Merge pull request #218 from nasa/develop

Version 1.3 RC6

.gitignore

@@ -93,3 +93,4 @@ out/
 # Internal Docs #
 #################
 Docs/~$Capability Matrix.xlsx
+*.xpl

C/monitorExample/main.c

@@ -26,6 +26,8 @@
 #include <sys/time.h>
 #include "stdio.h"
 
+struct timeval tv;
+
 #ifdef WIN32
 HANDLE hStdIn = NULL;
 INPUT_RECORD buffer;
@@ -51,7 +53,6 @@ int waitForInput()
 #else
 int fdstdin = 0;
 fd_set fds;
-struct timeval tv;
 
 int waitForInput()
 {
@@ -67,10 +68,10 @@ int main(void)
 {
 	XPCSocket client = openUDP("127.0.0.1");
 	const int aircraftNum = 0;
-    tv.tv_usec = 100 * 1000;
+	tv.tv_usec = 100 * 1000;
 	while (1)
 	{
-		float posi[7]; // FIXME: change this to the 64-bit lat/lon/h
+		double posi[7];
 		int result = getPOSI(client, posi, aircraftNum);
 		if (result < 0) // Error in getPOSI
 		{

C/playbackExample/src/playback.c

@@ -65,7 +65,7 @@ void record(char* path, int interval, int duration)
 	XPCSocket sock = openUDP("127.0.0.1");
 	for (int i = 0; i < count; ++i)
 	{
-		float posi[7];
+		double posi[7];
 		int result = getPOSI(sock, posi, 0);
 		playbackSleep(interval);
 		if (result < 0)

C/src/xplaneConnect.c

@@ -117,13 +117,16 @@ XPCSocket aopenUDP(const char *xpIP, unsigned short xpPort, unsigned short port)
 		exit(EXIT_FAILURE);
 	}
 
-	// Set timeout to 100ms
+	// Set socket timeout period for sendUDP to 1 millisecond
+	// Without this, playback may become choppy due to process blocking
 #ifdef _WIN32
-	DWORD timeout = 100;
+	// Minimum socket timeout in Windows is 1 millisecond (0 makes it blocking)
+	DWORD timeout = 1;
 #else
+	// Set socket timeout to 1 millisecond = 1,000 microseconds to make it the same as Windows (0 makes it blocking)
 	struct timeval timeout;
 	timeout.tv_sec = 0;
-	timeout.tv_usec = 250000;
+	timeout.tv_usec = 1000;
 #endif
 	if (setsockopt(sock.sock, SOL_SOCKET, SO_RCVTIMEO, (char*)&timeout, sizeof(timeout)) < 0)
 	{
@@ -185,16 +188,16 @@ int sendUDP(XPCSocket sock, char buffer[], int len)
 /// \param sock   The socket to read from.
 /// \param buffer A pointer to the location to store the data.
 /// \param len    The number of bytes to read.
-/// \returns      If an error occurs, a negative number. Otehrwise, the number of bytes read.
+/// \returns      If an error occurs, a negative number. Otherwise, the number of bytes read.
 int readUDP(XPCSocket sock, char buffer[], int len)
 {
-#ifdef _WIN32
+	// For readUDP, use the select command - minimum timeout of 0 makes it polling.
-	// Windows readUDP needs the select command- minimum timeout is 1ms.
+	// Without this, playback may become choppy due to process blocking
-	// Without this playback becomes choppy
 
 	// Definitions
-	FD_SET stReadFDS;
+	fd_set stReadFDS;
-	FD_SET stExceptFDS;
+	fd_set stExceptFDS;
+	struct timeval timeout;
 
 	// Setup for Select
 	FD_ZERO(&stReadFDS);
@@ -202,12 +205,13 @@ int readUDP(XPCSocket sock, char buffer[], int len)
 	FD_ZERO(&stExceptFDS);
 	FD_SET(sock.sock, &stExceptFDS);
 
-	struct timeval tv;
+	// Set timeout period for select to 0.05 sec = 50 milliseconds = 50,000 microseconds (0 makes it polling)
-	tv.tv_sec = 0;
+	// TO DO - This could be set to 0 if a message handling system were implemented, like in the plugin.
-	tv.tv_usec = 100000;
+	timeout.tv_sec = 0;
+	timeout.tv_usec = 50000;
 
 	// Select Command
-	int status = select(-1, &stReadFDS, (FD_SET*)0, &stExceptFDS, &tv);
+	int status = select(sock.sock+1, &stReadFDS, NULL, &stExceptFDS, &timeout);
 	if (status < 0)
 	{
 		printError("readUDP", "Select command error");
@@ -218,11 +222,9 @@ int readUDP(XPCSocket sock, char buffer[], int len)
 		// No data
 		return 0;
 	}
+
+	// If no error: Read Data
 	status = recv(sock.sock, buffer, len, 0);
-#else
-	// For apple or linux-just read - will timeout in 0.5 ms
-	int status = (int)recv(sock.sock, buffer, len, 0);
-#endif
 	if (status < 0)
 	{
 		printError("readUDP", "Error reading socket");
@@ -378,16 +380,16 @@ int readDATA(XPCSocket sock, float data[][9], int rows)
 /*****************************************************************************/
 /****                          DREF functions                             ****/
 /*****************************************************************************/
-int sendDREF(XPCSocket sock, const char* dref, float value[], int size)
+int sendDREF(XPCSocket sock, const char* dref, float values[], int size)
 {
-	return sendDREFs(sock, &dref, &value, &size, 1);
+	return sendDREFs(sock, &dref, &values, &size, 1);
 }
 
 int sendDREFs(XPCSocket sock, const char* drefs[], float* values[], int sizes[], int count)
 {
 	// Setup command
 	// Max size is technically unlimited.
-	unsigned char buffer[65536] = "DREF";
+	char buffer[65536] = "DREF";
 	int pos = 5;
     int i; // Iterator
 	for (i = 0; i < count; ++i)
@@ -433,7 +435,7 @@ int sendDREFRequest(XPCSocket sock, const char* drefs[], unsigned char count)
 	// Setup command
 	// 6 byte header + potentially 255 drefs, each 256 chars long.
 	// Easiest to just round to an even 2^16.
-	unsigned char buffer[65536] = "GETD";
+	char buffer[65536] = "GETD";
 	buffer[5] = count;
 	int len = 6;
     int i; // iterator
@@ -460,7 +462,7 @@ int sendDREFRequest(XPCSocket sock, const char* drefs[], unsigned char count)
 
 int getDREFResponse(XPCSocket sock, float* values[], unsigned char count, int sizes[])
 {
-	unsigned char buffer[65536];
+	char buffer[65536];
 	int result = readUDP(sock, buffer, 65536);
 
     if (result < 0)
@@ -516,7 +518,7 @@ int getDREFs(XPCSocket sock, const char* drefs[], float* values[], unsigned char
 	int result = sendDREFRequest(sock, drefs, count);
 	if (result < 0)
 	{
-		// A error ocurred while sending.
+		// An error ocurred while sending.
 		// sendDREFRequest will print an error message, so just return.
 		return -1;
 	}
@@ -524,7 +526,7 @@ int getDREFs(XPCSocket sock, const char* drefs[], float* values[], unsigned char
 	// Read Response
 	if (getDREFResponse(sock, values, count, sizes) < 0)
 	{
-		// A error ocurred while reading the response.
+		// An error ocurred while reading the response.
 		// getDREFResponse will print an error message, so just return.
 		return -2;
 	}
@@ -537,10 +539,10 @@ int getDREFs(XPCSocket sock, const char* drefs[], float* values[], unsigned char
 /*****************************************************************************/
 /****                          POSI functions                             ****/
 /*****************************************************************************/
-int getPOSI(XPCSocket sock, float values[7], char ac)
+int getPOSI(XPCSocket sock, double values[7], char ac)
 {
 	// Setup send command
-	unsigned char buffer[6] = "GETP";
+	char buffer[6] = "GETP";
 	buffer[5] = ac;
 
 	// Send command
@@ -551,22 +553,41 @@ int getPOSI(XPCSocket sock, float values[7], char ac)
 	}
 
 	// Get response
-	unsigned char readBuffer[34];
+	char readBuffer[46];
-	int readResult = readUDP(sock, readBuffer, 34);
+	float f[7];
+	int readResult = readUDP(sock, readBuffer, 46);
+
+	// Copy response into values
 	if (readResult < 0)
 	{
 		printError("getPOSI", "Failed to read response.");
 		return -2;
 	}
-	if (readResult != 34)
+	else if (readResult == 34) /* lat/lon/h as 32-bit float */
+	{
+		memcpy(f, readBuffer + 6, 7 * sizeof(float));
+		values[0] = (double)f[0];
+		values[1] = (double)f[1];
+		values[2] = (double)f[2];
+		values[3] = (double)f[3];
+		values[4] = (double)f[4];
+		values[5] = (double)f[5];
+		values[6] = (double)f[6];
+	}
+	else if (readResult == 46) /* lat/lon/h as 64-bit double */
+	{
+		memcpy(values, readBuffer + 6, 3 * sizeof(double));
+		memcpy(f, readBuffer + 30, 4 * sizeof(float));
+		values[3] = (double)f[0];
+		values[4] = (double)f[1];
+		values[5] = (double)f[2];
+		values[6] = (double)f[3];
+	}
+	else
 	{
 		printError("getPOSI", "Unexpected response length.");
 		return -3;
 	}
-    // TODO: change this to the 64-bit lat/lon/h
-
-	// Copy response into values
-	memcpy(values, readBuffer + 6, 7 * sizeof(float));
 	return 0;
 }
 
@@ -585,7 +606,7 @@ int sendPOSI(XPCSocket sock, double values[], int size, char ac)
 	}
 
 	// Setup command
-	unsigned char buffer[46] = "POSI";
+	char buffer[46] = "POSI";
 	buffer[4] = 0xff; //Placeholder for message length
 	buffer[5] = ac;
     int i; // iterator
@@ -621,13 +642,147 @@ int sendPOSI(XPCSocket sock, double values[], int size, char ac)
 /****                        End POSI functions                           ****/
 /*****************************************************************************/
 
+/*****************************************************************************/
+/****                          TERR functions                             ****/
+/*****************************************************************************/
+int sendTERRRequest(XPCSocket sock, double posi[3], char ac)
+{
+	// Setup send command
+	char buffer[30] = "GETT";
+	buffer[5] = ac;
+	memcpy(&buffer[6], posi, 3 * sizeof(double));
+
+	// Send command
+	if (sendUDP(sock, buffer, 30) < 0)
+	{
+		printError("getTERR", "Failed to send command.");
+		return -1;
+	}
+	return 0;
+}
+
+int getTERRResponse(XPCSocket sock, double values[11], char ac)
+{
+	// Get response
+	char readBuffer[62];
+	int readResult = readUDP(sock, readBuffer, 62);
+	if (readResult < 0)
+	{
+		printError("getTERR", "Failed to read response.");
+		return -2;
+	}
+	if (readResult != 62)
+	{
+		printError("getTERR", "Unexpected response length.");
+		return -3;
+	}
+
+	// Copy response into outputs
+	float f[8];
+	ac = readBuffer[5];
+	memcpy(values, readBuffer + 6, 3 * sizeof(double));
+	memcpy(f, readBuffer + 30, 8 * sizeof(float));
+	values[ 3] = (double)f[0];
+	values[ 4] = (double)f[1];
+	values[ 5] = (double)f[2];
+	values[ 6] = (double)f[3];
+	values[ 7] = (double)f[4];
+	values[ 8] = (double)f[5];
+	values[ 9] = (double)f[6];
+	values[10] = (double)f[7];
+
+	return 0;
+}
+
+int sendPOST(XPCSocket sock, double posi[], int size, double values[11], char ac)
+{
+	// Validate input
+	if (ac < 0 || ac > 20)
+	{
+		printError("sendPOST", "aircraft should be a value between 0 and 20.");
+		return -1;
+	}
+	if (size < 1 || size > 7)
+	{
+		printError("sendPOST", "size should be a value between 1 and 7.");
+		return -2;
+	}
+
+	// Setup command
+	char buffer[46] = "POST";
+	buffer[4] = 0xff; //Placeholder for message length
+	buffer[5] = ac;
+	int i; // iterator
+
+	for (i = 0; i < 7; i++) // double for lat/lon/h
+	{
+		double val = -998;
+
+		if (i < size)
+		{
+			val = posi[i];
+		}
+		if (i < 3) /* lat/lon/h */
+		{
+			memcpy(&buffer[6 + i*8], &val, sizeof(double));
+		}
+		else /* attitude and gear */
+		{
+			float f = (float)val;
+			memcpy(&buffer[18 + i*4], &f, sizeof(float));
+		}
+	}
+
+	// Send Command
+	if (sendUDP(sock, buffer, 46) < 0)
+	{
+		printError("sendPOST", "Failed to send command");
+		return -3;
+	}
+	
+	// Read Response
+	int result = getTERRResponse(sock, values, ac);
+	if (result < 0)
+	{
+		// A error ocurred while reading the response.
+		// getTERRResponse will print an error message, so just return.
+		return result;
+	}
+	return 0;
+}
+
+int getTERR(XPCSocket sock, double posi[3], double values[11], char ac)
+{
+	// Send Command
+	int result = sendTERRRequest(sock, posi, ac);
+	if (result < 0)
+	{
+		// An error ocurred while sending.
+		// sendTERRRequest will print an error message, so just return.
+		return result;
+	}
+
+	// Read Response
+	result = getTERRResponse(sock, values, ac);
+	if (result < 0)
+	{
+		// An error ocurred while reading the response.
+		// getTERRResponse will print an error message, so just return.
+		return result;
+	}
+	return 0;
+}
+/*****************************************************************************/
+/****                        End TERR functions                           ****/
+/*****************************************************************************/
+
 /*****************************************************************************/
 /****                          CTRL functions                             ****/
 /*****************************************************************************/
 int getCTRL(XPCSocket sock, float values[7], char ac)
 {
 	// Setup send command
-	unsigned char buffer[6] = "GETC";
+	char buffer[6] = "GETC";
 	buffer[5] = ac;
 
