git.gag.com Git - fw/altos/blob - altosuilib/AltosFlashUI.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 org.altusmetrum.altosuilib_14;
  20
  21 import java.awt.*;
  22 import java.awt.event.*;
  23 import javax.swing.*;
  24 import javax.swing.filechooser.FileNameExtensionFilter;
  25 import java.io.*;
  26 import java.util.concurrent.*;
  27 import org.altusmetrum.altoslib_14.*;
  28
  29 public class AltosFlashUI
  30         extends AltosUIDialog
  31         implements ActionListener
  32 {
  33         Container       pane;
  34         Box             box;
  35         JLabel          serial_label;
  36         JLabel          serial_value;
  37         JLabel          file_label;
  38         JLabel          file_value;
  39         JProgressBar    pbar;
  40         JButton         cancel;
  41
  42         AltosUIFrame    frame;
  43
  44         // Hex file with rom image
  45         File            file;
  46
  47         // Debug connection
  48         AltosUSBDevice  device;
  49
  50         AltosLink       link;
  51
  52         // Desired Rom configuration
  53         AltosRomconfig  rom_config;
  54
  55         // Flash controller
  56         AltosProgrammer programmer;
  57
  58         private static final String[] pair_programmed_files = {
  59                 "teleballoon",
  60                 "telebt-v1",
  61                 "teledongle-v0",
  62                 "telefire-v0",
  63                 "telemetrum-v0",
  64                 "telemetrum-v1",
  65                 "telemini-v1",
  66                 "telenano",
  67                 "teleshield"
  68         };
  69
  70         private static final String[] pair_programmed_devices = {
  71                 "TeleBalloon",
  72                 "TeleBT-v1",
  73                 "TeleDongle-v0",
  74                 "TeleFire-v0",
  75                 "TeleFire",
  76                 "TeleMetrum-v0",
  77                 "TeleMetrum-v1",
  78                 "TeleMini-v1",
  79                 "TeleNano",
  80                 "TeleShield"
  81         };
  82
  83         private boolean is_pair_programmed() {
  84
  85                 if (file != null) {
  86                         String  name = file.getName();
  87                         for (int i = 0; i < pair_programmed_files.length; i++) {
  88                                 if (name.startsWith(pair_programmed_files[i]))
  89                                         return true;
  90                         }
  91                 }
  92                 if (device != null) {
  93                         String  name = device.toString();
  94                         for (int i = 0; i < pair_programmed_devices.length; i++) {
  95                                 if (name.startsWith(pair_programmed_devices[i]))
  96                                         return true;
  97                         }
  98                 }
  99                 return false;
 100         }
 101
 102         public void actionPerformed(ActionEvent e) {
 103                 if (e.getSource() == cancel) {
 104                         if (programmer != null)
 105                                 programmer.abort();
 106                         setVisible(false);
 107                         dispose();
 108                 } else {
 109                         String  cmd = e.getActionCommand();
 110                         if (e.getID() == -1) {
 111                                 JOptionPane.showMessageDialog(frame,
 112                                                               e.getActionCommand(),
 113                                                               file.toString(),
 114                                                               JOptionPane.ERROR_MESSAGE);
 115                                 setVisible(false);
 116                                 dispose();
 117                         } else if (cmd.equals(AltosFlashListener.flash_done)) {
 118                                 setVisible(false);
 119                                 dispose();
 120                         } else if (cmd.equals(AltosFlashListener.flash_start)) {
 121                                 setVisible(true);
 122                         } else {
 123                                 pbar.setValue(e.getID());
 124                                 pbar.setString(cmd);
 125                         }
 126                 }
 127         }
 128
 129         public void build_dialog() {
 130                 GridBagConstraints c;
 131                 Insets il = new Insets(4,4,4,4);
 132                 Insets ir = new Insets(4,4,4,4);
 133
 134                 pane = getScrollablePane();
 135                 pane.setLayout(new GridBagLayout());
 136
 137                 c = new GridBagConstraints();
 138                 c.gridx = 0; c.gridy = 0;
 139                 c.fill = GridBagConstraints.NONE;
 140                 c.anchor = GridBagConstraints.LINE_START;
 141                 c.insets = il;
 142                 serial_label = new JLabel("Serial:");
 143                 pane.add(serial_label, c);
 144
 145                 c = new GridBagConstraints();
 146                 c.gridx = 1; c.gridy = 0;
 147                 c.fill = GridBagConstraints.HORIZONTAL;
 148                 c.weightx = 1;
 149                 c.anchor = GridBagConstraints.LINE_START;
 150                 c.insets = ir;
 151                 serial_value = new JLabel("");
 152                 pane.add(serial_value, c);
 153
 154                 c = new GridBagConstraints();
 155                 c.fill = GridBagConstraints.NONE;
 156                 c.gridx = 0; c.gridy = 1;
 157                 c.anchor = GridBagConstraints.LINE_START;
