diff --git a/Java/Examples/BasicOperation/src/Main.java b/Java/Examples/BasicOperation/src/Main.java index 8d70a44..a950e40 100644 --- a/Java/Examples/BasicOperation/src/Main.java +++ b/Java/Examples/BasicOperation/src/Main.java @@ -1,6 +1,5 @@ -package gov.nasa.xpc.ex; -import gov.nasa.xpc.XPlaneConnect; + import java.io.IOException; import java.net.SocketException; import java.util.Arrays; diff --git a/Java/Examples/BasicOperation/src/XPlaneConnect.java b/Java/Examples/BasicOperation/src/XPlaneConnect.java new file mode 100644 index 0000000..6c669a4 --- /dev/null +++ b/Java/Examples/BasicOperation/src/XPlaneConnect.java @@ -0,0 +1,956 @@ +//NOTICES: +// Copyright (c) 2013-2018 United States Government as represented by the Administrator of the +// National Aeronautics and Space Administration. All Rights Reserved. +// +// DISCLAIMERS +// No Warranty: THE SUBJECT SOFTWARE IS PROVIDED "AS IS" WITHOUT ANY WARRANTY OF ANY KIND, +// EITHER EXPRESSED, IMPLIED, OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, ANY WARRANTY THAT THE +// SUBJECT SOFTWARE WILL CONFORM TO SPECIFICATIONS, ANY IMPLIED WARRANTIES OF MERCHANTABILITY, +// FITNESS FOR A PARTICULAR PURPOSE, OR FREEDOM FROM INFRINGEMENT, ANY WARRANTY THAT THE SUBJECT +// SOFTWARE WILL BE ERROR FREE, OR ANY WARRANTY THAT DOCUMENTATION, IF PROVIDED, WILL CONFORM TO +// THE SUBJECT SOFTWARE. THIS AGREEMENT DOES NOT, IN ANY MANNER, CONSTITUTE AN ENDORSEMENT BY +// GOVERNMENT AGENCY OR ANY PRIOR RECIPIENT OF ANY RESULTS, RESULTING DESIGNS, HARDWARE, +// SOFTWARE PRODUCTS OR ANY OTHER APPLICATIONS RESULTING FROM USE OF THE SUBJECT SOFTWARE. +// FURTHER, GOVERNMENT AGENCY DISCLAIMS ALL WARRANTIES AND LIABILITIES REGARDING THIRD-PARTY +// SOFTWARE, IF PRESENT IN THE ORIGINAL SOFTWARE, AND DISTRIBUTES IT "AS IS." +// +// Waiver and Indemnity: RECIPIENT AGREES TO WAIVE ANY AND ALL CLAIMS AGAINST THE UNITED STATES +// GOVERNMENT, ITS CONTRACTORS AND SUBCONTRACTORS, AS WELL AS ANY PRIOR RECIPIENT. IF +// RECIPIENT'S USE OF THE SUBJECT SOFTWARE RESULTS IN ANY LIABILITIES, DEMANDS, DAMAGES, +// EXPENSES OR LOSSES ARISING FROM SUCH USE, INCLUDING ANY DAMAGES FROM PRODUCTS BASED ON, OR +// RESULTING FROM, RECIPIENT'S USE OF THE SUBJECT SOFTWARE, RECIPIENT SHALL INDEMNIFY AND HOLD +// HARMLESS THE UNITED STATES GOVERNMENT, ITS CONTRACTORS AND SUBCONTRACTORS, AS WELL AS ANY +// PRIOR RECIPIENT, TO THE EXTENT PERMITTED BY LAW. RECIPIENT'S SOLE REMEDY FOR ANY SUCH MATTER +// SHALL BE THE IMMEDIATE, UNILATERAL TERMINATION OF THIS AGREEMENT. + +package gov.nasa.xpc; + +import gov.nasa.xpc.discovery.Beacon; +import src.discovery.ViewType; +import src.discovery.WaypointOp; + +import java.io.ByteArrayOutputStream; +import java.io.IOException; +import java.lang.AutoCloseable; +import java.net.*; +import java.nio.ByteBuffer; +import java.nio.ByteOrder; +import java.nio.charset.StandardCharsets; +import java.util.Arrays; + +/** + * Represents a client that can connect to and interact with the X-Plane Connect plugin. + * + * @author Jason Watkins + * @version 0.1 + * @since 2015-03-31 + */ +public class XPlaneConnect implements AutoCloseable +{ + private static int clientNum; + private DatagramSocket socket; + private InetAddress xplaneAddr; + private int xplanePort; + + /** + * Gets the port on which the client receives data from the plugin. + * + * @return The incoming port number. + */ + public int getRecvPort() { return socket.getLocalPort(); } + + /** + * Gets the port on which the client sends data to X-Plane. + * + * @return The outgoing port number. + */ + public int getXPlanePort() { return xplanePort; } + + /** + * Sets the port on which the client sends data to X-Plane + * + * @param port The new outgoing port number. + * @throws IllegalArgumentException If {@code port} is not a valid port number. + */ + public void setXPlanePort(int port) + { + if(port < 0 || port >= 0xFFFF) + { + throw new IllegalArgumentException("Invalid port (must be non-negative and less than 65536)."); + } + xplanePort = port; + } + + /** + * Gets the hostname of the X-Plane host. + * + * @return The hostname of the X-Plane host. + */ + public String getXPlaneAddr() { return xplaneAddr.getHostAddress(); } + + /** + * Sets the hostname of the X-Plane host. + * + * @param host The new hostname of the X-Plane host machine. + * @throws UnknownHostException {@code host} is not valid. + */ + public void setXplaneAddr(String host) throws UnknownHostException + { + xplaneAddr = InetAddress.getByName(host); + } + + /** + * Initializes a new instance of the {@code XPlaneConnect} class using default ports and assuming X-Plane is running on the + * local machine. + * + * @throws SocketException If this instance is unable to bind to the default receive port. + */ + public XPlaneConnect() throws SocketException + { + this(100); + } + + /** + * Initializes a new instance of the {@code XPlaneConnect} class with the specified timeout using default ports and + * assuming X-Plane is running on the local machine. + * + * @param timeout The time, in milliseconds, after which read attempts will timeout. + * @throws SocketException If this instance is unable to bind to the default receive port. + */ + public XPlaneConnect(int timeout) throws SocketException + { + this.socket = new DatagramSocket(0); + this.xplaneAddr = InetAddress.getLoopbackAddress(); + this.xplanePort = 49009; + this.socket.setSoTimeout(timeout); + } + + /** + * Initializes a new instance of the {@code XPlaneConnect} class using the specified ports and X-Plane host. + * + * @param xpHost The network host on which X-Plane is running. + * @param xpPort The port on which the X-Plane Connect plugin is listening. + * @param port The local port to use when sending and receiving data from XPC. + * @throws java.net.SocketException If this instance is unable to bind to the specified port. + * @throws java.net.UnknownHostException If the specified hostname can not be resolved. + */ + public XPlaneConnect(String xpHost, int xpPort, int port) + throws java.net.SocketException, java.net.UnknownHostException + { + this(xpHost, xpPort, port, 100); + } + + + /** + * Initializes a new instance of the {@code XPlaneConnect} class from a received discovery Beacon + * @param beacon The beacon received from {@code XPlaneConnectDiscovery} + * @throws SocketException If this instance is unable to bind to the specified port. + */ + public XPlaneConnect(Beacon beacon) throws SocketException { + this.socket = new DatagramSocket(0); + this.xplaneAddr = beacon.getXplaneAddress(); + this.xplanePort = beacon.getPluginPort(); + this.socket.setSoTimeout(100); + } + + /** + * Initializes a new instance of the {@code XPlaneConnect} class using the specified ports, hostname, and timeout. + * + * @param xpHost The network host on which X-Plane is running. + * @param xpPort The port on which the X-Plane Connect plugin is listening. + * @param port The port on which the X-Plane Connect plugin is sending data. + * @param timeout The time, in milliseconds, after which read attempts will timeout. + * @throws java.net.SocketException If this instance is unable to bind to the specified port. + * @throws java.net.UnknownHostException If the specified hostname can not be resolved. + */ + public XPlaneConnect(String xpHost, int xpPort, int port, int timeout) + throws java.net.SocketException, java.net.UnknownHostException + { + this.socket = new DatagramSocket(port); + this.xplaneAddr = InetAddress.getByName(xpHost); + this.xplanePort = xpPort; + this.socket.setSoTimeout(timeout); + } + + /** + * Closes the underlying socket. + */ + public void close() + { + if(socket != null) + { + socket.close(); + socket = null; + } + } + + /** + * Read data from the X-Plane plugin. This method will read whatever data is available and return it. + * + * @return The data send from X-Plane. + * @throws IOException If the read operation fails + */ + private byte[] readUDP() throws IOException + { + byte[] buffer = new byte[65536]; + DatagramPacket packet = new DatagramPacket(buffer, buffer.length); + try + { + socket.receive(packet); + return Arrays.copyOf(buffer, packet.getLength()); + } + catch (SocketTimeoutException ex) + { + return new byte[0]; + } + } + + /** + * Send the given data to the X-Plane plugin. + * + * @param buffer The data to send. + * @throws IOException If the send operation fails. + */ + private void sendUDP(byte[] buffer) throws IOException + { + DatagramPacket packet = new DatagramPacket(buffer, buffer.length, xplaneAddr, xplanePort); + socket.send(packet); + } + + /** + * Pauses or unpauses X-Plane. + * + * @param pause {@code true} to pause the simulator; {@code false} to un-pause. + * @throws IOException If the command cannot be sent. + */ + public void pauseSim(boolean pause) throws IOException + { + // S I M U LEN VAL + byte[] msg = {0x53, 0x49, 0x4D, 0x55, 0x00, 0x00}; + msg[5] = (byte)(pause ? 0x01 : 0x00); + sendUDP(msg); + } + + /** + * Pauses, unpauses, or switches the pause state of X-Plane. + * + * @param pause {@code 1} to pause the simulator, {@code 0} to unpause, or {@code 2} to switch. + * @throws IllegalArgumentException If the values of {@code pause} is not a valid command. + * @throws IOException If the command cannot be sent. + */ + public void pauseSim(int pause) throws IOException + { + if(pause < 0 || (pause > 2 && pause < 100) || (pause > 119 && pause < 200) || pause > 219) + { + throw new IllegalArgumentException("pause must be a value in the range [0, 2], [100, 119], or [200, 219]."); + } + + // S I M U LEN VAL + byte[] msg = {0x53, 0x49, 0x4D, 0x55, 0x00, 0x00}; + msg[5] = (byte)pause; + sendUDP(msg); + } + + /** + * Requests a single dref value from X-Plane. + * + * @param dref The name of the dref requested. + * @return A byte array representing data dependent on the dref requested. + * @throws IOException If either the request or the response fails. + */ + public float[] getDREF(String dref) throws IOException + { + return getDREFs(new String[] {dref})[0]; + } + + /** + * Requests several dref values from X-Plane. + * + * @param drefs An array of dref names to request. + * @return A multidimensional array representing the data for each requested dref. + * @throws IOException If either the request or the response fails. + */ + public float[][] getDREFs(String[] drefs) throws IOException + { + //Preconditions + if(drefs == null || drefs.length == 0) + { + throw new IllegalArgumentException("drefs must be a valid array with at least one dref."); + } + if(drefs.length > 255) + { + throw new IllegalArgumentException("Can not request more than 255 DREFs at once."); + } + + //Convert drefs to bytes. + byte[][] drefBytes = new byte[drefs.length][]; + for(int i = 0; i < drefs.length; ++i) + { + drefBytes[i] = drefs[i].getBytes(StandardCharsets.UTF_8); + if(drefBytes[i].length == 0) + { + throw new IllegalArgumentException("DREF " + i + " is an empty string!"); + } + if(drefBytes[i].length > 255) + { + throw new IllegalArgumentException("DREF " + i + " is too long (must be less than 255 bytes in UTF-8). Are you sure this is a valid DREF?"); + } + } + + //Build and send message + ByteArrayOutputStream os = new ByteArrayOutputStream(); + os.write("GETD".getBytes(StandardCharsets.UTF_8)); + os.write(0xFF); //Placeholder for message length + os.write(drefs.length); + for(byte[] dref : drefBytes) + { + os.write(dref.length); + os.write(dref, 0, dref.length); + } + sendUDP(os.toByteArray()); + + //Read response + byte[] data = readUDP(); + if(data.length == 0) + { + throw new IOException("No response received."); + } + if(data.length < 6) + { + throw new IOException("Response too short"); + } + float[][] result = new float[drefs.length][]; + ByteBuffer bb = ByteBuffer.wrap(data); + bb.order(ByteOrder.LITTLE_ENDIAN); + int cur = 6; + for(int j = 0; j < result.length; ++j) + { + result[j] = new float[data[cur++]]; + for(int k = 0; k < result[j].length; ++k) //TODO: There must be a better way to do this + { + result[j][k] = bb.getFloat(cur); + cur += 4; + } + } + return result; + } + + public void sendDREF(String dref, float value) throws IOException + { + sendDREF(dref, new float[] {value}); + } + + /** + * Sends a command to X-Plane that sets the given DREF. + * + * @param dref The name of the X-Plane dataref to set. + * @param value An array of floating point values whose structure depends on the dref specified. + * @throws IOException If the command cannot be sent. + */ + public void sendDREF(String dref, float[] value) throws IOException + { + sendDREFs(new String[] {dref}, new float[][] {value}); + } + + /** + * Sends a command to X-Plane that sets the given DREF. + * + * @param drefs The names of the X-Plane datarefs to set. + * @param values A sequence of arrays of floating point values whose structure depends on the drefs specified. + * @throws IOException If the command cannot be sent. + */ + public void sendDREFs(String[] drefs, float[][] values) throws IOException + { + //Preconditions + if(drefs == null || drefs.length == 0) + { + throw new IllegalArgumentException(("drefs must be non-empty.")); + } + if(values == null || values.length != drefs.length) + { + throw new IllegalArgumentException("values must be of the same size as drefs."); + } + + ByteArrayOutputStream os = new ByteArrayOutputStream(); + os.write("DREF".getBytes(StandardCharsets.UTF_8)); + os.write(0xFF); //Placeholder for message length + for(int i = 0; i < drefs.length; ++i) + { + String dref = drefs[i]; + float[] value = values[i]; + + if (dref == null) + { + throw new IllegalArgumentException("dref must be a valid string."); + } + if (value == null || value.length == 0) + { + throw new IllegalArgumentException("value must be non-null and should contain at least one value."); + } + + //Convert drefs to bytes. + byte[] drefBytes = dref.getBytes(StandardCharsets.UTF_8); + if (drefBytes.length == 0) + { + throw new IllegalArgumentException("DREF is an empty string!"); + } + if (drefBytes.length > 255) + { + throw new IllegalArgumentException("dref must be less than 255 bytes in UTF-8. Are you sure this is a valid dref?"); + } + + ByteBuffer bb = ByteBuffer.allocate(4 * value.length); + bb.order(ByteOrder.LITTLE_ENDIAN); + for (int j = 0; j < value.length; ++j) + { + bb.putFloat(j * 4, value[j]); + } + + //Build and send message + os.write(drefBytes.length); + os.write(drefBytes, 0, drefBytes.length); + os.write(value.length); + os.write(bb.array()); + } + sendUDP(os.toByteArray()); + } + + /** + * Gets the control surface information for the specified airplane. + * + * @param ac The aircraft to get control surface information for. + * @return An array containing control surface data in the same format as {@code sendCTRL}. + * @throws IOException If the command cannot be sent or a response cannot be read. + */ + public float[] getCTRL(int ac) throws IOException + { + // Send request + ByteArrayOutputStream os = new ByteArrayOutputStream(); + os.write("GETC".getBytes(StandardCharsets.UTF_8)); + os.write(0xFF); //Placeholder for message length + os.write(ac); + sendUDP(os.toByteArray()); + + // Read response + byte[] data = readUDP(); + if(data.length == 0) + { + throw new IOException("No response received."); + } + if(data.length < 31) + { + throw new IOException("Response too short"); + } + + // Parse response + float[] result = new float[7]; + ByteBuffer bb = ByteBuffer.wrap(data); + bb.order(ByteOrder.LITTLE_ENDIAN); + result[0] = bb.getFloat(5); + result[1] = bb.getFloat(9); + result[2] = bb.getFloat(13); + result[3] = bb.getFloat(17); + result[4] = bb.get(21); + result[5] = bb.getFloat(22); + result[6] = bb.getFloat(27); + return result; + } + + /** + * Sends command to X-Plane setting control surfaces on the player ac. + * + * @param values

