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86 lines
3.1 KiB
86 lines
3.1 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
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*
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* JSBSim Bridge object that runs the simulation
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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 "mavlink_interface.h"
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#include "actuator_plugin.h"
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#include "configuration_parser.h"
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#include "sensor_airspeed_plugin.h"
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#include "sensor_baro_plugin.h"
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#include "sensor_gps_plugin.h"
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#include "sensor_imu_plugin.h"
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#include "sensor_mag_plugin.h"
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#include <FGFDMExec.h>
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#include <initialization/FGInitialCondition.h>
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#include <input_output/FGScript.h>
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#include <tinyxml.h>
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#include <chrono>
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static constexpr int kDefaultSITLTcpPort = 4560;
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class JSBSimBridge {
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public:
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JSBSimBridge(JSBSim::FGFDMExec *fdmexec, ConfigurationParser &cfg);
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~JSBSimBridge();
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void Run();
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private:
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bool SetFdmConfigs(ConfigurationParser &cfg);
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bool SetMavlinkInterfaceConfigs(std::unique_ptr<MavlinkInterface> &interface, TiXmlHandle &config);
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JSBSim::FGFDMExec *_fdmexec; // FDMExec pointer
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ConfigurationParser &_cfg;
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std::unique_ptr<MavlinkInterface> _mavlink_interface;
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std::unique_ptr<SensorImuPlugin> _imu_sensor;
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std::unique_ptr<SensorGpsPlugin> _gps_sensor;
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std::unique_ptr<SensorBaroPlugin> _baro_sensor;
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std::unique_ptr<SensorMagPlugin> _mag_sensor;
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std::unique_ptr<SensorAirspeedPlugin> _airspeed_sensor;
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std::unique_ptr<ActuatorPlugin> _actuators;
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double _dt{0.004};
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double _realtime_factor{1.0};
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bool _result{true};
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};
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