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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.AltosRecord;
  35 import altosui.AltosTelemetry;
  36 import altosui.AltosState;
  37 import altosui.AltosDeviceDialog;
  38 import altosui.AltosPreferences;
  39 import altosui.AltosLog;
  40 import altosui.AltosVoice;
  41 import altosui.AltosFlightStatusTableModel;
  42 import altosui.AltosFlightInfoTableModel;
  43 import altosui.AltosChannelMenu;
  44 import altosui.AltosFlashUI;
  45 import altosui.AltosLogfileChooser;
  46 import altosui.AltosCSVUI;
  47 import altosui.AltosLine;
  48
  49 import libaltosJNI.*;
  50
  51 public class AltosUI extends JFrame {
  52         private int channel = -1;
  53
  54         private AltosFlightStatusTableModel flightStatusModel;
  55         private JTable flightStatus;
  56
  57         static final int info_columns = 3;
  58
  59         private AltosFlightInfoTableModel[] flightInfoModel;
  60         private JTable[] flightInfo;
  61         private AltosSerial serial_line;
  62         private AltosLog altos_log;
  63         private Box[] ibox;
  64         private Box vbox;
  65         private Box hbox;
  66
  67         private Font statusFont = new Font("SansSerif", Font.BOLD, 24);
  68         private Font infoLabelFont = new Font("SansSerif", Font.PLAIN, 14);
  69         private Font infoValueFont = new Font("Monospaced", Font.PLAIN, 14);
  70
  71         public AltosVoice voice = new AltosVoice();
  72
  73         public static boolean load_library(Frame frame) {
  74                 if (!AltosDevice.load_library()) {
  75                         JOptionPane.showMessageDialog(frame,
  76                                                       String.format("No AltOS library in \"%s\"",
  77                                                                     System.getProperty("java.library.path","<undefined>")),
  78                                                       "Cannot load device access library",
  79                                                       JOptionPane.ERROR_MESSAGE);
  80                         return false;
  81                 }
  82                 return true;
  83         }
  84
  85         public AltosUI() {
  86
  87                 load_library(null);
  88
  89                 String[] statusNames = { "Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
  90                 Object[][] statusData = { { "0", "pad", "-50", "0" } };
  91
  92                 java.net.URL imgURL = AltosUI.class.getResource("/altus-metrum-16x16.jpg");
  93                 if (imgURL != null)
  94                         setIconImage(new ImageIcon(imgURL).getImage());
  95
  96                 AltosPreferences.init(this);
  97
  98                 vbox = Box.createVerticalBox();
  99                 this.add(vbox);
 100
 101                 flightStatusModel = new AltosFlightStatusTableModel();
 102                 flightStatus = new JTable(flightStatusModel);
 103                 flightStatus.setFont(statusFont);
 104                 TableColumnModel tcm = flightStatus.getColumnModel();
 105                 for (int i = 0; i < flightStatusModel.getColumnCount(); i++) {
 106                         DefaultTableCellRenderer       r = new DefaultTableCellRenderer();
 107                         r.setFont(statusFont);
 108                         r.setHorizontalAlignment(SwingConstants.CENTER);
 109                         tcm.getColumn(i).setCellRenderer(r);
 110                 }
 111
 112                 FontMetrics     statusMetrics = flightStatus.getFontMetrics(statusFont);
 113                 int statusHeight = (statusMetrics.getHeight() + statusMetrics.getLeading()) * 15 / 10;
 114                 flightStatus.setRowHeight(statusHeight);
 115                 flightStatus.setShowGrid(false);
 116
 117                 vbox.add(flightStatus);
 118
 119                 hbox = Box.createHorizontalBox();
 120                 vbox.add(hbox);
 121
 122                 flightInfo = new JTable[3];
 123                 flightInfoModel = new AltosFlightInfoTableModel[3];
 124                 ibox = new Box[3];
 125                 FontMetrics     infoValueMetrics = flightStatus.getFontMetrics(infoValueFont);
 126                 int infoHeight = (infoValueMetrics.getHeight() + infoValueMetrics.getLeading()) * 20 / 10;
 127
 128                 for (int i = 0; i < info_columns; i++) {
 129                         ibox[i] = Box.createVerticalBox();
 130                         flightInfoModel[i] = new AltosFlightInfoTableModel();
 131                         flightInfo[i] = new JTable(flightInfoModel[i]);
 132                         flightInfo[i].setFont(infoValueFont);
 133                         flightInfo[i].setRowHeight(infoHeight);
 134                         flightInfo[i].setShowGrid(true);
 135                         ibox[i].add(flightInfo[i].getTableHeader());
 136                         ibox[i].add(flightInfo[i]);
 137                         hbox.add(ibox[i]);
 138                 }
 139
 140                 setTitle("AltOS");
 141
 142                 createMenu();
 143
 144                 serial_line = new AltosSerial();
 145                 altos_log = new AltosLog(serial_line);
 146                 int dpi = Toolkit.getDefaultToolkit().getScreenResolution();
 147                 this.setSize(new Dimension (infoValueMetrics.charWidth('0') * 6 * 20,
 148                                             statusHeight * 4 + infoHeight * 17));
 149                 this.validate();
 150                 setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
 151                 addWindowListener(new WindowAdapter() {
 152                         @Override
 153                         public void windowClosing(WindowEvent e) {
 154                                 System.exit(0);
 155                         }
 156                 });
