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Merge pull request #3 from nasa/develop

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Update develop
This commit is contained in:
Norman Princen
2020-05-01 21:32:44 -07:00
committed by GitHub
parent ba9e8b0eee 28557b9738
commit 9a58c30385
4 changed files with 174 additions and 51 deletions
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87
C/src/xplaneConnect.c
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@@ -185,7 +185,7 @@ 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
@@ -378,9 +378,9 @@ 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)
@@ -516,7 +516,7 @@ 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 +524,7 @@ 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;
}
@@ -640,6 +640,83 @@ 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 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 ****/
/*****************************************************************************/

46
C/src/xplaneConnect.h
View File

@@ -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 dref The name of the dataref to set.
/// \param value An array of values representing the data to set.
/// \param size The number of elements in values.
/// \returns 0 if successful, otherwise a negative value.
int sendDREF(XPCSocket sock, const char* dref, float value[], int size);
/// \param sock The socket to use to send the command.
/// \param dref The name of the dataref to set.
/// \param values An array of values representing the data to set.
/// \param size The number of elements in values.
/// \returns 0 if successful, otherwise a negative value.
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 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[]);
@@ -216,6 +216,24 @@ int getPOSI(XPCSocket sock, double values[7], char ac);
/// \returns 0 if successful, otherwise a negative value.
int sendPOSI(XPCSocket sock, double values[], int size, char ac);
// Terrain
/// 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.
@@ -224,7 +242,7 @@ 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/user's 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);

90
xpcPlugin/MessageHandlers.cpp
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@@ -642,49 +642,72 @@ namespace XPC
unsigned char aircraft = buffer[5];
Log::FormatLine(LOG_TRACE, "GETT", "Getting terrain information for aircraft %u", aircraft);
double loc[3];
double X;
double Y;
double Z;
memcpy(loc, buffer + 6, 24);
double pos[3];
memcpy(pos, buffer + 6, 24);
if(loc[0] == -998 || loc[1] == -998 || loc[2] == -998)
if(pos[0] == -998 || pos[1] == -998 || pos[2] == -998)
{
// get terrain properties at aircraft location
// probe needs to be below terrain to work...
X = DataManager::GetDouble(DREF_LocalX, aircraft);
Z = DataManager::GetDouble(DREF_LocalZ, aircraft);
Y = -100.0;
}
else
{
// terrain probe at specified location
XPLMWorldToLocal(loc[0], loc[1], loc[2], &X, &Y, &Z);
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
XPLMProbeInfo_t probe_data;
static XPLMProbeInfo_t probe_data;
probe_data.structSize = sizeof(XPLMProbeInfo_t);
if(Terrain_probe == nullptr)
{
Log::FormatLine(LOG_TRACE, "GETT", "Create terrain probe for aircraft %u", aircraft);
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
double lat;
double lon;
double alt;
// 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, "GETT", "Probe LLA %lf %lf %lf", lat, lon, alt);
Log::FormatLine(LOG_TRACE, "TERR", "Probe LLA %lf %lf %lf", lat, lon, alt);
}
else
{
@@ -692,31 +715,34 @@ namespace XPC
lon = -998;
alt = -998;
Log::FormatLine(LOG_TRACE, "GETT", "Probe failed. Return Value %u", rc);
Log::FormatLine(LOG_TRACE, "TERR", "Probe failed. Return Value %u", rc);
}
// keep probe for next query
// XPLMDestroyProbe(probe);
// XPLMDestroyProbe(Terrain_probe);
// Assemble response message
unsigned char response[50] = "TERR";
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 incidence
// 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 + 42, &probe_data.is_wet, 4);
memcpy(response + 54, &probe_data.is_wet, 4);
// probe status
memcpy(response + 46, &rc, 4);
sock->SendTo(response, 50, &connection.addr);
}
memcpy(response + 58, &rc, 4);
sock->SendTo(response, 62, &connection.addr);
}
void MessageHandlers::HandleSimu(const Message& msg)
{

2
xpcPlugin/MessageHandlers.h
View File

@@ -57,6 +57,8 @@ namespace XPC
static void SetSocket(UDPSocket* socket);
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