From baedfb0ff1cba9bd9c48c044ee1d10f6238d413f Mon Sep 17 00:00:00 2001
From: cs-powell <142438185+cs-powell@users.noreply.github.com>
Date: Mon, 30 Sep 2024 21:10:46 -0400
Subject: [PATCH] switch between takeoff and cruise control modes
---
Java/Examples/Model-1/.idea/compiler.xml | 22 +
.../.idea/copyright/profiles_settings.xml | 3 +
.../Examples/Model-1/.idea/libraries/Java.xml | 9 +
Java/Examples/Model-1/.idea/misc.xml | 12 +
Java/Examples/Model-1/.idea/modules.xml | 8 +
Java/Examples/Model-1/.idea/vcs.xml | 6 +
Java/Examples/Model-1/BasicOperation.iml | 12 +
Java/Examples/Model-1/src/Main.java | 302 ++++++
Java/Examples/Model-1/src/XPlaneConnect.java | 954 ++++++++++++++++++
9 files changed, 1328 insertions(+)
create mode 100644 Java/Examples/Model-1/.idea/compiler.xml
create mode 100644 Java/Examples/Model-1/.idea/copyright/profiles_settings.xml
create mode 100644 Java/Examples/Model-1/.idea/libraries/Java.xml
create mode 100644 Java/Examples/Model-1/.idea/misc.xml
create mode 100644 Java/Examples/Model-1/.idea/modules.xml
create mode 100644 Java/Examples/Model-1/.idea/vcs.xml
create mode 100644 Java/Examples/Model-1/BasicOperation.iml
create mode 100644 Java/Examples/Model-1/src/Main.java
create mode 100644 Java/Examples/Model-1/src/XPlaneConnect.java
diff --git a/Java/Examples/Model-1/.idea/compiler.xml b/Java/Examples/Model-1/.idea/compiler.xml
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diff --git a/Java/Examples/Model-1/.idea/copyright/profiles_settings.xml b/Java/Examples/Model-1/.idea/copyright/profiles_settings.xml
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diff --git a/Java/Examples/Model-1/.idea/misc.xml b/Java/Examples/Model-1/.idea/misc.xml
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diff --git a/Java/Examples/Model-1/.idea/vcs.xml b/Java/Examples/Model-1/.idea/vcs.xml
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diff --git a/Java/Examples/Model-1/BasicOperation.iml b/Java/Examples/Model-1/BasicOperation.iml
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diff --git a/Java/Examples/Model-1/src/Main.java b/Java/Examples/Model-1/src/Main.java
new file mode 100644
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+++ b/Java/Examples/Model-1/src/Main.java
@@ -0,0 +1,302 @@
+package gov.nasa.xpc.ex;
+
+import gov.nasa.xpc.XPlaneConnect;
+import java.io.IOException;
+import java.net.SocketException;
+import java.util.Arrays;
+
+/**
+ * An example program demonstrating the basic features of the X-Plane Connect toolbox.
+ *
+ * @author Jason Watkins
+ * @version 1.0
+ * @since 2015-04-06
+ */
+public class Main
+{
+ public static void main(String[] args)
+ {
+ System.out.println("X-Plane Connect example program");
+ System.out.println("Setting up simulation...");
+ try(XPlaneConnect xpc = new XPlaneConnect())
+ {
+ // Ensure connection established.
