634 lines
16 KiB
C++
634 lines
16 KiB
C++
//Copyright (c) 2013-2015 United States Government as represented by the Administrator of the
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//National Aeronautics and Space Administration. All Rights Reserved.
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#include "MessageHandlers.h"
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#include "DataManager.h"
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#include "DataMaps.h"
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#include "Drawing.h"
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#include "Log.h"
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namespace XPC
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{
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std::unordered_map<std::string, MessageHandlers::ConnectionInfo> MessageHandlers::connections;
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std::unordered_map<std::string, MessageHandler> MessageHandlers::handlers(
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{
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// Common messages
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{ "CONN", MessageHandlers::HandleConn },
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{ "CTRL", MessageHandlers::HandleCtrl },
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{ "DATA", MessageHandlers::HandleData },
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{ "DREF", MessageHandlers::HandleDref },
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{ "GETD", MessageHandlers::HandleGetD },
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{ "POSI", MessageHandlers::HandlePosi },
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{ "SIMU", MessageHandlers::HandleSimu },
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{ "TEXT", MessageHandlers::HandleText },
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{ "WYPT", MessageHandlers::HandleWypt },
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// Not implemented messages
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{ "VIEW", MessageHandlers::HandleUnknown },
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// X-Plane data messages
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{ "DSEL", MessageHandlers::HandleXPlaneData },
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{ "USEL", MessageHandlers::HandleXPlaneData },
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{ "DCOC", MessageHandlers::HandleXPlaneData },
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{ "UCOC", MessageHandlers::HandleXPlaneData },
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{ "MOUS", MessageHandlers::HandleXPlaneData },
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{ "CHAR", MessageHandlers::HandleXPlaneData },
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{ "MENU", MessageHandlers::HandleXPlaneData },
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{ "SOUN", MessageHandlers::HandleXPlaneData },
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{ "FAIL", MessageHandlers::HandleXPlaneData },
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{ "RECO", MessageHandlers::HandleXPlaneData },
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{ "PAPT", MessageHandlers::HandleXPlaneData },
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{ "VEHN", MessageHandlers::HandleXPlaneData },
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{ "VEH1", MessageHandlers::HandleXPlaneData },
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{ "VEHA", MessageHandlers::HandleXPlaneData },
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{ "GSET", MessageHandlers::HandleXPlaneData },
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{ "OBJN", MessageHandlers::HandleXPlaneData },
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{ "OBJL", MessageHandlers::HandleXPlaneData },
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{ "GSET", MessageHandlers::HandleXPlaneData },
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{ "ISET", MessageHandlers::HandleXPlaneData },
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{ "BOAT", MessageHandlers::HandleXPlaneData },
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});
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std::string MessageHandlers::connectionKey;
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MessageHandlers::ConnectionInfo MessageHandlers::connection;
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UDPSocket* MessageHandlers::sock;
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void MessageHandlers::SetSocket(UDPSocket* socket)
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{
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MessageHandlers::sock = socket;
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}
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static std::string getIP(sockaddr* sa)
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{
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char ip[INET6_ADDRSTRLEN + 6] = { 0 };
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switch (sa->sa_family)
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{
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case AF_INET:
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{
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sockaddr_in* sin = reinterpret_cast<sockaddr_in*>(sa);
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inet_ntop(AF_INET, &sin->sin_addr, ip, INET6_ADDRSTRLEN);
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break;
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}
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case AF_INET6:
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{
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sockaddr_in6* sin = reinterpret_cast<sockaddr_in6*>(sa);
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inet_ntop(AF_INET6, &sin->sin6_addr, ip, INET6_ADDRSTRLEN);
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break;
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}
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default:
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return "UNKNOWN";
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}
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return std::string(ip);
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}
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static std::uint16_t getPort(sockaddr* sa)
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{
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switch (sa->sa_family)
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{
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case AF_INET:
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{
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sockaddr_in *sin = reinterpret_cast<sockaddr_in*>(sa);
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return ntohs((*sin).sin_port);
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}
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case AF_INET6:
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{
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sockaddr_in6 *sin = reinterpret_cast<sockaddr_in6*>(sa);
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return ntohs((*sin).sin6_port);
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}
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default:
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return ~0;
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}
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}
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void MessageHandlers::HandleMessage(Message& msg)
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{
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// Make sure we really have a message to handle.