 158                 c.insets = il;
 159                 file_label = new JLabel("File:");
 160                 pane.add(file_label, c);
 161
 162                 c = new GridBagConstraints();
 163                 c.fill = GridBagConstraints.HORIZONTAL;
 164                 c.weightx = 1;
 165                 c.gridx = 1; c.gridy = 1;
 166                 c.anchor = GridBagConstraints.LINE_START;
 167                 c.insets = ir;
 168                 file_value = new JLabel(file.toString());
 169                 pane.add(file_value, c);
 170
 171                 pbar = new JProgressBar();
 172                 pbar.setMinimum(0);
 173                 pbar.setMaximum(100);
 174                 pbar.setValue(0);
 175                 pbar.setString("");
 176                 pbar.setStringPainted(true);
 177                 pbar.setPreferredSize(new Dimension(600, 20));
 178                 c = new GridBagConstraints();
 179                 c.fill = GridBagConstraints.HORIZONTAL;
 180                 c.anchor = GridBagConstraints.CENTER;
 181                 c.gridx = 0; c.gridy = 2;
 182                 c.gridwidth = GridBagConstraints.REMAINDER;
 183                 Insets ib = new Insets(4,4,4,4);
 184                 c.insets = ib;
 185                 pane.add(pbar, c);
 186
 187                 cancel = new JButton("Cancel");
 188                 c = new GridBagConstraints();
 189                 c.fill = GridBagConstraints.NONE;
 190                 c.anchor = GridBagConstraints.CENTER;
 191                 c.gridx = 0; c.gridy = 3;
 192                 c.gridwidth = GridBagConstraints.REMAINDER;
 193                 Insets ic = new Insets(4,4,4,4);
 194                 c.insets = ic;
 195                 pane.add(cancel, c);
 196                 cancel.addActionListener(this);
 197                 pack();
 198                 setLocationRelativeTo(frame);
 199         }
 200
 201         void set_serial(int serial_number) {
 202                 serial_value.setText(String.format("%d", serial_number));
 203         }
 204
 205         static class AltosHexfileFilter extends javax.swing.filechooser.FileFilter {
 206                 String head;
 207                 String description;
 208
 209                 public AltosHexfileFilter(String usb_product) {
 210                         int l;
 211                         int dash;
 212
 213                         /* Trim off any trailing variants (1.0a vs 1.0) */
 214                         for (dash = usb_product.length(); dash > 0; dash--) {
 215                                 char c = usb_product.charAt(dash-1);
 216                                 if (c == '-')
 217                                         break;
 218                         }
 219                         if (dash == 0)
 220                                 dash = usb_product.length();
 221
 222                         for (l = usb_product.length(); l > dash; l--) {
 223                                 char c = usb_product.charAt(l-1);
 224                                 if (c < 'a' || 'z' < c)
 225                                         break;
 226                         }
 227                         head = usb_product.substring(0, l).toLowerCase();
 228                         description = String.format("%s Image File", usb_product);
 229                 }
 230
 231                 public boolean accept(File file) {
 232                         return !file.isFile() || (file.getName().startsWith(head) && file.getName().endsWith(".ihx"));
 233                 }
 234
 235                 public String getDescription() {
 236                         return description;
 237                 }
 238         }
 239
 240         boolean select_source_file() {
 241                 JFileChooser    hexfile_chooser = new JFileChooser();
 242
 243                 File firmwaredir = AltosUIPreferences.firmwaredir();
 244                 if (firmwaredir != null)
 245                         hexfile_chooser.setCurrentDirectory(firmwaredir);
 246
 247                 hexfile_chooser.setDialogTitle("Select Flash Image");
 248
 249                 javax.swing.filechooser.FileFilter ihx_filter = new FileNameExtensionFilter("Flash Image", "ihx");
 250                 hexfile_chooser.addChoosableFileFilter(ihx_filter);
 251                 hexfile_chooser.setFileFilter(ihx_filter);
 252
 253                 if (!is_pair_programmed() && !device.matchProduct(AltosLib.product_altusmetrum)) {
 254                         AltosHexfileFilter filter = new AltosHexfileFilter(device.usb_product());
 255                         hexfile_chooser.addChoosableFileFilter(filter);
 256                         hexfile_chooser.setFileFilter(filter);
 257                 }
 258
 259                 int returnVal = hexfile_chooser.showOpenDialog(frame);
 260
 261                 if (returnVal != JFileChooser.APPROVE_OPTION)
 262                         return false;
 263                 file = hexfile_chooser.getSelectedFile();
 264                 if (file == null)
 265                         return false;
 266                 AltosUIPreferences.set_firmwaredir(file.getParentFile());
 267
 268                 return true;
 269         }
 270
 271         boolean select_device() {
 272                 int     product = AltosLib.product_any;
 273
 274                 device = AltosDeviceUIDialog.show_usb(frame, AltosLib.product_any);
 275
 276                 if (device == null)
 277                         return false;
 278                 return true;
 279         }
 280
 281         boolean rom_config_matches (AltosRomconfig a, AltosRomconfig b) {
 282                 if (a == null || b == null)