+ xpc.getDREF("sim/test/test_float");
+
+ // System.out.println("Setting player aircraft position");
+ // double[] posi = new double[] {37.524, -122.06899, 2500, 0, 0, 0, 1};
+ // xpc.sendPOSI(posi);
+
+ // System.out.println("Setting another aircraft position");
+ // posi[0] = 37.52465;
+ // posi[4] = 20;
+ // xpc.sendPOSI(posi, 1);
+
+ System.out.println("Setting rates");
+ float[][] data = new float[3][9];
+ for(float[] row : data)
+ {
+ Arrays.fill(row, -998);
+ }
+ data[0][0] = 0; //Alpha
+ data[0][1] = 0;
+ data[0][3] = 0;
+
+ data[1][0] = 0; //Velocity
+ data[1][1] = 0;
+ data[1][2] = 0;
+ data[1][3] = 0;
+ data[1][4] = 0;
+
+ data[2][0] = 0; //PQR
+ data[2][1] = 0;
+ data[2][2] = 0;
+ data[2][3] = 0;
+
+ xpc.sendDATA(data);
+
+
+
+ System.out.println("Trying something new!!");
+ int aircraft = 0;
+
+
+
+ // JFrame container = new JFrame();
+ // Dimension size = new Dimension(500, 500);
+ // container.setPreferredSize(size);
+ // container.setVisible(true);
+
+
+ // JLabel text = new JLabel("Hello");
+ // JLabel text2 = new JLabel("Hello");
+ // JPanel display = new JPanel();
+ // display.setLayout(new GridLayout());
+ // display.setPreferredSize(size);
+ // display.add(text);
+ // display.add(text2);
+
+ // container.add(display);
+ // container.pack();
+
+ boolean takeoff = true;
+ boolean climb = false;
+ boolean cruise = false;
+ boolean throttleFull = false;
+ boolean brakeOff = false;
+ boolean switchTrack = false;
+
+ while(true) {
+
+ //THE GETTERS
+ double[] posi1 = xpc.getPOSI(aircraft); // FIXME: change this to 64-bit double
+ float[] ctrl1 = xpc.getCTRL(aircraft);
+
+ // String dref = "sim/cockpit2/gauges/indicators/airspeed_kts_copilot";
+ String dref = "sim/cockpit2/gauges/indicators/airspeed_kts_pilot";
+ String dref2 = "sim/flightmodel/position/true_phi";
+ String drefHDG = "sim/cockpit2/gauges/indicators/heading_AHARS_deg_mag_pilot";
+ String drefHDGBug = "sim/cockpit/autopilot/heading_mag";
+ String drefAltitude = "sim/cockpit2/gauges/indicators/altitude_ft_pilot";
+
+
+
+
+
+ float[] value = xpc.getDREF(dref);
+ float[] value2 = xpc.getDREF(dref2);
+ float[] valueHDG = xpc.getDREF(drefHDG);
+ float[] valueHDGBug = xpc.getDREF(drefHDGBug);
+ float[] valueAltitude = xpc.getDREF(drefAltitude);
+ float bugged = 170;
+ float rwyHDG = valueHDGBug[0];
+ // float[] value2 = xpc.getDREF(dref2);
+ // System.out.println(String.valueOf(value[0]));
+
+ // System.out.format("Loc: (%4f, %4f, %4f) Aileron:%2f Elevator:%2f Rudder:%2f\n",
+ // posi1[0], posi1[1], posi1[2], ctrl1[1], ctrl1[0], ctrl1[2]);
+
+
+ // System.out.f ormat("\rControl Surfaces: [Elevator: %2f] [Roll: %2f] [Yaw: %2f] ||| Power: [Throttle:%2f] ||| Secondary Control Surfaces: [Flaps: %2f]",
+ // ctrl1[0], ctrl1[1], ctrl1[2], ctrl1[3], ctrl1[5]);
+
