow({ mode: 'open' });
+        this.currentMode = 'udp'; // 默认显示UDP模式
+        this.udpPort = 54321; // 默认UDP端口
+        this.udpIp = '127.0.0.1'; // 默认监听所有接口
+        this.isMonitoring = false; // 监控状态
+        this.udpData = []; // 存储接收到的UDP数据
+        
+        // UDP数据注入默认值
+        this.injectIp = '127.0.0.1';
+        this.injectPort = 12345;
+        this.injectData = '{"message": "测试数据"}';
    }

    connectedCallback() {
        this.render();
    }

+    switchMode(mode) {
+        this.currentMode = mode;
+        this.render();
+    }
+
+    async startMonitoring() {
+        if (this.isMonitoring) return;
+        
+        try {
+            const response = await fetch('/api/udp-monitor/start', {
+                method: 'POST',
+                headers: {
+                    'Content-Type': 'application/json',
+                },
+                body: JSON.stringify({ 
+                    port: this.udpPort,
+                    ip: this.udpIp
+                }),
+            });
+            
+            const data = await response.json();
+            
+            if (data.success) {
+                this.isMonitoring = true;
+                this.updateMonitoringStatus();
+                this.setupDataFetch();
+            } else {
+                this.showError(data.error || '启动监控失败');
+            }
+        } catch (error) {
+            this.showError('无法连接到服务器');
+            console.error('启动UDP监控失败:', error);
+        }
+    }
+
+    async stopMonitoring() {
+        if (!this.isMonitoring) return;
+        
+        try {
+            const response = await fetch('/api/udp-monitor/stop', {
+                method: 'POST',
+            });
+            
+            const data = await response.json();
+            
+            if (data.success) {
+                this.isMonitoring = false;
+                this.updateMonitoringStatus();
+                if (this.dataFetchInterval) {
+                    clearInterval(this.dataFetchInterval);
+                    this.dataFetchInterval = null;
+                }
+            } else {
+                this.showError(data.error || '停止监控失败');
+            }
+        } catch (error) {
+            this.showError('无法连接到服务器');
+            console.error('停止UDP监控失败:', error);
+        }
+    }
+
+    async injectUdpData() {
+        try {
+            // 验证数据格式
+            let parsedData;
+            try {
+                parsedData = JSON.parse(this.injectData);
+            } catch (e) {
+                this.showError('数据格式无效，请输入有效的JSON');
+                return;
+            }
+            
+            const response = await fetch('/api/udp-monitor/inject', {
+                method: 'POST',
+                headers: {
+                    'Content-Type': 'application/json',
+                },
+                body: JSON.stringify({
+                    targetIp: this.injectIp,
+                    targetPort: this.injectPort,
+                    data: parsedData
+                }),
+            });
+            
+            const data = await response.json();
+            
+            if (data.success) {
+                this.showSuccess('数据已成功发送');
+            } else {
+                this.showError(data.error || '发送数据失败');
+            }
+        } catch (error) {
+            this.showError('无法连接到服务器');
+            console.error('发送UDP数据失败:', error);
+        }
+    }
+
+    setupDataFetch() {
+        // 清除可能存在的之前的定时器
+        if (this.dataFetchInterval) {
+            clearInterval(this.dataFetchInterval);
+        }
+        
+        // 每秒拉取一次新数据
+        this.dataFetchInterval = setInterval(async () => {
+            try {
+                const response = await fetch('/api/udp-monitor/data');
+                const data = await response.json();
+                
+                if (data.success && data.data) {
+                    this.updateDataDisplay(data.data);
+                }
+            } catch (error) {
+                console.error('获取UDP数据失败:', error);
+            }
+        }, 1000);
+    }
+
+    updateDataDisplay(newData) {
+        if (!newData || newData.length === 0) return;
+        
+        // 更新数据并限制显示的数据条数
+        this.udpData = [...this.udpData, ...newData].slice(-100);
+        
+        const dataContainer = this.shadowRoot.querySelector('.data-container');
+        if (!dataContainer) return;
+        
+        dataContainer.innerHTML = this.udpData.map(item => {
+            return `<div class="data-item">
+                <span class="timestamp">${new Date(item.timestamp).toLocaleTimeString()}</span>