 	// Send command
@@ -638,7 +793,7 @@ int getCTRL(XPCSocket sock, float values[7], char ac)
 	}
 
 	// Get response
-	unsigned char readBuffer[31];
+	char readBuffer[31];
 	int readResult = readUDP(sock, readBuffer, 31);
 	if (readResult < 0)
 	{
@@ -675,7 +830,7 @@ int sendCTRL(XPCSocket sock, float values[], int size, char ac)
 
 	// Setup Command
 	// 5 byte header + 5 float values * 4 + 2 byte values
-	unsigned char buffer[31] = "CTRL";
+	char buffer[31] = "CTRL";
 	int cur = 5;
     int i; // iterator
 	for (i = 0; i < 6; i++)
@@ -818,3 +973,40 @@ int sendVIEW(XPCSocket sock, VIEW_TYPE view)
 /*****************************************************************************/
 /****                        End View functions                           ****/
 /*****************************************************************************/
+
+/*****************************************************************************/
+/****                          Comm functions                             ****/
+/*****************************************************************************/
+int sendCOMM(XPCSocket sock, const char* comm) {
+	// Setup command
+	// Max size is technically unlimited.
+	unsigned char buffer[65536] = "COMM";
+	int pos = 5;
+
+	int commLen = strnlen(comm, 256);
+	if (pos + commLen + 2 > 65536)
+	{
+		printError("sendCOMM", "About to overrun the send buffer!");
+		return -4;
+	}
+	if (commLen > 255)
+	{
+		printError("sendCOMM", "comm is too long. Must be less than 256 characters.");
+		return -1;
+	}
+	// Copy comm to buffer
+	buffer[pos++] = (unsigned char)commLen;
+	memcpy(buffer + pos, comm, commLen);
+	pos += commLen;
+
+	// Send command
+	if (sendUDP(sock, buffer, pos) < 0)
+	{
+		printError("setDREF", "Failed to send command");
+		return -3;
+	}
+	return 0;
+}
+/*****************************************************************************/
+/****                        End Comm functions                           ****/
+/*****************************************************************************/

C/src/xplaneConnect.h

@@ -113,7 +113,7 @@ int setCONN(XPCSocket* sock, unsigned short port);
 ///
 /// \param sock  The socket to use to send the command.
 /// \param pause 0 to unpause the sim; 1 to pause, 100:119 to pause a/c 0:19, 200:219 to unpause a/c 0:19.
-/// \returns    0 if successful, otherwise a negative value.
+/// \returns     0 if successful, otherwise a negative value.
 int pauseSim(XPCSocket sock, char pause);
 
 // X-Plane UDP DATA
@@ -122,7 +122,7 @@ int pauseSim(XPCSocket sock, char pause);
 ///
 /// \details This command is compatible with the X-Plane data API.
 /// \param sock    The socket to use to send the command.
-/// \param data A 2D array of data rows to read into.
+/// \param data    A 2D array of data rows to read into.
 /// \param rows    The number of rows in dataRef.
 /// \returns       0 if successful, otherwise a negative value.
 int readDATA(XPCSocket sock, float data[][9], int rows);
@@ -131,7 +131,7 @@ int readDATA(XPCSocket sock, float data[][9], int rows);
 ///
 /// \details This command is compatible with the X-Plane data API.
 /// \param sock    The socket to use to send the command.
-/// \param data A 2D array of data rows to send.
+/// \param data    A 2D array of data rows to send.
 /// \param rows    The number of rows in dataRef.
 /// \returns       0 if successful, otherwise a negative value.
 int sendDATA(XPCSocket sock, float data[][9], int rows);
@@ -144,12 +144,12 @@ int sendDATA(XPCSocket sock, float data[][9], int rows);
 ///          http://www.xsquawkbox.net/xpsdk/docs/DataRefs.html. The size of values should match
 ///          the size given on that page. XPC currently sends all values as floats regardless of
 ///          the type described on the wiki. This doesn't cause any data loss for most datarefs.
-/// \param sock  The socket to use to send the command.
+/// \param sock   The socket to use to send the command.
-/// \param dref  The name of the dataref to set.
+/// \param dref   The name of the dataref to set.
-/// \param value An array of values representing the data to set.
+/// \param values An array of values representing the data to set.
-/// \param size  The number of elements in values.
+/// \param size   The number of elements in values.
-/// \returns     0 if successful, otherwise a negative value.
+/// \returns      0 if successful, otherwise a negative value.
-int sendDREF(XPCSocket sock, const char* dref, float value[], int size);
+int sendDREF(XPCSocket sock, const char* dref, float values[], int size);
 
 /// Sets the specified datarefs to the specified values.
 ///
@@ -159,7 +159,7 @@ int sendDREF(XPCSocket sock, const char* dref, float value[], int size);
 ///          the type described on the wiki. This doesn't cause any data loss for most datarefs.
 /// \param sock   The socket to use to send the command.
 /// \param drefs  The names of the datarefs to set.
-/// \param values A multidimensional array containing the values for each dataref to set.
+/// \param values A 2D array containing the values for each dataref to set.
 /// \param sizes  The number of elements in each array in values
 /// \param count  The number of datarefs being set.
 /// \returns      0 if successful, otherwise a negative value.
@@ -173,13 +173,13 @@ int sendDREFs(XPCSocket sock, const char* drefs[], float* values[], int sizes[],
 ///          the type described on the wiki. This doesn't cause any data loss for most datarefs.
 /// \param sock   The socket to use to send the command.
 /// \param dref   The name of the dataref to get.
-/// \param values The array in which the value of the dataref will be stored.
+/// \param values The array in which the values of the dataref will be stored.
 /// \param size   The number of elements in values. The actual number of elements copied in will
 ///               be set when the function returns.
 /// \returns      0 if successful, otherwise a negative value.
 int getDREF(XPCSocket sock, const char* dref, float values[], int* size);
 
-/// Gets the value of the specified dataref.
+/// Gets the values of the specified datarefs.
 ///
 /// \details dref names and their associated data types can be found on the XPSDK wiki at
 ///          http://www.xsquawkbox.net/xpsdk/docs/DataRefs.html. The size of values should match
@@ -189,7 +189,7 @@ int getDREF(XPCSocket sock, const char* dref, float values[], int* size);
 /// \param drefs  The names of the datarefs to get.
 /// \param values A 2D array in which the values of the datarefs will be stored.
 /// \param count  The number of datarefs being requested.
-/// \param size   The number of elements in each row of values. The size of each row will be set
+/// \param sizes  The number of elements in each row of values. The size of each row will be set
 ///               to the actual number of elements copied in for that row.
 /// \returns      0 if successful, otherwise a negative value.
 int getDREFs(XPCSocket sock, const char* drefs[], float* values[], unsigned char count, int sizes[]);
@@ -201,20 +201,56 @@ int getDREFs(XPCSocket sock, const char* drefs[], float* values[], unsigned char
 /// \param sock   The socket used to send the command and receive the response.
 /// \param values An array to store the position information returned by the
 ///               plugin. The format of values is [Lat, Lon, Alt, Pitch, Roll, Yaw, Gear]
+/// \param ac     The aircraft number to get the position of. 0 for the main/user's aircraft.
 /// \returns      0 if successful, otherwise a negative value.
-int getPOSI(XPCSocket sock, float values[7], char ac);
+int getPOSI(XPCSocket sock, double values[7], char ac);
 
 /// Sets the position and orientation of the specified aircraft.
 ///
 /// \param sock   The socket to use to send the command.
-/// \param values An array representing position data about the aircraft. The format of values is
+/// \param values A double array representing position data about the aircraft. The format of values is
 ///               [Lat, Lon, Alt, Pitch, Roll, Yaw, Gear]. If less than 7 values are specified,
 ///               the unspecified values will be left unchanged.
 /// \param size   The number of elements in values.
-/// \param ac     The aircraft number to set the position of. 0 for the player aircraft.
+/// \param ac     The aircraft number to set the position of. 0 for the main/user's aircraft.
 /// \returns      0 if successful, otherwise a negative value.
 int sendPOSI(XPCSocket sock, double values[], int size, char ac);
 
+// Terrain
+
+/// Sets the position and orientation and gets the terrain information of the specified aircraft.
+///
+/// \param sock   The socket to use to send the command.
+/// \param posi   A double array representing position data about the aircraft. The format of values is
+///               [Lat, Lon, Alt, Pitch, Roll, Yaw, Gear]. If less than 7 values are specified,
+///               the unspecified values will be left unchanged.
+/// \param size   The number of elements in posi.
+/// \param values A double array with the information for the terrain output. The format of values is
+///               [Lat, Lon, Alt, Nx, Ny, Nz, Vx, Vy, Vz, wet, result]. The first three are for output of
+///               the Lat and Lon of the aircraft with the terrain height directly below. The next three
+///               represent the terrain normal. The next three represent the velocity of the terrain.
+///               The wet variable is 0.0 if the terrain is dry and 1.0 if wet.
+///               The last output is the terrain probe result parameter.
+/// \param ac     The aircraft number to set the position of. 0 for the main/user's aircraft.
+/// \returns      0 if successful, otherwise a negative value.
+int sendPOST(XPCSocket sock, double posi[], int size, double values[11], char ac);
+
+/// Gets the terrain information of the specified aircraft.
+///
+/// \param sock   The socket to use to send the command.
+/// \param posi   A double array representing position data about the aircraft. The format of values is
+///               [Lat, Lon, Alt].
+///               -998 used for [Lat, Lon, Alt] to request terrain info at the current aircraft position.
+/// \param values A double array with the information for the terrain output. The format of values is
+///               [Lat, Lon, Alt, Nx, Ny, Nz, Vx, Vy, Vz, wet, result]. The first three are for output of
+///               the Lat and Lon of the aircraft with the terrain height directly below. The next three
+///               represent the terrain normal. The next three represent the velocity of the terrain.
+///               The wet variable is 0.0 if the terrain is dry and 1.0 if wet.
+///               The last output is the terrain probe result parameter.
+/// \param ac     The aircraft number to get the terrain data of. 0 for the main/user's aircraft.
+/// \returns      0 if successful, otherwise a negative value.
+int getTERR(XPCSocket sock, double posi[3], double values[11], char ac);
+
 // Controls
 
 /// Gets the control surface information for the specified aircraft.
@@ -223,7 +259,7 @@ int sendPOSI(XPCSocket sock, double values[], int size, char ac);
 /// \param values An array to store the position information returned by the
 ///               plugin. The format of values is [Elevator, Aileron, Rudder,
 ///               Throttle, Gear, Flaps, Speed Brakes]
-/// \param ac     The aircraft to set the control surfaces of. 0 is the main/player aircraft.
+/// \param ac     The aircraft to get the control surfaces of. 0 is the main/user's aircraft.
 /// \returns      0 if successful, otherwise a negative value.
 int getCTRL(XPCSocket sock, float values[7], char ac);
 
@@ -234,7 +270,7 @@ int getCTRL(XPCSocket sock, float values[7], char ac);
 ///               [Elevator, Aileron, Rudder, Throttle, Gear, Flaps, Speed Brakes]. If less than
 ///               6 values are specified, the unspecified values will be left unchanged.
 /// \param size   The number of elements in values.
-/// \param ac     The aircraft number to set the control surfaces of. 0 for the player aircraft.
+/// \param ac     The aircraft to set the control surfaces of. 0 for the main/user's aircraft.
 /// \returns      0 if successful, otherwise a negative value.
 int sendCTRL(XPCSocket sock, float values[], int size, char ac);
 
@@ -246,7 +282,7 @@ int sendCTRL(XPCSocket sock, float values[], int size, char ac);
 /// \param msg  The message to print of the screen.
 /// \param x    The distance in pixels from the left edge of the screen to print the text.
 /// \param y    The distance in pixels from the bottom edge of the screen to print the top line of text.
-/// \returns      0 if successful, otherwise a negative value.
+/// \returns    0 if successful, otherwise a negative value.
 int sendTEXT(XPCSocket sock, char* msg, int x, int y);
 
 /// Sets the camera view in X-Plane.
@@ -267,6 +303,13 @@ int sendVIEW(XPCSocket sock, VIEW_TYPE view);
 /// \returns      0 if successful, otherwise a negative value.
 int sendWYPT(XPCSocket sock, WYPT_OP op, float points[], int count);
 
+/// Sends commands.
+///
+/// \param sock The socket to use to send the command.
+/// \param comm The command string.
+/// \returns    0 if successful, otherwise a negative value.
+int sendCOMM(XPCSocket sock, const char* comm);
+
 #ifdef __cplusplus
     }
 #endif

Java/src/XPlaneConnect.java

@@ -889,6 +889,42 @@ public class XPlaneConnect implements AutoCloseable
         sendUDP(os.toByteArray());
     }
 
+    /**
+     * Send a command to X-Plane.
+     *
+     * @param comm The name of the X-Plane command to send.
+     * @throws IOException If the command cannot be sent.
+     */
+    public void sendCOMM(String comm) throws IOException
+    {
+        //Preconditions
+        if(comm == null || comm.length() == 0)
+        {
+            throw new IllegalArgumentException(("comm must be non-empty."));
+        }
+
+        ByteArrayOutputStream os = new ByteArrayOutputStream();
+        os.write("COMM".getBytes(StandardCharsets.UTF_8));
+        os.write(0xFF); //Placeholder for message length
+
+        //Convert comm to bytes.
+        byte[] commBytes = comm.getBytes(StandardCharsets.UTF_8);
+        if (commBytes.length == 0)
+        {
+            throw new IllegalArgumentException("COMM is an empty string!");
+        }
+        if (commBytes.length > 255)
+        {
+            throw new IllegalArgumentException("comm must be less than 255 bytes in UTF-8. Are you sure this is a valid comm?");
+        }
+
+        //Build and send message
+        os.write(commBytes.length);
+        os.write(commBytes);
+        sendUDP(os.toByteArray());
+    }
+
+
     /**
      * Sets the port on which the client will receive data from X-Plane.
      *