+ System.out.format("\r[Elevator: %2f] [Roll: %2f] [Yaw: %2f] ---- [Throttle:%2f] ---- [Flaps: %2f] -- [Data Ref: %2f] -- [T/O: %b ][Cruise: %b ]",
+ ctrl1[0], ctrl1[1], ctrl1[2], ctrl1[3], ctrl1[5], valueAltitude[0], takeoff, cruise);
+
+ // //Basic Autopilot For Roll (based on yoke position)
+ // float[] rollRight = {-998.0f, ctrl1[1]-(ctrl1[1]/2)};
+ // float[] rollLeft = {-998.0f, ctrl1[1]-(ctrl1[1]/2)};
+ // if(ctrl1[1] < 0) {
+ // xpc.sendCTRL(rollRight);
+ // } else if(ctrl1[1] > 0) {
+ // xpc.sendCTRL(rollLeft);
+ // }
+
+ //Basic Autopilot For Pitch (based on VSI)
+ // float[] pitchUp = {ctrl1[0] + 0.01f};
+ // float[] pitchDown = {ctrl1[0]- 0.01f};
+ // if(value[0] < 0) {
+ // xpc.sendCTRL(pitchUp);
+ // } else if(value[0] > 0) {
+ // xpc.sendCTRL(pitchDown);
+ // }
+ if(valueAltitude[0] > 1000f && !switchTrack){
+ System.out.println("In switch");
+ takeoff = false;
+ cruise = true;
+ switchTrack = true;
+ }
+
+ if(takeoff) {
+ float[] fullThrottle = {-998.0f, -998.0f, -998.0f, 1f};
+ if(!throttleFull) {
+ xpc.sendCTRL(fullThrottle);
+ throttleFull = true;
+ }
+
+ if(throttleFull && !brakeOff) {
+ String parkingBrake = "sim/cockpit2/controls/parking_brake_ratio";
+ xpc.sendDREF(parkingBrake, 0f);
+ brakeOff = true;
+ }
+
+ //Takeoff Pitch Control
+ float[] pitchUp = {ctrl1[0] + 0.01f};
+ if(value[0] > bugged) {
+ if(ctrl1[0] < 0.1f){
+ xpc.sendCTRL(pitchUp);
+ }
+ }
+
+ //Takeoff Roll Control
+ float[] rollRight = {-998.0f, ctrl1[1] + 0.01f};
+ float[] rollLeft = {-998.0f, ctrl1[1] - 0.01f};
+ if(value2[0] < 0 && value[0] > bugged) {
+ if(ctrl1[1] < 0.15f) {
+ xpc.sendCTRL(rollRight);
+ }
+
+ } else if(value2[0] > 0 && value[0] > bugged) {
+ if(ctrl1[1] > -0.15f){
+ xpc.sendCTRL(rollLeft);
+ }
+ }
+
+ //Takeoff Rudder Control
+ float[] yawRight = {-998.0f, -998.0f, ctrl1[2] + 0.03f};
+ float[] yawLeft = {-998.0f, -998.0f, ctrl1[2] - 0.03f};
+ if(valueHDG[0] < rwyHDG && value[0] > 0) {
+
+ if(ctrl1[2] < 0.5f) {
+ xpc.sendCTRL(yawRight); // YAW RIGHT
+ }
+
+ } else if(valueHDG[0] > rwyHDG && value[0] > 0) {
+ if(ctrl1[2] > -0.5f){
+ xpc.sendCTRL(yawLeft); // YAW LEFT
+ }
+
+ }
+ }
+
+
+ if(cruise) {
+ //Basic Autopilot For Roll (based on bank angle)
+ float[] rollRight = {-998.0f, ctrl1[1] + 0.01f};
+ float[] rollLeft = {-998.0f, ctrl1[1] - 0.01f};
+ if(value2[0] < 0) {
+
+ if(ctrl1[1] < 0.15f) {
+ xpc.sendCTRL(rollRight);
+ }
+
+ } else if(value2[0] > 0) {
+ if(ctrl1[1] > -0.15f){
+ xpc.sendCTRL(rollLeft);
+ }
+ }
+
+ //Basic Autopilot For Pitch (based on speed)
+ float[] pitchUp = {ctrl1[0] + 0.01f};
+ float[] pitchDown = {ctrl1[0]- 0.01f};
+
+ if(value[0] > bugged+25) {
+ if(ctrl1[0] < 0.2f) {
+ xpc.sendCTRL(pitchUp);
+ }
+ } else if(value[0] < bugged+25) {
+ if(ctrl1[0] > -0.2f) {
+ xpc.sendCTRL(pitchDown);
+ }
+ }
+
+ }
+
+
+
+ // text.setText(String.valueOf(value[0]));
+ // display.add(elevator);
