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   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; version 2 of the License.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 package altosui;
  19
  20 import java.awt.*;
  21 import java.awt.event.*;
  22 import javax.swing.*;
  23 import javax.swing.filechooser.FileNameExtensionFilter;
  24 import javax.swing.table.*;
  25 import java.io.*;
  26 import java.util.*;
  27 import java.text.*;
  28 import java.util.prefs.*;
  29 import java.util.concurrent.LinkedBlockingQueue;
  30 import gnu.io.*;
  31
  32 import altosui.AltosSerial;
  33 import altosui.AltosSerialMonitor;
  34 import altosui.AltosTelemetry;
  35 import altosui.AltosState;
  36 import altosui.AltosDeviceDialog;
  37 import altosui.AltosPreferences;
  38 import altosui.AltosLog;
  39 import altosui.AltosVoice;
  40
  41 class AltosFlightStatusTableModel extends AbstractTableModel {
  42         private String[] columnNames = {"Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
  43         private Object[] data = { 0, "idle", 0, 0 };
  44
  45         public int getColumnCount() { return columnNames.length; }
  46         public int getRowCount() { return 2; }
  47         public Object getValueAt(int row, int col) {
  48                 if (row == 0)
  49                         return columnNames[col];
  50                 return data[col];
  51         }
  52
  53         public void setValueAt(Object value, int col) {
  54                 data[col] = value;
  55                 fireTableCellUpdated(1, col);
  56         }
  57
  58         public void setValueAt(Object value, int row, int col) {
  59                 setValueAt(value, col);
  60         }
  61
  62         public void set(AltosState state) {
  63                 setValueAt(String.format("%1.0f", state.height), 0);
  64                 setValueAt(state.data.state, 1);
  65                 setValueAt(state.data.rssi, 2);
  66                 double speed = state.baro_speed;
  67                 if (state.ascent)
  68                         speed = state.speed;
  69                 setValueAt(String.format("%1.0f", speed), 3);
  70         }
  71 }
  72
  73 class AltosFlightInfoTableModel extends AbstractTableModel {
  74         private String[] columnNames = {"Field", "Value"};
  75
  76         class InfoLine {
  77                 String  name;
  78                 String  value;
  79
  80                 public InfoLine(String n, String v) {
  81                         name = n;
  82                         value = v;
  83                 }
  84         }
  85
  86         private ArrayList<InfoLine> rows = new ArrayList<InfoLine>();
  87
  88         public int getColumnCount() { return columnNames.length; }
  89         public String getColumnName(int col) { return columnNames[col]; }
  90
  91         public int getRowCount() { return 20; }
  92
  93         public Object getValueAt(int row, int col) {
  94                 if (row >= rows.size())
  95                         return "";
  96                 if (col == 0)
  97                         return rows.get(row).name;
  98                 else
  99                         return rows.get(row).value;
 100         }
 101
 102         int     current_row = 0;
 103         int     prev_num_rows = 0;
 104
 105         public void resetRow() {
 106                 current_row = 0;
 107         }
 108         public void addRow(String name, String value) {
 109                 if (current_row >= rows.size())
 110                         rows.add(current_row, new InfoLine(name, value));
 111                 else
 112                         rows.set(current_row, new InfoLine(name, value));
 113                 current_row++;
 114         }
 115         public void finish() {
 116                 if (current_row > prev_num_rows) {
 117                         fireTableRowsInserted(prev_num_rows, current_row - 1);
 118                         prev_num_rows = current_row;
 119                 }
 120                 fireTableDataChanged();
 121         }
 122 }
 123
 124 public class AltosUI extends JFrame {
 125         private int channel = -1;
 126
 127         private AltosFlightStatusTableModel flightStatusModel;
 128         private JTable flightStatus;
 129
 130         static final int info_columns = 3;
 131
 132         private AltosFlightInfoTableModel[] flightInfoModel;
 133         private JTable[] flightInfo;
 134         private AltosSerial serial_line;
 135         private AltosLog altos_log;
 136         private Box[] ibox;
 137         private Box vbox;
 138         private Box hbox;
 139
 140         private Font statusFont = new Font("SansSerif", Font.BOLD, 24);
 141         private Font infoLabelFont = new Font("SansSerif", Font.PLAIN, 14);
 142         private Font infoValueFont = new Font("Monospaced", Font.PLAIN, 14);
 143
 144         public AltosVoice voice = new AltosVoice();
 145
 146         public AltosUI() {
 147
 148                 String[] statusNames = { "Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
 149                 Object[][] statusData = { { "0", "pad", "-50", "0" } };
 150
 151                 AltosPreferences.init(this);
 152
 153                 vbox = Box.createVerticalBox();
