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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
  31 import altosui.Altos;
  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 import altosui.AltosFlightStatusTableModel;
  41 import altosui.AltosFlightInfoTableModel;
  42
  43 import libaltosJNI.*;
  44
  45 public class AltosUI extends JFrame {
  46         private int channel = -1;
  47
  48         private AltosFlightStatusTableModel flightStatusModel;
  49         private JTable flightStatus;
  50
  51         static final int info_columns = 3;
  52
  53         private AltosFlightInfoTableModel[] flightInfoModel;
  54         private JTable[] flightInfo;
  55         private AltosSerial serial_line;
  56         private AltosLog altos_log;
  57         private Box[] ibox;
  58         private Box vbox;
  59         private Box hbox;
  60
  61         private Font statusFont = new Font("SansSerif", Font.BOLD, 24);
  62         private Font infoLabelFont = new Font("SansSerif", Font.PLAIN, 14);
  63         private Font infoValueFont = new Font("Monospaced", Font.PLAIN, 14);
  64
  65         public AltosVoice voice = new AltosVoice();
  66
  67         public AltosUI() {
  68
  69                 String[] statusNames = { "Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
  70                 Object[][] statusData = { { "0", "pad", "-50", "0" } };
  71
  72                 AltosPreferences.init(this);
  73
  74                 vbox = Box.createVerticalBox();
  75                 this.add(vbox);
  76
  77                 flightStatusModel = new AltosFlightStatusTableModel();
  78                 flightStatus = new JTable(flightStatusModel);
  79                 flightStatus.setFont(statusFont);
  80                 TableColumnModel tcm = flightStatus.getColumnModel();
  81                 for (int i = 0; i < flightStatusModel.getColumnCount(); i++) {
  82                         DefaultTableCellRenderer       r = new DefaultTableCellRenderer();
  83                         r.setFont(statusFont);
  84                         r.setHorizontalAlignment(SwingConstants.CENTER);
  85                         tcm.getColumn(i).setCellRenderer(r);
  86                 }
  87
  88                 FontMetrics     statusMetrics = flightStatus.getFontMetrics(statusFont);
  89                 int statusHeight = (statusMetrics.getHeight() + statusMetrics.getLeading()) * 15 / 10;
  90                 flightStatus.setRowHeight(statusHeight);
  91                 flightStatus.setShowGrid(false);
  92
  93                 vbox.add(flightStatus);
  94
  95                 hbox = Box.createHorizontalBox();
  96                 vbox.add(hbox);
  97
  98                 flightInfo = new JTable[3];
  99                 flightInfoModel = new AltosFlightInfoTableModel[3];
 100                 ibox = new Box[3];
 101                 FontMetrics     infoValueMetrics = flightStatus.getFontMetrics(infoValueFont);
 102                 int infoHeight = (infoValueMetrics.getHeight() + infoValueMetrics.getLeading()) * 20 / 10;
 103
 104                 for (int i = 0; i < info_columns; i++) {
 105                         ibox[i] = Box.createVerticalBox();
 106                         flightInfoModel[i] = new AltosFlightInfoTableModel();
 107                         flightInfo[i] = new JTable(flightInfoModel[i]);
 108                         flightInfo[i].setFont(infoValueFont);
 109                         flightInfo[i].setRowHeight(infoHeight);
 110                         flightInfo[i].setShowGrid(true);
 111                         ibox[i].add(flightInfo[i].getTableHeader());
 112                         ibox[i].add(flightInfo[i]);
 113                         hbox.add(ibox[i]);
 114                 }
 115
 116                 setTitle("AltOS");
 117
 118                 createMenu();
 119
 120                 serial_line = new AltosSerial();
 121                 altos_log = new AltosLog(serial_line);
 122                 int dpi = Toolkit.getDefaultToolkit().getScreenResolution();
 123                 this.setSize(new Dimension (infoValueMetrics.charWidth('0') * 6 * 20,
 124                                             statusHeight * 4 + infoHeight * 17));
 125                 this.validate();
 126                 setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
 127                 addWindowListener(new WindowAdapter() {
 128                         @Override
 129                         public void windowClosing(WindowEvent e) {
 130                                 System.exit(0);
 131                         }
 132                 });
 133                 voice.speak("Rocket flight monitor ready.");
 134         }
 135
 136         public void info_reset() {
 137                 for (int i = 0; i < info_columns; i++)
 138                         flightInfoModel[i].resetRow();
 139         }
 140
 141         public void info_add_row(int col, String name, String value) {
 142                 flightInfoModel[col].addRow(name, value);
 143         }
 144
 145         public void info_add_row(int col, String name, String format, Object... parameters) {
 146                 flightInfoModel[col].addRow(name, String.format(format, parameters));
 147         }
 148
 149         public void info_add_deg(int col, String name, double v, int pos, int neg) {
 150                 int     c = pos;
 151                 if (v < 0) {
 152                         c = neg;
 153                         v = -v;
 154                 }
 155                 double  deg = Math.floor(v);
 156                 double  min = (v - deg) * 60;
 157