Python/src/xpc.py

@@ -416,6 +416,27 @@ class XPlaneConnect(object):
             buffer = struct.pack("<4sxBB" + str(len(points)) + "f", "WYPT", op, len(points), *points)
         self.sendUDP(buffer)
 
+    def sendCOMM(self, comm):
+        '''Sets the specified datarefs to the specified values.
+
+            Args:
+            drefs: A list of names of the datarefs to set.
+            values: A list of scalar or vector values to set.
+        '''
+        if comm == None:
+            raise ValueError("comm must be non-empty.")
+
+        buffer = struct.pack("<4sx", "COMM")
+        if len(comm) == 0 or len(comm) > 255:
+            raise ValueError("comm must be a non-empty string less than 256 characters.")
+
+        # Pack message
+        fmt = "<B{0:d}s".format(len(comm))
+        buffer += struct.pack(fmt, len(comm), comm)
+
+        # Send
+        self.sendUDP(buffer)
+
 class ViewType(object):
     Forwards = 73
     Down = 74

Python3/src/xpc.py

@@ -1,7 +1,6 @@
 import socket
 import struct
 
-
 class XPlaneConnect(object):
     """XPlaneConnect (XPC) facilitates communication to and from the XPCPlugin."""
     socket = None
@@ -121,7 +120,7 @@ class XPlaneConnect(object):
         buffer = self.readUDP()
         if len(buffer) < 6:
             return None
-        rows = (len(buffer) - 5) / 36
+        rows = (len(buffer) - 5) // 36
         data = []
         for i in range(rows):
             data.append(struct.unpack_from(b"9f", buffer, 5 + 36*i))
@@ -158,10 +157,13 @@ class XPlaneConnect(object):
 
         # Read response
         resultBuf = self.readUDP()
-        if len(resultBuf) != 34:
+        if len(resultBuf) == 34:
+            result = struct.unpack(b"<4sxBfffffff", resultBuf)
+        elif len(resultBuf) == 46:
+            result = struct.unpack(b"<4sxBdddffff", resultBuf)
+        else:
             raise ValueError("Unexpected response length.")
 
-        result = struct.unpack(b"<4sxBfffffff", resultBuf)
         if result[0] != b"POSI":
             raise ValueError("Unexpected header: " + result[0])
 
@@ -197,7 +199,10 @@ class XPlaneConnect(object):
             val = -998
             if i < len(values):
                 val = values[i]
-            buffer += struct.pack(b"<f", val)
+            if i < 3:
+                buffer += struct.pack(b"<d", val)
+            else:
+                buffer += struct.pack(b"<f", val)
 
         # Send
         self.sendUDP(buffer)
@@ -257,7 +262,7 @@ class XPlaneConnect(object):
                 val = values[i]
             if i == 4:
                 val = -1 if (abs(val + 998) < 1e-4) else val
-                buffer += struct.pack(b"b", val)
+                buffer += struct.pack(b"b", int(val))
             else:
                 buffer += struct.pack(b"<f", val)
 

TestScripts/C Tests/CtrlTests.h

@@ -6,7 +6,7 @@
 #include "Test.h"
 #include "xplaneConnect.h"
 
-int doCTRLTest(XPCSocket *sock, char* drefs[7], float values[], int size, int ac, float expected[7])
+int doCTRLTest(XPCSocket *sock, const char* drefs[7], float values[], int size, int ac, float expected[7])
 {
 	float* data[7];
 	int sizes[7];
@@ -18,7 +18,7 @@ int doCTRLTest(XPCSocket *sock, char* drefs[7], float values[], int size, int ac
 
 	// Execute command
 	int result = sendCTRL(*sock, values, size, ac);
-    int d = 0.0f;
+	int d = 0.0f;
 	if (result >= 0)
 	{
 		result = getDREFs(*sock, drefs, data, 7, sizes);
@@ -66,19 +66,19 @@ int doGETCTest(float values[7], int ac, float expected[7])
 	return 0;
 }
 
-int basicCTRLTest(char** drefs, int ac)
+int basicCTRLTest(const char** drefs, int ac)
 {
 	// Set control surfaces to known state.
 	float CTRL[6] = { 0.0F, 0.0F, 0.0F, 0.8F, 1.0F, 0.5F };
 	float expected[7] = { 0.0F, 0.0F, 0.0F, NAN, NAN, NAN, NAN };
-    XPCSocket sock = openUDP(IP);
+	XPCSocket sock = openUDP(IP);
-    pauseSim(sock, 1); // Pause so the controls wont change between 2 and 3
+	pauseSim(sock, 1); // Pause so the controls wont change between 2 and 3
 	int result = doCTRLTest(&sock, drefs, CTRL, 3, ac, expected);
 	if (result < 0)
 	{
 		return -10000 + result;
 	}
-    crossPlatformUSleep(SLEEP_AMOUNT);
+	crossPlatformUSleep(SLEEP_AMOUNT);
 
 	// Test control surfaces and set other values to known state.
 	expected[0] = CTRL[0] = 0.2F;
@@ -92,19 +92,19 @@ int basicCTRLTest(char** drefs, int ac)
 	{
 		return -20000 + result;
 	}
-    crossPlatformUSleep(SLEEP_AMOUNT);
+	crossPlatformUSleep(SLEEP_AMOUNT);
 
 	// Test other values and verify control surfaces unchanged.
 	expected[0] = CTRL[0] = 0.15F;
 	expected[1] = CTRL[1] = 0.15F;
 	expected[2] = CTRL[2] = 0.15F;
 	expected[3] = CTRL[3] = 0.9F;
-    CTRL[4] = -998;
+	CTRL[4] = -998;
 	CTRL[5] = -998;
 	result = doCTRLTest(&sock, drefs, CTRL, 6, ac, expected);
 
-    pauseSim(sock, 0);
+	pauseSim(sock, 0);
-    closeUDP(sock);
+	closeUDP(sock);
 	if (result < 0)
 	{
         if (result == -1004) {
@@ -112,12 +112,12 @@ int basicCTRLTest(char** drefs, int ac)
         }
 		return -30000 + result;
 	}
-    return 0;
+	return 0;
 }
 
 int testCTRL_Player()
 {
-	char* drefs[] =
+	const char* drefs[] =
 	{
 		"sim/cockpit2/controls/yoke_pitch_ratio",
 		"sim/cockpit2/controls/yoke_roll_ratio",
@@ -132,7 +132,7 @@ int testCTRL_Player()
 
 int testCTRL_NonPlayer()
 {
-	char* drefs[] =
+	const char* drefs[] =
 	{
 		"sim/multiplayer/position/plane1_yolk_pitch",
 		"sim/multiplayer/position/plane1_yolk_roll",
@@ -147,7 +147,7 @@ int testCTRL_NonPlayer()
 
 int testCTRL_Speedbrakes()
 {
-	char* drefs[] =
+	const char* drefs[] =
 	{
 		"sim/cockpit2/controls/yoke_pitch_ratio",
 		"sim/cockpit2/controls/yoke_roll_ratio",
@@ -161,8 +161,8 @@ int testCTRL_Speedbrakes()
 	// Arm
 	float CTRL[7] = { -998, -998, -998, -998, -998, -998, -0.5F };
 	float expected[7] = { NAN, NAN, NAN, NAN, NAN, NAN, -0.5F };
-    XPCSocket sock = openUDP(IP);
+	XPCSocket sock = openUDP(IP);
-    pauseSim(sock, 1); // Pause so the controls wont change between 2 and 3
+	pauseSim(sock, 1); // Pause so the controls wont change between 2 and 3
 	int result = doCTRLTest(&sock, drefs, CTRL, 7, 0, expected);
 	if (result < 0)
 	{
@@ -180,13 +180,13 @@ int testCTRL_Speedbrakes()
 	// Retract
 	expected[6] = CTRL[6] = 0.0F;
 	result = doCTRLTest(&sock, drefs, CTRL, 7, 0, expected);
-    pauseSim(sock, 0);
+	pauseSim(sock, 0);
-    closeUDP(sock);
+	closeUDP(sock);
 	if (result < 0)
 	{
 		return -30000 + result;
 	}
-    return 0;
+	return 0;
 }
 
 int testGETC()

TestScripts/C Tests/DataTests.h

@@ -10,7 +10,7 @@ int testDATA()
 {
 	// Initialize
 	int i, j; // Iterator
-	char* drefs[100] =
+	const char* drefs[100] =
 	{
 		"sim/aircraft/parts/acf_gear_deploy"
 	};

TestScripts/C Tests/DrefTests.h

@@ -6,7 +6,7 @@
 #include "Test.h"
 #include "xplaneConnect.h"
 
-int doGETDTest(char* drefs[], float* expected[], int count, int sizes[])
+int doGETDTest(const char* drefs[], float* expected[], int count, int sizes[])
 {
 	// Setup memory
 	int* asizes = (int*)malloc(sizeof(int) * count);
@@ -37,7 +37,7 @@ int doGETDTest(char* drefs[], float* expected[], int count, int sizes[])
 	return result;
 }
 
-int doDREFTest(char* drefs[], float* values[], float* expected[], int count, int sizes[])
+int doDREFTest(const char* drefs[], float* values[], float* expected[], int count, int sizes[])
 {
 	// Setup memory
 	int* asizes = (int*)malloc(sizeof(int) * count);
@@ -74,7 +74,7 @@ int doDREFTest(char* drefs[], float* values[], float* expected[], int count, int
 
 int testGETD_Basic()
 {
-	char* drefs[] =
+	const char* drefs[] =
 	{
 		"sim/cockpit/switches/gear_handle_status", //int
 		"sim/cockpit/autopilot/altitude", //float
@@ -99,20 +99,20 @@ int testGETD_Basic()
 
 int testGETD_TestFloat()
 {
-	char* dref = "sim/test/test_float";
+	const char* dref = "sim/test/test_float";
 	int size = 1;
 	float* expected[1];
 	expected[0] = (float*)malloc(sizeof(float));
 	expected[0][0] = 0.0F;
 
-	int result = doGETDTest(&dref, &expected, 1, &size);
+	int result = doGETDTest(&dref, expected, 1, &size);
 	free(expected[0]);
 	return result;
 }
 
 int testGETD_Types()
 {
-	char* drefs[] =
+	const char* drefs[] =
 	{
 		"sim/cockpit/switches/gear_handle_status", //int
 		"sim/cockpit/autopilot/altitude", //float
@@ -173,7 +173,7 @@ int testGETD_Types()
 
 int testDREF()
 {
-	char* drefs[] =
+	const char* drefs[] =
 	{
 		"sim/cockpit/switches/gear_handle_status", //int
 		"sim/cockpit/autopilot/altitude", //float

TestScripts/C Tests/PosiTests.h

@@ -6,7 +6,7 @@
 #include "Test.h"
 #include "xplaneConnect.h"
 
-int doPOSITest(char* drefs[7], double values[], int size, int ac, double expected[7])
+int doPOSITest(const char* drefs[7], double values[], int size, int ac, double expected[7])
 {
 	float* data[7];
 	int sizes[7];
@@ -43,7 +43,7 @@ int doPOSITest(char* drefs[7], double values[], int size, int ac, double expecte
 int doGETPTest(double values[7], int ac, double expected[7])
 {
 	// Execute Test
-	float actual[7];
+	double actual[7];
 	XPCSocket sock = openUDP(IP);
 	int result = sendPOSI(sock, values, 7, ac);
 	if (result >= 0)
@@ -67,7 +67,7 @@ int doGETPTest(double values[7], int ac, double expected[7])
 	return 0;
 }
 
-int basicPOSITest(char** drefs, int ac)
+int basicPOSITest(const char** drefs, int ac)
 {
 	// Set psoition and initial orientation
 	double POSI[7] = { 37.524, -122.06899, 2500, 0, 0, 0, 1 };
@@ -110,12 +110,12 @@ int basicPOSITest(char** drefs, int ac)
 	{
 		return -20000 + result;
 	}
-    return 0;
+	return 0;
 }
 
 int testPOSI_Player()
 {
-	char* drefs[] =
+	const char* drefs[] =
 	{
 		"sim/flightmodel/position/latitude",
 		"sim/flightmodel/position/longitude",
@@ -130,7 +130,7 @@ int testPOSI_Player()
 
 int testPOSI_NonPlayer()
 {
-	char* drefs[] =
+	const char* drefs[] =
 	{
 		"sim/multiplayer/position/plane1_lat",
 		"sim/multiplayer/position/plane1_lon",

