[2025-04-28 09:42:49.342] [INFO] RT thread bound to CPU 1
[2025-04-28 09:42:49.351] [INFO] XNEventManager Initialize Success!
[2025-04-28 09:42:49.351] [INFO] XNTimeManager Initialize Success!
[2025-04-28 09:42:49.351] [INFO] XNDDSManager Initialize Success!
[2025-04-28 09:42:49.351] [INFO] XNServiceManager Initialize Success!
[2025-04-28 09:42:49.351] [INFO] XNThreadManager Initialize Success!
[2025-04-28 09:42:49.351] [INFO] XNModelManager Initialize Success!
[2025-04-28 09:42:49.351] [INFO] XNFramework Initialize Success!
[2025-04-28 09:42:49.351] [INFO] XNFramework Analyze Scenario Xml ...
[2025-04-28 09:42:49.352] [INFO] Set engine base run frequency to 120 Hz, interval: 8.33333e+06 ns.
[2025-04-28 09:42:49.380] [INFO] Add Thread Success, Frequency: 120 Hz, Interval: 8.33333e+06 ns.
[2025-04-28 09:42:49.380] [WARNING] 0x2172 Model XNAerodynamics Dynamic link library loading failed! Error: Cannot load library /home/jin/Myprj/XNSim/Release/Models/libXNAerodynamics.so: libSACSCAerodynamics.so: 无法打开共享对象文件: 没有那个文件或目录
[2025-04-28 09:42:49.381] [INFO] Model [ 10000] register periodic function success! Run node: 0-0 Priority: 98
[2025-04-28 09:42:49.381] [INFO] XNFramework Analyze Scenario Xml Success!
[2025-04-28 09:42:49.381] [INFO] XNEngine Initialize Success!
[2025-04-28 09:42:49.381] [INFO] XNEventManager is prepared!
[2025-04-28 09:42:49.381] [INFO] XNTimeManager is prepared!
[2025-04-28 09:42:49.381] [INFO] XNDDSManager is prepared!
[2025-04-28 09:42:49.381] [INFO] XNServiceManager is prepared!
[2025-04-28 09:42:49.381] [INFO] XNThreadManager is preparing...
[2025-04-28 09:42:49.381] [INFO] 0x2133 Create Publisher 5000 for Topic XNSim::XNSimStatus::XNThreadStatus Success!
[2025-04-28 09:42:49.381] [INFO] Thread: 本体模型组 is prepared!
[2025-04-28 09:42:49.381] [INFO] XNThreadManager is prepared!
[2025-04-28 09:42:49.381] [INFO] XNScenarioManager is prepared!
[2025-04-28 09:42:49.382] [INFO] 0x2133 Create Publisher 10000 for Topic XNSim::XNSimStatus::XNModelStatus Success!
[2025-04-28 09:42:49.382] [INFO] 0x2133 Create Publisher 10000 for Topic XNSim::ATA04::Aerodynamics_input Success!
[2025-04-28 09:42:49.382] [INFO] 0x2133 Create Publisher 10000 for Topic XNSim::ATA04::WeightBalance_input Success!
[2025-04-28 09:42:49.382] [INFO] 0x2133 Create Publisher 10000 for Topic XNSim::ATA04::GroundHandling_input Success!
[2025-04-28 09:42:49.384] [INFO] 0x2137 Create Subscriber 10000 for Topic XNSim::ATA04::WeightBalance_output Success!
[2025-04-28 09:42:49.387] [INFO] 0x2137 Create Subscriber 10000 for Topic XNSim::ATA04::GroundHandling_output Success!
[2025-04-28 09:42:49.388] [INFO] 0x2137 Create Subscriber 10000 for Topic XNSim::ATA04::Aerodynamics_output Success!
[2025-04-28 09:42:49.390] [INFO] 0x2137 Create Subscriber 10000 for Topic XNSim::ATA04::Aerodynamics_heartbeat Success!
[2025-04-28 09:42:49.392] [INFO] 0x2137 Create Subscriber 10000 for Topic XNSim::ATA04::WeightBalance_heartbeat Success!
[2025-04-28 09:42:49.395] [INFO] 0x2137 Create Subscriber 10000 for Topic XNSim::ATA04::GroundHandling_heartbeat Success!
[2025-04-28 09:42:49.395] [INFO] Registered async event handler for event: ATA04AeroInput, handler ID: 655360001 (object: 10000, local: 1)
[2025-04-28 09:42:49.395] [INFO] Registered async event handler for event: ATA04WbInput, handler ID: 655360002 (object: 10000, local: 2)
[2025-04-28 09:42:49.395] [INFO] Registered async event handler for event: ATA04GhInput, handler ID: 655360003 (object: 10000, local: 3)
[2025-04-28 09:42:49.395] [INFO] XNModelManager is prepared!
[2025-04-28 09:42:49.395] [INFO] XNCore is prepared for execute! Simulation will start soon...
[2025-04-28 09:42:49.395] [INFO] 0x2133 Create Publisher 0 for Topic XNSim::XNSimStatus::XNEngineStatus Success!
[2025-04-28 09:42:49.397] [INFO] 0x2137 Create Subscriber 0 for Topic XNSim::XNSimControl::XNRuntimeControl Success!
[2025-04-28 09:42:49.397] [INFO] XNSim Start!
[2025-04-28 09:42:49.397] [INFO] Thread: 本体模型组 Start!
[2025-04-28 09:42:49.397] [INFO] Registered async event handler for event: SendUDPData, handler ID: 1310720004 (object: 20000, local: 4)