401 lines
13 KiB
C++
401 lines
13 KiB
C++
#pragma once
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#include "XNFramework.h"
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#include "XNDDSManager.h"
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#include "XNByteArray.h"
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#include "XNTypeTraits.h"
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#include <stdexcept>
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// 定义UDP包的最大大小
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constexpr size_t MAX_UDP_PACKET_SIZE = 40000;
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class XNDDSInterface
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{
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public:
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XNDDSInterface() = default;
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virtual ~XNDDSInterface() = default;
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public:
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/**
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* @brief 初始化
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* @param framework: 框架
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*/
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virtual void Initialize(XNFrameworkPtr framework, uint32_t modelID, uint32_t DDS_type) = 0;
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/**
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* @brief 获取该接口的UDP包
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* @return 字节数组
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*/
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XNByteArray getUDPPackage();
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/**
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* @brief 通过UDP包设置数据
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* @param package: UDP包
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*/
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void setDataByUDPPackage(const XNByteArray &package);
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/**
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* @brief 批量获取指定变量的数据
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* @param varNames: 变量名列表
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* @return: 变量名到数据的映射
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*/
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std::unordered_map<std::string, std::string>
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getStringData(const std::vector<std::string> &varNames);
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/**
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* @brief 批量设置指定变量的数据
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* @param data: 变量名到数据的映射
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*/
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void setDataByString(const std::unordered_map<std::string, std::string> &data);
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protected:
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/**
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* @brief 获取指定变量的字节数据，用于网络通信
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* @param data: 数据
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* @return 字节数组
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*/
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template <typename T>
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XNByteArray getByteArray(const eprosima::fastcdr::optional<T> &data)
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{
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XNByteArray result(getTypeSize<T>());
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if constexpr (std::is_arithmetic_v<T>) {
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if (data) {
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std::memcpy(result.data(), &data.value(), sizeof(T));
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} else {
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T zero = 0;
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std::memcpy(result.data(), &zero, sizeof(T));
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}
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} else if constexpr (is_std_array_v<T>) {
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if (data) {
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return getByteArrayFromStdArray(data.value());
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} else {
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T zero = {};
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return getByteArrayFromStdArray(zero);
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}
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} else {
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static_assert(std::is_arithmetic_v<T> || is_std_array_v<T>,
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"T 必须是算术类型或std::array类型，详见XNDDSInterface.cpp：line 78");
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}
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return result;
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}
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/**
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* @brief 设置指定变量的字节数据，用于网络通信
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* @param data: 数据
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* @param byteArray: 字节数组
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*/
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template <typename T>
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void setByteArray(eprosima::fastcdr::optional<T> &data, const XNByteArray &byteArray,
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uint32_t &pos)
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{
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uint32_t thisSize = getTypeSize<T>();
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XNByteArray thisArray(thisSize);
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if (pos + thisSize > byteArray.size()) {
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return;
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}
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std::memcpy(thisArray.data(), byteArray.data() + pos, thisSize);
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pos += thisSize;
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if constexpr (std::is_arithmetic_v<T>) {
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T temp;
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std::memcpy(&temp, thisArray.data(), sizeof(T));
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data = temp;
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} else if constexpr (is_std_array_v<T>) {
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if (!data) {
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data = T{};
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}
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setByteArrayFromStdArray(data.value(), thisArray);
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} else {
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static_assert(std::is_arithmetic_v<T> || is_std_array_v<T>,
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"T 必须是算术类型或std::array类型，详见XNDDSInterface.cpp：line 112");
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}
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}
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/**
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* @brief 获取指定数组变量的字节数据，用于网络通信
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* @param data: 数据
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* @return 字节数组
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*/
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template <typename T, std::size_t N>
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XNByteArray getByteArrayFromStdArray(const std::array<T, N> &data)
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{
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XNByteArray result(getTypeSize<T>() * N);
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for (std::size_t i = 0; i < N; ++i) {
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if constexpr (std::is_arithmetic_v<T>) {
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std::memcpy(result.data() + i * getTypeSize<T>(), &data[i], getTypeSize<T>());
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} else if constexpr (is_std_array_v<T>) {
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XNByteArray subArray = getByteArrayFromStdArray(data[i]);
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std::memcpy(result.data() + i * getTypeSize<T>(), subArray.data(),
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getTypeSize<T>());
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} else {
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static_assert(std::is_arithmetic_v<T> || is_std_array_v<T>,
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"T 必须是算术类型或std::array类型，详见XNDDSInterface.cpp：line 135");
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}
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}
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return result;
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}
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/**
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* @brief 设置指定数组变量的字节数据，用于网络通信
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* @param data: 数据
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* @param byteArray: 字节数组
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*/
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template <typename T, std::size_t N>