 154                 this.add(vbox);
 155
 156                 flightStatusModel = new AltosFlightStatusTableModel();
 157                 flightStatus = new JTable(flightStatusModel);
 158                 flightStatus.setFont(statusFont);
 159                 TableColumnModel tcm = flightStatus.getColumnModel();
 160                 for (int i = 0; i < flightStatusModel.getColumnCount(); i++) {
 161                         DefaultTableCellRenderer       r = new DefaultTableCellRenderer();
 162                         r.setFont(statusFont);
 163                         r.setHorizontalAlignment(SwingConstants.CENTER);
 164                         tcm.getColumn(i).setCellRenderer(r);
 165                 }
 166
 167                 FontMetrics     statusMetrics = flightStatus.getFontMetrics(statusFont);
 168                 int statusHeight = (statusMetrics.getHeight() + statusMetrics.getLeading()) * 15 / 10;
 169                 flightStatus.setRowHeight(statusHeight);
 170                 flightStatus.setShowGrid(false);
 171
 172                 vbox.add(flightStatus);
 173
 174                 hbox = Box.createHorizontalBox();
 175                 vbox.add(hbox);
 176
 177                 flightInfo = new JTable[3];
 178                 flightInfoModel = new AltosFlightInfoTableModel[3];
 179                 ibox = new Box[3];
 180                 FontMetrics     infoValueMetrics = flightStatus.getFontMetrics(infoValueFont);
 181                 int infoHeight = (infoValueMetrics.getHeight() + infoValueMetrics.getLeading()) * 20 / 10;
 182
 183                 for (int i = 0; i < info_columns; i++) {
 184                         ibox[i] = Box.createVerticalBox();
 185                         flightInfoModel[i] = new AltosFlightInfoTableModel();
 186                         flightInfo[i] = new JTable(flightInfoModel[i]);
 187                         flightInfo[i].setFont(infoValueFont);
 188                         flightInfo[i].setRowHeight(infoHeight);
 189                         flightInfo[i].setShowGrid(true);
 190                         ibox[i].add(flightInfo[i].getTableHeader());
 191                         ibox[i].add(flightInfo[i]);
 192                         hbox.add(ibox[i]);
 193                 }
 194
 195                 setTitle("AltOS");
 196
 197                 createMenu();
 198
 199                 serial_line = new AltosSerial();
 200                 altos_log = new AltosLog(serial_line);
 201                 int dpi = Toolkit.getDefaultToolkit().getScreenResolution();
 202                 this.setSize(new Dimension (infoValueMetrics.charWidth('0') * 6 * 20,
 203                                             statusHeight * 4 + infoHeight * 17));
 204                 this.validate();
 205                 setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
 206                 addWindowListener(new WindowAdapter() {
 207                         @Override
 208                         public void windowClosing(WindowEvent e) {
 209                                 System.exit(0);
 210                         }
 211                 });
 212         }
 213
 214         public void info_reset() {
 215                 for (int i = 0; i < info_columns; i++)
 216                         flightInfoModel[i].resetRow();
 217         }
 218
 219         public void info_add_row(int col, String name, String value) {
 220                 flightInfoModel[col].addRow(name, value);
 221         }
 222
 223         public void info_add_row(int col, String name, String format, Object value) {
 224                 flightInfoModel[col].addRow(name, String.format(format, value));
 225         }
 226
 227         public void info_add_row(int col, String name, String format, Object v1, Object v2) {
 228                 flightInfoModel[col].addRow(name, String.format(format, v1, v2));
 229         }
 230
 231         public void info_add_row(int col, String name, String format, Object v1, Object v2, Object v3) {
 232                 flightInfoModel[col].addRow(name, String.format(format, v1, v2, v3));
 233         }
 234
 235         public void info_add_deg(int col, String name, double v, int pos, int neg) {
 236                 int     c = pos;
 237                 if (v < 0) {
 238                         c = neg;
 239                         v = -v;
 240                 }
 241                 double  deg = Math.floor(v);
 242                 double  min = (v - deg) * 60;
 243
 244                 flightInfoModel[col].addRow(name, String.format("%3.0f°%08.5f'", deg, min));
 245         }
 246
 247         public void info_finish() {
 248                 for (int i = 0; i < info_columns; i++)
 249                         flightInfoModel[i].finish();
 250         }
 251
 252         static final int MIN_PAD_SAMPLES = 10;
 253
 254         public void show(AltosState state) {
 255                 flightStatusModel.set(state);
 256
 257                 info_reset();
 258                 if (state.npad >= MIN_PAD_SAMPLES)
 259                         info_add_row(0, "Ground state", "%s", "ready");
 260                 else
 261                         info_add_row(0, "Ground state", "wait (%d)",
 262                                      MIN_PAD_SAMPLES - state.npad);