 283                         return (a == null && b == null);
 284
 285                 if (!a.valid || !b.valid)
 286                         return false;
 287
 288                 if (a.usb_id != null && b.usb_id != null &&
 289                     (a.usb_id.vid != b.usb_id.vid ||
 290                      a.usb_id.pid != b.usb_id.pid))
 291                         return false;
 292
 293                 if (a.usb_product != null && b.usb_product != null &&
 294                     !a.usb_product.equals(b.usb_product))
 295                         return false;
 296
 297                 return true;
 298         }
 299
 300         boolean update_rom_config_info(AltosRomconfig existing_config, AltosRomconfig image_config) {
 301                 AltosRomconfig  new_config;
 302
 303                 if (!rom_config_matches(existing_config, image_config)) {
 304                         int ret;
 305                         if (existing_config == null || !existing_config.valid) {
 306                                 ret = JOptionPane.showConfirmDialog(this,
 307                                                                     String.format("Cannot determine target device type\nImage is %04x:%04x %s\nFlash anyways?",
 308                                                                                   image_config.usb_id.vid,
 309                                                                                   image_config.usb_id.pid,
 310                                                                                   image_config.usb_product),
 311                                                                     "Unknown Target Device",
 312                                                                     JOptionPane.YES_NO_OPTION);
 313                         } else {
 314                                 ret = JOptionPane.showConfirmDialog(this,
 315                                                                     String.format("Device is %04x:%04x %s\nImage is %04x:%04x %s\nFlash anyways?",
 316                                                                                   existing_config.usb_id.vid,
 317                                                                                   existing_config.usb_id.pid,
 318                                                                                   existing_config.usb_product,
 319                                                                                   image_config.usb_id.vid,
 320                                                                                   image_config.usb_id.pid,
 321                                                                                   image_config.usb_product),
 322                                                                     "Image doesn't match Device",
 323                                                                     JOptionPane.YES_NO_OPTION);
 324                         }
 325                         if (ret != JOptionPane.YES_OPTION)
 326                                 return false;
 327                 }
 328
 329                 if (existing_config != null && existing_config.radio_calibration_broken) {
 330                         int ret = JOptionPane.showConfirmDialog(this,
 331                                                                 String.format("Radio calibration value %d may be incorrect\nFlash anyways?",
 332                                                                               existing_config.radio_calibration),
 333                                                                 "Radio Calibration Invalid",
 334                                                                 JOptionPane.YES_NO_OPTION);
 335                         if (ret != JOptionPane.YES_OPTION)
 336                                 return false;
 337                 }
 338
 339
 340                 new_config = AltosRomconfigUI.show(frame, existing_config);
 341                 if (new_config == null)
 342                         return false;
 343                 rom_config = new_config;
 344                 set_serial(rom_config.serial_number);
 345                 setVisible(true);
 346                 return true;
 347         }
 348
 349         void exception (Exception e) {
 350                 if (e instanceof FileNotFoundException) {
 351                         JOptionPane.showMessageDialog(frame,
 352                                                       ((FileNotFoundException) e).getMessage(),
 353                                                       "Cannot open file",
 354                                                       JOptionPane.ERROR_MESSAGE);
 355                 } else if (e instanceof AltosSerialInUseException) {
 356                         JOptionPane.showMessageDialog(frame,
 357                                                       String.format("Device \"%s\" already in use",
 358                                                                     device.toShortString()),
 359                                                       "Device in use",
 360                                                       JOptionPane.ERROR_MESSAGE);
 361                 } else {
 362                         JOptionPane.showMessageDialog(frame,
 363                                                       e.getMessage(),
 364                                                       file.toString(),
 365                                                       JOptionPane.ERROR_MESSAGE);
 366                 }
 367         }
 368
 369         class flash_task implements Runnable, AltosFlashListener {
 370                 AltosFlashUI    ui;
 371                 Thread          t;
 372                 AltosProgrammer programmer;
