#include "XNATA04DataProcessor.h"
#include "XNATA04DataProcessor_p.h"
#include <XNCore/XNModelManager.h>
#include <XNCore/XNDDSManager.h>
#include <QMutexLocker>
#include <iostream>

XN_DLL_INITIALIZE(XNATA04DataProcessor)
XN_REGISTER_PARTICIPANT_BEGIN(XNATA04DataProcessor)
XN_PUBLISHTOPIC(XNSim::ATA04::Aerodynamics_input)
XN_PUBLISHTOPIC(XNSim::ATA04::WeightBalance_input)
XN_PUBLISHTOPIC(XNSim::ATA04::GroundHandling_input)
XN_SUBSCRIBETOPIC(XNSim::ATA04::WeightBalance_output, &XNATA04DataProcessor::OnWbOutput)
XN_SUBSCRIBETOPIC(XNSim::ATA04::GroundHandling_output, &XNATA04DataProcessor::OnGhOutput)
XN_SUBSCRIBETOPIC(XNSim::ATA04::Aerodynamics_output, &XNATA04DataProcessor::OnAeroOutput)
XN_SUBSCRIBETOPIC(XNSim::ATA04::Aerodynamics_heartbeat, &XNATA04DataProcessor::OnAeroHeartbeat)
XN_SUBSCRIBETOPIC(XNSim::ATA04::WeightBalance_heartbeat, &XNATA04DataProcessor::OnWbHeartbeat)
XN_SUBSCRIBETOPIC(XNSim::ATA04::GroundHandling_heartbeat, &XNATA04DataProcessor::OnGhHeartbeat)
XN_REGISTER_PARTICIPANT_END(XNATA04DataProcessor)

XNATA04DataProcessor::XNATA04DataProcessor(QObject *parent)
	: XNModelObject(*new XNATA04DataProcessorPrivate(this), parent)
{
}

XNATA04DataProcessor::~XNATA04DataProcessor()
{
}

XNATA04DataProcessor::XNATA04DataProcessor(XNATA04DataProcessorPrivate &dd, QObject *parent)
	: XNModelObject(dd, parent)
{
}

void XNATA04DataProcessor::OnInitialize()
{
	Q_D(XNATA04DataProcessor);
	XNModelObject::OnInitialize();
}

void XNATA04DataProcessor::OnPrepareForExecute()
{
	Q_D(XNATA04DataProcessor);
	XNModelObject::OnPrepareForExecute();
	RegisterRTEventHandler("ATA04AeroInput", std::bind(&XNATA04DataProcessor::OnAeroInput, this,
													   std::placeholders::_1));
	RegisterRTEventHandler(
		"ATA04WbInput", std::bind(&XNATA04DataProcessor::OnWbInput, this, std::placeholders::_1));
	RegisterRTEventHandler(
		"ATA04GhInput", std::bind(&XNATA04DataProcessor::OnGhInput, this, std::placeholders::_1));
}

void XNATA04DataProcessor::StepUpdate()
{
	Q_D(XNATA04DataProcessor);
	XNModelObject::StepUpdate();
	SendUdpData();
	SendUdpTestData();
}

void XNATA04DataProcessor::SendUdpData()
{
	Q_D(XNATA04DataProcessor);
	SendAeroOutput();
	SendWbOutput();
	SendGhOutput();
	SendAeroHeartbeat();
	SendWbHeartbeat();
	SendGhHeartbeat();
}

void XNATA04DataProcessor::SendAeroOutput()
{
	Q_D(XNATA04DataProcessor);
	QMutexLocker locker(&d->_aeroOutputMutex);
	QByteArray outputData;
	QDataStream outputStream(&outputData, QIODevice::WriteOnly);
	outputStream.setByteOrder(QDataStream::LittleEndian);
	quint8 header[6] = {0x0a, 0x04, 0x00, 0x01, 0x00, 0x00}; // 最后两个字节用于大小
	outputStream << header[0] << header[1] << header[2] << header[3] << header[4] << header[5];
	//outputData.append(getQByteArray(d->_aeroOutput.l_04_o_aerocomac_fxb_f8()));
	if (d->_aeroOutput.l_04_o_aerocomac_fxb_f8()) {
		outputStream << d->_aeroOutput.l_04_o_aerocomac_fxb_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_aeroOutput.l_04_o_aerocomac_fyb_f8()) {
		outputStream << d->_aeroOutput.l_04_o_aerocomac_fyb_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_aeroOutput.l_04_o_aerocomac_fzb_f8()) {
		outputStream << d->_aeroOutput.l_04_o_aerocomac_fzb_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_aeroOutput.l_04_o_aerocomac_mxb_f8()) {
		outputStream << d->_aeroOutput.l_04_o_aerocomac_mxb_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_aeroOutput.l_04_o_aerocomac_myb_f8()) {
		outputStream << d->_aeroOutput.l_04_o_aerocomac_myb_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_aeroOutput.l_04_o_aerocomac_mzb_f8()) {
		outputStream << d->_aeroOutput.l_04_o_aerocomac_mzb_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_aeroOutput.l_04_o_aerocomac_cls_f8()) {
		outputStream << d->_aeroOutput.l_04_o_aerocomac_cls_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_aeroOutput.l_04_o_aerocomac_cl_f8()) {
		outputStream << d->_aeroOutput.l_04_o_aerocomac_cl_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_aeroOutput.l_04_o_aerocomac_cd_f8()) {
		outputStream << d->_aeroOutput.l_04_o_aerocomac_cd_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_aeroOutput.l_04_o_aerocomac_cm_f8()) {
		outputStream << d->_aeroOutput.l_04_o_aerocomac_cm_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_aeroOutput.l_04_o_aerocomac_cr_f8()) {
		outputStream << d->_aeroOutput.l_04_o_aerocomac_cr_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_aeroOutput.l_04_o_aerocomac_cy_f8()) {
		outputStream << d->_aeroOutput.l_04_o_aerocomac_cy_f8().value();
	} else {
		outputStream << (double)0;
	}

