xplane_io - The xplane_io (X-Plane I/O) program is used to es…

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Brad Powell / Mbed 2 deprecated xplane_io

The xplane_io (X-Plane I/O) program is used to establish network communications, via UDP, with the X-Plane flight simulator running on a computer. The code consists of class libraries that abstract the lower-level UDP packet encoding and decoding details, according to the UDP protocol specifications in X-Plane version 9. Any X-Plane DATA packets can be sent and received, and any X-Plane DataRefs can be set by sending DREF packets to X-Plane.

Dependencies: EthernetNetIf mbed ConfigFile

XPlaneIO/XPlaneIO.cpp@0:a5d13af495af, 2011-12-21 (annotated)

Committer:: bapowell
Date:: Wed Dec 21 22:29:59 2011 +0000
Revision:: 0:a5d13af495af

Who changed what in which revision?

User	Revision	Line number	New contents of line
bapowell	0:a5d13af495af	1	#include "EthernetNetIf.h"
bapowell	0:a5d13af495af	2	#include "UDPSocket.h"
bapowell	0:a5d13af495af	3	#include "LocalConfigFile.h"
bapowell	0:a5d13af495af	4	#include "Scaler.h"
bapowell	0:a5d13af495af	5	#include "XPlaneUdp.h"
bapowell	0:a5d13af495af	6	#include "XPlaneUdpDATA.h"
bapowell	0:a5d13af495af	7	#include "XPlaneUdpDecoder.h"
bapowell	0:a5d13af495af	8	#include "XPlaneUdpEncoder.h"
bapowell	0:a5d13af495af	9	#include "XPlaneIO.h"
bapowell	0:a5d13af495af	10
bapowell	0:a5d13af495af	11	XPlaneIO::~XPlaneIO() {
bapowell	0:a5d13af495af	12	if (_eth != NULL) {
bapowell	0:a5d13af495af	13	free(_eth);
bapowell	0:a5d13af495af	14	_eth = NULL;
bapowell	0:a5d13af495af	15	}
bapowell	0:a5d13af495af	16
bapowell	0:a5d13af495af	17	for (int i = 0; i < _xpAnalogInCount; i++) {
bapowell	0:a5d13af495af	18	if (_xpAnalogIn[i] != NULL) {
bapowell	0:a5d13af495af	19	free(_xpAnalogIn[i]);
bapowell	0:a5d13af495af	20	}
bapowell	0:a5d13af495af	21	}
bapowell	0:a5d13af495af	22
bapowell	0:a5d13af495af	23	for (XPlaneUdpDATAMap::iterator it = _recvDATAMap.begin(); it != _recvDATAMap.end(); it++) {
bapowell	0:a5d13af495af	24	if ((it->second) != NULL) {
bapowell	0:a5d13af495af	25	free(it->second);
bapowell	0:a5d13af495af	26	}
bapowell	0:a5d13af495af	27	}
bapowell	0:a5d13af495af	28	_recvDATAMap.clear();
bapowell	0:a5d13af495af	29
bapowell	0:a5d13af495af	30	}
bapowell	0:a5d13af495af	31
bapowell	0:a5d13af495af	32	bool XPlaneIO::setup(char * configFilename, Ethernet * ethernet) {
bapowell	0:a5d13af495af	33
bapowell	0:a5d13af495af	34	printf("X-Plane I/O ... initializing \n");
bapowell	0:a5d13af495af	35
bapowell	0:a5d13af495af	36	bool returnStatus = true;
bapowell	0:a5d13af495af	37
bapowell	0:a5d13af495af	38	LocalConfigFile cfg(configFilename);
bapowell	0:a5d13af495af	39
bapowell	0:a5d13af495af	40	_debug = cfg.getBool("debug", false);
bapowell	0:a5d13af495af	41	printf("debug: %d \n", _debug);
bapowell	0:a5d13af495af	42
bapowell	0:a5d13af495af	43	_debugVerbose = cfg.getBool("debugVerbose", false);
bapowell	0:a5d13af495af	44	printf("debugVerbose: %d \n", _debugVerbose);
bapowell	0:a5d13af495af	45
bapowell	0:a5d13af495af	46	IpAddr ipAddr;
bapowell	0:a5d13af495af	47	int intIp[4];
bapowell	0:a5d13af495af	48
bapowell	0:a5d13af495af	49	bool dhcp = true;
bapowell	0:a5d13af495af	50	if (cfg.fillIntArray4("mbed_ip_address", intIp)) {
bapowell	0:a5d13af495af	51	ipAddr = IpAddr(intIp[0], intIp[1], intIp[2], intIp[3]);
bapowell	0:a5d13af495af	52	// Continue gathering IP configuration.
