git.gag.com Git - fw/altos/blob - altosui/AltosUI.java

   1 /*
   2  * Copyright © 2010 Keith Packard <keithp@keithp.com>
   3  *
   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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 package altosui;
  20
  21 import java.awt.*;
  22 import java.awt.event.*;
  23 import javax.swing.*;
  24 import java.io.*;
  25 import java.util.concurrent.*;
  26 import org.altusmetrum.altoslib_11.*;
  27 import org.altusmetrum.altosuilib_11.*;
  28
  29 public class AltosUI extends AltosUIFrame {
  30         public AltosVoice voice = new AltosVoice();
  31
  32         public static boolean load_library(Frame frame) {
  33                 if (!Altos.load_library()) {
  34                         JOptionPane.showMessageDialog(frame,
  35                                                       String.format("No AltOS library in \"%s\"",
  36                                                                     System.getProperty("java.library.path","<undefined>")),
  37                                                       "Cannot load device access library",
  38                                                       JOptionPane.ERROR_MESSAGE);
  39                         return false;
  40                 }
  41                 return true;
  42         }
  43
  44         void telemetry_window(AltosDevice device) {
  45                 try {
  46                         AltosFlightReader reader = new AltosTelemetryReader(new AltosSerial(device));
  47                         if (reader != null)
  48                                 new AltosFlightUI(voice, reader, device.getSerial());
  49                 } catch (FileNotFoundException ee) {
  50                         JOptionPane.showMessageDialog(AltosUI.this,
  51                                                       ee.getMessage(),
  52                                                       String.format ("Cannot open %s", device.toShortString()),
  53                                                       JOptionPane.ERROR_MESSAGE);
  54                 } catch (AltosSerialInUseException si) {
  55                         JOptionPane.showMessageDialog(AltosUI.this,
  56                                                       String.format("Device \"%s\" already in use",
  57                                                                     device.toShortString()),
  58                                                       "Device in use",
  59                                                       JOptionPane.ERROR_MESSAGE);
  60                 } catch (IOException ee) {
  61                         JOptionPane.showMessageDialog(AltosUI.this,
  62                                                       String.format ("Unknown I/O error on %s", device.toShortString()),
  63                                                       "Unknown I/O error",
  64                                                       JOptionPane.ERROR_MESSAGE);
  65                 } catch (TimeoutException te) {
  66                         JOptionPane.showMessageDialog(this,
  67                                                       String.format ("Timeout on %s", device.toShortString()),
  68                                                       "Timeout error",
  69                                                       JOptionPane.ERROR_MESSAGE);
  70                 } catch (InterruptedException ie) {
  71                         JOptionPane.showMessageDialog(this,
  72                                                       String.format("Interrupted %s", device.toShortString()),
  73                                                       "Interrupted exception",
  74                                                       JOptionPane.ERROR_MESSAGE);
  75                 }
  76         }
  77
  78         public void scan_device_selected(AltosDevice device) {
  79                 telemetry_window(device);
  80         }
  81
  82         Container       pane;
  83         GridBagLayout   gridbag;
  84
  85         JButton addButton(int x, int y, String label) {
  86                 GridBagConstraints      c;
  87                 JButton                 b;
  88
  89                 c = new GridBagConstraints();
  90                 c.gridx = x; c.gridy = y;
  91                 c.fill = GridBagConstraints.BOTH;
  92                 c.weightx = 1;
  93                 c.weighty = 1;
  94                 b = new JButton(label);
  95
  96                 //Dimension ps = b.getPreferredSize();
  97
  98                 gridbag.setConstraints(b, c);
  99                 add(b, c);
 100                 return b;
 101         }
 102
 103         /* OSXAdapter interfaces */
 104         public void macosx_file_handler(String path) {
 105                 process_graph(new File(path));
 106         }
 107
 108         public void macosx_quit_handler() {
 109                 System.exit(0);
 110         }
 111
 112         public void macosx_preferences_handler() {
 113                 ConfigureAltosUI();
 114         }
 115
 116         public AltosUI() {
 117
 118                 load_library(null);
 119
 120                 register_for_macosx_events();
 121
 122                 AltosUIPreferences.set_component(this);
