2 * Copyright © 2010 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
21 import java.awt.event.*;
23 import javax.swing.filechooser.FileNameExtensionFilter;
24 import javax.swing.table.*;
28 import java.util.prefs.*;
29 import java.util.concurrent.LinkedBlockingQueue;
32 import altosui.AltosSerial;
33 import altosui.AltosSerialMonitor;
34 import altosui.AltosRecord;
35 import altosui.AltosTelemetry;
36 import altosui.AltosState;
37 import altosui.AltosDeviceDialog;
38 import altosui.AltosPreferences;
39 import altosui.AltosLog;
40 import altosui.AltosVoice;
41 import altosui.AltosFlightStatusTableModel;
42 import altosui.AltosFlightInfoTableModel;
43 import altosui.AltosChannelMenu;
44 import altosui.AltosFlashUI;
45 import altosui.AltosLogfileChooser;
46 import altosui.AltosCSVUI;
47 import altosui.AltosLine;
51 public class AltosUI extends JFrame {
52 private int channel = -1;
54 private AltosFlightStatusTableModel flightStatusModel;
55 private JTable flightStatus;
57 static final int info_columns = 3;
59 private AltosFlightInfoTableModel[] flightInfoModel;
60 private JTable[] flightInfo;
61 private AltosSerial serial_line;
62 private AltosLog altos_log;
67 private Font statusFont = new Font("SansSerif", Font.BOLD, 24);
68 private Font infoLabelFont = new Font("SansSerif", Font.PLAIN, 14);
69 private Font infoValueFont = new Font("Monospaced", Font.PLAIN, 14);
71 public AltosVoice voice = new AltosVoice();
75 String[] statusNames = { "Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
76 Object[][] statusData = { { "0", "pad", "-50", "0" } };
78 java.net.URL imgURL = AltosUI.class.getResource("/altus-metrum-16x16.jpg");
80 setIconImage(new ImageIcon(imgURL).getImage());
82 AltosPreferences.init(this);
84 vbox = Box.createVerticalBox();
87 flightStatusModel = new AltosFlightStatusTableModel();
88 flightStatus = new JTable(flightStatusModel);
89 flightStatus.setFont(statusFont);
90 TableColumnModel tcm = flightStatus.getColumnModel();
91 for (int i = 0; i < flightStatusModel.getColumnCount(); i++) {
92 DefaultTableCellRenderer r = new DefaultTableCellRenderer();
93 r.setFont(statusFont);
94 r.setHorizontalAlignment(SwingConstants.CENTER);
95 tcm.getColumn(i).setCellRenderer(r);
98 FontMetrics statusMetrics = flightStatus.getFontMetrics(statusFont);
99 int statusHeight = (statusMetrics.getHeight() + statusMetrics.getLeading()) * 15 / 10;
100 flightStatus.setRowHeight(statusHeight);
101 flightStatus.setShowGrid(false);
103 vbox.add(flightStatus);
105 hbox = Box.createHorizontalBox();
108 flightInfo = new JTable[3];
109 flightInfoModel = new AltosFlightInfoTableModel[3];
111 FontMetrics infoValueMetrics = flightStatus.getFontMetrics(infoValueFont);
112 int infoHeight = (infoValueMetrics.getHeight() + infoValueMetrics.getLeading()) * 20 / 10;
114 for (int i = 0; i < info_columns; i++) {
115 ibox[i] = Box.createVerticalBox();
116 flightInfoModel[i] = new AltosFlightInfoTableModel();
117 flightInfo[i] = new JTable(flightInfoModel[i]);
118 flightInfo[i].setFont(infoValueFont);
119 flightInfo[i].setRowHeight(infoHeight);
120 flightInfo[i].setShowGrid(true);
121 ibox[i].add(flightInfo[i].getTableHeader());
122 ibox[i].add(flightInfo[i]);
130 serial_line = new AltosSerial();
131 altos_log = new AltosLog(serial_line);
132 int dpi = Toolkit.getDefaultToolkit().getScreenResolution();
133 this.setSize(new Dimension (infoValueMetrics.charWidth('0') * 6 * 20,
134 statusHeight * 4 + infoHeight * 17));
136 setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
137 addWindowListener(new WindowAdapter() {
139 public void windowClosing(WindowEvent e) {
143 voice.speak("Rocket flight monitor ready.");
146 public void info_reset() {
147 for (int i = 0; i < info_columns; i++)
148 flightInfoModel[i].resetRow();
151 public void info_add_row(int col, String name, String value) {
152 flightInfoModel[col].addRow(name, value);
155 public void info_add_row(int col, String name, String format, Object... parameters) {
156 flightInfoModel[col].addRow(name, String.format(format, parameters));
