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More work on the ATC FS hardware interface.

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This commit is contained in:
curt 2004-12-24 01:23:27 +00:00
parent 222446df29
commit ec82773222
6 changed files with 708 additions and 477 deletions
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243
src/Network/ATC-Main.cxx Normal file
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@ -0,0 +1,243 @@
// ATC-Main.cxx -- FGFS interface to ATC hardware
//
// Written by Curtis Olson, started January 2002
//
// Copyright (C) 2002 Curtis L. Olson - http://www.flightgear.org/~curt
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <simgear/compiler.h>
#include <stdlib.h> // atoi() atof() abs()
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdio.h> //snprintf
#if defined( _MSC_VER ) || defined(__MINGW32__)
# include <io.h> //lseek, read, write
#endif
#include STL_STRING
#include <plib/ul.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/io/iochannel.hxx>
#include <simgear/math/sg_types.hxx>
#include <simgear/misc/sg_path.hxx>
#include <simgear/props/props.hxx>
#include <Scripting/NasalSys.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
#include "ATC-Main.hxx"
SG_USING_STD(string);
// Lock the ATC hardware
static int fgATCMainLock( int fd ) {
// rewind
lseek( fd, 0, SEEK_SET );
char tmp[2];
int result = read( fd, tmp, 1 );
if ( result != 1 ) {
SG_LOG( SG_IO, SG_DEBUG, "Lock failed" );
}
return result;
}
// Write a radios command
static int fgATCMainRelease( int fd ) {
// rewind
lseek( fd, 0, SEEK_SET );
char tmp[2];
tmp[0] = tmp[1] = 0;
int result = write( fd, tmp, 1 );
if ( result != 1 ) {
SG_LOG( SG_IO, SG_DEBUG, "Release failed" );
}
return result;
}
void FGATCMain::init_config() {
#if defined( unix ) || defined( __CYGWIN__ )
// Next check home directory for .fgfsrc.hostname file
char *envp = ::getenv( "HOME" );
if ( envp != NULL ) {
SGPath atcsim_config( envp );
atcsim_config.append( ".fgfs-atc610x.xml" );
readProperties( atcsim_config.str(), globals->get_props() );
}
#endif
}
// Open and initialize ATC hardware
bool FGATCMain::open() {
if ( is_enabled() ) {
SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
<< "is already in use, ignoring" );
return false;
}
SG_LOG( SG_IO, SG_ALERT,
"Initializing ATC hardware, please wait ..." );
// This loads the config parameters generated by "simcal"
init_config();
/////////////////////////////////////////////////////////////////////
// Open the /proc files
/////////////////////////////////////////////////////////////////////
string lock0_file = "/proc/atc610x/board0/lock";
string lock1_file = "/proc/atc610x/board1/lock";
lock0_fd = ::open( lock0_file.c_str(), O_RDWR );
if ( lock0_fd == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
char msg[256];
snprintf( msg, 256, "Error opening %s", lock0_file.c_str() );
perror( msg );
exit( -1 );
}
lock1_fd = ::open( lock1_file.c_str(), O_RDWR );
if ( lock1_fd == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
char msg[256];
snprintf( msg, 256, "Error opening %s", lock1_file.c_str() );
perror( msg );
exit( -1 );
}
if ( input0_path.str().length() ) {
input0 = new FGATCInput( 0, input0_path );
input0->open();
}
if ( input1_path.str().length() ) {
input1 = new FGATCInput( 1, input1_path );
input1->open();
}
if ( output0_path.str().length() ) {
output0 = new FGATCOutput( 0, output0_path );
output0->open( lock0_fd );
}
if ( output1_path.str().length() ) {
output1 = new FGATCOutput( 1, output1_path );
output1->open( lock1_fd );
}
set_hz( 30 ); // default to processing requests @ 30Hz
set_enabled( true );
/////////////////////////////////////////////////////////////////////
// Finished initing hardware
/////////////////////////////////////////////////////////////////////
SG_LOG( SG_IO, SG_ALERT,
"Done initializing ATC hardware." );
return true;
}
bool FGATCMain::process() {
// Lock the hardware, skip if it's not ready yet
if ( fgATCMainLock( lock0_fd ) <= 0 ) {
return false;
}
if ( fgATCMainLock( lock1_fd ) <= 0 ) {
// lock0 will be locked here, so release before we return
fgATCMainRelease( lock0_fd );
return false;
}
// process the ATC inputs
if ( input0 != NULL ) {
input0->process();
}
if ( input1 != NULL ) {
input1->process();
}
// run our custom nasal script. This is a layer above the raw
// hardware inputs. It handles situations where there isn't a
// direct 1-1 linear mapping between ATC functionality and FG
// functionality, and handles situations where FG expects more
// functionality from the interface than the ATC hardware can
// directly provide.
FGNasalSys *n = (FGNasalSys*)globals->get_subsystem("nasal");
bool result = n->parseAndRun( "atcsim.do_hardware()" );
if ( !result ) {
SG_LOG( SG_GENERAL, SG_ALERT,
"Nasal: atcsim.do_hardware() failed!" );
}
// process the ATC outputs
if ( output0 != NULL ) {
output0->process();
}
if ( output1 != NULL ) {
output1->process();
}
fgATCMainRelease( lock0_fd );
fgATCMainRelease( lock1_fd );
return true;
}
bool FGATCMain::close() {
int result;
result = ::close( lock0_fd );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
char msg[256];
snprintf( msg, 256, "Error closing lock0_fd" );
perror( msg );
exit( -1 );
}
result = ::close( lock1_fd );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
char msg[256];
snprintf( msg, 256, "Error closing lock1_fd" );
perror( msg );
exit( -1 );
}
return true;
}

98
src/Network/ATC-Main.hxx Normal file
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@ -0,0 +1,98 @@
// ATC-Main.hxx -- FGFS interface to ATC 610x hardware
//
// Written by Curtis Olson, started January 2002.
