479 lines
13 KiB
C++
479 lines
13 KiB
C++
/**
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* @file XNModelObject.cpp
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* @author jinchao
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* @brief 模型基类源文件
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* @version 1.0
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* @date 2024-11-07
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*
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* @copyright Copyright (c) 2024 XN
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*
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*/
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#include "XNModelObject.h"
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#include "XNDDSManager/XNDDSManager.h"
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#include "XNFramework/XNFramework.h"
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#include "XNIDL/XNSimStatusPubSubTypes.hpp"
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#include "XNModelManager/XNModelManager.h"
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#include "XNModelObject_p.h"
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#include "XNThreadManager/XNThreadManager.h"
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namespace XNSim {
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// 默认构造函数
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XNModelObject::XNModelObject() : XNObject(new XNModelObjectPrivate()) {}
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// 默认析构函数
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XNModelObject::~XNModelObject() {}
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XNModelObject::XNModelObject(PrivateType *p) : XNObject(p) {}
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void XNModelObject::SetFramework(XNFrameworkPtr framework) {
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T_D();
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d->_framework = framework;
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}
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XNFrameworkPtr XNModelObject::GetFramework() const {
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T_D();
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return d->_framework;
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}
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// 获取模型描述
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const XN_STRING &XNModelObject::GetDescription() {
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T_D();
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return d->_sDescription;
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}
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// 设置模型描述
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void XNModelObject::SetDescription(const XN_STRING &sDescription) {
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T_D();
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d->_sDescription = sDescription;
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}
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// 获取作者
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const XN_STRING &XNModelObject::GetAuthor() {
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T_D();
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return d->_sAuthor;
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}
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// 设置作者
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void XNModelObject::SetAuthor(const XN_STRING &sAuthor) {
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T_D();
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d->_sAuthor = sAuthor;
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}
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// 获取模型配置文件路径
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const XN_STRING &XNModelObject::GetXmlPath() {
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T_D();
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return d->_sXmlPath;
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}
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// 设置模型配置文件路径
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void XNModelObject::SetXmlPath(const XN_STRING &sXmlPath) {
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T_D();
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d->_sXmlPath = sXmlPath;
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}
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// 获取模型创建时间
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const XNTimePoint &XNModelObject::GetCreateTime() {
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T_D();
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return d->_cCreatTime;
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}
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// 设置模型创建时间
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void XNModelObject::SetCreateTime(const XNTimePoint &cTime) {
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T_D();
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d->_cCreatTime = cTime;
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}
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// 获取模型修改时间
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const XNTimePoint &XNModelObject::GetChangeTime() {
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T_D();
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return d->_cChangeTime;
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}
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// 设置模型修改时间
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void XNModelObject::SetChangeTime(const XNTimePoint &cTime) {
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T_D();
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d->_cChangeTime = cTime;
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}
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// 获取模型版本号
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const XN_STRING &XNModelObject::GetVersion() {
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T_D();
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return d->_sVersion;
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}
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// 设置模型版本号
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void XNModelObject::SetVersion(const XN_STRING &sVersion) {
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T_D();
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d->_sVersion = sVersion;
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}
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void XNModelObject::SetInitializeType(XN_UINT32 initialType) {
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T_D();
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d->_initialType = initialType;
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}
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void XNModelObject::SetThreadID(XN_UINT32 threadID) {
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T_D();
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d->_threadID = threadID;
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}
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XN_UINT32 XNModelObject::GetThreadID() const {
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T_D();
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return d->_threadID;
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}
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XN_UINT32 XNModelObject::GetRunFreq() const {
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T_D();
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return d->_runFreq;
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}
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void XNModelObject::SetRunFreq(XN_UINT32 runFreq) {
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T_D();
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d->_runFreq = runFreq;
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}
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XN_UINT32 XNModelObject::GetRunNode() const {