 263                 info_add_row(0, "Rocket state", "%s", state.data.state);
 264                 info_add_row(0, "Callsign", "%s", state.data.callsign);
 265                 info_add_row(0, "Rocket serial", "%6d", state.data.serial);
 266                 info_add_row(0, "Rocket flight", "%6d", state.data.flight);
 267
 268                 info_add_row(0, "RSSI", "%6d    dBm", state.data.rssi);
 269                 info_add_row(0, "Height", "%6.0f    m", state.height);
 270                 info_add_row(0, "Max height", "%6.0f    m", state.max_height);
 271                 info_add_row(0, "Acceleration", "%8.1f  m/s²", state.acceleration);
 272                 info_add_row(0, "Max acceleration", "%8.1f  m/s²", state.max_acceleration);
 273                 info_add_row(0, "Speed", "%8.1f  m/s", state.ascent ? state.speed : state.baro_speed);
 274                 info_add_row(0, "Max Speed", "%8.1f  m/s", state.max_speed);
 275                 info_add_row(0, "Temperature", "%9.2f °C", state.temperature);
 276                 info_add_row(0, "Battery", "%9.2f V", state.battery);
 277                 info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense);
 278                 info_add_row(0, "Main", "%9.2f V", state.main_sense);
 279                 info_add_row(0, "Pad altitude", "%6.0f    m", state.ground_altitude);
 280                 if (state.gps == null) {
 281                         info_add_row(1, "GPS", "not available");
 282                 } else {
 283                         if (state.data.gps.gps_locked)
 284                                 info_add_row(1, "GPS", "   locked");
 285                         else if (state.data.gps.gps_connected)
 286                                 info_add_row(1, "GPS", " unlocked");
 287                         else
 288                                 info_add_row(1, "GPS", "  missing");
 289                         info_add_row(1, "Satellites", "%6d", state.data.gps.nsat);
 290                         info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
 291                         info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
 292                         info_add_row(1, "GPS altitude", "%6d", state.gps.alt);
 293                         info_add_row(1, "GPS height", "%6.0f", state.gps_height);
 294
 295                         /* The SkyTraq GPS doesn't report these values */
 296                         if (false) {
 297                                 info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°",
 298                                              state.gps.ground_speed,
 299                                              state.gps.course);
 300                                 info_add_row(1, "GPS climb rate", "%8.1f m/s",
 301                                              state.gps.climb_rate);
 302                                 info_add_row(1, "GPS error", "%6d m(h)%3d m(v)",
 303                                              state.gps.h_error, state.gps.v_error);
 304                         }
 305                         info_add_row(1, "GPS hdop", "%8.1f", state.gps.hdop);
 306
 307                         if (state.npad > 0) {
 308                                 if (state.from_pad != null) {
 309                                         info_add_row(1, "Distance from pad", "%6.0f m", state.from_pad.distance);
 310                                         info_add_row(1, "Direction from pad", "%6.0f°", state.from_pad.bearing);
 311                                 } else {
 312                                         info_add_row(1, "Distance from pad", "unknown");
 313                                         info_add_row(1, "Direction from pad", "unknown");
 314                                 }
 315                                 info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
 316                                 info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
 317                                 info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt);
 318                         }
 319                         info_add_row(1, "GPS date", "%04d-%02d-%02d",
 320                                        state.gps.gps_time.year,
 321                                        state.gps.gps_time.month,
 322                                        state.gps.gps_time.day);
 323                         info_add_row(1, "GPS time", "  %02d:%02d:%02d",
 324                                        state.gps.gps_time.hour,
 325                                        state.gps.gps_time.minute,
 326                                        state.gps.gps_time.second);
 327                         int     nsat_vis = 0;
 328                         int     c;
 329
 330                         if (state.gps.cc_gps_sat == null)
 331                                 info_add_row(2, "Satellites Visible", "%4d", 0);
 332                         else {
 333                                 info_add_row(2, "Satellites Visible", "%4d", state.gps.cc_gps_sat.length);
 334                                 for (c = 0; c < state.gps.cc_gps_sat.length; c++) {
 335                                         info_add_row(2, "Satellite id,C/N0",
 336                                                      "%4d, %4d",
