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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 gnu.io.CommPortIdentifier;
  29
  30 import altosui.AltosSerial;
  31 import altosui.AltosSerialMonitor;
  32 import altosui.AltosTelemetry;
  33 import altosui.AltosState;
  34
  35 class AltosUIMonitor implements AltosSerialMonitor {
  36         public void data(String data) {
  37                 System.out.println(data);
  38         }
  39 }
  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 AltosFlightStatusCellRenderer extends DefaultTableCellRenderer {
  74
  75         static Font statusFont = new Font("SansSerif", Font.BOLD, 24);
  76
  77         @Override public Component getTableCellRendererComponent (JTable table, Object value, boolean isSelected,
  78                                                         boolean hasFocus, int row, int column)
  79         {
  80                 Component cell = super.getTableCellRendererComponent
  81                         (table, value, isSelected, hasFocus, row, column);
  82                 System.out.println("Selecting new font for cell " + row + " " + column + " " + statusFont);
  83                 cell.setFont(statusFont);
  84                 return cell;
  85         }
  86
  87         public AltosFlightStatusCellRenderer () {
  88                 super();
  89                 System.out.println("Made a status cell renderer\n");
  90         }
  91 }
  92
  93 class AltosFlightInfoTableModel extends AbstractTableModel {
  94         private String[] columnNames = {"Field", "Value"};
  95
  96         class InfoLine {
  97                 String  name;
  98                 String  value;
  99
 100                 public InfoLine(String n, String v) {
 101                         name = n;
 102                         value = v;
 103                 }
 104         }
 105
 106         private ArrayList<InfoLine> rows = new ArrayList<InfoLine>();
 107
 108         public int getColumnCount() { return columnNames.length; }
 109         public String getColumnName(int col) { return columnNames[col]; }
 110
 111         public int getRowCount() { return 20; }
 112
 113         public Object getValueAt(int row, int col) {
 114                 if (row >= rows.size())
 115                         return "";
 116                 if (col == 0)
 117                         return rows.get(row).name;
 118                 else
 119                         return rows.get(row).value;
 120         }
 121
 122         int     current_row = 0;
 123         int     prev_num_rows = 0;
 124
 125         public void resetRow() {
 126                 current_row = 0;
 127         }
 128         public void addRow(String name, String value) {
 129                 if (current_row >= rows.size())
 130                         rows.add(current_row, new InfoLine(name, value));
 131                 else
 132                         rows.set(current_row, new InfoLine(name, value));
 133                 current_row++;
 134         }
 135         public void finish() {
 136                 if (current_row > prev_num_rows) {
 137                         fireTableRowsInserted(prev_num_rows, current_row - 1);
 138                         prev_num_rows = current_row;
 139                 }
 140                 fireTableDataChanged();
 141         }
 142 }
 143
 144 public class AltosUI extends JFrame {
 145         private int channel = -1;
 146
 147         private AltosFlightStatusTableModel flightStatusModel;
 148         private JTable flightStatus;
 149
 150         static final int info_columns = 3;
 151
 152         private AltosFlightInfoTableModel[] flightInfoModel;
 153         private JTable[] flightInfo;
 154         private AltosSerial serialLine;
 155         private Box[] ibox;
 156         private Box vbox;
 157         private Box hbox;
 158
 159         private Font statusFont = new Font("SansSerif", Font.BOLD, 24);
 160         private Font infoLabelFont = new Font("SansSerif", Font.PLAIN, 14);
 161         private Font infoValueFont = new Font("Monospaced", Font.PLAIN, 14);
 162
 163         public AltosUI() {
 164
 165                 String[] statusNames = { "Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
 166                 Object[][] statusData = { { "0", "pad", "-50", "0" } };
 167
 168                 vbox = Box.createVerticalBox();
 169                 this.add(vbox);
 170
 171                 flightStatusModel = new AltosFlightStatusTableModel();
 172                 flightStatus = new JTable(flightStatusModel);
 173                 flightStatus.setFont(statusFont);
 174                 TableColumnModel tcm = flightStatus.getColumnModel();
 175                 for (int i = 0; i < flightStatusModel.getColumnCount(); i++) {
 176                         DefaultTableCellRenderer       r = new DefaultTableCellRenderer();
 177                         r.setFont(statusFont);
 178                         r.setHorizontalAlignment(SwingConstants.CENTER);
 179                         tcm.getColumn(i).setCellRenderer(r);
 180                 }
 181
 182                 FontMetrics     statusMetrics = flightStatus.getFontMetrics(statusFont);
 183                 int statusHeight = (statusMetrics.getHeight() + statusMetrics.getLeading()) * 15 / 10;
 184                 flightStatus.setRowHeight(statusHeight);
 185                 flightStatus.setShowGrid(false);
 186
 187                 vbox.add(flightStatus);
 188
 189                 hbox = Box.createHorizontalBox();
 190                 vbox.add(hbox);
 191
 192                 flightInfo = new JTable[3];
 193                 flightInfoModel = new AltosFlightInfoTableModel[3];
 194                 ibox = new Box[3];