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std::string head = msg.GetHead();
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if (head == "")
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{
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return;
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}
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msg.PrintToLog();
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// Set current connection
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sockaddr sourceaddr = msg.GetSource();
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std::string ip = getIP(&sourceaddr);
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std::uint16_t port = getPort(&sourceaddr);
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connectionKey = ip + ":" + std::to_string(port);
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#if LOG_VERBOSITY > 4
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Log::FormatLine("[MSGH] Handling message from %s", connectionKey.c_str());
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#endif
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auto conn = connections.find(connectionKey);
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if (conn == connections.end()) // New connection
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{
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connection = MessageHandlers::ConnectionInfo
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{
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// If this is a new connection, that means we just added an elment
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// to connections. As long as we never remove elements, the size of
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// connections will serve as a unique id.
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connections.size(),
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ip,
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49008, // By default, send information to the client on this port.
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port,
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0
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};
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connections[connectionKey] = connection;
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#if LOG_VERBOSITY > 4
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Log::FormatLine("[MSGH] New connection. ID=%u, Remote=%s:%u", connection.id, ip.c_str(), port);
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#endif
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}
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else
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{
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connection = (*conn).second;
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#if LOG_VERBOSITY > 4
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Log::FormatLine("[MSGH] Existing connection. ID=%u, Remote=%s:%u",
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connection.id, connection.ip.c_str(), connection.srcPort);
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#endif
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}
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// Check if there is a handler for this message type. If so, execute
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// that handler. Othewwise, execute the unknown message handler.
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auto iter = handlers.find(head);
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if (iter != handlers.end())
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{
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MessageHandler handler = (*iter).second;
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handler(msg);
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}
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else
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{
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MessageHandlers::HandleUnknown(msg);
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}
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}
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void MessageHandlers::HandleConn(Message& msg)
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{
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const std::uint8_t* buffer = msg.GetBuffer();
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// Store new port
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connection.dstPort = *((std::uint16_t*)(buffer + 5));
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connections[connectionKey] = connection;
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// Create response
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std::uint8_t response[6] = "CONF";
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response[5] = connection.id;
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// Update log
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#if LOG_VERBOSITY > 0
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Log::FormatLine("[CONN] ID: %u New destination port: %u",
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connection.id, connection.dstPort);
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#endif
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// Send response
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sock->SendTo(response, 6, connection.ip, connection.dstPort);
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}
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void MessageHandlers::HandleCtrl(Message& msg)
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{
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// Update Log
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#if LOG_VERBOSITY > 0
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Log::FormatLine("[CTRL] Message Received (Conn %i)", connection.id);
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#endif
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const std::uint8_t* buffer = msg.GetBuffer();
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std::size_t size = msg.GetSize();
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//Legacy packets that don't specify an aircraft number should be 26 bytes long.
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//Packets specifying an A/C num should be 27 bytes.
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if (size != 26 && size != 27)
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{
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#if LOG_VERBOSITY > 1
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Log::FormatLine("[CTRL] ERROR: Unexpected message length (%i)", size);
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#endif
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return;
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}
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// Parse message data
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float pitch = *((float*)(buffer + 5));
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float roll = *((float*)(buffer + 9));
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float yaw = *((float*)(buffer + 13));
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float thr = *((float*)(buffer + 17));
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std::int8_t gear = buffer[21];
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float flaps = *((float*)(buffer + 22));
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std::uint8_t aircraft = 0;
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if (size == 27)
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{
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aircraft = buffer[26];
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}
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float thrArray[8];
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for (int i = 0; i < 8; ++i)
