More work on the ATC FS hardware interface.

src/Network/ATC-Main.cxx

@@ -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;
+}

src/Network/ATC-Main.hxx

@@ -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

src/Network/ATC-Outputs.cxx

@@ -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()
+#if defined( unix ) || defined( __CYGWIN__ )
 #  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 "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
+// Release the ATC hardware
-static int ATC610xRelease( int fd ) {
+static int ATCRelease( int fd ) {
     // rewind
     lseek( fd, 0, SEEK_SET );
 
@@ -87,10 +77,22 @@ static int ATC610xRelease( int fd ) {
 }
 
 
-// Write a radios command
+// Constructor: The _board parameter specifies which board to
-static int ATC610xSetRadios( int fd,
+// reference.  Possible values are 0 or 1.  The _config_file parameter
-			     unsigned char data[ATC_RADIO_DISPLAY_BYTES] )
+// 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
+    if ( config.str()[0] != '/' ) {
+        // not an absolute path, prepend the standard location
+        SGPath tmp;
         char *envp = ::getenv( "HOME" );
         if ( envp != NULL ) {
-        SGPath atc610x_config( envp );
+            tmp = envp;
-        atc610x_config.append( ".fgfs-atc610x.xml" );
+            tmp.append( ".atcflightsim" );
-        readProperties( atc610x_config.str(), globals->get_props() );
+            tmp.append( config.str() );
+            config = tmp;
         }
+    }
+    readProperties( config.str(), globals->get_props() );
 #endif
 }
 
 
-// Open and initialize ATC 610x hardware
+// Open and initialize the ATC hardware
-bool FGATC610x::open() {
+bool FGATCOutput::open( int lock_fd ) {
-    if ( is_enabled() ) {
+    if ( is_open ) {
-	SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel " 
+	SG_LOG( SG_IO, SG_ALERT, "This board is already open for output! "
-		<< "is already in use, ignoring" );
+                << 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() ) {
+    SG_LOG( SG_IO, SG_ALERT,
-        input0 = new FGATCInput( 0, input0_path );
+	    "Initializing ATC hardware, please wait ..." );
-        input0->open();
-    }
-    if ( input1_path.str().length() ) {
-        input1 = new FGATCInput( 1, input1_path );
-        input1->open();
-    }
 
-    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 );
+    radio_display_fd = ::open( radio_display_file, O_RDWR );
-    if ( radios_fd == -1 ) {
+    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
+    char base_name[256];
-        = fgGetNode( "/instrumentation/magnetic-compass/indicated-heading-deg",
-                     true );
 
-    dme_min = fgGetNode( "/instrumentation/dme/indicated-time-min", true );
+    snprintf( base_name, 256, "/output/atc-board[%d]/lamps", board );
-    dme_kt = fgGetNode( "/instrumentation/dme/indicated-ground-speed-kt",
+    lamps_out_node = fgGetNode( base_name );
-                        true );
-    dme_nm = fgGetNode( "/instrumentation/dme/indicated-distance-nm", true );
-    dme_in_range = fgGetNode( "/instrumentation/dme/in-range", true );
 
-    adf_bus_power = fgGetNode( "/systems/electrical/outputs/adf", true );
+    snprintf( base_name, 256, "/output/atc-board[%d]/radio-display", board );
-    dme_bus_power = fgGetNode( "/systems/electrical/outputs/dme", true );
+    radio_display_node = fgGetNode( base_name );
-    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 );
 
-    navcom1_power_btn = fgGetNode( "/instrumentation/comm[0]/inputs/power-btn", true );
+    snprintf( base_name, 256, "/output/atc-board[%d]/steppers", board );
-    navcom2_power_btn = fgGetNode( "/instrumentation/comm[1]/inputs/power-btn", true );
+    steppers_node = fgGetNode( base_name );
-
-    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 );
 
     return true;
 }
@@ -508,28 +354,40 @@ bool FGATC610x::open() {
 // Write the lights
 /////////////////////////////////////////////////////////////////////
 
-bool FGATC610x::do_lights() {
+bool FGATCOutput::do_lamps() {
 
-    // Marker beacons
+    if ( lamps_out_node != NULL ) {
-    ATC610xSetLamp( lamps_fd, 4, inner->getBoolValue() );
+        for ( int i = 0; i < lamps_out_node->nChildren(); ++i ) {
-    ATC610xSetLamp( lamps_fd, 5, middle->getBoolValue() );
+            // read the next config entry from the property tree
-    ATC610xSetLamp( lamps_fd, 3, outer->getBoolValue() );
 
-    // ADF annunciators
+            SGPropertyNode *child = lamps_out_node->getChild(i);
-    ATC610xSetLamp( lamps_fd, 11, adf_ant_ann->getBoolValue() ); // ANT
+            string cname = child->getName();
-    ATC610xSetLamp( lamps_fd, 12, adf_adf_ann->getBoolValue() ); // ADF
+            int index = child->getIndex();
-    ATC610xSetLamp( lamps_fd, 13, adf_bfo_ann->getBoolValue() ); // BFO
+            string name = "";
-    ATC610xSetLamp( lamps_fd, 14, adf_frq_ann->getBoolValue() ); // FRQ
+            string type = "";
-    ATC610xSetLamp( lamps_fd, 15, adf_flt_ann->getBoolValue() ); // FLT
+            SGPropertyNode *src_prop = NULL;
-    ATC610xSetLamp( lamps_fd, 16, adf_et_ann->getBoolValue() ); // ET
+            if ( cname == "lamp" ) {
-
+                SGPropertyNode *prop;
-    // Transponder annunciators
+                prop = child->getChild( "name" );
-    ATC610xSetLamp( lamps_fd, 17, xpdr_fl_ann->getBoolValue() ); // FL
+                if ( prop != NULL ) {
-    ATC610xSetLamp( lamps_fd, 18, xpdr_alt_ann->getBoolValue() ); // ALT
+                    name = prop->getStringValue();
-    ATC610xSetLamp( lamps_fd, 19, xpdr_gnd_ann->getBoolValue() ); // GND
+                }
-    ATC610xSetLamp( lamps_fd, 20, xpdr_on_ann->getBoolValue() ); // ON
+                prop = child->getChild( "type" );
-    ATC610xSetLamp( lamps_fd, 21, xpdr_sby_ann->getBoolValue() ); // SBY
+                if ( prop != NULL ) {
-    ATC610xSetLamp( lamps_fd, 22, xpdr_reply_ann->getBoolValue() ); // R
+                    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() {
+// process the hardware outputs.  This code assumes the calling layer
-    
+// will lock the hardware.
-    // Lock the hardware, skip if it's not ready yet
+bool FGATCOutput::process() {
-    if ( ATC610xLock( lock_fd ) > 0 ) {
+    if ( !is_open ) {
-
+	SG_LOG( SG_IO, SG_ALERT, "This board has not been opened for output! "
-        // process the ATC inputs
+                << board );
-        if ( input0 != NULL ) {
+	return false;
-            input0->process();
-        }
-        if ( input1 != NULL ) {
-            input1->process();
     }
 
-        // run our custom nasal script.  This is a layer above the raw
+    do_lamps();
-        // 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 {
-	return false;
-    }
 }
 
 
-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;
 }

src/Network/ATC-Outputs.hxx

@@ -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

src/Network/Makefile.am

@@ -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 \

src/Network/atc610x.hxx

@@ -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