+                <span class="source">${item.source}</span>
+                <span class="data">${this.formatData(item.data)}</span>
+            </div>`;
+        }).join('');
+        
+        // 自动滚动到底部
+        dataContainer.scrollTop = dataContainer.scrollHeight;
+    }
+    
+    formatData(data) {
+        // 简单显示为字符串，真实实现可能更复杂
+        if (typeof data === 'object') {
+            return JSON.stringify(data);
+        }
+        return data;
+    }
+
+    updateMonitoringStatus() {
+        const statusLabel = this.shadowRoot.querySelector('.status-label');
+        const startButton = this.shadowRoot.querySelector('#start-monitoring');
+        const stopButton = this.shadowRoot.querySelector('#stop-monitoring');
+        const portInput = this.shadowRoot.querySelector('#udp-port');
+        const ipInput = this.shadowRoot.querySelector('#udp-ip');
+        
+        if (statusLabel) {
+            statusLabel.textContent = this.isMonitoring ? '监控中' : '未监控';
+            statusLabel.className = `status-label ${this.isMonitoring ? 'active' : 'inactive'}`;
+        }
+        
+        if (startButton) {
+            startButton.disabled = this.isMonitoring;
+        }
+        
+        if (stopButton) {
+            stopButton.disabled = !this.isMonitoring;
+        }
+        
+        if (portInput) {
+            portInput.disabled = this.isMonitoring;
+        }
+        
+        if (ipInput) {
+            ipInput.disabled = this.isMonitoring;
+        }
+    }
+
+    showError(message) {
+        const errorElement = this.shadowRoot.querySelector('.error-message');
+        if (errorElement) {
+            errorElement.textContent = message;
+            errorElement.style.display = 'block';
+            errorElement.className = 'message-box error-message';
+            
+            // 3秒后自动隐藏错误消息
+            setTimeout(() => {
+                errorElement.style.display = 'none';
+            }, 3000);
+        }
+    }
+    
+    showSuccess(message) {
+        const successElement = this.shadowRoot.querySelector('.success-message');
+        if (successElement) {
+            successElement.textContent = message;
+            successElement.style.display = 'block';
+            
+            // 3秒后自动隐藏成功消息
+            setTimeout(() => {
+                successElement.style.display = 'none';
+            }, 3000);
+        }
+    }
+
    render() {
        this.shadowRoot.innerHTML = `
            <style>
@ -26,30 +239,428 @@ class DataMonitor extends HTMLElement {
                    padding: 16px;
                    height: 100%;
                    box-sizing: border-box;
-                }
-
-                .monitor-header {
                    display: flex;
-                    justify-content: space-between;
-                    align-items: center;
-                    margin-bottom: 20px;
-                    padding-bottom: 10px;
-                    border-bottom: 1px solid #e0e0e0;
+                    flex-direction: column;
                }

-                .monitor-title {
-                    font-size: 18px;
+                .mode-switcher {
+                    display: flex;
+                    gap: 10px;
+                    margin-bottom: 20px;
+                }
+
+                .mode-button {
+                    padding: 8px 16px;
+                    border: none;
+                    border-radius: 4px;
+                    cursor: pointer;
+                    font-size: 14px;
+                    transition: all 0.3s;
+                }
+
+                .mode-button.active {
+                    background-color: #1890ff;
+                    color: white;
                    font-weight: bold;
+                }
+
+                .mode-button:not(.active) {
+                    background-color: #f0f0f0;
                    color: #333;
                }
+
+                .mode-content {
+                    flex-grow: 1;
+                    border: 1px solid #e0e0e0;
+                    border-radius: 4px;
+                    padding: 16px;
+                    display: flex;
+                    flex-direction: column;
+                }
+                
+                .udp-content {
+                    display: flex;
+                    gap: 16px;
+                    height: 100%;
+                }
+                
+                .monitor-section, .inject-section {
+                    flex: 1;
+                    display: flex;
+                    flex-direction: column;
+                    overflow: hidden;
+                }
+                