An array containing zero to six values representing control surface data as follows:

+ *
    + *
  1. Latitudinal Stick [-1,1]
    2. + *
  2. Longitudinal Stick [-1,1]
    3. + *
  3. Rudder Pedals [-1, 1]
    4. + *
  4. Throttle [-1, 1]
    5. + *
  5. Gear (0=up, 1=down)
    6. + *
  6. Flaps [0, 1]
    7. + *
  7. Speedbrakes [-0.5, 1.5]
    8. + *
+ *

+ * If @{code ctrl} is less than 6 elements long, The missing elements will not be changed. To + * change values in the middle of the array without affecting the preceding values, set the + * preceding values to -998. + *

+ * @throws IOException If the command cannot be sent. + */ + public void sendCTRL(float[] values) throws IOException + { + sendCTRL(values, 0); + } + + /** + * Sends command to X-Plane setting control surfaces on the specified ac. + * + * @param values

An array containing zero to six values representing control surface data as follows:

+ *
    + *
  1. Latitudinal Stick [-1,1]
    2. + *
  2. Longitudinal Stick [-1,1]
    3. + *
  3. Rudder Pedals [-1, 1]
    4. + *
  4. Throttle [-1, 1]
    5. + *
  5. Gear (0=up, 1=down)
    6. + *
  6. Flaps [0, 1]
    7. + *
  7. Speedbrakes [-0.5, 1.5]
    8. + *
+ *

+ * If @{code ctrl} is less than 6 elements long, The missing elements will not be changed. To + * change values in the middle of the array without affecting the preceding values, set the + * preceding values to -998. + *

+ * @param ac The ac to set. 0 for the player's ac. + * @throws IOException If the command cannot be sent. + */ + public void sendCTRL(float[] values, int ac) throws IOException + { + //Preconditions + if(values == null) + { + throw new IllegalArgumentException("ctrl must no be null."); + } + if(values.length > 7) + { + throw new IllegalArgumentException("ctrl must have 7 or fewer elements."); + } + if(ac < 0 || ac > 9) + { + throw new IllegalArgumentException("ac must be non-negative and less than 9."); + } + + //Pad command values and convert to bytes + int i; + int cur = 0; + ByteBuffer bb = ByteBuffer.allocate(26); + bb.order(ByteOrder.LITTLE_ENDIAN); + for(i = 0; i < 6; ++i) + { + if(i == 4) + { + if(i >= values.length) + { + bb.put(cur, (byte)-1); + } + else + { + bb.put(cur, (byte)values[i]); + } + cur += 1; + } + else if (i >= values.length) + { + bb.putFloat(cur, -998); + cur+= 4; + } + else + { + bb.putFloat(cur, values[i]); + cur += 4; + } + } + bb.put(cur++, (byte) ac); + bb.putFloat(cur, values.length == 7 ? values[6] : -998); + + //Build and send message + ByteArrayOutputStream os = new ByteArrayOutputStream(); + os.write("CTRL".getBytes(StandardCharsets.UTF_8)); + os.write(0xFF); //Placeholder for message length + os.write(bb.array()); + sendUDP(os.toByteArray()); + } + + /** + * Gets position information for the specified airplane. + * + * @param ac The aircraft to get position information for. + * @return An array containing control surface data in the same format as {@code sendPOSI}. + * @throws IOException If the command cannot be sent or a response cannot be read. + */ + public double[] getPOSI(int ac) throws IOException + { + // Send request + ByteArrayOutputStream os = new ByteArrayOutputStream(); + os.write("GETP".getBytes(StandardCharsets.UTF_8)); + os.write(0xFF); //Placeholder for message length + os.write(ac); + sendUDP(os.toByteArray()); + + // Read response + byte[] data = readUDP(); + if(data.length == 0) + { + throw new IOException("No response received."); + } + if(data.length < 34) + { + throw new IOException("Response too short"); + } + + // Parse response + double[] result = new double[7]; + ByteBuffer bb = ByteBuffer.wrap(data); + bb.order(ByteOrder.LITTLE_ENDIAN); + for(int i = 0; i < 7; ++i) + { + result[i] = bb.getFloat(6 + 4 * i); + } + return result; + } + + /** + * Sets the position of the player ac. + * + * @param values

An array containing position elements as follows:

+ *
    + *
  1. Latitude (deg)
    2. + *
  2. Longitude (deg)
    3. + *
  3. Altitude (m above MSL)
    4. + *
  4. Roll (deg)
    5. + *
  5. Pitch (deg)
    6. + *
  6. True Heading (deg)
    7. + *
  7. Gear (0=up, 1=down)
    8. + *
+ *

+ * If @{code ctrl} is less than 6 elements long, The missing elements will not be changed. To + * change values in the middle of the array without affecting the preceding values, set the + * preceding values to -998. + *

+ * @throws IOException If the command can not be sent. + */ + public void sendPOSI(double[] values) throws IOException + { + sendPOSI(values, 0); + } + + /** + * Sets the position of the specified ac with double precision coordinates. + * + * @param values

An array containing position elements as follows:

+ *
    + *
  1. Latitude (deg)
    2. + *
  2. Longitude (deg)
    3. + *
  3. Altitude (m above MSL)
    4. + *
  4. Roll (deg)
    5. + *
  5. Pitch (deg)
    6. + *
  6. True Heading (deg)
    7. + *
  7. Gear (0=up, 1=down)
    8. + *
+ *

+ * If @{code ctrl} is less than 6 elements long, The missing elements will not be changed. To + * change values in the middle of the array without affecting the preceding values, set the + * preceding values to -998. + *

