[2025-04-28 10:22:32.461] [INFO] RT thread bound to CPU 1
[2025-04-28 10:22:32.470] [INFO] XNEventManager Initialize Success!
[2025-04-28 10:22:32.470] [INFO] XNTimeManager Initialize Success!
[2025-04-28 10:22:32.470] [INFO] XNDDSManager Initialize Success!
[2025-04-28 10:22:32.470] [INFO] XNServiceManager Initialize Success!
[2025-04-28 10:22:32.470] [INFO] XNThreadManager Initialize Success!
[2025-04-28 10:22:32.470] [INFO] XNModelManager Initialize Success!
[2025-04-28 10:22:32.470] [INFO] XNFramework Initialize Success!
[2025-04-28 10:22:32.470] [INFO] XNFramework Analyze Scenario Xml ...
[2025-04-28 10:22:32.470] [INFO] Set engine base run frequency to 120 Hz, interval: 8.33333e+06 ns.
[2025-04-28 10:22:32.494] [INFO] Add Thread Success, Frequency: 120 Hz, Interval: 8.33333e+06 ns.
[2025-04-28 10:22:32.495] [INFO] Model [ 10000] register periodic function success! Run node: 0-0 Priority: 99
[2025-04-28 10:22:33.119] [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 10:22:33.122] [INFO] Model [ 10001] register periodic function success! Run node: 0-0 Priority: 99
[2025-04-28 10:22:33.745] [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 10:22:33.747] [INFO] Model [ 10002] register periodic function success! Run node: 0-0 Priority: 99
[2025-04-28 10:22:34.345] [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 10:22:34.347] [INFO] Model [ 10003] register periodic function success! Run node: 0-0 Priority: 98
[2025-04-28 10:22:34.347] [INFO] XNFramework Analyze Scenario Xml Success!
[2025-04-28 10:22:34.347] [INFO] XNEngine Initialize Success!
[2025-04-28 10:22:34.347] [INFO] XNEventManager is prepared!
[2025-04-28 10:22:34.347] [INFO] XNTimeManager is prepared!
[2025-04-28 10:22:34.347] [INFO] XNDDSManager is prepared!
[2025-04-28 10:22:34.347] [INFO] XNServiceManager is prepared!
[2025-04-28 10:22:34.347] [INFO] XNThreadManager is preparing...
[2025-04-28 10:22:34.348] [INFO] 0x2133 Create Publisher 5000 for Topic XNSim::XNSimStatus::XNThreadStatus Success!
[2025-04-28 10:22:34.348] [INFO] Thread: 本体模型组 is prepared!
[2025-04-28 10:22:34.348] [INFO] XNThreadManager is prepared!
[2025-04-28 10:22:34.348] [INFO] XNScenarioManager is prepared!
[2025-04-28 10:22:34.349] [INFO] 0x2133 Create Publisher 10000 for Topic XNSim::XNSimStatus::XNModelStatus Success!
[2025-04-28 10:22:34.349] [INFO] 0x2133 Create Publisher 10000 for Topic XNSim::ATA04::Aerodynamics_output Success!
[2025-04-28 10:22:34.350] [INFO] 0x2133 Create Publisher 10000 for Topic XNSim::ATA04::Aerodynamics_heartbeat Success!
[2025-04-28 10:22:34.354] [INFO] 0x2137 Create Subscriber 10000 for Topic XNSim::ATA04::Aerodynamics_input Success!
[2025-04-28 10:22:34.355] [INFO] 0x2133 Create Publisher 10001 for Topic XNSim::XNSimStatus::XNModelStatus Success!
[2025-04-28 10:22:34.355] [INFO] 0x2133 Create Publisher 10001 for Topic XNSim::ATA04::GroundHandling_output Success!
[2025-04-28 10:22:34.356] [INFO] 0x2133 Create Publisher 10001 for Topic XNSim::ATA04::GroundHandling_heartbeat Success!
[2025-04-28 10:22:34.360] [INFO] 0x2137 Create Subscriber 10001 for Topic XNSim::ATA04::GroundHandling_input Success!
[2025-04-28 10:22:34.360] [INFO] 0x2133 Create Publisher 10002 for Topic XNSim::XNSimStatus::XNModelStatus Success!
[2025-04-28 10:22:34.361] [INFO] 0x2133 Create Publisher 10002 for Topic XNSim::ATA04::WeightBalance_output Success!
[2025-04-28 10:22:34.361] [INFO] 0x2133 Create Publisher 10002 for Topic XNSim::ATA04::WeightBalance_heartbeat Success!
[2025-04-28 10:22:34.363] [INFO] 0x2137 Create Subscriber 10002 for Topic XNSim::ATA04::WeightBalance_input Success!
[2025-04-28 10:22:34.363] [INFO] 0x2133 Create Publisher 10003 for Topic XNSim::XNSimStatus::XNModelStatus Success!
[2025-04-28 10:22:34.364] [INFO] 0x2133 Create Publisher 10003 for Topic XNSim::ATA04::Aerodynamics_input Success!
[2025-04-28 10:22:34.364] [INFO] 0x2133 Create Publisher 10003 for Topic XNSim::ATA04::WeightBalance_input Success!
[2025-04-28 10:22:34.364] [INFO] 0x2133 Create Publisher 10003 for Topic XNSim::ATA04::GroundHandling_input Success!
[2025-04-28 10:22:34.366] [INFO] 0x2137 Create Subscriber 10003 for Topic XNSim::ATA04::WeightBalance_output Success!
[2025-04-28 10:22:34.368] [INFO] 0x2137 Create Subscriber 10003 for Topic XNSim::ATA04::GroundHandling_output Success!
[2025-04-28 10:22:34.369] [INFO] 0x2137 Create Subscriber 10003 for Topic XNSim::ATA04::Aerodynamics_output Success!
[2025-04-28 10:22:34.370] [INFO] 0x2137 Create Subscriber 10003 for Topic XNSim::ATA04::Aerodynamics_heartbeat Success!
[2025-04-28 10:22:34.372] [INFO] 0x2137 Create Subscriber 10003 for Topic XNSim::ATA04::WeightBalance_heartbeat Success!
[2025-04-28 10:22:34.374] [INFO] 0x2137 Create Subscriber 10003 for Topic XNSim::ATA04::GroundHandling_heartbeat Success!
[2025-04-28 10:22:34.374] [INFO] Registered async event handler for event: ATA04AeroInput, handler ID: 655556609 (object: 10003, local: 1)
[2025-04-28 10:22:34.374] [INFO] Registered async event handler for event: ATA04WbInput, handler ID: 655556610 (object: 10003, local: 2)
[2025-04-28 10:22:34.374] [INFO] Registered async event handler for event: ATA04GhInput, handler ID: 655556611 (object: 10003, local: 3)
[2025-04-28 10:22:34.374] [INFO] XNModelManager is prepared!
[2025-04-28 10:22:34.374] [INFO] XNCore is prepared for execute! Simulation will start soon...
[2025-04-28 10:22:34.374] [INFO] 0x2133 Create Publisher 0 for Topic XNSim::XNSimStatus::XNEngineStatus Success!
[2025-04-28 10:22:34.376] [INFO] 0x2137 Create Subscriber 0 for Topic XNSim::XNSimControl::XNRuntimeControl Success!
[2025-04-28 10:22:34.376] [INFO] XNSim Start!
[2025-04-28 10:22:34.377] [INFO] Thread: 本体模型组 Start!
[2025-04-28 10:22:34.377] [INFO] Registered async event handler for event: SendUDPData, handler ID: 1310720004 (object: 20000, local: 4)