- public void info_reset() {
- for (int i = 0; i < info_columns; i++)
- flightInfoModel[i].resetRow();
- }
-
- public void info_add_row(int col, String name, String value) {
- flightInfoModel[col].addRow(name, value);
- }
-
- public void info_add_row(int col, String name, String format, Object... parameters) {
- flightInfoModel[col].addRow(name, String.format(format, parameters));
- }
-
- public void info_add_deg(int col, String name, double v, int pos, int neg) {
- int c = pos;
- if (v < 0) {
- c = neg;
- v = -v;
- }
- double deg = Math.floor(v);
- double min = (v - deg) * 60;
-
- flightInfoModel[col].addRow(name, String.format("%3.0f°%08.5f'", deg, min));
- }
-
- public void info_finish() {
- for (int i = 0; i < info_columns; i++)
- flightInfoModel[i].finish();
- }
-
- public void show(AltosState state, int crc_errors) {
- if (state == null)
- return;
- flightStatusModel.set(state);
-
- info_reset();
- info_add_row(0, "Rocket state", "%s", state.data.state());
- info_add_row(0, "Callsign", "%s", state.data.callsign);
- info_add_row(0, "Rocket serial", "%6d", state.data.serial);
- info_add_row(0, "Rocket flight", "%6d", state.data.flight);
-
- info_add_row(0, "RSSI", "%6d dBm", state.data.rssi);
- info_add_row(0, "CRC Errors", "%6d", crc_errors);
- info_add_row(0, "Height", "%6.0f m", state.height);
- info_add_row(0, "Max height", "%6.0f m", state.max_height);
- info_add_row(0, "Acceleration", "%8.1f m/s²", state.acceleration);
- info_add_row(0, "Max acceleration", "%8.1f m/s²", state.max_acceleration);
- info_add_row(0, "Speed", "%8.1f m/s", state.ascent ? state.speed : state.baro_speed);
- info_add_row(0, "Max Speed", "%8.1f m/s", state.max_speed);
- info_add_row(0, "Temperature", "%9.2f °C", state.temperature);
- info_add_row(0, "Battery", "%9.2f V", state.battery);
- info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense);
- info_add_row(0, "Main", "%9.2f V", state.main_sense);
- info_add_row(0, "Pad altitude", "%6.0f m", state.ground_altitude);
- if (state.gps == null) {
- info_add_row(1, "GPS", "not available");
- } else {
- if (state.gps_ready)
- info_add_row(1, "GPS state", "%s", "ready");
- else
- info_add_row(1, "GPS state", "wait (%d)",
- state.gps_waiting);
- if (state.data.gps.locked)
- info_add_row(1, "GPS", " locked");
- else if (state.data.gps.connected)
- info_add_row(1, "GPS", " unlocked");
- else
- info_add_row(1, "GPS", " missing");
- info_add_row(1, "Satellites", "%6d", state.data.gps.nsat);
- info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
- info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
- info_add_row(1, "GPS altitude", "%6d", state.gps.alt);
- info_add_row(1, "GPS height", "%6.0f", state.gps_height);
-
- /* The SkyTraq GPS doesn't report these values */
- if (false) {
- info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°",
- state.gps.ground_speed,
- state.gps.course);
- info_add_row(1, "GPS climb rate", "%8.1f m/s",
- state.gps.climb_rate);
- info_add_row(1, "GPS error", "%6d m(h)%3d m(v)",
- state.gps.h_error, state.gps.v_error);
- }
- info_add_row(1, "GPS hdop", "%8.1f", state.gps.hdop);
-
- if (state.npad > 0) {
- if (state.from_pad != null) {
- info_add_row(1, "Distance from pad", "%6.0f m", state.from_pad.distance);
- info_add_row(1, "Direction from pad", "%6.0f°", state.from_pad.bearing);
- } else {
- info_add_row(1, "Distance from pad", "unknown");
- info_add_row(1, "Direction from pad", "unknown");
- }
- info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
- info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
- info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt);
- }
- info_add_row(1, "GPS date", "%04d-%02d-%02d",
- state.gps.year,
- state.gps.month,
- state.gps.day);
- info_add_row(1, "GPS time", " %02d:%02d:%02d",
- state.gps.hour,
- state.gps.minute,
- state.gps.second);
- int nsat_vis = 0;
- int c;
-
- if (state.gps.cc_gps_sat == null)
- info_add_row(2, "Satellites Visible", "%4d", 0);
- else {
- info_add_row(2, "Satellites Visible", "%4d", state.gps.cc_gps_sat.length);
- for (c = 0; c < state.gps.cc_gps_sat.length; c++) {
- info_add_row(2, "Satellite id,C/N0",
