64 lines
1.4 KiB
C++
64 lines
1.4 KiB
C++
#include "SystemControl.h"
|
|
#include "XNIDL/XNSimStatusPubSubTypes.hpp"
|
|
|
|
SystemControl::~SystemControl()
|
|
{
|
|
if (m_EngineControlWriter != nullptr) {
|
|
cleanup();
|
|
}
|
|
}
|
|
|
|
void SystemControl::cleanup()
|
|
{
|
|
TopicManager::Instance()->unregisterPublisher("XNSim::XNSimControl::XNRuntimeControl");
|
|
m_EngineControlWriter = nullptr;
|
|
}
|
|
|
|
std::string SystemControl::Initialize()
|
|
{
|
|
m_EngineControlWriter = nullptr;
|
|
XNDDSErrorCode ret = TopicManager::Instance()
|
|
->registerPublisher<XNSim::XNSimControl::XNRuntimeControlPubSubType>(
|
|
"XNSim::XNSimControl::XNRuntimeControl", m_EngineControlWriter);
|
|
if (ret != XNDDSErrorCode::SUCCESS || m_EngineControlWriter == nullptr) {
|
|
return "Failed to register engine control publisher, error code: "
|
|
+ std::to_string(static_cast<int>(ret));
|
|
}
|
|
return "Success";
|
|
}
|
|
|
|
void SystemControl::Pause()
|
|
{
|
|
// 暂停引擎
|
|
if (m_EngineControlWriter == nullptr) {
|
|
return;
|
|
}
|
|
XNSim::XNSimControl::XNRuntimeControl cmd;
|
|
cmd.XNSimCmd(1);
|
|
cmd.XNThrCmd(0);
|
|
m_EngineControlWriter->write(&cmd);
|
|
}
|
|
|
|
void SystemControl::Resume()
|
|
{
|
|
// 恢复引擎
|
|
if (m_EngineControlWriter == nullptr) {
|
|
return;
|
|
}
|
|
XNSim::XNSimControl::XNRuntimeControl cmd;
|
|
cmd.XNSimCmd(2);
|
|
cmd.XNThrCmd(0);
|
|
m_EngineControlWriter->write(&cmd);
|
|
}
|
|
|
|
void SystemControl::Stop()
|
|
{
|
|
// 停止引擎
|
|
if (m_EngineControlWriter == nullptr) {
|
|
return;
|
|
}
|
|
XNSim::XNSimControl::XNRuntimeControl cmd;
|
|
cmd.XNSimCmd(3);
|
|
cmd.XNThrCmd(0);
|
|
m_EngineControlWriter->write(&cmd);
|
|
} |