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;
284 public synchronized void report(boolean last) {
288 /* reset the landing count once we hear about a new flight */
289 if (state.state < Altos.ao_flight_drogue)
290 reported_landing = 0;
292 /* Shut up once the rocket is on the ground */
293 if (reported_landing > 2) {
297 /* If the rocket isn't on the pad, then report height */
298 if (Altos.ao_flight_drogue <= state.state &&
299 state.state < Altos.ao_flight_landed &&
302 voice.speak("Height %d, bearing %d, elevation %d, range %d.\n",
303 (int) (state.height + 0.5),
304 (int) (state.from_pad.bearing + 0.5),
305 (int) (state.elevation + 0.5),
306 (int) (state.range + 0.5));
307 } else if (state.state > Altos.ao_flight_pad) {
308 voice.speak("%d meters", (int) (state.height + 0.5));
310 reported_landing = 0;
313 /* If the rocket is coming down, check to see if it has landed;
314 * either we've got a landed report or we haven't heard from it in
317 if (state.state >= Altos.ao_flight_drogue &&
319 System.currentTimeMillis() - state.report_time >= 15000 ||
320 state.state == Altos.ao_flight_landed))
322 if (Math.abs(state.baro_speed) < 20 && state.height < 100)
323 voice.speak("rocket landed safely");
325 voice.speak("rocket may have crashed");
326 if (state.from_pad != null)
327 voice.speak("Bearing %d degrees, range %d meters.",
328 (int) (state.from_pad.bearing + 0.5),
329 (int) (state.from_pad.distance + 0.5));
336 reported_landing = 0;
343 } catch (InterruptedException ie) {
347 public void notice(AltosState new_state) {
348 AltosState old_state = state;
350 if (!started && state.state > Altos.ao_flight_pad) {
354 if (old_state != null && old_state.state != state.state)
359 private void tell(AltosState state, AltosState old_state) {
360 if (old_state == null || old_state.state != state.state) {
361 voice.speak(state.data.state());
362 if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
363 state.state > Altos.ao_flight_boost) {
364 voice.speak("max speed: %d meters per second.",
365 (int) (state.max_speed + 0.5));
366 } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
367 state.state >= Altos.ao_flight_drogue) {
368 voice.speak("max height: %d meters.",
369 (int) (state.max_height + 0.5));
372 if (old_state == null || old_state.gps_ready != state.gps_ready) {
374 voice.speak("GPS ready");
375 else if (old_state != null)
376 voice.speak("GPS lost");
381 class DisplayThread extends Thread {
382 IdleThread idle_thread;
390 AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException { return null; }
392 void close(boolean interrupted) { }
394 void update(AltosState state) throws InterruptedException { }
397 boolean interrupted = false;
399 AltosState state = null;
400 AltosState old_state = null;
402 idle_thread = new IdleThread();
409 AltosRecord record = read();
413 state = new AltosState(record, state);
415 show(state, crc_errors);
416 tell(state, old_state);
417 idle_thread.notice(state);
418 } catch (ParseException pp) {
419 System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
420 } catch (AltosCRCException ce) {
422 show(state, crc_errors);
425 } catch (InterruptedException ee) {
427 } catch (IOException ie) {
428 JOptionPane.showMessageDialog(AltosUI.this,
429 String.format("Error reading from \"%s\"", name),
430 "Telemetry Read Error",
431 JOptionPane.ERROR_MESSAGE);
434 idle_thread.interrupt();
437 } catch (InterruptedException ie) {}
441 public void report() {
442 if (idle_thread != null)
443 idle_thread.report(true);
447 class DeviceThread extends DisplayThread {
449 LinkedBlockingQueue<AltosLine> telem;
451 AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
452 AltosLine l = telem.take();
454 throw new IOException("IO error");
455 return new AltosTelemetry(l.line);
458 void close(boolean interrupted) {
460 serial.remove_monitor(telem);
463 public DeviceThread(AltosSerial s, String in_name) {