 158                 flightInfoModel[col].addRow(name, String.format("%3.0f°%08.5f'", deg, min));
 159         }
 160
 161         public void info_finish() {
 162                 for (int i = 0; i < info_columns; i++)
 163                         flightInfoModel[i].finish();
 164         }
 165
 166         public void show(AltosState state) {
 167                 flightStatusModel.set(state);
 168
 169                 info_reset();
 170                 if (state.gps_ready)
 171                         info_add_row(0, "Ground state", "%s", "ready");
 172                 else
 173                         info_add_row(0, "Ground state", "wait (%d)",
 174                                      state.gps_waiting);
 175                 info_add_row(0, "Rocket state", "%s", state.data.state);
 176                 info_add_row(0, "Callsign", "%s", state.data.callsign);
 177                 info_add_row(0, "Rocket serial", "%6d", state.data.serial);
 178                 info_add_row(0, "Rocket flight", "%6d", state.data.flight);
 179
 180                 info_add_row(0, "RSSI", "%6d    dBm", state.data.rssi);
 181                 info_add_row(0, "Height", "%6.0f    m", state.height);
 182                 info_add_row(0, "Max height", "%6.0f    m", state.max_height);
 183                 info_add_row(0, "Acceleration", "%8.1f  m/s²", state.acceleration);
 184                 info_add_row(0, "Max acceleration", "%8.1f  m/s²", state.max_acceleration);
 185                 info_add_row(0, "Speed", "%8.1f  m/s", state.ascent ? state.speed : state.baro_speed);
 186                 info_add_row(0, "Max Speed", "%8.1f  m/s", state.max_speed);
 187                 info_add_row(0, "Temperature", "%9.2f °C", state.temperature);
 188                 info_add_row(0, "Battery", "%9.2f V", state.battery);
 189                 info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense);
 190                 info_add_row(0, "Main", "%9.2f V", state.main_sense);
 191                 info_add_row(0, "Pad altitude", "%6.0f    m", state.ground_altitude);
 192                 if (state.gps == null) {
 193                         info_add_row(1, "GPS", "not available");
 194                 } else {
 195                         if (state.data.gps.gps_locked)
 196                                 info_add_row(1, "GPS", "   locked");
 197                         else if (state.data.gps.gps_connected)
 198                                 info_add_row(1, "GPS", " unlocked");
 199                         else
 200                                 info_add_row(1, "GPS", "  missing");
 201                         info_add_row(1, "Satellites", "%6d", state.data.gps.nsat);
 202                         info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
 203                         info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
 204                         info_add_row(1, "GPS altitude", "%6d", state.gps.alt);
 205                         info_add_row(1, "GPS height", "%6.0f", state.gps_height);
 206
 207                         /* The SkyTraq GPS doesn't report these values */
 208                         if (false) {
 209                                 info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°",
 210                                              state.gps.ground_speed,
 211                                              state.gps.course);
 212                                 info_add_row(1, "GPS climb rate", "%8.1f m/s",
 213                                              state.gps.climb_rate);
 214                                 info_add_row(1, "GPS error", "%6d m(h)%3d m(v)",
 215                                              state.gps.h_error, state.gps.v_error);
 216                         }
 217                         info_add_row(1, "GPS hdop", "%8.1f", state.gps.hdop);
 218
 219                         if (state.npad > 0) {
 220                                 if (state.from_pad != null) {
 221                                         info_add_row(1, "Distance from pad", "%6.0f m", state.from_pad.distance);
 222                                         info_add_row(1, "Direction from pad", "%6.0f°", state.from_pad.bearing);
 223                                 } else {
 224                                         info_add_row(1, "Distance from pad", "unknown");
 225                                         info_add_row(1, "Direction from pad", "unknown");
 226                                 }
 227                                 info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
 228                                 info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
 229                                 info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt);
 230                         }
 231                         info_add_row(1, "GPS date", "%04d-%02d-%02d",
 232                                        state.gps.year,
 233                                        state.gps.month,
 234                                        state.gps.day);
 235                         info_add_row(1, "GPS time", "  %02d:%02d:%02d",
 236                                        state.gps.hour,
 237                                        state.gps.minute,
 238                                        state.gps.second);
 239                         int     nsat_vis = 0;
 240                         int     c;
 241
 242                         if (state.gps.cc_gps_sat == null)
 243                                 info_add_row(2, "Satellites Visible", "%4d", 0);
 244                         else {