 337                                                      state.gps.cc_gps_sat[c].svid,
 338                                                      state.gps.cc_gps_sat[c].c_n0);
 339                                 }
 340                         }
 341                 }
 342                 info_finish();
 343         }
 344
 345         class IdleThread extends Thread {
 346
 347                 private AltosState state;
 348
 349                 public void run () {
 350                         int     reported_landing = 0;
 351
 352                         state = null;
 353                         try {
 354                                 for (;;) {
 355                                         Thread.sleep(10000);
 356                                         if (state == null)
 357                                                 continue;
 358
 359                                         /* reset the landing count once we hear about a new flight */
 360                                         if (state.state < AltosTelemetry.ao_flight_drogue)
 361                                                 reported_landing = 0;
 362
 363                                         /* Shut up once the rocket is on the ground */
 364                                         if (reported_landing > 2)
 365                                                 continue;
 366
 367                                         /* If the rocket isn't on the pad, then report height */
 368                                         if (state.state > AltosTelemetry.ao_flight_pad) {
 369                                                 voice.speak(String.format("%d meters", (int) (state.height + 0.5)));
 370                                         }
 371
 372                                         /* If the rocket is coming down, check to see if it has landed;
 373                                          * either we've got a landed report or we haven't heard from it in
 374                                          * a long time
 375                                          */
 376                                         if (!state.ascent &&
 377                                             (System.currentTimeMillis() - state.report_time > 10000 ||
 378                                              state.state == AltosTelemetry.ao_flight_landed))
 379                                         {
 380                                                 if (Math.abs(state.baro_speed) < 20 && state.height < 100)
 381                                                         voice.speak("rocket landed safely");
 382                                                 else
 383                                                         voice.speak("rocket may have crashed");
 384                                                 if (state.gps != null)
 385                                                         voice.speak(String.format("bearing %d degrees, range %d meters",
 386                                                                                   (int) (state.from_pad.bearing + 0.5),
 387                                                                                   (int) (state.from_pad.distance + 0.5)));
 388                                                 ++reported_landing;
 389                                         }
 390                                 }
 391                         } catch (InterruptedException ie) {
 392                         }
 393                 }
 394
 395                 public void notice(AltosState new_state) {
 396                         state = new_state;
 397                 }
 398         }
 399
 400         private void tell(AltosState state, AltosState old_state) {
 401                 if (old_state == null || old_state.state != state.state) {
 402                         voice.speak(state.data.state);
 403                         switch (state.state) {
 404                         case AltosTelemetry.ao_flight_fast:
 405                                 voice.speak(String.format("max speed %d meters per second",
 406                                                           (int) (state.max_speed + 0.5)));
 407                                 break;
 408                         case AltosTelemetry.ao_flight_drogue:
 409                                 voice.speak(String.format("max height %d meters",
 410                                                           (int) (state.max_height + 0.5)));
 411                                 break;
 412                         }
 413                 }
 414                 old_state = state;
 415         }
 416
 417         class DisplayThread extends Thread {
 418                 String read() throws InterruptedException { return null; }
 419
 420                 void close() { }
 421
 422                 void update(AltosState state) throws InterruptedException { }
 423
 424                 public void run() {
 425                         String          line;
 426                         AltosState      state = null;
 427                         AltosState      old_state = null;
 428                         IdleThread      idle_thread = new IdleThread();
 429
 430                         info_reset();