+                .section-divider {
+                    width: 1px;
+                    background-color: #e0e0e0;
+                    margin: 0 8px;
+                }
+                
+                .section-title {
+                    font-size: 16px;
+                    font-weight: bold;
+                    margin-bottom: 16px;
+                    color: #333;
+                    padding-bottom: 8px;
+                    border-bottom: 1px solid #f0f0f0;
+                }
+                
+                .mode-title {
+                    font-size: 16px;
+                    font-weight: bold;
+                    margin-bottom: 16px;
+                    color: #333;
+                }
+                
+                .placeholder-content {
+                    color: #888;
+                    font-style: italic;
+                }
+                
+                .control-panel {
+                    display: flex;
+                    gap: 10px;
+                    align-items: center;
+                    margin-bottom: 16px;
+                    flex-wrap: wrap;
+                }
+                
+                .port-input, .ip-input {
+                    display: flex;
+                    align-items: center;
+                }
+                
+                .port-input label, .ip-input label {
+                    margin-right: 8px;
+                    font-size: 14px;
+                    white-space: nowrap;
+                }
+                
+                .port-input input, .ip-input input {
+                    padding: 6px 8px;
+                    border: 1px solid #d9d9d9;
+                    border-radius: 4px;
+                    font-size: 14px;
+                }
+                
+                .port-input input {
+                    width: 80px;
+                }
+                
+                .ip-input input {
+                    width: 140px;
+                }
+                
+                .action-button {
+                    padding: 6px 16px;
+                    border: none;
+                    border-radius: 4px;
+                    cursor: pointer;
+                    font-size: 14px;
+                    transition: all 0.2s;
+                }
+                
+                .action-button:disabled {
+                    opacity: 0.5;
+                    cursor: not-allowed;
+                }
+                
+                .start-button {
+                    background-color: #52c41a;
+                    color: white;
+                }
+                
+                .stop-button {
+                    background-color: #f5222d;
+                    color: white;
+                }
+                
+                .inject-button {
+                    background-color: #1890ff;
+                    color: white;
+                }
+                
+                .status-container {
+                    display: flex;
+                    align-items: center;
+                    margin-left: auto;
+                }
+                
+                .status-label {
+                    font-size: 14px;
+                    padding: 4px 8px;
+                    border-radius: 10px;
+                }
+                
+                .status-label.active {
+                    background-color: #e6f7ff;
+                    color: #1890ff;
+                }
+                
+                .status-label.inactive {
+                    background-color: #f5f5f5;
+                    color: #999;
+                }
+                
+                .message-box {
+                    margin-top: 8px;
+                    font-size: 14px;
+                    padding: 8px 12px;
+                    border-radius: 4px;
+                    display: none;
+                }
+                
+                .error-message {
+                    background-color: #fff2f0;
+                    border: 1px solid #ffccc7;
+                    color: #f5222d;
+                }
+                
+                .success-message {
+                    background-color: #f6ffed;
+                    border: 1px solid #b7eb8f;
+                    color: #52c41a;
+                }
+                
+                .data-view {
+                    flex-grow: 1;
+                    margin-top: 16px;
+                    overflow: hidden;
+                    display: flex;
+                    flex-direction: column;
+                }
+                
+                .data-container {
+                    flex-grow: 1;
