1 // ATC-Main.cxx -- FGFS interface to ATC hardware
3 // Written by Curtis Olson, started January 2002
5 // Copyright (C) 2002 Curtis L. Olson - http://www.flightgear.org/~curt
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
28 #include <simgear/compiler.h>
30 #include <stdlib.h> // atoi() atof() abs()
31 #include <sys/types.h>
36 #include <stdio.h> //snprintf
38 # include <io.h> //lseek, read, write
43 #include <simgear/debug/logstream.hxx>
44 #include <simgear/props/props_io.hxx>
45 #include <simgear/io/iochannel.hxx>
46 #include <simgear/math/sg_types.hxx>
47 #include <simgear/misc/sg_path.hxx>
48 #include <simgear/props/props.hxx>
50 #include <Scripting/NasalSys.hxx>
51 #include <Main/fg_props.hxx>
52 #include <Main/globals.hxx>
54 #include "ATC-Main.hxx"
61 // Lock the ATC hardware
62 static int fgATCMainLock( int fd ) {
64 lseek( fd, 0, SEEK_SET );
67 int result = read( fd, tmp, 1 );
69 SG_LOG( SG_IO, SG_DEBUG, "Lock failed" );
76 // Write a radios command
77 static int fgATCMainRelease( int fd ) {
79 lseek( fd, 0, SEEK_SET );
83 int result = write( fd, tmp, 1 );
86 SG_LOG( SG_IO, SG_DEBUG, "Release failed" );
93 void FGATCMain::init_config() {
94 #if defined( unix ) || defined( __CYGWIN__ )
95 // Next check home directory for .fgfsrc.hostname file
96 char *envp = ::getenv( "HOME" );
98 SGPath atcsim_config( envp );
99 atcsim_config.append( ".fgfs-atc610x.xml" );
101 SG_LOG(SG_GENERAL, SG_ALERT,
102 "Warning: loading deprecated config file: " <<
103 atcsim_config.str() );
104 readProperties( atcsim_config.str(), globals->get_props() );
105 } catch (const sg_exception &e) {
106 // fail silently, this is an old style config file I want to continue
107 // to support if it exists.
114 // Open and initialize ATC hardware
115 bool FGATCMain::open() {
116 if ( is_enabled() ) {
117 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
118 << "is already in use, ignoring" );
122 SG_LOG( SG_IO, SG_ALERT,
123 "Initializing ATC hardware, please wait ..." );
125 // This loads the config parameters generated by "simcal"
128 /////////////////////////////////////////////////////////////////////
129 // Open the /proc files
130 /////////////////////////////////////////////////////////////////////
132 string lock0_file = "/proc/atcflightsim/board0/lock";
133 string lock1_file = "/proc/atcflightsim/board1/lock";
135 lock0_fd = ::open( lock0_file.c_str(), O_RDWR );
136 if ( lock0_fd == -1 ) {
137 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
139 snprintf( msg, 256, "Error opening %s", lock0_file.c_str() );
144 lock1_fd = ::open( lock1_file.c_str(), O_RDWR );
145 if ( lock1_fd == -1 ) {
146 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
148 snprintf( msg, 256, "Error opening %s", lock1_file.c_str() );
153 if ( input0_path.str().length() ) {
154 input0 = new FGATCInput( 0, input0_path );
157 if ( input1_path.str().length() ) {
158 input1 = new FGATCInput( 1, input1_path );
161 if ( output0_path.str().length() ) {
162 output0 = new FGATCOutput( 0, output0_path );
163 output0->open( lock0_fd );
165 if ( output1_path.str().length() ) {
166 output1 = new FGATCOutput( 1, output1_path );
167 output1->open( lock1_fd );
170 set_hz( 30 ); // default to processing requests @ 30Hz
173 /////////////////////////////////////////////////////////////////////
174 // Finished initing hardware
175 /////////////////////////////////////////////////////////////////////
177 SG_LOG( SG_IO, SG_ALERT,
178 "Done initializing ATC hardware." );
184 bool FGATCMain::process() {
185 // cout << "Main::process()\n";
187 bool board0_locked = false;
188 bool board1_locked = false;
190 if ( input0 != NULL || output0 != NULL ) {
191 // Lock board0 if we have a configuration for it
192 if ( fgATCMainLock( lock0_fd ) > 0 ) {
193 board0_locked = true;
197 if ( input1 != NULL || output1 != NULL ) {
198 // Lock board1 if we have a configuration for it
199 if ( fgATCMainLock( lock1_fd ) > 0 ) {
200 board1_locked = true;
204 // cout << " locks: ";
205 // if ( board0_locked ) { cout << "board0 "; }
206 // if ( board1_locked ) { cout << "board1 "; }
209 // process the ATC inputs
210 if ( input0 != NULL && board0_locked ) {
213 if ( input1 != NULL && board1_locked ) {
217 // run our custom nasal script. This is a layer above the raw
218 // hardware inputs. It handles situations where there isn't a
219 // direct 1-1 linear mapping between ATC functionality and FG
220 // functionality, and handles situations where FG expects more
221 // functionality from the interface than the ATC hardware can
224 FGNasalSys *n = (FGNasalSys*)globals->get_subsystem("nasal");
225 bool result = n->parseAndRun( "atcsim.update()" );
227 SG_LOG( SG_GENERAL, SG_ALERT, "Nasal: atcsim.update() failed!" );
230 // process the ATC outputs
231 if ( output0 != NULL && board0_locked ) {
234 if ( output1 != NULL && board1_locked ) {
238 if ( board0_locked ) {
239 fgATCMainRelease( lock0_fd );
241 if ( board1_locked ) {
242 fgATCMainRelease( lock1_fd );
249 bool FGATCMain::close() {
250 cout << "FGATCMain::close()" << endl;
254 if ( input0 != NULL ) {
257 if ( input1 != NULL ) {
260 if ( output0 != NULL ) {
263 if ( output1 != NULL ) {
267 result = ::close( lock0_fd );
268 if ( result == -1 ) {
269 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
271 snprintf( msg, 256, "Error closing lock0_fd" );
276 result = ::close( lock1_fd );
277 if ( result == -1 ) {
278 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
280 snprintf( msg, 256, "Error closing lock1_fd" );