 123
 124                 pane = getContentPane();
 125                 gridbag = new GridBagLayout();
 126                 pane.setLayout(gridbag);
 127
 128                 JButton b;
 129
 130                 b = addButton(0, 0, "Monitor Flight");
 131                 b.addActionListener(new ActionListener() {
 132                                         public void actionPerformed(ActionEvent e) {
 133                                                 ConnectToDevice();
 134                                         }
 135                                 });
 136                 b.setToolTipText("Connect to TeleDongle and monitor telemetry");
 137                 b = addButton(1, 0, "Save Flight Data");
 138                 b.addActionListener(new ActionListener() {
 139                                         public void actionPerformed(ActionEvent e) {
 140                                                 SaveFlightData();
 141                                         }
 142                                 });
 143                 b.setToolTipText("Download and/or delete flight data from an altimeter");
 144                 b = addButton(2, 0, "Replay Flight");
 145                 b.addActionListener(new ActionListener() {
 146                                         public void actionPerformed(ActionEvent e) {
 147                                                 Replay();
 148                                         }
 149                                 });
 150                 b.setToolTipText("Watch an old flight in real-time");
 151                 b = addButton(3, 0, "Graph Data");
 152                 b.addActionListener(new ActionListener() {
 153                                         public void actionPerformed(ActionEvent e) {
 154                                                 GraphData();
 155                                         }
 156                                 });
 157                 b.setToolTipText("Present flight data in a graph and table of statistics");
 158                 b = addButton(4, 0, "Export Data");
 159                 b.addActionListener(new ActionListener() {
 160                                         public void actionPerformed(ActionEvent e) {
 161                                                 ExportData();
 162                                         }
 163                                 });
 164                 b.setToolTipText("Convert flight data for a spreadsheet or GoogleEarth");
 165                 b = addButton(0, 1, "Configure Altimeter");
 166                 b.addActionListener(new ActionListener() {
 167                                         public void actionPerformed(ActionEvent e) {
 168                                                 ConfigureTeleMetrum();
 169                                         }
 170                                 });
 171                 b.setToolTipText("Set flight, storage and communication parameters");
 172                 b = addButton(1, 1, "Configure AltosUI");
 173                 b.addActionListener(new ActionListener() {
 174                                 public void actionPerformed(ActionEvent e) {
 175                                         ConfigureAltosUI();
 176                                 }
 177                         });
 178                 b.setToolTipText("Global AltosUI settings");
 179
 180                 b = addButton(2, 1, "Configure Ground Station");
 181                 b.addActionListener(new ActionListener() {
 182                                 public void actionPerformed(ActionEvent e) {
 183                                         ConfigureTeleDongle();
 184                                 }
 185                         });
 186
 187                 b = addButton(3, 1, "Flash Image");
 188                 b.addActionListener(new ActionListener() {
 189                                 public void actionPerformed(ActionEvent e) {
 190                                         FlashImage();
 191                                 }
 192                         });
 193                 b.setToolTipText("Replace the firmware in any AltusMetrum product");
 194
 195                 b = addButton(4, 1, "Fire Igniter");
 196                 b.addActionListener(new ActionListener() {
 197                                 public void actionPerformed(ActionEvent e) {
 198                                         FireIgniter();
 199                                 }
 200                         });
 201                 b.setToolTipText("Remote control of igniters for deployment testing");
 202                 b = addButton(0, 2, "Scan Channels");
 203                 b.addActionListener(new ActionListener() {
 204                                 public void actionPerformed(ActionEvent e) {
 205                                         ScanChannels();
 206                                 }
 207                         });
 208                 b.setToolTipText("Find what channel an altimeter is sending telemetry on");
 209                 b = addButton(1, 2, "Load Maps");
 210                 b.addActionListener(new ActionListener() {
 211                                 public void actionPerformed(ActionEvent e) {
 212                                         LoadMaps();