bapowell	0:a5d13af495af	53	if (cfg.fillIntArray4("mbed_ip_netmask", intIp)) {
bapowell	0:a5d13af495af	54	IpAddr ipMask = IpAddr(intIp[0], intIp[1], intIp[2], intIp[3]);
bapowell	0:a5d13af495af	55	if (cfg.fillIntArray4("mbed_ip_gateway", intIp)) {
bapowell	0:a5d13af495af	56	IpAddr ipGtwy = IpAddr(intIp[0], intIp[1], intIp[2], intIp[3]);
bapowell	0:a5d13af495af	57	if (cfg.fillIntArray4("mbed_ip_dnssrvr", intIp)) {
bapowell	0:a5d13af495af	58	IpAddr ipDns = IpAddr(intIp[0], intIp[1], intIp[2], intIp[3]);
bapowell	0:a5d13af495af	59
bapowell	0:a5d13af495af	60	_eth = new EthernetNetIf(ipAddr, ipMask, ipGtwy, ipDns);
bapowell	0:a5d13af495af	61	dhcp = false;
bapowell	0:a5d13af495af	62	}
bapowell	0:a5d13af495af	63	}
bapowell	0:a5d13af495af	64	}
bapowell	0:a5d13af495af	65	}
bapowell	0:a5d13af495af	66	if (dhcp) {
bapowell	0:a5d13af495af	67	if (_debug) printf("mbed_ip_* address config not found or invalid, so defaulting to DHCP \n");
bapowell	0:a5d13af495af	68	_eth = new EthernetNetIf;
bapowell	0:a5d13af495af	69	}
bapowell	0:a5d13af495af	70
bapowell	0:a5d13af495af	71	// Set up the mbed ethernet interface.
bapowell	0:a5d13af495af	72	EthernetErr ethErr = _eth->setup();
bapowell	0:a5d13af495af	73	if (ethErr != ETH_OK) {
bapowell	0:a5d13af495af	74	printf("Ethernet setup failed (error = %d) \n", ethErr);
bapowell	0:a5d13af495af	75	returnStatus = false;
bapowell	0:a5d13af495af	76	}
bapowell	0:a5d13af495af	77
bapowell	0:a5d13af495af	78	if (_debug) {
bapowell	0:a5d13af495af	79	ipAddr = _eth->getIp();
bapowell	0:a5d13af495af	80	printf("mbed IP address is %d.%d.%d.%d \n", ipAddr[0], ipAddr[1], ipAddr[2], ipAddr[3]);
bapowell	0:a5d13af495af	81	}
bapowell	0:a5d13af495af	82
bapowell	0:a5d13af495af	83	const Ethernet::Mode linkModes[] = {Ethernet::AutoNegotiate, Ethernet::HalfDuplex10, Ethernet::FullDuplex10, Ethernet::HalfDuplex100, Ethernet::FullDuplex100};
bapowell	0:a5d13af495af	84	int linkMode = cfg.getInt("ethernet_link_mode", 0);
bapowell	0:a5d13af495af	85	ethernet->set_link(linkModes[linkMode]);
bapowell	0:a5d13af495af	86	if (_debug) printf("ethernet_link_mode set to %d \n", linkMode);
bapowell	0:a5d13af495af	87
bapowell	0:a5d13af495af	88	if (_debug) printf("Setting recvHost and sendHost \n");
bapowell	0:a5d13af495af	89	_recvHost.setIp(ipAddr);
bapowell	0:a5d13af495af	90	_recvHost.setPort(cfg.getInt("recv_port", 49000));
bapowell	0:a5d13af495af	91	if (cfg.fillIntArray4("xplane_ip_address", intIp)) {
bapowell	0:a5d13af495af	92	_sendHost.setIp(IpAddr(intIp[0], intIp[1], intIp[2], intIp[3]));
bapowell	0:a5d13af495af	93	}
