builds but not tested yet after fixwing added

alireza787b · Nov 24, 2023 · 90b7634 · 90b7634
1 parent 18cee06
commit 90b7634
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Showing 5 changed files with 14 additions and 23 deletions.
diff --git a/include/ConfigManager.h b/include/ConfigManager.h
@@ -6,8 +6,9 @@
 #include <string>
 #include <map>
 #include <vector>
+#include "SimpleIni.h"
 
-enum ActuatorDataType { UNKNOWN, FLOAT, FLOAT_ARRAY };
+enum ActuatorDataType { UNKNOWN, FLOAT_SINGLE, FLOAT_ARRAY };
 
 struct ActuatorConfig {
     std::string datarefName;
@@ -26,7 +27,8 @@ class ConfigManager {
     static std::string getConfigVersion();
     static std::string getConfigType();
     static uint8_t getConfigTypeCode();
-
+    static std::map<int, ActuatorConfig> actuatorConfigs; // Map channel number to ActuatorConfig
+
 
 private:
     static std::map<int, int> motorMappingsPX4toXPlane;
@@ -36,7 +38,6 @@ class ConfigManager {
     static std::string configType; // "Multirotor" or "FixedWing" or ...
     static uint8_t ConfigManager::configTypeCode;
     static std::string getConfigFilePath();
-    static std::map<int, ActuatorConfig> actuatorConfigs; // Map channel number to ActuatorConfig
     static void parseFixedWingConfig(CSimpleIniA& ini) ;
     static void parseMultirotorConfig(CSimpleIniA& ini) ;
     static ActuatorDataType stringToDataType(const std::string& typeStr);

diff --git a/include/DataRefManager.h b/include/DataRefManager.h
@@ -57,18 +57,6 @@ class DataRefManager {
     static Eigen::Vector3f convertNEDToBody(const Eigen::Vector3f& nedVector, float roll, float pitch, float yaw);
     static void initializeMagneticField();
     static std::string GetFormattedDroneConfig();
-    static void overrideActuators_fixedwing() {
-
-
-
-    // Additional debug information can be printed here if necessary
-}
-
-void setControlSurface(const std::string& dataref, float value) ;
-}
-
-void setThrottle(const std::string& dataref, float value) ;
-
 
 
 };

diff --git a/src/ConfigManager.cpp b/src/ConfigManager.cpp
@@ -6,7 +6,6 @@
 #include <fstream>
 #include <sstream>
 #include <iostream>
-#include "SimpleIni.h"
 
 std::map<int, int> ConfigManager::motorMappingsPX4toXPlane;
 std::map<int, int> ConfigManager::motorMappingsXPlanetoPX4;
@@ -15,6 +14,9 @@ std::string ConfigManager::configVersion;
 std::string ConfigManager::configType;
 uint8_t ConfigManager::configTypeCode;
 
+std::map<int, ActuatorConfig> ConfigManager::actuatorConfigs;
+
+
 void ConfigManager::loadConfiguration() {
     // Initialize the SimpleIni object and set it to handle Unicode
     CSimpleIniA ini;
@@ -155,8 +157,8 @@ void ConfigManager::parseFixedWingConfig(CSimpleIniA& ini) {
 
 
 
-ActuatorDataType stringToDataType(const std::string& typeStr) {
-    if (typeStr == "float") return FLOAT;
+ActuatorDataType ConfigManager::stringToDataType(const std::string& typeStr) {
+    if (typeStr == "float") return FLOAT_SINGLE;
     else if (typeStr == "floatArray") return FLOAT_ARRAY;
     return UNKNOWN;
 }
diff --git a/src/DataRefManager.cpp b/src/DataRefManager.cpp
@@ -308,14 +308,14 @@ void DataRefManager::overrideActuators_fixedwing() {
     MAVLinkManager::HILActuatorControlsData hilControls = MAVLinkManager::hilActuatorControlsData;
 
     // Iterate over each configured actuator
-    for (const auto& [channel, config] : actuatorConfigs) {
-        // Retrieve the control value for the current channel and clamp it within the configured range
+	for (const auto& [channel, config] : ConfigManager::actuatorConfigs) {
+		// Retrieve the control value for the current channel and clamp it within the configured range
         float value = hilControls.controls[channel];
-        value = std::max(config.range.first, std::min(config.range.second, value));
+		value = (std::max)(config.range.first, (std::min)(config.range.second, value));
 
         // Set the dataref in X-Plane based on the actuator's data type
         switch (config.dataType) {
-            case FLOAT:
+            case FLOAT_SINGLE:
                 // For float type, directly set the dataref with the clamped value
                 XPLMSetDataf(XPLMFindDataRef(config.datarefName.c_str()), value);
                 break;

diff --git a/src/px4xplane.cpp b/src/px4xplane.cpp
@@ -14,7 +14,7 @@
 #include "ConfigReader.h"
 #include "DataRefManager.h"
 #include "ConnectionManager.h"
-
+#include "ConfigManager.h"
 
 #if IBM
 #include <windows.h>