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{
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thrArray[i] = thr;
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}
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DataManager::Set(DREF::YokePitch, pitch, aircraft);
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DataManager::Set(DREF::YokeRoll, roll, aircraft);
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DataManager::Set(DREF::YokeHeading, yaw, aircraft);
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DataManager::Set(XPC::DREF::ThrottleSet, thrArray, 8, aircraft);
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DataManager::Set(XPC::DREF::ThrottleActual, thrArray, 8, aircraft);
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if (aircraft == 0)
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{
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DataManager::Set("sim/flightmodel/engine/ENGN_thro_override", thrArray, 1);
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}
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if (gear != -1)
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{
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DataManager::SetGear(gear, false, aircraft);
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}
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if (flaps < -999.5 || flaps > -997.5)
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{
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DataManager::Set(DREF::FlapSetting, flaps, aircraft);
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}
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}
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void MessageHandlers::HandleData(Message& msg)
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{
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// Parse data
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const std::uint8_t* buffer = msg.GetBuffer();
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std::size_t size = msg.GetSize();
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std::size_t numCols = (size - 5) / 36;
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if (numCols > 0)
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{
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#if LOG_VERBOSITY > 3
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Log::FormatLine("[DATA] Message Received (Conn %i)", connection.id);
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#endif
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}
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if (numCols > 32) // Error. Will overflow values
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{
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#if LOG_VERBOSITY > 2
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Log::FormatLine("[DATA] ERROR numCols to large.");
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#endif
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return;
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}
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else
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{
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#if LOG_VERBOSITY > 2
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Log::FormatLine("[DATA] WARNING: Empty data packet received (Conn %i)", connection.id);
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#endif
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return;
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}
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float values[32][9];
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for (int i = 0; i < numCols; ++i)
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{
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values[i][0] = buffer[5 + 36 * i];
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memcpy(values[i] + 1, buffer + 9 + 36 * i, 9 * sizeof(float));
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}
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// Update log
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float savedAlpha = -998;
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float savedHPath = -998;
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for (int i = 0; i < numCols; ++i)
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{
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std::uint8_t dataRef = (std::uint8_t)values[i][0];
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if (dataRef > 134)
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{
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Log::FormatLine("[DATA] ERROR: DataRef # must be between 0 - 134 (Received: %hi)", (int)dataRef);
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}
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switch (dataRef)
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{
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case 3: // Velocity
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{
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float theta = DataManager::GetFloat(DREF::Pitch);
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float alpha = savedAlpha != -998 ? savedAlpha : DataManager::GetFloat(DREF::AngleOfAttack);
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float hpath = savedHPath != -998 ? savedHPath : DataManager::GetFloat(DREF::HPath);
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if (alpha != alpha || hpath != hpath)
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{
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#if LOG_VERBOSITY > 0
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Log::WriteLine("[DATA] ERROR: Value must be a number (NaN received)");
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#endif
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break;
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}
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const float deg2rad = (float) 0.0174532925;
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int ind[3] = { 1, 3, 4 };
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for (int j = 0; j < 3; ++j)
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{
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float v = values[i][ind[j]];
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if (v != -998)
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{
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DataManager::Set(DREF::LocalVX, v*cos((theta - alpha)*deg2rad)*sin(hpath*deg2rad));
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DataManager::Set(DREF::LocalVY, v*sin((theta - alpha)*deg2rad));
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DataManager::Set(DREF::LocalVZ, -v*cos((theta - alpha)*deg2rad)*cos(hpath*deg2rad));
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}
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}
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break;
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}
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case 17: // Orientation
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{
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float orient[3]
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{
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values[i][1] == -998 ? DataManager::GetFloat(DREF::Pitch) : values[i][1],
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values[i][2] == -998 ? DataManager::GetFloat(DREF::Roll) : values[i][2],
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values[i][3] == -998 ? DataManager::GetFloat(DREF::HeadingTrue) : values[i][3]
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};
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DataManager::SetOrientation(orient);
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break;
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}
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case 18: // Alpha, hpath etc.