	if (d->_aeroOutput.l_04_o_aerocomac_cn_f8()) {
		outputStream << d->_aeroOutput.l_04_o_aerocomac_cn_f8().value();
	} else {
		outputStream << (double)0;
	}
	// 更新数据包大小（使用两个字节）
	auto size	  = outputData.size();
	outputData[4] = (size >> 8) & 0xFF; // 高字节
	outputData[5] = size & 0xFF;		// 低字节

	TriggerRTEvent("SendUDPData", QVariant::fromValue(outputData));
}

void XNATA04DataProcessor::SendGhOutput()
{
	Q_D(XNATA04DataProcessor);
	QMutexLocker locker(&d->_ghOutputMutex);
	QByteArray outputData;
	QDataStream outputStream(&outputData, QIODevice::WriteOnly);
	outputStream.setByteOrder(QDataStream::LittleEndian);
	quint8 header[6] = {0x0a, 0x04, 0x01, 0x01, 0x00, 0x00}; // 最后两个字节用于大小
	outputStream << header[0] << header[1] << header[2] << header[3] << header[4] << header[5];
	if (d->_ghOutput.l_04_o_gdcomac_frz_l1()) {
		outputStream << d->_ghOutput.l_04_o_gdcomac_frz_l1().value();
	} else {
		outputStream << (quint8)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_ac_on_ground_l1()) {
		outputStream << d->_ghOutput.l_04_o_gdcomac_ac_on_ground_l1().value();
	} else {
		outputStream << (quint8)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_ac_stationary_f8()) {
		outputStream << d->_ghOutput.l_04_o_gdcomac_ac_stationary_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_alt_tire_f8()) {
		outputStream << d->_ghOutput.l_04_o_gdcomac_alt_tire_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_zcg_to_tire_f8()) {
		outputStream << d->_ghOutput.l_04_o_gdcomac_zcg_to_tire_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_fxb_f8()) {
		outputStream << d->_ghOutput.l_04_o_gdcomac_fxb_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_fyb_f8()) {
		outputStream << d->_ghOutput.l_04_o_gdcomac_fyb_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_fzb_f8()) {
		outputStream << d->_ghOutput.l_04_o_gdcomac_fzb_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_mxb_f8()) {
		outputStream << d->_ghOutput.l_04_o_gdcomac_mxb_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_myb_f8()) {
		outputStream << d->_ghOutput.l_04_o_gdcomac_myb_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_mzb_f8()) {
		outputStream << d->_ghOutput.l_04_o_gdcomac_mzb_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_fygs_f8()) {
		for (int i = 0; i < 3; i++) {
			outputStream << d->_ghOutput.l_04_o_gdcomac_fygs_f8().value()[i];
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_mzgs_f8()) {
		for (int i = 0; i < 3; i++) {
			outputStream << d->_ghOutput.l_04_o_gdcomac_mzgs_f8().value()[i];
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_mu_f8()) {
		for (int i = 0; i < 3; i++) {
			outputStream << d->_ghOutput.l_04_o_gdcomac_mu_f8().value()[i];
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_dstroke_f8()) {
		for (int i = 0; i < 3; i++) {
			outputStream << d->_ghOutput.l_04_o_gdcomac_dstroke_f8().value()[i];
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_sr_f8()) {
		for (int i = 0; i < 3; i++) {
			for (int j = 0; j < 2; j++) {
				outputStream << d->_ghOutput.l_04_o_gdcomac_sr_f8().value()[i][j];
			}
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_sy_f8()) {
		for (int i = 0; i < 3; i++) {
			for (int j = 0; j < 2; j++) {
				outputStream << d->_ghOutput.l_04_o_gdcomac_sy_f8().value()[i][j];
			}
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_sx_f8()) {
		for (int i = 0; i < 3; i++) {
			for (int j = 0; j < 2; j++) {
				outputStream << d->_ghOutput.l_04_o_gdcomac_sx_f8().value()[i][j];
			}
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_xft_f8()) {
		for (int i = 0; i < 3; i++) {
			outputStream << d->_ghOutput.l_04_o_gdcomac_xft_f8().value()[i];
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_yft_f8()) {
		for (int i = 0; i < 3; i++) {
			outputStream << d->_ghOutput.l_04_o_gdcomac_yft_f8().value()[i];
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_zft_f8()) {
		for (int i = 0; i < 3; i++) {
			outputStream << d->_ghOutput.l_04_o_gdcomac_zft_f8().value()[i];
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_distngrxcg_f8()) {
		outputStream << d->_ghOutput.l_04_o_gdcomac_distngrxcg_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_distmgrxcg_f8()) {
		outputStream << d->_ghOutput.l_04_o_gdcomac_distmgrxcg_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_distmgrzcg_f8()) {
		outputStream << d->_ghOutput.l_04_o_gdcomac_distmgrzcg_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_tire_vel_f8()) {
		for (int i = 0; i < 3; i++) {
			for (int j = 0; j < 2; j++) {
				outputStream << d->_ghOutput.l_04_o_gdcomac_tire_vel_f8().value()[i][j];
			}
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_tire_temp_f8()) {
		for (int i = 0; i < 3; i++) {
			for (int j = 0; j < 2; j++) {
				outputStream << d->_ghOutput.l_04_o_gdcomac_tire_temp_f8().value()[i][j];
			}
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_tire_burst_l1()) {
		for (int i = 0; i < 3; i++) {
			for (int j = 0; j < 2; j++) {
				outputStream << d->_ghOutput.l_04_o_gdcomac_tire_burst_l1().value()[i][j];
			}
		}
	} else {
		outputStream << (quint8)0 << (quint8)0 << (quint8)0 << (quint8)0 << (quint8)0 << (quint8)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_wow_l1()) {
		outputStream << d->_ghOutput.l_04_o_gdcomac_wow_l1().value();
	} else {
		outputStream << (quint8)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_utirew_f8()) {
		for (int i = 0; i < 3; i++) {
			for (int j = 0; j < 2; j++) {
				outputStream << d->_ghOutput.l_04_o_gdcomac_utirew_f8().value()[i][j];
			}
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_vtirew_f8()) {
		for (int i = 0; i < 3; i++) {
			for (int j = 0; j < 2; j++) {
				outputStream << d->_ghOutput.l_04_o_gdcomac_vtirew_f8().value()[i][j];
			}
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_whl_omega_f8()) {
		for (int i = 0; i < 3; i++) {
			for (int j = 0; j < 2; j++) {
				outputStream << d->_ghOutput.l_04_o_gdcomac_whl_omega_f8().value()[i][j];
			}
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_dstruc_f8()) {
		for (int i = 0; i < 6; i++) {
			outputStream << d->_ghOutput.l_04_o_gdcomac_dstruc_f8().value()[i];
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_nd_f8()) {
		for (int i = 0; i < 3; i++) {
			outputStream << d->_ghOutput.l_04_o_gdcomac_nd_f8().value()[i];
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_wor_par_f8()) {
		for (int i = 0; i < 3; i++) {
			outputStream << d->_ghOutput.l_04_o_gdcomac_wor_par_f8().value()[i];
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0;
	}
	if (d->_ghOutput.l_04_o_gdcomac_vczt_f8()) {
		for (int i = 0; i < 3; i++) {
			for (int j = 0; j < 2; j++) {
				outputStream << d->_ghOutput.l_04_o_gdcomac_vczt_f8().value()[i][j];
			}
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0 << (double)0 << (double)0 << (double)0;
	}
	// 更新数据包大小（使用两个字节）
	auto size	  = outputData.size();
	outputData[4] = (size >> 8) & 0xFF; // 高字节
	outputData[5] = size & 0xFF;		// 低字节