 245                                 info_add_row(2, "Satellites Visible", "%4d", state.gps.cc_gps_sat.length);
 246                                 for (c = 0; c < state.gps.cc_gps_sat.length; c++) {
 247                                         info_add_row(2, "Satellite id,C/N0",
 248                                                      "%4d, %4d",
 249                                                      state.gps.cc_gps_sat[c].svid,
 250                                                      state.gps.cc_gps_sat[c].c_n0);
 251                                 }
 252                         }
 253                 }
 254                 info_finish();
 255         }
 256
 257         class IdleThread extends Thread {
 258
 259                 private AltosState state;
 260                 int     reported_landing;
 261
 262                 public void report(boolean last) {
 263                         if (state == null)
 264                                 return;
 265
 266                         /* reset the landing count once we hear about a new flight */
 267                         if (state.state < Altos.ao_flight_drogue)
 268                                 reported_landing = 0;
 269
 270                         /* Shut up once the rocket is on the ground */
 271                         if (reported_landing > 2) {
 272                                 return;
 273                         }
 274
 275                         /* If the rocket isn't on the pad, then report height */
 276                         if (state.state > Altos.ao_flight_pad) {
 277                                 voice.speak("%d meters", (int) (state.height + 0.5));
 278                         } else {
 279                                 reported_landing = 0;
 280                         }
 281
 282                         /* If the rocket is coming down, check to see if it has landed;
 283                          * either we've got a landed report or we haven't heard from it in
 284                          * a long time
 285                          */
 286                         if (!state.ascent &&
 287                             (last ||
 288                              System.currentTimeMillis() - state.report_time >= 15000 ||
 289                              state.state == Altos.ao_flight_landed))
 290                         {
 291                                 if (Math.abs(state.baro_speed) < 20 && state.height < 100)
 292                                         voice.speak("rocket landed safely");
 293                                 else
 294                                         voice.speak("rocket may have crashed");
 295                                 if (state.from_pad != null)
 296                                         voice.speak("bearing %d degrees, range %d meters",
 297                                                     (int) (state.from_pad.bearing + 0.5),
 298                                                     (int) (state.from_pad.distance + 0.5));
 299                                 ++reported_landing;
 300                         }
 301                 }
 302
 303                 public void run () {
 304
 305                         reported_landing = 0;
 306                         state = null;
 307                         try {
 308                                 for (;;) {
 309                                         Thread.sleep(10000);
 310                                         report(false);
 311                                 }
 312                         } catch (InterruptedException ie) {
 313                         }
 314                 }
 315
 316                 public void notice(AltosState new_state) {
 317                         state = new_state;
 318                 }
 319         }
 320
 321         private void tell(AltosState state, AltosState old_state) {
 322                 if (old_state == null || old_state.state != state.state) {
 323                         voice.speak(state.data.state);
 324                         if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
 325                             state.state > Altos.ao_flight_boost) {
 326                                 voice.speak("max speed: %d meters per second.",
 327                                             (int) (state.max_speed + 0.5));
 328                         } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
 329                                    state.state >= Altos.ao_flight_drogue) {
 330                                 voice.speak("max height: %d meters.",
 331                                             (int) (state.max_height + 0.5));
 332                         }
 333                 }
 334                 if (old_state == null || old_state.gps_ready != state.gps_ready) {
 335                         if (state.gps_ready)
 336                                 voice.speak("GPS ready");
 337                         else if (old_state != null)
 338                                 voice.speak("GPS lost");
 339                 }
 340                 old_state = state;
 341         }
 342
 343         class DisplayThread extends Thread {
 344                 IdleThread      idle_thread;
 345
 346                 String read() throws InterruptedException { return null; }
 347
 348                 void close() { }
 349
 350                 void update(AltosState state) throws InterruptedException { }
 351
 352                 public void run() {
 353                         String          line;
 354                         AltosState      state = null;
 355                         AltosState      old_state = null;