+                    border: 1px solid #f0f0f0;
+                    border-radius: 4px;
+                    padding: 8px;
+                    overflow-y: auto;
+                    background-color: #fafafa;
+                    font-family: monospace;
+                }
+                
+                .data-item {
+                    padding: 4px 0;
+                    border-bottom: 1px solid #f0f0f0;
+                    display: flex;
+                }
+                
+                .data-item .timestamp {
+                    color: #888;
+                    margin-right: 8px;
+                    min-width: 80px;
+                }
+                
+                .data-item .source {
+                    color: #1890ff;
+                    margin-right: 8px;
+                    min-width: 120px;
+                }
+                
+                .data-item .data {
+                    color: #333;
+                    word-break: break-all;
+                }
+                
+                .data-input {
+                    margin-top: 16px;
+                }
+                
+                .data-input label {
+                    display: block;
+                    margin-bottom: 8px;
+                    font-size: 14px;
+                }
+                
+                .data-input textarea {
+                    width: 100%;
+                    height: 120px;
+                    padding: 8px;
+                    border: 1px solid #d9d9d9;
+                    border-radius: 4px;
+                    resize: vertical;
+                    font-family: monospace;
+                    font-size: 14px;
+                }
+                
+                .inject-actions {
+                    display: flex;
+                    justify-content: flex-end;
+                    margin-top: 16px;
+                }
            </style>
            <div class="monitor-container">
-                <div class="monitor-header">
-                    <div class="monitor-title">数据监控</div>
+                <div class="mode-switcher">
+                    <button class="mode-button ${this.currentMode === 'udp' ? 'active' : ''}" id="udp-mode">UDP监控</button>
+                    <button class="mode-button ${this.currentMode === 'fastdds' ? 'active' : ''}" id="fastdds-mode">FastDDS监控</button>
+                </div>
+                
+                <div class="mode-content">
+                    ${this.currentMode === 'udp' 
+                        ? `<div class="mode-title">UDP数据监控</div>
+                           <div class="udp-content">
+                               <!-- 左侧：UDP数据监控 -->
+                               <div class="monitor-section">
+                                   <div class="section-title">UDP数据监控</div>
+                                   
+                                   <div class="control-panel">
+                                       <div class="ip-input">
+                                           <label for="udp-ip">监听IP:</label>
+                                           <input type="text" id="udp-ip" value="${this.udpIp}" 
+                                                  ${this.isMonitoring ? 'disabled' : ''} placeholder="0.0.0.0">
+                                       </div>
+                                       <div class="port-input">
+                                           <label for="udp-port">监听端口:</label>
+                                           <input type="number" id="udp-port" min="1024" max="65535" value="${this.udpPort}" 
+                                                  ${this.isMonitoring ? 'disabled' : ''}>
+                                       </div>
+                                       <button id="start-monitoring" class="action-button start-button" 
+                                               ${this.isMonitoring ? 'disabled' : ''}>开始监控</button>
+                                       <button id="stop-monitoring" class="action-button stop-button" 
+                                               ${!this.isMonitoring ? 'disabled' : ''}>停止监控</button>
+                                       <div class="status-container">
+                                           <span class="status-label ${this.isMonitoring ? 'active' : 'inactive'}">
+                                               ${this.isMonitoring ? '监控中' : '未监控'}
+                                           </span>
+                                       </div>
+                                   </div>
+                                   
+                                   <div class="message-box error-message"></div>