	TriggerRTEvent("SendUDPData", QVariant::fromValue(outputData));
}

void XNATA04DataProcessor::SendWbOutput()
{
	Q_D(XNATA04DataProcessor);
	QMutexLocker locker(&d->_wbOutputMutex);
	QByteArray outputData;
	QDataStream outputStream(&outputData, QIODevice::WriteOnly);
	outputStream.setByteOrder(QDataStream::LittleEndian);
	quint8 header[6] = {0x0a, 0x04, 0x02, 0x01, 0x00, 0x00}; // 最后两个字节用于大小
	outputStream << header[0] << header[1] << header[2] << header[3] << header[4] << header[5];
	if (d->_wbOutput.l_04_o_wbcomac_gw_f4()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_gw_f4().value();
	} else {
		outputStream << (float)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_cg_f4()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_cg_f4().value();
	} else {
		outputStream << (float)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_xcg_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_xcg_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_blcg_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_blcg_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_bscg_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_bscg_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_wlcg_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_wlcg_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_ixx_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_ixx_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_iyy_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_iyy_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_izz_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_izz_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_ixy_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_ixy_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_ixz_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_ixz_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_iyz_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_iyz_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_zfw_f4()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_zfw_f4().value();
	} else {
		outputStream << (float)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_zfwcg_f4()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_zfwcg_f4().value();
	} else {
		outputStream << (float)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_zfw_blcg_f4()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_zfw_blcg_f4().value();
	} else {
		outputStream << (float)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_zfw_wlcg_f4()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_zfw_wlcg_f4().value();
	} else {
		outputStream << (float)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_fuel_cmd_f8()) {
		for (int i = 0; i < 3; i++) {
			outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_cmd_f8().value()[i];
		}
	} else {
		outputStream << (double)0 << (double)0 << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_fuel_mode_i4()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_mode_i4().value();
	} else {
		outputStream << (int)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_fuel_ixx_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_ixx_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_fuel_ixy_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_ixy_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_fuel_ixz_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_ixz_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_fuel_iyy_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_iyy_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_fuel_iyz_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_iyz_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_fuel_izz_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_fuel_izz_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_l_wt_fuel_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_l_wt_fuel_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_ice_airframe_total_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_airframe_total_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_ice_eng_f8()) {
		for (int i = 0; i < 2; i++) {
			outputStream << d->_wbOutput.l_04_o_wbcomac_ice_eng_f8().value()[i];
		}
	} else {
		outputStream << (double)0 << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_ice_eng_total_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_eng_total_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_ice_fuselage_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_fuselage_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_ice_stab_left_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_stab_left_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_ice_stab_right_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_stab_right_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_ice_stab_total_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_stab_total_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_ice_total_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_total_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_ice_total_frac_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_total_frac_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_ice_vert_tail_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_vert_tail_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_ice_wing_left_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_wing_left_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_ice_wing_right_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_wing_right_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_ice_wing_total_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_ice_wing_total_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_frz_l1()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_frz_l1().value();