//
// Copyright (C) 2002 Curtis L. Olson - http://www.flightgear.org/~curt
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
#ifndef _FG_ATC_MAIN_HXX
#define _FG_ATC_MAIN_HXX
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <plib/netChat.h>
#include <Main/fg_props.hxx>
#include "protocol.hxx"
#include "ATC-Inputs.hxx"
#include "ATC-Outputs.hxx"
class FGATCMain : public FGProtocol {
FGATCInput *input0; // board0 input interface class
FGATCInput *input1; // board1 input interface class
FGATCOutput *output0; // board0 output interface class
FGATCOutput *output1; // board1 output interface class
SGPath input0_path;
SGPath input1_path;
SGPath output0_path;
SGPath output1_path;
int board;
int lock0_fd;
int lock1_fd;
public:
FGATCMain() :
input0(NULL),
input1(NULL),
output0(NULL),
output1(NULL),
input0_path(""),
input1_path(""),
output0_path(""),
output1_path("")
{ }
~FGATCMain() {
delete input0;
delete input1;
delete output0;
delete output1;
}
// Open and initialize ATC 610x hardware
bool open();
void init_config();
bool process();
bool close();
inline void set_path_names( const SGPath &in0, const SGPath &in1,
const SGPath &out0, const SGPath &out1 )
{
input0_path = in0;
input1_path = in1;
output0_path = out0;
output1_path = out1;
}
};
#endif // _FG_ATC_MAIN_HXX

566
src/Network/atc610x.cxx → src/Network/ATC-Outputs.cxx
View file

@ -1,8 +1,8 @@
// atc610x.cxx -- FGFS interface to ATC 610x hardware
// ATC-Outputs.hxx -- Translate FGFS properties to ATC hardware outputs.
//
// Written by Curtis Olson, started January 2002
// Written by Curtis Olson, started November 2004.
//
// Copyright (C) 2002 Curtis L. Olson - http://www.flightgear.org/~curt
// Copyright (C) 2004 Curtis L. Olson - http://www.flightgear.org/~curt
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
@ -27,36 +27,26 @@
#include <simgear/compiler.h>
#include <stdlib.h> // atoi() atof() abs()
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdio.h> //snprintf
#if defined( _MSC_VER ) || defined(__MINGW32__)
# include <io.h> //lseek, read, write
#if defined( unix ) || defined( __CYGWIN__ )
# include <sys/types.h>
# include <sys/stat.h>
# include <fcntl.h>
#endif
#include STL_STRING
#include <plib/ul.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/io/iochannel.hxx>
#include <simgear/math/sg_types.hxx>
#include <simgear/misc/sg_path.hxx>
#include <simgear/props/props.hxx>
#include <Scripting/NasalSys.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
#include "atc610x.hxx"
#include "ATC-Outputs.hxx"
SG_USING_STD(string);
// Lock the ATC 610 hardware
static int ATC610xLock( int fd ) {
// Lock the ATC hardware
static int ATCLock( int fd ) {
// rewind
lseek( fd, 0, SEEK_SET );
@ -70,8 +60,8 @@ static int ATC610xLock( int fd ) {
}
// Write a radios command
static int ATC610xRelease( int fd ) {
// Release the ATC hardware
static int ATCRelease( int fd ) {
// rewind
lseek( fd, 0, SEEK_SET );
@ -87,10 +77,22 @@ static int ATC610xRelease( int fd ) {
}
// Write a radios command
static int ATC610xSetRadios( int fd,
unsigned char data[ATC_RADIO_DISPLAY_BYTES] )
// Constructor: The _board parameter specifies which board to
// reference. Possible values are 0 or 1. The _config_file parameter
// specifies the location of the output config file (xml)
FGATCOutput::FGATCOutput( const int _board, const SGPath &_config_file ) :
is_open(false),
lamps_out_node(NULL),
radio_display_node(NULL),
steppers_node(NULL)
{
board = _board;
config = _config_file;
}
// Write a radios command
static int ATCSetRadios( int fd, unsigned char data[ATC_RADIO_DISPLAY_BYTES] ) {
// rewind
lseek( fd, 0, SEEK_SET );
@ -105,7 +107,7 @@ static int ATC610xSetRadios( int fd,
// Write a stepper command
static int ATC610xSetStepper( int fd, unsigned char channel,
static int ATCSetStepper( int fd, unsigned char channel,
unsigned char value )
{
// rewind
@ -127,7 +129,7 @@ static int ATC610xSetStepper( int fd, unsigned char channel,
// Read status of last stepper written to
static unsigned char ATC610xReadStepper( int fd ) {
static unsigned char ATCReadStepper( int fd ) {
int result;
// rewind
@ -147,7 +149,7 @@ static unsigned char ATC610xReadStepper( int fd ) {
// Turn a lamp on or off
void ATC610xSetLamp( int fd, int channel, bool value ) {
void ATCSetLamp( int fd, int channel, bool value ) {
// lamp channels 0-63 are written to LampPort0, channels 64-127
// are written to LampPort1
@ -169,65 +171,48 @@ void ATC610xSetLamp( int fd, int channel, bool value ) {
}
void FGATC610x::init_config() {
void FGATCOutput::init_config() {
#if defined( unix ) || defined( __CYGWIN__ )
// Next check home directory for .fgfsrc.hostname file
char *envp = ::getenv( "HOME" );
if ( envp != NULL ) {
SGPath atc610x_config( envp );
atc610x_config.append( ".fgfs-atc610x.xml" );
readProperties( atc610x_config.str(), globals->get_props() );