TestScripts/Python3 Tests/Tests.py

@@ -0,0 +1,434 @@
+import random
+import unittest
+import importlib
+import time
+
+from importlib.machinery import SourceFileLoader
+xpc = SourceFileLoader('xpc', '../../Python3/src/xpc.py').load_module()
+
+class XPCTests(unittest.TestCase):
+    """Tests the functionality of the XPlaneConnect class."""
+
+    def test_init(self):
+        try:
+            client = xpc.XPlaneConnect()
+        except:
+            self.fail("Default constructor failed.")
+            
+        try:
+            client = xpc.XPlaneConnect("I'm not a real host")
+            self.fail("Failed to catch invalid XP host.")
+        except ValueError:
+            pass
+        
+        try:
+            client = xpc.XPlaneConnect("127.0.0.1", 90001)
+            self.fail("Failed to catch invalid XP port.")
+        except ValueError:
+            pass
+        try:
+            client = xpc.XPlaneConnect("127.0.0.1", -1)
+            self.fail("Failed to catch invalid XP port.")
+        except ValueError:
+            pass
+
+        try:
+            client = xpc.XPlaneConnect("127.0.0.1", 49009, 90001)
+            self.fail("Failed to catch invalid local port.")
+        except ValueError:
+            pass
+        try:
+            client = xpc.XPlaneConnect("127.0.0.1", 49009, -1)
+            self.fail("Failed to catch invalid XP port.")
+        except ValueError:
+            pass
+        
+        try:
+            client = xpc.XPlaneConnect("127.0.0.1", 49009, 0, -1)
+            self.fail("Failed to catch invalid timeout.")
+        except ValueError:
+            pass
+
+    def test_close(self):
+        client = xpc.XPlaneConnect("127.0.0.1", 49009, 49063)
+        client.close()
+        self.assertIsNone(client.socket)
+        client = xpc.XPlaneConnect("127.0.0.1", 49009, 49063)
+
+    def test_send_read(self):
+        # Init
+        test = "\x00\x01\x02\x03\x05"
+
+        # Setup
+        sender = xpc.XPlaneConnect("127.0.0.1", 49063, 49064)
+        receiver = xpc.XPlaneConnect("127.0.0.1", 49009, 49063)
+
+        # Execution
+        sender.sendUDP(test.encode())
+        buf = receiver.readUDP()
+
+        # Cleanup
+        sender.close()
+        receiver.close()
+
+        # Tests
+        for a, b in zip(test, buf.decode()):
+            self.assertEqual(a, b)
+
+    def test_getDREFs(self):
+        # Setup
+        client = xpc.XPlaneConnect()
+        drefs = ["sim/cockpit/switches/gear_handle_status",\
+                 "sim/cockpit2/switches/panel_brightness_ratio"]
+
+        # Execution
+        result = client.getDREFs(drefs)
+
+        # Cleanup
+        client.close()
+
+        # Tests
+        self.assertEqual(2, len(result))
+        self.assertEqual(1, len(result[0]))
+        self.assertEqual(4, len(result[1]))
+
+    def test_sendDREF(self):
+        dref = "sim/cockpit/switches/gear_handle_status"
+        value = None
+        def do_test():
+            # Setup
+            client = xpc.XPlaneConnect()
+
+            # Execute
+            client.sendDREF(dref, value)
+            result = client.getDREF(dref)
+
+            # Cleanup
+            client.close()
+
+            # Tests
+            self.assertEqual(1, len(result))
+            self.assertEqual(value, result[0])
+
+        # Test 1
+        value = 1
+        do_test()
+
+        # Test 2
+        value = 0
+        do_test()
+
+    def test_sendDREFs(self):
+        drefs = [\
+            "sim/cockpit/switches/gear_handle_status",\
+            "sim/cockpit/autopilot/altitude"]
+        values = None
+        def do_test():
+            # Setup
+            client = xpc.XPlaneConnect()
+
+            # Execute
+            client.sendDREFs(drefs, values)
+            result = client.getDREFs(drefs)
+
+            # Cleanup
+            client.close()
+
+            # Tests
+            self.assertEqual(2, len(result))
+            self.assertEqual(1, len(result[0]))
+            self.assertEqual(values[0], result[0][0])
+            self.assertEqual(1, len(result[1]))
+            self.assertEqual(values[1], result[1][0])
+
+        # Test 1
+        values = [1, 2000]
+        do_test()
+
+        # Test 2
+        values = [0, 4000]
+        do_test()
+
+    def test_sendDATA(self):
+        # Setup
+        dref = "sim/aircraft/parts/acf_gear_deploy"
+        data = [[ 14, 1, 0, -998, -998, -998, -998, -998, -998 ]]
+        client = xpc.XPlaneConnect()
+
+        # Execute
+        client.sendDATA(data)
+        result = client.getDREF(dref)
+
+        # Cleanup
+        client.close()
+
+        #Tests
+        self.assertEqual(result[0], data[0][1])
+
+    def test_pauseSim(self):
+        dref = "sim/operation/override/override_planepath"
+        value = None
+        expected = None
+        def do_test():
+            # Setup
+            client = xpc.XPlaneConnect()
+
+            # Execute
+            client.pauseSim(value)
+            result = client.getDREF(dref)
+        
+            # Cleanup
+            client.close()
+
+            # Test
+            self.assertAlmostEqual(expected, result[0])
+
+        # Test 1
+        value = True
+        expected = 1.0
+        do_test()
+
+        # Test 2
+        value = False
+        expected = 0.0
+        do_test()
+
+        # Test 3
+        value = 1
+        expected = 1.0
+        do_test()
+
+        # Test 4
+        value = 2
+        expected = 0.0
+        do_test()
+
+    def test_getCTRL(self):
+        values = None
+        ac = 0
+        expected = None
+        def do_test():
+            with xpc.XPlaneConnect() as client:
+                # Execute
+                client.sendCTRL(values, ac)
+                result = client.getCTRL(ac)
+
+                # Test
+                self.assertEqual(len(result), len(expected))
+                for a, e in zip(result, expected):
+                    self.assertAlmostEqual(a, e, 4)
+                    
+        values = [0.0, 0.0, 0.0, 0.8, 1.0, 0.5, -1.5]
+        expected = values
+        ac = 0
+        do_test()
+
+        ac = 3
+        do_test()
+
+        
+    def test_sendCTRL(self):
+        # Setup
+        drefs = ["sim/cockpit2/controls/yoke_pitch_ratio",\
+		         "sim/cockpit2/controls/yoke_roll_ratio",\
+		         "sim/cockpit2/controls/yoke_heading_ratio",\
+		         "sim/flightmodel/engine/ENGN_thro",\
+		         "sim/cockpit/switches/gear_handle_status",\
+		         "sim/flightmodel/controls/flaprqst"]
+        ctrl = []
+
+        def do_test():            
+            client = xpc.XPlaneConnect()
+
+            # Execute
+            client.sendCTRL(ctrl)
+            result = client.getDREFs(drefs)
+
+            # Cleanup
+            client.close()
+
+            # Tests
+            self.assertEqual(6, len(result))
+            for i in range(6):
+                self.assertAlmostEqual(ctrl[i], result[i][0], 4)
+
+        # Test 1
+        ctrl = [ -1.0, -1.0, -1.0, 0.0, 1.0, 1.0 ]
+        do_test()
+
+        # Test 2
+        ctrl = [ 1.0, 1.0, 1.0, 0.0, 1.0, 0.5 ]
+        do_test()
+
+        # Test 2
+        ctrl = [ 0.0, 0.0, 0.0, 0.8, 1.0, 0.0 ]
+        do_test()
+
+    def test_sendCTRL_speedbrake(self):
+        # Setup
+        dref = "sim/flightmodel/controls/sbrkrqst"
+        ctrl = []
+
+        def do_test():            
+            client = xpc.XPlaneConnect()
+
+            # Execute
+            client.sendCTRL(ctrl)
+            result = client.getDREF(dref)
+
+            # Cleanup
+            client.close()
+
+            # Tests
+            self.assertAlmostEqual(result[0], ctrl[6])
+
+        # Test 1
+        ctrl = [-998, -998, -998, -998, -998, -998, -0.5]
+        do_test()
+
+        # Test 2
+        ctrl[6] = 1.0
+        do_test()
+
+        # Test 2
+        ctrl[6] = 0.0
+        do_test()
+
+    def test_getPOSI(self):
+        values = None
+        ac = 0
+        expected = None
+        def do_test():
+            with xpc.XPlaneConnect() as client:
+                # Execute
+                client.pauseSim(True)
+                client.sendPOSI(values, ac)
+                result = client.getPOSI(ac)
+                client.pauseSim(False)
+
+                # Test
+                self.assertEqual(len(result), len(expected))
+                for a, e in zip(result, expected):
+                    self.assertAlmostEqual(a, e, 4)
+                    
+        values = [ 37.524, -122.06899, 2500, 45, -45, 15, 1 ]
+        expected = values
+        ac = 0
+        do_test()
+
+        ac = 3
+        do_test()
+
+    def test_sendPOSI(self):
+        # Setup
+        drefs = ["sim/flightmodel/position/latitude",\
+		         "sim/flightmodel/position/longitude",\
+		         "sim/flightmodel/position/elevation",\
+		         "sim/flightmodel/position/theta",\
+		         "sim/flightmodel/position/phi",\
+		         "sim/flightmodel/position/psi",\
+		         "sim/cockpit/switches/gear_handle_status"]
+        posi = None
+        def do_test():
+            client = xpc.XPlaneConnect()
+
+            # Execute
+            client.pauseSim(True)
+            client.sendPOSI(posi)
+            result = client.getDREFs(drefs)
+            client.pauseSim(False)
+
+            # Cleanup
+            client.close()
+
+            # Tests
+            self.assertEqual(7, len(result))
+            for i in range(7):
+                self.assertAlmostEqual(posi[i], result[i][0], 4)
+
+        # Test 1
+        posi = [ 37.524, -122.06899, 2500, 5, 7, 11, 1 ]
+        do_test()
+
+        # Test 2
+        posi = [ 38, -121.0, 2000, -10, 0, 0, 0 ]
+        do_test()
+
+    def test_sendTEXT(self):
+        # Setup
+        client = xpc.XPlaneConnect()
+        x = 200
+        y = 700
+        msg = "Python sendTEXT test message."
+
+        # Execution
+        client.sendTEXT(msg, x, y)
+        # NOTE: Manually verify that msg appears on the screen in X-Plane
+
+        # Cleanup
+        client.close()
+
+    def test_sendView(self):
+        # Setup
+        dref = "sim/graphics/view/view_type"
+        fwd = 1000
+        chase = 1017
+
+        #Execution
+        with xpc.XPlaneConnect() as client:
+            client.sendVIEW(xpc.ViewType.Forwards)
+            result = client.getDREF(dref)
+            self.assertAlmostEqual(fwd, result[0], 1e-4)
+            client.sendVIEW(xpc.ViewType.Chase)
+            result = client.getDREF(dref)
+            self.assertAlmostEqual(chase, result[0], 1e-4)
+             
+
+    def test_sendWYPT(self):
+        # Setup
+        client = xpc.XPlaneConnect()
+        points = [\
+		    37.5245, -122.06899, 2500,\
+		    37.455397, -122.050037, 2500,\
+		    37.469567, -122.051411, 2500,\
+		    37.479376, -122.060509, 2300,\
+		    37.482237, -122.076130, 2100,\
+		    37.474881, -122.087288, 1900,\
+		    37.467660, -122.079391, 1700,\
+		    37.466298, -122.090549, 1500,\
+		    37.362562, -122.039223, 1000,\
+		    37.361448, -122.034416, 1000,\
+		    37.361994, -122.026348, 1000,\
+		    37.365541, -122.022572, 1000,\
+		    37.373727, -122.024803, 1000,\
+		    37.403869, -122.041283, 50,\
+		    37.418544, -122.049222, 6]
+
+        # Execution
+        client.sendPOSI([37.5245, -122.06899, 2500])
+        client.sendWYPT(3, [])
+        client.sendWYPT(1, points)
+        # NOTE: Manually verify that points appear on the screen in X-Plane
+
+        # Cleanup
+        client.close()
+
+    def test_setCONN(self):
+        # Setup
+        dref = "sim/cockpit/switches/gear_handle_status";
+        client = xpc.XPlaneConnect()
+
+        # Execute
+        client.setCONN(49055)
+        result = client.getDREF(dref)
+
+        # Cleanup
+        client.close()
+        
+        # Test
+        self.assertEqual(1, len(result))
+
+
+
+if __name__ == '__main__':
+    unittest.main()

TestScripts/Python3 Tests/Tests.pyproj

@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003" ToolsVersion="4.0">
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <SchemaVersion>2.0</SchemaVersion>
+    <ProjectGuid>6931ebb2-4e01-4c5a-86b6-668c0e75051b</ProjectGuid>
+    <ProjectHome>.</ProjectHome>
+    <StartupFile>Tests.py</StartupFile>
+    <SearchPath>..\..\Python\src\</SearchPath>
+    <WorkingDirectory>.</WorkingDirectory>
+    <OutputPath>.</OutputPath>
+    <Name>Tests</Name>
+    <RootNamespace>Tests</RootNamespace>
+    <InterpreterId>{9a7a9026-48c1-4688-9d5d-e5699d47d074}</InterpreterId>
+    <InterpreterVersion>2.7</InterpreterVersion>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
+    <DebugSymbols>true</DebugSymbols>
+    <EnableUnmanagedDebugging>false</EnableUnmanagedDebugging>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
+    <DebugSymbols>true</DebugSymbols>
+    <EnableUnmanagedDebugging>false</EnableUnmanagedDebugging>
+  </PropertyGroup>
+  <ItemGroup>
+    <Compile Include="Tests.py" />
+  </ItemGroup>
+  <ItemGroup>
+    <InterpreterReference Include="{9a7a9026-48c1-4688-9d5d-e5699d47d074}\2.7" />
+  </ItemGroup>
+  <PropertyGroup>
+    <VisualStudioVersion Condition="'$(VisualStudioVersion)' == ''">10.0</VisualStudioVersion>
+    <PtvsTargetsFile>$(MSBuildExtensionsPath32)\Microsoft\VisualStudio\v$(VisualStudioVersion)\Python Tools\Microsoft.PythonTools.targets</PtvsTargetsFile>
+  </PropertyGroup>
+  <Import Condition="Exists($(PtvsTargetsFile))" Project="$(PtvsTargetsFile)" />
+  <Import Condition="!Exists($(PtvsTargetsFile))" Project="$(MSBuildToolsPath)\Microsoft.Common.targets" />
+  <!-- Uncomment the CoreCompile target to enable the Build command in
+       Visual Studio and specify your pre- and post-build commands in
+       the BeforeBuild and AfterBuild targets below. -->
+  <!--<Target Name="CoreCompile" />-->
+  <Target Name="BeforeBuild">
+  </Target>
+  <Target Name="AfterBuild">
+  </Target>
+</Project>

azure-pipelines.yml

@@ -6,11 +6,11 @@
 trigger:
   branches:
     include:
-    # Build all branches starting with 'ms-' This is useful when making and testing chanes made to this file
+      # Build all branches starting with 'ms-' This is useful when making and testing chanes made to this file
-    - ms-*
+      - ms-*
   tags:
     include:
-    - '*'
+      - "*"
   # pr:
   #   - '*'
 variables:
@@ -27,140 +27,139 @@ variables:
   # https://docs.microsoft.com/en-us/azure/devops/pipelines/library/service-endpoints?view=azure-devops&tabs=yaml#sep-github
   xpcGitHubConnection: XPC-Azure
 