465 telem = new LinkedBlockingQueue<AltosLine>();
466 serial.add_monitor(telem);
471 private void ConnectToDevice() {
472 AltosDevice device = AltosDeviceDialog.show(AltosUI.this, AltosDevice.BaseStation);
474 if (device != null) {
477 serial_line.open(device);
478 DeviceThread thread = new DeviceThread(serial_line, device.getPath());
479 serial_line.set_channel(AltosPreferences.channel());
480 serial_line.set_callsign(AltosPreferences.callsign());
482 } catch (FileNotFoundException ee) {
483 JOptionPane.showMessageDialog(AltosUI.this,
484 String.format("Cannot open device \"%s\"",
486 "Cannot open target device",
487 JOptionPane.ERROR_MESSAGE);
488 } catch (IOException ee) {
489 JOptionPane.showMessageDialog(AltosUI.this,
492 JOptionPane.ERROR_MESSAGE);
497 void DisconnectFromDevice () {
501 void ConfigureCallsign() {
503 result = JOptionPane.showInputDialog(AltosUI.this,
504 "Configure Callsign",
505 AltosPreferences.callsign());
506 if (result != null) {
507 AltosPreferences.set_callsign(result);
508 if (serial_line != null)
509 serial_line.set_callsign(result);
513 void ConfigureTeleMetrum() {
514 new AltosConfig(AltosUI.this);
518 new AltosFlashUI(AltosUI.this);
522 * Open an existing telemetry file and replay it in realtime
525 class ReplayThread extends DisplayThread {
529 public AltosRecord read() {
531 return reader.read();
532 } catch (IOException ie) {
533 JOptionPane.showMessageDialog(AltosUI.this,
536 JOptionPane.ERROR_MESSAGE);
537 } catch (ParseException pe) {
542 public void close (boolean interrupted) {
547 public ReplayThread(AltosReader in_reader, String in_name) {
550 void update(AltosState state) throws InterruptedException {
551 /* Make it run in realtime after the rocket leaves the pad */
552 if (state.state > Altos.ao_flight_pad)
553 Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
557 class ReplayTelemetryThread extends ReplayThread {
558 ReplayTelemetryThread(FileInputStream in, String in_name) {
559 super(new AltosTelemetryReader(in), in_name);
564 class ReplayEepromThread extends ReplayThread {
565 ReplayEepromThread(FileInputStream in, String in_name) {
566 super(new AltosEepromReader(in), in_name);
570 Thread display_thread;
572 private void stop_display() {
573 if (display_thread != null && display_thread.isAlive()) {
574 display_thread.interrupt();
576 display_thread.join();
577 } catch (InterruptedException ie) {}
579 display_thread = null;
582 private void run_display(Thread thread) {
584 display_thread = thread;
585 display_thread.start();
589 * Replay a flight from telemetry data
591 private void Replay() {
592 AltosLogfileChooser chooser = new AltosLogfileChooser(
594 AltosReader reader = chooser.runDialog();
596 run_display(new ReplayThread(reader,
597 chooser.filename()));
600 /* Connect to TeleMetrum, either directly or through
601 * a TeleDongle over the packet link
603 private void SaveFlightData() {
604 new AltosEepromDownload(AltosUI.this);
607 /* Load a flight log file and write out a CSV file containing
608 * all of the data in standard units
611 private void ExportData() {
612 new AltosCSVUI(AltosUI.this);
615 /* Create the AltosUI menus
617 private void createMenu() {
618 JMenuBar menubar = new JMenuBar();
621 JRadioButtonMenuItem radioitem;
625 menu = new JMenu("File");
626 menu.setMnemonic(KeyEvent.VK_F);
629 item = new JMenuItem("Replay File",KeyEvent.VK_R);
630 item.addActionListener(new ActionListener() {
631 public void actionPerformed(ActionEvent e) {
637 item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
638 item.addActionListener(new ActionListener() {
639 public void actionPerformed(ActionEvent e) {
645 item = new JMenuItem("Flash Image",KeyEvent.VK_F);
646 item.addActionListener(new ActionListener() {
647 public void actionPerformed(ActionEvent e) {
653 item = new JMenuItem("Export Data",KeyEvent.VK_F);
654 item.addActionListener(new ActionListener() {