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{
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if (values[i][1] != values[i][1] || values[i][3] != values[i][3])
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{
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#if LOG_VERBOSITY > 0
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Log::WriteLine("[DATA] ERROR: Value must be a number (NaN received)");
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#endif
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break;
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}
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if (values[i][1] != -998)
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{
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savedAlpha = values[i][1];
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}
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if (values[i][3] != -998)
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{
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savedHPath = values[i][3];
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}
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break;
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}
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case 20: // Position
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{
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float pos[3]
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{
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values[i][2] == -998 ? DataManager::GetFloat(DREF::Latitude) : values[i][2],
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values[i][3] == -998 ? DataManager::GetFloat(DREF::Longitude) : values[i][3],
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values[i][4] == -998 ? DataManager::GetFloat(DREF::AGL) : values[i][4]
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};
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DataManager::SetPosition(pos);
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break;
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}
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case 25: // Throttle
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{
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if (values[i][1] != values[i][1])
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{
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#if LOG_VERBOSITY > 0
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Log::WriteLine("[DATA] ERROR: Value must be a number (NaN received)");
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#endif
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break;
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}
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float thr[8];
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for (int j = 0; j < 8; ++j)
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{
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thr[j] = values[i][1];
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}
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DataManager::Set(DREF::ThrottleSet, thr, 8);
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break;
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}
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default: // Non-Special dataRefs
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{
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float line[8];
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memcpy(line, values[i] + 1, 8 * sizeof(float));
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for (int j = 0; j < 8; ++j)
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{
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#if LOG_VERBOSITY > 1
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Log::FormatLine("Setting Dataref %i.%i to %f", dataRef, j, line[j]);
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#endif
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if (dataRef == 14 && j == 0)
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{
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DataManager::SetGear(line[0], true);
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continue;
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}
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XPC::DREF dref = XPC::XPData[dataRef][j];
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if (dref == XPC::DREF::None)
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{
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HandleXPlaneData(msg);
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}
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else
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{
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XPC::DataManager::Set(dref, line, 8);
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}
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}
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}
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}
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}
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}
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void MessageHandlers::HandleDref(Message& msg)
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{
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const std::uint8_t* buffer = msg.GetBuffer();
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std::uint8_t len = buffer[5];
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std::string dref = std::string((char*)buffer + 6, len);
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std::uint8_t valueCount = buffer[6 + len];
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float values[40];
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memcpy(values, buffer + len + 7, valueCount * sizeof(float));
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#if LOG_VERBOSITY > 1
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Log::FormatLine("[DREF] Request to set DREF value received (Conn %i): %s", connection.id, dref.c_str());
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#endif
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DataManager::Set(dref, values, valueCount);
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}
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void MessageHandlers::HandleGetD(Message& msg)
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{
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const std::uint8_t* buffer = msg.GetBuffer();
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std::uint8_t drefCount = buffer[5];
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if (drefCount == 0) // Use last request
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{
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#if LOG_VERBOSITY > 0
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Log::FormatLine("[GETD] DATA Requested: Repeat last request from connection %i (%i data refs)",
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connection.id, connection.getdCount);
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#endif
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if (connection.getdCount == 0) // No previous request to use
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{
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#if LOG_VERBOSITY > 1
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Log::FormatLine("[GETD] ERROR: No previous requests from connection %i.", connection.id);
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#endif
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return;
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}
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}
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else // New request
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{
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#if LOG_VERBOSITY > 0
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Log::FormatLine("[GETD] DATA Requested: New Request for connection %i (%i data refs)",
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connection.id, drefCount);
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#endif
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std::size_t ptr = 6;
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for (int i = 0; i < drefCount; ++i)
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{
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std::uint8_t len = buffer[ptr];
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connection.getdRequest[i] = std::string((char*)buffer + 1 + ptr, len);
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ptr += 1 + len;
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}
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connection.getdCount = drefCount;
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connections[connectionKey] = connection;
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}
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std::uint8_t response[4096] = "RESP";
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response[5] = drefCount;
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std::size_t cur = 6;
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for (int i = 0; i < drefCount; ++i)
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{
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float values[255];
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int count = DataManager::Get(connection.getdRequest[i], values, 255);
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response[cur++] = count;
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memcpy(response + cur, values, count * sizeof(float));
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cur += count * sizeof(float);
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}
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sock->SendTo(response, cur, connection.ip, connection.dstPort);
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}
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void MessageHandlers::HandlePosi(Message& msg)
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{
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// Update log
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#if LOG_VERBOSITY > 0
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Log::FormatLine("[POSI] Message Received (Conn %i)", connection.id);
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#endif
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const std::uint8_t* buffer = msg.GetBuffer();
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const std::size_t size = msg.GetSize();
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if (size < 34)
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{
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#if LOG_VERBOSITY > 1
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Log::FormatLine("[POSI] ERROR: Unexpected size: %i (Expected at least 34)", size);
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#endif
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return;
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}
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std::int8_t aircraft = buffer[5];
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float gear = *((float*)(buffer + 30));
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float pos[3];
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float orient[3];
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memcpy(pos, buffer + 6, 12);
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memcpy(orient, buffer + 18, 12);
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if (aircraft > 0)
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{
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// Enable AI for the aircraft we are setting
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float ai[20];
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std::size_t result = DataManager::GetFloatArray(DREF::PauseAI, ai, 20);
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if (result == 20) // Only set values if they were retrieved successfully.