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void setByteArrayFromStdArray(std::array<T, N> &data, const XNByteArray &byteArray)
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{
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if (byteArray.size() < getTypeSize<T>() * N)
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return;
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for (std::size_t i = 0; i < N; ++i) {
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if constexpr (std::is_arithmetic_v<T>) {
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std::memcpy(&data[i], byteArray.data() + i * getTypeSize<T>(), getTypeSize<T>());
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} else if constexpr (is_std_array_v<T>) {
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XNByteArray subArray(byteArray.data() + i * getTypeSize<T>(), getTypeSize<T>());
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setByteArrayFromStdArray(data[i], subArray);
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} else {
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static_assert(std::is_arithmetic_v<T> || is_std_array_v<T>,
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"T 必须是算术类型或std::array类型，详见XNDDSInterface.cpp：line 160");
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}
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}
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}
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/**
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* @brief 获取指定变量的字符串数据，用于JSON前端
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* @param data: 数据
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* @return: 数据（字符串格式）
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*/
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template <typename T>
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std::string getString(const eprosima::fastcdr::optional<T> &data)
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{
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if constexpr (std::is_arithmetic_v<T>) {
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if (data) {
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return std::to_string(data.value());
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} else {
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return "Unknown";
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}
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} else if constexpr (is_std_array_v<T>) {
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if (data) {
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return getStringFromStdArray(data.value());
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} else {
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T zero = {};
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return getStringFromStdArray(zero);
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}
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} else {
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static_assert(std::is_arithmetic_v<T> || is_std_array_v<T>,
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"T 必须是算术类型或std::array类型，详见XNDDSInterface.cpp：line 188");
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}
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return std::string();
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}
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/**
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* @brief 通过字符串数据设置指定变量，用于JSON前端
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* @param data: 数据
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* @param value: 字符串数据
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*/
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template <typename T>
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void setDataFromString(eprosima::fastcdr::optional<T> &data, const std::string &value)
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{
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if constexpr (std::is_arithmetic_v<T>) {
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if constexpr (std::is_same_v<T, float> || std::is_same_v<T, double>) {
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data = std::stod(value);
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} else {
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data = std::stoll(value);
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}
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} else if constexpr (is_std_array_v<T>) {
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// 解析输入字符串
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std::stringstream ss(value);
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std::string item;
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std::vector<std::string> items;
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while (std::getline(ss, item, ',')) {
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items.push_back(item);
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}
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T temp;
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setStdArrayFromString(temp, items, 0);
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data = temp;
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} else {
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static_assert(std::is_arithmetic_v<T> || is_std_array_v<T>,
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"T 必须是算术类型或std::array类型，详见XNDDSInterface.cpp：line 220");
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}
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}
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/**
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* @brief 获取指定数组变量的字符串数据，用于JSON前端
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* @param data: 数据
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* @return: 数据（字符串格式）
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*/
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template <typename T, std::size_t N>
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std::string getStringFromStdArray(const std::array<T, N> &data)
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{
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std::stringstream ss;
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for (std::size_t i = 0; i < N; ++i) {
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if (i > 0)
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ss << ",";
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if constexpr (std::is_arithmetic_v<T>) {
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ss << data[i];
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} else if constexpr (is_std_array_v<T>) {
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ss << getStringFromStdArray(data[i]);
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} else {
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static_assert(std::is_arithmetic_v<T> || is_std_array_v<T>,
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"T 必须是算术类型或std::array类型，详见XNDDSInterface.cpp：line 243");
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}
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}
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return ss.str();
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}
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/**
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* @brief 通过字符串数据设置指定数组变量，用于JSON前端
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* @param data: 数据
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* @param value: 字符串数据，格式为"数字,数字,..."
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* @param start_pos: 当前数组在输入字符串中的起始位置
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* @return 处理完当前数组后，下一个数组的起始位置
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* @throw std::runtime_error: 当输入数据格式不正确时抛出异常
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*/
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template <typename T, std::size_t N>
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size_t setStdArrayFromString(std::array<T, N> &data, const std::vector<std::string> &value,
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size_t start_pos = 0)
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{
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// 递归处理每个元素
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for (std::size_t i = 0; i < N; ++i) {
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try {
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if constexpr (std::is_arithmetic_v<T>) {
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// 对于基本类型，直接转换
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if constexpr (std::is_same_v<T, float> || std::is_same_v<T, double>) {
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data[i] = static_cast<T>(std::stod(value[start_pos + i]));
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} else {
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data[i] = static_cast<T>(std::stoll(value[start_pos + i]));
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}
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} else if constexpr (is_std_array_v<T>) {
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// 对于嵌套数组，递归处理
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start_pos = setStdArrayFromString(data[i], value, start_pos + i);
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} else {
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static_assert(
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std::is_arithmetic_v<T> || is_std_array_v<T>,
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"T 必须是算术类型或std::array类型，详见XNDDSInterface.cpp：line 275");
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}
