777 lines
27 KiB
Java
777 lines
27 KiB
Java
//NOTICES:
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// Copyright ã 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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//
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// DISCLAIMERS
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// No Warranty: THE SUBJECT SOFTWARE IS PROVIDED "AS IS" WITHOUT ANY WARRANTY OF ANY KIND,
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// EITHER EXPRESSED, IMPLIED, OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, ANY WARRANTY THAT THE
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// SUBJECT SOFTWARE WILL CONFORM TO SPECIFICATIONS, ANY IMPLIED WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE, OR FREEDOM FROM INFRINGEMENT, ANY WARRANTY THAT THE SUBJECT
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// SOFTWARE WILL BE ERROR FREE, OR ANY WARRANTY THAT DOCUMENTATION, IF PROVIDED, WILL CONFORM TO
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// THE SUBJECT SOFTWARE. THIS AGREEMENT DOES NOT, IN ANY MANNER, CONSTITUTE AN ENDORSEMENT BY
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// GOVERNMENT AGENCY OR ANY PRIOR RECIPIENT OF ANY RESULTS, RESULTING DESIGNS, HARDWARE,
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// SOFTWARE PRODUCTS OR ANY OTHER APPLICATIONS RESULTING FROM USE OF THE SUBJECT SOFTWARE.
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// FURTHER, GOVERNMENT AGENCY DISCLAIMS ALL WARRANTIES AND LIABILITIES REGARDING THIRD-PARTY
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// SOFTWARE, IF PRESENT IN THE ORIGINAL SOFTWARE, AND DISTRIBUTES IT "AS IS."
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//
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// Waiver and Indemnity: RECIPIENT AGREES TO WAIVE ANY AND ALL CLAIMS AGAINST THE UNITED STATES
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// GOVERNMENT, ITS CONTRACTORS AND SUBCONTRACTORS, AS WELL AS ANY PRIOR RECIPIENT. IF
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// RECIPIENT'S USE OF THE SUBJECT SOFTWARE RESULTS IN ANY LIABILITIES, DEMANDS, DAMAGES,
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// EXPENSES OR LOSSES ARISING FROM SUCH USE, INCLUDING ANY DAMAGES FROM PRODUCTS BASED ON, OR
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// RESULTING FROM, RECIPIENT'S USE OF THE SUBJECT SOFTWARE, RECIPIENT SHALL INDEMNIFY AND HOLD
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// HARMLESS THE UNITED STATES GOVERNMENT, ITS CONTRACTORS AND SUBCONTRACTORS, AS WELL AS ANY
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// PRIOR RECIPIENT, TO THE EXTENT PERMITTED BY LAW. RECIPIENT'S SOLE REMEDY FOR ANY SUCH MATTER
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// SHALL BE THE IMMEDIATE, UNILATERAL TERMINATION OF THIS AGREEMENT.
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package gov.nasa.xpc;
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import java.io.ByteArrayOutputStream;
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import java.io.IOException;
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import java.lang.AutoCloseable;
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import java.net.*;
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import java.nio.ByteBuffer;
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import java.nio.ByteOrder;
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import java.nio.charset.StandardCharsets;
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import java.util.Arrays;
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/**
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* Represents a client that can connect to and interact with the X-Plane Connect plugin.
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*
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* @author Jason Watkins
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* @version 0.1
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* @since 2015-03-31
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*/
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public class XPlaneConnect implements AutoCloseable
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{
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private static int clientNum;
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private DatagramSocket socket;
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private InetAddress xplaneAddr;
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private int xplanePort;
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/**
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* Gets the port on which the client receives data from the plugin.
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*
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* @return The incoming port number.
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*/
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public int getRecvPort() { return socket.getLocalPort(); }
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/**
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* Gets the port on which the client sends data to X-Plane.
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*
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* @return The outgoing port number.
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*/
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public int getXPlanePort() { return xplanePort; }
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/**
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* Sets the port on which the client sends data to X-Plane
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*
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* @param port The new outgoing port number.