-
 stages:
   - stage: Build
     jobs:
-    - job: macOS
+      - job: macOS
-      pool:
+        pool:
-        vmImage: 'macos-latest'
+          vmImage: "macos-latest"
 
-      steps:
+        steps:
-      - task: Xcode@5
+          - task: Xcode@5
-        inputs:
+            inputs:
-          actions: 'build'
+              actions: "build"
-          scheme: ''
+              scheme: ""
-          sdk: 'macosx10.14'
+              sdk: "macosx10.15"
-          configuration: 'Release'
+              configuration: "Release"
-          xcWorkspacePath: 'xpcPlugin/xpcPlugin.xcodeproj'
+              xcWorkspacePath: "xpcPlugin/xpcPlugin.xcodeproj"
-          xcodeVersion: 'default' # Options: 8, 9, 10, default, specifyPath
+              xcodeVersion: "default" # Options: 8, 9, 10, default, specifyPath
-      - task: PublishPipelineArtifact@0
+          - task: PublishPipelineArtifact@0
-        inputs:
+            inputs:
-          artifactName: '$(xpcArtifactNameMac)'
+              artifactName: "$(xpcArtifactNameMac)"
-          targetPath: '$(xpcBuildOutputPath)'
+              targetPath: "$(xpcBuildOutputPath)"
 
-    - job: Linux
+      - job: Linux
-      pool:
+        pool:
-        vmImage: 'ubuntu-latest'
+          vmImage: "ubuntu-latest"
 
-      steps:
+        steps:
-      - script: |
+          - script: |
-          sudo add-apt-repository ppa:ubuntu-toolchain-r/test
+              sudo add-apt-repository ppa:ubuntu-toolchain-r/test
-          sudo apt-get update
+              sudo apt-get update
-          sudo apt-get install -y g++-5 mesa-common-dev g++-multilib g++-5-multilib
+              sudo apt-get install -y g++-5 mesa-common-dev g++-multilib g++-5-multilib
-        displayName: 'apt install'
+            displayName: "apt install"
 
-      - script: |
+          - script: |
-          cd xpcPlugin
+              cd xpcPlugin
-          cmake .
+              cmake .
-          make
+              make
-        displayName: 'make'
+            displayName: "make"
 
-      - task: PublishPipelineArtifact@0
+          - task: PublishPipelineArtifact@0
-        inputs:
+            inputs:
-          artifactName: 'xpc-linux'
+              artifactName: "xpc-linux"
-          targetPath: '$(xpcBuildOutputPath)'
+              targetPath: "$(xpcBuildOutputPath)"
 
-    - job: Windows
+      - job: Windows
-      pool:
+        pool:
-        vmImage: 'vs2017-win2016'
+          vmImage: "vs2017-win2016"
 
-      variables:
+        variables:
-        solution: 'xpcPlugin/xpcPlugin/xpcPlugin.sln'
+          solution: "xpcPlugin/xpcPlugin/xpcPlugin.sln"
-        buildPlatform: 'Win32|x64'
+          buildPlatform: "Win32|x64"
-        buildConfiguration: 'Release'
+          buildConfiguration: "Release"
-        appxPackageDir: '$(build.artifactStagingDirectory)\AppxPackages\\'
+          appxPackageDir: '$(build.artifactStagingDirectory)\AppxPackages\\'
 
-      steps:
+        steps:
-      - task: NuGetToolInstaller@0
+          - task: NuGetToolInstaller@0
 
-      - task: NuGetCommand@2
+          - task: NuGetCommand@2
-        inputs:
+            inputs:
-          restoreSolution: '$(solution)'
+              restoreSolution: "$(solution)"
 
-      - task: VSBuild@1
+          - task: VSBuild@1
-        inputs:
+            inputs:
-          platform: 'Win32'
+              platform: "Win32"
-          solution: '$(solution)'
+              solution: "$(solution)"
-          configuration: '$(buildConfiguration)'
+              configuration: "$(buildConfiguration)"
-          msbuildArgs: '/p:AppxBundlePlatforms="$(buildPlatform)" /p:AppxPackageDir="$(appxPackageDir)" /p:AppxBundle=Always /p:UapAppxPackageBuildMode=StoreUpload'
+              msbuildArgs: '/p:AppxBundlePlatforms="$(buildPlatform)" /p:AppxPackageDir="$(appxPackageDir)" /p:AppxBundle=Always /p:UapAppxPackageBuildMode=StoreUpload'
 
-      - task: VSBuild@1
+          - task: VSBuild@1
-        inputs:
+            inputs:
-          platform: 'x64'
+              platform: "x64"
-          solution: '$(solution)'
+              solution: "$(solution)"
-          configuration: '$(buildConfiguration)'
+              configuration: "$(buildConfiguration)"
-          msbuildArgs: '/p:AppxBundlePlatforms="$(buildPlatform)" /p:AppxPackageDir="$(appxPackageDir)" /p:AppxBundle=Always /p:UapAppxPackageBuildMode=StoreUpload'
+              msbuildArgs: '/p:AppxBundlePlatforms="$(buildPlatform)" /p:AppxPackageDir="$(appxPackageDir)" /p:AppxBundle=Always /p:UapAppxPackageBuildMode=StoreUpload'
 
-      - task: Bash@3
+          - task: Bash@3
-        inputs:
+            inputs:
-          targetType: 'inline'
+              targetType: "inline"
-          script: |
+              script: |
-              rm $(xpcBuildOutputPath)/win.exp
+                rm $(xpcBuildOutputPath)/win.exp
-              rm $(xpcBuildOutputPath)/win.lib
+                rm $(xpcBuildOutputPath)/win.lib
-              rm $(xpcBuildOutputPath)/64/win.exp
+                rm $(xpcBuildOutputPath)/64/win.exp
-              rm $(xpcBuildOutputPath)/64/win.lib
+                rm $(xpcBuildOutputPath)/64/win.lib
 
-      - task: PublishPipelineArtifact@0
+          - task: PublishPipelineArtifact@0
-        inputs:
+            inputs:
-          artifactName: '$(xpcArtifactNameWindows)'
+              artifactName: "$(xpcArtifactNameWindows)"
-          targetPath: '$(xpcBuildOutputPath)'
+              targetPath: "$(xpcBuildOutputPath)"
 
   - stage: Deploy
     jobs:
-    - job: Package_Binaries
+      - job: Package_Binaries
-      displayName: 'Package Binaries'
+        displayName: "Package Binaries"
-      pool:
+        pool:
-        vmImage: 'ubuntu-latest'
+          vmImage: "ubuntu-latest"
 
-      steps:
+        steps:
-      - task: DownloadPipelineArtifact@0
+          - task: DownloadPipelineArtifact@0
-        inputs:
+            inputs:
-          artifactName: '$(xpcArtifactNameMac)'
+              artifactName: "$(xpcArtifactNameMac)"
-          targetPath: $(System.DefaultWorkingDirectory)/$(xpcPackageName)
+              targetPath: $(System.DefaultWorkingDirectory)/$(xpcPackageName)
-      - task: DownloadPipelineArtifact@0
+          - task: DownloadPipelineArtifact@0
-        inputs:
+            inputs:
-          artifactName: '$(xpcArtifactNameLinux)'
+              artifactName: "$(xpcArtifactNameLinux)"
-          targetPath: $(System.DefaultWorkingDirectory)/$(xpcPackageName)
+              targetPath: $(System.DefaultWorkingDirectory)/$(xpcPackageName)
 
-      - task: DownloadPipelineArtifact@0
+          - task: DownloadPipelineArtifact@0
-        inputs:
+            inputs:
-          artifactName: '$(xpcArtifactNameWindows)'
+              artifactName: "$(xpcArtifactNameWindows)"
-          targetPath: $(System.DefaultWorkingDirectory)/$(xpcPackageName)
+              targetPath: $(System.DefaultWorkingDirectory)/$(xpcPackageName)
 
-      - task: PublishPipelineArtifact@0
+          - task: PublishPipelineArtifact@0
-        inputs:
+            inputs:
-          artifactName: '$(xpcPackageName)'
+              artifactName: "$(xpcPackageName)"
-          targetPath: $(System.DefaultWorkingDirectory)/$(xpcPackageName)
+              targetPath: $(System.DefaultWorkingDirectory)/$(xpcPackageName)
 
-      # Archive Files
+          # Archive Files
-      - task: ArchiveFiles@2
+          - task: ArchiveFiles@2
-        inputs:
+            inputs:
-          rootFolderOrFile: '$(System.DefaultWorkingDirectory)/$(xpcPackageName)'
+              rootFolderOrFile: "$(System.DefaultWorkingDirectory)/$(xpcPackageName)"
-          includeRootFolder: true
+              includeRootFolder: true
-          archiveType: 'zip'
+              archiveType: "zip"
-          archiveFile: '$(Build.ArtifactStagingDirectory)/$(xpcPackageName).zip'
+              archiveFile: "$(Build.ArtifactStagingDirectory)/$(xpcPackageName).zip"
 
-      # Uploads the .zip to GitHub and creates a new "Release" with the commit tag
+          # Uploads the .zip to GitHub and creates a new "Release" with the commit tag
-      # This tasks runs only on pushed tags
+          # This tasks runs only on pushed tags
-      - task: GitHubRelease@0
+          - task: GitHubRelease@0
-        inputs:
+            inputs:
-          gitHubConnection: '$(xpcGitHubConnection)'
+              gitHubConnection: "$(xpcGitHubConnection)"
-          repositoryName: '$(Build.Repository.Name)'
+              repositoryName: "$(Build.Repository.Name)"
-          action: 'create'
+              action: "create"
-          target: '$(Build.SourceVersion)'
+              target: "$(Build.SourceVersion)"
-          tagSource: 'auto'
+              tagSource: "auto"
-          tag: $(tagName)
+              tag: $(tagName)
-          assets: '$(Build.ArtifactStagingDirectory)/$(xpcPackageName).zip'
+              assets: "$(Build.ArtifactStagingDirectory)/$(xpcPackageName).zip"
-          isPreRelease: true
+              isPreRelease: true
-          isDraft: true
+              isDraft: true

xpcPlugin/CameraCallbacks.cpp

@@ -0,0 +1,173 @@
+//
+//	support.cpp
+//	xpcPlugin
+//
+//	Created by Kai Lehmkuehler on 14/01/2019.
+//
+
+#include <stdio.h>
+
+#include "MessageHandlers.h"
+#include "DataManager.h"
+#include "Log.h"
+
+#include "XPLMUtilities.h"
+#include "XPLMGraphics.h"
+
+
+#include <cmath>
+#include <cstring>
+
+namespace XPC
+{
+	// Runway Camera Callback: Places the camera at campos.loc and points it at the aircraft, similar to a remote piloting experience.
+	// Optionally, the direction of the camera can be specified by the user.
+	int MessageHandlers::CamCallback_RunwayCam( XPLMCameraPosition_t * outCameraPosition, int inIsLosingControl, void *inRefcon)
+	{
+		if (outCameraPosition && !inIsLosingControl)
+		{
+			struct CameraProperties* campos = (struct CameraProperties*)inRefcon;
+			
+			// camera position
+			double clat = campos->loc[0];
+			double clon = campos->loc[1];
+			double calt = campos->loc[2];
+			
+			double cX;
+			double cY;
+			double cZ;
+			XPLMWorldToLocal(clat, clon, calt, &cX, &cY, &cZ);
+			
+			outCameraPosition->x = cX;
+			outCameraPosition->y = cY;
+			outCameraPosition->z = cZ;
+			
+			// Log::FormatLine(LOG_TRACE, "CAM", "Cam pos %f %f %f", clat, clon, calt);
+			
+			// calculate camera direction to point at the aircraft
+			if(campos->direction[0] < -180)
+			{
+				// local aircraft position
+				double x = XPC::DataManager::GetDouble(XPC::DREF_LocalX, 0);
+				double y = XPC::DataManager::GetDouble(XPC::DREF_LocalY, 0);
+				double z = XPC::DataManager::GetDouble(XPC::DREF_LocalZ, 0);
+				
+				// relative position vector camera to aircraft
+				double dx = x - cX;
+				double dy = y - cY;
+				double dz = z - cZ;
+				
+				// Log::FormatLine(LOG_TRACE, "CAM", "Cam vect %f %f %f", dx, dy, dz);
+				
+				double pi = 3.141592653589793;
+				
+				// horizontal distance
+				double dist = sqrt(dx*dx + dz*dz);
+				
+				outCameraPosition->pitch = atan2(dy, dist) * 180.0/pi;
+				
+				double angle = atan2(dz, dx) * 180.0/pi; // rel to pos right (pos X)
+				
+				outCameraPosition->heading = 90 + angle; // rel to north
+				
+				// Log::FormatLine(LOG_TRACE, "CAM", "Cam p %f hdg %f ", outCameraPosition->pitch, outCameraPosition->heading);
+				
+				outCameraPosition->roll = 0;
+			}
+			// point camera at specified direction
+			else
+			{
+				outCameraPosition->roll		= campos->direction[0];
+				outCameraPosition->pitch	= campos->direction[1];
+				outCameraPosition->heading	= campos->direction[2];
+			}
+			
+			outCameraPosition->zoom = campos->zoom;
+		}
+		
+		return 1;
+	}
+	
+	// Chase Camera Callback: Places the camera at campos.loc RELATIVE to and MOVING with the aircraft, pointing at the specified
+	// direction.
+	int MessageHandlers::CamCallback_ChaseCam( XPLMCameraPosition_t * outCameraPosition, int inIsLosingControl, void *inRefcon)
+	{
+		if (outCameraPosition && !inIsLosingControl)
+		{
+			double DTR = 3.141592653589793 / 180.0;
+			
+			struct CameraProperties* campos = (struct CameraProperties*)inRefcon;
+			
+			// Camera location relative to aircraft (local axes)
+			
+			// local aircraft position
+			double x = XPC::DataManager::GetDouble(XPC::DREF_LocalX, 0); // +east
+			double y = XPC::DataManager::GetDouble(XPC::DREF_LocalY, 0); // +up
+			double z = XPC::DataManager::GetDouble(XPC::DREF_LocalZ, 0); // +south
+			
+			// aircraft attitude - degrees
+			double phi = XPC::DataManager::GetFloat(XPC::DREF_Roll, 0);
+			double the = XPC::DataManager::GetFloat(XPC::DREF_Pitch, 0);
+			double psi = XPC::DataManager::GetFloat(XPC::DREF_HeadingTrue, 0);
+			
+			// camera position vector with respect to aircraft CG [m] (body axes)
+			double c_x = campos->loc[0]; // back
+			double c_y = campos->loc[1]; // right
+			double c_z = campos->loc[2]; // up
+			
+			// camera position vector in local axes - will move with aircraft if not along principal axes
+			// cLocal = Leb * cBody
+			// http://www.xsquawkbox.net/xpsdk/mediawiki/ScreenCoordinates
+			
+			double x_phi=c_y*cos(phi*DTR) + c_z*sin(phi*DTR);
+			double y_phi=c_z*cos(phi*DTR) - c_y*sin(phi*DTR);
+			double z_phi=c_x;
+			
+			double x_the=x_phi;
+			double y_the=y_phi*cos(the*DTR) - z_phi*sin(the*DTR);
+			double z_the=z_phi*cos(the*DTR) + y_phi*sin(the*DTR);
+			
+			double x_wrl=x_the*cos(psi*DTR) - z_the*sin(psi*DTR);
+			double y_wrl=y_the							;
+			double z_wrl=z_the*cos(psi*DTR) + x_the*sin(psi*DTR);
+			
+			outCameraPosition->x = x + x_wrl;
+			outCameraPosition->y = y + y_wrl;
+			outCameraPosition->z = z + z_wrl;
+			
+			// set direction value to -998 to keep camera pointing straight along that axis
+			if(campos->direction[0] < -180)
+			{
+				outCameraPosition->roll		= 0;
+			}
+			else
+			{
+				outCameraPosition->roll		= phi + campos->direction[0];
+			}
+            
+			if(campos->direction[1] < -180)
+			{
+				outCameraPosition->pitch	= 0;
+			}
+			else
+			{
+				outCameraPosition->pitch	= the + campos->direction[1];
+			}
+            
+			if(campos->direction[2] < -180)
+			{
+				outCameraPosition->heading	= 0;
+			}
+			else
+			{
+				outCameraPosition->heading	= psi + campos->direction[2];
+			}
+			
+			outCameraPosition->zoom = campos->zoom;
+		}
+	
+		return 1;
+
+	}
+	
+}