+                                   
+                                   <div class="data-view">
+                                       <div class="data-container"></div>
+                                   </div>
+                               </div>
+                               
+                               <!-- 分隔线 -->
+                               <div class="section-divider"></div>
+                               
+                               <!-- 右侧：UDP数据注入 -->
+                               <div class="inject-section">
+                                   <div class="section-title">UDP数据注入</div>
+                                   
+                                   <div class="control-panel">
+                                       <div class="ip-input">
+                                           <label for="inject-ip">目标IP:</label>
+                                           <input type="text" id="inject-ip" value="${this.injectIp}" placeholder="127.0.0.1">
+                                       </div>
+                                       <div class="port-input">
+                                           <label for="inject-port">目标端口:</label>
+                                           <input type="number" id="inject-port" min="1024" max="65535" value="${this.injectPort}">
+                                       </div>
+                                   </div>
+                                   
+                                   <div class="data-input">
+                                       <label for="inject-data">数据内容 (JSON格式):</label>
+                                       <textarea id="inject-data">${this.injectData}</textarea>
+                                   </div>
+                                   
+                                   <div class="message-box success-message"></div>
+                                   
+                                   <div class="inject-actions">
+                                       <button id="inject-data-btn" class="action-button inject-button">发送数据</button>
+                                   </div>
+                               </div>
+                           </div>`
+                        : `<div class="mode-title">FastDDS数据监控</div>
+                           <div class="placeholder-content">FastDDS数据监控内容（待实现）</div>`}
                </div>
-                <div>数据监控组件内容（待实现）</div>
            </div>
        `;
+        
+        // 添加切换模式的事件监听
+        this.shadowRoot.getElementById('udp-mode').addEventListener('click', () => this.switchMode('udp'));
+        this.shadowRoot.getElementById('fastdds-mode').addEventListener('click', () => this.switchMode('fastdds'));
+        
+        // 如果是UDP模式，添加控制按钮的事件监听
+        if (this.currentMode === 'udp') {
+            // 监控部分事件监听
+            // IP输入事件
+            const ipInput = this.shadowRoot.getElementById('udp-ip');
+            if (ipInput) {
+                ipInput.addEventListener('change', (e) => {
+                    const value = e.target.value.trim();
+                    // 简单的IP地址验证，可以接受0.0.0.0或具体IP
+                    if (value === '0.0.0.0' || /^(\d{1,3}\.){3}\d{1,3}$/.test(value)) {
+                        this.udpIp = value;
+                    } else {
+                        e.target.value = this.udpIp;
+                        this.showError('请输入有效的IP地址');
+                    }
+                });
+            }
+            
+            // 端口输入事件
+            const portInput = this.shadowRoot.getElementById('udp-port');
+            if (portInput) {
+                portInput.addEventListener('change', (e) => {
+                    const value = parseInt(e.target.value, 10);
+                    if (value >= 1024 && value <= 65535) {
+                        this.udpPort = value;
+                    } else {
+                        e.target.value = this.udpPort;
+                        this.showError('端口号必须在1024-65535之间');
+                    }
+                });
+            }
+            
+            // 开始监控按钮
+            const startButton = this.shadowRoot.getElementById('start-monitoring');
+            if (startButton) {
+                startButton.addEventListener('click', () => this.startMonitoring());
+            }
+            
+            // 停止监控按钮
+            const stopButton = this.shadowRoot.getElementById('stop-monitoring');
+            if (stopButton) {
+                stopButton.addEventListener('click', () => this.stopMonitoring());
+            }
+            
+            // 数据注入部分事件监听
+            // 注入IP输入事件