bapowell	0:a5d13af495af	94	_sendHost.setPort(cfg.getInt("xplane_ip_port", 49000));
bapowell	0:a5d13af495af	95
bapowell	0:a5d13af495af	96	if (_debug) printf("Setting event callback handler \n");
bapowell	0:a5d13af495af	97	_udpSocket.setOnEvent(this, &XPlaneIO::onUDPSocketEvent);
bapowell	0:a5d13af495af	98
bapowell	0:a5d13af495af	99	if (_debug) printf("Binding to recvHost \n");
bapowell	0:a5d13af495af	100	UDPSocketErr udpErr = _udpSocket.bind(_recvHost);
bapowell	0:a5d13af495af	101	if (udpErr != UDPSOCKET_OK) {
bapowell	0:a5d13af495af	102	printf("Failure in binding to recvHost (error = %d) \n", udpErr);
bapowell	0:a5d13af495af	103	returnStatus = false;
bapowell	0:a5d13af495af	104	}
bapowell	0:a5d13af495af	105
bapowell	0:a5d13af495af	106	_sendInterval = cfg.getInt("send_interval", 200);
bapowell	0:a5d13af495af	107	printf("send_interval: %d ms \n", _sendInterval);
bapowell	0:a5d13af495af	108
bapowell	0:a5d13af495af	109	_reverseByteOrder = cfg.getBool("reverse_byte_order", false);
bapowell	0:a5d13af495af	110	printf("reverse_byte_order: %d \n", _reverseByteOrder);
bapowell	0:a5d13af495af	111
bapowell	0:a5d13af495af	112	char key[33];
bapowell	0:a5d13af495af	113	float f4[4];
bapowell	0:a5d13af495af	114
bapowell	0:a5d13af495af	115	// Scan for Analog Inputs (up to 6).
bapowell	0:a5d13af495af	116	_xpAnalogInCount = 0;
bapowell	0:a5d13af495af	117	for (int a = 1; a <= 6; a++) {
bapowell	0:a5d13af495af	118	sprintf(key, "ain_%d_pin", a);
bapowell	0:a5d13af495af	119	PinName pin = cfg.getPin(key, NC);
bapowell	0:a5d13af495af	120	if (pin != NC) {
bapowell	0:a5d13af495af	121	sprintf(key, "ain_%d_scale1", a);
bapowell	0:a5d13af495af	122	if (cfg.fillFloatArray4(key, f4)) {
bapowell	0:a5d13af495af	123	Scaler<float> scale1(f4[0], f4[1], f4[2], f4[3]);
bapowell	0:a5d13af495af	124	sprintf(key, "ain_%d_scale2", a);
bapowell	0:a5d13af495af	125	if (cfg.fillFloatArray4(key, f4)) {
bapowell	0:a5d13af495af	126	Scaler<float> scale2(f4[0], f4[1], f4[2], f4[3]);
bapowell	0:a5d13af495af	127	sprintf(key, "ain_%d_msg_idx", a);
bapowell	0:a5d13af495af	128	int msgIdx = cfg.getInt(key, -1);
bapowell	0:a5d13af495af	129	if (msgIdx >= 0) {
bapowell	0:a5d13af495af	130	sprintf(key, "ain_%d_float_idx", a);
bapowell	0:a5d13af495af	131	int floatIdx = cfg.getInt(key, -1);
bapowell	0:a5d13af495af	132	if (floatIdx >= 0) {
bapowell	0:a5d13af495af	133	// found all valid config items
bapowell	0:a5d13af495af	134	printf("Setting Analog Input # %d \n", a);
bapowell	0:a5d13af495af	135	_xpAnalogIn[_xpAnalogInCount] = new XPlaneAnalogIn(pin, scale1, scale2, msgIdx, floatIdx);
bapowell	0:a5d13af495af	136	_xpAnalogInCount++;