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T_D();
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return d->_runNode;
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}
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void XNModelObject::SetRunNode(XN_UINT32 runNode) {
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T_D();
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d->_runNode = runNode;
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}
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XN_UINT32 XNModelObject::GetRunPriority() const {
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T_D();
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return d->_runPriority;
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}
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void XNModelObject::SetRunPriority(XN_UINT32 runPriority) {
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T_D();
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d->_runPriority = runPriority;
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}
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XN_DOUBLE XNModelObject::GetSetFreq() const {
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T_D();
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return d->_setFreq;
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}
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void XNModelObject::SetSetFreq(XN_DOUBLE setFreq) {
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T_D();
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d->_setFreq = setFreq;
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}
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const XN_STRING &XNModelObject::GetLibPath() {
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T_D();
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return d->_sLibPath;
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}
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void XNModelObject::SetLibPath(const XN_STRING &sLibPath) {
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T_D();
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d->_sLibPath = sLibPath;
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}
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// 初始化函数
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void XNModelObject::Initialize() {
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T_D();
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if (d->_initialType == 0) {
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ParseXml();
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} else {
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ParseConfig();
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}
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}
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void XNModelObject::ParseXml() {
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T_D();
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// 读取配置文件，设置循环执行函数
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XN_XMLDocument doc;
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if (LoadXmlFile(GetXmlPath(), doc) != 0) {
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LOG_WARNING("0x2161 Failed to parse model configuration file: %1!",
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GetXmlPath());
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return;
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}
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XN_XMLElement *rootNode = GetRootElement(doc);
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if (!rootNode) {
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LOG_WARNING("0x2161 Failed to parse model configuration file: %1!",
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GetXmlPath());
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return;
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}
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// 读取配置文件的模型参数
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XN_STRING modelName = GetFirstChildElementText(rootNode, "Name");
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if (modelName.empty() || modelName != GetObjectName()) {
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LOG_WARNING("0x2162 The model name in the configuration file of model %1 "
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"is not consistent "
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"with the model name in the configuration file of model %2!",
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GetObjectName(), modelName.empty() ? "null" : modelName);
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return;
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}
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d->_sDescription = GetFirstChildElementText(rootNode, "Description");
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d->_sAuthor = GetFirstChildElementText(rootNode, "Author");
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d->_sVersion = GetFirstChildElementText(rootNode, "Version");
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// 使用标准C++时间处理
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XN_STRING createTimeStr = GetFirstChildElementText(rootNode, "CreateTime");
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XN_STRING changeTimeStr = GetFirstChildElementText(rootNode, "ChangeTime");
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d->_cCreatTime = parseISOTime(createTimeStr);
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d->_cChangeTime = parseISOTime(changeTimeStr);
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XN_STRING funcNode = GetFirstChildElementText(rootNode, "Node");
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d->_runPriority = XNSafe_stoi(GetFirstChildElementText(rootNode, "Priority"));
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// 检查运行节点是否是 "x-x" 形式
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XN_SIZE tmp = funcNode.find('-');
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if (tmp == std::string::npos || tmp == 0) {
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LOG_WARNING("0x2162 The value of the run node attribute in the "
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"configuration file of model "
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"%1 is not in the x-x format, registration not executed!",
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GetObjectName());
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return;
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}
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// 使用标准C++字符串处理
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d->_runFreq = XNSafe_stoi(funcNode.substr(0, tmp));
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d->_runNode = XNSafe_stoi(funcNode.substr(tmp + 1));
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// 注册周期性函数
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auto framework = GetFramework();
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if (framework) {
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auto threadManager = framework->GetThreadManager();
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if (threadManager) {
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threadManager->RegisterFunction(
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GetUniqueId(), std::bind(&XNModelObject::StepUpdate, this),
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d->_threadID, d->_runFreq, d->_runNode, d->_runPriority);
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}
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}
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// 加载动态库
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XN_STRING mathlib = GetFirstChildElementText(rootNode, "MathLib");
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if (!mathlib.empty()) {
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// 使用标准C++文件路径处理
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XN_PATH xmlPath(GetXmlPath());
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d->_sLibPath = xmlPath.parent_path().string() + "/" + mathlib;