+ * @param ac The ac to set. 0 for the player ac. + * @throws IOException If the command can not be sent. + */ + public void sendPOSI(double[] values, int ac) throws IOException + { + //Preconditions + if(values == null) + { + throw new IllegalArgumentException("posi must no be null."); + } + if(values.length > 7) + { + throw new IllegalArgumentException("posi must have 7 or fewer elements."); + } + if(ac < 0 || ac > 255) + { + throw new IllegalArgumentException("ac must be between 0 and 255."); + } + + //Pad command values and convert to bytes + int i; + ByteBuffer bb = ByteBuffer.allocate(40); + bb.order(ByteOrder.LITTLE_ENDIAN); + for(i = 0; i < values.length; ++i) + { + if(i<3) /* lat/lon/height as double */ + { + bb.putDouble(values[i]); + } + else + { + bb.putFloat((float)values[i]); + } + } + for(; i < 7; ++i) + { + bb.putFloat(-998); + } + + //Build and send message + ByteArrayOutputStream os = new ByteArrayOutputStream(); + os.write("POSI".getBytes(StandardCharsets.UTF_8)); + os.write(0xFF); //Placeholder for message length + os.write(ac); + os.write(bb.array()); + sendUDP(os.toByteArray()); + } + + /** + * Reads X-Plane data + * + * @return The data read. + * @throws IOException If the read operation fails. + */ + public float[][] readData() throws IOException + { + byte[] buffer = readUDP(); + ByteBuffer bb = ByteBuffer.wrap(buffer); + int cur = 5; + int len = bb.get(cur++); + float[][] result = new float[bb.get(len)][9]; + for(int i = 0; i < len; ++i) + { + for(int j = 0; j < 9; ++j) + { + result[i][j] = bb.getFloat(cur); + cur += 4; + } + } + return result; + } + + /** + * Sends data to X-Plane + * + * @param data The data to send. + * @throws IOException If the command cannot be sent. + */ + public void sendDATA(float[][] data) throws IOException + { + //Preconditions + if(data == null || data.length == 0) + { + throw new IllegalArgumentException("data must be a non-null, non-empty array."); + } + + //Convert data to bytes + ByteBuffer bb = ByteBuffer.allocate(4 * 9 * data.length); + bb.order(ByteOrder.LITTLE_ENDIAN); + for(int i = 0; i < data.length; ++i) + { + int rowStart = 9 * 4 * i; + float[] row = data[i]; + if(row.length != 9) + { + throw new IllegalArgumentException("Rows must contain exactly 9 items. (Row " + i + ")"); + } + + bb.putInt(rowStart, (int) row[0]); + for(int j = 1; j < row.length; ++j) + { + bb.putFloat(rowStart + 4 * j, row[j]); + } + } + + //Build and send message + ByteArrayOutputStream os = new ByteArrayOutputStream(); + os.write("DATA".getBytes(StandardCharsets.UTF_8)); + os.write(0xFF); //Placeholder for message length + os.write(bb.array()); + sendUDP(os.toByteArray()); + } + + /** + * Selects what data X-Plane will export over UDP. + * + * @param rows The row numbers to select. + * @throws IOException If the command cannot be sent. + */ + public void selectDATA(int[] rows) throws IOException + { + //Preconditions + if(rows == null || rows.length == 0) + { + throw new IllegalArgumentException("rows must be a non-null, non-empty array."); + } + + //Convert data to bytes + ByteBuffer bb = ByteBuffer.allocate(4 * rows.length); + bb.order(ByteOrder.LITTLE_ENDIAN); + for(int i = 0; i < rows.length; ++i) + { + bb.putInt(i * 4, rows[i]); + } + + //Build and send message + ByteArrayOutputStream os = new ByteArrayOutputStream(); + os.write("DSEL".getBytes(StandardCharsets.UTF_8)); + os.write(0xFF); //Placeholder for message length + os.write(bb.array()); + sendUDP(os.toByteArray()); + } + + /** + * Sets a message to be displayed on the screen in X-Plane at the default screen location. + * + * @param msg The message to display. Should not contain any newline characters. + * @throws IOException If the command cannot be sent. + */ + public void sendTEXT(String msg) throws IOException + { + sendTEXT(msg, -1, -1); + } + + /** + * Sets a message to be displayed on the screen in X-Plane at the specified coordinates. + * + * @param msg The message to display. Should not contain any newline characters. + * @param x The number of pixels from the right edge of the screen to display the text. + * @param y The number of pixels from the bottom edge of the screen to display the text. + * @throws IOException If the command cannot be sent. + */ + public void sendTEXT(String msg, int x, int y) throws IOException + { + //Preconditions + if(msg == null) + { + msg = ""; + } + + //Convert drefs to bytes. + byte[] msgBytes = msg.getBytes(StandardCharsets.UTF_8); + if(msgBytes.length > 255) + { + throw new IllegalArgumentException("msg must be less than 255 bytes in UTF-8."); + } + + ByteBuffer bb = ByteBuffer.allocate(8); + bb.order(ByteOrder.LITTLE_ENDIAN); + bb.putInt(0, x); + bb.putInt(4, y); + + //Build and send message + ByteArrayOutputStream os = new ByteArrayOutputStream(); + os.write("TEXT".getBytes(StandardCharsets.UTF_8)); + os.write(0xFF); //Placeholder for message length + os.write(bb.array()); + os.write(msgBytes.length); + os.write(msgBytes); + sendUDP(os.toByteArray()); + } + + /** + * Sets the camera view in X-Plane. + * + * @param view The view to use. + * @throws IOException If the command cannot be sent. + */ + public void sendVIEW(ViewType view) throws IOException + { + ByteBuffer bb = ByteBuffer.allocate(4); + bb.order(ByteOrder.LITTLE_ENDIAN); + bb.putInt(view.getValue()); + + //Build and send message + ByteArrayOutputStream os = new