if ( config.str()[0] != '/' ) {
// not an absolute path, prepend the standard location
SGPath tmp;
char *envp = ::getenv( "HOME" );
if ( envp != NULL ) {
tmp = envp;
tmp.append( ".atcflightsim" );
tmp.append( config.str() );
config = tmp;
}
}
readProperties( config.str(), globals->get_props() );
#endif
}
// Open and initialize ATC 610x hardware
bool FGATC610x::open() {
if ( is_enabled() ) {
SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
<< "is already in use, ignoring" );
// Open and initialize the ATC hardware
bool FGATCOutput::open( int lock_fd ) {
if ( is_open ) {
SG_LOG( SG_IO, SG_ALERT, "This board is already open for output! "
<< board );
return false;
}
SG_LOG( SG_IO, SG_ALERT,
"Initializing ATC 610x hardware, please wait ..." );
// This loads the config parameters generated by "simcal"
init_config();
if ( input0_path.str().length() ) {
input0 = new FGATCInput( 0, input0_path );
input0->open();
}
if ( input1_path.str().length() ) {
input1 = new FGATCInput( 1, input1_path );
input1->open();
}
SG_LOG( SG_IO, SG_ALERT,
"Initializing ATC hardware, please wait ..." );
set_hz( 30 ); // default to processing requests @ 30Hz
set_enabled( true );
board = 0; // 610x uses a single board number = 0
snprintf( lock_file, 256, "/proc/atc610x/board%d/lock", board );
snprintf( lamps_file, 256, "/proc/atc610x/board%d/lamps", board );
snprintf( radios_file, 256, "/proc/atc610x/board%d/radios", board );
snprintf( radio_display_file, 256, "/proc/atc610x/board%d/radios", board );
snprintf( stepper_file, 256, "/proc/atc610x/board%d/steppers", board );
#if defined( unix ) || defined( __CYGWIN__ )
/////////////////////////////////////////////////////////////////////
// Open the /proc files
/////////////////////////////////////////////////////////////////////
lock_fd = ::open( lock_file, O_RDWR );
if ( lock_fd == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
char msg[256];
snprintf( msg, 256, "Error opening %s", lock_file );
perror( msg );
exit( -1 );
}
lamps_fd = ::open( lamps_file, O_WRONLY );
if ( lamps_fd == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
@ -237,11 +222,11 @@ bool FGATC610x::open() {
exit( -1 );
}
radios_fd = ::open( radios_file, O_RDWR );
if ( radios_fd == -1 ) {
radio_display_fd = ::open( radio_display_file, O_RDWR );
if ( radio_display_fd == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
char msg[256];
snprintf( msg, 256, "Error opening %s", radios_file );
snprintf( msg, 256, "Error opening %s", radio_display_file );
perror( msg );
exit( -1 );
}
@ -255,6 +240,7 @@ bool FGATC610x::open() {
exit( -1 );
}
#endif
/////////////////////////////////////////////////////////////////////
// Home the compass stepper motor
@ -264,13 +250,13 @@ bool FGATC610x::open() {
" - Homing the compass stepper motor" );
// Lock the hardware, keep trying until we succeed
while ( ATC610xLock( lock_fd ) <= 0 );
while ( ATCLock( lock_fd ) <= 0 );
// Send the stepper home command
ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, ATC_STEPPER_HOME );
ATCSetStepper( stepper_fd, ATC_COMPASS_CH, ATC_STEPPER_HOME );
// Release the hardware
ATC610xRelease( lock_fd );
ATCRelease( lock_fd );
SG_LOG( SG_IO, SG_ALERT,
" - Waiting for compass to come home." );
@ -285,14 +271,14 @@ bool FGATC610x::open() {
SG_LOG( SG_IO, SG_DEBUG, "Checking if compass home ..." );
}
while ( ATC610xLock( lock_fd ) <= 0 );
while ( ATCLock( lock_fd ) <= 0 );
unsigned char result = ATC610xReadStepper( stepper_fd );
unsigned char result = ATCReadStepper( stepper_fd );
if ( result == 0 ) {
home = true;
}
ATC610xRelease( lock_fd );
ATCRelease( lock_fd );
#if defined( _MSC_VER )
ulMilliSecondSleep(33);
@ -321,19 +307,19 @@ bool FGATC610x::open() {
}
// Lock the hardware, keep trying until we succeed
while ( ATC610xLock( lock_fd ) <= 0 );
while ( ATCLock( lock_fd ) <= 0 );
// Set radio display
ATC610xSetRadios( radios_fd, radio_display_data );
ATCSetRadios( radio_display_fd, radio_display_data );
ATC610xRelease( lock_fd );
ATCRelease( lock_fd );
/////////////////////////////////////////////////////////////////////
// Blank the lamps
/////////////////////////////////////////////////////////////////////
for ( int i = 0; i < 128; ++i ) {
ATC610xSetLamp( lamps_fd, i, false );
ATCSetLamp( lamps_fd, i, false );
}
/////////////////////////////////////////////////////////////////////
@ -341,164 +327,24 @@ bool FGATC610x::open() {
/////////////////////////////////////////////////////////////////////
SG_LOG( SG_IO, SG_ALERT,
"Done initializing ATC 610x hardware." );
"Done initializing ATC hardware." );
is_open = true;
/////////////////////////////////////////////////////////////////////
// Connect up to property values
/////////////////////////////////////////////////////////////////////
mag_compass
= fgGetNode( "/instrumentation/magnetic-compass/indicated-heading-deg",