 195                 FontMetrics     infoValueMetrics = flightStatus.getFontMetrics(infoValueFont);
 196                 int infoHeight = (infoValueMetrics.getHeight() + infoValueMetrics.getLeading()) * 20 / 10;
 197
 198                 for (int i = 0; i < info_columns; i++) {
 199                         ibox[i] = Box.createVerticalBox();
 200                         flightInfoModel[i] = new AltosFlightInfoTableModel();
 201                         flightInfo[i] = new JTable(flightInfoModel[i]);
 202                         flightInfo[i].setFont(infoValueFont);
 203                         flightInfo[i].setRowHeight(infoHeight);
 204                         flightInfo[i].setShowGrid(true);
 205                         ibox[i].add(flightInfo[i].getTableHeader());
 206                         ibox[i].add(flightInfo[i]);
 207                         hbox.add(ibox[i]);
 208                 }
 209
 210                 setTitle("AltOS");
 211
 212                 createMenu();
 213
 214                 serialLine = new AltosSerial();
 215                 serialLine.monitor(new AltosUIMonitor());
 216                 int dpi = Toolkit.getDefaultToolkit().getScreenResolution();
 217                 this.setSize(new Dimension (infoValueMetrics.charWidth('0') * 6 * 15,
 218                                             statusHeight * 4 + infoHeight * 17));
 219                 this.validate();
 220                 setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
 221                 addWindowListener(new WindowAdapter() {
 222                         @Override
 223                         public void windowClosing(WindowEvent e) {
 224                                 System.exit(0);
 225                         }
 226                 });
 227         }
 228
 229         public void info_reset() {
 230                 for (int i = 0; i < info_columns; i++)
 231                         flightInfoModel[i].resetRow();
 232         }
 233
 234         public void info_add_row(int col, String name, String value) {
 235                 flightInfoModel[col].addRow(name, value);
 236         }
 237
 238         public void info_add_row(int col, String name, String format, Object value) {
 239                 flightInfoModel[col].addRow(name, String.format(format, value));
 240         }
 241
 242         public void info_add_row(int col, String name, String format, Object v1, Object v2) {
 243                 flightInfoModel[col].addRow(name, String.format(format, v1, v2));
 244         }
 245
 246         public void info_add_row(int col, String name, String format, Object v1, Object v2, Object v3) {
 247                 flightInfoModel[col].addRow(name, String.format(format, v1, v2, v3));
 248         }
 249
 250         public void info_add_deg(int col, String name, double v, int pos, int neg) {
 251                 int     c = pos;
 252                 if (v < 0) {
 253                         c = neg;
 254                         v = -v;
 255                 }
 256                 double  deg = Math.floor(v);
 257                 double  min = (v - deg) * 60;
 258
 259                 flightInfoModel[col].addRow(name, String.format("%3.0f°%08.5f'", deg, min));
 260         }
 261
 262         public void info_finish() {
 263                 for (int i = 0; i < info_columns; i++)
 264                         flightInfoModel[i].finish();
 265         }
 266
 267         static final int MIN_PAD_SAMPLES = 10;
 268
 269         public void show(AltosState state) {
 270                 flightStatusModel.set(state);
 271
 272                 info_reset();
 273                 if (state.npad >= MIN_PAD_SAMPLES)
 274                         info_add_row(0, "Ground state", "%s", "ready");
 275                 else
 276                         info_add_row(0, "Ground state", "wait (%d)",
 277                                      MIN_PAD_SAMPLES - state.npad);
 278                 info_add_row(0, "Rocket state", "%s", state.data.state);
 279                 info_add_row(0, "Callsign", "%s", state.data.callsign);
 280                 info_add_row(0, "Rocket serial", "%6d", state.data.serial);
 281                 info_add_row(0, "Rocket flight", "%6d", state.data.flight);
 282
 283                 info_add_row(0, "RSSI", "%6d    dBm", state.data.rssi);
 284                 info_add_row(0, "Height", "%6.0f    m", state.height);
 285                 info_add_row(0, "Max height", "%6.0f    m", state.max_height);
 286                 info_add_row(0, "Acceleration", "%8.1f  m/s²", state.acceleration);
 287                 info_add_row(0, "Max acceleration", "%8.1f  m/s²", state.max_acceleration);
 288                 info_add_row(0, "Speed", "%8.1f  m/s", state.ascent ? state.speed : state.baro_speed);
 289                 info_add_row(0, "Max Speed", "%8.1f  m/s", state.max_speed);
 290                 info_add_row(0, "Temperature", "%9.2f °C", state.temperature);
 291                 info_add_row(0, "Battery", "%9.2f V", state.battery);
 292                 info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense);
 293                 info_add_row(0, "Main", "%9.2f V", state.main_sense);
 294                 info_add_row(0, "Pad altitude", "%6.0f    m", state.ground_altitude);
 295                 if (state.gps != null)
 296                         info_add_row(1, "Satellites", "%6d", state.gps.nsat);
 297                 else
 298                         info_add_row(1, "Satellites", "%6d", 0);
 299                 if (state.gps != null && state.gps.gps_locked) {
 300                         info_add_row(1, "GPS", "locked");
 301                 } else if (state.gps != null && state.gps.gps_connected) {
 302                         info_add_row(1, "GPS", "unlocked");
