#include "GroundHandling_heartbeat.hpp"

namespace XNSim::C909::ATA04
{
GroundHandling_heartbeat_Interface::GroundHandling_heartbeat_Interface()
{
	MAP_DATA_FUNC(groundhandling_model_heartbeat);
	this->header[0] = 0xa6; // XNSim头，0xa6
	this->header[1] = 0xc0; // 机型头，0xc0表示C909
	this->header[2] = 0x04; // 章节头，0x04表示ATA04
	this->header[3] = 0x01; // 模型头，0x01表示GroundHandling
	this->header[4] = 0x02; // 结构体头，0x02表示心跳结构体
	this->header[5] = 0x00; // 数据方向，0x00表示外部输入
	this->header[6] = 0x00; // 数据大小
	this->header[7] = 0x00; // 数据大小
}

GroundHandling_heartbeat_Interface::~GroundHandling_heartbeat_Interface()
{
}

void GroundHandling_heartbeat_Interface::Initialize(XNFrameworkPtr framework, uint32_t modelId,
													uint32_t DDS_type)
{
	auto ddsManager = framework->GetDDSManager();
	if (!ddsManager) {
		LOG_ERROR("DDSManager is nullptr");
		return;
	}
	if (DDS_type == 0) { // 读取与发送都进行
		dataWriter =
			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
				"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId);
		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
			"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId,
			std::bind(&GroundHandling_heartbeat_Interface::heartbeatListener, this,
					  std::placeholders::_1));
	} else if (DDS_type == 1) { // 只读取
		ddsManager->RegisterSubscriber<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
			"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId,
			std::bind(&GroundHandling_heartbeat_Interface::heartbeatListener, this,
					  std::placeholders::_1));
	} else if (DDS_type == 2) { // 只发送
		dataWriter =
			ddsManager->RegisterPublisher<XNSim::C909::ATA04::GroundHandling_heartbeatPubSubType>(
				"XNSim::C909::ATA04::GroundHandling_heartbeat", modelId);
	}
}

void GroundHandling_heartbeat_Interface::clearOutData()
{
	this->out_data = XNSim::C909::ATA04::GroundHandling_heartbeat();
}

void GroundHandling_heartbeat_Interface::sendOutData()
{
	dataWriter->write(&this->out_data);
}

void GroundHandling_heartbeat_Interface::heartbeatListener(
	const XNSim::C909::ATA04::GroundHandling_heartbeat &heartbeat)
{
	this->data = heartbeat;
}
} // namespace XNSim::C909::ATA04