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{
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ai[aircraft] = 1;
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DataManager::Set(DREF::PauseAI, ai, 0, 20);
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}
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}
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DataManager::SetPosition(pos, aircraft);
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DataManager::SetOrientation(orient, aircraft);
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if (gear != -1)
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{
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DataManager::SetGear(gear, true, aircraft);
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}
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}
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void MessageHandlers::HandleSimu(Message& msg)
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{
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// Update log
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#if LOG_VERBOSITY > 0
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Log::FormatLine("[SIMU] Message Received (Conn %i)", connection.id);
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#endif
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const std::uint8_t* buffer = msg.GetBuffer();
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// Set DREF
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int value = buffer[5];
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DataManager::Set(DREF::Pause, &value, 1);
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#if LOG_VERBOSITY > 2
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if (buffer[5] == 0)
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{
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Log::FormatLine("[SIMU] Simulation Resumed (Conn %i)", connection.id);
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}
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else
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{
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Log::FormatLine("[SIMU] Simulation Paused (Conn %i)", connection.id);
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}
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#endif
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}
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void MessageHandlers::HandleText(Message& msg)
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{
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// Update Log
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#if LOG_VERBOSITY > 0
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Log::FormatLine("[TEXT] Message Received (Conn %i)", connection.id);
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#endif
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std::size_t len = msg.GetSize();
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const std::uint8_t* buffer = msg.GetBuffer();
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char text[256] = { 0 };
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if (len < 14)
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{
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#if LOG_VERBOSITY > 1
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Log::WriteLine("[TEXT] ERROR: Length less than 14 bytes");
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#endif
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return;
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}
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size_t msgLen = (unsigned char)buffer[13];
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if (msgLen == 0)
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{
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Drawing::ClearMessage();
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#if LOG_VERBOSITY > 2
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Log::WriteLine("[TEXT] Text cleared");
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#endif
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}
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else
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{
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int x = *((int*)(buffer + 5));
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int y = *((int*)(buffer + 9));
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strncpy(text, (char*)buffer + 14, msgLen);
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Drawing::SetMessage(x, y, text);
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#if LOG_VERBOSITY > 2
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Log::WriteLine("[TEXT] Text set");
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#endif
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}
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}
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void MessageHandlers::HandleWypt(Message& msg)
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{
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// Update Log
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#if LOG_VERBOSITY > 0
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Log::FormatLine("[WYPT] Message Received (Conn %i)", connection.id);
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#endif
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// Parse data
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const std::uint8_t* buffer = msg.GetBuffer();
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std::uint8_t op = buffer[5];
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std::uint8_t count = buffer[6];
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Waypoint points[255];
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const std::uint8_t* ptr = buffer + 7;
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for (size_t i = 0; i < count; ++i)
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{
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points[i].latitude = *((float*)ptr);
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points[i].longitude = *((float*)(ptr + 4));
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points[i].altitude = *((float*)(ptr + 8));
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ptr += 12;
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}
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// Perform operation
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#if LOG_VERBOSITY > 2
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Log::FormatLine("[WYPT] Performing operation %i", op);
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#endif
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switch (op)
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{
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case xpc_WYPT_ADD:
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Drawing::AddWaypoints(points, count);
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break;
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case xpc_WYPT_DEL:
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Drawing::RemoveWaypoints(points, count);
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break;
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case xpc_WYPT_CLR:
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Drawing::ClearWaypoints();
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break;
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default:
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#if LOG_VERBOSITY > 1
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Log::FormatLine("[WYPT] ERROR: %i is not a valid operation.", op);
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#endif
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break;
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}
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}
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void MessageHandlers::HandleXPlaneData(Message& msg)
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{
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#if LOG_VERBOSITY > 1
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Log::WriteLine("[MSGH] Sending raw data to X-Plane");
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#endif
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sock->SendTo((std::uint8_t*)msg.GetBuffer(), msg.GetSize(), "127.0.0.1", 49000);
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}
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void MessageHandlers::HandleUnknown(Message& msg)
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{
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// UPDATE LOG
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#if LOG_VERBOSITY > 0
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XPC::Log::FormatLine("[EXEC] ERROR: Unknown packet type %s", msg.GetHead().c_str());
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#endif
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}
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} |