344 lines
9.9 KiB
C++
344 lines
9.9 KiB
C++
#pragma once
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#include "XNFramework.h"
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#include "XNDDSManager.h"
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#include "XNByteArray.h"
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#include "XNTypeTraits.h"
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#include <stdexcept>
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// 定义UDP包的最大大小
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constexpr size_t MAX_UDP_PACKET_SIZE = 40000;
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class XNDDSInterface
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{
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public:
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XNDDSInterface() = default;
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virtual ~XNDDSInterface() = default;
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public:
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/**
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* @brief 初始化
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* @param framework: 框架
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*/
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virtual void Initialize(XNFrameworkPtr framework, uint32_t modelID, uint32_t DDS_type) = 0;
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/**
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* @brief 获取该接口的UDP包
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* @return 字节数组
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*/
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XNByteArray getUDPPackage();
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/**
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* @brief 通过UDP包设置数据
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* @param package: UDP包
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*/
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void setDataByUDPPackage(const XNByteArray &package);
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/**
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* @brief 批量获取指定变量的数据
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* @param varNames: 变量名列表
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* @return: 变量名到数据的映射
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*/
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std::unordered_map<std::string, std::string> getStringData(std::vector<std::string> varNames);
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/**
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* @brief 批量设置指定变量的数据
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* @param data: 变量名到数据的映射
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*/
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void setDataByString(std::unordered_map<std::string, std::string> data);
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protected:
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/**
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* @brief 获取指定变量的字节数据，用于网络通信
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* @param data: 数据
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* @return 字节数组
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*/
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template <typename T>
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XNByteArray getByteArray(eprosima::fastcdr::optional<T> data)
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{
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XNByteArray result(getTypeSize<T>());
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if constexpr (std::is_arithmetic_v<T>) {
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if (data) {
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std::memcpy(result.data(), &data.value(), sizeof(T));
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} else {
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T zero = 0;
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std::memcpy(result.data(), &zero, sizeof(T));
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}
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} else if constexpr (is_std_array_v<T>) {
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if (data) {
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return getByteArrayFromStdArray(data.value());
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} else {
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T zero = {};
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return getByteArrayFromStdArray(zero);
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}
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} else {
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static_assert(std::is_arithmetic_v<T> || is_std_array_v<T>,
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"Type must be arithmetic or std::array");
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}
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return result;
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}
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/**
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* @brief 设置指定变量的字节数据，用于网络通信
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* @param data: 数据
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* @param byteArray: 字节数组
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*/
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template <typename T>
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void setByteArray(eprosima::fastcdr::optional<T> &data, const XNByteArray &byteArray)
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{
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if (byteArray.size() < getTypeSize<T>())
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return;
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if constexpr (std::is_arithmetic_v<T>) {
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T temp;
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std::memcpy(&temp, byteArray.data(), sizeof(T));
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data = temp;
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} else if constexpr (is_std_array_v<T>) {
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if (!data) {
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data = T{};
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}
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setByteArrayFromStdArray(data.value(), byteArray);
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} else {
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static_assert(std::is_arithmetic_v<T> || is_std_array_v<T>,
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"Type must be arithmetic or std::array");
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}
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}
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/**
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* @brief 获取指定数组变量的字节数据，用于网络通信
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* @param data: 数据
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* @return 字节数组
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*/
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template <typename T, std::size_t N>
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XNByteArray getByteArrayFromStdArray(const std::array<T, N> &data)
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{
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XNByteArray result(getTypeSize<T>() * N);
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for (std::size_t i = 0; i < N; ++i) {
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if constexpr (std::is_arithmetic_v<T>) {
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std::memcpy(result.data() + i * getTypeSize<T>(), &data[i], getTypeSize<T>());
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} else {
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XNByteArray subArray = getByteArrayFromStdArray(data[i]);
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std::memcpy(result.data() + i * getTypeSize<T>(), subArray.data(),
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getTypeSize<T>());
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}
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}
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return result;
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}
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/**
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* @brief 设置指定数组变量的字节数据，用于网络通信
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* @param data: 数据
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* @param byteArray: 字节数组
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*/
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template <typename T, std::size_t N>
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void setByteArrayFromStdArray(std::array<T, N> &data, const XNByteArray &byteArray)
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{
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if (byteArray.size() < getTypeSize<T>() * N)
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return;
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for (std::size_t i = 0; i < N; ++i) {
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if constexpr (std::is_arithmetic_v<T>) {
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std::memcpy(&data[i], byteArray.data() + i * getTypeSize<T>(), getTypeSize<T>());
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} else {
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XNByteArray subArray(byteArray.data() + i * getTypeSize<T>(), getTypeSize<T>());
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setByteArrayFromStdArray(data[i], subArray);
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}
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}
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}
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/**
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* @brief 获取指定变量的字符串数据，用于JSON前端
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* @param data: 数据
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* @return: 数据（字符串格式）
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*/
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template <typename T>
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std::string getString(eprosima::fastcdr::optional<T> data)
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{
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if constexpr (std::is_arithmetic_v<T>) {
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if (data) {
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return std::to_string(data.value());
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} else {
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return std::to_string(0);
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}
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} else if constexpr (is_std_array_v<T>) {
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if (data) {
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return getStringFromStdArray(data.value());
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} else {
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T zero = {};
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return getStringFromStdArray(zero);
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}
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}
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return std::string();
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}
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/**
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* @brief 通过字符串数据设置指定变量，用于JSON前端
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* @param data: 数据
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* @param value: 字符串数据
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*/
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template <typename T>
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void setDataFromString(eprosima::fastcdr::optional<T> &data, const std::string &value)
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{
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if constexpr (std::is_arithmetic_v<T>) {
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if constexpr (std::is_same_v<T, float> || std::is_same_v<T, double>) {
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data = std::stod(value);
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} else {
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data = std::stoll(value);
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}
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} else if constexpr (is_std_array_v<T>) {
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// 解析输入字符串
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std::stringstream ss(value);
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std::string item;
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std::vector<std::string> items;
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while (std::getline(ss, item, ',')) {
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items.push_back(item);
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}
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T temp;
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setStdArrayFromString(temp, items, 0);
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data = temp;
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}
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}
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/**
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* @brief 获取指定数组变量的字符串数据，用于JSON前端
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* @param data: 数据
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* @return: 数据（字符串格式）
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*/
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template <typename T, std::size_t N>
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std::string getStringFromStdArray(std::array<T, N> data)
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{
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std::stringstream ss;
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for (std::size_t i = 0; i < N; ++i) {
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if (i > 0)
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ss << ",";
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if constexpr (std::is_arithmetic_v<T>) {
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ss << data[i];
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} else {
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ss << getStringFromStdArray(data[i]);
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}
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}
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return ss.str();
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}
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/**
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* @brief 通过字符串数据设置指定数组变量，用于JSON前端
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* @param data: 数据
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* @param value: 字符串数据，格式为"数字,数字,..."