	} else {
		outputStream << (quint8)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_zcgfrz_l1()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_zcgfrz_l1().value();
	} else {
		outputStream << (quint8)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_zcgfrz_grfx_l1()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_zcgfrz_grfx_l1().value();
	} else {
		outputStream << (quint8)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_ycgfrz_l1()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_ycgfrz_l1().value();
	} else {
		outputStream << (quint8)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_inertfrz_l1()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_inertfrz_l1().value();
	} else {
		outputStream << (quint8)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_init_l1()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_init_l1().value();
	} else {
		outputStream << (quint8)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_min_gw_f4()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_min_gw_f4().value();
	} else {
		outputStream << (float)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_max_gw_f4()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_max_gw_f4().value();
	} else {
		outputStream << (float)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_min_cg_f4()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_min_cg_f4().value();
	} else {
		outputStream << (float)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_max_cg_f4()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_max_cg_f4().value();
	} else {
		outputStream << (float)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_min_zfw_f4()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_min_zfw_f4().value();
	} else {
		outputStream << (float)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_max_zfw_f4()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_max_zfw_f4().value();
	} else {
		outputStream << (float)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_min_zfwcg_f4()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_min_zfwcg_f4().value();
	} else {
		outputStream << (float)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_max_zfwcg_f4()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_max_zfwcg_f4().value();
	} else {
		outputStream << (float)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_potmin_gw_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_potmin_gw_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_potmax_gw_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_potmax_gw_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_potmin_gwcg_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_potmin_gwcg_f8().value();
	} else {
		outputStream << (double)0;
	}
	if (d->_wbOutput.l_04_o_wbcomac_potmax_gwcg_f8()) {
		outputStream << d->_wbOutput.l_04_o_wbcomac_potmax_gwcg_f8().value();
	} else {
		outputStream << (double)0;
	}
	// 更新数据包大小（使用两个字节）
	auto size	  = outputData.size();
	outputData[4] = (size >> 8) & 0xFF; // 高字节
	outputData[5] = size & 0xFF;		// 低字节

	TriggerRTEvent("SendUDPData", QVariant::fromValue(outputData));
}

void XNATA04DataProcessor::SendAeroHeartbeat()
{
	Q_D(XNATA04DataProcessor);
	QMutexLocker locker(&d->_aeroHeartbeatMutex);
	QByteArray heartbeatData;
	QDataStream heartbeatStream(&heartbeatData, QIODevice::WriteOnly);
	heartbeatStream.setByteOrder(QDataStream::LittleEndian);
	quint8 header[6] = {0x0a, 0x04, 0x00, 0x02, 0x00, 0x00}; // 最后两个字节用于大小
	heartbeatStream << header[0] << header[1] << header[2] << header[3] << header[4] << header[5];
	heartbeatStream << d->_aeroHeartbeat.aero_model_heartbeat();
	// 更新数据包大小（使用两个字节）
	auto size		 = heartbeatData.size();
	heartbeatData[4] = (size >> 8) & 0xFF; // 高字节
	heartbeatData[5] = size & 0xFF;		   // 低字节

	TriggerRTEvent("SendUDPData", QVariant::fromValue(heartbeatData));
}

void XNATA04DataProcessor::SendGhHeartbeat()
{
	Q_D(XNATA04DataProcessor);
	QMutexLocker locker(&d->_ghHeartbeatMutex);
	QByteArray heartbeatData;
	QDataStream heartbeatStream(&heartbeatData, QIODevice::WriteOnly);
	heartbeatStream.setByteOrder(QDataStream::LittleEndian);
	quint8 header[6] = {0x0a, 0x04, 0x01, 0x02, 0x00, 0x00}; // 最后两个字节用于大小
	heartbeatStream << header[0] << header[1] << header[2] << header[3] << header[4] << header[5];
	heartbeatStream << d->_ghHeartbeat.groundhandling_model_heartbeat();
	// 更新数据包大小（使用两个字节）
	auto size		 = heartbeatData.size();
	heartbeatData[4] = (size >> 8) & 0xFF; // 高字节
	heartbeatData[5] = size & 0xFF;		   // 低字节

	TriggerRTEvent("SendUDPData", QVariant::fromValue(heartbeatData));
}

void XNATA04DataProcessor::SendWbHeartbeat()
{
	Q_D(XNATA04DataProcessor);
	QMutexLocker locker(&d->_wbHeartbeatMutex);
	QByteArray heartbeatData;
	QDataStream heartbeatStream(&heartbeatData, QIODevice::WriteOnly);
	heartbeatStream.setByteOrder(QDataStream::LittleEndian);
	quint8 header[6] = {0x0a, 0x04, 0x02, 0x02, 0x00, 0x00}; // 最后两个字节用于大小
	heartbeatStream << header[0] << header[1] << header[2] << header[3] << header[4] << header[5];
	heartbeatStream << d->_wbHeartbeat.weightbody_model_heartbeat();
	// 更新数据包大小（使用两个字节）
	auto size		 = heartbeatData.size();
	heartbeatData[4] = (size >> 8) & 0xFF; // 高字节
	heartbeatData[5] = size & 0xFF;		   // 低字节