true );
char base_name[256];
dme_min = fgGetNode( "/instrumentation/dme/indicated-time-min", true );
dme_kt = fgGetNode( "/instrumentation/dme/indicated-ground-speed-kt",
true );
dme_nm = fgGetNode( "/instrumentation/dme/indicated-distance-nm", true );
dme_in_range = fgGetNode( "/instrumentation/dme/in-range", true );
snprintf( base_name, 256, "/output/atc-board[%d]/lamps", board );
lamps_out_node = fgGetNode( base_name );
adf_bus_power = fgGetNode( "/systems/electrical/outputs/adf", true );
dme_bus_power = fgGetNode( "/systems/electrical/outputs/dme", true );
navcom1_bus_power = fgGetNode( "/systems/electrical/outputs/nav[0]",
true );
navcom2_bus_power = fgGetNode( "/systems/electrical/outputs/nav[1]",
true );
xpdr_bus_power = fgGetNode( "/systems/electrical/outputs/transponder",
true );
snprintf( base_name, 256, "/output/atc-board[%d]/radio-display", board );
radio_display_node = fgGetNode( base_name );
navcom1_power_btn = fgGetNode( "/instrumentation/comm[0]/inputs/power-btn", true );
navcom2_power_btn = fgGetNode( "/instrumentation/comm[1]/inputs/power-btn", true );
com1_freq = fgGetNode( "/instrumentation/comm[0]/frequencies/selected-mhz", true );
com1_stby_freq
= fgGetNode( "/instrumentation/comm[0]/frequencies/standby-mhz", true );
com2_freq = fgGetNode( "/instrumentation/comm[1]/frequencies/selected-mhz", true );
com2_stby_freq
= fgGetNode( "/instrumentation/comm[1]/frequencies/standby-mhz", true );
nav1_freq = fgGetNode( "/instrumentation/nav[0]/frequencies/selected-mhz", true );
nav1_stby_freq
= fgGetNode( "/instrumentation/nav[0]/frequencies/standby-mhz", true );
nav1_obs = fgGetNode( "/instrumentation/nav[0]/radials/selected-deg", true );
nav2_freq = fgGetNode( "/instrumentation/nav[1]/frequencies/selected-mhz", true );
nav2_stby_freq
= fgGetNode( "/instrumentation/nav[1]/frequencies/standby-mhz", true );
nav2_obs = fgGetNode( "/instrumentation/nav[1]/radials/selected-deg", true );
adf_power_btn
= fgGetNode( "/instrumentation/kr-87/inputs/power-btn", true );
adf_vol = fgGetNode( "/instrumentation/kr-87/inputs/volume", true );
adf_adf_btn = fgGetNode( "/instrumentation/kr-87/inputs/adf-btn", true );
adf_bfo_btn = fgGetNode( "/instrumentation/kr-87/inputs/bfo-btn", true );
adf_freq = fgGetNode( "/instrumentation/kr-87/outputs/selected-khz", true );
adf_stby_freq
= fgGetNode( "/instrumentation/kr-87/outputs/standby-khz", true );
adf_stby_mode = fgGetNode( "/instrumentation/kr-87/modes/stby", true );
adf_timer_mode = fgGetNode( "/instrumentation/kr-87/modes/timer", true );
adf_count_mode = fgGetNode( "/instrumentation/kr-87/modes/count", true );
adf_flight_timer
= fgGetNode( "/instrumentation/kr-87/outputs/flight-timer", true );
adf_elapsed_timer
= fgGetNode( "/instrumentation/kr-87/outputs/elapsed-timer",
true );
adf_ant_ann = fgGetNode( "/instrumentation/kr-87/annunciators/ant", true );
adf_adf_ann = fgGetNode( "/instrumentation/kr-87/annunciators/adf", true );
adf_bfo_ann = fgGetNode( "/instrumentation/kr-87/annunciators/bfo", true );
adf_frq_ann = fgGetNode( "/instrumentation/kr-87/annunciators/frq", true );
adf_flt_ann = fgGetNode( "/instrumentation/kr-87/annunciators/flt", true );
adf_et_ann = fgGetNode( "/instrumentation/kr-87/annunciators/et", true );
inner = fgGetNode( "/instrumentation/marker-beacon/inner", true );
middle = fgGetNode( "/instrumentation/marker-beacon/middle", true );
outer = fgGetNode( "/instrumentation/marker-beacon/outer", true );
xpdr_ident_btn
= fgGetNode( "/instrumentation/kt-70/inputs/ident-btn", true );
xpdr_digit1 = fgGetNode( "/instrumentation/kt-70/inputs/digit1", true );
xpdr_digit2 = fgGetNode( "/instrumentation/kt-70/inputs/digit2", true );
xpdr_digit3 = fgGetNode( "/instrumentation/kt-70/inputs/digit3", true );
xpdr_digit4 = fgGetNode( "/instrumentation/kt-70/inputs/digit4", true );
xpdr_func_knob
= fgGetNode( "/instrumentation/kt-70/inputs/func-knob", true );
xpdr_id_code = fgGetNode( "/instrumentation/kt-70/outputs/id-code", true );
xpdr_flight_level
= fgGetNode( "/instrumentation/kt-70/outputs/flight-level", true );
xpdr_fl_ann = fgGetNode( "/instrumentation/kt-70/annunciators/fl", true );
xpdr_alt_ann = fgGetNode( "/instrumentation/kt-70/annunciators/alt", true );
xpdr_gnd_ann = fgGetNode( "/instrumentation/kt-70/annunciators/gnd", true );
xpdr_on_ann = fgGetNode( "/instrumentation/kt-70/annunciators/on", true );
xpdr_sby_ann = fgGetNode( "/instrumentation/kt-70/annunciators/sby", true );
xpdr_reply_ann
= fgGetNode( "/instrumentation/kt-70/annunciators/reply", true );
ati_bird
= fgGetNode( "/instrumentation/attitude-indicator/horizon-offset-deg",
true );
alt_press = fgGetNode( "/instrumentation/altimeter/setting-inhg", true );
adf_hdg = fgGetNode( "/instrumentation/kr-87/inputs/rotation-deg", true );
hdg_bug = fgGetNode( "/autopilot/settings/heading-bug-deg", true );