159 public void info_add_deg(int col, String name, double v, int pos, int neg) {
165 double deg = Math.floor(v);
166 double min = (v - deg) * 60;
168 flightInfoModel[col].addRow(name, String.format("%3.0f°%08.5f'", deg, min));
171 public void info_finish() {
172 for (int i = 0; i < info_columns; i++)
173 flightInfoModel[i].finish();
176 public void show(AltosState state, int crc_errors) {
179 flightStatusModel.set(state);
182 info_add_row(0, "Rocket state", "%s", state.data.state());
183 info_add_row(0, "Callsign", "%s", state.data.callsign);
184 info_add_row(0, "Rocket serial", "%6d", state.data.serial);
185 info_add_row(0, "Rocket flight", "%6d", state.data.flight);
187 info_add_row(0, "RSSI", "%6d dBm", state.data.rssi);
188 info_add_row(0, "CRC Errors", "%6d", crc_errors);
189 info_add_row(0, "Height", "%6.0f m", state.height);
190 info_add_row(0, "Max height", "%6.0f m", state.max_height);
191 info_add_row(0, "Acceleration", "%8.1f m/s²", state.acceleration);
192 info_add_row(0, "Max acceleration", "%8.1f m/s²", state.max_acceleration);
193 info_add_row(0, "Speed", "%8.1f m/s", state.ascent ? state.speed : state.baro_speed);
194 info_add_row(0, "Max Speed", "%8.1f m/s", state.max_speed);
195 info_add_row(0, "Temperature", "%9.2f °C", state.temperature);
196 info_add_row(0, "Battery", "%9.2f V", state.battery);
197 info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense);
198 info_add_row(0, "Main", "%9.2f V", state.main_sense);
199 info_add_row(0, "Pad altitude", "%6.0f m", state.ground_altitude);
200 if (state.gps == null) {
201 info_add_row(1, "GPS", "not available");
204 info_add_row(1, "GPS state", "%s", "ready");
206 info_add_row(1, "GPS state", "wait (%d)",
208 if (state.data.gps.locked)
209 info_add_row(1, "GPS", " locked");
210 else if (state.data.gps.connected)
211 info_add_row(1, "GPS", " unlocked");
213 info_add_row(1, "GPS", " missing");
214 info_add_row(1, "Satellites", "%6d", state.data.gps.nsat);
215 info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
216 info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
217 info_add_row(1, "GPS altitude", "%6d", state.gps.alt);
218 info_add_row(1, "GPS height", "%6.0f", state.gps_height);
220 /* The SkyTraq GPS doesn't report these values */
222 info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°",
223 state.gps.ground_speed,
225 info_add_row(1, "GPS climb rate", "%8.1f m/s",
226 state.gps.climb_rate);
227 info_add_row(1, "GPS error", "%6d m(h)%3d m(v)",
228 state.gps.h_error, state.gps.v_error);
230 info_add_row(1, "GPS hdop", "%8.1f", state.gps.hdop);
232 if (state.npad > 0) {
233 if (state.from_pad != null) {
234 info_add_row(1, "Distance from pad", "%6d m",
235 (int) (state.from_pad.distance + 0.5));
236 info_add_row(1, "Direction from pad", "%6d°",
237 (int) (state.from_pad.bearing + 0.5));
238 info_add_row(1, "Elevation from pad", "%6d°",
239 (int) (state.elevation + 0.5));
240 info_add_row(1, "Range from pad", "%6d m",
241 (int) (state.range + 0.5));
243 info_add_row(1, "Distance from pad", "unknown");
244 info_add_row(1, "Direction from pad", "unknown");
245 info_add_row(1, "Elevation from pad", "unknown");
246 info_add_row(1, "Range from pad", "unknown");
248 info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
249 info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
250 info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt);
252 info_add_row(1, "GPS date", "%04d-%02d-%02d",
256 info_add_row(1, "GPS time", " %02d:%02d:%02d",
263 if (state.gps.cc_gps_sat == null)
264 info_add_row(2, "Satellites Visible", "%4d", 0);
266 info_add_row(2, "Satellites Visible", "%4d", state.gps.cc_gps_sat.length);
267 for (c = 0; c < state.gps.cc_gps_sat.length; c++) {
268 info_add_row(2, "Satellite id,C/N0",
270 state.gps.cc_gps_sat[c].svid,
271 state.gps.cc_gps_sat[c].c_n0);
278 class IdleThread extends Thread {
281 private AltosState state;
282 int reported_landing;
286 public synchronized void report(boolean last) {