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* @param start_pos: 当前数组在输入字符串中的起始位置
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* @return 处理完当前数组后，下一个数组的起始位置
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* @throw std::runtime_error: 当输入数据格式不正确时抛出异常
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*/
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template <typename T, std::size_t N>
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size_t setStdArrayFromString(std::array<T, N> &data, const std::vector<std::string> &value,
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size_t start_pos = 0)
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{
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// 递归处理每个元素
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for (std::size_t i = 0; i < N; ++i) {
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try {
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if constexpr (std::is_arithmetic_v<T>) {
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// 对于基本类型，直接转换
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if constexpr (std::is_same_v<T, float> || std::is_same_v<T, double>) {
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data[i] = static_cast<T>(std::stod(value[start_pos + i]));
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} else {
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data[i] = static_cast<T>(std::stoll(value[start_pos + i]));
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}
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} else if constexpr (is_std_array_v<T>) {
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// 对于嵌套数组，递归处理
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start_pos = setStdArrayFromString(data[i], value, start_pos + i);
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} else {
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static_assert(std::is_arithmetic_v<T> || is_std_array_v<T>,
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"Type must be arithmetic or std::array");
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}
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} catch (const std::exception &e) {
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throw std::runtime_error("Error parsing element " + std::to_string(i) + ": "
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+ e.what());
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}
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}
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return start_pos + N;
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}
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template <typename T1, typename T2>
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void assign_value_get(eprosima::fastcdr::optional<T1> &data, T2 &model_data)
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{
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if (data) {
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auto temp = data.value();
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if constexpr (std::is_arithmetic_v<T1>) {
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model_data = temp;
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} else if constexpr (is_std_array_v<T1>) {
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size_t arraySize = array_size_v<T1>;
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for (size_t i = 0; i < arraySize; ++i) {
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auto temp2 = temp[i];
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if constexpr (std::is_arithmetic_v<T2>) {
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model_data[i] = temp2;
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} else if constexpr (is_std_array_v<T2>) {
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size_t arraySize2 = array_size_v<T2>;
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for (size_t j = 0; j < arraySize2; ++j) {
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model_data[i][j] = temp2[j];
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}
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}
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}
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}
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}
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}
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template <typename T1, typename T2>
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void assign_value_set(eprosima::fastcdr::optional<T1> &data, T2 &model_data)
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{
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if constexpr (std::is_arithmetic_v<T1>) {
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data = model_data;
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} else if constexpr (is_std_array_v<T1>) {
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T1 temp;
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size_t arraySize = array_size_v<T1>;
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for (size_t i = 0; i < arraySize; ++i) {
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if constexpr (std::is_arithmetic_v<typename T1::value_type>) {
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temp[i] = model_data[i];
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} else if constexpr (is_std_array_v<typename T1::value_type>) {
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size_t arraySize2 = array_size_v<typename T1::value_type>;
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for (size_t j = 0; j < arraySize2; ++j) {
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temp[i][j] = model_data[i][j];
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}
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}
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}
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data = temp;
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}
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}
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virtual void clearOutData() {}
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virtual void sendOutData() {}
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protected:
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struct GetByteArrayFunc {
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std::function<XNByteArray(void)> func;
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size_t size;
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};
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struct SetByteArrayFunc {
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std::function<void(XNByteArray)> func;
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size_t size;
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};
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std::unordered_map<std::string, std::function<std::string()>> getDataFunction;
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std::unordered_map<std::string, std::function<void(std::string)>> setDataFunction;
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std::vector<GetByteArrayFunc> getByteArrayFunction;
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std::unordered_map<std::string, SetByteArrayFunc> setByteArrayFunction;
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std::mutex mutex;
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uint8_t header[8]{0}; // 固定大小的头部
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size_t headerSize = 8;
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FAST_DDS_MACRO::DataWriter *dataWriter;
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};
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#define MAP_DATA_FUNC(NAME) \
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getDataFunction[#NAME] = [this]() { return getString(data.NAME()); }; \
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setDataFunction[#NAME] = [this](std::string value) { \
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setDataFromString(out_data.NAME(), value); \
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}; \
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getByteArrayFunction.push_back( \
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{[this]() { return getByteArray(data.NAME()); }, getTypeSize<decltype(data.NAME())>()}); \
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setByteArrayFunction[#NAME] = { \
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[this](XNByteArray byteArray) { setByteArray(out_data.NAME(), byteArray); }, \
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getTypeSize<decltype(out_data.NAME())>()};
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