XNSim/XNCore/XNModelObject.cpp

/**
 * @file XNModelObject.cpp
 * @author	jinchao
 * @brief 模型基类源文件
 * @version	1.0
 * @date 2024-11-07
 *
 * @copyright Copyright (c) 2024 XN
 *
 */
#include "XNModelObject.h"
#include "XNModelObject_p.h"
#include "XNFramework.h"
#include "XNThreadManager.h"
#include "XNModelManager.h"
#include "XNDDSManager.h"
#include "XNIDL/XNSimStatusPubSubTypes.hpp"
#include <QMetaMethod>

// 默认构造函数
XNModelObject::XNModelObject(QObject *parent) : XNObject(*new XNModelObjectPrivate(this), parent)
{
}

// 默认析构函数
XNModelObject::~XNModelObject()
{
}

XNModelObject::XNModelObject(XNModelObjectPrivate &dd, QObject *parent) : XNObject(dd, parent)
{
}

// 获取模型描述
const QString &XNModelObject::GetDescription()
{
	Q_D(XNModelObject);
	return d->_sDescription;
}

// 设置模型描述
void XNModelObject::SetDescription(const QString &sDescription)
{
	Q_D(XNModelObject);
	d->_sDescription = sDescription;
}

// 获取作者
const QString &XNModelObject::GetAuthor()
{
	Q_D(XNModelObject);
	return d->_sAuthor;
}

// 设置作者
void XNModelObject::SetAuthor(const QString &sAuthor)
{
	Q_D(XNModelObject);
	d->_sAuthor = sAuthor;
}

// 获取模型配置文件路径
const QString &XNModelObject::GetXmlPath()
{
	Q_D(XNModelObject);
	return d->_sXmlPath;
}

// 设置模型配置文件路径
void XNModelObject::SetXmlPath(const QString &sXmlPath)
{
	Q_D(XNModelObject);
	d->_sXmlPath = sXmlPath;
}

// 获取模型创建时间
const QDateTime &XNModelObject::GetCreateTime()
{
	Q_D(XNModelObject);
	return d->_cCreatTime;
}

// 设置模型创建时间
void XNModelObject::SetCreateTime(const QDateTime &cTime)
{
	Q_D(XNModelObject);
	d->_cCreatTime = cTime;
}

// 获取模型修改时间
const QDateTime &XNModelObject::GetChangeTime()
{
	Q_D(XNModelObject);
	return d->_cChangeTime;
}

// 设置模型修改时间
void XNModelObject::SetChangeTime(const QDateTime &cTime)
{
	Q_D(XNModelObject);
	d->_cChangeTime = cTime;
}

// 获取模型版本号
const QString &XNModelObject::GetVersion()
{
	Q_D(XNModelObject);
	return d->_sVersion;
}

// 设置模型版本号
void XNModelObject::SetVersion(const QString &sVersion)
{
	Q_D(XNModelObject);
	d->_sVersion = sVersion;
}

void XNModelObject::SetBaseFreq(const double &dBaseFreq)
{
	Q_D(XNModelObject);
	d->_setFreq = dBaseFreq;
}

// 初始化函数
void XNModelObject::OnInitialize()
{
	// 先尝试调取动态库
	Q_D(XNModelObject);
	// 读取配置文件，设置循环执行函数
	QFile file(GetXmlPath());
	if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
		LOG_WARNING("0x2161 Failed to open the model configuration file: %1!", GetXmlPath());
		return;
	}
	QDomDocument doc;
	doc.setContent(&file);
	QDomElement rootNode = doc.documentElement();
	// 读取配置文件的模型参数
	QString modelName = rootNode.firstChildElement("Name").text();
	if (modelName != objectName()) {
		LOG_WARNING("0x2162 The model name in the configuration file of model %1 is not consistent "
					"with the model name in the configuration file of model %2!",
					objectName(), modelName);
		return;
	}
	d->_sDescription = rootNode.firstChildElement("Description").text();
	d->_sAuthor		 = rootNode.firstChildElement("Author").text();
	d->_sVersion	 = rootNode.firstChildElement("Version").text();
	d->_cCreatTime =
		QDateTime::fromString(rootNode.firstChildElement("CreateTime").text(), Qt::ISODate);
	d->_cChangeTime =
		QDateTime::fromString(rootNode.firstChildElement("ChangeTime").text(), Qt::ISODate);
	QString funcNode = rootNode.firstChildElement("Node").text();
	d->_runPriority	 = rootNode.firstChildElement("Priority").text().toInt();
	// 检查运行节点是否是 "x-x" 形式
	quint32 tmp = funcNode.indexOf('-');
	if (tmp <= 0) {
		LOG_WARNING("0x2162 The value of the run node attribute in the configuration file of model "
					"%1 is not in the x-x format, registration not executed!",
					objectName());
	}
	d->_runFreq = funcNode.left(tmp).toInt();
	d->_setFreq = d->_setFreq / pow(2.0, d->_runFreq);
	d->_runNode = funcNode.right(funcNode.length() - tmp - 1).toInt();
	// 注册周期性函数
	emit RegisterFunction(getUniqueId(), std::bind(&XNModelObject::StepUpdate, this), d->_runFreq,
						  d->_runNode, d->_runPriority);
	// 加载动态库
	QString mathlib = rootNode.firstChildElement("MathLib").text();
	if (mathlib.size() != 0) {
		d->_sLibPath   = QFileInfo(GetXmlPath()).absolutePath() + "/" + mathlib;
		d->_dynamicLib = new QLibrary(d->_sLibPath);
		if (d->_dynamicLib->load()) { // 动态库加载成功
			LOG_INFO("0x2163 Model %1 loaded algorithm dynamic library %2 successfully!",
					 objectName(), d->_sLibPath);
		} else {
			LOG_WARNING(
				"0x2160 Model %1 failed to find algorithm dynamic library %2, will not call "
				"algorithm!",
				objectName(), d->_sLibPath);
			delete d->_dynamicLib;
			d->_dynamicLib = nullptr;
		}
	}
	// TODO 指令列表
	QDomElement nodeCmds = rootNode.firstChildElement("CommandList");
	for (QDomElement nodeCmd = nodeCmds.firstChildElement("Command"); !nodeCmd.isNull();
		 nodeCmd			 = nodeCmd.nextSiblingElement("Command")) {
		QString cmdName		   = nodeCmd.attribute("Name");
		QString cmdDescription = nodeCmd.attribute("Description");
		QString cmdCall		   = nodeCmd.attribute("Call");
	}
}