 373
 374                 public void position(String in_s, int in_percent) {
 375                         final String s = in_s;
 376                         final int percent = in_percent;
 377                         Runnable r = new Runnable() {
 378                                         public void run() {
 379                                                 try {
 380                                                         ui.actionPerformed(new ActionEvent(this,
 381                                                                                            percent,
 382                                                                                            s));
 383                                                 } catch (Exception ex) {
 384                                                 }
 385                                         }
 386                                 };
 387                         SwingUtilities.invokeLater(r);
 388                 }
 389
 390                 public void run () {
 391                         try {
 392                                 if (ui.is_pair_programmed())
 393                                         programmer = new AltosFlash(ui.file, link, this);
 394                                 else
 395                                         programmer = new AltosSelfFlash(ui.file, link, this);
 396
 397                                 final AltosRomconfig    current_config = programmer.target_romconfig(device.usb_id(), device.usb_product());
 398
 399                                 final AltosRomconfig    image_config = programmer.image_romconfig();
 400
 401                                 System.out.printf("product %s current %s image %s\n", device.usb_product(), current_config, image_config);
 402
 403                                 final Semaphore await_rom_config = new Semaphore(0);
 404                                 SwingUtilities.invokeLater(new Runnable() {
 405                                                 public void run() {
 406                                                         ui.programmer = programmer;
 407                                                         ui.update_rom_config_info(current_config, image_config);
 408                                                         await_rom_config.release();
 409                                                 }
 410                                         });
 411                                 await_rom_config.acquire();
 412
 413                                 if (ui.rom_config != null) {
 414                                         programmer.set_romconfig(ui.rom_config);
 415                                         programmer.flash();
 416                                 }
 417                         } catch (InterruptedException ee) {
 418                                 final Exception e = ee;
 419                                 SwingUtilities.invokeLater(new Runnable() {
 420                                                 public void run() {
 421                                                         ui.exception(e);
 422                                                 }
 423                                         });
 424                         } catch (IOException ee) {
 425                                 final Exception e = ee;
 426                                 SwingUtilities.invokeLater(new Runnable() {
 427                                                 public void run() {
 428                                                         ui.exception(e);
 429                                                 }
 430                                         });
 431                         } finally {
 432                                 if (programmer != null)
 433                                         programmer.close();
 434                         }
 435                 }
 436
 437                 public flash_task(AltosFlashUI in_ui) {
 438                         ui = in_ui;
 439                         t = new Thread(this);
 440                         t.start();
 441                 }
 442         }
 443
 444         flash_task      flasher;
 445
 446
 447         class open_task implements Runnable {
 448                 AltosDevice     device;
 449                 Thread          t;
 450                 open_dialog     dialog;
 451
 452                 public void do_exception(final Exception e) {
 453                         SwingUtilities.invokeLater(
 454                                 new Runnable() {
 455                                         public void run() {
 456                                                 try { dialog.open_exception(e); } catch (Exception ex) { }
 457                                         }
 458                                 });
 459                 }
 460
 461                 public void do_success(final AltosLink link) {
 462                         SwingUtilities.invokeLater(
 463                                 new Runnable() {
 464                                         public void run() {
 465                                                 try { dialog.open_success(link); } catch (Exception ex) { }
 466                                         }
 467                                 });
 468                 }
 469
 470                 public void do_failure() {
 471                         SwingUtilities.invokeLater(
 472                                 new Runnable() {
 473                                         public void run() {
 474                                                 try { dialog.open_failure(); } catch (Exception ex) { }
 475                                         }