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* @throws IllegalArgumentException If {@code port} is not a valid port number.
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*/
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public void setXPlanePort(int port)
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{
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if(port < 0 || port >= 0xFFFF)
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{
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throw new IllegalArgumentException("Invalid port (must be non-negative and less than 65536).");
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}
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xplanePort = port;
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}
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/**
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* Gets the hostname of the X-Plane host.
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*
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* @return The hostname of the X-Plane host.
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*/
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public String getXPlaneAddr() { return xplaneAddr.getHostAddress(); }
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/**
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* Sets the hostname of the X-Plane host.
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*
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* @param host The new hostname of the X-Plane host machine.
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* @throws UnknownHostException {@code host} is not valid.
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*/
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public void setXplaneAddr(String host) throws UnknownHostException
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{
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xplaneAddr = InetAddress.getByName(host);
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}
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/**
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* Initializes a new instance of the {@code XPlaneConnect} class using default ports and assuming X-Plane is running on the
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* local machine.
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*
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* @throws SocketException If this instance is unable to bind to the default receive port.
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*/
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public XPlaneConnect() throws SocketException
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{
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this(100);
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}
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/**
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* Initializes a new instance of the {@code XPlaneConnect} class with the specified timeout using default ports and
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* assuming X-Plane is running on the local machine.
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*
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* @param timeout The time, in milliseconds, after which read attempts will timeout.
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* @throws SocketException If this instance is unable to bind to the default receive port.
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*/
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public XPlaneConnect(int timeout) throws SocketException
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{
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this.socket = new DatagramSocket(0);
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this.xplaneAddr = InetAddress.getLoopbackAddress();
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this.xplanePort = 49009;
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this.socket.setSoTimeout(timeout);
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}
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/**
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* Initializes a new instance of the {@code XPlaneConnect} class using the specified ports and X-Plane host.
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*
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* @param xpHost The network host on which X-Plane is running.
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* @param xpPort The port on which the X-Plane Connect plugin is listening.
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* @param port The local port to use when sending and receiving data from XPC.
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* @throws java.net.SocketException If this instance is unable to bind to the specified port.
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* @throws java.net.UnknownHostException If the specified hostname can not be resolved.
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*/
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public XPlaneConnect(String xpHost, int xpPort, int port)
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throws java.net.SocketException, java.net.UnknownHostException
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{
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this(xpHost, xpPort, port, 100);
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}
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/**
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* Initializes a new instance of the {@code XPlaneConnect} class using the specified ports, hostname, and timeout.
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*
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* @param xpHost The network host on which X-Plane is running.
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* @param xpPort The port on which the X-Plane Connect plugin is listening.
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* @param port The port on which the X-Plane Connect plugin is sending data.
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* @param timeout The time, in milliseconds, after which read attempts will timeout.
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* @throws java.net.SocketException If this instance is unable to bind to the specified port.
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* @throws java.net.UnknownHostException If the specified hostname can not be resolved.
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*/
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public XPlaneConnect(String xpHost, int xpPort, int port, int timeout)
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throws java.net.SocketException, java.net.UnknownHostException
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{
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this.socket = new DatagramSocket(port);
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this.xplaneAddr = InetAddress.getByName(xpHost);
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this.xplanePort = xpPort;
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this.socket.setSoTimeout(timeout);
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}
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/**
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* Closes the underlying socket.
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*/
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public void close()
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{
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if(socket != null)
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{
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socket.close();
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socket = null;
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}
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}
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/**
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* Read data from the X-Plane plugin. This method will read whatever data is available and return it.
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*
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* @return The data send from X-Plane.