 157                 voice.speak("Rocket flight monitor ready.");
 158         }
 159
 160         public void info_reset() {
 161                 for (int i = 0; i < info_columns; i++)
 162                         flightInfoModel[i].resetRow();
 163         }
 164
 165         public void info_add_row(int col, String name, String value) {
 166                 flightInfoModel[col].addRow(name, value);
 167         }
 168
 169         public void info_add_row(int col, String name, String format, Object... parameters) {
 170                 flightInfoModel[col].addRow(name, String.format(format, parameters));
 171         }
 172
 173         public void info_add_deg(int col, String name, double v, int pos, int neg) {
 174                 int     c = pos;
 175                 if (v < 0) {
 176                         c = neg;
 177                         v = -v;
 178                 }
 179                 double  deg = Math.floor(v);
 180                 double  min = (v - deg) * 60;
 181
 182                 flightInfoModel[col].addRow(name, String.format("%3.0f°%08.5f'", deg, min));
 183         }
 184
 185         public void info_finish() {
 186                 for (int i = 0; i < info_columns; i++)
 187                         flightInfoModel[i].finish();
 188         }
 189
 190         public void show(AltosState state, int crc_errors) {
 191                 if (state == null)
 192                         return;
 193                 flightStatusModel.set(state);
 194
 195                 info_reset();
 196                 info_add_row(0, "Rocket state", "%s", state.data.state());
 197                 info_add_row(0, "Callsign", "%s", state.data.callsign);
 198                 info_add_row(0, "Rocket serial", "%6d", state.data.serial);
 199                 info_add_row(0, "Rocket flight", "%6d", state.data.flight);
 200
 201                 info_add_row(0, "RSSI", "%6d    dBm", state.data.rssi);
 202                 info_add_row(0, "CRC Errors", "%6d", crc_errors);
 203                 info_add_row(0, "Height", "%6.0f    m", state.height);
 204                 info_add_row(0, "Max height", "%6.0f    m", state.max_height);
 205                 info_add_row(0, "Acceleration", "%8.1f  m/s²", state.acceleration);
 206                 info_add_row(0, "Max acceleration", "%8.1f  m/s²", state.max_acceleration);
 207                 info_add_row(0, "Speed", "%8.1f  m/s", state.ascent ? state.speed : state.baro_speed);
 208                 info_add_row(0, "Max Speed", "%8.1f  m/s", state.max_speed);
 209                 info_add_row(0, "Temperature", "%9.2f °C", state.temperature);
 210                 info_add_row(0, "Battery", "%9.2f V", state.battery);
 211                 info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense);
 212                 info_add_row(0, "Main", "%9.2f V", state.main_sense);
 213                 info_add_row(0, "Pad altitude", "%6.0f    m", state.ground_altitude);
 214                 if (state.gps == null) {
 215                         info_add_row(1, "GPS", "not available");
 216                 } else {
 217                         if (state.gps_ready)
 218                                 info_add_row(1, "GPS state", "%s", "ready");
 219                         else
 220                                 info_add_row(1, "GPS state", "wait (%d)",
 221                                              state.gps_waiting);
 222                         if (state.data.gps.locked)
 223                                 info_add_row(1, "GPS", "   locked");
 224                         else if (state.data.gps.connected)
 225                                 info_add_row(1, "GPS", " unlocked");
 226                         else
 227                                 info_add_row(1, "GPS", "  missing");
 228                         info_add_row(1, "Satellites", "%6d", state.data.gps.nsat);
 229                         info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
 230                         info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
 231                         info_add_row(1, "GPS altitude", "%6d", state.gps.alt);
 232                         info_add_row(1, "GPS height", "%6.0f", state.gps_height);
 233
 234                         /* The SkyTraq GPS doesn't report these values */
 235                         if (false) {
 236                                 info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°",
 237                                              state.gps.ground_speed,
 238                                              state.gps.course);
 239                                 info_add_row(1, "GPS climb rate", "%8.1f m/s",
 240                                              state.gps.climb_rate);
 241                                 info_add_row(1, "GPS error", "%6d m(h)%3d m(v)",
 242                                              state.gps.h_error, state.gps.v_error);
 243                         }
 244                         info_add_row(1, "GPS hdop", "%8.1f", state.gps.hdop);
 245
 246                         if (state.npad > 0) {
 247                                 if (state.from_pad != null) {
 248                                         info_add_row(1, "Distance from pad", "%6d m",
 249                                                      (int) (state.from_pad.distance + 0.5));
 250                                         info_add_row(1, "Direction from pad", "%6d°",
 251                                                      (int) (state.from_pad.bearing + 0.5));
 252                                         info_add_row(1, "Elevation from pad", "%6d°",
 253                                                      (int) (state.elevation + 0.5));
 254                                         info_add_row(1, "Range from pad", "%6d m",
 255                                                      (int) (state.range + 0.5));
 256                                 } else {
