165 lines
2.7 KiB
C++
Executable File
165 lines
2.7 KiB
C++
Executable File
#ifndef XNCORE_GLOBAL_H
|
|
#define XNCORE_GLOBAL_H
|
|
|
|
#include <QtCore/qglobal.h>
|
|
|
|
#if defined(XNCORE_LIBRARY)
|
|
# define XNCORE_EXPORT Q_DECL_EXPORT
|
|
#else
|
|
# define XNCORE_EXPORT Q_DECL_IMPORT
|
|
#endif
|
|
|
|
#ifdef __linux__
|
|
# include <pthread.h>
|
|
# include <sched.h>
|
|
# include <sys/timeb.h>
|
|
# include <sys/mman.h>
|
|
# include <sys/stat.h>
|
|
# include <errno.h>
|
|
# include <time.h>
|
|
# include <memory>
|
|
# include <errno.h>
|
|
# include <unistd.h>
|
|
#endif
|
|
|
|
#define FAST_DDS_MACRO eprosima::fastdds::dds
|
|
|
|
/**
|
|
* @brief 默认基频定义，单位 Hz
|
|
*/
|
|
#define BASE_RUN_FREQ 100.0
|
|
|
|
/**
|
|
* @brief 默认基础运行间隔定义 单位纳秒
|
|
*/
|
|
#define BASE_RUN_INTER (1.0E9 / BASE_RUN_FREQ)
|
|
|
|
//模型周期性回调函数类型别名
|
|
using XNCallBack = std::function<void()>;
|
|
|
|
//DDS回调函数类型别名
|
|
using XNDDSCallBack = std::function<void(void *)>;
|
|
|
|
/**
|
|
* @brief 纳秒睡眠相关时间结构体
|
|
* @details 用于线程睡眠时间控制
|
|
*/
|
|
struct PERIOD_INFO {
|
|
/**
|
|
* @brief 系统提供的时间记录结构体，精确到纳秒
|
|
*/
|
|
timespec next_period;
|
|
/**
|
|
* @brief 睡眠时长，单位纳秒
|
|
*/
|
|
long period_ns;
|
|
};
|
|
|
|
/**
|
|
* @brief 系统运行状态枚举类
|
|
*/
|
|
enum class RunStatus {
|
|
/**
|
|
* @brief 未开始
|
|
*/
|
|
NotStart = 0,
|
|
/**
|
|
* @brief 运行中
|
|
*/
|
|
Runing,
|
|
/**
|
|
* @brief 暂停
|
|
*/
|
|
Suspend,
|
|
/**
|
|
* @brief 中止
|
|
*/
|
|
Aborted,
|
|
/**
|
|
* @brief 结束
|
|
*/
|
|
Finished
|
|
};
|
|
|
|
/**
|
|
* @brief 仿真控制命令枚举类
|
|
*/
|
|
enum class SimControlCmd {
|
|
/**
|
|
* @brief 开始
|
|
*/
|
|
Start,
|
|
/**
|
|
* @brief 继续
|
|
*/
|
|
Continue,
|
|
/**
|
|
* @brief 暂停
|
|
*/
|
|
Suspend,
|
|
/**
|
|
* @brief 中止
|
|
*/
|
|
Abort
|
|
};
|
|
|
|
/**
|
|
* @brief 运行频率族枚举类
|
|
*/
|
|
enum class FreqLevel {
|
|
/**
|
|
* @brief 基础频率
|
|
*/
|
|
BaseFreq = 0, // 120/100/60 Hz
|
|
/**
|
|
* @brief 半频
|
|
*/
|
|
HalfFreq, // 60/50/30 Hz
|
|
/**
|
|
* @brief 四分之一频
|
|
*/
|
|
QuarterFreq, // 30/25/15 Hz
|
|
/**
|
|
* @brief 八分之一频
|
|
*/
|
|
EighthFreq, // 15/12.5/7.5 Hz
|
|
/**
|
|
* @brief 十六分之一频
|
|
*/
|
|
SixteenthFreq, // 7.5/6.25/3.75 Hz
|
|
/**
|
|
* @brief 三十二分之一频
|
|
*/
|
|
ThirtyTwothFreq, // 3.75/3.125/1.875 Hz
|
|
};
|
|
|
|
/**
|
|
* @brief 框架对象状态枚举
|
|
*/
|
|
enum class XNFrameObjectStatus {
|
|
/**
|
|
* @brief 未初始化
|
|
*/
|
|
NotReady = 0,
|
|
/**
|
|
* @brief 已初始化
|
|
*/
|
|
Initialized,
|
|
/**
|
|
* @brief 已准备好
|
|
*/
|
|
Ready,
|
|
/**
|
|
* @brief 未知
|
|
*/
|
|
Unknown
|
|
};
|
|
|
|
#define XN_DLL_INITIALIZE(ClassName) \
|
|
extern "C" void Initial##ClassName() \
|
|
{ \
|
|
qRegisterMetaType<ClassName>(#ClassName); \
|
|
}
|
|
|
|
#endif // XNCORE_GLOBAL_H
|