 431                         info_finish();
 432                         idle_thread.start();
 433                         try {
 434                                 while ((line = read()) != null) {
 435                                         try {
 436                                                 AltosTelemetry  t = new AltosTelemetry(line);
 437                                                 old_state = state;
 438                                                 state = new AltosState(t, state);
 439                                                 update(state);
 440                                                 show(state);
 441                                                 tell(state, old_state);
 442                                                 idle_thread.notice(state);
 443                                         } catch (ParseException pp) {
 444                                                 System.out.printf("Parse error on %s\n", line);
 445                                                 System.out.println("exception " + pp);
 446                                         }
 447                                 }
 448                         } catch (InterruptedException ee) {
 449                         } finally {
 450                                 close();
 451                                 idle_thread.interrupt();
 452                         }
 453                 }
 454         }
 455
 456         class DeviceThread extends DisplayThread {
 457                 AltosSerial     serial;
 458                 LinkedBlockingQueue<String> telem;
 459
 460                 String read() throws InterruptedException {
 461                         return telem.take();
 462                 }
 463
 464                 void close() {
 465                         serial.close();
 466                         serial.remove_monitor(telem);
 467                         System.out.println("DisplayThread done");
 468                 }
 469
 470                 public DeviceThread(AltosSerial s) {
 471                         serial = s;
 472                         telem = new LinkedBlockingQueue<String>();
 473                         serial.add_monitor(telem);
 474                 }
 475         }
 476
 477         private void ConnectToDevice() {
 478                 AltosDevice     device = AltosDeviceDialog.show(AltosUI.this, "TeleDongle");
 479
 480                 if (device != null) {
 481                         try {
 482                                 serial_line.connect(device.tty);
 483                                 DeviceThread thread = new DeviceThread(serial_line);
 484                                 run_display(thread);
 485                         } catch (FileNotFoundException ee) {
 486                                 JOptionPane.showMessageDialog(AltosUI.this,
 487                                                               device.tty,
 488                                                               "Cannot open serial port",
 489                                                               JOptionPane.ERROR_MESSAGE);
 490                         } catch (NoSuchPortException ee) {
 491                                 JOptionPane.showMessageDialog(AltosUI.this,
 492                                                               device.tty,
 493                                                               "No such serial port",
 494                                                               JOptionPane.ERROR_MESSAGE);
 495                         } catch (PortInUseException ee) {
 496                                 JOptionPane.showMessageDialog(AltosUI.this,
 497                                                               device.tty,
 498                                                               "Port in use",
 499                                                               JOptionPane.ERROR_MESSAGE);
 500                         } catch (IOException ee) {
 501                                 JOptionPane.showMessageDialog(AltosUI.this,
 502                                                               device.tty,
 503                                                               "Unkonwn I/O error",
 504                                                               JOptionPane.ERROR_MESSAGE);
 505                         }
 506                 }
 507         }
 508
 509         void DisconnectFromDevice () {
 510                 stop_display();
 511         }
 512
 513         String readline(FileInputStream s) throws IOException {
 514                 int c;
 515                 String  line = "";
 516
 517                 while ((c = s.read()) != -1) {
 518                         if (c == '\r')
 519                                 continue;
 520                         if (c == '\n')
 521                                 return line;
 522                         line = line + (char) c;
 523                 }
 524                 return null;
 525         }
 526
 527         /*
 528          * Open an existing telemetry file and replay it in realtime
 529          */
 530
 531         class ReplayThread extends DisplayThread {
 532                 FileInputStream replay;
 533                 String filename;
 534