+            const injectIpInput = this.shadowRoot.getElementById('inject-ip');
+            if (injectIpInput) {
+                injectIpInput.addEventListener('change', (e) => {
+                    const value = e.target.value.trim();
+                    if (/^(\d{1,3}\.){3}\d{1,3}$/.test(value)) {
+                        this.injectIp = value;
+                    } else {
+                        e.target.value = this.injectIp;
+                        this.showError('请输入有效的IP地址');
+                    }
+                });
+            }
+            
+            // 注入端口输入事件
+            const injectPortInput = this.shadowRoot.getElementById('inject-port');
+            if (injectPortInput) {
+                injectPortInput.addEventListener('change', (e) => {
+                    const value = parseInt(e.target.value, 10);
+                    if (value >= 1024 && value <= 65535) {
+                        this.injectPort = value;
+                    } else {
+                        e.target.value = this.injectPort;
+                        this.showError('端口号必须在1024-65535之间');
+                    }
+                });
+            }
+            
+            // 注入数据输入事件
+            const injectDataInput = this.shadowRoot.getElementById('inject-data');
+            if (injectDataInput) {
+                injectDataInput.addEventListener('change', (e) => {
+                    this.injectData = e.target.value;
+                });
+            }
+            
+            // 发送数据按钮
+            const injectButton = this.shadowRoot.getElementById('inject-data-btn');
+            if (injectButton) {
+                injectButton.addEventListener('click', () => this.injectUdpData());
+            }
+        }
    }
 }

--- a/XNSimHtml/routes/udp-monitor.js
+++ b/XNSimHtml/routes/udp-monitor.js
@ -0,0 +1,257 @@
+const express = require('express');
+const router = express.Router();
+const dgram = require('dgram');
+
+// 全局变量存储UDP服务器实例和接收到的数据
+let udpServer = null;
+let udpData = [];
+let isMonitoring = false;
+let currentPort = null;
+let currentIp = null;
+
+// 开始UDP监控
+router.post('/start', (req, res) => {
+    try {
+        const { port, ip } = req.body;
+        
+        // 验证端口参数
+        if (!port || port < 1024 || port > 65535) {
+            return res.status(400).json({
+                success: false,
+                error: '端口号必须在1024-65535之间'
+            });
+        }
+        
+        // 验证IP参数
+        if (!ip) {
+            return res.status(400).json({
+                success: false,
+                error: 'IP地址不能为空'
+            });
+        }
+        
+        // 如果已经在监控，先停止之前的监控
+        if (isMonitoring) {
+            stopUdpServer();
+        }
+        
+        // 创建UDP服务器
+        udpServer = dgram.createSocket('udp4');
+        currentPort = port;
+        currentIp = ip;
+        
+        // 清空之前的数据
+        udpData = [];
+        
+        // 监听错误事件
+        udpServer.on('error', (err) => {
+            console.error(`UDP服务器错误:`, err);
+            isMonitoring = false;
+            udpServer.close();
+            udpServer = null;
+        });
+        
+        // 监听消息事件
+        udpServer.on('message', (msg, rinfo) => {
+            // 将收到的数据添加到数据队列
+            try {
+                let processedData;
+                
+                // 尝试将数据解析为JSON
+                try {
+                    processedData = JSON.parse(msg.toString());
+                } catch (e) {
+                    // 如果不是JSON，则保存为字符串
+                    processedData = msg.toString();
+                }
+                
+                // 将数据添加到队列
+                udpData.push({
+                    timestamp: Date.now(),
+                    source: `${rinfo.address}:${rinfo.port}`,
+                    data: processedData
+                });
+                
+                // 限制数据队列大小，最多保存1000条记录
+                if (udpData.length > 1000) {
+                    udpData = udpData.slice(-1000);
+                }
+                
+            } catch (error) {
+                console.error('处理UDP数据时出错:', error);
+            }
+        });
+        
+        // 监听监听事件
+        udpServer.on('listening', () => {
+            const address = udpServer.address();
+            console.log(`UDP数据监控已启动在 ${address.address}:${address.port}`);
+            isMonitoring = true;
+        });
+        
+        // 绑定IP和端口
+        udpServer.bind(port, ip);
+        
+        res.json({
+            success: true,
+            message: `UDP监控已在 ${ip}:${port} 上启动`
+        });
+        
+    } catch (error) {