 303                 } else {
 304                         info_add_row(1, "GPS", "not available");
 305                 }
 306                 if (state.gps != null) {
 307                         info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
 308                         info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
 309                         info_add_row(1, "GPS altitude", "%d", state.gps.alt);
 310                         info_add_row(1, "GPS height", "%d", state.gps_height);
 311                         info_add_row(1, "GPS date", "%04d-%02d-%02d",
 312                                        state.gps.gps_time.year,
 313                                        state.gps.gps_time.month,
 314                                        state.gps.gps_time.day);
 315                         info_add_row(1, "GPS time", "%02d:%02d:%02d",
 316                                        state.gps.gps_time.hour,
 317                                        state.gps.gps_time.minute,
 318                                        state.gps.gps_time.second);
 319                         info_add_row(1, "GPS ground speed", "%7.1fm/s %d°",
 320                                        state.gps.ground_speed,
 321                                        state.gps.course);
 322                         info_add_row(1, "GPS climb rate", "%7.1fm/s",
 323                                      state.gps.climb_rate);
 324                         info_add_row(1, "GPS precision", "%4.1f(hdop) %3dm(h) %3dm(v)",
 325                                      state.gps.hdop, state.gps.h_error, state.gps.v_error);
 326                 }
 327                 if (state.npad > 0) {
 328                         info_add_row(1, "Distance from pad", "%5.0fm", state.from_pad.distance);
 329                         info_add_row(1, "Direction from pad", "%4.0f°", state.from_pad.bearing);
 330                         info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
 331                         info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
 332                         info_add_row(1, "Pad GPS alt", "%gm", state.pad_alt);
 333                 }
 334                 if (state.gps != null && state.gps.gps_connected) {
 335                         int     nsat_vis = 0;
 336                         int     c;
 337
 338                         if (state.gps.cc_gps_sat == null)
 339                                 info_add_row(2, "Satellites Visible", "%d", 0);
 340                         else {
 341                                 info_add_row(2, "Satellites Visible", "%d", state.gps.cc_gps_sat.length);
 342                                 for (c = 0; c < state.gps.cc_gps_sat.length; c++) {
 343                                         info_add_row(2, "Satellite id,C/N0",
 344                                                      "%3d,%2d",
 345                                                      state.gps.cc_gps_sat[c].svid,
 346                                                      state.gps.cc_gps_sat[c].c_n0);
 347                                 }
 348                         }
 349                 }
 350                 info_finish();
 351         }
 352
 353
 354         final JFileChooser deviceChooser = new JFileChooser();
 355         final JFileChooser logdirChooser = new JFileChooser();
 356         final String logdirName = "TeleMetrum";
 357         File logdir = null;
 358
 359         private void setLogdir() {
 360                 if (logdir == null)
 361                         logdir = new File(logdirChooser.getCurrentDirectory(), logdirName);
 362                 logdirChooser.setCurrentDirectory(logdir);
 363         }
 364
 365         private void makeLogdir() {
 366                 setLogdir();
 367                 if (!logdir.exists()) {
 368                         if (!logdir.mkdirs())
 369                                 JOptionPane.showMessageDialog(AltosUI.this,
 370                                                               logdir.getName(),
 371                                                               "Cannot create directory",
 372                                                               JOptionPane.ERROR_MESSAGE);
 373                 } else if (!logdir.isDirectory()) {
 374                         JOptionPane.showMessageDialog(AltosUI.this,
 375                                                       logdir.getName(),
 376                                                       "Is not a directory",
 377                                                       JOptionPane.ERROR_MESSAGE);
 378                 }
 379         }
 380
 381         private void PickSerialDevice() {
 382                 java.util.Enumeration<CommPortIdentifier> port_list = CommPortIdentifier.getPortIdentifiers();
 383                 while (port_list.hasMoreElements()) {
 384                         CommPortIdentifier identifier = port_list.nextElement();
 385                         System.out.println("Serial port " + identifier.getName());
 386                 }
 387         }
 388
 389         private void ConnectToDevice() {
 390                 PickSerialDevice();
 391                 int returnVal = deviceChooser.showOpenDialog(AltosUI.this);
 392
 393                 if (returnVal == JFileChooser.APPROVE_OPTION) {
 394                         File file = deviceChooser.getSelectedFile();
 395                         try {
 396                                 serialLine.open(file);
 397                         } catch (FileNotFoundException ee) {
 398                                 JOptionPane.showMessageDialog(AltosUI.this,
 399                                                               file.getName(),