elevator_center = fgGetNode( "/input/atc610x/elevator/center", true );
elevator_min = fgGetNode( "/input/atc610x/elevator/min", true );
elevator_max = fgGetNode( "/input/atc610x/elevator/max", true );
ailerons_center = fgGetNode( "/input/atc610x/ailerons/center", true );
ailerons_min = fgGetNode( "/input/atc610x/ailerons/min", true );
ailerons_max = fgGetNode( "/input/atc610x/ailerons/max", true );
rudder_center = fgGetNode( "/input/atc610x/rudder/center", true );
rudder_min = fgGetNode( "/input/atc610x/rudder/min", true );
rudder_max = fgGetNode( "/input/atc610x/rudder/max", true );
brake_left_min = fgGetNode( "/input/atc610x/brake-left/min", true );
brake_left_max = fgGetNode( "/input/atc610x/brake-left/max", true );
brake_right_min = fgGetNode( "/input/atc610x/brake-right/min", true );
brake_right_max = fgGetNode( "/input/atc610x/brake-right/max", true );
throttle_min = fgGetNode( "/input/atc610x/throttle/min", true );
throttle_max = fgGetNode( "/input/atc610x/throttle/max", true );
mixture_min = fgGetNode( "/input/atc610x/mixture/min", true );
mixture_max = fgGetNode( "/input/atc610x/mixture/max", true );
trim_center = fgGetNode( "/input/atc610x/trim/center", true );
trim_min = fgGetNode( "/input/atc610x/trim/min", true );
trim_max = fgGetNode( "/input/atc610x/trim/max", true );
nav1vol_min = fgGetNode( "/input/atc610x/nav1vol/min", true );
nav1vol_max = fgGetNode( "/input/atc610x/nav1vol/max", true );
nav2vol_min = fgGetNode( "/input/atc610x/nav2vol/min", true );
nav2vol_max = fgGetNode( "/input/atc610x/nav2vol/max", true );
ignore_flight_controls
= fgGetNode( "/input/atc610x/ignore-flight-controls", true );
comm1_serviceable
= fgGetNode( "/instrumentation/comm[0]/serviceable", true );
comm2_serviceable
= fgGetNode( "/instrumentation/comm[1]/serviceable", true );
nav1_serviceable = fgGetNode( "/instrumentation/nav[0]/serviceable", true );
nav2_serviceable = fgGetNode( "/instrumentation/nav[1]/serviceable", true );
adf_serviceable = fgGetNode( "/instrumentation/adf/serviceable", true );
xpdr_serviceable
= fgGetNode( "/instrumentation/kt-70/inputs/serviceable", true );
dme_serviceable = fgGetNode( "/instrumentation/dme/serviceable", true );
dme_selector
= fgGetNode( "/input/atc-board/radio-switches/raw/dme-switch-position");
// default to having everything serviceable
comm1_serviceable->setBoolValue( true );
comm2_serviceable->setBoolValue( true );
nav1_serviceable->setBoolValue( true );
nav2_serviceable->setBoolValue( true );
adf_serviceable->setBoolValue( true );
xpdr_serviceable->setBoolValue( true );
dme_serviceable->setBoolValue( true );
snprintf( base_name, 256, "/output/atc-board[%d]/steppers", board );
steppers_node = fgGetNode( base_name );
return true;
}
@ -508,28 +354,40 @@ bool FGATC610x::open() {
// Write the lights
/////////////////////////////////////////////////////////////////////
bool FGATC610x::do_lights() {
bool FGATCOutput::do_lamps() {
// Marker beacons
ATC610xSetLamp( lamps_fd, 4, inner->getBoolValue() );
ATC610xSetLamp( lamps_fd, 5, middle->getBoolValue() );
ATC610xSetLamp( lamps_fd, 3, outer->getBoolValue() );
if ( lamps_out_node != NULL ) {
for ( int i = 0; i < lamps_out_node->nChildren(); ++i ) {
// read the next config entry from the property tree
// ADF annunciators
ATC610xSetLamp( lamps_fd, 11, adf_ant_ann->getBoolValue() ); // ANT
ATC610xSetLamp( lamps_fd, 12, adf_adf_ann->getBoolValue() ); // ADF
ATC610xSetLamp( lamps_fd, 13, adf_bfo_ann->getBoolValue() ); // BFO
ATC610xSetLamp( lamps_fd, 14, adf_frq_ann->getBoolValue() ); // FRQ
ATC610xSetLamp( lamps_fd, 15, adf_flt_ann->getBoolValue() ); // FLT
ATC610xSetLamp( lamps_fd, 16, adf_et_ann->getBoolValue() ); // ET
// Transponder annunciators
ATC610xSetLamp( lamps_fd, 17, xpdr_fl_ann->getBoolValue() ); // FL
ATC610xSetLamp( lamps_fd, 18, xpdr_alt_ann->getBoolValue() ); // ALT
ATC610xSetLamp( lamps_fd, 19, xpdr_gnd_ann->getBoolValue() ); // GND
ATC610xSetLamp( lamps_fd, 20, xpdr_on_ann->getBoolValue() ); // ON
ATC610xSetLamp( lamps_fd, 21, xpdr_sby_ann->getBoolValue() ); // SBY
ATC610xSetLamp( lamps_fd, 22, xpdr_reply_ann->getBoolValue() ); // R
SGPropertyNode *child = lamps_out_node->getChild(i);
string cname = child->getName();
int index = child->getIndex();
string name = "";
string type = "";
SGPropertyNode *src_prop = NULL;
if ( cname == "lamp" ) {
SGPropertyNode *prop;
prop = child->getChild( "name" );
if ( prop != NULL ) {
name = prop->getStringValue();
}
prop = child->getChild( "type" );
if ( prop != NULL ) {
type = prop->getStringValue();
}
prop = child->getChild( "prop" );
if ( prop != NULL ) {
src_prop = fgGetNode( prop->getStringValue(), true );
}
ATCSetLamp( lamps_fd, index, src_prop->getBoolValue() );
} else {
SG_LOG( SG_IO, SG_DEBUG,
"Input config error, expecting 'lamp' but found "
<< cname );
}
}
}
return true;
