PX4-Autopilot/Tools/simulation/jsbsim/jsbsim_bridge/include/common.h

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/**
 * @brief JSBSim Magnetometer Plugin
 *
 * This is a plugin modeling a magnetometer for JSBSim
 *
 * @author Jaeyoung Lim <jaeyoung@auterion.com>
 * @author Roman Bapst <roman@auterion.com>
 */

#pragma once

#include <tinyxml.h>
#include <cmath>

inline double ftToM(double ft) { return 0.3048 * ft; }
inline double rankineToCelsius(double temp) { return (temp - 491.67) * 5 / 9; }
inline double psfToBar(double pressure) { return 0.000478802588 * pressure; }
inline double psfToMbar(double pressure) { return 0.478802588 * pressure; }

inline double wrap_pi(double x) {
  while (x > M_PI) {
    x -= 2 * M_PI;
  }

  while (x < -M_PI) {
    x += 2 * M_PI;
  }

  return x;
}

inline double wrap_pi_deg(double x) {
  while (x < 0) {
    x += 360;
  }
  return x;
}

inline bool CheckConfigElement(const TiXmlElement &config, std::string param) {
  const TiXmlElement *e = config.FirstChildElement(param);
  return e != nullptr;
}

inline bool CheckConfigElement(const TiXmlHandle &config, std::string group, std::string param) {
  const TiXmlElement *group_element = config.FirstChild(group).Element();
  if (!group_element) {
    return false;
  }

  const TiXmlElement *e = group_element->FirstChildElement(param);
  return e != nullptr;
}

inline TiXmlElement GetXmlElement(const TiXmlHandle &config, std::string group, std::string param) {
  const TiXmlElement *group_element = config.FirstChild(group).Element();
  if (!group_element) {
    return nullptr;
  }

  const TiXmlElement *e = group_element->FirstChildElement(param);
  if (!e) {
    return nullptr;
  }
  return *e;
}

template <typename T>
bool GetConfigElement(const TiXmlHandle &config, const std::string &group, const std::string &param, T &param_value) {
  const TiXmlElement *group_element = config.FirstChild(group).Element();
  if (!group_element) {
    return false;
  }

  const TiXmlElement *e = group_element->FirstChildElement(param);
  if (e) {
    std::istringstream iss(e->GetText());
    iss >> param_value;
    return true;
  }
  return false;
}

template <typename T>
bool GetConfigElement(const TiXmlElement &element, const std::string &param, T &param_value) {
  const TiXmlElement *e = element.FirstChildElement(param);
  if (e) {
    std::istringstream iss(e->GetText());
    iss >> param_value;
    return true;
  }
  return false;
}

template <typename T>
bool GetConfigElement(const TiXmlElement &config, const std::string &group, const std::string &param, T &param_value) {
  const TiXmlElement *group_element = config.FirstChildElement(group);
  if (!group_element) {
    return false;
  }

  const TiXmlElement *e = group_element->FirstChildElement(param);
  if (e) {
    std::istringstream iss(e->GetText());
    iss >> param_value;
    return true;
  }
  return false;
}

inline bool GetConfigElement(const TiXmlHandle &config, const std::string &group, const std::string &param,
                             bool &param_value) {
  const TiXmlElement *group_element = config.FirstChild(group).Element();
  if (!group_element) {
    return false;
  }

  const TiXmlElement *e = group_element->FirstChildElement(param);
  if (e) {
    std::istringstream iss(e->GetText());
    iss >> std::boolalpha >> param_value;
    return true;
  }
  return false;
}