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Python/src/xplaneConnect.py

@@ -1,4 +1,5 @@
 import socket
+import struct
 
 class XPlaneConnect:
     '''XPlaneConnect (XPC) facilitates communication to and from the XPCPlugin.'''
@@ -24,79 +25,192 @@ class XPlaneConnect:
         self.socket.bind(server)
         
         # Set timeout
-        timeout_ms = 500
-        self.socket.settimeout(timeout_ms / 1000)
+        timeout_us = 500
+        self.socket.settimeout(timeout_ms / 1000000)
 
     def __del__(self):
         self.close()
 
-    def close():
+    def close(self):
         '''Closes the underlying UDP socket'''
         if self.socket is not None:
             self.socket.close()
             self.socket = None
 
-    def send_udp(msg):
-        pass
+    def send_udp(self, msg):
+        '''Sends a message over the underlying UDP socket.'''
+        msg_len = len(msg)
+        msg[4] = msg_len
 
-    def read_udp():
-        pass
+        # Preconditions
+        if(msg_len <= 0): # Require message length greater than 0.
+            raise RuntimeError("send_udp: message length must be psoitive >0")
+
+        # Code
+        self.socket.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1) # TODO: Why?
+
+        self.socket.send(msg)
+
+    def read_udp(self, recv_addr = None):
+        if recv_addr is None:
+            recv_addr = (self.xp_ip, self.xp_port)
+
+        return self.socket.recv(5000) # TODO: Validate that this matches the behavior of the C version
 
     # Configuration
-    def set_conn(rec_port):
-        pass
+    def set_conn(self, rec_port):
+        msg = struct.pack("!4sH", ("CONN", rec_port))
+        self.send_udp(msg)
 
-    def pause_sim(state):
-        pass
+    def pause_sim(self, pause):
+        '''Pauses or unpauses the X-Plane simulation'''
+        pause_val = 0
+        if pause:
+            pause_val = 1
+
+        msg = struct.pack("4sBB", ("SIMU", pause_val, 0))
+        self.send_udp(msg)
 
     # UDP Data
-    def parse_data(msg, dataRef):
+    def parse_data(self, data):
         pass
 
-    def read_data(msg, dataRef):
-        pass
+    def read_data(self):
+        buf = self.read_udp()
+        if buf[0] != 0:
+            return self.parse_data(buf)
+        else:
+            return None
 
-    def send_data(msg, dataRef, rows):
-        pass
+    def send_data(self, dataRef):
+        '''Sends X-Plane data over the underlying UDP socket.'''
+        msg = struct.pack("4s", "DATA")
+        for row in dataRef:
+            struct.pack_into("!I", msg, len(msg), row[0])
+            for i in range(8):
+                struct.pack_into("!f", msg, len(msg), row[1][i])
+        self.send_udp(msg)
 
     # Position
-    def parse_pos(msg, resultArray, gear):
+    def parse_pos(self, data):
         pass
 
-    def read_pos(resultArray, gear):
-        pass
+    def read_pos(self, resultArray, gear):
+        buf = self.read_udp()
+        if buf[0] != 0:
+            return self.parse_pos(buf)
+        else:
+            return None
 
-    def send_pos(ACNum, numArgs, valueArray):
-        pass
+    def send_pos(self, ac_num, values):
+        # Preconditions
+        if len(values) < 1:
+            raise RuntimeError("send_pos: Must have at least one argument")
 
+        # Header and Aircraft num
+        msg = struct.pack("!4sB", ("POSI", ac_num))
+
+        # States
+        for i in range(7):
+            val = -998.5 # TODO: Why?
+            if i < len(values):
+                val = values[i]
+            struct.pack_into("!f", msg, len(msg), val)
+
+        # Send
+        self.send_udp(msg)
+#}
     # Controls
-    def parse_ctrl(msg, resultArray, gear):
+    def parse_ctrl(self, data):
         pass
 
-    def read_ctrol(resultArray, gear):
-        pass
+    def read_ctrol(self, resultArray, gear):
+        buf = self.read_udp()
+        if buf[0] != 0:
+            return self.parse_ctrl(buf)
+        else:
+            return float("NaN")
 
-    def send_pos(numArgs, valueArray):
-        pass
+    def send_ctrol(self, values):
+        # Preconditions
+        if len(values) < 1:
+            raise RuntimeError("send_ctrl: Must have at least one argument")
+
+        # Header
+        msg = struct.pack("!4s", "CTRL")
+
+        # States
+        for i in range(6):
+            val = -998.5 # TODO: Why?
+            if i < len(values):
+                val = values[i]
+            struct.pack_into("!f", msg, len(msg), val)
+
+        # Send
+        self.send_udp(msg)
         
     # DREF Manipulation
-    def read_dref(resultArray):
+    def read_dref(self, resultArray):
+        buf = self.read_udp()
+        if buf[0] != 0:
+            return self.parse_dref(buf)
+        else:
+            return None
+
+    def parse_dref(self, data):
         pass
 
-    def parse_dref(msg, dataRef, length_of_dref, values):
+    def send_dref(self, data_ref, values):
+        '''Sends X-Plane dref over the underlying UDP socket.'''
+        msg_len = 7 + len(data_ref) + len(values) * 4
+        
+        # Header
+        msg = struct.pack("4s", "DREF")
+
+        # DRef
+        struct.pack_into("B", msg, len(msg), len(data_ref))
+        struct.pack_into(str(len(data_ref)) + "B", msg, len(msg), data_ref) # TODO: Verify byte order (should be network order?)
+
+        # Values
+        struct.pack_into("B", msg, len(msg), len(values))
+        struct.pack_into(str(len(values)) + "f", msg, len(msg), values) # TODO: Verify byte order (should be network order?)
+
+        self.send_udp(msg)
+
+    def request_dref(self, dref_array, resultArray):
+        '''Requests drefs and reads the response.'''
+        self.send_request(dref_array)
+        for i in range(80):
+            size = self.read_dref(resultArray)
+            if size != -1:
+                return size
+
+        return -1
+
+    def parse_getd(self, msg, dref_array, dref_sizes):
         pass
 
-    def send_dref(dataRef, length_of_dref, values):
+    def send_request(self, dref_array):
+        '''Sends a request over the underlying UDP socket.'''
+        # Header
+        msg = struct.pack("4s", "GETD");
+
+        # Number of values;
+        struct.pack_into("B", msg, len(msg), len(dref_array))
+
+        # The Rest
+        for dref in dref_array:            
+            struct.pack_into("B", msg, len(msg), len(dref_array))
+            struct.pack_into("100B", msg, len(msg), dref_array)
+
+        self.send_udp(msg)
+
+    def parse_request(self, data):
         pass
 
-    def request_dref(dref_array, dref_sizes, list_len, resultArray):
-        pass
-
-    def parse_getd(msg, dref_array, dref_sizes):
-        pass
-
-    def parse_request(msg, result_array, array_sizes):
-        pass
-
-    def read_request(data_ref, array_sizes, recv_addr):
-        pass
+    def read_request(self, data_ref, array_sizes, recv_addr):
+        buf = self.read_udp()
+        if buf[0] != 0:
+            return self.parse_request(buf)
+        else:
+            return None