 257                                         info_add_row(1, "Distance from pad", "unknown");
 258                                         info_add_row(1, "Direction from pad", "unknown");
 259                                         info_add_row(1, "Elevation from pad", "unknown");
 260                                         info_add_row(1, "Range from pad", "unknown");
 261                                 }
 262                                 info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
 263                                 info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
 264                                 info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt);
 265                         }
 266                         info_add_row(1, "GPS date", "%04d-%02d-%02d",
 267                                        state.gps.year,
 268                                        state.gps.month,
 269                                        state.gps.day);
 270                         info_add_row(1, "GPS time", "  %02d:%02d:%02d",
 271                                        state.gps.hour,
 272                                        state.gps.minute,
 273                                        state.gps.second);
 274                         int     nsat_vis = 0;
 275                         int     c;
 276
 277                         if (state.gps.cc_gps_sat == null)
 278                                 info_add_row(2, "Satellites Visible", "%4d", 0);
 279                         else {
 280                                 info_add_row(2, "Satellites Visible", "%4d", state.gps.cc_gps_sat.length);
 281                                 for (c = 0; c < state.gps.cc_gps_sat.length; c++) {
 282                                         info_add_row(2, "Satellite id,C/N0",
 283                                                      "%4d, %4d",
 284                                                      state.gps.cc_gps_sat[c].svid,
 285                                                      state.gps.cc_gps_sat[c].c_n0);
 286                                 }
 287                         }
 288                 }
 289                 info_finish();
 290         }
 291
 292         class IdleThread extends Thread {
 293
 294                 boolean started;
 295                 private AltosState state;
 296                 int     reported_landing;
 297                 int     report_interval;
 298                 long    report_time;
 299
 300                 public synchronized void report(boolean last) {
 301                         if (state == null)
 302                                 return;
 303
 304                         /* reset the landing count once we hear about a new flight */
 305                         if (state.state < Altos.ao_flight_drogue)
 306                                 reported_landing = 0;
 307
 308                         /* Shut up once the rocket is on the ground */
 309                         if (reported_landing > 2) {
 310                                 return;
 311                         }
 312
 313                         /* If the rocket isn't on the pad, then report height */
 314                         if (Altos.ao_flight_drogue <= state.state &&
 315                             state.state < Altos.ao_flight_landed &&
 316                             state.range >= 0)
 317                         {
 318                                 voice.speak("Height %d, bearing %d, elevation %d, range %d.\n",
 319                                             (int) (state.height + 0.5),
 320                                             (int) (state.from_pad.bearing + 0.5),
 321                                             (int) (state.elevation + 0.5),
 322                                             (int) (state.range + 0.5));
 323                         } else if (state.state > Altos.ao_flight_pad) {
 324                                 voice.speak("%d meters", (int) (state.height + 0.5));
 325                         } else {
 326                                 reported_landing = 0;
 327                         }
 328
 329                         /* If the rocket is coming down, check to see if it has landed;
 330                          * either we've got a landed report or we haven't heard from it in
 331                          * a long time
 332                          */
 333                         if (state.state >= Altos.ao_flight_drogue &&
 334                             (last ||
 335                              System.currentTimeMillis() - state.report_time >= 15000 ||
 336                              state.state == Altos.ao_flight_landed))
 337                         {
 338                                 if (Math.abs(state.baro_speed) < 20 && state.height < 100)
 339                                         voice.speak("rocket landed safely");
 340                                 else
 341                                         voice.speak("rocket may have crashed");
 342                                 if (state.from_pad != null)
 343                                         voice.speak("Bearing %d degrees, range %d meters.",
 344                                                     (int) (state.from_pad.bearing + 0.5),
 345                                                     (int) (state.from_pad.distance + 0.5));
 346                                 ++reported_landing;
 347                         }
 348                 }
 349
 350                 long now () {
 351                         return System.currentTimeMillis();
 352                 }
 353
 354                 void set_report_time() {
 355                         report_time = now() + report_interval;
 356                 }
 357
 358                 public void run () {
 359
 360                         reported_landing = 0;
 361                         state = null;