 213                                 }
 214                         });
 215                 b.setToolTipText("Download satellite images for off-line flight monitoring");
 216                 b = addButton(2, 2, "Monitor Idle");
 217                 b.addActionListener(new ActionListener() {
 218                                 public void actionPerformed(ActionEvent e) {
 219                                         IdleMonitor();
 220                                 }
 221                         });
 222                 b.setToolTipText("Check flight readiness of altimeter in idle mode");
 223
 224 //              b = addButton(3, 2, "Launch Controller");
 225 //              b.addActionListener(new ActionListener() {
 226 //                              public void actionPerformed(ActionEvent e) {
 227 //                                      LaunchController();
 228 //                              }
 229 //                      });
 230
 231                 b = addButton(4, 2, "Quit");
 232                 b.addActionListener(new ActionListener() {
 233                                 public void actionPerformed(ActionEvent e) {
 234                                         System.exit(0);
 235                                 }
 236                         });
 237                 b.setToolTipText("Close all active windows and terminate AltosUI");
 238
 239                 setTitle("AltOS");
 240
 241                 pane.doLayout();
 242                 pane.validate();
 243
 244                 doLayout();
 245                 validate();
 246
 247                 setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
 248                 addWindowListener(new WindowAdapter() {
 249                         @Override
 250                         public void windowClosing(WindowEvent e) {
 251                                 System.exit(0);
 252                         }
 253                 });
 254
 255                 setLocationByPlatform(false);
 256
 257                 /* Insets aren't set before the window is visible */
 258                 setVisible(true);
 259         }
 260
 261         private void ConnectToDevice() {
 262                 AltosDevice     device = AltosDeviceUIDialog.show(AltosUI.this,
 263                                                                 Altos.product_basestation);
 264
 265                 if (device != null)
 266                         telemetry_window(device);
 267         }
 268
 269         void ConfigureCallsign() {
 270                 String  result;
 271                 result = JOptionPane.showInputDialog(AltosUI.this,
 272                                                      "Configure Callsign",
 273                                                      AltosUIPreferences.callsign());
 274                 if (result != null)
 275                         AltosUIPreferences.set_callsign(result);
 276         }
 277
 278         void ConfigureTeleMetrum() {
 279                 new AltosConfig(AltosUI.this);
 280         }
 281
 282         void ConfigureTeleDongle() {
 283                 new AltosConfigTD(AltosUI.this);
 284         }
 285
 286         void FlashImage() {
 287                 AltosFlashUI.show(AltosUI.this);
 288         }
 289
 290         void FireIgniter() {
 291                 new AltosIgniteUI(AltosUI.this);
 292         }
 293
 294         void ScanChannels() {
 295                 new AltosScanUI(AltosUI.this, true);
 296         }
 297
 298         void LoadMaps() {
 299                 new AltosUIMapPreload(AltosUI.this);
 300         }
 301
 302         void LaunchController() {
 303                 new AltosLaunchUI(AltosUI.this);
 304         }
 305
 306         /*
 307          * Replay a flight from telemetry data
 308          */
 309         private void Replay() {
 310                 AltosDataChooser chooser = new AltosDataChooser(
 311                         AltosUI.this);
 312
 313                 Iterable<AltosState> states = chooser.runDialog();
 314                 if (states != null) {
 315                         AltosFlightReader reader = new AltosReplayReader(states.iterator(),
 316                                                                          chooser.file());
 317                         new AltosFlightUI(voice, reader);
 318                 }
 319         }
 320
 321         /* Connect to TeleMetrum, either directly or through
 322          * a TeleDongle over the packet link
 323          */
 324         private void SaveFlightData() {
 325                 new AltosEepromManage(AltosUI.this, AltosLib.product_any);
 326         }
 327
 328         /* Load a flight log file and write out a CSV file containing
 329          * all of the data in standard units
 330          */
 331
 332         private void ExportData() {
 333                 AltosDataChooser chooser;
 334                 chooser = new AltosDataChooser(this);
 335                 AltosStateIterable states = chooser.runDialog();
 336                 if (states == null)
 337                         return;
 338                 new AltosCSVUI(AltosUI.this, states, chooser.file());
 339         }
 340
 341         /* Load a flight log CSV file and display a pretty graph.