+        console.error('启动UDP监控失败:', error);
+        res.status(500).json({
+            success: false,
+            error: '启动UDP监控失败: ' + error.message
+        });
+    }
+});
+
+// 停止UDP监控
+router.post('/stop', (req, res) => {
+    try {
+        if (!isMonitoring) {
+            return res.json({
+                success: true,
+                message: '没有正在运行的UDP监控'
+            });
+        }
+        
+        stopUdpServer();
+        
+        res.json({
+            success: true,
+            message: 'UDP监控已停止'
+        });
+        
+    } catch (error) {
+        console.error('停止UDP监控失败:', error);
+        res.status(500).json({
+            success: false,
+            error: '停止UDP监控失败: ' + error.message
+        });
+    }
+});
+
+// 注入UDP数据
+router.post('/inject', (req, res) => {
+    try {
+        const { targetIp, targetPort, data } = req.body;
+        
+        // 验证参数
+        if (!targetIp) {
+            return res.status(400).json({
+                success: false,
+                error: '目标IP地址不能为空'
+            });
+        }
+        
+        if (!targetPort || targetPort < 1024 || targetPort > 65535) {
+            return res.status(400).json({
+                success: false,
+                error: '目标端口号必须在1024-65535之间'
+            });
+        }
+        
+        if (!data) {
+            return res.status(400).json({
+                success: false,
+                error: '数据内容不能为空'
+            });
+        }
+        
+        // 创建临时UDP客户端
+        const client = dgram.createSocket('udp4');
+        
+        // 将数据对象转换为JSON字符串
+        const message = JSON.stringify(data);
+        
+        // 发送数据
+        client.send(message, targetPort, targetIp, (err) => {
+            // 关闭客户端
+            client.close();
+            
+            if (err) {
+                console.error('发送UDP数据失败:', err);
+                return res.status(500).json({
+                    success: false,
+                    error: '发送UDP数据失败: ' + err.message
+                });
+            }
+            
+            console.log(`已发送UDP数据到 ${targetIp}:${targetPort}`);
+            res.json({
+                success: true,
+                message: `数据已成功发送到 ${targetIp}:${targetPort}`
+            });
+        });
+        
+    } catch (error) {
+        console.error('发送UDP数据失败:', error);
+        res.status(500).json({
+            success: false,
+            error: '发送UDP数据失败: ' + error.message
+        });
+    }
+});
+
+// 获取UDP监控数据
+router.get('/data', (req, res) => {
+    try {
+        // 创建一个新数组来保存返回的数据
+        const dataToSend = [...udpData];
+        
+        // 清空数据队列
+        udpData = [];
+        
+        res.json({
+            success: true,
+            data: dataToSend,
+            isMonitoring,
+            port: currentPort,
+            ip: currentIp
+        });
+        
+    } catch (error) {
+        console.error('获取UDP监控数据失败:', error);
+        res.status(500).json({
+            success: false,
+            error: '获取UDP监控数据失败: ' + error.message
+        });
+    }
+});
+
+// 获取当前监控状态
+router.get('/status', (req, res) => {
+    res.json({
+        success: true,
+        isMonitoring,
+        port: currentPort,
+        ip: currentIp
+    });
+});
+
+// 辅助函数：停止UDP服务器
+function stopUdpServer() {
+    if (udpServer) {
+        try {
+            udpServer.close();
+            console.log('UDP监控已停止');
+        } catch (error) {
+            console.error('关闭UDP服务器时出错:', error);
+        }
+        
+        udpServer = null;
+        isMonitoring = false;
+        currentPort = null;
+        currentIp = null;
+    }
+}
+
+// 当应用程序关闭时，确保UDP服务器也关闭
+process.on('exit', stopUdpServer);
+process.on('SIGINT', () => {
+    stopUdpServer();
+    process.exit(0);
+});
+
+module.exports = router; 
--- a/XNSimHtml/server.js
+++ b/XNSimHtml/server.js
@ -17,6 +17,7 @@ const idlRoutes = require('./routes/idl');
 const projectModelRoutes = require('./routes/project-model');
 const ataChaptersRoutes = require('./routes/model-dev');
 const simulationRoutes = require('./routes/run-simulation');
+const udpMonitorRoutes = require('./routes/udp-monitor');

 const app = express();
 const PORT = process.env.PORT || 3000;
@ -64,6 +65,7 @@ app.use('/api/idl', idlRoutes);
 app.use('/api', projectModelRoutes);
 app.use('/api', ataChaptersRoutes);
 app.use('/api', simulationRoutes);
+app.use('/api/udp-monitor', udpMonitorRoutes);

 // 主页路由
 app.get('/', (req, res) => {
Author	SHA1	Message	Date
jinchao	49f139f508	ignore log	2025-04-28 16:43:26 +08:00
jinchao	3ec47bdc72	增加UDP测试	2025-04-28 16:41:21 +08:00