 362                         report_interval = 10000;
 363                         try {
 364                                 for (;;) {
 365                                         set_report_time();
 366                                         for (;;) {
 367                                                 voice.drain();
 368                                                 synchronized (this) {
 369                                                         long    sleep_time = report_time - now();
 370                                                         if (sleep_time <= 0)
 371                                                                 break;
 372                                                         wait(sleep_time);
 373                                                 }
 374                                         }
 375                                         report(false);
 376                                 }
 377                         } catch (InterruptedException ie) {
 378                                 try {
 379                                         voice.drain();
 380                                 } catch (InterruptedException iie) { }
 381                         }
 382                 }
 383
 384                 public synchronized void notice(AltosState new_state, boolean spoken) {
 385                         AltosState old_state = state;
 386                         state = new_state;
 387                         if (!started && state.state > Altos.ao_flight_pad) {
 388                                 started = true;
 389                                 start();
 390                         }
 391
 392                         if (state.state < Altos.ao_flight_drogue)
 393                                 report_interval = 10000;
 394                         else
 395                                 report_interval = 20000;
 396                         if (old_state != null && old_state.state != state.state) {
 397                                 report_time = now();
 398                                 this.notify();
 399                         } else if (spoken)
 400                                 set_report_time();
 401                 }
 402         }
 403
 404         private boolean tell(AltosState state, AltosState old_state) {
 405                 boolean ret = false;
 406                 if (old_state == null || old_state.state != state.state) {
 407                         voice.speak(state.data.state());
 408                         if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
 409                             state.state > Altos.ao_flight_boost) {
 410                                 voice.speak("max speed: %d meters per second.",
 411                                             (int) (state.max_speed + 0.5));
 412                                 ret = true;
 413                         } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
 414                                    state.state >= Altos.ao_flight_drogue) {
 415                                 voice.speak("max height: %d meters.",
 416                                             (int) (state.max_height + 0.5));
 417                                 ret = true;
 418                         }
 419                 }
 420                 if (old_state == null || old_state.gps_ready != state.gps_ready) {
 421                         if (state.gps_ready) {
 422                                 voice.speak("GPS ready");
 423                                 ret = true;
 424                         }
 425                         else if (old_state != null) {
 426                                 voice.speak("GPS lost");
 427                                 ret = true;
 428                         }
 429                 }
 430                 old_state = state;
 431                 return ret;
 432         }
 433
 434         class DisplayThread extends Thread {
 435                 IdleThread      idle_thread;
 436
 437                 String          name;
 438
 439                 int             crc_errors;
 440
 441                 void init() { }
 442
 443                 AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException { return null; }
 444
 445                 void close(boolean interrupted) { }
 446
 447                 void update(AltosState state) throws InterruptedException { }
 448
 449                 public void run() {
 450                         boolean         interrupted = false;
 451                         String          line;
 452                         AltosState      state = null;
 453                         AltosState      old_state = null;
 454                         boolean         told;
 455
 456                         idle_thread = new IdleThread();
 457
 458                         info_reset();
 459                         info_finish();
 460                         try {
 461                                 for (;;) {
 462                                         try {
 463                                                 AltosRecord record = read();
 464                                                 if (record == null)
 465                                                         break;
 466                                                 old_state = state;
 467                                                 state = new AltosState(record, state);
 468                                                 update(state);
 469                                                 show(state, crc_errors);
 470                                                 told = tell(state, old_state);
 471                                                 idle_thread.notice(state, told);
 472                                         } catch (ParseException pp) {
 473                                                 System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