xpcPlugin/DataManager.cpp

@@ -19,6 +19,7 @@
 
 #include "XPLMDataAccess.h"
 #include "XPLMGraphics.h"
+#include "XPLMUtilities.h"
 
 #include <algorithm>
 #include <cmath>
@@ -668,6 +669,11 @@ namespace XPC
 			return;
 		}
 
+		if (IsDefault(pos[0]) && IsDefault(pos[1]) && IsDefault(pos[2]))
+		{
+			Log::WriteLine(LOG_INFO, "DMAN", "Skipped SetPosition. All values were default");
+			return;
+		}
 		if (IsDefault(pos[0]))
 		{
 			pos[0] = GetDouble(DREF_Latitude, aircraft);
@@ -718,6 +724,12 @@ namespace XPC
 			return;
 		}
 
+
+		if (IsDefault(orient[0]) && IsDefault(orient[1]) && IsDefault(orient[2]))
+		{
+			Log::WriteLine(LOG_INFO, "DMAN", "Skipped SetPosition. All values were default");
+			return;
+		}
 		if (IsDefault(orient[0]))
 		{
 			orient[0] = GetFloat(DREF_Pitch, aircraft);
@@ -780,6 +792,21 @@ namespace XPC
 		Set(DREF_FlapActual, value);
 	}
 
+	void DataManager::Execute(const std::string& comm)
+	{
+		Log::FormatLine(LOG_INFO, "DMAN", "Executing command (value:%s)", comm.c_str());
+
+ 		XPLMCommandRef xcref = XPLMFindCommand(comm.c_str());
+		if (!xcref)
+		{
+			// COMM does not exist
+			Log::FormatLine(LOG_ERROR, "DMAN", "ERROR: invalid COMM %s", comm.c_str());
+			return;
+		}
+
+ 		XPLMCommandOnce(xcref);
+	}
+
 	float DataManager::GetDefaultValue()
 	{
 		return -998.0F;

xpcPlugin/DataManager.h

@@ -410,6 +410,11 @@ namespace XPC
 		/// \param value The flaps settings. Should be between 0.0 (no flaps) and 1.0 (full flaps).
 		static void SetFlaps(float value);
 
+		/// Executes a command
+ 		///
+ 		/// \param comm   The name of the command to execute.
+ 		static void Execute(const std::string& comm);
+
 		/// Gets a default value that indicates that a dataref should not be changed.
 		static float GetDefaultValue();
 

xpcPlugin/Message.cpp

@@ -121,7 +121,7 @@ namespace XPC
 			}
 			Log::WriteLine(LOG_DEBUG, "DBUG", ss.str());
 		}
-		else if (head == "GETC" || head == "GETP")
+		else if (head == "GETC" || head == "GETP" || head == "GETT")
 		{
 			ss << " Aircraft:" << (int)buffer[5];
 			Log::WriteLine(LOG_DEBUG, "DBUG", ss.str());
@@ -138,14 +138,28 @@ namespace XPC
 				cur += 1 + buffer[cur];
 			}
 		}
-		else if (head == "POSI")
+		else if (head == "POSI" || head == "POST")
 		{
 			char aircraft = buffer[5];
-			float gear = *((float*)(buffer + 30));
+			float gear;
-			float pos[3];
+			double pos[3];
 			float orient[3];
-			memcpy(pos, buffer + 6, 12);
+			if (size == 34) /* lat/lon/h as 32-bit float */
-			memcpy(orient, buffer + 18, 12);
+			{
+				float posd_32[3];
+				memcpy(posd_32, buffer + 6, 12);
+				pos[0] = posd_32[0];
+				pos[1] = posd_32[1];
+				pos[2] = posd_32[2];
+				memcpy(orient, buffer + 18, 12);
+				memcpy(&gear, buffer + 30, 4);
+			}
+			else if (size == 46) /* lat/lon/h as 64-bit double */
+			{
+				memcpy(pos, buffer + 6, 24);
+				memcpy(orient, buffer + 30, 12);
+				memcpy(&gear, buffer + 42, 4);
+			}
 			ss << " AC:" << (int)aircraft;
 			ss << " Pos:(" << pos[0] << ' ' << pos[1] << ' ' << pos[2] << ") Orient:(";
 			ss << orient[0] << ' ' << orient[1] << ' ' << orient[2] << ") Gear:";
@@ -162,6 +176,11 @@ namespace XPC
 			ss << "Type:" << *((unsigned long*)(buffer + 5));
 			Log::WriteLine(LOG_DEBUG, "DBUG", ss.str());
 		}
+		else if (head == "COMM")
+ 		{
+ 			ss << "Type:" << *((unsigned long*)(buffer + 5));
+ 			Log::WriteLine(LOG_DEBUG, "DBUG", ss.str());
+ 		}
 		else
 		{
 			ss << " UNKNOWN HEADER ";

xpcPlugin/MessageHandlers.cpp

@@ -8,21 +8,22 @@
 // including without limitation the rights to use, copy, modify, merge, publish, distribute,
 // sublicense, and / or sell copies of the Software, and to permit persons to whom the Software is
 // furnished to do so, subject to the following conditions :
-//   * Redistributions of source code must retain the above copyright notice,
+//	 * Redistributions of source code must retain the above copyright notice,
-//     this list of conditions and the following disclaimer.
+//	   this list of conditions and the following disclaimer.
-//   * Neither the names of the authors nor that of X - Plane or Laminar Research
+//	 * Neither the names of the authors nor that of X - Plane or Laminar Research
-//     may be used to endorse or promote products derived from this software
+//	   may be used to endorse or promote products derived from this software
-//     without specific prior written permission from the authors or
+//	   without specific prior written permission from the authors or
-//     Laminar Research, respectively.
+//	   Laminar Research, respectively.
+
 #include "MessageHandlers.h"
 #include "DataManager.h"
 #include "Drawing.h"
 #include "Log.h"
 
 #include "XPLMUtilities.h"
+#include "XPLMScenery.h"
 #include "XPLMGraphics.h"
 
-
 #include <cmath>
 #include <cstring>
 #include <cstdint>
@@ -30,7 +31,6 @@
 #define MULTICAST_GROUP "239.255.1.1"
 #define MULITCAST_PORT 49710
 
-
 namespace XPC
 {
 	std::map<std::string, MessageHandlers::ConnectionInfo> MessageHandlers::connections;
@@ -42,6 +42,9 @@ namespace XPC
 
 	static sockaddr multicast_address = UDPSocket::GetAddr(MULTICAST_GROUP, MULITCAST_PORT);
 	
+	// define a static terrain probe handler (do not re-create probe for each query)
+	XPLMProbeRef Terrain_probe = nullptr;
+
 	void MessageHandlers::SetSocket(UDPSocket* socket)
 	{
 		Log::WriteLine(LOG_TRACE, "MSGH", "Setting socket");
@@ -60,12 +63,15 @@ namespace XPC
 			handlers.insert(std::make_pair("DREF", MessageHandlers::HandleDref));
 			handlers.insert(std::make_pair("GETD", MessageHandlers::HandleGetD));
 			handlers.insert(std::make_pair("POSI", MessageHandlers::HandlePosi));
+			handlers.insert(std::make_pair("POST", MessageHandlers::HandlePosT));
 			handlers.insert(std::make_pair("SIMU", MessageHandlers::HandleSimu));
 			handlers.insert(std::make_pair("TEXT", MessageHandlers::HandleText));
 			handlers.insert(std::make_pair("WYPT", MessageHandlers::HandleWypt));
 			handlers.insert(std::make_pair("VIEW", MessageHandlers::HandleView));
 			handlers.insert(std::make_pair("GETC", MessageHandlers::HandleGetC));
 			handlers.insert(std::make_pair("GETP", MessageHandlers::HandleGetP));
+			handlers.insert(std::make_pair("COMM", MessageHandlers::HandleComm));
+			handlers.insert(std::make_pair("GETT", MessageHandlers::HandleGetT));
 			// X-Plane data messages
 			handlers.insert(std::make_pair("DSEL", MessageHandlers::HandleXPlaneData));
 			handlers.insert(std::make_pair("USEL", MessageHandlers::HandleXPlaneData));
@@ -554,21 +560,20 @@ namespace XPC
 		unsigned char aircraft = buffer[5];
 		Log::FormatLine(LOG_TRACE, "GPOS", "Getting position information for aircraft %u", aircraft);
 
-		unsigned char response[34] = "POSI";
+		unsigned char response[46] = "POSI";
 		response[5] = (char)DataManager::GetInt(DREF_GearHandle, aircraft);
-		// TODO change lat/lon/h to double?
+		*((double*)(response + 6)) = DataManager::GetDouble(DREF_Latitude, aircraft);
-		*((float*)(response + 6)) = (float)DataManager::GetDouble(DREF_Latitude, aircraft);
+		*((double*)(response + 14)) = DataManager::GetDouble(DREF_Longitude, aircraft);
-		*((float*)(response + 10)) = (float)DataManager::GetDouble(DREF_Longitude, aircraft);
+		*((double*)(response + 22)) = DataManager::GetDouble(DREF_Elevation, aircraft);
-		*((float*)(response + 14)) = (float)DataManager::GetDouble(DREF_Elevation, aircraft);
+		*((float*)(response + 30)) = DataManager::GetFloat(DREF_Pitch, aircraft);
-		*((float*)(response + 18)) = DataManager::GetFloat(DREF_Pitch, aircraft);
+		*((float*)(response + 34)) = DataManager::GetFloat(DREF_Roll, aircraft);
-		*((float*)(response + 22)) = DataManager::GetFloat(DREF_Roll, aircraft);
+		*((float*)(response + 38)) = DataManager::GetFloat(DREF_HeadingTrue, aircraft);
-		*((float*)(response + 26)) = DataManager::GetFloat(DREF_HeadingTrue, aircraft);
 
 		float gear[10];
 		DataManager::GetFloatArray(DREF_GearDeploy, gear, 10, aircraft);
-		*((float*)(response + 30)) = gear[0];
+		*((float*)(response + 42)) = gear[0];
 
-		sock->SendTo(response, 34, &connection.addr);
+		sock->SendTo(response, 46, &connection.addr);
 	}
 
 	void MessageHandlers::HandlePosi(const Message& msg)
@@ -580,21 +585,26 @@ namespace XPC
 		const std::size_t size = msg.GetSize();
 
 		char aircraftNumber = buffer[5];
-		float gear = *((float*)(buffer + 42));
+		float gear;
 		double posd[3];
 		float orient[3];
 
 		if (size == 34) /* lat/lon/h as 32-bit float */
 		{
-			posd[0] = *((float*)&buffer[6]);
+			float posd_32[3];
-			posd[1] = *((float*)&buffer[10]);
+			memcpy(posd_32, buffer + 6, 12);
-			posd[2] = *((float*)&buffer[14]);
+		/* convert float to double */
+			posd[0] = posd_32[0];
+			posd[1] = posd_32[1];
+			posd[2] = posd_32[2];
 			memcpy(orient, buffer + 18, 12);
+			memcpy(&gear, buffer + 30, 4);
 		}
 		else if (size == 46) /* lat/lon/h as 64-bit double */
 		{
-			memcpy(posd, buffer + 6, 3*8);
+			memcpy(posd, buffer + 6, 24);
 			memcpy(orient, buffer + 30, 12);
+			memcpy(&gear, buffer + 42, 4);
 		}
 		else
 		{
@@ -602,7 +612,6 @@ namespace XPC
 			return;
 		}
 