 342          */
 343
 344         private void GraphData() {
 345                 AltosDataChooser chooser;
 346                 chooser = new AltosDataChooser(this);
 347                 AltosStateIterable states = chooser.runDialog();
 348                 if (states == null)
 349                         return;
 350                 try {
 351                         new AltosGraphUI(states, chooser.file());
 352                 } catch (InterruptedException ie) {
 353                 } catch (IOException ie) {
 354                 }
 355         }
 356
 357         private void ConfigureAltosUI() {
 358                 new AltosConfigureUI(AltosUI.this, voice);
 359         }
 360
 361         private void IdleMonitor() {
 362                 try {
 363                         new AltosIdleMonitorUI(this);
 364                 } catch (Exception e) {
 365                 }
 366         }
 367
 368         static AltosStateIterable open_logfile(File file) {
 369                 try {
 370                         FileInputStream in;
 371
 372                         in = new FileInputStream(file);
 373                         if (file.getName().endsWith("telem"))
 374                                 return new AltosTelemetryFile(in);
 375                         else
 376                                 return new AltosEepromFile(in);
 377                 } catch (FileNotFoundException fe) {
 378                         System.out.printf("%s\n", fe.getMessage());
 379                         return null;
 380                 }
 381         }
 382
 383         static AltosWriter open_csv(File file) {
 384                 try {
 385                         return new AltosCSV(file);
 386                 } catch (FileNotFoundException fe) {
 387                         System.out.printf("%s\n", fe.getMessage());
 388                         return null;
 389                 }
 390         }
 391
 392         static AltosWriter open_kml(File file) {
 393                 try {
 394                         return new AltosKML(file);
 395                 } catch (FileNotFoundException fe) {
 396                         System.out.printf("%s\n", fe.getMessage());
 397                         return null;
 398                 }
 399         }
 400
 401         static final int process_none = 0;
 402         static final int process_csv = 1;
 403         static final int process_kml = 2;
 404         static final int process_graph = 3;
 405         static final int process_replay = 4;
 406         static final int process_summary = 5;
 407         static final int process_cat = 6;
 408
 409         static boolean process_csv(File input) {
 410                 AltosStateIterable states = open_logfile(input);
 411                 if (states == null)
 412                         return false;
 413
 414                 File output = Altos.replace_extension(input,".csv");
 415                 System.out.printf("Processing \"%s\" to \"%s\"\n", input, output);
 416                 if (input.equals(output)) {
 417                         System.out.printf("Not processing '%s'\n", input);
 418                         return false;
 419                 } else {
 420                         AltosWriter writer = open_csv(output);
 421                         if (writer == null)
 422                                 return false;
 423                         writer.write(states);
 424                         writer.close();
 425                 }
 426                 return true;
 427         }
 428
 429         static boolean process_kml(File input) {
 430                 AltosStateIterable states = open_logfile(input);
 431                 if (states == null)
 432                         return false;
 433
 434                 File output = Altos.replace_extension(input,".kml");
 435                 System.out.printf("Processing \"%s\" to \"%s\"\n", input, output);
 436                 if (input.equals(output)) {
 437                         System.out.printf("Not processing '%s'\n", input);
 438                         return false;
 439                 } else {
 440                         AltosWriter writer = open_kml(output);
 441                         if (writer == null)
 442                                 return false;
 443                         writer.write(states);
 444                         writer.close();
 445                         return true;
 446                 }
 447         }
 448
 449         static AltosStateIterable record_iterable(File file) {
 450                 FileInputStream in;
 451                 if (file.getName().endsWith("telem")) {
 452                         try {
 453                                 in = new FileInputStream(file);
 454                                 return new AltosTelemetryFile(in);
 455                         } catch (Exception e) {
 456                                 System.out.printf("Failed to open file '%s'\n", file);
 457                         }
 458                 } else {
 459
 460                         try {
 461                                 AltosEepromFile f = new AltosEepromFile(new FileReader(file));
 462                                 return f;
 463                         } catch (Exception e) {
 464                                 System.out.printf("Failed to open file '%s'\n", file);
 465                         }
 466                 }
 467                 return null;
 468         }
 469
 470         static AltosReplayReader replay_file(File file) {
 471                 AltosStateIterable states = record_iterable(file);
 472                 if (states == null)
 473                         return null;
 474                 return new AltosReplayReader(states.iterator(), file);
 475         }
 476
 477         static boolean process_replay(File file) {
 478                 AltosReplayReader reader = replay_file(file);