 400                                                               "Cannot open serial port",
 401                                                               JOptionPane.ERROR_MESSAGE);
 402                         }
 403                 }
 404         }
 405
 406         String readline(FileInputStream s) throws IOException {
 407                 int c;
 408                 String  line = "";
 409
 410                 while ((c = s.read()) != -1) {
 411                         if (c == '\r')
 412                                 continue;
 413                         if (c == '\n')
 414                                 return line;
 415                         line = line + (char) c;
 416                 }
 417                 return null;
 418         }
 419
 420         /*
 421          * Open an existing telemetry file and replay it in realtime
 422          */
 423
 424         class ReplayThread extends Thread {
 425                 FileInputStream replay;
 426                 String filename;
 427
 428                 ReplayThread(FileInputStream in, String name) {
 429                         replay = in;
 430                         filename = name;
 431                 }
 432
 433                 public void run() {
 434                         String  line;
 435                         AltosState      state = null;
 436                         try {
 437                                 while ((line = readline(replay)) != null) {
 438                                         try {
 439                                                 AltosTelemetry  t = new AltosTelemetry(line);
 440                                                 state = new AltosState(t, state);
 441                                                 show(state);
 442                                                 try {
 443                                                         if (state.state > AltosTelemetry.ao_flight_pad)
 444                                                                 Thread.sleep((int) (state.time_change * 1000));
 445                                                 } catch (InterruptedException e) {}
 446                                         } catch (ParseException pp) {
 447                                                 JOptionPane.showMessageDialog(AltosUI.this,
 448                                                                               line,
 449                                                                               "error parsing",
 450                                                                               JOptionPane.ERROR_MESSAGE);
 451                                                 break;
 452                                         }
 453                                 }
 454                         } catch (IOException ee) {
 455                                 JOptionPane.showMessageDialog(AltosUI.this,
 456                                                               filename,
 457                                                               "error reading",
 458                                                               JOptionPane.ERROR_MESSAGE);
 459                         } finally {
 460                                 try {
 461                                         replay.close();
 462                                 } catch (IOException e) {}
 463                         }
 464                 }
 465         }
 466
 467         private void Replay() {
 468                 setLogdir();
 469                 logdirChooser.setDialogTitle("Select Telemetry File");
 470                 logdirChooser.setFileFilter(new FileNameExtensionFilter("Telemetry file", "telem"));
 471                 int returnVal = logdirChooser.showOpenDialog(AltosUI.this);
 472
 473                 if (returnVal == JFileChooser.APPROVE_OPTION) {
 474                         File file = logdirChooser.getSelectedFile();
 475                         if (file == null)
 476                                 System.out.println("No file selected?");
 477                         String  filename = file.getName();
 478                         try {
 479                                 FileInputStream replay = new FileInputStream(file);
 480                                 ReplayThread    thread = new ReplayThread(replay, filename);
 481                                 thread.start();
 482                         } catch (FileNotFoundException ee) {
 483                                 JOptionPane.showMessageDialog(AltosUI.this,
 484                                                               filename,
 485                                                               "Cannot open serial port",
 486                                                               JOptionPane.ERROR_MESSAGE);
 487                         }
 488                 }
 489         }
 490
 491         private void SaveFlightData() {
 492         }
 493
 494         private void createMenu() {
 495                 JMenuBar menubar = new JMenuBar();
 496                 JMenu menu;
 497                 JMenuItem item;
 498                 JRadioButtonMenuItem radioitem;
 499
 500                 // File menu
 501                 {
 502                         menu = new JMenu("File");
 503                         menu.setMnemonic(KeyEvent.VK_F);
 504                         menubar.add(menu);
 505
 506                         item = new JMenuItem("Quit",KeyEvent.VK_Q);
 507                         item.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_Q,
 508                                                                    ActionEvent.CTRL_MASK));
 509                         item.addActionListener(new ActionListener() {
 510                                         public void actionPerformed(ActionEvent e) {
