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/**
 * @brief JSBSim Bridge
 *
 * JSBSim Bridge object that runs the simulation
 *
 * @author Jaeyoung Lim <jaeyoung@auterion.com>
 */

#pragma once

#include "mavlink_interface.h"

#include "actuator_plugin.h"
#include "configuration_parser.h"
#include "sensor_airspeed_plugin.h"
#include "sensor_baro_plugin.h"
#include "sensor_gps_plugin.h"
#include "sensor_imu_plugin.h"
#include "sensor_mag_plugin.h"

#include <FGFDMExec.h>
#include <initialization/FGInitialCondition.h>
#include <input_output/FGScript.h>

#include <tinyxml.h>
#include <chrono>

static constexpr int kDefaultSITLTcpPort = 4560;

class JSBSimBridge {
 public:
  JSBSimBridge(JSBSim::FGFDMExec *fdmexec, ConfigurationParser &cfg);
  ~JSBSimBridge();
  void Run();

 private:
  bool SetFdmConfigs(ConfigurationParser &cfg);
  bool SetMavlinkInterfaceConfigs(std::unique_ptr<MavlinkInterface> &interface, TiXmlHandle &config);

  JSBSim::FGFDMExec *_fdmexec;  // FDMExec pointer
  ConfigurationParser &_cfg;

  std::unique_ptr<MavlinkInterface> _mavlink_interface;
  std::unique_ptr<SensorImuPlugin> _imu_sensor;
  std::unique_ptr<SensorGpsPlugin> _gps_sensor;
  std::unique_ptr<SensorBaroPlugin> _baro_sensor;
  std::unique_ptr<SensorMagPlugin> _mag_sensor;
  std::unique_ptr<SensorAirspeedPlugin> _airspeed_sensor;
  std::unique_ptr<ActuatorPlugin> _actuators;

  double _dt{0.004};
  double _realtime_factor{1.0};
  bool _result{true};
};