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* @throws IOException If the read operation fails
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*/
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private byte[] readUDP() throws IOException
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{
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byte[] buffer = new byte[2048];
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DatagramPacket packet = new DatagramPacket(buffer, buffer.length);
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try
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{
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socket.receive(packet);
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return Arrays.copyOf(buffer, buffer[4]);
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}
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catch (SocketTimeoutException ex)
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{
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return new byte[0];
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}
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}
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/**
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* Send the given data to the X-Plane plugin.
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*
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* @param buffer The data to send.
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* @throws IOException If the send operation fails.
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*/
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private void sendUDP(byte[] buffer) throws IOException
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{
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DatagramPacket packet = new DatagramPacket(buffer, buffer.length, xplaneAddr, xplanePort);
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socket.send(packet);
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}
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/**
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* Pauses or unpauses X-Plane.
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*
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* @param pause {@code true} to pause the simulator; {@code false} to un-pause.
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* @throws IOException If the command cannot be sent.
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*/
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public void pauseSim(boolean pause) throws IOException
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{
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// S I M U LEN VAL
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byte[] msg = {0x53, 0x49, 0x4D, 0x55, 0x00, 0x00};
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msg[5] = (byte)(pause ? 0x01 : 0x00);
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sendUDP(msg);
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}
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/**
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* Pauses, unpauses, or switches the pause state of X-Plane.
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*
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* @param pause {@code 1} to pause the simulator, {@code 0} to unpause, or {@code 2} to switch.
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* @throws IllegalArgumentException If the values of {@code pause} is not a valid command.
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* @throws IOException If the command cannot be sent.
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*/
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public void pauseSim(int pause) throws IOException
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{
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if(pause < 0 || pause > 2)
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{
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throw new IllegalArgumentException("pause must be a value in the range [0, 2].");
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}
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// S I M U LEN VAL
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byte[] msg = {0x53, 0x49, 0x4D, 0x55, 0x00, 0x00};
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msg[5] = (byte)pause;
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sendUDP(msg);
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}
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/**
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* Requests a single dref value from X-Plane.
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*
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* @param dref The name of the dref requested.
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* @return A byte array representing data dependent on the dref requested.
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* @throws IOException If either the request or the response fails.
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*/
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public float[] getDREF(String dref) throws IOException
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{
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return getDREFs(new String[] {dref})[0];
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}
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/**
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* Requests several dref values from X-Plane.
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*
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* @param drefs An array of dref names to request.
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* @return A multidimensional array representing the data for each requested dref.
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* @throws IOException If either the request or the response fails.
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*/
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public float[][] getDREFs(String[] drefs) throws IOException
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{
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//Preconditions
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if(drefs == null || drefs.length == 0)
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{
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throw new IllegalArgumentException("drefs must be a valid array with at least one dref.");
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}
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if(drefs.length > 255)
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{
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throw new IllegalArgumentException("Can not request more than 255 DREFs at once.");
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}
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//Convert drefs to bytes.
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byte[][] drefBytes = new byte[drefs.length][];
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for(int i = 0; i < drefs.length; ++i)
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{
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drefBytes[i] = drefs[i].getBytes(StandardCharsets.UTF_8);
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if(drefBytes[i].length == 0)
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{
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throw new IllegalArgumentException("DREF " + i + " is an empty string!");
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}
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if(drefBytes[i].length > 255)
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{
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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?");
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}
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}
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//Build and send message
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ByteArrayOutputStream os = new ByteArrayOutputStream();
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os.write("GETD".getBytes(StandardCharsets.UTF_8));
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os.write(0xFF); //Placeholder for message length
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os.write(drefs.length);
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for(byte[] dref : drefBytes)
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{
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os.write(dref.length);
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os.write(dref, 0, dref.length);
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}
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sendUDP(os.toByteArray());
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//Read response
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for(int i = 0; i < 40; ++i)
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{
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byte[] data = readUDP();
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if(data.length == 0)
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{
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continue;
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}
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if(data.length < 6)
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{
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throw new Error("Response too short"); //TODO: Make custom error type
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}
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if(data[5] != drefs.length)
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{
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throw new Error("Unexpected response length"); //TODO: Make custom error type
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}
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float[][] result = new float[drefs.length][];
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ByteBuffer bb = ByteBuffer.wrap(data);
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bb.order(ByteOrder.LITTLE_ENDIAN);
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int cur = 6;
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for(int j = 0; j < result.length; ++j)
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{
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result[j] = new float[data[cur++]];
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for(int k = 0; k < result[j].length; ++k) //TODO: There must be a better way to do this
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{
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result[j][k] = bb.getFloat(cur);
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cur += 4;
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}
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}
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return result;
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}
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throw new IOException("No response received.");
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}
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public void sendDREF(String dref, float value) throws IOException
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{
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sendDREF(dref, new float[] {value});
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}
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/**
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* Sends a command to X-Plane that sets the given DREF.
