jsbsim_bridge.h
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/****************************************************************************
*
* Copyright (c) 2020 Auterion AG. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @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};
};