+ 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", "%6d m",
+ (int) (state.from_pad.distance + 0.5));
+ info_add_row(1, "Direction from pad", "%6d°",
+ (int) (state.from_pad.bearing + 0.5));
+ info_add_row(1, "Elevation from pad", "%6d°",
+ (int) (state.elevation + 0.5));
+ info_add_row(1, "Range from pad", "%6d m",
+ (int) (state.range + 0.5));
+ } else {
+ info_add_row(1, "Distance from pad", "unknown");
+ info_add_row(1, "Direction from pad", "unknown");
+ info_add_row(1, "Elevation from pad", "unknown");
+ info_add_row(1, "Range 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 {
+
+ boolean started;
+ private AltosState state;
+ int reported_landing;
+ int report_interval;
+ long report_time;
+
+ 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;
+ }
+ }
+
+ long now () {
+ return System.currentTimeMillis();
+ }
+
+ void set_report_time() {
+ report_time = now() + report_interval;
+ }
+
+ public void run () {
+
+ reported_landing = 0;
+ state = null;
+ report_interval = 10000;
+ try {
+ for (;;) {
+ set_report_time();
+ for (;;) {
+ voice.drain();
+ synchronized (this) {
+ long sleep_time = report_time - now();
+ if (sleep_time <= 0)
+ break;
+ wait(sleep_time);
+ }
+ }
+ report(false);
+ }
+ } catch (InterruptedException ie) {
+ try {
+ voice.drain();
+ } catch (InterruptedException iie) { }
+ }
+ }
+
+ public synchronized void notice(AltosState new_state, boolean spoken) {
+ AltosState old_state = state;
+ state = new_state;
+ if (!started && state.state > Altos.ao_flight_pad) {
+ started = true;
+ start();
+ }
+
+ if (state.state < Altos.ao_flight_drogue)
+ report_interval = 10000;
+ else
+ report_interval = 20000;
+ if (old_state != null && old_state.state != state.state) {
+ report_time = now();
+ this.notify();
+ } else if (spoken)
+ set_report_time();
+ }
+ }
+
+ private boolean tell(AltosState state, AltosState old_state) {
+ boolean ret = false;
+ 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));
+ ret = true;
+ } 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));
+ ret = true;
+ }
+ }
+ if (old_state == null || old_state.gps_ready != state.gps_ready) {
+ if (state.gps_ready) {
+ voice.speak("GPS ready");
+ ret = true;
+ }
+ else if (old_state != null) {
+ voice.speak("GPS lost");
+ ret = true;
+ }
+ }
+ old_state = state;
+ return ret;
+ }
+
+ 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(boolean interrupted) { }
+
+ void update(AltosState state) throws InterruptedException { }
+
+ public void run() {
+ boolean interrupted = false;
+ String line;
+ AltosState state = null;
+ AltosState old_state = null;
+ boolean told;
+
+ idle_thread = new IdleThread();
+
+ info_reset();
+ info_finish();
+ try {
+ for (;;) {
+ try {
+ AltosRecord record = read();
+ if (record == null)
+ break;
+ old_state = state;
+ state = new AltosState(record, state);
+ update(state);
+ show(state, crc_errors);
+ told = tell(state, old_state);
+ idle_thread.notice(state, told);
+ } 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) {
+ interrupted = true;
+ } catch (IOException ie) {
+ JOptionPane.showMessageDialog(AltosUI.this,
+ String.format("Error reading from \"%s\"", name),
+ "Telemetry Read Error",
+ JOptionPane.ERROR_MESSAGE);
+ } finally {
+ close(interrupted);
+ idle_thread.interrupt();
+ try {
+ idle_thread.join();
+ } catch (InterruptedException ie) {}
+ }
+ }
+
+ public void report() {
+ if (idle_thread != null)
+ idle_thread.report(true);
+ }
+ }
+
+ class DeviceThread extends DisplayThread {
+ AltosSerial serial;
+ LinkedBlockingQueue<AltosLine> telem;
+
+ AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
+ AltosLine l = telem.take();
+ if (l.line == null)
+ throw new IOException("IO error");
+ return new AltosTelemetry(l.line);
+ }
+
+ void close(boolean interrupted) {
+ serial.close();
+ serial.remove_monitor(telem);
+ }
+
+ public DeviceThread(AltosSerial s, String in_name) {
+ serial = s;
+ telem = new LinkedBlockingQueue<AltosLine>();
+ serial.add_monitor(telem);
+ name = in_name;