}
@ -539,7 +397,119 @@ bool FGATC610x::do_lights() {
// Update the radio display
/////////////////////////////////////////////////////////////////////
bool FGATC610x::do_radio_display() {
static bool navcom1_has_power() {
static SGPropertyNode *navcom1_bus_power
= fgGetNode( "/systems/electrical/outputs/nav[0]", true );
static SGPropertyNode *navcom1_power_btn
= fgGetNode( "/instrumentation/comm[0]/inputs/power-btn", true );
return (navcom1_bus_power->getDoubleValue() > 1.0)
&& navcom1_power_btn->getBoolValue();
}
static bool navcom2_has_power() {
static SGPropertyNode *navcom2_bus_power
= fgGetNode( "/systems/electrical/outputs/nav[1]", true );
static SGPropertyNode *navcom2_power_btn
= fgGetNode( "/instrumentation/comm[1]/inputs/power-btn", true );
return (navcom2_bus_power->getDoubleValue() > 1.0)
&& navcom2_power_btn->getBoolValue();
}
static bool dme_has_power() {
static SGPropertyNode *dme_bus_power
= fgGetNode( "/systems/electrical/outputs/dme", true );
return (dme_bus_power->getDoubleValue() > 1.0);
}
static bool adf_has_power() {
static SGPropertyNode *adf_bus_power
= fgGetNode( "/systems/electrical/outputs/adf", true );
static SGPropertyNode *adf_power_btn
= fgGetNode( "/instrumentation/kr-87/inputs/power-btn", true );
return (adf_bus_power->getDoubleValue() > 1.0)
&& adf_power_btn->getBoolValue();
}
static bool xpdr_has_power() {
static SGPropertyNode *xpdr_bus_power
= fgGetNode( "/systems/electrical/outputs/transponder", true );
static SGPropertyNode *xpdr_func_knob
= fgGetNode( "/instrumentation/kt-70/inputs/func-knob", true );
return (xpdr_bus_power->getDoubleValue() > 1.0)
&& (xpdr_func_knob->getIntValue() > 0);
}
bool FGATCOutput::do_radio_display() {
static SGPropertyNode *dme_serviceable
= fgGetNode( "/instrumentation/dme/serviceable", true );
static SGPropertyNode *dme_in_range
= fgGetNode( "/instrumentation/dme/in-range", true );
static SGPropertyNode *dme_min
= fgGetNode( "/instrumentation/dme/indicated-time-min", true );
static SGPropertyNode *dme_kt
= fgGetNode( "/instrumentation/dme/indicated-ground-speed-kt", true );
static SGPropertyNode *dme_nm
= fgGetNode( "/instrumentation/dme/indicated-distance-nm", true );
static SGPropertyNode *comm1_serviceable
= fgGetNode( "/instrumentation/comm[0]/serviceable", true );
static SGPropertyNode *com1_freq
= fgGetNode( "/instrumentation/comm[0]/frequencies/selected-mhz", true);
static SGPropertyNode *com1_stby_freq
= fgGetNode( "/instrumentation/comm[0]/frequencies/standby-mhz", true );
static SGPropertyNode *comm2_serviceable
= fgGetNode( "/instrumentation/comm[1]/serviceable", true );
static SGPropertyNode *com2_freq
= fgGetNode( "/instrumentation/comm[1]/frequencies/selected-mhz", true);
static SGPropertyNode *com2_stby_freq
= fgGetNode( "/instrumentation/comm[1]/frequencies/standby-mhz", true );
static SGPropertyNode *nav1_serviceable
= fgGetNode( "/instrumentation/nav[0]/serviceable", true );
static SGPropertyNode *nav1_freq
= fgGetNode( "/instrumentation/nav[0]/frequencies/selected-mhz", true );
static SGPropertyNode *nav1_stby_freq
= fgGetNode( "/instrumentation/nav[0]/frequencies/standby-mhz", true );
static SGPropertyNode *nav2_serviceable
= fgGetNode( "/instrumentation/nav[1]/serviceable", true );
static SGPropertyNode *nav2_freq
= fgGetNode( "/instrumentation/nav[1]/frequencies/selected-mhz", true );
static SGPropertyNode *nav2_stby_freq
= fgGetNode( "/instrumentation/nav[1]/frequencies/standby-mhz", true );
static SGPropertyNode *adf_serviceable
= fgGetNode( "/instrumentation/adf/serviceable", true );
static SGPropertyNode *adf_freq
= fgGetNode( "/instrumentation/kr-87/outputs/selected-khz", true );
static SGPropertyNode *adf_stby_freq
= fgGetNode( "/instrumentation/kr-87/outputs/standby-khz", true );
static SGPropertyNode *adf_stby_mode
= fgGetNode( "/instrumentation/kr-87/modes/stby", true );
static SGPropertyNode *adf_timer_mode
= fgGetNode( "/instrumentation/kr-87/modes/timer", true );
// static SGPropertyNode *adf_count_mode
// = fgGetNode( "/instrumentation/kr-87/modes/count", true );
static SGPropertyNode *adf_flight_timer
= fgGetNode( "/instrumentation/kr-87/outputs/flight-timer", true );
static SGPropertyNode *adf_elapsed_timer
= fgGetNode( "/instrumentation/kr-87/outputs/elapsed-timer", true );
static SGPropertyNode *xpdr_serviceable
= fgGetNode( "/instrumentation/kt-70/inputs/serviceable", true );
static SGPropertyNode *xpdr_func_knob
= fgGetNode( "/instrumentation/kt-70/inputs/func-knob", true );
static SGPropertyNode *xpdr_flight_level
= fgGetNode( "/instrumentation/kt-70/outputs/flight-level", true );
static SGPropertyNode *xpdr_id_code
= fgGetNode( "/instrumentation/kt-70/outputs/id-code", true );
char digits[10];
int i;
@ -881,7 +851,7 @@ bool FGATC610x::do_radio_display() {
radio_display_data[40] = 0xff;
}
ATC610xSetRadios( radios_fd, radio_display_data );
