XNSim/XNCore/XNCore_global.h

#pragma once

#if defined(XNCORE_LIBRARY)
#	define XNCORE_EXPORT __attribute__((visibility("default")))
#else
#	define XNCORE_EXPORT __attribute__((visibility("default")))
#endif

#define FORCEINLINE __attribute__((always_inline))

#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>
#	include <limits.h>
#	include <functional>
#	include <map>
#	include <unordered_map>
#	include <vector>
#	include <set>
#	include <any>
#	include <string>
#	include <thread>
#	include <mutex>
#	include <condition_variable>
#	include <queue>
#	include <tinyxml2.h>
#	include <chrono>
#	include <iomanip>
#	include <sstream>
#	include <dlfcn.h>
#	include <filesystem>
#endif

#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#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 *)>;

//事件回调函数类型别名
using XNEventCallback = std::function<void(const std::any &)>;

/**
 * @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 系统时间点类型别名
 */
using XNTimePoint = std::chrono::system_clock::time_point;

/**
	 * @brief 将ISO格式的时间字符串转换为系统时间点
	 * @param timeStr ISO格式的时间字符串 (YYYY-MM-DDTHH:mm:ss)
	 * @return 系统时间点
	 */
extern "C" XNTimePoint XNCORE_EXPORT parseISOTime(const std::string &timeStr);

/**
 * @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
};

template <class ToType, class FromType>
FORCEINLINE ToType XNStaticCastHelper(const FromType &from)
{
	return std::static_pointer_cast<typename ToType::element_type>(from);
}

template <class ToType, class FromType>
FORCEINLINE ToType XNCastHelper(const FromType &from)
{
	return std::dynamic_pointer_cast<typename ToType::element_type>(from);
}

#define XN_CAST(from, to) XNStaticCastHelper<to>(from)

#define XN_THISPTR std::static_pointer_cast<ThisType>(shared_from_this())

#define XNCLASS_PTR_DECLARE(a)                                                                     \
	using a##Ptr	 = std::shared_ptr<class a>;                                                   \
	using a##WPtr	 = std::weak_ptr<class a>;                                                     \
	using a##UPtr	 = std::unique_ptr<class a>;                                                   \
	using a##ConsPtr = std::shared_ptr<const class a>;

#define XNSTRUCT_PTR_DECLARE(a)                                                                    \
	using a##Ptr	 = std::shared_ptr<struct a>;                                                  \
	using a##WPtr	 = std::weak_ptr<struct a>;                                                    \
	using a##UPtr	 = std::unique_ptr<struct a>;                                                  \
	using a##ConsPtr = std::shared_ptr<const struct a>;

#define XN_NOCOPYABLE(Class)                                                                       \
public:                                                                                            \
	using NoCopyable = Class;                                                                      \
                                                                                                   \
private:                                                                                           \
	Class(const Class &)			= delete;                                                      \
	Class &operator=(const Class &) = delete;

#define XN_DECLARE_PRIVATE(Class)                                                                  \
	XN_NOCOPYABLE(Class)                                                                           \
protected:                                                                                         \
	friend class Class##Private;                                                                   \
	inline Class##Private *GetPP() const                                                           \
	{                                                                                              \
		return reinterpret_cast<Class##Private *>(_Private_Ptr);                                   \
	}                                                                                              \
	using PrivateType = Class##Private;

#define T_D() PrivateType *const d = GetPP()

struct XNNullClass {
};

#define XN_METATYPE_P(cls)                                                                         \
public:                                                                                            \
	using ThisType	= cls;                                                                         \
	using SuperType = XNNullClass;

#define XN_METATYPE(cls, sup)                                                                      \
public:                                                                                            \
	using ThisType	= cls;                                                                         \
	using SuperType = sup;