- "%4d, %4d",
- state.gps.cc_gps_sat[c].svid,
- state.gps.cc_gps_sat[c].c_n0);
- }
- }
- }
- info_finish();
- }
-
- class IdleThread extends Thread {
-
- private AltosState state;
- int reported_landing;
-
- public synchronized void report(boolean last) {
- if (state == null)
- return;
-
- /* reset the landing count once we hear about a new flight */
- if (state.state < Altos.ao_flight_drogue)
- reported_landing = 0;
-
- /* Shut up once the rocket is on the ground */
- if (reported_landing > 2) {
- return;
- }
-
- /* If the rocket isn't on the pad, then report height */
- if (Altos.ao_flight_drogue <= state.state &&
- state.state < Altos.ao_flight_landed &&
- state.range >= 0)
- {
- voice.speak("Height %d, bearing %d, elevation %d, range %d.\n",
- (int) (state.height + 0.5),
- (int) (state.from_pad.bearing + 0.5),
- (int) (state.elevation + 0.5),
- (int) (state.range + 0.5));
- } else if (state.state > Altos.ao_flight_pad) {
- voice.speak("%d meters", (int) (state.height + 0.5));
- } else {
- reported_landing = 0;
- }
-
- /* If the rocket is coming down, check to see if it has landed;
- * either we've got a landed report or we haven't heard from it in
- * a long time
- */
- if (state.state >= Altos.ao_flight_drogue &&
- (last ||
- System.currentTimeMillis() - state.report_time >= 15000 ||
- state.state == Altos.ao_flight_landed))
- {
- if (Math.abs(state.baro_speed) < 20 && state.height < 100)
- voice.speak("rocket landed safely");
- else
- voice.speak("rocket may have crashed");
- if (state.from_pad != null)
- voice.speak("Bearing %d degrees, range %d meters.",
- (int) (state.from_pad.bearing + 0.5),
- (int) (state.from_pad.distance + 0.5));
- ++reported_landing;
- }
- }
-
- public void run () {
-
- reported_landing = 0;
- state = null;
- try {
- for (;;) {
- Thread.sleep(20000);
- report(false);
- }
- } catch (InterruptedException ie) {
- }
- }
-
- public void notice(AltosState new_state) {
- AltosState old_state = state;
- state = new_state;
- if (old_state != null && old_state.state != state.state)
- report(false);
- }
- }
-
- private void tell(AltosState state, AltosState old_state) {
- if (old_state == null || old_state.state != state.state) {
- voice.speak(state.data.state());
- if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
- state.state > Altos.ao_flight_boost) {
- voice.speak("max speed: %d meters per second.",
- (int) (state.max_speed + 0.5));
- } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
- state.state >= Altos.ao_flight_drogue) {
- voice.speak("max height: %d meters.",
- (int) (state.max_height + 0.5));
- }
- }
- if (old_state == null || old_state.gps_ready != state.gps_ready) {
- if (state.gps_ready)
- voice.speak("GPS ready");
- else if (old_state != null)
- voice.speak("GPS lost");
- }
- old_state = state;
- }
-
- class DisplayThread extends Thread {
- IdleThread idle_thread;
-
- String name;
-
- int crc_errors;
-
- void init() { }
-
- AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException { return null; }
-
- void close() { }
-
- void update(AltosState state) throws InterruptedException { }
-
- public void run() {
- String line;
- AltosState state = null;
- AltosState old_state = null;
-
- idle_thread = new IdleThread();
-
- info_reset();
- info_finish();
- idle_thread.start();
- try {
- for (;;) {
- try {
- AltosRecord record = read();
- if (record == null)
- break;
- old_state = state;
- state = new AltosState(record, state);
- update(state);
- show(state, crc_errors);
- tell(state, old_state);
- idle_thread.notice(state);
- } catch (ParseException pp) {
- System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
- } catch (AltosCRCException ce) {
- ++crc_errors;
- show(state, crc_errors);
- }
- }
- } catch (InterruptedException ee) {
- } catch (IOException ie) {
- JOptionPane.showMessageDialog(AltosUI.this,
- String.format("Error reading from \"%s\"", name),
- "Telemetry Read Error",
- JOptionPane.ERROR_MESSAGE);
- } finally {
- close();
- idle_thread.interrupt();
- }
- }
-
- public void report() {
- if (idle_thread != null)
- idle_thread.report(true);
- }
- }
-
- class DeviceThread extends DisplayThread {