 535                 ReplayThread(FileInputStream in, String name) {
 536                         replay = in;
 537                         filename = name;
 538                 }
 539
 540                 String read() {
 541                         try {
 542                                 return readline(replay);
 543                         } catch (IOException ee) {
 544                                 JOptionPane.showMessageDialog(AltosUI.this,
 545                                                               filename,
 546                                                               "error reading",
 547                                                               JOptionPane.ERROR_MESSAGE);
 548                         }
 549                         return null;
 550                 }
 551
 552                 void close () {
 553                         try {
 554                                 replay.close();
 555                         } catch (IOException ee) {
 556                         }
 557                 }
 558
 559                 void update(AltosState state) throws InterruptedException {
 560                         /* Make it run in realtime after the rocket leaves the pad */
 561                         if (state.state > AltosTelemetry.ao_flight_pad)
 562                                 Thread.sleep((int) (state.time_change * 1000));
 563                 }
 564         }
 565
 566         Thread          display_thread;
 567
 568         private void stop_display() {
 569                 if (display_thread != null && display_thread.isAlive())
 570                         display_thread.interrupt();
 571                 display_thread = null;
 572         }
 573
 574         private void run_display(Thread thread) {
 575                 stop_display();
 576                 display_thread = thread;
 577                 display_thread.start();
 578         }
 579
 580         /*
 581          * Replay a flight from telemetry data
 582          */
 583         private void Replay() {
 584                 JFileChooser    logfile_chooser = new JFileChooser();
 585
 586                 logfile_chooser.setDialogTitle("Select Telemetry File");
 587                 logfile_chooser.setFileFilter(new FileNameExtensionFilter("Telemetry file", "telem"));
 588                 logfile_chooser.setCurrentDirectory(AltosPreferences.logdir());
 589                 int returnVal = logfile_chooser.showOpenDialog(AltosUI.this);
 590
 591                 if (returnVal == JFileChooser.APPROVE_OPTION) {
 592                         File file = logfile_chooser.getSelectedFile();
 593                         if (file == null)
 594                                 System.out.println("No file selected?");
 595                         String  filename = file.getName();
 596                         try {
 597                                 FileInputStream replay = new FileInputStream(file);
 598                                 ReplayThread    thread = new ReplayThread(replay, filename);
 599                                 run_display(thread);
 600                         } catch (FileNotFoundException ee) {
 601                                 JOptionPane.showMessageDialog(AltosUI.this,
 602                                                               filename,
 603                                                               "Cannot open serial port",
 604                                                               JOptionPane.ERROR_MESSAGE);
 605                         }
 606                 }
 607         }
 608
 609         /* Connect to TeleMetrum, either directly or through
 610          * a TeleDongle over the packet link
 611          */
 612         private void SaveFlightData() {
 613         }
 614
 615         /* Create the AltosUI menus
 616          */
 617         private void createMenu() {
 618                 JMenuBar menubar = new JMenuBar();
 619                 JMenu menu;
 620                 JMenuItem item;
 621                 JRadioButtonMenuItem radioitem;
 622
 623                 // File menu
 624                 {
 625                         menu = new JMenu("File");
 626                         menu.setMnemonic(KeyEvent.VK_F);
 627                         menubar.add(menu);
 628
 629                         item = new JMenuItem("Quit",KeyEvent.VK_Q);
 630                         item.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_Q,
 631                                                                    ActionEvent.CTRL_MASK));
 632                         item.addActionListener(new ActionListener() {
 633                                         public void actionPerformed(ActionEvent e) {
 634                                                 System.exit(0);
 635                                         }
 636                                 });
 637                         menu.add(item);
 638                 }
 639
 640                 // Device menu
 641                 {
 642                         menu = new JMenu("Device");
 643                         menu.setMnemonic(KeyEvent.VK_D);
 644                         menubar.add(menu);
 645
 646                         item = new JMenuItem("Connect to Device",KeyEvent.VK_C);