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// 使用标准C++动态库加载
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d->_dynamicLib = loadLibrary(d->_sLibPath);
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if (d->_dynamicLib) { // 动态库加载成功
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LOG_INFO(
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"0x2163 Model %1 loaded algorithm dynamic library %2 successfully!",
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GetObjectName(), d->_sLibPath);
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} else {
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LOG_WARNING("0x2160 Model %1 failed to find algorithm dynamic library "
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"%2, will not call "
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"algorithm!",
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GetObjectName(), d->_sLibPath);
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d->_dynamicLib = nullptr;
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}
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}
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// 处理指令列表
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XN_XMLElement *nodeCmds = GetFirstChildElement(rootNode, "CommandList");
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if (nodeCmds) {
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for (XN_XMLElement *nodeCmd = GetFirstChildElement(nodeCmds, "Command");
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nodeCmd != nullptr;
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nodeCmd = GetNextSiblingElement(nodeCmd, "Command")) {
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XN_STRING cmdName = GetAttribute(nodeCmd, "Name");
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XN_STRING cmdDescription = GetAttribute(nodeCmd, "Description");
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XN_STRING cmdCall = GetAttribute(nodeCmd, "Call");
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// TODO: 处理命令列表
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}
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}
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}
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void XNModelObject::ParseConfig() {
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T_D();
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XN_STRINGLIST nameAndVersion = XNSplit(GetXmlPath(), ",");
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XN_STRING planeName = nameAndVersion[0];
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XN_STRING modelName = nameAndVersion[1];
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XN_STRING modelVersion = nameAndVersion[2];
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// 获取数据库路径
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XN_STRING dbPath = getEnv("XNCore");
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if (dbPath.empty()) {
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LOG_ERROR("0x1015 未设置XNCore环境变量, 引擎将退出!");
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return;
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}
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dbPath += "/database/XNSim.db";
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// 打开数据库
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XN_DB_PTR db = openDatabase(dbPath);
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if (db == nullptr) {
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LOG_ERROR("0x1016 打开数据库失败: %1", sqlite3_errmsg(db));
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return;
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}
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// 准备SQL语句
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XN_STRING sql = "SELECT * FROM XNModelsVersion WHERE PlaneName = ? AND "
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"ClassName = ? AND Version = ?";
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XN_DB_STMT_PTR stmt = prepareSql(db, sql);
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if (stmt == nullptr) {
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LOG_ERROR("0x1017 准备SQL语句失败: %1", sqlite3_errmsg(db));
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closeDatabase(db);
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return;
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}
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// 绑定参数
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if (!bindText(stmt, 1, planeName) || !bindText(stmt, 2, modelName) ||
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!bindText(stmt, 3, modelVersion)) {
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LOG_ERROR("0x1018 绑定参数失败: %1", sqlite3_errmsg(db));
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finalizeSql(stmt);
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closeDatabase(db);
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return;
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}
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// 执行查询
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if (!stepSql(stmt)) {
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LOG_ERROR("0x1019 未找到机型为%1,模型名称为%2,版本号%3的记录",
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planeName.c_str(), modelName.c_str(), modelVersion.c_str());
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finalizeSql(stmt);
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closeDatabase(db);
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return;
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}
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d->_sDescription = getStringFromSqlite3(stmt, 7);
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d->_sAuthor = getStringFromSqlite3(stmt, 6);
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d->_sVersion = getStringFromSqlite3(stmt, 2);
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// 解析时间
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XN_STRING createTimeStr = getStringFromSqlite3(stmt, 8);
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XN_STRING changeTimeStr = getStringFromSqlite3(stmt, 9);
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d->_cCreatTime = parseISOTime(createTimeStr);
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d->_cChangeTime = parseISOTime(changeTimeStr);
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d->_runFreq = XNSafe_stoi(getStringFromSqlite3(stmt, 10));
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d->_runNode = XNSafe_stoi(getStringFromSqlite3(stmt, 11));
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d->_runPriority = XNSafe_stoi(getStringFromSqlite3(stmt, 12));
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// 注册周期性函数
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auto framework = GetFramework();
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if (framework) {
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auto threadManager = framework->GetThreadManager();
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if (threadManager) {
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threadManager->RegisterFunction(
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GetUniqueId(), std::bind(&XNModelObject::StepUpdate, this),
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d->_threadID, d->_runFreq, d->_runNode, d->_runPriority);
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}
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}
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// 加载动态库
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XN_STRING mathlib = getStringFromSqlite3(stmt, 13);
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if (mathlib.length() > 0) {
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// 使用标准C++文件路径处理
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// std::filesystem::path xmlPath(GetXmlPath());
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// d->_sLibPath = xmlPath.parent_path().string() + "/" + mathlib;
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XN_STRING libPath = d->_sLibPath + "/" + mathlib;
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// 使用标准C++动态库加载