 356
 357                         idle_thread = new IdleThread();
 358
 359                         info_reset();
 360                         info_finish();
 361                         idle_thread.start();
 362                         try {
 363                                 while ((line = read()) != null) {
 364                                         try {
 365                                                 AltosTelemetry  t = new AltosTelemetry(line);
 366                                                 old_state = state;
 367                                                 state = new AltosState(t, state);
 368                                                 update(state);
 369                                                 show(state);
 370                                                 tell(state, old_state);
 371                                                 idle_thread.notice(state);
 372                                         } catch (ParseException pp) {
 373                                                 System.out.printf("Parse error on %s\n", line);
 374                                                 System.out.println("exception " + pp);
 375                                         }
 376                                 }
 377                         } catch (InterruptedException ee) {
 378                         } finally {
 379                                 close();
 380                                 idle_thread.interrupt();
 381                         }
 382                 }
 383
 384                 public void report() {
 385                         if (idle_thread != null)
 386                                 idle_thread.report(true);
 387                 }
 388         }
 389
 390         class DeviceThread extends DisplayThread {
 391                 AltosSerial     serial;
 392                 LinkedBlockingQueue<String> telem;
 393
 394                 String read() throws InterruptedException {
 395                         return telem.take();
 396                 }
 397
 398                 void close() {
 399                         serial.close();
 400                         serial.remove_monitor(telem);
 401                 }
 402
 403                 public DeviceThread(AltosSerial s) {
 404                         serial = s;
 405                         telem = new LinkedBlockingQueue<String>();
 406                         serial.add_monitor(telem);
 407                 }
 408         }
 409
 410         private void ConnectToDevice() {
 411                 altos_device    device = AltosDeviceDialog.show(AltosUI.this, "TeleDongle");
 412
 413                 if (device != null) {
 414                         try {
 415                                 serial_line.open(device);
 416                                 DeviceThread thread = new DeviceThread(serial_line);
 417                                 serial_line.set_channel(AltosPreferences.channel());
 418                                 run_display(thread);
 419                         } catch (FileNotFoundException ee) {
 420                                 JOptionPane.showMessageDialog(AltosUI.this,
 421                                                               String.format("Cannot open device \"%s\"",
 422                                                                             device.getPath()),
 423                                                               "Cannot open target device",
 424                                                               JOptionPane.ERROR_MESSAGE);
 425                         } catch (IOException ee) {
 426                                 JOptionPane.showMessageDialog(AltosUI.this,
 427                                                               device.getPath(),
 428                                                               "Unkonwn I/O error",
 429                                                               JOptionPane.ERROR_MESSAGE);
 430                         }
 431                 }
 432         }
 433
 434         void DisconnectFromDevice () {
 435                 stop_display();
 436         }
 437
 438         String readline(FileInputStream s) throws IOException {
 439                 int c;
 440                 String  line = "";
 441
 442                 while ((c = s.read()) != -1) {
 443                         if (c == '\r')
 444                                 continue;
 445                         if (c == '\n') {
 446                                 return line;
 447                         }
 448                         line = line + (char) c;
 449                 }
 450                 return null;
 451         }
 452
 453         /*
 454          * Open an existing telemetry file and replay it in realtime
 455          */
 456
 457         class ReplayThread extends DisplayThread {
 458                 FileInputStream replay;
 459                 String filename;
 460
 461                 ReplayThread(FileInputStream in, String name) {
 462                         replay = in;
 463                         filename = name;
 464                 }
 465
 466                 String read() {
 467                         try {
 468                                 return readline(replay);
 469                         } catch (IOException ee) {
 470                                 JOptionPane.showMessageDialog(AltosUI.this,
 471                                                               filename,
 472                                                               "error reading",
 473                                                               JOptionPane.ERROR_MESSAGE);