-		/* convert float to double */
 		DataManager::SetPosition(posd, aircraftNumber);
 		DataManager::SetOrientation(orient, aircraftNumber);
 		if (gear >= 0)
@@ -623,6 +632,135 @@ namespace XPC
 		}
 	}
 
+	void MessageHandlers::HandlePosT(const Message& msg)
+	{
+		MessageHandlers::HandlePosi(msg);
+		
+		const unsigned char* buffer = msg.GetBuffer();
+		char aircraftNumber = buffer[5];
+		Log::FormatLine(LOG_TRACE, "POST", "Getting terrain information for aircraft %u", aircraftNumber);
+		
+		double pos[3];
+		pos[0] = DataManager::GetDouble(DREF_Latitude, aircraftNumber);
+		pos[1] = DataManager::GetDouble(DREF_Longitude, aircraftNumber);
+		pos[2] = 0.0;
+		MessageHandlers::SendTerr(pos, aircraftNumber);
+	}
+
+	void MessageHandlers::HandleGetT(const Message& msg)
+	{
+		const unsigned char* buffer = msg.GetBuffer();
+		std::size_t size = msg.GetSize();
+		if (size != 30)
+		{
+			Log::FormatLine(LOG_ERROR, "GETT", "Unexpected message length: %u", size);
+			return;
+		}
+		unsigned char aircraft = buffer[5];
+		Log::FormatLine(LOG_TRACE, "GETT", "Getting terrain information for aircraft %u", aircraft);
+		
+		double pos[3];
+		memcpy(pos, buffer + 6, 24);
+		
+		if(pos[0] == -998 || pos[1] == -998 || pos[2] == -998)
+		{
+			// get terrain properties at aircraft location
+			pos[0] = DataManager::GetDouble(DREF_Latitude, aircraft);
+			pos[1] = DataManager::GetDouble(DREF_Longitude, aircraft);
+			pos[2] = 0.0;
+		}
+
+		MessageHandlers::SendTerr(pos, aircraft);
+	}
+
+	void MessageHandlers::SendTerr(double pos[3], char aircraft)
+	{
+		double lat, lon, alt, X, Y, Z;
+		
+		// Init terrain probe (if required) and probe data struct
+		static XPLMProbeInfo_t probe_data;
+		probe_data.structSize = sizeof(XPLMProbeInfo_t);
+		
+		if(Terrain_probe == nullptr)
+		{
+			Log::FormatLine(LOG_TRACE, "TERR", "Create terrain probe for aircraft %u", aircraft);
+			Terrain_probe = XPLMCreateProbe(0);
+		}
+		
+		// terrain probe at specified location
+		// Follow the process in the following post to get accurate results
+		// https://forums.x-plane.org/index.php?/forums/topic/38688-how-do-i-use-xplmprobeterrainxyz/&page=2
+		
+		// transform probe location to local coordinates
+		// Step 1. Convert lat/lon/0 to XYZ
+		XPLMWorldToLocal(pos[0], pos[1], pos[2], &X, &Y, &Z);
+		
+		// query probe
+		// Step 2. Probe XYZ to get a new Y
+		int rc = XPLMProbeTerrainXYZ(Terrain_probe, X, Y, Z, &probe_data);
+		if(rc > 0)
+		{
+			Log::FormatLine(LOG_ERROR, "TERR", "Probe failed. Return Value %u", rc);
+			XPLMDestroyProbe(Terrain_probe);
+			Terrain_probe = nullptr;
+			return;
+		}
+		
+		// transform probe location to world coordinates
+		// Step 3. Convert that new XYZ back to LLE
+		XPLMLocalToWorld(probe_data.locationX, probe_data.locationY, probe_data.locationZ, &lat, &lon, &alt);
+		Log::FormatLine(LOG_TRACE, "TERR", "Conv LLA=%f, %f, %f", lat, lon, alt);
+
+		// transform probe location to local coordinates
+		// Step 4. NOW convert your original lat/lon with the elevation from step 3 to XYZ
+		XPLMWorldToLocal(pos[0], pos[1], alt, &X, &Y, &Z);
+
+		// query probe
+		// Step 5. Re-probe with the NEW XYZ
+		rc = XPLMProbeTerrainXYZ(Terrain_probe, X, Y, Z, &probe_data);
+		if(rc == 0)
+		{
+		// transform probe location to world coordinates
+		// Step 6. You now have a new Y, and your XYZ will be closer to correct for high elevations far from the origin.
+			XPLMLocalToWorld(probe_data.locationX, probe_data.locationY, probe_data.locationZ, &lat, &lon, &alt);
+			
+			Log::FormatLine(LOG_TRACE, "TERR", "Probe LLA %lf %lf %lf", lat, lon, alt);
+		}
+		else
+		{
+			lat = -998;
+			lon = -998;
+			alt = -998;
+			
+			Log::FormatLine(LOG_TRACE, "TERR", "Probe failed. Return Value %u", rc);
+		}
+
+		// keep probe for next query
+		// XPLMDestroyProbe(Terrain_probe);
+		
+		// Assemble response message
+		unsigned char response[62] = "TERR";
+		response[5] = aircraft;
+		// terrain height over msl at lat/lon point
+		memcpy(response + 6,  &lat, 8);
+		memcpy(response + 14, &lon, 8);
+		memcpy(response + 22, &alt, 8);
+		// terrain normal vector
+		memcpy(response + 30, &probe_data.normalX, 4);
+		memcpy(response + 34, &probe_data.normalY, 4);
+		memcpy(response + 38, &probe_data.normalZ, 4);
+		// terrain velocity
+		memcpy(response + 42, &probe_data.velocityX, 4);
+		memcpy(response + 46, &probe_data.velocityY, 4);
+		memcpy(response + 50, &probe_data.velocityZ, 4);
+		// terrain type
+		memcpy(response + 54, &probe_data.is_wet, 4);
+		// probe status
+		memcpy(response + 58, &rc, 4);
+
+		sock->SendTo(response, 62, &connection.addr);
+	}
+
 	void MessageHandlers::HandleSimu(const Message& msg)
 	{
 		// Update log
@@ -723,106 +861,86 @@ namespace XPC
 		// Update Log
 		Log::FormatLine(LOG_TRACE, "VIEW", "Message Received(Conn %i)", connection.id);
 		
-		int enable_camera_location = 0;
+		bool enable_advanced_camera = false;
 		
 		const std::size_t size = msg.GetSize();
 		if (size == 9)
 		{
 			// default view switcher as before
 		}
-		else if (size == 37)
+		else if (size == 49)
 		{
 			// Allow camera location control
-			enable_camera_location = 1;
+			enable_advanced_camera = true;
 		}
 		else
 		{
-			Log::FormatLine(LOG_ERROR, "VIEW", "Error: Unexpected length. Message was %d bytes, expected 9 or 37.", size);
+			Log::FormatLine(LOG_ERROR, "VIEW", "Error: Unexpected length. Message was %d bytes, expected 9 or 49.", size);
 			return;
 		}
+		
+		// get msg data
 		const unsigned char* buffer = msg.GetBuffer();
-		int type = *((int*)(buffer + 5));
-		XPLMCommandKeyStroke(type);
 		
-		if(type == 79 && enable_camera_location == 1) // runway camera view
+		// get view type
+		int view_type;
+		memcpy(&view_type, buffer + 5, 4);
+		
+		// set view by calling the corresponding key stroke
+		XPLMCommandKeyStroke(view_type);
+		
+		
+		VIEW_TYPE viewRunway = VIEW_TYPE::XPC_VIEW_RUNWAY;
+		VIEW_TYPE viewChase	 = VIEW_TYPE::XPC_VIEW_CHASE;
+		
+		// advanced runway camera view
+		if(view_type == static_cast<int>(viewRunway) && enable_advanced_camera == true)
 		{
-			static struct CameraProperties campos;
+			static struct CameraProperties campos; // static variable for continuous callback access
 			
-			campos.loc[0] = *(double*)(buffer+9);
+			memcpy(&campos, buffer+9 , sizeof(struct CameraProperties));
-			campos.loc[1] = *(double*)(buffer+17);
-			campos.loc[2] = *(double*)(buffer+25);
-			campos.direction[0] = -998;
-			campos.direction[1] = -998;
-			campos.direction[2] = -998;
-			campos.zoom	  = *(float*)(buffer+33);
 			
-			Log::FormatLine(LOG_TRACE, "VIEW", "Cam pos %f %f %f zoom %f", campos.loc[0], campos.loc[1], campos.loc[2],campos.zoom);
+			Log::FormatLine(LOG_TRACE, "VIEW", "Cam pos %f %f %f zoom %f", campos.loc[0], campos.loc[1], campos.loc[2], campos.zoom);
 			
-			XPLMControlCamera(xplm_ControlCameraUntilViewChanges, CamFunc, &campos);
+			XPLMControlCamera(xplm_ControlCameraUntilViewChanges, CamCallback_RunwayCam, &campos);
+		}
+		// advanced chase camera view
+		else if(view_type == static_cast<int>(viewChase) && enable_advanced_camera == true)
+		{
+			static struct CameraProperties campos;	// static variable for continuous callback access
+			
+			memcpy(&campos, buffer+9 , sizeof(struct CameraProperties));
+			
+			Log::FormatLine(LOG_TRACE, "VIEW", "Cam pos %f %f %f zoom %f", campos.loc[0], campos.loc[1], campos.loc[2], campos.zoom);
+			
+			XPLMControlCamera(xplm_ControlCameraUntilViewChanges, CamCallback_ChaseCam, &campos);
 		}
 	}
 
-	int MessageHandlers::CamFunc( XPLMCameraPosition_t * outCameraPosition, int inIsLosingControl, void *inRefcon)
+	void MessageHandlers::HandleComm(const Message& msg)
-	{
+ 	{
-		if (outCameraPosition && !inIsLosingControl)
+ 		Log::FormatLine(LOG_TRACE, "COMM", "Request to execute COMM command received (Conn %i)", connection.id);
-		{
+ 		const unsigned char* buffer = msg.GetBuffer();
-			struct CameraProperties* campos = (struct CameraProperties*)inRefcon;
+ 		std::size_t size = msg.GetSize();
+ 		std::size_t pos = 5;
+ 		while (pos < size)
+ 		{
+ 			unsigned char len = buffer[pos++];
+ 			if (pos + len > size)
+ 			{
+ 				break;
+ 			}
+ 			std::string comm = std::string((char*)buffer + pos, len);
+ 			pos += len;
 
-			// camera position
+  			DataManager::Execute(comm);
-			double clat = campos->loc[0];
+ 			Log::FormatLine(LOG_DEBUG, "COMM", "Execute command %s", comm.c_str());
-			double clon = campos->loc[1];
+ 		}
-			double calt = campos->loc[2];
+ 		if (pos != size)
-			
+ 		{
-			double cX, cY, cZ;
+ 			Log::WriteLine(LOG_ERROR, "COMM", "ERROR: Command did not terminate at the expected position.");
-			XPLMWorldToLocal(clat, clon, calt, &cX, &cY, &cZ);
+ 		}
-			
+ 	}
-			outCameraPosition->x = cX;
-			outCameraPosition->y = cY;
-			outCameraPosition->z = cZ;
-			
-//			  Log::FormatLine(LOG_TRACE, "CAM", "Cam pos %f %f %f", clat, clon, calt);
-			
-			if(campos->direction[0] == -998) // calculate camera direction
-			{
-				// aircraft position
-				double x = XPC::DataManager::GetDouble(XPC::DREF_LocalX, 0);
-				double y = XPC::DataManager::GetDouble(XPC::DREF_LocalY, 0);
-				double z = XPC::DataManager::GetDouble(XPC::DREF_LocalZ, 0);
-			
-				// relative position vector cam to plane
-				double dx = x - cX;
-				double dy = y - cY;
-				double dz = z - cZ;
-			
-//			    Log::FormatLine(LOG_TRACE, "CAM", "Cam vect %f %f %f", dx, dy, dz);
-			
-				double pi = 3.141592653589793;
-			
-				// horizontal distance
-				double dist = sqrt(dx*dx + dz*dz);
-			
-				outCameraPosition->pitch = atan2(dy, dist) * 180.0/pi;
-			
-				double angle = atan2(dz, dx) * 180.0/pi; // rel to pos right (pos X)
-			
-				outCameraPosition->heading = 90 + angle; // rel to north
-			
-//			    Log::FormatLine(LOG_TRACE, "CAM", "Cam p %f hdg %f ", outCameraPosition->pitch, outCameraPosition->heading);
-			
-				outCameraPosition->roll = 0;
-			}
-			else
-			{
-				outCameraPosition->roll     = campos->direction[0];
-				outCameraPosition->pitch    = campos->direction[1];
-				outCameraPosition->heading  = campos->direction[2];
-			}
-			
-			outCameraPosition->zoom = campos->zoom;
-		}
-		
-		return 1;
-	}
 
 	void MessageHandlers::HandleWypt(const Message& msg)
 	{

xpcPlugin/MessageHandlers.h

@@ -15,6 +15,23 @@ namespace XPC
 	/// A function that handles a message.
 	typedef void(*MessageHandler)(const Message&);
     
+    enum class VIEW_TYPE
+    {
+        XPC_VIEW_FORWARDS = 73,
+        XPC_VIEW_DOWN,
+        XPC_VIEW_LEFT,
+        XPC_VIEW_RIGHT,
+        XPC_VIEW_BACK,
+        XPC_VIEW_TOWER,
+        XPC_VIEW_RUNWAY,
+        XPC_VIEW_CHASE,
+        XPC_VIEW_FOLLOW,
+        XPC_VIEW_FOLLOWWITHPANEL,
+        XPC_VIEW_SPOT,
+        XPC_VIEW_FULLSCREENWITHHUD,
+        XPC_VIEW_FULLSCREENNOHUD,
+    };
+
 	/// Handles incoming messages and manages connections.
 	///
 	/// \author Jason Watkins
@@ -41,6 +58,8 @@ namespace XPC
 		
 		static void SendBeacon(const std::string& pluginVersion, unsigned short pluginReceivePort, int xplaneVersion);
 		