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d->_dynamicLib = loadLibrary(libPath);
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if (d->_dynamicLib) { // 动态库加载成功
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LOG_INFO("0x2163 模型 %1 加载数据包模型动态库 %2 成功!", GetObjectName(),
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libPath);
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} else {
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LOG_WARNING(
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"0x2160 模型 %1 未找到数据包模型动态库 %2, 将不调用数据包模型!",
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GetObjectName(), libPath);
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d->_dynamicLib = nullptr;
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}
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}
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// TODO: 读取模型命令列表
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// 清理资源
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finalizeSql(stmt);
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closeDatabase(db);
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}
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// 单步执行函数
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void XNModelObject::StepUpdate() {
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T_D();
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XN_UINT32 setFreq = d->_setFreq < 1.0 ? 1 : (XN_UINT32)d->_setFreq;
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if (d->_dataWriter != nullptr && d->_runCnt > 0 &&
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d->_runCnt % setFreq == 0) {
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XNSim::XNSimStatus::XNModelStatus modelStatus;
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modelStatus.XNModelName(GetObjectName());
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modelStatus.XNModelID(GetUniqueId());
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modelStatus.XNModelSt(1);
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modelStatus.XNModelThID(d->_threadID);
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modelStatus.XNModelNode(d->_runNode);
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modelStatus.XNModelPro(d->_runPriority);
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modelStatus.XNModelRunCnt(d->_runCnt);
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XN_TIMESPEC now;
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getCurrentRTTime(&now);
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double time_diff = calculateRTTime(&now, &d->_lastRunTime);
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modelStatus.XNMdlCurFreq(d->_setFreq / time_diff);
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modelStatus.XNMdlSetFreq(d->_setFreq);
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d->_dataWriter->write(&modelStatus);
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d->_lastRunTime = now;
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LOG_DEBUG("Model: %1 Write DDS!", GetObjectName());
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}
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d->_runCnt++;
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}
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// 运行前最后准备函数
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void XNModelObject::PrepareForExecute() {
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T_D();
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d->_runCnt = 0;
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// 注册DDS
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RegisterDDSParticipant();
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getCurrentRTTime(&d->_lastRunTime);
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}
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void XNModelObject::RegisterDDSParticipant() {
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T_D();
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auto framework = GetFramework();
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if (framework == nullptr) {
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LOG_WARNING("Failed to get Framework!");
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return;
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}
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auto ddsManager = framework->GetDDSManager();
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if (ddsManager == nullptr) {
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LOG_WARNING("Failed to get DDSManager!");
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return;
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}
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XN_UINT32 MyID = GetUniqueId();
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d->_dataWriter =
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ddsManager
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->RegisterPublisher<XNSim::XNSimStatus::XNModelStatusPubSubType>(
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"XNSim::XNSimStatus::XNModelStatus", MyID);
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}
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XN_INT32 XNModelObject::RegisterEventHandler(const XN_STRING &eventName,
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XNEventCallback callback,
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bool async,
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XNEvent::Priority priority) {
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// 获取事件管理器
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auto framework = GetFramework();
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if (framework == nullptr) {
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LOG_WARNING("Failed to get Framework!");
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return -1;
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}
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XNEventManagerPtr eventManager = framework->GetEventManager();
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if (eventManager == nullptr) {
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LOG_WARNING("Failed to get EventManager!");
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return -1;
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}
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// 注册事件处理器
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return eventManager->RegisterEventHandler(eventName, callback, GetUniqueId(),
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async, priority);
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}
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void XNModelObject::TriggerEvent(const XN_STRING &eventName,
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const XN_ANY &eventData, XN_BOOL forceAsync,
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XNEvent::Priority priority) {
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// 获取事件管理器
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auto framework = GetFramework();
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if (framework == nullptr) {
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LOG_WARNING("Failed to get Framework!");
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return;
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}
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XNEventManagerPtr eventManager = framework->GetEventManager();
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if (eventManager == nullptr) {
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LOG_WARNING("Failed to get EventManager!");
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return;
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}
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// 触发事件
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eventManager->TriggerEvent(eventName, eventData, forceAsync, priority);
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}
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} // namespace XNSim
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