bapowell	0:a5d13af495af	137
bapowell	0:a5d13af495af	138	addDATAToSend(msgIdx);
bapowell	0:a5d13af495af	139	}
bapowell	0:a5d13af495af	140	}
bapowell	0:a5d13af495af	141	}
bapowell	0:a5d13af495af	142	}
bapowell	0:a5d13af495af	143	}
bapowell	0:a5d13af495af	144	}
bapowell	0:a5d13af495af	145	for (int i = _xpAnalogInCount; i < 6; i++) {
bapowell	0:a5d13af495af	146	_xpAnalogIn[i] = NULL;
bapowell	0:a5d13af495af	147	}
bapowell	0:a5d13af495af	148
bapowell	0:a5d13af495af	149	_udpDecoder.setDebug(_debugVerbose);
bapowell	0:a5d13af495af	150	_udpDecoder.setReverseByteOrder(_reverseByteOrder);
bapowell	0:a5d13af495af	151
bapowell	0:a5d13af495af	152	_udpEncoder.setDebug(_debugVerbose);
bapowell	0:a5d13af495af	153
bapowell	0:a5d13af495af	154	return returnStatus;
bapowell	0:a5d13af495af	155	}
bapowell	0:a5d13af495af	156
bapowell	0:a5d13af495af	157
bapowell	0:a5d13af495af	158	bool XPlaneIO::addDATAToReceive(int msgIndex) {
bapowell	0:a5d13af495af	159	return addXPlaneUdpDATAToMap(_recvDATAMap, msgIndex, _reverseByteOrder);
bapowell	0:a5d13af495af	160	}
bapowell	0:a5d13af495af	161
bapowell	0:a5d13af495af	162	bool XPlaneIO::addDATAToSend(int msgIndex) {
bapowell	0:a5d13af495af	163	return addXPlaneUdpDATAToMap(_sendDATAMap, msgIndex, _reverseByteOrder);
bapowell	0:a5d13af495af	164	}
bapowell	0:a5d13af495af	165
bapowell	0:a5d13af495af	166	XPlaneUdpDATA * XPlaneIO::getReceiveDATA(int msgIndex) const {
bapowell	0:a5d13af495af	167	return getXPlaneUdpDATA(_recvDATAMap, msgIndex);
bapowell	0:a5d13af495af	168	}
bapowell	0:a5d13af495af	169
bapowell	0:a5d13af495af	170	XPlaneUdpDATA * XPlaneIO::getSendDATA(int msgIndex) const {
bapowell	0:a5d13af495af	171	return getXPlaneUdpDATA(_sendDATAMap, msgIndex);
bapowell	0:a5d13af495af	172	}
bapowell	0:a5d13af495af	173
bapowell	0:a5d13af495af	174	float XPlaneIO::getReceiveDATAValue(int msgIndex, int floatIndex) const {
bapowell	0:a5d13af495af	175	XPlaneUdpDATA *DATAmsg = getReceiveDATA(msgIndex);
bapowell	0:a5d13af495af	176	if (DATAmsg != NULL) {
bapowell	0:a5d13af495af	177	return DATAmsg->getData(floatIndex);
bapowell	0:a5d13af495af	178	}
bapowell	0:a5d13af495af	179	else {
bapowell	0:a5d13af495af	180	return -999.999f;
bapowell	0:a5d13af495af	181	}
bapowell	0:a5d13af495af	182	}
bapowell	0:a5d13af495af	183
bapowell	0:a5d13af495af	184	void XPlaneIO::setSendDATAValue(int msgIndex, int floatIndex, float f) {
bapowell	0:a5d13af495af	185	XPlaneUdpDATA *DATAmsg = getSendDATA(msgIndex);
bapowell	0:a5d13af495af	186	if (DATAmsg != NULL) {
bapowell	0:a5d13af495af	187	DATAmsg->setData(floatIndex, f);