 476                                 });
 477                 }
 478
 479                 public void do_cancel() {
 480                         SwingUtilities.invokeLater(
 481                                 new Runnable() {
 482                                         public void run() {
 483                                                 try { dialog.open_cancel(); } catch (Exception ex) { }
 484                                         }
 485                                 });
 486                 }
 487
 488                 public void run () {
 489                         try {
 490                                 AltosLink link = null;
 491                                 boolean new_device = false;
 492
 493                                 for (;;) {
 494                                         System.out.printf("Attempting to open %s\n", device.toShortString());
 495
 496                                         for (int i = 0; i < 20; i++) {
 497                                                 link = new AltosSerial(device);
 498
 499                                                 if (link != null)
 500                                                         break;
 501
 502                                                 if (!new_device)
 503                                                         break;
 504
 505                                                 System.out.printf("Waiting for device to become ready\n");
 506
 507                                                 Thread.sleep(1000);
 508                                         }
 509                                         if (link == null)
 510                                                 throw new IOException(String.format("%s: open failed",
 511                                                                                     device.toShortString()));
 512
 513                                         /* See if the link is usable already */
 514                                         if (is_pair_programmed() || link.is_loader()) {
 515                                                 System.out.printf("Device ready for use\n");
 516                                                 do_success(link);
 517                                                 return;
 518                                         }
 519
 520                                         java.util.List<AltosDevice> prev_devices =
 521                                                 AltosUSBDevice.list(AltosLib.product_altusmetrum);
 522
 523                                         /* Nope, switch to loader and
 524                                          * wait for it to re-appear
 525                                          */
 526
 527                                         System.out.printf("Switch to loader\n");
 528
 529                                         link.to_loader();
 530
 531                                         /* This is a bit fragile, but
 532                                          * I'm not sure what else to
 533                                          * do other than ask the user.
 534                                          *
 535                                          * Search for a device which
 536                                          * wasn't there before we
 537                                          * asked the target to switch
 538                                          * to loader mode
 539                                          */
 540
 541                                         device = null;
 542                                         for (;;) {
 543                                                 Thread.sleep(100);
 544                                                 java.util.List<AltosDevice> devices =
 545                                                         AltosUSBDevice.list(AltosLib.product_altusmetrum);
 546
 547                                                 for (AltosDevice d : devices) {
 548                                                         boolean matched = false;
 549                                                         System.out.printf("\tfound device %s\n", d.toShortString());
 550                                                         for (AltosDevice p : prev_devices)
 551                                                                 if (d.equals(p)) {
 552                                                                         matched = true;
 553                                                                         break;
 554                                                                 }
 555                                                         if (!matched) {
 556                                                                 System.out.printf("Identified new device %s\n", d.toShortString());
 557                                                                 device = (AltosUSBDevice) d;
 558                                                                 new_device = true;
 559                                                                 break;
 560                                                         }
 561                                                 }
 562                                                 if (device != null)
 563                                                         break;
 564                                         }
 565                                 }
 566                         } catch (AltosSerialInUseException ee) {
 567                                 do_exception(ee);
 568                         } catch (FileNotFoundException fe) {
 569                                 do_exception(fe);
 570                         } catch (IOException ie) {