ByteArrayOutputStream(); + os.write("VIEW".getBytes(StandardCharsets.UTF_8)); + os.write(0xFF); //Placeholder for message length + os.write(bb.array()); + sendUDP(os.toByteArray()); + } + + /** + * Adds, removes, or clears a set of waypoints. If the command is clear, the points are ignored + * and all points are removed. + * + * @param op The operation to perform. + * @param points An array of values representing points. Each triplet in the array will be + * interpreted as a (Lat, Lon, Alt) point. + * @throws IOException If the command cannot be sent. + */ + public void sendWYPT(WaypointOp op, float[] points) throws IOException + { + //Preconditions + if(points.length % 3 != 0) + { + throw new IllegalArgumentException("points.length should be divisible by 3."); + } + if(points.length / 3 > 255) + { + throw new IllegalArgumentException("Too many points. Must be less than 256."); + } + + //Convert points to bytes + ByteBuffer bb = ByteBuffer.allocate(4 * points.length); + bb.order(ByteOrder.LITTLE_ENDIAN); + for(float f : points) + { + bb.putFloat(f); + } + + //Build and send message + ByteArrayOutputStream os = new ByteArrayOutputStream(); + os.write("WYPT".getBytes(StandardCharsets.UTF_8)); + os.write(0xFF); //Placeholder for message length + os.write(op.getValue()); + os.write(points.length / 3); + os.write(bb.array()); + 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. + * + * @param port The new incoming port number. + * @throws IOException If the command cannot be sent. + */ + public void setCONN(int port) throws IOException + { + if(port < 0 || port >= 0xFFFF) + { + throw new IllegalArgumentException("Invalid port (must be non-negative and less than 65536)."); + } + + ByteArrayOutputStream os = new ByteArrayOutputStream(); + os.write("CONN".getBytes(StandardCharsets.UTF_8)); + os.write(0xFF); //Placeholder for message length + os.write((byte) port); + os.write((byte) (port >> 8)); + sendUDP(os.toByteArray()); + + int soTimeout = socket.getSoTimeout(); + socket.close(); + socket = new DatagramSocket(port); + socket.setSoTimeout(soTimeout); + readUDP(); // Try to read response + } +} diff --git a/Python3/src/basicExample copy.py b/Python3/src/basicExample copy.py new file mode 100644 index 0000000..767adb9 --- /dev/null +++ b/Python3/src/basicExample copy.py @@ -0,0 +1,145 @@ +from time import sleep +import xpc +from model import AircraftLandingModel + +def ex(): + print("X-Plane Connect example script") + print("Setting up simulation") + with xpc.XPlaneConnect() as client: + # Verify connection + try: + # If X-Plane does not respond to the request, a timeout error + # will be raised. + client.getDREF("sim/test/test_float") + except: + print("Error establishing connection to X-Plane.") + print("Exiting...") + return + + + test = AircraftLandingModel(client) + + # # Set position of the player aircraft + # print("Setting position") + # # Lat Lon Alt Pitch Roll Yaw Gear + # posi = [37.524, -122.06899, 2500, 0, 0, 0, 1] + # client.sendPOSI(posi) + + # # Set position of a non-player aircraft + # print("Setting NPC position") + # # Lat Lon Alt Pitch Roll Yaw Gear + # posi = [37.52465, -122.06899, 2500, 0, 20, 0, 1] + # client.sendPOSI(posi, 1) + + # # Set angle of attack, velocity, and orientation using the DATA command + # print("Setting orientation") + # data = [\ + # [18, 0, -998, 0, -998, -998, -998, -998, -998],\ + # [ 3, 130, 130, 130, 130, -998, -998, -998, -998],\ + # [16, 0, 0, 0, -998, -998, -998, -998, -998]\ + # ] + # client.sendDATA(data) + + + + + # Set control surfaces and throttle of the player aircraft using sendCTRL + print("Setting controls") + ctrl = [0.0, 0.0, 0.0, 0.0] + client.sendCTRL(ctrl) + # Pitch, Roll, Rudder, Throttle + + # Pause the sim + client.pauseSim(False) + + count = 0 + innercount = 0 + #ONE SECOND INCREMENTS + # while(count < 1000000 ): + # client.pauseSim(False) + # sleep(1.0) + # print("Pausing" + str(count)) + # client.pauseSim(True) + # sleep(1.0) + # count+=1 + + #0.1 SECOND INCREMENTS + # while(count < 1000000 ): + # client.pauseSim(False) + # sleep(0.1) + # print("Pausing" + str(count)) + # client.pauseSim(True) + # sleep(0.1) + # count+=1 + + #0.001 SECOND INCREMENTS + # while(count < 1000000 ): + # client.pauseSim(False) + # sleep(0.001) + # print("Pausing" + str(count)) + # client.pauseSim(True) + # sleep(0.001) + # count+=1 + + #0.00001 SECOND INCREMENTS + # while(count < 1000000 ): + # client.pauseSim(False) + # sleep(0.00001) + # print("Pausing" + str(count)) + # client.pauseSim(True) + # sleep(0.00001) + # count+=1 + + + # sim/operation/override/override_timestep + + #Doing stuff In between Test SECOND INCREMENTS + while(count < 1000000 ): + #50 Millisecond Timesteps + sleep(0.05) + client.pauseSim(False) #Unpause + sleep(0.05) # Run 50 Milliseconds + client.pauseSim(True) # Pause Simulator + #Run Model (Send commands to simulator within this process) + ####Insert Model Here, some assembly required####### + test.update_aircraft_state() + test.update_controls_simultaneously() + #Please work + #Repeat + print("Advanced 50 Milliseconds: Step #" + str(count)) + count+=1 + + + + + + # print("Pausing" + str(count)) + # innercount = 0 + # client.pauseSim(True) + # sleep(0.05) #Simulate 50 milliseconds + + # sleep(0.01) #Simulate 50 milliseconds + # # while(innercount < 100000): + # # # print("Doing Stuff" + str(innercount)) # Simulates the model running and computing for 50 Milliseconds maybe? + + # # innercount+=1 + # # else: + # client.pauseSim(False) + # print("Exit Pause" + str(count)) + # sleep(0.5) + # count+=1 + + + + # Toggle pause state to resume + print("Resuming") + client.pauseSim(False) + # Let the sim run for a bit. + sleep(4) + + + print("End of Python client example") + input("Press any key to exit...") + +if __name__ == "__main__": + ex() \ No newline at end of file diff --git a/Python3/src/model.py b/Python3/src/model.py new file mode 100644 index 0000000..66a220d --- /dev/null +++ b/Python3/src/model.py @@ -0,0 +1,142 @@ +import pyactr +# from XPlaneConnect import * +import xpc + +# Initialize XPlaneConnect client + +class AircraftLandingModel(pyactr.ACTRModel): + def __init__(self,client): + super().