290 /* reset the landing count once we hear about a new flight */
291 if (state.state < Altos.ao_flight_drogue)
292 reported_landing = 0;
294 /* Shut up once the rocket is on the ground */
295 if (reported_landing > 2) {
299 /* If the rocket isn't on the pad, then report height */
300 if (Altos.ao_flight_drogue <= state.state &&
301 state.state < Altos.ao_flight_landed &&
304 voice.speak("Height %d, bearing %d, elevation %d, range %d.\n",
305 (int) (state.height + 0.5),
306 (int) (state.from_pad.bearing + 0.5),
307 (int) (state.elevation + 0.5),
308 (int) (state.range + 0.5));
309 } else if (state.state > Altos.ao_flight_pad) {
310 voice.speak("%d meters", (int) (state.height + 0.5));
312 reported_landing = 0;
315 /* If the rocket is coming down, check to see if it has landed;
316 * either we've got a landed report or we haven't heard from it in
319 if (state.state >= Altos.ao_flight_drogue &&
321 System.currentTimeMillis() - state.report_time >= 15000 ||
322 state.state == Altos.ao_flight_landed))
324 if (Math.abs(state.baro_speed) < 20 && state.height < 100)
325 voice.speak("rocket landed safely");
327 voice.speak("rocket may have crashed");
328 if (state.from_pad != null)
329 voice.speak("Bearing %d degrees, range %d meters.",
330 (int) (state.from_pad.bearing + 0.5),
331 (int) (state.from_pad.distance + 0.5));
337 return System.currentTimeMillis();
340 void set_report_time() {
341 report_time = now() + report_interval;
346 reported_landing = 0;
348 report_interval = 10000;
354 synchronized (this) {
355 long sleep_time = report_time - now();
363 } catch (InterruptedException ie) {
366 } catch (InterruptedException iie) { }
370 public synchronized void notice(AltosState new_state, boolean spoken) {
371 AltosState old_state = state;
373 if (!started && state.state > Altos.ao_flight_pad) {
378 if (state.state < Altos.ao_flight_drogue)
379 report_interval = 10000;
381 report_interval = 20000;
382 if (old_state != null && old_state.state != state.state) {
390 private boolean tell(AltosState state, AltosState old_state) {
392 if (old_state == null || old_state.state != state.state) {
393 voice.speak(state.data.state());
394 if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
395 state.state > Altos.ao_flight_boost) {
396 voice.speak("max speed: %d meters per second.",
397 (int) (state.max_speed + 0.5));
399 } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
400 state.state >= Altos.ao_flight_drogue) {
401 voice.speak("max height: %d meters.",
402 (int) (state.max_height + 0.5));
406 if (old_state == null || old_state.gps_ready != state.gps_ready) {
407 if (state.gps_ready) {
408 voice.speak("GPS ready");
411 else if (old_state != null) {
412 voice.speak("GPS lost");
420 class DisplayThread extends Thread {
421 IdleThread idle_thread;
429 AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException { return null; }
431 void close(boolean interrupted) { }
433 void update(AltosState state) throws InterruptedException { }
436 boolean interrupted = false;
438 AltosState state = null;
439 AltosState old_state = null;
442 idle_thread = new IdleThread();
449 AltosRecord record = read();
453 state = new AltosState(record, state);
455 show(state, crc_errors);
456 told = tell(state, old_state);
457 idle_thread.notice(state, told);
458 } catch (ParseException pp) {
459 System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
460 } catch (AltosCRCException ce) {
462 show(state, crc_errors);
465 } catch (InterruptedException ee) {
467 } catch (IOException ie) {
468 JOptionPane.showMessageDialog(AltosUI.this,
469 String.format("Error reading from \"%s\"", name),
470 "Telemetry Read Error",
471 JOptionPane.ERROR_MESSAGE);
474 idle_thread.interrupt();
477 } catch (InterruptedException ie) {}
481 public void report() {
482 if (idle_thread != null)
483 idle_thread.report(true);
487 class DeviceThread extends DisplayThread {
489 LinkedBlockingQueue<AltosLine> telem;
491 AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
492 AltosLine l = telem.take();