bapowell	0:a5d13af495af	188	}
bapowell	0:a5d13af495af	189	}
bapowell	0:a5d13af495af	190
bapowell	0:a5d13af495af	191
bapowell	0:a5d13af495af	192	void XPlaneIO::pollAnalogIn() {
bapowell	0:a5d13af495af	193	int scaleRange;
bapowell	0:a5d13af495af	194	bool noChange;
bapowell	0:a5d13af495af	195	for (int i = 0; i < _xpAnalogInCount; i++) {
bapowell	0:a5d13af495af	196	XPlaneAnalogIn * xpAIn = _xpAnalogIn[i];
bapowell	0:a5d13af495af	197	float aout = xpAIn->read_scaled(scaleRange, noChange);
bapowell	0:a5d13af495af	198	if (! noChange) {
bapowell	0:a5d13af495af	199	setSendDATAValue(xpAIn->xplaneDATAMsgIdx(), xpAIn->xplaneDATAMsgFloatIdx(), aout);
bapowell	0:a5d13af495af	200	}
bapowell	0:a5d13af495af	201	}
bapowell	0:a5d13af495af	202	}
bapowell	0:a5d13af495af	203
bapowell	0:a5d13af495af	204
bapowell	0:a5d13af495af	205	void XPlaneIO::sendDREF(XPlaneUdpDREF & dref) {
bapowell	0:a5d13af495af	206	_sendDREFQueue.push(dref);
bapowell	0:a5d13af495af	207	}
bapowell	0:a5d13af495af	208
bapowell	0:a5d13af495af	209
bapowell	0:a5d13af495af	210	void XPlaneIO::startSendingUdp() {
bapowell	0:a5d13af495af	211	_sendTicker.attach_us(this, &XPlaneIO::sendUdp, _sendInterval * 1000);
bapowell	0:a5d13af495af	212	}
bapowell	0:a5d13af495af	213
bapowell	0:a5d13af495af	214	void XPlaneIO::stopSendingUdp() {
bapowell	0:a5d13af495af	215	_sendTicker.detach();
bapowell	0:a5d13af495af	216	}
bapowell	0:a5d13af495af	217
bapowell	0:a5d13af495af	218	void XPlaneIO::sendUdp() {
bapowell	0:a5d13af495af	219	if (_debugVerbose) printf("sendUdp() called \n");
bapowell	0:a5d13af495af	220
bapowell	0:a5d13af495af	221	pollAnalogIn();
bapowell	0:a5d13af495af	222
bapowell	0:a5d13af495af	223	int len = _udpEncoder.encodeFromDATAMap(_udpSendBuffer, UDP_SEND_BUFFER_SIZE, _sendDATAMap, true);
bapowell	0:a5d13af495af	224	if (len > 5) {
bapowell	0:a5d13af495af	225	udpSocketSend(_udpSendBuffer, len);
bapowell	0:a5d13af495af	226	resetDataChangedInMap(_sendDATAMap);
bapowell	0:a5d13af495af	227	}
bapowell	0:a5d13af495af	228
bapowell	0:a5d13af495af	229	while (_sendDREFQueue.size() > 0) {
bapowell	0:a5d13af495af	230	len = _udpEncoder.encodeDataRef(_udpSendBuffer, UDP_SEND_BUFFER_SIZE, _sendDREFQueue.front());
bapowell	0:a5d13af495af	231	if (len > 0) {
bapowell	0:a5d13af495af	232	udpSocketSend(_udpSendBuffer, len);
bapowell	0:a5d13af495af	233	}
bapowell	0:a5d13af495af	234	_sendDREFQueue.pop();
bapowell	0:a5d13af495af	235	}
bapowell	0:a5d13af495af	236	}
bapowell	0:a5d13af495af	237
bapowell	0:a5d13af495af	238
bapowell	0:a5d13af495af	239	/**
bapowell	0:a5d13af495af	240	* Callback handler for received UDP data.
