292 lines
7.9 KiB
C++
Executable File
292 lines
7.9 KiB
C++
Executable File
#pragma once
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#if defined(XNCORE_LIBRARY)
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# define XNCORE_EXPORT __attribute__((visibility("default")))
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#else
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# define XNCORE_EXPORT __attribute__((visibility("default")))
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#endif
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#define FORCEINLINE __attribute__((always_inline))
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#ifdef __linux__
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# include <pthread.h>
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# include <sched.h>
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# include <sys/timeb.h>
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# include <sys/mman.h>
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# include <sys/stat.h>
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# include <errno.h>
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# include <time.h>
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# include <memory>
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# include <errno.h>
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# include <unistd.h>
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# include <limits.h>
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# include <functional>
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# include <map>
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# include <unordered_map>
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# include <vector>
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# include <set>
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# include <any>
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# include <string>
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# include <thread>
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# include <mutex>
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# include <condition_variable>
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# include <queue>
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# include <tinyxml2.h>
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# include <chrono>
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# include <iomanip>
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# include <sstream>
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# include <dlfcn.h>
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# include <filesystem>
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# include <array>
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# include <cstring>
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# include <iostream>
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# include <sqlite3.h>
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# include <nlohmann/json.hpp>
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#endif
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#include <fastdds/dds/domain/DomainParticipant.hpp>
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#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
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#include <fastdds/dds/publisher/DataWriter.hpp>
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#include <fastdds/dds/publisher/Publisher.hpp>
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#include <fastdds/dds/subscriber/DataReader.hpp>
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#include <fastdds/dds/subscriber/Subscriber.hpp>
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#include <fastdds/dds/topic/TypeSupport.hpp>
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#include <fastdds/dds/subscriber/DataReaderListener.hpp>
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#include <fastcdr/xcdr/optional.hpp>
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#define FAST_DDS_MACRO eprosima::fastdds::dds
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using XN_JSON = nlohmann::json;
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/**
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* @brief 默认基频定义，单位 Hz
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*/
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#define BASE_RUN_FREQ 100.0
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/**
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* @brief 默认基础运行间隔定义 单位纳秒
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*/
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#define BASE_RUN_INTER (1.0E9 / BASE_RUN_FREQ)
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//模型周期性回调函数类型别名
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using XNCallBack = std::function<void()>;
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//DDS回调函数类型别名
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using XNDDSCallBack = std::function<void(void *)>;
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//事件回调函数类型别名
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using XNEventCallback = std::function<void(const std::any &)>;
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/**
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* @brief 纳秒睡眠相关时间结构体
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* @details 用于线程睡眠时间控制
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*/
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struct PERIOD_INFO {
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/**
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* @brief 系统提供的时间记录结构体，精确到纳秒
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*/
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timespec next_period;
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/**
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* @brief 睡眠时长，单位纳秒
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*/
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long period_ns;
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};
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/**
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* @brief 系统时间点类型别名
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*/
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using XNTimePoint = std::chrono::system_clock::time_point;
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/**
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* @brief 系统运行状态枚举类
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*/
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enum class RunStatus {
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/**
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* @brief 未开始
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*/
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NotStart = 0,
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/**
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* @brief 运行中
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*/
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Runing,
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/**
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* @brief 暂停
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*/
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Suspend,
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/**
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* @brief 中止
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*/
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Aborted,
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/**
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* @brief 结束
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*/
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Finished
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};
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/**
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* @brief 仿真控制命令枚举类
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*/
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enum class SimControlCmd {
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/**
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* @brief 开始
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*/
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Start,
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/**
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* @brief 继续
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*/
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Continue,
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/**
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* @brief 暂停
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*/
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Suspend,
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/**
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* @brief 中止
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*/
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Abort
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};
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/**
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* @brief 运行频率族枚举类
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*/