ATCSetRadios( radio_display_fd, radio_display_data );
return true;
}
@ -891,7 +861,11 @@ bool FGATC610x::do_radio_display() {
// Drive the stepper motors
/////////////////////////////////////////////////////////////////////
bool FGATC610x::do_steppers() {
bool FGATCOutput::do_steppers() {
SGPropertyNode *mag_compass
= fgGetNode( "/instrumentation/magnetic-compass/indicated-heading-deg",
true );
float diff = mag_compass->getFloatValue() - compass_position;
while ( diff < -180.0 ) { diff += 360.0; }
while ( diff > 180.0 ) { diff -= 360.0; }
@ -913,54 +887,64 @@ bool FGATC610x::do_steppers() {
// sync compass_position with hardware position
compass_position += (float)steps / 4.0;
ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
ATCSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
}
return true;
}
bool FGATC610x::process() {
// Lock the hardware, skip if it's not ready yet
if ( ATC610xLock( lock_fd ) > 0 ) {
// process the ATC inputs
if ( input0 != NULL ) {
input0->process();
}
if ( input1 != NULL ) {
input1->process();
}
// run our custom nasal script. This is a layer above the raw
// hardware inputs. It handles situations where there isn't a
// direct 1-1 linear mapping between ATC functionality and FG
// functionality, and handles situations where FG expects more
// functionality from the interface than the ATC hardware can
// directly provide.
FGNasalSys *n = (FGNasalSys*)globals->get_subsystem("nasal");
bool result = n->parseAndRun( "atcsim.do_hardware()" );
if ( !result ) {
SG_LOG( SG_GENERAL, SG_ALERT,
"do_atcflightsim_hardware() failed!" );
}
do_lights();
do_radio_display();
do_steppers();
ATC610xRelease( lock_fd );
return true;
} else {
// process the hardware outputs. This code assumes the calling layer
// will lock the hardware.
bool FGATCOutput::process() {
if ( !is_open ) {
SG_LOG( SG_IO, SG_ALERT, "This board has not been opened for output! "
<< board );
return false;
}
do_lamps();
do_radio_display();
do_steppers();
return true;
}
bool FGATC610x::close() {
bool FGATCOutput::close() {
#if defined( unix ) || defined( __CYGWIN__ )
int result;
result = ::close( lamps_fd );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
char msg[256];
snprintf( msg, 256, "Error closing %s", lamps_file );
perror( msg );
exit( -1 );
}
result = ::close( radio_display_fd );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
char msg[256];
snprintf( msg, 256, "Error closing %s", radio_display_file );
perror( msg );
exit( -1 );
}
result = ::close( stepper_fd );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
char msg[256];
snprintf( msg, 256, "Error closing %s", stepper_file );
perror( msg );
exit( -1 );
}
#endif
return true;
}

90
src/Network/ATC-Outputs.hxx Normal file
View file

@ -0,0 +1,90 @@
// ATC-Outputs.hxx -- Translate FGFS properties into ATC hardware outputs
//
// Written by Curtis Olson, started November 2004.
//
// Copyright (C) 2004 Curtis L. Olson - http://www.flightgear.org/~curt
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
#ifndef _FG_ATC_OUTPUTS_HXX
#define _FG_ATC_OUTPUTS_HXX
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <Main/fg_props.hxx>
#define ATC_RADIO_DISPLAY_BYTES 48
#define ATC_COMPASS_CH 5
#define ATC_STEPPER_HOME 0xC0
class FGATCOutput {
int is_open;
int board;
SGPath config;
int lock_fd;
int lamps_fd;
int radio_display_fd;
int stepper_fd;
char lamps_file[256];
char radio_display_file[256];
char stepper_file[256];
unsigned char radio_display_data[ATC_RADIO_DISPLAY_BYTES];
SGPropertyNode *lamps_out_node;
SGPropertyNode *radio_display_node;
SGPropertyNode *steppers_node;
void init_config();
bool do_lamps();
bool do_radio_display();
bool do_steppers();
// hardwired stepper motor code
float compass_position;
public:
// Constructor: The _board parameter specifies which board to
// reference. Possible values are 0 or 1. The _config_file
// parameter specifies the location of the output config file (xml)
FGATCOutput( const int _board, const SGPath &_config_file );
// Destructor
~FGATCOutput() { }
// need to pass in atc hardware lock_fd so that the radios and
// lamps can be blanked and so that the compass can be homed.
bool open( int lock_fd );
// process the hardware outputs. This code assumes the calling
// layer will lock the hardware.
bool process();
bool close();
};
#endif // _FG_ATC_OUTPUTS_HXX

3
src/Network/Makefile.am
View file

@ -17,8 +17,9 @@ endif
libNetwork_a_SOURCES = \
protocol.cxx protocol.hxx \
ATC-Main.cxx ATC-Main.hxx \
ATC-Inputs.cxx ATC-Inputs.hxx \
atc610x.cxx atc610x.hxx \
ATC-Outputs.cxx ATC-Outputs.hxx \
atlas.cxx atlas.hxx \
garmin.cxx garmin.hxx \
httpd.cxx httpd.hxx \

185
src/Network/atc610x.hxx
View file

@ -1,185 +0,0 @@
// atc610x.hxx -- FGFS interface to ATC 610x hardware
//
// Written by Curtis Olson, started January 2002.