 571                                 do_exception (ie);
 572                         } catch (InterruptedException ie) {
 573                         }
 574                 }
 575
 576                 public void cancel() {
 577                         t.interrupt();
 578                 }
 579
 580                 public open_task(AltosDevice device, open_dialog dialog) {
 581                         this.device = device;
 582                         this.dialog = dialog;
 583                         t = new Thread(this);
 584                         t.start();
 585                 }
 586         }
 587
 588         class open_dialog
 589                 extends AltosUIDialog
 590                 implements ActionListener
 591         {
 592                 AltosUIFrame owner;
 593
 594                 private JLabel  opening_label;
 595                 private JButton cancel_button;
 596
 597                 boolean done = false;
 598
 599                 AltosLink link = null;
 600
 601                 open_task open = null;
 602
 603                 public void open_exception(Exception e) {
 604                         System.out.printf("open_exception\n");
 605                         setVisible(false);
 606                         exception(e);
 607                         done = true;
 608                 }
 609
 610                 public void open_success(AltosLink link) {
 611                         System.out.printf("open_success\n");
 612                         setVisible(false);
 613                         this.link = link;
 614                         done = true;
 615                 }
 616
 617                 public void open_failure() {
 618                         System.out.printf("open_failure\n");
 619                         setVisible(false);
 620                         done = true;
 621                 }
 622
 623                 public void open_cancel() {
 624                         System.out.printf("open_cancel\n");
 625                         setVisible(false);
 626                         done = true;
 627                 }
 628
 629                 public AltosLink do_open(open_task open) throws InterruptedException {
 630                         this.open = open;
 631                         setVisible(true);
 632                         return link;
 633                 }
 634
 635                 public void actionPerformed(ActionEvent e) {
 636                         String cmd = e.getActionCommand();
 637
 638                         if (cmd.equals("cancel"))
 639                                 if (open != null)
 640                                         open.cancel();
 641                         done = true;
 642                         setVisible(false);
 643                 }
 644
 645                 public open_dialog(AltosUIFrame in_owner) {
 646                         super(in_owner, "Open Flash Target Device", true);
 647                         owner = in_owner;
 648
 649                         Container               pane = getScrollablePane();
 650                         GridBagConstraints      c = new GridBagConstraints();
 651                         Insets                  i = new Insets(4,4,4,4);
 652
 653
 654                         pane.setLayout(new GridBagLayout());
 655
 656                         opening_label = new JLabel("Opening Device");
 657                         c.fill = GridBagConstraints.HORIZONTAL;
 658                         c.anchor = GridBagConstraints.LINE_START;
 659                         c.insets = i;
 660                         c.weightx = 0;
 661                         c.weighty = 0;
 662
 663                         c.gridx = 0;
 664                         c.gridy = 0;
 665
 666                         pane.add(opening_label, c);
 667
 668                         cancel_button = new JButton("Cancel");
 669                         cancel_button.addActionListener(this);
 670                         cancel_button.setActionCommand("cancel");
 671
 672                         c.gridy = 1;
 673                         pane.add(cancel_button, c);
 674                         pack();
 675                         setLocationRelativeTo(owner);
 676                 }
 677         }
 678
 679         private boolean open_device() throws InterruptedException {
 680
 681                 open_dialog     dialog = new open_dialog(frame);
 682
 683                 open_task       open = new open_task(device, dialog);
 684
 685                 link = dialog.do_open(open);
 686
 687                 return link != null;
 688         }
 689
 690         /*
 691          * Execute the steps for flashing
 692          * a device. Note that this returns immediately;
 693          * this dialog is not modal
 694          */
 695         void showDialog() {
 696                 if (!select_device())
 697                         return;
 698                 if (!select_source_file())
 699                         return;
 700                 try {
 701                         if (!open_device())
 702                                 return;
 703                 } catch (InterruptedException ie) {
 704                         return;
 705                 }
 706                 build_dialog();
 707                 flash_task      f = new flash_task(this);
 708         }
 709
 710         public static void show(AltosUIFrame frame) {
 711                 AltosFlashUI    ui = new AltosFlashUI(frame);
 712                 ui.showDialog();
 713         }
 714
 715         public AltosFlashUI(AltosUIFrame in_frame) {
 716                 super(in_frame, "Program Altusmetrum Device", false);
 717
 718                 frame = in_frame;
 719         }
 720 }