bapowell	0:a5d13af495af	241	*/
bapowell	0:a5d13af495af	242	void XPlaneIO::onUDPSocketEvent(UDPSocketEvent e) {
bapowell	0:a5d13af495af	243	if (_debugVerbose) printf("onUDPSocketEvent() called \n");
bapowell	0:a5d13af495af	244
bapowell	0:a5d13af495af	245	if (e == UDPSOCKET_READABLE) {
bapowell	0:a5d13af495af	246	if (_debugVerbose) printf("onUDPSocketEvent() : event=UDPSOCKET_READABLE \n");
bapowell	0:a5d13af495af	247
bapowell	0:a5d13af495af	248	Host host;
bapowell	0:a5d13af495af	249	while (int len = _udpSocket.recvfrom(_udpRecvBuffer, UDP_RECV_BUFFER_SIZE, &host)) {
bapowell	0:a5d13af495af	250	if (len <= 0) {
bapowell	0:a5d13af495af	251	break;
bapowell	0:a5d13af495af	252	}
bapowell	0:a5d13af495af	253
bapowell	0:a5d13af495af	254	if (_debugVerbose) {
bapowell	0:a5d13af495af	255	IpAddr hostIp = host.getIp();
bapowell	0:a5d13af495af	256	//printf("From %d.%d.%d.%d: len=%d: %s\n", hostIp[0], hostIp[1], hostIp[2], hostIp[3], len, buf);
bapowell	0:a5d13af495af	257	printf("From %d.%d.%d.%d: len=%d \n", hostIp[0], hostIp[1], hostIp[2], hostIp[3], len);
bapowell	0:a5d13af495af	258	}
bapowell	0:a5d13af495af	259
bapowell	0:a5d13af495af	260	XPlaneUdpMessageType pktMsgType = _udpDecoder.setUdpBuffer(_udpRecvBuffer, len);
bapowell	0:a5d13af495af	261	if (pktMsgType == DATA) {
bapowell	0:a5d13af495af	262	_udpDecoder.putIntoDATAMap(_recvDATAMap, true);
bapowell	0:a5d13af495af	263	}
bapowell	0:a5d13af495af	264	}
bapowell	0:a5d13af495af	265	}
bapowell	0:a5d13af495af	266	}
bapowell	0:a5d13af495af	267
bapowell	0:a5d13af495af	268
bapowell	0:a5d13af495af	269	int XPlaneIO::udpSocketSend(char * buf, int len) {
bapowell	0:a5d13af495af	270	if (_debugVerbose) printf("udpSocketSend(): sending %d bytes \n", len);
bapowell	0:a5d13af495af	271
bapowell	0:a5d13af495af	272	int nSent = _udpSocket.sendto(buf, len, &_sendHost);
bapowell	0:a5d13af495af	273
bapowell	0:a5d13af495af	274	if ( nSent < 0 ) {
bapowell	0:a5d13af495af	275	if (_debug) printf("PROBLEM SENDING UDP DATA (error = %d) \n", (UDPSocketErr)nSent);
bapowell	0:a5d13af495af	276	}
bapowell	0:a5d13af495af	277	else if ( nSent != len ) {
bapowell	0:a5d13af495af	278	if (_debug) printf("WARNING: %d bytes were sent \n", nSent);
bapowell	0:a5d13af495af	279	}
bapowell	0:a5d13af495af	280
bapowell	0:a5d13af495af	281	return nSent;
bapowell	0:a5d13af495af	282	}
bapowell	0:a5d13af495af	283
bapowell	0:a5d13af495af	284
bapowell	0:a5d13af495af	285
bapowell	0:a5d13af495af	286	bool XPlaneIO::debug() const {
bapowell	0:a5d13af495af	287	return _debug;
bapowell	0:a5d13af495af	288	}
bapowell	0:a5d13af495af	289
bapowell	0:a5d13af495af	290	bool XPlaneIO::reverseByteOrder() const {
bapowell	0:a5d13af495af	291	return _reverseByteOrder;
bapowell	0:a5d13af495af	292	}
bapowell	0:a5d13af495af	293
bapowell	0:a5d13af495af	294	XPlaneUdpDATAMap & XPlaneIO::recvDATAMap() {
bapowell	0:a5d13af495af	295	return _recvDATAMap;
bapowell	0:a5d13af495af	296	}
bapowell	0:a5d13af495af	297
bapowell	0:a5d13af495af	298	XPlaneUdpDATAMap & XPlaneIO::sendDATAMap() {
bapowell	0:a5d13af495af	299	return _sendDATAMap;
bapowell	0:a5d13af495af	300	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	21 Dec 2011
Imports:	15
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	3
Followers:	2

XPlaneIO/XPlaneIO.cpp@0:a5d13af495af, 2011-12-21 (annotated)

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