__init__() + # Initialize the declarative memory (DM) + # self.decmem.add( + # [ + # ("airspeed", 100), # Current airspeed (e.g., 100 knots) + # ("roll", 0), # Current roll (0 for wings level) + # ("heading", 0), # Current heading + # ("descent_rate", 500), # Current descent rate in fpm + # ("target_airspeed", 80), # Target airspeed during descent + # ("target_roll", 0), # Target roll (wings level) + # ("target_heading", 90), # Target heading (runway heading) + # ("target_descent_rate", 500) # Target descent rate (fpm) + # ] + # ) + self.client = client + self.airspeed = 100 + self.roll = 0 + self.heading = 0 + self.descent_rate = 500 + self.target_airspeed = 80 + self.target_roll = 0 + self.target_heading = 0 + self.target_descent_rate = 500 + + # Declare the state for previous values + self.previous_airspeed = None + self.previous_roll = None + self.previous_heading = None + self.previous_descent_rate = None + + # Initialize the integral errors for each parameter + self.integral_airspeed = 0 + self.integral_roll = 0 + self.integral_heading = 0 + self.integral_descent_rate = 0 + + # Integral gains (tune these values for performance) + self.Kp = 0.1 # Proportional gain + self.Ki = 0.01 # Integral gain + + def proportionalIntegralControl(self, current, target, integral_error): + """ + Proportional-Integral control rule implementation for multiple parameters. + """ + # Calculate the error (current - target) + error = target - current + + # Update the integral of the error + integral_error += error + + # Calculate the control value using the PI formula + control_value = (self.Kp * error) + (self.Ki * integral_error) + + return control_value, integral_error # Return control value and updated integral error + + def update_controls_simultaneously(self): + """ + Update all controls at the same time by calculating control values for each parameter. + """ + # Compute control values for all parameters (yoke pull, yoke steer, rudder, throttle) + yoke_pull, self.integral_airspeed = self.proportionalIntegralControl(self.airspeed, self.target_airspeed, self.integral_airspeed) + yoke_steer, self.integral_roll = self.proportionalIntegralControl(self.roll, self.target_roll, self.integral_roll) + rudder, self.integral_heading = self.proportionalIntegralControl(self.heading, self.target_heading, self.integral_heading) + throttle, self.integral_descent_rate = self.proportionalIntegralControl(self.descent_rate, self.target_descent_rate, self.integral_descent_rate) + + # Send all controls simultaneously to X-Plane + self.send_controls_to_xplane(yoke_pull, yoke_steer, rudder, throttle) + + def send_controls_to_xplane(self, yoke_pull, yoke_steer, rudder, throttle): + """ + Sends all control inputs to X-Plane using XPlaneConnect + """ + # Send yoke pull, yoke steer, rudder, and throttle simultaneously + self.client.sendControls([yoke_pull, yoke_steer, 0, rudder, throttle]) # Control inputs: [yoke_pull, yoke_steer, roll/pitch, rudder, throttle] + + + + # Update the model's DM based on X-Plane data + def update_aircraft_state(self): + # Retrieve current data from X-Plane + airspeed = self.client.getDREF("sim/cockpit2/gauges/indicators/airspeed_kts_pilot") + roll = self.client.getDREF("sim/cockpit2/gauges/indicators/roll_AHARS_deg_pilot") + heading = self.client.getDREF("sim/cockpit2/gauges/indicators/heading_AHARS_deg_mag_pilot") + descent_rate = self.client.getDREF("sim/flightmodel/position/vh_ind_fpm") + + # Update the model's declarative memory + # model.declarative_memory["airspeed"] = airspeed + # model.declarative_memory["roll"] = roll + # model.declarative_memory["heading"] = heading + # model.declarative_memory["descent_rate"] = descent_rate + + self.airspeed = airspeed + self.roll = roll + self.heading = heading + self.descent_rate = descent_rate + + # def rules(self): + # """ + # Define the rules for descent control using proportional-integral control for all controls at once. + # """ + # return [ + # # Rule to adjust all controls simultaneously based on PI control for each parameter + # pyactr.Production( + # condition=pyactr.Condition("airspeed", "airspeed") & + # pyactr.Condition("roll", "roll") & + # pyactr.Condition("heading", "heading") & + # pyactr.Condition("descent_rate", "descent_rate") & + # pyactr.Condition("target_airspeed", "target_airspeed") & + # pyactr.Condition("target_roll", "target_roll") & + # pyactr.Condition("target_heading", "target_heading") & + # pyactr.Condition("target_descent_rate", "target_descent_rate"), + # action=self.update_controls_simultaneously(), + # ), + # ] + + +# # Function to get the current dataref value for a given parameter +# def getDref(parameter_name): +# # Depending