+ // System.out.println("");
+ try {
+ Thread.sleep(0);
+ }
+ catch (InterruptedException ex) {}
+
+ if (System.in.available() > 0) {
+ break;
+ }
+ }
+
+
+
+
+ // System.out.println("Setting controls");
+ // float[] ctrl = new float[4];
+ // ctrl[3] = 0.8F;
+ // xpc.sendCTRL(ctrl);
+
+ // System.out.println("Pausing sim");
+ // xpc.pauseSim(true);
+ // try { Thread.sleep(5000); } catch (InterruptedException ex) {}
+ // System.out.println("Un-pausing");
+ // xpc.pauseSim(false);
+
+
+ //Let sim run for 10 seconds
+ try { Thread.sleep(10000); } catch (InterruptedException ex) {}
+
+ System.out.println("Stowing landing gear");
+ xpc.sendDREF("sim/cockpit/switches/gear_handle_status", 1);
+
+ //Let sim run for 10 seconds
+ try { Thread.sleep(10000); } catch (InterruptedException ex) {}
+
+ System.out.println("Checking gear and sim status");
+ String[] drefs = new String[]
+ {
+ "sim/cockpit/switches/gear_handle_status",
+ "sim/operation/override/override_planepath"
+ };
+ float[][] results = xpc.getDREFs(drefs);
+
+ if(results[0][0] == 1)
+ {
+ System.out.println("Gear stowed.");
+ }
+ else
+ {
+ System.out.println("Error stowing gear");
+ }
+ System.out.println("Example complete");
+ }
+ catch (SocketException ex)
+ {
+ System.out.println("Unable to set up the connection. (Error message was '" + ex.getMessage() + "'.)");
+ }
+ catch (IOException ex)
+ {
+ System.out.println("Something went wrong with one of the commands. (Error message was '" + ex.getMessage() + "'.)");
+ }
+ System.out.println("Exiting");
+ }
+}
diff --git a/Java/Examples/Model-1/src/XPlaneConnect.java b/Java/Examples/Model-1/src/XPlaneConnect.java
new file mode 100644
index 0000000..df32cff
--- /dev/null
+++ b/Java/Examples/Model-1/src/XPlaneConnect.java
@@ -0,0 +1,954 @@
+//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 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:
+ *
+ *
Latitudinal Stick [-1,1]
+ *
Longitudinal Stick [-1,1]
+ *
Rudder Pedals [-1, 1]
+ *
Throttle [-1, 1]
+ *
Gear (0=up, 1=down)
+ *
Flaps [0, 1]
+ *
Speedbrakes [-0.5, 1.5]
+ *
+ *
+ * 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:
+ *
+ *
Latitudinal Stick [-1,1]
+ *
Longitudinal Stick [-1,1]
+ *
Rudder Pedals [-1, 1]
+ *
Throttle [-1, 1]
+ *
Gear (0=up, 1=down)
+ *
Flaps [0, 1]
+ *
Speedbrakes [-0.5, 1.5]
+ *
+ *
+ * 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:
+ *
+ *
Latitude (deg)
+ *
Longitude (deg)
+ *
Altitude (m above MSL)
+ *
Roll (deg)
+ *
Pitch (deg)
+ *
True Heading (deg)
+ *
Gear (0=up, 1=down)
+ *
+ *
+ * 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:
+ *
+ *
Latitude (deg)
+ *
Longitude (deg)
+ *
Altitude (m above MSL)
+ *
Roll (deg)
+ *
Pitch (deg)
+ *
True Heading (deg)
+ *
Gear (0=up, 1=down)
+ *
+ *
+ * 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
+ }
+}