 474                         }
 475                         return null;
 476                 }
 477
 478                 void close () {
 479                         try {
 480                                 replay.close();
 481                         } catch (IOException ee) {
 482                         }
 483                         report();
 484                 }
 485
 486                 void update(AltosState state) throws InterruptedException {
 487                         /* Make it run in realtime after the rocket leaves the pad */
 488                         if (state.state > AltosTelemetry.ao_flight_pad)
 489                                 Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
 490                 }
 491         }
 492
 493         Thread          display_thread;
 494
 495         private void stop_display() {
 496                 if (display_thread != null && display_thread.isAlive())
 497                         display_thread.interrupt();
 498                 display_thread = null;
 499         }
 500
 501         private void run_display(Thread thread) {
 502                 stop_display();
 503                 display_thread = thread;
 504                 display_thread.start();
 505         }
 506
 507         /*
 508          * Replay a flight from telemetry data
 509          */
 510         private void Replay() {
 511                 JFileChooser    logfile_chooser = new JFileChooser();
 512
 513                 logfile_chooser.setDialogTitle("Select Telemetry File");
 514                 logfile_chooser.setFileFilter(new FileNameExtensionFilter("Telemetry file", "telem"));
 515                 logfile_chooser.setCurrentDirectory(AltosPreferences.logdir());
 516                 int returnVal = logfile_chooser.showOpenDialog(AltosUI.this);
 517
 518                 if (returnVal == JFileChooser.APPROVE_OPTION) {
 519                         File file = logfile_chooser.getSelectedFile();
 520                         if (file == null)
 521                                 System.out.println("No file selected?");
 522                         String  filename = file.getName();
 523                         try {
 524                                 FileInputStream replay = new FileInputStream(file);
 525                                 ReplayThread    thread = new ReplayThread(replay, filename);
 526                                 run_display(thread);
 527                         } catch (FileNotFoundException ee) {
 528                                 JOptionPane.showMessageDialog(AltosUI.this,
 529                                                               filename,
 530                                                               "Cannot open telemetry file",
 531                                                               JOptionPane.ERROR_MESSAGE);
 532                         }
 533                 }
 534         }
 535
 536         /* Connect to TeleMetrum, either directly or through
 537          * a TeleDongle over the packet link
 538          */
 539         private void SaveFlightData() {
 540                 new AltosEepromDownload(AltosUI.this);
 541         }
 542
 543         /* Create the AltosUI menus
 544          */
 545         private void createMenu() {
 546                 JMenuBar menubar = new JMenuBar();
 547                 JMenu menu;
 548                 JMenuItem item;
 549                 JRadioButtonMenuItem radioitem;
 550
 551                 // File menu
 552                 {
 553                         menu = new JMenu("File");
 554                         menu.setMnemonic(KeyEvent.VK_F);
 555                         menubar.add(menu);
 556
 557                         item = new JMenuItem("Quit",KeyEvent.VK_Q);
 558                         item.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_Q,
 559                                                                    ActionEvent.CTRL_MASK));
 560                         item.addActionListener(new ActionListener() {
 561                                         public void actionPerformed(ActionEvent e) {
 562                                                 System.exit(0);
 563                                         }
 564                                 });
 565                         menu.add(item);
 566                 }
 567
 568                 // Device menu
 569                 {
 570                         menu = new JMenu("Device");
 571                         menu.setMnemonic(KeyEvent.VK_D);
 572                         menubar.add(menu);
 573
 574                         item = new JMenuItem("Connect to Device",KeyEvent.VK_C);
 575                         item.addActionListener(new ActionListener() {
 576                                         public void actionPerformed(ActionEvent e) {
 577                                                 ConnectToDevice();
 578                                         }
 579                                 });
 580                         menu.add(item);
 581
 582                         item = new JMenuItem("Disconnect from Device",KeyEvent.VK_D);
 583                         item.addActionListener(new ActionListener() {
 584                                         public void actionPerformed(ActionEvent e) {
 585                                                 DisconnectFromDevice();
 586                                         }
 587                                 });
 588                         menu.add(item);
 589
 590                         menu.addSeparator();
 591