 479                 if (reader == null)
 480                         return false;
 481                 AltosFlightUI flight_ui = new AltosFlightUI(new AltosVoice(), reader);
 482                 return true;
 483         }
 484
 485         static boolean process_graph(File file) {
 486                 AltosStateIterable states = record_iterable(file);
 487                 if (states == null)
 488                         return false;
 489                 try {
 490                         new AltosGraphUI(states, file);
 491                         return true;
 492                 } catch (InterruptedException ie) {
 493                 } catch (IOException ie) {
 494                 }
 495                 return false;
 496         }
 497
 498         static boolean process_summary(File file) {
 499                 AltosStateIterable states = record_iterable(file);
 500                 if (states == null)
 501                         return false;
 502                 try {
 503                         System.out.printf("%s:\n", file.toString());
 504                         AltosFlightStats stats = new AltosFlightStats(states);
 505                         if (stats.serial != AltosLib.MISSING)
 506                                 System.out.printf("Serial:       %5d\n", stats.serial);
 507                         if (stats.flight != AltosLib.MISSING)
 508                                 System.out.printf("Flight:       %5d\n", stats.flight);
 509                         if (stats.year != AltosLib.MISSING)
 510                                 System.out.printf("Date:    %04d-%02d-%02d\n",
 511                                                   stats.year, stats.month, stats.day);
 512                         if (stats.hour != AltosLib.MISSING)
 513                                 System.out.printf("Time:      %02d:%02d:%02d UTC\n",
 514                                                   stats.hour, stats.minute, stats.second);
 515                         if (stats.max_height != AltosLib.MISSING)
 516                                 System.out.printf("Max height:  %6.0f m    %6.0f ft\n",
 517                                                   stats.max_height,
 518                                                   AltosConvert.meters_to_feet(stats.max_height));
 519                         if (stats.max_speed != AltosLib.MISSING)
 520                                 System.out.printf("Max speed:   %6.0f m/s  %6.0f ft/s  %6.4f Mach\n",
 521                                                   stats.max_speed,
 522                                                   AltosConvert.meters_to_feet(stats.max_speed),
 523                                                   AltosConvert.meters_to_mach(stats.max_speed));
 524                         if (stats.max_acceleration != AltosLib.MISSING) {
 525                                 System.out.printf("Max accel:   %6.0f m/s² %6.0f ft/s² %6.2f g\n",
 526                                                   stats.max_acceleration,
 527                                                   AltosConvert.meters_to_feet(stats.max_acceleration),
 528                                                   AltosConvert.meters_to_g(stats.max_acceleration));
 529                         }
 530                         if (stats.state_speed[Altos.ao_flight_drogue] != AltosLib.MISSING)
 531                                 System.out.printf("Drogue rate: %6.0f m/s  %6.0f ft/s\n",
 532                                                   stats.state_speed[Altos.ao_flight_drogue],
 533                                                   AltosConvert.meters_to_feet(stats.state_speed[Altos.ao_flight_drogue]));
 534                         if (stats.state_speed[Altos.ao_flight_main] != AltosLib.MISSING)
 535                                 System.out.printf("Main rate:   %6.0f m/s  %6.0f ft/s\n",
 536                                                   stats.state_speed[Altos.ao_flight_main],
 537                                                   AltosConvert.meters_to_feet(stats.state_speed[Altos.ao_flight_main]));
 538                         if (stats.state_end[Altos.ao_flight_main] != AltosLib.MISSING &&
 539                             stats.state_start[Altos.ao_flight_boost] != AltosLib.MISSING)
 540                                 System.out.printf("Flight time: %6.0f s\n",
 541                                                   stats.state_end[Altos.ao_flight_main] -
 542                                                   stats.state_start[Altos.ao_flight_boost]);
 543                         System.out.printf("\n");
 544                         return true;
 545                 } catch (InterruptedException ie) {
 546                 } catch (IOException ie) {
 547                 }
 548                 return false;
 549         }
 550
 551         static boolean process_cat(File file) {
 552                 try {
 553                         AltosStateIterable eef = record_iterable(file);
 554
 555                         for (AltosState state : eef) {
 556                                 if ((state.set & AltosState.set_gps) != 0) {
 557                                         System.out.printf ("time %d %d-%d-%d %d:%d:%d lat %g lon %g alt %g\n",
 558                                                            state.gps.seconds(),
 559                                                            state.gps.year,
 560                                                            state.gps.month,
 561                                                            state.gps.day,
 562                                                            state.gps.hour,
 563                                                            state.gps.minute,
 564                                                            state.gps.second,