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*
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* @param dref The name of the X-Plane dataref to set.
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* @param value An array of floating point values whose structure depends on the dref specified.
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* @throws IOException If the command cannot be sent.
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*/
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public void sendDREF(String dref, float[] value) throws IOException
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{
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//Preconditions
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if(dref == null)
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{
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throw new IllegalArgumentException("dref must be a valid string.");
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}
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if(value == null || value.length == 0)
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{
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throw new IllegalArgumentException("value must be non-null and should contain at least one value.");
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}
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//Convert drefs to bytes.
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byte[] drefBytes = dref.getBytes(StandardCharsets.UTF_8);
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if(drefBytes.length == 0)
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{
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throw new IllegalArgumentException("DREF is an empty string!");
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}
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if(drefBytes.length > 255)
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{
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throw new IllegalArgumentException("dref must be less than 255 bytes in UTF-8. Are you sure this is a valid dref?");
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}
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ByteBuffer bb = ByteBuffer.allocate(4 * value.length);
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bb.order(ByteOrder.LITTLE_ENDIAN);
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for(int i = 0; i < value.length; ++i)
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{
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bb.putFloat(i * 4, value[i]);
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}
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//Build and send message
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ByteArrayOutputStream os = new ByteArrayOutputStream();
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os.write("DREF".getBytes(StandardCharsets.UTF_8));
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os.write(0xFF); //Placeholder for message length
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os.write(drefBytes.length);
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os.write(drefBytes, 0, drefBytes.length);
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os.write(value.length);
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os.write(bb.array());
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sendUDP(os.toByteArray());
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}
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/**
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* Sends command to X-Plane setting control surfaces on the player ac.
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*
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* @param values <p>An array containing zero to six values representing control surface data as follows:</p>
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* <ol>
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* <li>Latitudinal Stick [-1,1]</li>
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* <li>Longitudinal Stick [-1,1]</li>
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* <li>Rudder Pedals [-1, 1]</li>
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* <li>Throttle [-1, 1]</li>
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* <li>Gear (0=up, 1=down)</li>
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* <li>Flaps [0, 1]</li>
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* </ol>
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* <p>
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* If @{code ctrl} is less than 6 elements long, The missing elements will not be changed. To
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* change values in the middle of the array without affecting the preceding values, set the
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* preceding values to -998.
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* </p>
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* @throws IOException If the command cannot be sent.
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*/
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public void sendCTRL(float[] values) throws IOException
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{
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sendCTRL(values, 0);
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}
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/**
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* Sends command to X-Plane setting control surfaces on the specified ac.
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*
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* @param values <p>An array containing zero to six values representing control surface data as follows:</p>
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* <ol>
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* <li>Latitudinal Stick [-1,1]</li>
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* <li>Longitudinal Stick [-1,1]</li>
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* <li>Rudder Pedals [-1, 1]</li>
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* <li>Throttle [-1, 1]</li>
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* <li>Gear (0=up, 1=down)</li>
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* <li>Flaps [0, 1]</li>
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* </ol>
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* <p>
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* If @{code ctrl} is less than 6 elements long, The missing elements will not be changed. To
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* change values in the middle of the array without affecting the preceding values, set the
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* preceding values to -998.