 511                                                 System.exit(0);
 512                                         }
 513                                 });
 514                         menu.add(item);
 515                 }
 516
 517                 // Device menu
 518                 {
 519                         menu = new JMenu("Device");
 520                         menu.setMnemonic(KeyEvent.VK_D);
 521                         menubar.add(menu);
 522
 523                         item = new JMenuItem("Connect to Device",KeyEvent.VK_C);
 524                         item.addActionListener(new ActionListener() {
 525                                         public void actionPerformed(ActionEvent e) {
 526                                                 ConnectToDevice();
 527                                         }
 528                                 });
 529                         menu.add(item);
 530
 531                         item = new JMenuItem("Disconnect from Device",KeyEvent.VK_D);
 532                         item.addActionListener(new ActionListener() {
 533                                         public void actionPerformed(ActionEvent e) {
 534                                                 serialLine.close();
 535                                         }
 536                                 });
 537                         menu.add(item);
 538
 539                         menu.addSeparator();
 540
 541                         item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
 542                         item.addActionListener(new ActionListener() {
 543                                         public void actionPerformed(ActionEvent e) {
 544                                                 SaveFlightData();
 545                                         }
 546                                 });
 547                         menu.add(item);
 548
 549                         item = new JMenuItem("Replay",KeyEvent.VK_R);
 550                         item.addActionListener(new ActionListener() {
 551                                         public void actionPerformed(ActionEvent e) {
 552                                                 Replay();
 553                                         }
 554                                 });
 555                         menu.add(item);
 556                 }
 557                 // Log menu
 558                 {
 559                         menu = new JMenu("Log");
 560                         menu.setMnemonic(KeyEvent.VK_L);
 561                         menubar.add(menu);
 562
 563                         item = new JMenuItem("New Log",KeyEvent.VK_N);
 564                         item.addActionListener(new ActionListener() {
 565                                         public void actionPerformed(ActionEvent e) {
 566                                         }
 567                                 });
 568                         menu.add(item);
 569
 570                         item = new JMenuItem("Configure Log",KeyEvent.VK_C);
 571                         item.addActionListener(new ActionListener() {
 572                                         public void actionPerformed(ActionEvent e) {
 573                                         }
 574                                 });
 575                         menu.add(item);
 576                 }
 577                 // Voice menu
 578                 {
 579                         menu = new JMenu("Voice", true);
 580                         menu.setMnemonic(KeyEvent.VK_V);
 581                         menubar.add(menu);
 582
 583                         radioitem = new JRadioButtonMenuItem("Enable Voice");
 584                         radioitem.addActionListener(new ActionListener() {
 585                                         public void actionPerformed(ActionEvent e) {
 586                                         }
 587                                 });
 588                         menu.add(radioitem);
 589                 }
 590
 591                 // Channel menu
 592                 {
 593                         menu = new JMenu("Channel", true);
 594                         menu.setMnemonic(KeyEvent.VK_C);
 595                         menubar.add(menu);
 596                         ButtonGroup group = new ButtonGroup();
 597
 598                         for (int c = 0; c <= 9; c++) {
 599                                 radioitem = new JRadioButtonMenuItem(String.format("Channel %1d (%7.3fMHz)", c,
 600                                                                                    434.550 + c * 0.1),
 601                                                                      c == 0);
 602                                 radioitem.setActionCommand(String.format("%d", c));
 603                                 radioitem.addActionListener(new ActionListener() {
 604                                                 public void actionPerformed(ActionEvent e) {
 605                                                         System.out.println("Command: " + e.getActionCommand() + " param: " +
 606                                                                            e.paramString());
 607                                                 }
 608                                         });
 609                                 menu.add(radioitem);
 610                                 group.add(radioitem);
 611                         }
 612                 }
 613
 614                 this.setJMenuBar(menubar);
 615
 616         }
 617         public static void main(final String[] args) {
 618                 AltosUI altosui = new AltosUI();
 619                 altosui.setVisible(true);
 620         }
 621 }