	TriggerRTEvent("SendUDPData", QVariant::fromValue(heartbeatData));
}

void XNATA04DataProcessor::OnWbInput(const QVariant &data)
{
	Q_D(XNATA04DataProcessor);
	QByteArray inputData = data.toByteArray();

	// 检查数据包头
	if (inputData[0] != 0x0b || inputData[1] != 0x04 || inputData[2] != 0x02
		|| inputData[3] != 0x00) {
		LOG_WARNING("ATA04DataProcessor::OnWbInput: invalid input data header");
		return;
	}

	// 读取两个字节的大小字段
	quint16 size = ((quint16)(quint8)inputData[4] << 8) | (quint16)(quint8)inputData[5];
	if (size != inputData.size()) {
		LOG_WARNING(
			"ATA04DataProcessor::OnWbInput: invalid data size. Expected %d bytes, got %d bytes",
			size, inputData.size());
		return;
	}

	QDataStream inputStream(&inputData, QIODevice::ReadOnly);
	inputStream.setByteOrder(QDataStream::LittleEndian);
	inputStream.setVersion(QDataStream::Qt_6_0);

	// 跳过6字节的头
	for (int i = 0; i < 6; i++) {
		char tmp;
		inputStream >> tmp;
	}

	QMutexLocker locker(&d->_wbInputMutex);
	double dTmp;
	inputStream >> dTmp;
	d->_wbInput.l_04_i_wbcomac_theta_deg_f8(dTmp);
	inputStream >> dTmp;
	d->_wbInput.l_04_i_wbcomac_phi_deg_f8(dTmp);
	inputStream >> dTmp;
	d->_wbInput.l_04_i_wbcomac_psi_deg_f8(dTmp);
	quint8 ucTmp;
	inputStream >> ucTmp;
	d->_wbInput.l_04_i_wbcomac_gear_mode_l1(ucTmp);
	inputStream >> dTmp;
	d->_wbInput.l_04_i_wbcomac_acset_gw_f8(dTmp);
	inputStream >> dTmp;
	d->_wbInput.l_04_i_wbcomac_acset_cg_f8(dTmp);
	std::array<float, 20> farray20;
	for (int i = 0; i < 20; i++) {
		inputStream >> farray20[i];
	}
	d->_wbInput.l_04_i_wbcomac_acset_tankfuel_f4(farray20);
	inputStream >> dTmp;
	d->_wbInput.l_04_i_wbcomac_acset_totfuel_f8(dTmp);
	inputStream >> dTmp;
	d->_wbInput.l_04_i_wbcomac_acset_zfw_f8(dTmp);
	inputStream >> dTmp;
	d->_wbInput.l_04_i_wbcomac_acset_zfwcg_f8(dTmp);
	std::array<char, 4> ucarray4;
	for (int i = 0; i < 4; i++) {
		inputStream >> ucarray4[i];
	}
	d->_wbInput.l_04_i_wbcomac_eng_efsep_l1(ucarray4);
	std::array<double, 20> darray20;
	for (int i = 0; i < 20; i++) {
		inputStream >> darray20[i];
	}
	d->_wbInput.l_04_i_wbcomac_fuel_f8(darray20);
	inputStream >> dTmp;
	d->_wbInput.l_04_i_wbcomac_gear_avg_f8(dTmp);
	for (int i = 0; i < 20; i++) {
		inputStream >> darray20[i];
	}
	d->_wbInput.l_04_i_wbcomac_kice_f8(darray20);
	inputStream >> ucTmp;
	d->_wbInput.l_04_i_wbcomac_bycglim_l1(ucTmp);
	inputStream >> ucTmp;
	d->_wbInput.l_04_i_wbcomac_bygwlim_l1(ucTmp);
	inputStream >> ucTmp;
	d->_wbInput.l_04_i_wbcomac_frz_l1(ucTmp);
	inputStream >> ucTmp;
	d->_wbInput.l_04_i_wbcomac_zcgfrz_l1(ucTmp);
	inputStream >> ucTmp;
	d->_wbInput.l_04_i_wbcomac_zcgfrz_grfx_l1(ucTmp);
	inputStream >> ucTmp;
	d->_wbInput.l_04_i_wbcomac_ycgfrz_l1(ucTmp);
	inputStream >> ucTmp;
	d->_wbInput.l_04_i_wbcomac_inertfrz_l1(ucTmp);
	inputStream >> dTmp;
	d->_wbInput.l_04_i_wbcomac_potreq_gw_f8(dTmp);
	inputStream >> dTmp;
	d->_wbInput.l_04_i_wbcomac_potreq_gwcg_f8(dTmp);
	d->_dataWriters["XNSim::ATA04::WeightBalance_input"]->write(&d->_wbInput);
}

void XNATA04DataProcessor::OnGhInput(const QVariant &data)
{
	Q_D(XNATA04DataProcessor);
	QByteArray inputData = data.toByteArray();

