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75 lines
2.9 KiB
75 lines
2.9 KiB
/****************************************************************************
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*
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* Copyright (c) 2020 Auterion AG. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @brief JSBSim Bridge Configuration Parser
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*
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* This is a class for the JSBSim actuator plugin
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*
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* @author Jaeyoung Lim <jaeyoung@auterion.com>
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*/
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#pragma once
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#include "common.h"
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#include <tinyxml.h>
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#include <Eigen/Eigen>
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#include <memory>
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enum class ArgResult { Success, Help, Error };
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class ConfigurationParser {
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public:
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ConfigurationParser() = default;
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~ConfigurationParser() = default;
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bool ParseEnvironmentVariables();
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bool ParseConfigFile(const std::string& path);
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ArgResult ParseArgV(int argc, char* const argv[]);
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bool isHeadless() { return _headless; }
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std::shared_ptr<TiXmlHandle> XmlHandle() { return _config; }
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std::string getInitScriptPath() { return _init_script_path; }
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std::string getModelName() { return _model_name; }
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int getRealtimeFactor() { return _realtime_factor; }
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void setHeadless(bool headless) { _headless = headless; }
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void setInitScriptPath(std::string path) { _init_script_path = path; }
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static void PrintHelpMessage(char* argv[]);
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private:
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TiXmlDocument _doc;
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std::shared_ptr<TiXmlHandle> _config;
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bool _headless{false};
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std::string _init_script_path;
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std::string _model_name;
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float _realtime_factor{1.0};
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};
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