 592                         item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
 593                         item.addActionListener(new ActionListener() {
 594                                         public void actionPerformed(ActionEvent e) {
 595                                                 SaveFlightData();
 596                                         }
 597                                 });
 598                         menu.add(item);
 599
 600                         item = new JMenuItem("Replay",KeyEvent.VK_R);
 601                         item.addActionListener(new ActionListener() {
 602                                         public void actionPerformed(ActionEvent e) {
 603                                                 Replay();
 604                                         }
 605                                 });
 606                         menu.add(item);
 607                 }
 608                 // Log menu
 609                 {
 610                         menu = new JMenu("Log");
 611                         menu.setMnemonic(KeyEvent.VK_L);
 612                         menubar.add(menu);
 613
 614                         item = new JMenuItem("New Log",KeyEvent.VK_N);
 615                         item.addActionListener(new ActionListener() {
 616                                         public void actionPerformed(ActionEvent e) {
 617                                         }
 618                                 });
 619                         menu.add(item);
 620
 621                         item = new JMenuItem("Configure Log",KeyEvent.VK_C);
 622                         item.addActionListener(new ActionListener() {
 623                                         public void actionPerformed(ActionEvent e) {
 624                                                 AltosPreferences.ConfigureLog();
 625                                         }
 626                                 });
 627                         menu.add(item);
 628                 }
 629                 // Voice menu
 630                 {
 631                         menu = new JMenu("Voice", true);
 632                         menu.setMnemonic(KeyEvent.VK_V);
 633                         menubar.add(menu);
 634
 635                         radioitem = new JRadioButtonMenuItem("Enable Voice", AltosPreferences.voice());
 636                         radioitem.addActionListener(new ActionListener() {
 637                                         public void actionPerformed(ActionEvent e) {
 638                                                 JRadioButtonMenuItem item = (JRadioButtonMenuItem) e.getSource();
 639                                                 boolean enabled = item.isSelected();
 640                                                 AltosPreferences.set_voice(enabled);
 641                                                 if (enabled)
 642                                                         voice.speak_always("Enable voice.");
 643                                                 else
 644                                                         voice.speak_always("Disable voice.");
 645                                         }
 646                                 });
 647                         menu.add(radioitem);
 648                         item = new JMenuItem("Test Voice",KeyEvent.VK_T);
 649                         item.addActionListener(new ActionListener() {
 650                                         public void actionPerformed(ActionEvent e) {
 651                                                 voice.speak("That's one small step for man; one giant leap for mankind.");
 652                                         }
 653                                 });
 654                         menu.add(item);
 655                 }
 656
 657                 // Channel menu
 658                 {
 659                         menu = new JMenu("Channel", true);
 660                         menu.setMnemonic(KeyEvent.VK_C);
 661                         menubar.add(menu);
 662                         ButtonGroup group = new ButtonGroup();
 663
 664                         for (int c = 0; c <= 9; c++) {
 665                                 radioitem = new JRadioButtonMenuItem(String.format("Channel %1d (%7.3fMHz)", c,
 666                                                                                    434.550 + c * 0.1),
 667                                                                      c == AltosPreferences.channel());
 668                                 radioitem.setActionCommand(String.format("%d", c));
 669                                 radioitem.addActionListener(new ActionListener() {
 670                                                 public void actionPerformed(ActionEvent e) {
 671                                                         int new_channel = Integer.parseInt(e.getActionCommand());
 672                                                         AltosPreferences.set_channel(new_channel);
 673                                                         serial_line.set_channel(new_channel);
 674                                                 }
 675                                         });
 676                                 menu.add(radioitem);
 677                                 group.add(radioitem);
 678                         }
 679                 }
 680
 681                 this.setJMenuBar(menubar);
 682
 683         }
 684         public static void main(final String[] args) {
 685                 AltosUI altosui = new AltosUI();
 686                 altosui.setVisible(true);
 687         }
 688 }