655 public void actionPerformed(ActionEvent e) {
661 item = new JMenuItem("Quit",KeyEvent.VK_Q);
662 item.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_Q,
663 ActionEvent.CTRL_MASK));
664 item.addActionListener(new ActionListener() {
665 public void actionPerformed(ActionEvent e) {
674 menu = new JMenu("Device");
675 menu.setMnemonic(KeyEvent.VK_D);
678 item = new JMenuItem("Connect to Device",KeyEvent.VK_C);
679 item.addActionListener(new ActionListener() {
680 public void actionPerformed(ActionEvent e) {
686 item = new JMenuItem("Disconnect from Device",KeyEvent.VK_D);
687 item.addActionListener(new ActionListener() {
688 public void actionPerformed(ActionEvent e) {
689 DisconnectFromDevice();
696 item = new JMenuItem("Set Callsign",KeyEvent.VK_S);
697 item.addActionListener(new ActionListener() {
698 public void actionPerformed(ActionEvent e) {
705 item = new JMenuItem("Configure TeleMetrum device",KeyEvent.VK_T);
706 item.addActionListener(new ActionListener() {
707 public void actionPerformed(ActionEvent e) {
708 ConfigureTeleMetrum();
716 menu = new JMenu("Log");
717 menu.setMnemonic(KeyEvent.VK_L);
720 item = new JMenuItem("New Log",KeyEvent.VK_N);
721 item.addActionListener(new ActionListener() {
722 public void actionPerformed(ActionEvent e) {
727 item = new JMenuItem("Configure Log",KeyEvent.VK_C);
728 item.addActionListener(new ActionListener() {
729 public void actionPerformed(ActionEvent e) {
730 AltosPreferences.ConfigureLog();
737 menu = new JMenu("Voice", true);
738 menu.setMnemonic(KeyEvent.VK_V);
741 radioitem = new JRadioButtonMenuItem("Enable Voice", AltosPreferences.voice());
742 radioitem.addActionListener(new ActionListener() {
743 public void actionPerformed(ActionEvent e) {
744 JRadioButtonMenuItem item = (JRadioButtonMenuItem) e.getSource();
745 boolean enabled = item.isSelected();
746 AltosPreferences.set_voice(enabled);
748 voice.speak_always("Enable voice.");
750 voice.speak_always("Disable voice.");
754 item = new JMenuItem("Test Voice",KeyEvent.VK_T);
755 item.addActionListener(new ActionListener() {
756 public void actionPerformed(ActionEvent e) {
757 voice.speak("That's one small step for man; one giant leap for mankind.");
765 menu = new AltosChannelMenu(AltosPreferences.channel());
766 menu.addActionListener(new ActionListener() {
767 public void actionPerformed(ActionEvent e) {
768 int new_channel = Integer.parseInt(e.getActionCommand());
769 AltosPreferences.set_channel(new_channel);
770 serial_line.set_channel(new_channel);
773 menu.setMnemonic(KeyEvent.VK_C);
777 this.setJMenuBar(menubar);
781 static String replace_extension(String input, String extension) {
782 int dot = input.lastIndexOf(".");
784 input = input.substring(0,dot);
785 return input.concat(extension);
788 static AltosReader open_logfile(String filename) {
789 File file = new File (filename);
793 in = new FileInputStream(file);
794 if (filename.endsWith("eeprom"))
795 return new AltosEepromReader(in);
797 return new AltosTelemetryReader(in);
798 } catch (FileNotFoundException fe) {
799 System.out.printf("Cannot open '%s'\n", filename);
804 static AltosCSV open_csv(String filename) {
805 File file = new File (filename);
807 return new AltosCSV(file);
808 } catch (FileNotFoundException fe) {
809 System.out.printf("Cannot open '%s'\n", filename);
814 static void process_file(String input) {
815 String output = replace_extension(input,".csv");
816 if (input.equals(output)) {
817 System.out.printf("Not processing '%s'\n", input);
820 System.out.printf("Processing \"%s\" to \"%s\"\n", input, output);
821 AltosReader reader = open_logfile(input);
824 AltosCSV writer = open_csv(output);
827 writer.write(reader);
832 public static void main(final String[] args) {
834 /* Handle batch-mode */
835 if (args.length > 0) {
836 for (int i = 0; i < args.length; i++)
837 process_file(args[i]);
839 AltosUI altosui = new AltosUI();
840 altosui.setVisible(true);