[2025-04-28 10:22:52.167] [INFO] RT thread bound to CPU 1
[2025-04-28 10:22:52.175] [INFO] XNEventManager Initialize Success!
[2025-04-28 10:22:52.175] [INFO] XNTimeManager Initialize Success!
[2025-04-28 10:22:52.175] [INFO] XNDDSManager Initialize Success!
[2025-04-28 10:22:52.175] [INFO] XNServiceManager Initialize Success!
[2025-04-28 10:22:52.175] [INFO] XNThreadManager Initialize Success!
[2025-04-28 10:22:52.175] [INFO] XNModelManager Initialize Success!
[2025-04-28 10:22:52.175] [INFO] XNFramework Initialize Success!
[2025-04-28 10:22:52.175] [INFO] XNFramework Analyze Scenario Xml ...
[2025-04-28 10:22:52.175] [INFO] Set engine base run frequency to 120 Hz, interval: 8.33333e+06 ns.
[2025-04-28 10:22:52.201] [INFO] Add Thread Success, Frequency: 120 Hz, Interval: 8.33333e+06 ns.
[2025-04-28 10:22:52.202] [INFO] Model [ 10000] register periodic function success! Run node: 0-0 Priority: 99
[2025-04-28 10:22:52.785] [INFO] 0x2163 Model XNAerodynamics loaded algorithm dynamic library /home/jin/Myprj/XNSim/Release/Models/ATA04_SACSCAerodynamics_2.0.3.5H_20241106/libSACSCAerodynamics.so successfully!
[2025-04-28 10:22:52.788] [INFO] Model [ 10001] register periodic function success! Run node: 0-0 Priority: 99
[2025-04-28 10:22:53.489] [INFO] 0x2163 Model XNGroundHandling loaded algorithm dynamic library /home/jin/Myprj/XNSim/Release/Models/ATA04_SACSCGroundHandling_2.0.27.1H_20241106/libSACSCGroundHandling.so successfully!
[2025-04-28 10:22:53.492] [INFO] Model [ 10002] register periodic function success! Run node: 0-0 Priority: 99
[2025-04-28 10:22:54.193] [INFO] 0x2163 Model XNWeightBalance loaded algorithm dynamic library /home/jin/Myprj/XNSim/Release/Models/ATA04_WeightBalance_2.0.14.6H_20241106/libSACSCWeightBalance.so successfully!
[2025-04-28 10:22:54.196] [INFO] Model [ 10003] register periodic function success! Run node: 0-0 Priority: 98
[2025-04-28 10:22:54.196] [INFO] XNFramework Analyze Scenario Xml Success!
[2025-04-28 10:22:54.196] [INFO] XNEngine Initialize Success!
[2025-04-28 10:22:54.196] [INFO] XNEventManager is prepared!
[2025-04-28 10:22:54.196] [INFO] XNTimeManager is prepared!
[2025-04-28 10:22:54.196] [INFO] XNDDSManager is prepared!
[2025-04-28 10:22:54.196] [INFO] XNServiceManager is prepared!
[2025-04-28 10:22:54.196] [INFO] XNThreadManager is preparing...
[2025-04-28 10:22:54.197] [INFO] 0x2133 Create Publisher 5000 for Topic XNSim::XNSimStatus::XNThreadStatus Success!
[2025-04-28 10:22:54.197] [INFO] Thread: 本体模型组 is prepared!
[2025-04-28 10:22:54.197] [INFO] XNThreadManager is prepared!
[2025-04-28 10:22:54.197] [INFO] XNScenarioManager is prepared!
[2025-04-28 10:22:54.198] [INFO] 0x2133 Create Publisher 10000 for Topic XNSim::XNSimStatus::XNModelStatus Success!
[2025-04-28 10:22:54.198] [INFO] 0x2133 Create Publisher 10000 for Topic XNSim::ATA04::Aerodynamics_output Success!
[2025-04-28 10:22:54.199] [INFO] 0x2133 Create Publisher 10000 for Topic XNSim::ATA04::Aerodynamics_heartbeat Success!
[2025-04-28 10:22:54.204] [INFO] 0x2137 Create Subscriber 10000 for Topic XNSim::ATA04::Aerodynamics_input Success!