 647                         item.addActionListener(new ActionListener() {
 648                                         public void actionPerformed(ActionEvent e) {
 649                                                 ConnectToDevice();
 650                                         }
 651                                 });
 652                         menu.add(item);
 653
 654                         item = new JMenuItem("Disconnect from Device",KeyEvent.VK_D);
 655                         item.addActionListener(new ActionListener() {
 656                                         public void actionPerformed(ActionEvent e) {
 657                                                 DisconnectFromDevice();
 658                                         }
 659                                 });
 660                         menu.add(item);
 661
 662                         menu.addSeparator();
 663
 664                         item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
 665                         item.addActionListener(new ActionListener() {
 666                                         public void actionPerformed(ActionEvent e) {
 667                                                 SaveFlightData();
 668                                         }
 669                                 });
 670                         menu.add(item);
 671
 672                         item = new JMenuItem("Replay",KeyEvent.VK_R);
 673                         item.addActionListener(new ActionListener() {
 674                                         public void actionPerformed(ActionEvent e) {
 675                                                 Replay();
 676                                         }
 677                                 });
 678                         menu.add(item);
 679                 }
 680                 // Log menu
 681                 {
 682                         menu = new JMenu("Log");
 683                         menu.setMnemonic(KeyEvent.VK_L);
 684                         menubar.add(menu);
 685
 686                         item = new JMenuItem("New Log",KeyEvent.VK_N);
 687                         item.addActionListener(new ActionListener() {
 688                                         public void actionPerformed(ActionEvent e) {
 689                                         }
 690                                 });
 691                         menu.add(item);
 692
 693                         item = new JMenuItem("Configure Log",KeyEvent.VK_C);
 694                         item.addActionListener(new ActionListener() {
 695                                         public void actionPerformed(ActionEvent e) {
 696                                                 AltosPreferences.ConfigureLog();
 697                                         }
 698                                 });
 699                         menu.add(item);
 700                 }
 701                 // Voice menu
 702                 {
 703                         menu = new JMenu("Voice", true);
 704                         menu.setMnemonic(KeyEvent.VK_V);
 705                         menubar.add(menu);
 706
 707                         radioitem = new JRadioButtonMenuItem("Enable Voice");
 708                         radioitem.addActionListener(new ActionListener() {
 709                                         public void actionPerformed(ActionEvent e) {
 710                                         }
 711                                 });
 712                         menu.add(radioitem);
 713                 }
 714
 715                 // Channel menu
 716                 {
 717                         menu = new JMenu("Channel", true);
 718                         menu.setMnemonic(KeyEvent.VK_C);
 719                         menubar.add(menu);
 720                         ButtonGroup group = new ButtonGroup();
 721
 722                         for (int c = 0; c <= 9; c++) {
 723                                 radioitem = new JRadioButtonMenuItem(String.format("Channel %1d (%7.3fMHz)", c,
 724                                                                                    434.550 + c * 0.1),
 725                                                                      c == 0);
 726                                 radioitem.setActionCommand(String.format("%d", c));
 727                                 radioitem.addActionListener(new ActionListener() {
 728                                                 public void actionPerformed(ActionEvent e) {
 729                                                         System.out.println("Command: " + e.getActionCommand() + " param: " +
 730                                                                            e.paramString());
 731                                                 }
 732                                         });
 733                                 menu.add(radioitem);
 734                                 group.add(radioitem);
 735                         }
 736                 }
 737
 738                 this.setJMenuBar(menubar);
 739
 740         }
 741         public static void main(final String[] args) {
 742                 AltosUI altosui = new AltosUI();
 743                 altosui.setVisible(true);
 744         }
 745 }