494 throw new IOException("IO error");
495 return new AltosTelemetry(l.line);
498 void close(boolean interrupted) {
500 serial.remove_monitor(telem);
503 public DeviceThread(AltosSerial s, String in_name) {
505 telem = new LinkedBlockingQueue<AltosLine>();
506 serial.add_monitor(telem);
511 private void ConnectToDevice() {
512 AltosDevice device = AltosDeviceDialog.show(AltosUI.this, AltosDevice.BaseStation);
514 if (device != null) {
517 serial_line.open(device);
518 DeviceThread thread = new DeviceThread(serial_line, device.getPath());
519 serial_line.set_channel(AltosPreferences.channel());
520 serial_line.set_callsign(AltosPreferences.callsign());
522 } catch (FileNotFoundException ee) {
523 JOptionPane.showMessageDialog(AltosUI.this,
524 String.format("Cannot open device \"%s\"",
526 "Cannot open target device",
527 JOptionPane.ERROR_MESSAGE);
528 } catch (IOException ee) {
529 JOptionPane.showMessageDialog(AltosUI.this,
532 JOptionPane.ERROR_MESSAGE);
537 void DisconnectFromDevice () {
541 void ConfigureCallsign() {
543 result = JOptionPane.showInputDialog(AltosUI.this,
544 "Configure Callsign",
545 AltosPreferences.callsign());
546 if (result != null) {
547 AltosPreferences.set_callsign(result);
548 if (serial_line != null)
549 serial_line.set_callsign(result);
553 void ConfigureTeleMetrum() {
554 new AltosConfig(AltosUI.this);
558 new AltosFlashUI(AltosUI.this);
562 * Open an existing telemetry file and replay it in realtime
565 class ReplayThread extends DisplayThread {
569 public AltosRecord read() {
571 return reader.read();
572 } catch (IOException ie) {
573 JOptionPane.showMessageDialog(AltosUI.this,
576 JOptionPane.ERROR_MESSAGE);
577 } catch (ParseException pe) {
582 public void close (boolean interrupted) {
587 public ReplayThread(AltosReader in_reader, String in_name) {
590 void update(AltosState state) throws InterruptedException {
591 /* Make it run in realtime after the rocket leaves the pad */
592 if (state.state > Altos.ao_flight_pad)
593 Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
597 class ReplayTelemetryThread extends ReplayThread {
598 ReplayTelemetryThread(FileInputStream in, String in_name) {
599 super(new AltosTelemetryReader(in), in_name);
604 class ReplayEepromThread extends ReplayThread {
605 ReplayEepromThread(FileInputStream in, String in_name) {
606 super(new AltosEepromReader(in), in_name);
610 Thread display_thread;
612 private void stop_display() {
613 if (display_thread != null && display_thread.isAlive()) {
614 display_thread.interrupt();
616 display_thread.join();
617 } catch (InterruptedException ie) {}
619 display_thread = null;
622 private void run_display(Thread thread) {
624 display_thread = thread;
625 display_thread.start();
629 * Replay a flight from telemetry data
631 private void Replay() {
632 AltosLogfileChooser chooser = new AltosLogfileChooser(
634 AltosReader reader = chooser.runDialog();
636 run_display(new ReplayThread(reader,
637 chooser.filename()));
640 /* Connect to TeleMetrum, either directly or through
641 * a TeleDongle over the packet link
643 private void SaveFlightData() {
644 new AltosEepromDownload(AltosUI.this);
647 /* Load a flight log file and write out a CSV file containing
648 * all of the data in standard units
651 private void ExportData() {
652 new AltosCSVUI(AltosUI.this);
655 /* Create the AltosUI menus
657 private void createMenu() {
658 JMenuBar menubar = new JMenuBar();
661 JRadioButtonMenuItem radioitem;
665 menu = new JMenu("File");
666 menu.setMnemonic(KeyEvent.VK_F);
669 item = new JMenuItem("Replay File",KeyEvent.VK_R);
670 item.addActionListener(new ActionListener() {
671 public void actionPerformed(ActionEvent e) {
677 item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
678 item.addActionListener(new ActionListener() {
679 public void actionPerformed(ActionEvent e) {
685 item = new JMenuItem("Flash Image",KeyEvent.VK_F);
686 item.addActionListener(new ActionListener() {
687 public void actionPerformed(ActionEvent e) {