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* </p>
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* @param ac The ac to set. 0 for the player's ac.
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* @throws IOException If the command cannot be sent.
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*/
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public void sendCTRL(float[] values, int ac) throws IOException
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{
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//Preconditions
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if(values == null)
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{
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throw new IllegalArgumentException("ctrl must no be null.");
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}
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if(values.length > 6)
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{
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throw new IllegalArgumentException("ctrl must have 6 or fewer elements.");
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}
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if(ac < 0 || ac > 9)
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{
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throw new IllegalArgumentException("ac must be non-negative and less than 9.");
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}
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//Pad command values and convert to bytes
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int i;
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int cur = 0;
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ByteBuffer bb = ByteBuffer.allocate(22);
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bb.order(ByteOrder.LITTLE_ENDIAN);
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for(i = 0; i < values.length; ++i)
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{
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if(i == 4)
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{
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bb.put(cur, (byte) values[i]);
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cur += 1;
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}
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else
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{
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bb.putFloat(cur, values[i]);
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cur += 4;
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}
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}
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for(; i < 6; ++i)
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{
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if(i == 4)
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{
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bb.put(cur, (byte) 0);
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cur += 1;
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}
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else
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{
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bb.putFloat(cur, -998);
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cur += 4;
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}
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}
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bb.put(cur, (byte) ac);
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//Build and send message
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ByteArrayOutputStream os = new ByteArrayOutputStream();
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os.write("CTRL".getBytes(StandardCharsets.UTF_8));
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os.write(0xFF); //Placeholder for message length
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os.write(bb.array());
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sendUDP(os.toByteArray());
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}
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/**
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* Sets the position of the player ac.
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*
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* @param values <p>An array containing position elements as follows:</p>
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* <ol>
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* <li>Latitude (deg)</li>
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* <li>Longitude (deg)</li>
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* <li>Altitude (m above MSL)</li>
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* <li>Roll (deg)</li>
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* <li>Pitch (deg)</li>
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* <li>True Heading (deg)</li>
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* <li>Gear (0=up, 1=down)</li>
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* </ol>
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* <p>
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* If @{code ctrl} is less than 6 elements long, The missing elements will not be changed. To
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* change values in the middle of the array without affecting the preceding values, set the
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* preceding values to -998.
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* </p>
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* @throws IOException If the command can not be sent.
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*/
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|
public void sendPOSI(float[] values) throws IOException
|
|
{
|
|
sendPOSI(values, 0);
|
|
}
|
|
|
|
/**
|
|
* Sets the position of the specified ac.
|
|
*
|
|
* @param values <p>An array containing position elements as follows:</p>
|
|
* <ol>
|
|
* <li>Latitude (deg)</li>
|
|
* <li>Longitude (deg)</li>
|
|
* <li>Altitude (m above MSL)</li>
|
|
* <li>Roll (deg)</li>
|
|
* <li>Pitch (deg)</li>
|
|
* <li>True Heading (deg)</li>
|
|
* <li>Gear (0=up, 1=down)</li>
|
|
* </ol>
|
|
* <p>
|
|
* 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.
|
|
* </p>
|
|
* @param ac The ac to set. 0 for the player ac.
|
|
* @throws IOException If the command can not be sent.
|
|
*/
|
|
public void sendPOSI(float[] 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(28);
|
|
bb.order(ByteOrder.LITTLE_ENDIAN);
|
|
for(i = 0; i < values.length; ++i)
|
|
{
|
|
bb.putFloat(i * 4, values[i]);
|
|
}
|
|
for(; i < 7; ++i)
|
|
{
|
|
bb.putFloat(i * 4, -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());
|
|
}
|
|
|
|
/**
|
|
* 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());
|
|
}
|
|
|
|
/**
|
|
* 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
|
|
}
|
|
}
|