// 单步执行函数
void XNModelObject::StepUpdate()
{
	Q_D(XNModelObject);
	quint32 setFreq = d->_setFreq < 1.0 ? 1 : (quint32)d->_setFreq;
	if (d->_dataWriters.contains("XNSim::XNSimStatus::XNModelStatus")
		&& d->_dataWriters["XNSim::XNSimStatus::XNModelStatus"] != nullptr && d->_runCnt > 0
		&& d->_runCnt % setFreq == 0) {
		XNSim::XNSimStatus::XNModelStatus modelStatus;
		modelStatus.XNModelName(objectName().toStdString());
		modelStatus.XNModelID(getUniqueId());
		modelStatus.XNModelSt(1);
		modelStatus.XNModelThID(pthread_self());
		modelStatus.XNModelNode(d->_runNode);
		modelStatus.XNModelPro(d->_runPriority);
		modelStatus.XNModelRunCnt(d->_runCnt);
		timespec now;
		clock_gettime(CLOCK_MONOTONIC, &now);
		double time_diff =
			(now.tv_sec - d->_lastRunTime.tv_sec) + (now.tv_nsec - d->_lastRunTime.tv_nsec) / 1.0E9;
		modelStatus.XNMdlCurFreq(d->_setFreq / time_diff);
		modelStatus.XNMdlSetFreq(d->_setFreq);
		d->_dataWriters["XNSim::XNSimStatus::XNModelStatus"]->write(&modelStatus);
		d->_lastRunTime = now;
		LOG_DEBUG("Model: %1 Write DDS!", objectName());
	}
	d->_runCnt++;
}

// 运行前最后准备函数
void XNModelObject::OnPrepareForExecute()
{
	Q_D(XNModelObject);
	d->_runCnt = 0;
	// 注册DDS
	RegisterDDSParticipant();
	clock_gettime(CLOCK_MONOTONIC, &d->_lastRunTime);
}

void XNModelObject::RegisterDDSParticipant()
{
	Q_D(XNModelObject);
	XNModelManager *modelManager = qobject_cast<XNModelManager *>(parent());
	if (modelManager == nullptr)
		return;
	XNDDSManager *ddsManager = modelManager->parent()->findChild<XNDDSManager *>();
	if (ddsManager == nullptr)
		return;
	quint32 MyID = getUniqueId();
	XN_PUBLISHTOPIC(XNSim::XNSimStatus::XNModelStatus);
}

int XNModelObject::RegisterEventHandler(const QString &eventName,
										std::function<void(const QVariant &)> callback, bool async,
										XNEvent::Priority priority)
{
	// 获取事件管理器
	XNModelManager *modelManager = qobject_cast<XNModelManager *>(parent());
	if (modelManager == nullptr) {
		LOG_WARNING("Failed to get ModelManager!");
		return -1;
	}

	XNEventManager *eventManager = modelManager->parent()->findChild<XNEventManager *>();
	if (eventManager == nullptr) {
		LOG_WARNING("Failed to get EventManager!");
		return -1;
	}

	// 注册事件处理器
	return eventManager->RegisterEventHandler(eventName, callback, getUniqueId(), async, priority);
}

void XNModelObject::TriggerEvent(const QString &eventName, const QVariant &eventData,
								 bool forceAsync, XNEvent::Priority priority)
{
	// 获取事件管理器
	XNModelManager *modelManager = qobject_cast<XNModelManager *>(parent());
	if (modelManager == nullptr) {
		LOG_WARNING("Failed to get ModelManager!");
		return;
	}

	XNEventManager *eventManager = modelManager->parent()->findChild<XNEventManager *>();
	if (eventManager == nullptr) {
		LOG_WARNING("Failed to get EventManager!");
		return;
	}

	// 触发事件
	eventManager->TriggerEvent(eventName, eventData, forceAsync, priority);
}