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} catch (const std::exception &e) {
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throw std::runtime_error("无法解析第 " + std::to_string(i)
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+ " 个元素: " + e.what());
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}
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}
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return start_pos + N;
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}
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template <typename T1, typename T2>
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void assign_value_get(const eprosima::fastcdr::optional<T1> &data, T2 &model_data)
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{
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if (data) {
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auto temp = data.value();
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if constexpr (std::is_arithmetic_v<T1>) {
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static_assert(std::is_arithmetic_v<T2>,
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"模板参数T2必须是算术类型，详见XNDDSInterface.cpp：line 293");
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static_assert(std::is_convertible_v<T1, T2>,
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"模板参数T1必须可以转换为T2类型，详见XNDDSInterface.cpp：line 295");
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model_data = temp;
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} else if constexpr (is_std_array_v<T1>) {
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size_t arraySize = array_size_v<T1>;
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for (size_t i = 0; i < arraySize; ++i) {
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auto temp2 = temp[i];
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using array_type = typename T1::value_type;
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if constexpr (std::is_arithmetic_v<array_type>) {
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model_data[i] = temp2;
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} else if constexpr (is_std_array_v<array_type>) {
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size_t arraySize2 = array_size_v<array_type>;
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using sub_array_type = typename array_type::value_type;
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if constexpr (std::is_arithmetic_v<sub_array_type>) {
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for (size_t j = 0; j < arraySize2; ++j) {
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model_data[i][j] = temp2[j];
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}
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} else {
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static_assert(std::is_arithmetic_v<sub_array_type>,
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"模板参数T1是std::"
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"array类型时，它的数组嵌套不能超过两层，详见XNDDSInterfac"
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"e.cpp：line 313");
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}
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} else {
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static_assert(
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std::is_arithmetic_v<array_type> || is_std_array_v<array_type>,
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"模板参数T1是std::array类型时，它的value_"
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"type必须是算术类型或std::array类型，详见XNDDSInterface.cpp：line 320");
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}
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}
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} else {
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static_assert(
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std::is_arithmetic_v<T1> || is_std_array_v<T1>,
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"模板参数T1必须是算术类型或std::array类型，详见XNDDSInterface.cpp：line 326");
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}
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}
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}
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template <typename T1, typename T2>
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void assign_value_set(eprosima::fastcdr::optional<T1> &data, const T2 &model_data)
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{
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if constexpr (std::is_arithmetic_v<T1>) {
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static_assert(std::is_arithmetic_v<T2>,
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"模板参数T2必须是算术类型，详见XNDDSInterface.cpp：line 337");
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static_assert(std::is_convertible_v<T2, T1>,
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"模板参数T2必须可以转换为T1类型，详见XNDDSInterface.cpp：line 339");
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data = model_data;
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} else if constexpr (is_std_array_v<T1>) {
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T1 temp;
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size_t arraySize = array_size_v<T1>;
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using array_type = typename T1::value_type;
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for (size_t i = 0; i < arraySize; ++i) {
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if constexpr (std::is_arithmetic_v<array_type>) {
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temp[i] = model_data[i];
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} else if constexpr (is_std_array_v<array_type>) {
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size_t arraySize2 = array_size_v<array_type>;
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using sub_array_type = typename array_type::value_type;
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if constexpr (std::is_arithmetic_v<sub_array_type>) {
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for (size_t j = 0; j < arraySize2; ++j) {
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temp[i][j] = model_data[i][j];
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}
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} else {
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static_assert(std::is_arithmetic_v<sub_array_type>,
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"模板参数T1是std::"
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"array类型时，它的数组嵌套不能超过两层，详见XNDDSInterface."
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"cpp：line 357");
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}
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} else {
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static_assert(
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std::is_arithmetic_v<array_type> || is_std_array_v<array_type>,
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"模板参数T1是std::array类型时，它的value_"
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"type必须是算术类型或std::array类型，详见XNDDSInterface.cpp：line 364");
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}
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}
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data = temp;
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} else {
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static_assert(
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std::is_arithmetic_v<T1> || is_std_array_v<T1>,
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"模板参数T1必须是算术类型或std::array类型，详见XNDDSInterface.cpp：line 371");
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}
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}
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virtual void clearOutData() {}
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virtual void sendOutData() {}
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protected:
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std::unordered_map<std::string, std::function<std::string()>> getDataFunction;
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std::unordered_map<std::string, std::function<void(std::string)>> setDataFunction;
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std::vector<std::function<XNByteArray(void)>> getByteArrayFunction;
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std::vector<std::function<void(XNByteArray, uint32_t &)>> setByteArrayFunction;
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std::mutex dataMutex;
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std::mutex outDataMutex;
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uint8_t header[8]{0}; // 固定大小的头部
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size_t headerSize = 8;
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FAST_DDS_MACRO::DataWriter *dataWriter;
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};
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#define MAP_DATA_FUNC(NAME) \
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getDataFunction[#NAME] = [this]() { return getString(data.NAME()); }; \
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setDataFunction[#NAME] = [this](const std::string &value) { \
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setDataFromString(out_data.NAME(), value); \
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}; \
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getByteArrayFunction.push_back([this]() { return getByteArray(data.NAME()); }); \
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setByteArrayFunction.push_back([this](const XNByteArray &byteArray, uint32_t &pos) { \
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setByteArray(out_data.NAME(), byteArray, pos); \
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});
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