Add device /baudrate for configuration options

This commit adds configuration options for running HITL simulation with the PX4 JSBSim bridge

The device path / baudrate can be passed with the command line flag -d and -b. The bridge is configured to be run by HITL when the -d is provided. the baudrate is configured to be 921600 by default

include/configuration_parser.h

@@ -60,8 +60,11 @@ class ConfigurationParser {
   ArgResult ParseArgV(int argc, char* const argv[]);
   inline bool isHeadless() { return _headless; }
   inline std::shared_ptr<TiXmlHandle> XmlHandle() { return _config; }
+  inline std::string getDevice() { return _device; }
   inline std::string getInitScriptPath() { return _init_script_path; }
   inline std::string getModelName() { return _model_name; }
+  inline bool getSerialEnabled() { return _serial_enabled; }
+  inline int getBaudrate() { return _baudrate; }
   static void PrintHelpMessage(char *argv[]);
 
  private:
@@ -71,4 +74,9 @@ class ConfigurationParser {
   bool _headless{false};
   std::string _init_script_path;
   std::string _model_name;
+
+  //HITL Configs
+  bool _serial_enabled{false};
+  std::string _device;
+  int _baudrate{921600};
 };

include/jsbsim_bridge.h

@@ -67,7 +67,7 @@ class JSBSimBridge {
 
  private:
   bool SetFdmConfigs(ConfigurationParser &cfg);
-  bool SetMavlinkInterfaceConfigs(std::unique_ptr<MavlinkInterface> &interface, TiXmlHandle &config);
+  bool SetMavlinkInterfaceConfigs(std::unique_ptr<MavlinkInterface> &interface, ConfigurationParser &cfg);
 
   JSBSim::FGFDMExec *_fdmexec;  // FDMExec pointer
   ConfigurationParser &_cfg;

src/configuration_parser.cpp

@@ -52,10 +52,12 @@ bool ConfigurationParser::ParseEnvironmentVariables() {
 ArgResult ConfigurationParser::ParseArgV(int argc, char* const argv[]) {
     static const struct option options[] = {
         {"scene", required_argument, nullptr, 's'},
+        {"device", required_argument, nullptr, 'd'},
+        {"baudrate", required_argument, nullptr, 'b'},
     };
 
     int c;
-    while ((c = getopt_long(argc, argv, "s:h", options, nullptr)) >= 0) {
+    while ((c = getopt_long(argc, argv, "s:d:b:h", options, nullptr)) >= 0) {
         switch (c) {
             case 'h': {
               return ArgResult::Help;
@@ -65,6 +67,15 @@ ArgResult ConfigurationParser::ParseArgV(int argc, char* const argv[]) {
               _init_script_path = std::string(optarg);
               break;
             }
+            case 'd': {
+              _device = std::string(optarg);
+              _serial_enabled = true;
+              break;
+            }
+            case 'b': {
+              _baudrate = std::stoi(std::string(optarg));
+              break;
+            }
             case '?':
             default: {
               std::cout << "Unknown Options" << std::endl;
@@ -97,7 +108,9 @@ bool ConfigurationParser::ParseConfigFile(const std::string& path) {
 
 void ConfigurationParser::PrintHelpMessage(char *argv[]) {
   std::cout << argv[0] << " aircraft [options]\n\n"
-    << "  aircraft      Aircraft config file name e.g. rascal"
-    << "  -h | --help   Print available options\n"
-    << "  -s | --scene  Location / scene where the vehicle should be spawned in e.g. LSZH\n";
+    << "  aircraft         Aircraft config file name e.g. rascal"
+    << "  -h | --help      Print available options\n"
+    << "  -s | --scene     Location / scene where the vehicle should be spawned in e.g. LSZH\n"
+    << "  -d | --device    Device path for FMU for HITL simulation e.g. /dev/ttyACM0\n"
+    << "  -b | --baudrate  Device baudrate for FMU for HITL simulation e.g. 921600\n";
 }

src/jsbsim_bridge.cpp

@@ -54,7 +54,7 @@ JSBSimBridge::JSBSimBridge(JSBSim::FGFDMExec *fdmexec, ConfigurationParser &cfg)
 
   // Configure Mavlink HIL interface
   _mavlink_interface = std::make_unique<MavlinkInterface>();
-  SetMavlinkInterfaceConfigs(_mavlink_interface, config);
+  SetMavlinkInterfaceConfigs(_mavlink_interface, _cfg);
 
   _mavlink_interface->Load();
 
@@ -150,7 +150,8 @@ bool JSBSimBridge::SetFdmConfigs(ConfigurationParser &cfg) {
   }
 }
 
-bool JSBSimBridge::SetMavlinkInterfaceConfigs(std::unique_ptr<MavlinkInterface> &interface, TiXmlHandle &config) {
+bool JSBSimBridge::SetMavlinkInterfaceConfigs(std::unique_ptr<MavlinkInterface> &interface, ConfigurationParser &cfg) {
+  TiXmlHandle config = *cfg.XmlHandle();
   TiXmlElement *mavlink_configs = config.FirstChild("mavlink_interface").Element();
 
   if (!mavlink_configs) return true;  // Nothing to set
@@ -160,8 +161,17 @@ bool JSBSimBridge::SetMavlinkInterfaceConfigs(std::unique_ptr<MavlinkInterface>
   bool enable_lockstep = true;
   GetConfigElement(config, "mavlink_interface", "enable_lockstep", enable_lockstep);
 
-  interface->SetMavlinkTcpPort(tcp_port);
-  interface->SetUseTcp(true);
+  if (cfg.getSerialEnabled()) {
+    //Configure for HITL when serial is enabled
+    interface->SetSerialEnabled(cfg.getSerialEnabled());
+    interface->SetDevice(cfg.getDevice());
+    interface->SetBaudrate(cfg.getBaudrate());
+  } else {
+    //Configure for SITL as default
+    interface->SetMavlinkTcpPort(tcp_port);
+    interface->SetUseTcp(true);
+  }
+
   interface->SetEnableLockstep(enable_lockstep);
 
   return true;