+		static void SendTerr(double pos[3], char aircraft);
+
 	private:
 		// One handler per message type. Message types are descripbed on the
 		// wiki at https://github.com/nasa/XPlaneConnect/wiki/Network-Information
@@ -51,16 +70,20 @@ namespace XPC
 		static void HandleGetC(const Message& msg);
 		static void HandleGetD(const Message& msg);
 		static void HandleGetP(const Message& msg);
+		static void HandleGetT(const Message& msg);
 		static void HandlePosi(const Message& msg);
+		static void HandlePosT(const Message& msg);
 		static void HandleSimu(const Message& msg);
 		static void HandleText(const Message& msg);
 		static void HandleWypt(const Message& msg);
 		static void HandleView(const Message& msg);
+		static void HandleComm(const Message& msg);
 
 		static void HandleXPlaneData(const Message& msg);
 		static void HandleUnknown(const Message& msg);
 		
-		static int CamFunc( XPLMCameraPosition_t * outCameraPosition, int inIsLosingControl, void *inRefcon);
+        static int CamCallback_RunwayCam( XPLMCameraPosition_t * outCameraPosition, int inIsLosingControl, void *inRefcon);
+        static int CamCallback_ChaseCam( XPLMCameraPosition_t * outCameraPosition, int inIsLosingControl, void *inRefcon);
 		
 		struct CameraProperties{
 			double loc[3];

xpcPlugin/UDPSocket.cpp

@@ -56,22 +56,25 @@ namespace XPC
 			return;
 		}
 
-		// Set Timout
+		// Set timeout period for SendTo to 1 millisecond
-		int usTimeOut = 500;
+		// Without this, playback may become choppy due to process blocking
-
 #ifdef _WIN32
-		DWORD msTimeOutWin = 1; // Minimum socket timeout in Windows is 1ms
+		// Minimum socket timeout in Windows is 1 millisecond (0 makes it blocking)
-		if(setsockopt(this->sock, SOL_SOCKET, SO_RCVTIMEO, (char *)&msTimeOutWin, sizeof(msTimeOutWin)) != 0)
+		DWORD timeout = 1;
+#else
+		struct timeval timeout;
+		timeout.tv_sec = 0;
+		timeout.tv_usec = 1000;
+#endif
+		if (setsockopt(this->sock, SOL_SOCKET, SO_RCVTIMEO, (char*)&timeout, sizeof(timeout)) < 0)
 		{
+#ifdef _WIN32
 			int err = WSAGetLastError();
 			Log::FormatLine(LOG_ERROR, tag, "ERROR: Failed to set timeout. (Error code %i)", err);
-		}
 #else
-		struct timeval tv;
+			Log::WriteLine(LOG_ERROR, tag, "ERROR: Failed to set timeout.");
-		tv.tv_sec = 0;
-		tv.tv_usec = usTimeOut;
-		setsockopt(this->sock, SOL_SOCKET, SO_RCVTIMEO, (char *)&tv, sizeof(struct timeval));
 #endif
+		}
 	}
 
 	UDPSocket::~UDPSocket()
@@ -87,43 +90,54 @@ namespace XPC
 	int UDPSocket::Read(unsigned char* dst, int maxLen, sockaddr* recvAddr) const
 	{
 		socklen_t recvaddrlen = sizeof(*recvAddr);
-		int status = 0;
 
-#ifdef _WIN32
+		// For Read, use the select command - minimum timeout of 0 makes it polling.
-		// Windows readUDP needs the select command- minimum timeout is 1ms.
+		// Without this, playback may become choppy due to process blocking
-		// Without this playback becomes choppy
 
 		// Definitions
-		FD_SET stReadFDS;
+		fd_set stReadFDS;
-		FD_SET stExceptFDS;
+		fd_set stExceptFDS;
-		timeval tv;
+		struct timeval timeout;
 
 		// Setup for Select
 		FD_ZERO(&stReadFDS);
 		FD_SET(sock, &stReadFDS);
 		FD_ZERO(&stExceptFDS);
 		FD_SET(sock, &stExceptFDS);
-		tv.tv_sec = 0;
+
-		tv.tv_usec = 250;
+		// Set timeout period for select to 0 to poll the socket
+		timeout.tv_sec = 0;
+		timeout.tv_usec = 0;
 
 		// Select Command
-		int result = select(-1, &stReadFDS, (FD_SET *)0, &stExceptFDS, &tv);
+		int status = select(sock+1, &stReadFDS, NULL, &stExceptFDS, &timeout);
-		if (result == SOCKET_ERROR)
+		if (status < 0)
 		{
+#ifdef _WIN32
 			int err = WSAGetLastError();
 			Log::FormatLine(LOG_ERROR, tag, "ERROR: Select failed. (Error code %i)", err);
+#else
+			Log::WriteLine(LOG_ERROR, tag, "ERROR: Select failed.");
+#endif
+			return -1;
 		}
-		if (result <= 0) // No Data or error
+		if (status == 0)
 		{
+			// No data
 			return -1;
 		}
 
 		// If no error: Read Data
 		status = recvfrom(sock, (char*)dst, maxLen, 0, recvAddr, &recvaddrlen);
+		if (status < 0)
+		{
+#ifdef _WIN32
+			int err = WSAGetLastError();
+			Log::FormatLine(LOG_ERROR, tag, "ERROR: Receive failed. (Error code %i)", err);
 #else
-		// For apple or linux-just read - will timeout in 0.5 ms
+			Log::WriteLine(LOG_ERROR, tag, "ERROR: Receive failed.");
-		status = (int)recvfrom(sock, dst, 5000, 0, recvAddr, &recvaddrlen);
 #endif
+		}
 		return status;
 	}
 

xpcPlugin/UDPSocket.h

@@ -13,6 +13,8 @@
 #include <sys/socket.h>
 #include <netinet/in.h>
 #include <arpa/inet.h>
+#include <sys/time.h>
+#include <sys/types.h>
 #include <unistd.h>
 #endif
 

xpcPlugin/xpcPlugin.xcodeproj/project.pbxproj

@@ -8,6 +8,7 @@
 
 /* Begin PBXBuildFile section */
 		3D0F44CE21C6D3E7008A0655 /* Timer.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 3D0F44CD21C6D3E7008A0655 /* Timer.cpp */; };
+		5B36040D23731E4A003ACE12 /* CameraCallbacks.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 5B36040C23731E4A003ACE12 /* CameraCallbacks.cpp */; };
 		BE37D960187C8B0F0033B082 /* XPCPlugin.cpp in Sources */ = {isa = PBXBuildFile; fileRef = BE37D95E187C8B0F0033B082 /* XPCPlugin.cpp */; };
 		BE8361EF18C5591C00E9C923 /* mac.xpl in CopyFiles */ = {isa = PBXBuildFile; fileRef = D607B19909A556E400699BC3 /* mac.xpl */; };
 		BEABAD371AE041A3007BA7DA /* DataManager.cpp in Sources */ = {isa = PBXBuildFile; fileRef = BEABAD2B1AE041A3007BA7DA /* DataManager.cpp */; };
@@ -39,6 +40,7 @@
 /* Begin PBXFileReference section */
 		3D0F44CC21C6D3E7008A0655 /* Timer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = Timer.h; sourceTree = "<group>"; };
 		3D0F44CD21C6D3E7008A0655 /* Timer.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; path = Timer.cpp; sourceTree = "<group>"; };
+		5B36040C23731E4A003ACE12 /* CameraCallbacks.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; path = CameraCallbacks.cpp; sourceTree = "<group>"; };
 		BE37D95E187C8B0F0033B082 /* XPCPlugin.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; path = XPCPlugin.cpp; sourceTree = SOURCE_ROOT; usesTabs = 1; };
 		BEABAD2B1AE041A3007BA7DA /* DataManager.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; path = DataManager.cpp; sourceTree = "<group>"; };
 		BEABAD2C1AE041A3007BA7DA /* DataManager.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = DataManager.h; sourceTree = "<group>"; };
@@ -53,7 +55,6 @@
 		BEABAD3D1AE0498D007BA7DA /* UDPSocket.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; path = UDPSocket.cpp; sourceTree = "<group>"; };
 		BEABAD3E1AE0498D007BA7DA /* UDPSocket.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = UDPSocket.h; sourceTree = "<group>"; };
 		BEDC620218EDF1A7005DB364 /* xplaneConnect.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = xplaneConnect.c; path = ../C/src/xplaneConnect.c; sourceTree = "<group>"; };
-		BEDC620318EDF1A7005DB364 /* xplaneConnect.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = xplaneConnect.h; path = ../C/src/xplaneConnect.h; sourceTree = "<group>"; };
 		D607B19909A556E400699BC3 /* mac.xpl */ = {isa = PBXFileReference; explicitFileType = "compiled.mach-o.dylib"; includeInIndex = 0; path = mac.xpl; sourceTree = BUILT_PRODUCTS_DIR; };
 		D6A7BDA916A1DEA200D1426A /* OpenGL.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = OpenGL.framework; path = System/Library/Frameworks/OpenGL.framework; sourceTree = SDKROOT; };
 		D6A7BDC016A1DEC000D1426A /* CoreFoundation.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = CoreFoundation.framework; path = System/Library/Frameworks/CoreFoundation.framework; sourceTree = SDKROOT; };
@@ -79,6 +80,7 @@
 		AC4E46B809C2E0B3006B7E1B /* src */ = {
 			isa = PBXGroup;
 			children = (
+				5B36040C23731E4A003ACE12 /* CameraCallbacks.cpp */,
 				3D0F44CD21C6D3E7008A0655 /* Timer.cpp */,
 				BE37D95E187C8B0F0033B082 /* XPCPlugin.cpp */,
 				BEDC620218EDF1A7005DB364 /* xplaneConnect.c */,
@@ -96,7 +98,6 @@
 			isa = PBXGroup;
 			children = (
 				3D0F44CC21C6D3E7008A0655 /* Timer.h */,
-				BEDC620318EDF1A7005DB364 /* xplaneConnect.h */,
 				BEABAD2C1AE041A3007BA7DA /* DataManager.h */,
 				BEABAD301AE041A3007BA7DA /* Drawing.h */,
 				BEABAD321AE041A3007BA7DA /* Log.h */,
@@ -191,6 +192,7 @@
 			files = (
 				BEABAD3A1AE041A3007BA7DA /* Log.cpp in Sources */,
 				BEABAD3B1AE041A3007BA7DA /* Message.cpp in Sources */,
+				5B36040D23731E4A003ACE12 /* CameraCallbacks.cpp in Sources */,
 				BEABAD3C1AE041A3007BA7DA /* MessageHandlers.cpp in Sources */,
 				BEDC620418EDF1A7005DB364 /* xplaneConnect.c in Sources */,
 				BEABAD371AE041A3007BA7DA /* DataManager.cpp in Sources */,
@@ -219,6 +221,7 @@
 					"APL=1",
 					"IBM=0",
 					"LIN=0",
+					XPLM200,
 				);
 				GCC_SYMBOLS_PRIVATE_EXTERN = YES;
 				GCC_VERSION = "";
@@ -230,6 +233,10 @@
 				MACH_O_TYPE = mh_bundle;
 				MACOSX_DEPLOYMENT_TARGET = 10.7;
 				ONLY_ACTIVE_ARCH = YES;
+				OTHER_CPLUSPLUSFLAGS = (
+					"$(OTHER_CFLAGS)",
+					"-DXPLM200",
+				);
 				OTHER_LDFLAGS = (
 					"$(OTHER_LDFLAGS)",
 					"-Wl,-exported_symbol",
@@ -268,6 +275,7 @@
 					"APL=1",
 					"IBM=0",
 					"LIN=0",
+					XPLM200,
 				);
 				GCC_SYMBOLS_PRIVATE_EXTERN = YES;
 				GCC_VERSION = "";
@@ -278,6 +286,10 @@
 				);
 				MACH_O_TYPE = mh_bundle;
 				MACOSX_DEPLOYMENT_TARGET = 10.7;
+				OTHER_CPLUSPLUSFLAGS = (
+					"$(OTHER_CFLAGS)",
+					"-DXPLM200",
+				);
 				OTHER_LDFLAGS = (
 					"$(OTHER_LDFLAGS)",
 					"-Wl,-exported_symbol",

xpcPlugin/xpcPlugin/xpcPlugin.vcxproj

@@ -22,7 +22,7 @@
     <ProjectGuid>{6AEF5D28-2701-44FF-AE10-1DEF07C5CAEA}</ProjectGuid>
     <Keyword>Win32Proj</Keyword>
     <RootNamespace>xpcPlugin</RootNamespace>
-    <WindowsTargetPlatformVersion>8.1</WindowsTargetPlatformVersion>
+    <WindowsTargetPlatformVersion>10.0.17134.0</WindowsTargetPlatformVersion>
   </PropertyGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
@@ -210,6 +210,7 @@
     <ClInclude Include="..\UDPSocket.h" />
   </ItemGroup>
   <ItemGroup>
+    <ClCompile Include="..\CameraCallbacks.cpp" />
     <ClCompile Include="..\DataManager.cpp" />
     <ClCompile Include="..\Drawing.cpp" />
     <ClCompile Include="..\Log.cpp" />

xpcPlugin/xpcPlugin/xpcPlugin.vcxproj.filters

@@ -33,6 +33,9 @@
     <ClInclude Include="..\MessageHandlers.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="..\Timer.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="..\XPCPlugin.cpp">
@@ -56,6 +59,12 @@
     <ClCompile Include="..\MessageHandlers.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="..\Timer.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="..\CameraCallbacks.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <Library Include="..\SDK\Libraries\Win\XPLM.lib">