//
// Copyright (C) 2002 Curtis L. Olson - http://www.flightgear.org/~curt
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
#ifndef _FG_ATC610X_HXX
#define _FG_ATC610X_HXX
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <plib/netChat.h>
#include <Main/fg_props.hxx>
#include "protocol.hxx"
#include "ATC-Inputs.hxx"
#define ATC_COMPASS_CH 5
#define ATC_STEPPER_HOME 0xC0
#define ATC_RADIO_DISPLAY_BYTES 48
class FGATC610x : public FGProtocol {
FGATCInput *input0; // board0 input interface class
FGATCInput *input1; // board1 input interface class
SGPath input0_path;
SGPath input1_path;
SGPath output0_path;
SGPath output1_path;
int board;
int lock_fd;
int lamps_fd;
int radios_fd;
int stepper_fd;
char lock_file[256];
char lamps_file[256];
char radios_file[256];
char stepper_file[256];
unsigned char radio_display_data[ATC_RADIO_DISPLAY_BYTES];
unsigned char radio_switch_data[ATC_RADIO_SWITCH_BYTES];
float compass_position;
// Electrical system state
SGPropertyNode *adf_bus_power, *dme_bus_power, *xpdr_bus_power;
SGPropertyNode *navcom1_bus_power, *navcom2_bus_power;
// Property tree variables
SGPropertyNode *mag_compass;
SGPropertyNode *dme_min, *dme_kt, *dme_nm;
SGPropertyNode *dme_in_range;
SGPropertyNode *navcom1_power_btn, *navcom2_power_btn;
SGPropertyNode *com1_freq, *com1_stby_freq;
SGPropertyNode *com2_freq, *com2_stby_freq;
SGPropertyNode *nav1_freq, *nav1_stby_freq, *nav1_obs;
SGPropertyNode *nav2_freq, *nav2_stby_freq, *nav2_obs;
SGPropertyNode *adf_adf_btn, *adf_bfo_btn;
SGPropertyNode *adf_power_btn, *adf_vol;
SGPropertyNode *adf_freq, *adf_stby_freq;
SGPropertyNode *adf_stby_mode, *adf_timer_mode;
SGPropertyNode *adf_count_mode, *adf_flight_timer, *adf_elapsed_timer;
SGPropertyNode *adf_ant_ann, *adf_adf_ann, *adf_bfo_ann, *adf_frq_ann;
SGPropertyNode *adf_flt_ann, *adf_et_ann, *adf_hdg, *hdg_bug;
SGPropertyNode *inner, *middle, *outer;
SGPropertyNode *xpdr_ident_btn;
SGPropertyNode *xpdr_digit1, *xpdr_digit2, *xpdr_digit3, *xpdr_digit4;
SGPropertyNode *xpdr_func_knob, *xpdr_id_code, *xpdr_flight_level;
SGPropertyNode *xpdr_fl_ann, *xpdr_alt_ann, *xpdr_gnd_ann, *xpdr_on_ann;
SGPropertyNode *xpdr_sby_ann, *xpdr_reply_ann;
SGPropertyNode *ati_bird, *alt_press;
// Faults
SGPropertyNode *comm1_serviceable, *comm2_serviceable;
SGPropertyNode *nav1_serviceable, *nav2_serviceable;
SGPropertyNode *adf_serviceable, *xpdr_serviceable, *dme_serviceable;
// Configuration values
SGPropertyNode *elevator_center, *elevator_min, *elevator_max;
SGPropertyNode *ailerons_center, *ailerons_min, *ailerons_max;
SGPropertyNode *rudder_center, *rudder_min, *rudder_max;
SGPropertyNode *brake_left_min, *brake_left_max;
SGPropertyNode *brake_right_min, *brake_right_max;
SGPropertyNode *throttle_min, *throttle_max;
SGPropertyNode *mixture_min, *mixture_max;
SGPropertyNode *trim_center, *trim_min, *trim_max;
SGPropertyNode *nav1vol_min, *nav1vol_max;
SGPropertyNode *nav2vol_min, *nav2vol_max;
// raw switch positions
SGPropertyNode *dme_selector;
SGPropertyNode *ignore_flight_controls;
int dme_switch;
bool do_lights();
bool do_radio_display();
bool do_steppers();
// convenience
inline bool adf_has_power() const {
return (adf_bus_power->getDoubleValue() > 1.0)
&& adf_power_btn->getBoolValue();
}
inline bool dme_has_power() const {
return (dme_bus_power->getDoubleValue() > 1.0)
&& dme_switch;
}
inline bool navcom1_has_power() const {
return (navcom1_bus_power->getDoubleValue() > 1.0)
&& navcom1_power_btn->getBoolValue();
}
inline bool navcom2_has_power() const {
return (navcom2_bus_power->getDoubleValue() > 1.0)
&& navcom2_power_btn->getBoolValue();
}
inline bool xpdr_has_power() const {
return (xpdr_bus_power->getDoubleValue() > 1.0)
&& (xpdr_func_knob->getIntValue() > 0);
}
public:
FGATC610x() :
input0(NULL),
input1(NULL),
input0_path(""),
input1_path(""),
output0_path(""),
output1_path("")
{ }
~FGATC610x() {
delete input0;
delete input1;
}
// Open and initialize ATC 610x hardware
bool open();
void init_config();
bool process();
bool close();
inline void set_path_names( const SGPath &in0, const SGPath &in1,
const SGPath &out0, const SGPath &out1 )
{
input0_path = in0;
input1_path = in1;
output0_path = out0;
output1_path = out1;
}
};
#endif // _FG_ATC610X_HXX