[2025-04-28 10:22:54.204] [INFO] 0x2133 Create Publisher 10001 for Topic XNSim::XNSimStatus::XNModelStatus Success!
[2025-04-28 10:22:54.205] [INFO] 0x2133 Create Publisher 10001 for Topic XNSim::ATA04::GroundHandling_output Success!
[2025-04-28 10:22:54.205] [INFO] 0x2133 Create Publisher 10001 for Topic XNSim::ATA04::GroundHandling_heartbeat Success!
[2025-04-28 10:22:54.209] [INFO] 0x2137 Create Subscriber 10001 for Topic XNSim::ATA04::GroundHandling_input Success!
[2025-04-28 10:22:54.209] [INFO] 0x2133 Create Publisher 10002 for Topic XNSim::XNSimStatus::XNModelStatus Success!
[2025-04-28 10:22:54.210] [INFO] 0x2133 Create Publisher 10002 for Topic XNSim::ATA04::WeightBalance_output Success!
[2025-04-28 10:22:54.210] [INFO] 0x2133 Create Publisher 10002 for Topic XNSim::ATA04::WeightBalance_heartbeat Success!
[2025-04-28 10:22:54.212] [INFO] 0x2137 Create Subscriber 10002 for Topic XNSim::ATA04::WeightBalance_input Success!
[2025-04-28 10:22:54.212] [INFO] 0x2133 Create Publisher 10003 for Topic XNSim::XNSimStatus::XNModelStatus Success!
[2025-04-28 10:22:54.213] [INFO] 0x2133 Create Publisher 10003 for Topic XNSim::ATA04::Aerodynamics_input Success!
[2025-04-28 10:22:54.213] [INFO] 0x2133 Create Publisher 10003 for Topic XNSim::ATA04::WeightBalance_input Success!
[2025-04-28 10:22:54.213] [INFO] 0x2133 Create Publisher 10003 for Topic XNSim::ATA04::GroundHandling_input Success!
[2025-04-28 10:22:54.215] [INFO] 0x2137 Create Subscriber 10003 for Topic XNSim::ATA04::WeightBalance_output Success!
[2025-04-28 10:22:54.216] [INFO] 0x2137 Create Subscriber 10003 for Topic XNSim::ATA04::GroundHandling_output Success!
[2025-04-28 10:22:54.218] [INFO] 0x2137 Create Subscriber 10003 for Topic XNSim::ATA04::Aerodynamics_output Success!
[2025-04-28 10:22:54.219] [INFO] 0x2137 Create Subscriber 10003 for Topic XNSim::ATA04::Aerodynamics_heartbeat Success!
[2025-04-28 10:22:54.221] [INFO] 0x2137 Create Subscriber 10003 for Topic XNSim::ATA04::WeightBalance_heartbeat Success!
[2025-04-28 10:22:54.223] [INFO] 0x2137 Create Subscriber 10003 for Topic XNSim::ATA04::GroundHandling_heartbeat Success!
[2025-04-28 10:22:54.223] [INFO] Registered async event handler for event: ATA04AeroInput, handler ID: 655556609 (object: 10003, local: 1)
[2025-04-28 10:22:54.223] [INFO] Registered async event handler for event: ATA04WbInput, handler ID: 655556610 (object: 10003, local: 2)
[2025-04-28 10:22:54.223] [INFO] Registered async event handler for event: ATA04GhInput, handler ID: 655556611 (object: 10003, local: 3)
[2025-04-28 10:22:54.223] [INFO] XNModelManager is prepared!
[2025-04-28 10:22:54.223] [INFO] XNCore is prepared for execute! Simulation will start soon...
[2025-04-28 10:22:54.223] [INFO] 0x2133 Create Publisher 0 for Topic XNSim::XNSimStatus::XNEngineStatus Success!
[2025-04-28 10:22:54.225] [INFO] 0x2137 Create Subscriber 0 for Topic XNSim::XNSimControl::XNRuntimeControl Success!
[2025-04-28 10:22:54.225] [INFO] XNSim Start!
[2025-04-28 10:22:54.225] [INFO] Thread: 本体模型组 Start!
[2025-04-28 10:22:54.225] [INFO] Registered async event handler for event: SendUDPData, handler ID: 1310720004 (object: 20000, local: 4)