on the parameter name, you would query X-Plane datarefs +# if parameter_name == "Airspeed": +# # Get airspeed dataref +# return client.getData([DATAREF_AIRSPEED]) +# elif parameter_name == "Roll": +# # Get roll angle dataref +# return client.getData([DATAREF_ROLL]) +# elif parameter_name == "Hdg": +# # Get heading dataref +# return client.getData([DATAREF_HEADING]) +# elif parameter_name == "DescentRate": +# # Get descent rate dataref +# return client.getData([DATAREF_DESCENT_RATE]) + + + diff --git a/Python3/src/pyactrDemo.py b/Python3/src/pyactrDemo.py new file mode 100644 index 0000000..1dbb5fd --- /dev/null +++ b/Python3/src/pyactrDemo.py @@ -0,0 +1,174 @@ +from time import sleep +import xpc +import pyactr as actr #Importing ACT-R python edition + +def ex(): + ## ACT-R Setup + playing_memory = actr.ACTRModel() + + actr.chunktype("pitch", "up, throttle") + initial_chunk = actr.makechunk(typename="pitch", up="20") + ## Define new chunk type(s) + # + # Control Updates + # Rudder = #### (0.5) + # Elevator = #### (0) + # Aileron = #### + # Throttle = ##### + # Rules to define How much to change based on current parameters + # Within a given rule, multiple values can be updated (which values depend on + # acceptable ranges/current envrionment state/current goal state(pre-touchdown (cares about altitude) vs. + # after touchdown braking (doesn't care about altitude))) + + actr.chunktype("Control Update", "rudder, elevator, aileron, throttle") + ##Use goal states to frame acceptable ranges for parameters (descent vs touchdown vs level flight etc etc.) + ## Divide landing task into subproblems + ## Level Flight + # Initial Descent + # ....... + # and/or tracking landing signal (ILS, RNAV, etc.) [Quantitative measure] + + + + ## Environment Conditions: Calm...very calm + + ##First Focus: Begin Simulation with the tedious button pressing all complete -- [go the route of Dead Reckoning] + # (i.e. focus on command and control not beuracracy) + # Define acceptable range of parameters for each stage + # Stabilized descent (Maintaining a given descent rate in FPM -- Maintaining Speed, loosing altitude) + # --> Rudder + # --> Aileron + # --> Elevator + # --> Throttle + # -->> Altitude (Throtte) + # -->> Airspeed (Pitch = Elevator) + # -->> Pitch (Elevator) + # -->>>>>>>>>> Transition Point + # Initial Parameter Above a certain altitude (50ish feet) + + # Search for established equations & control schema/relationships for the controls and/or environmental stimuli + + + # Round out/ Flare & Crosswind Corections(i.e. don't land sideways) [Arresting the descent, maintaing wings level, + # Letting the speed bleed off while maintaing altitude] + # --> + # Touchdown + # --> + # Rollout & Braking & Centerline tracking + # --> + + goal = playing_memory.set_goal("goal") + goal.add(initial_chunk) + print(goal) + + playing_memory.productionstring(name="startpitch", string=""" + =goal> + isa pitch + up 20 + throttle None + ?manual> + state free + ==> + =goal> + isa pitch + throttle 100""") #this rule will be modified later + + + playing_memory.productionstring(name="modifyPitch", string=""" + =goal> + + isa pitch + up 20 + throttle 100 + ==> + + +manual> + isa _manual + # + + cmd press_key + key 1 + + + # + =goal> + + isa pitch + throttle None""") #this rule works correctly + + simulation_game = playing_memory.simulation() + simulation_game.run() + + + # print(goal) + # final_chunk = goal.pop() + # print(final_chunk) + + # print("X-Plane Connect example script") + # print("Setting up simulation") + # with xpc.XPlaneConnect() as client: + # # Verify connection + # try: + # # If X-Plane does not respond to the request, a timeout error + # # will be raised. + # client.getDREF("sim/test/test_float") + # except: + # print("Error establishing connection to X-Plane.") + # print("Exiting...") + # return + + # # Set position of the player aircraft + # print("Setting position") + # # Lat Lon Alt Pitch Roll Yaw Gear + # posi = [37.524, -122.06899, 2500, 0, 0, 0, 1] + # client.sendPOSI(posi) + + # # Set position of a non-player aircraft + # print("Setting NPC position") + # # Lat Lon Alt Pitch Roll Yaw Gear + # posi = [37.52465, -122.06899, 2500, 0, 20, 0, 1] + # client.sendPOSI(posi, 1) + + # # Set angle of attack, velocity, and orientation using the DATA command + # print("Setting orientation") + # data = [\ + # [18, 0, -998, 0, -998, -998, -998, -998, -998],\ + # [ 3, 130, 130, 130, 130, -998, -998, -998, -998],\ + # [16, 0, 0, 0, -998, -998, -998, -998, -998]\ + # ] + # client.sendDATA(data) + + # # Set control surfaces and throttle of the player aircraft using sendCTRL + # print("Setting controls") + # ctrl = [0.0, 0.0, 0.0, 0.8] + # client.sendCTRL(ctrl) + + # # Pause the sim + # print("Pausing") + # client.pauseSim(True) + # sleep(2) + + # # Toggle pause state to resume + # print("Resuming") + # client.pauseSim(False) + + # # Stow landing gear using a dataref + # print("Stowing gear") + # gear_dref = "sim/cockpit/switches/gear_handle_status" + # client.sendDREF(gear_dref, 0) + + # # Let the sim run for a bit. + # sleep(4) + + # # Make sure gear was stowed successfully + # gear_status = client.getDREF(gear_dref) + # if gear_status[0] == 0: + # print("Gear stowed") + # else: + # print("Error stowing gear") + + print("End of Python client example") + input("Press any key to exit...") + +if __name__ == "__main__": + ex() \ No newline at end of file