	// 检查数据包头
	if (inputData[0] != 0x0b || inputData[1] != 0x04 || inputData[2] != 0x01
		|| inputData[3] != 0x00) {
		LOG_WARNING("ATA04DataProcessor::OnGhInput: invalid input data header");
		return;
	}

	// 读取两个字节的大小字段
	quint16 size = ((quint16)(quint8)inputData[4] << 8) | (quint16)(quint8)inputData[5];
	if (size != inputData.size()) {
		LOG_WARNING(
			"ATA04DataProcessor::OnGhInput: invalid data size. Expected %d bytes, got %d bytes",
			size, inputData.size());
		return;
	}

	QDataStream inputStream(&inputData, QIODevice::ReadOnly);
	inputStream.setByteOrder(QDataStream::LittleEndian);
	inputStream.setVersion(QDataStream::Qt_6_0);

	// 跳过6字节的头
	for (int i = 0; i < 6; i++) {
		char tmp;
		inputStream >> tmp;
	}

	QMutexLocker locker(&d->_ghInputMutex);
	quint8 uchartmp;
	inputStream >> uchartmp;
	d->_ghInput.l_04_i_gdcomac_frz_l1(uchartmp);
	inputStream >> uchartmp;
	d->_ghInput.l_04_i_gdcomac_chocks_l1(uchartmp);
	double doubleTmp;
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_alt_agl_f8(doubleTmp);
	inputStream >> uchartmp;
	d->_ghInput.l_04_i_gdcomac_frzflt_l1(uchartmp);
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_p_f8(doubleTmp);
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_q_f8(doubleTmp);
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_r_f8(doubleTmp);
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_ug_f8(doubleTmp);
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_vg_f8(doubleTmp);
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_wg_f8(doubleTmp);
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_blcg_f8(doubleTmp);
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_bscg_f8(doubleTmp);
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_wlcg_f8(doubleTmp);
	inputStream >> uchartmp;
	d->_ghInput.l_04_i_gdcomac_pb_active_l1(uchartmp);
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_pb_towforce_f8(doubleTmp);
	std::array<std::array<double, 2>, 3> tmpArray32;
	for (int i = 0; i < 3; i++) {
		for (int j = 0; j < 2; j++) {
			inputStream >> tmpArray32[i][j];
		}
	}
	d->_ghInput.l_04_i_gdcomac_brake_torq_f8(tmpArray32);
	std::array<double, 3> tmpArray3;
	for (int i = 0; i < 3; i++) {
		inputStream >> tmpArray3[i];
	}
	d->_ghInput.l_04_i_gdcomac_gear_f8(tmpArray3);
	for (int i = 0; i < 3; i++) {
		inputStream >> tmpArray3[i];
	}
	std::array<double, 10> tmpArray10;
	for (int i = 0; i < 10; i++) {
		inputStream >> tmpArray10[i];
	}
	d->_ghInput.l_04_i_gdcomac_gsteer_f8(tmpArray10);
	for (int i = 0; i < 3; i++) {
		for (int j = 0; j < 2; j++) {
			inputStream >> tmpArray32[i][j];
		}
	}
	d->_ghInput.l_04_i_gdcomac_tire_pres_f8(tmpArray32);
	std::array<double, 4> tmpArray4;
	for (int i = 0; i < 4; i++) {
		inputStream >> tmpArray4[i];
	}
	inputStream >> uchartmp;
	d->_ghInput.l_04_i_gdcomac_onjax_l1(uchartmp);
	std::array<double, 7> tmpArray7;
	for (int i = 0; i < 7; i++) {
		inputStream >> tmpArray7[i];
	}
	d->_ghInput.l_04_i_gdcomac_contdep_f8(tmpArray7);
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_thetag_f8(doubleTmp);
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_phig_f8(doubleTmp);
	qint32 intTmp;
	inputStream >> intTmp;
	d->_ghInput.l_04_i_gdcomac_rwyrgh_i2(intTmp);
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_rwyhdg_f8(doubleTmp);
	inputStream >> uchartmp;
	d->_ghInput.l_04_i_gdcomac_reset_braketemp_l1(uchartmp);
	inputStream >> uchartmp;
	d->_ghInput.l_04_i_gdcomac_reset_tirepress_l1(uchartmp);
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_temp_c_f8(doubleTmp);
	for (int i = 0; i < 3; i++) {
		for (int j = 0; j < 2; j++) {
			inputStream >> tmpArray32[i][j];
		}
	}
	d->_ghInput.l_04_i_gdcomac_brake_temp_f8(tmpArray32);
	std::array<std::array<char, 2>, 3> tmpArray322;
	for (int i = 0; i < 3; i++) {
		for (int j = 0; j < 2; j++) {
			inputStream >> tmpArray322[i][j];
		}
	}
	d->_ghInput.l_04_i_gdcomac_tire_tburst_l1(tmpArray322);
	for (int i = 0; i < 3; i++) {
		for (int j = 0; j < 2; j++) {
			inputStream >> tmpArray322[i][j];
		}
	}
	d->_ghInput.l_04_i_gdcomac_tire_tflat_l1(tmpArray322);
	inputStream >> uchartmp;
	d->_ghInput.l_04_i_gdcomac_brk_reset_tpres_l1(uchartmp);
	std::array<double, 14> tmpArray14;
	for (int i = 0; i < 14; i++) {
		inputStream >> tmpArray14[i];
	}
	d->_ghInput.l_04_i_gdcomac_rcon_ci_f8(tmpArray14);
	inputStream >> intTmp;
	d->_ghInput.l_04_i_gdcomac_gsteer_state_i4(intTmp);
	inputStream >> uchartmp;
	d->_ghInput.l_04_i_gdcomac_trim_active_l1(uchartmp);
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_phi_deg_f8(doubleTmp);
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_theta_deg_f8(doubleTmp);
	inputStream >> doubleTmp;
	d->_ghInput.l_04_i_gdcomac_psi_deg_f8(doubleTmp);
	inputStream >> uchartmp;
	d->_ghInput.l_04_i_gdcomac_resetint_l1(uchartmp);
	d->_dataWriters["XNSim::ATA04::GroundHandling_input"]->write(&d->_ghInput);
}