693 item = new JMenuItem("Export Data",KeyEvent.VK_F);
694 item.addActionListener(new ActionListener() {
695 public void actionPerformed(ActionEvent e) {
701 item = new JMenuItem("Quit",KeyEvent.VK_Q);
702 item.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_Q,
703 ActionEvent.CTRL_MASK));
704 item.addActionListener(new ActionListener() {
705 public void actionPerformed(ActionEvent e) {
714 menu = new JMenu("Device");
715 menu.setMnemonic(KeyEvent.VK_D);
718 item = new JMenuItem("Connect to Device",KeyEvent.VK_C);
719 item.addActionListener(new ActionListener() {
720 public void actionPerformed(ActionEvent e) {
726 item = new JMenuItem("Disconnect from Device",KeyEvent.VK_D);
727 item.addActionListener(new ActionListener() {
728 public void actionPerformed(ActionEvent e) {
729 DisconnectFromDevice();
736 item = new JMenuItem("Set Callsign",KeyEvent.VK_S);
737 item.addActionListener(new ActionListener() {
738 public void actionPerformed(ActionEvent e) {
745 item = new JMenuItem("Configure TeleMetrum device",KeyEvent.VK_T);
746 item.addActionListener(new ActionListener() {
747 public void actionPerformed(ActionEvent e) {
748 ConfigureTeleMetrum();
756 menu = new JMenu("Log");
757 menu.setMnemonic(KeyEvent.VK_L);
760 item = new JMenuItem("New Log",KeyEvent.VK_N);
761 item.addActionListener(new ActionListener() {
762 public void actionPerformed(ActionEvent e) {
767 item = new JMenuItem("Configure Log",KeyEvent.VK_C);
768 item.addActionListener(new ActionListener() {
769 public void actionPerformed(ActionEvent e) {
770 AltosPreferences.ConfigureLog();
777 menu = new JMenu("Voice", true);
778 menu.setMnemonic(KeyEvent.VK_V);
781 radioitem = new JRadioButtonMenuItem("Enable Voice", AltosPreferences.voice());
782 radioitem.addActionListener(new ActionListener() {
783 public void actionPerformed(ActionEvent e) {
784 JRadioButtonMenuItem item = (JRadioButtonMenuItem) e.getSource();
785 boolean enabled = item.isSelected();
786 AltosPreferences.set_voice(enabled);
788 voice.speak_always("Enable voice.");
790 voice.speak_always("Disable voice.");
794 item = new JMenuItem("Test Voice",KeyEvent.VK_T);
795 item.addActionListener(new ActionListener() {
796 public void actionPerformed(ActionEvent e) {
797 voice.speak("That's one small step for man; one giant leap for mankind.");
805 menu = new AltosChannelMenu(AltosPreferences.channel());
806 menu.addActionListener(new ActionListener() {
807 public void actionPerformed(ActionEvent e) {
808 int new_channel = Integer.parseInt(e.getActionCommand());
809 AltosPreferences.set_channel(new_channel);
810 serial_line.set_channel(new_channel);
813 menu.setMnemonic(KeyEvent.VK_C);
817 this.setJMenuBar(menubar);
821 static String replace_extension(String input, String extension) {
822 int dot = input.lastIndexOf(".");
824 input = input.substring(0,dot);
825 return input.concat(extension);
828 static AltosReader open_logfile(String filename) {
829 File file = new File (filename);
833 in = new FileInputStream(file);
834 if (filename.endsWith("eeprom"))
835 return new AltosEepromReader(in);
837 return new AltosTelemetryReader(in);
838 } catch (FileNotFoundException fe) {
839 System.out.printf("Cannot open '%s'\n", filename);
844 static AltosCSV open_csv(String filename) {
845 File file = new File (filename);
847 return new AltosCSV(file);
848 } catch (FileNotFoundException fe) {
849 System.out.printf("Cannot open '%s'\n", filename);
854 static void process_file(String input) {
855 String output = replace_extension(input,".csv");
856 if (input.equals(output)) {
857 System.out.printf("Not processing '%s'\n", input);
860 System.out.printf("Processing \"%s\" to \"%s\"\n", input, output);
861 AltosReader reader = open_logfile(input);
864 AltosCSV writer = open_csv(output);
867 writer.write(reader);
872 public static void main(final String[] args) {
874 /* Handle batch-mode */
875 if (args.length > 0) {
876 for (int i = 0; i < args.length; i++)
877 process_file(args[i]);
879 AltosUI altosui = new AltosUI();
880 altosui.setVisible(true);