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enum class FreqLevel {
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/**
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* @brief 基础频率
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*/
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BaseFreq = 0, // 120/100/60 Hz
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/**
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* @brief 半频
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*/
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HalfFreq, // 60/50/30 Hz
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/**
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* @brief 四分之一频
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*/
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QuarterFreq, // 30/25/15 Hz
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/**
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* @brief 八分之一频
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*/
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EighthFreq, // 15/12.5/7.5 Hz
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/**
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* @brief 十六分之一频
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*/
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SixteenthFreq, // 7.5/6.25/3.75 Hz
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/**
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* @brief 三十二分之一频
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*/
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ThirtyTwothFreq, // 3.75/3.125/1.875 Hz
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};
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/**
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* @brief 框架对象状态枚举
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*/
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enum class XNFrameObjectStatus {
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/**
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* @brief 未初始化
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*/
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NotReady = 0,
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/**
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* @brief 已初始化
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*/
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Initialized,
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/**
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* @brief 已准备好
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*/
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Ready,
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/**
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* @brief 未知
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*/
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Unknown
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};
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template <class ToType, class FromType>
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FORCEINLINE ToType XNStaticCastHelper(const FromType &from)
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{
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return std::static_pointer_cast<typename ToType::element_type>(from);
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}
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template <class ToType, class FromType>
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FORCEINLINE ToType XNCastHelper(const FromType &from)
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{
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return std::dynamic_pointer_cast<typename ToType::element_type>(from);
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}
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#define XN_CAST(from, to) XNStaticCastHelper<to>(from)
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#define XN_THISPTR std::static_pointer_cast<ThisType>(shared_from_this())
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#define XNCLASS_PTR_DECLARE(a) \
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using a##Ptr = std::shared_ptr<class a>; \
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using a##WPtr = std::weak_ptr<class a>; \
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using a##UPtr = std::unique_ptr<class a>; \
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using a##ConsPtr = std::shared_ptr<const class a>;
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#define XNSTRUCT_PTR_DECLARE(a) \
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using a##Ptr = std::shared_ptr<struct a>; \
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using a##WPtr = std::weak_ptr<struct a>; \
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using a##UPtr = std::unique_ptr<struct a>; \
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using a##ConsPtr = std::shared_ptr<const struct a>;
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#define XN_NOCOPYABLE(Class) \
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public: \
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using NoCopyable = Class; \
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\
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private: \
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Class(const Class &) = delete; \
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Class &operator=(const Class &) = delete;
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#define XN_DECLARE_PRIVATE(Class) \
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XN_NOCOPYABLE(Class) \
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protected: \
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friend class Class##Private; \
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inline Class##Private *GetPP() const \
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{ \
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return reinterpret_cast<Class##Private *>(_Private_Ptr); \
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} \
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using PrivateType = Class##Private;
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#define T_D() PrivateType *const d = GetPP()
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struct XNNullClass {
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};
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#define XN_METATYPE_P(cls) \
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public: \
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using ThisType = cls; \
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using SuperType = XNNullClass;
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#define XN_METATYPE(cls, sup) \
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public: \
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using ThisType = cls; \
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using SuperType = sup;
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#define XN_UNUSED(x) (void)x
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namespace XNSim
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{
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template <typename T>
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constexpr typename std::underlying_type<T>::type enumValue(T e)
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{
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return static_cast<typename std::underlying_type<T>::type>(e);
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}
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/**
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* @brief 将ISO格式的时间字符串转换为系统时间点
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* @param timeStr ISO格式的时间字符串 (YYYY-MM-DDTHH:mm:ss)
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* @return 系统时间点
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*/
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extern "C" XNTimePoint XNCORE_EXPORT parseISOTime(const std::string &timeStr);
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extern "C" std::vector<std::string> XNCORE_EXPORT split(const std::string &str,
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const std::string &delim);
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extern "C" std::string XNCORE_EXPORT getFileNameWithoutExt(const std::string &path);
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extern "C" int XNCORE_EXPORT safe_stoi(const std::string &str, int defaultValue = 0);
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inline std::string getStringFromSqlite3(sqlite3_stmt *stmt, int column)
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{
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const char *text = reinterpret_cast<const char *>(sqlite3_column_text(stmt, column));
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if (text == nullptr) {
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return "";
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}
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return std::string(text);
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}
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} // namespace XNSim
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