void XNATA04DataProcessor::OnAeroInput(const QVariant &data)
{
	Q_D(XNATA04DataProcessor);
	QByteArray inputData = data.toByteArray();

	// 现在我们知道数据包确实以0b 04 00开头
	if (inputData[0] != 0x0b || inputData[1] != 0x04 || inputData[2] != 0x00
		|| inputData[3] != 0x00) {
		LOG_WARNING("ATA04DataProcessor::OnAeroInput: invalid input data");
		return;
	}

	// 读取两个字节的大小字段
	quint16 size = ((quint16)(quint8)inputData[4] << 8) | (quint16)(quint8)inputData[5];
	if (size != inputData.size()) {
		LOG_WARNING(
			"ATA04DataProcessor::OnAeroInput: invalid data size. Expected %1 bytes, got %2 bytes",
			size, inputData.size());
		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6字节的头
	for (int i = 0; i < 6; i++) {
		char tmp;
		inputStream >> tmp;
	}

	QMutexLocker locker(&d->_aeroInputMutex);

	// 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);

		// ail_f8 (10个double)
		std::array<double, 10> ailArray;
		for (int i = 0; i < 10; i++) {
			inputStream >> ailArray[i];
		}
		d->_aeroInput.l_04_i_aerocomac_ail_f8(ailArray);

		// elv_f8 (4个double)
		std::array<double, 4> elvArray;
		for (int i = 0; i < 4; i++) {
			inputStream >> elvArray[i];
		}
		d->_aeroInput.l_04_i_aerocomac_elv_f8(elvArray);

		// rud_f8 (2个double)
		std::array<double, 2> rudArray;
		for (int i = 0; i < 2; i++) {
			inputStream >> rudArray[i];
		}
		d->_aeroInput.l_04_i_aerocomac_rud_f8(rudArray);

		// gear_f8 (7个double)
		std::array<double, 7> gearArray;
		for (int i = 0; i < 7; i++) {
			inputStream >> gearArray[i];
		}
		d->_aeroInput.l_04_i_aerocomac_gear_f8(gearArray);

		// flap_f8 (10个double)
		std::array<double, 10> flapArray;
		for (int i = 0; i < 10; i++) {
			inputStream >> flapArray[i];
		}
		d->_aeroInput.l_04_i_aerocomac_flap_f8(flapArray);

		// slat_f8 (20个double)
		std::array<double, 20> slatArray;
		for (int i = 0; i < 20; i++) {
			inputStream >> slatArray[i];
		}
		d->_aeroInput.l_04_i_aerocomac_slat_f8(slatArray);

		// spl_f8 (20个double)
		std::array<double, 20> splArray;
		for (int i = 0; i < 20; i++) {
			inputStream >> splArray[i];
		}
		d->_aeroInput.l_04_i_aerocomac_spl_f8(splArray);

		// tnet_f8 (4个double)
		std::array<double, 4> tnetArray;
		for (int i = 0; i < 4; i++) {
			inputStream >> tnetArray[i];
		}
		d->_aeroInput.l_04_i_aerocomac_tnet_f8(tnetArray);

		// kice_f8 (20个double)
		std::array<double, 20> kiceArray;
		for (int i = 0; i < 20; i++) {
			inputStream >> kiceArray[i];
		}
		d->_aeroInput.l_04_i_aerocomac_kice_f8(kiceArray);

		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;
	}
}

void XNATA04DataProcessor::OnWbOutput(const XNSim::ATA04::WeightBalance_output &input)
{
	Q_D(XNATA04DataProcessor);
	QMutexLocker locker(&d->_wbOutputMutex);
	d->_wbOutput = input;
}

void XNATA04DataProcessor::OnGhOutput(const XNSim::ATA04::GroundHandling_output &input)
{
	Q_D(XNATA04DataProcessor);
	QMutexLocker locker(&d->_ghOutputMutex);
	d->_ghOutput = input;
}

void XNATA04DataProcessor::OnAeroOutput(const XNSim::ATA04::Aerodynamics_output &input)
{
	Q_D(XNATA04DataProcessor);
	QMutexLocker locker(&d->_aeroOutputMutex);
	d->_aeroOutput = input;
}

void XNATA04DataProcessor::OnAeroHeartbeat(const XNSim::ATA04::Aerodynamics_heartbeat &input)
{
	Q_D(XNATA04DataProcessor);
	QMutexLocker locker(&d->_aeroHeartbeatMutex);
	d->_aeroHeartbeat = input;
}