 565                                                            state.gps.lat,
 566                                                            state.gps.lon,
 567                                                            state.gps.alt);
 568                                 } else {
 569                                         System.out.printf ("tick %d state %d height %g\n",
 570                                                            state.tick, state.state(), state.height());
 571                                 }
 572                         }
 573
 574                 } catch (Exception e) {
 575                         System.out.printf("Failed to open file '%s'\n", file);
 576                         return false;
 577                 }
 578                 return true;
 579         }
 580
 581         public static void help(int code) {
 582                 System.out.printf("Usage: altosui [OPTION]... [FILE]...\n");
 583                 System.out.printf("  Options:\n");
 584                 System.out.printf("    --replay <filename>\t\trelive the glory of past flights \n");
 585                 System.out.printf("    --graph <filename>\t\tgraph a flight\n");
 586                 System.out.printf("    --summary <filename>\t\tText summary of a flight\n");
 587                 System.out.printf("    --csv\tgenerate comma separated output for spreadsheets, etc\n");
 588                 System.out.printf("    --kml\tgenerate KML output for use with Google Earth\n");
 589                 System.exit(code);
 590         }
 591
 592         public static void main(final String[] args) {
 593                 int     errors = 0;
 594                 load_library(null);
 595                 try {
 596                         UIManager.setLookAndFeel(AltosUIPreferences.look_and_feel());
 597                 } catch (Exception e) {
 598                 }
 599                 AltosUI altosui = null;
 600
 601                 /* Handle batch-mode */
 602                 if (args.length == 0) {
 603                         altosui = new AltosUI();
 604                         java.util.List<AltosDevice> devices = AltosUSBDevice.list(Altos.product_basestation);
 605                         if (devices != null)
 606                                 for (AltosDevice device : devices)
 607                                         altosui.telemetry_window(device);
 608                 } else {
 609                         int process = process_none;
 610                         for (int i = 0; i < args.length; i++) {
 611                                 if (args[i].equals("--help"))
 612                                         help(0);
 613                                 else if (args[i].equals("--replay"))
 614                                         process = process_replay;
 615                                 else if (args[i].equals("--kml"))
 616                                         process = process_kml;
 617                                 else if (args[i].equals("--csv"))
 618                                         process = process_csv;
 619                                 else if (args[i].equals("--graph"))
 620                                         process = process_graph;
 621                                 else if (args[i].equals("--summary"))
 622                                         process = process_summary;
 623                                 else if (args[i].equals("--cat"))
 624                                         process = process_cat;
 625                                 else if (args[i].startsWith("--"))
 626                                         help(1);
 627                                 else {
 628                                         File file = new File(args[i]);
 629                                         switch (process) {
 630                                         case process_none:
 631                                                 if (altosui == null)
 632                                                         altosui = new AltosUI();
 633                                         case process_graph:
 634                                                 if (!process_graph(file))
 635                                                         ++errors;
 636                                                 break;
 637                                         case process_replay:
 638                                                 if (!process_replay(file))
 639                                                         ++errors;
 640                                                 break;
 641                                         case process_kml:
 642                                                 if (!process_kml(file))
 643                                                         ++errors;
 644                                                 break;
 645                                         case process_csv:
 646                                                 if (!process_csv(file))
 647                                                         ++errors;
 648                                                 break;
 649                                         case process_summary:
 650                                                 if (!process_summary(file))
 651                                                         ++errors;
 652                                                 break;
 653                                         case process_cat:
 654                                                 if (!process_cat(file))
 655                                                         ++errors;
 656                                         }
 657                                 }
 658                         }
 659                 }
 660                 if (errors != 0)
 661                         System.exit(errors);
 662         }
 663 }