void XNATA04DataProcessor::OnWbHeartbeat(const XNSim::ATA04::WeightBalance_heartbeat &input)
{
	Q_D(XNATA04DataProcessor);
	QMutexLocker locker(&d->_wbHeartbeatMutex);
	d->_wbHeartbeat = input;
}

void XNATA04DataProcessor::OnGhHeartbeat(const XNSim::ATA04::GroundHandling_heartbeat &input)
{
	Q_D(XNATA04DataProcessor);
	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[6] = {0x0b, 0x04, 0x00, 0x00, 0x00, 0x00}; // 最后两个字节用于大小
	aeroStream << aeroHeader[0] << aeroHeader[1] << aeroHeader[2] << aeroHeader[3] << aeroHeader[4]
			   << aeroHeader[5];

	// 气动数据字段
	aeroStream << (double)-2.0;	   // alpha
	aeroStream << (double)0.0;	   // alpdot
	aeroStream << (double)0.0;	   // beta
	aeroStream << (double)10000.0; // press_alt
	aeroStream << (double)360.0;   // tas
	aeroStream << (double)0.3;	   // mach
	aeroStream << (double)0.0;	   // 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)110.0;   // qbar
	aeroStream << (double)0.0;	   // blcg
	aeroStream << (double)650.0;   // bscg
	aeroStream << (double)7.0;	   // wlcg
	aeroStream << (double)-2.0;	   // 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)1.0;
	}

	// flap_f8 数组，需要10个double
	for (int i = 0; i < 10; i++) {
		aeroStream << (double)41.5;
	}

	// slat_f8 数组，需要20个double
	for (int i = 0; i < 20; i++) {
		aeroStream << (double)20.855;
	}

	// 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)8000.0;
	}

	// kice_f8 数组，需要20个double
	for (int i = 0; i < 20; i++) {
		aeroStream << (double)0.0;
	}

	// alt_agl
	aeroStream << (double)2500.0;

	// 更新数据包大小（使用两个字节）
	quint16 size = aeroData.size();
	aeroData[4]	 = (size >> 8) & 0xFF; // 高字节
	aeroData[5]	 = size & 0xFF;		   // 低字节

	// 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[6] = {0x0b, 0x04, 0x01, 0x00, 0x00, 0x00}; // 最后两个字节用于大小
	ghStream << ghHeader[0] << ghHeader[1] << ghHeader[2] << ghHeader[3] << ghHeader[4]
			 << ghHeader[5];

	// 地面操作数据字段
	ghStream << (quint8)0;	   // frz_l1
	ghStream << (quint8)0;	   // chocks_l1
	ghStream << (double)8.0;   // 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)50.0;  // ug_f8
	ghStream << (double)0.0;   // vg_f8
	ghStream << (double)0.0;   // wg_f8
	ghStream << (double)0.0;   // blcg_f8
	ghStream << (double)649.3; // bscg_f8
	ghStream << (double)10.0;  // 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)1.0;
	}

	// 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++) {
			if (i == 0) {
				ghStream << (double)98.0; // 98 kpa的胎压
			} else {
				ghStream << (double)140.0; // 140 kpa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
	ghStream << (double)1.0;
	for (int i = 1; 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)16.0; // 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)16.0; // 16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
	ghStream << (double)1.0;
	for (int i = 1; i < 14; i++) {
		ghStream << (double)0.0;
	}

	ghStream << (qint32)2;	 // gsteer_state_i4
	ghStream << (quint8)1;	 // 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)1;	 // resetint_l1

	// 更新数据包大小（使用两个字节）
	size	  = ghData.size();
	ghData[4] = (size >> 8) & 0xFF; // 高字节
	ghData[5] = size & 0xFF;		// 低字节

	// 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[6] = {0x0b, 0x04, 0x02, 0x00, 0x00, 0x00}; // 最后两个字节用于大小
	wbStream << wbHeader[0] << wbHeader[1] << wbHeader[2] << wbHeader[3] << wbHeader[4]
			 << wbHeader[5];

	// 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)82574.0; // acset_gw_f8 (60000kg飞机重量)
	wbStream << (double)0.1215;	 // 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 << (double)(i < 2 ? 4541.0 : 0.0); // 前2个油箱各4541kg
	}

	wbStream << (double)9082.0;	 // acset_totfuel_f8 (总油量9082kg)
	wbStream << (double)73492.0; // acset_zfw_f8 (零油重73492kg)
	wbStream << (double)0.12;	 // 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 < 2 ? 4541.0 : 0.0); // 前2个油箱各4541kg
	}

	wbStream << (double)1.0; // 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)1;		 // bycglim_l1
	wbStream << (quint8)1;		 // 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)80000.0; // potreq_gw_f8
	wbStream << (double)0.2;	 // potreq_gwcg_f8

	// 更新数据包大小（使用两个字节）
	size	  = wbData.size();
	wbData[4] = (size >> 8) & 0xFF; // 高字节
	wbData[5] = size & 0xFF;		// 低字节

	// 发送测试数据包
	TriggerRTEvent("SendTestUDPData", QVariant::fromValue(aeroData));
	TriggerRTEvent("SendTestUDPData", QVariant::fromValue(ghData));
	TriggerRTEvent("SendTestUDPData", QVariant::fromValue(wbData));
}