 474                                         } catch (AltosCRCException ce) {
 475                                                 ++crc_errors;
 476                                                 show(state, crc_errors);
 477                                         }
 478                                 }
 479                         } catch (InterruptedException ee) {
 480                                 interrupted = true;
 481                         } catch (IOException ie) {
 482                                 JOptionPane.showMessageDialog(AltosUI.this,
 483                                                               String.format("Error reading from \"%s\"", name),
 484                                                               "Telemetry Read Error",
 485                                                               JOptionPane.ERROR_MESSAGE);
 486                         } finally {
 487                                 close(interrupted);
 488                                 idle_thread.interrupt();
 489                                 try {
 490                                         idle_thread.join();
 491                                 } catch (InterruptedException ie) {}
 492                         }
 493                 }
 494
 495                 public void report() {
 496                         if (idle_thread != null)
 497                                 idle_thread.report(true);
 498                 }
 499         }
 500
 501         class DeviceThread extends DisplayThread {
 502                 AltosSerial     serial;
 503                 LinkedBlockingQueue<AltosLine> telem;
 504
 505                 AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
 506                         AltosLine l = telem.take();
 507                         if (l.line == null)
 508                                 throw new IOException("IO error");
 509                         return new AltosTelemetry(l.line);
 510                 }
 511
 512                 void close(boolean interrupted) {
 513                         serial.close();
 514                         serial.remove_monitor(telem);
 515                 }
 516
 517                 public DeviceThread(AltosSerial s, String in_name) {
 518                         serial = s;
 519                         telem = new LinkedBlockingQueue<AltosLine>();
 520                         serial.add_monitor(telem);
 521                         name = in_name;
 522                 }
 523         }
 524
 525         private void ConnectToDevice() {
 526                 AltosDevice     device = AltosDeviceDialog.show(AltosUI.this, AltosDevice.BaseStation);
 527
 528                 if (device != null) {
 529                         try {
 530                                 stop_display();
 531                                 serial_line.open(device);
 532                                 DeviceThread thread = new DeviceThread(serial_line, device.getPath());
 533                                 serial_line.set_channel(AltosPreferences.channel());
 534                                 serial_line.set_callsign(AltosPreferences.callsign());
 535                                 run_display(thread);
 536                         } catch (FileNotFoundException ee) {
 537                                 JOptionPane.showMessageDialog(AltosUI.this,
 538                                                               String.format("Cannot open device \"%s\"",
 539                                                                             device.getPath()),
 540                                                               "Cannot open target device",
 541                                                               JOptionPane.ERROR_MESSAGE);
 542                         } catch (IOException ee) {
 543                                 JOptionPane.showMessageDialog(AltosUI.this,
 544                                                               device.getPath(),
 545                                                               "Unkonwn I/O error",
 546                                                               JOptionPane.ERROR_MESSAGE);
 547                         }
 548                 }
 549         }
 550
 551         void DisconnectFromDevice () {
 552                 stop_display();
 553         }
 554
 555         void ConfigureCallsign() {
 556                 String  result;
 557                 result = JOptionPane.showInputDialog(AltosUI.this,
 558                                                      "Configure Callsign",
 559                                                      AltosPreferences.callsign());
 560                 if (result != null) {
 561                         AltosPreferences.set_callsign(result);
 562                         if (serial_line != null)
 563                                 serial_line.set_callsign(result);
 564                 }
 565         }
 566
 567         void ConfigureTeleMetrum() {
 568                 new AltosConfig(AltosUI.this);
 569         }
 570
 571         void FlashImage() {
 572                 new AltosFlashUI(AltosUI.this);
 573         }
 574
 575         /*
 576          * Open an existing telemetry file and replay it in realtime
 577          */
 578
 579         class ReplayThread extends DisplayThread {
 580                 AltosReader     reader;
 581                 String          name;
 582
 583                 public AltosRecord read() {
 584                         try {
 585                                 return reader.read();
 586                         } catch (IOException ie) {
 587                                 JOptionPane.showMessageDialog(AltosUI.this,
 588                                                               name,
 589                                                               "error reading",
 590                                                               JOptionPane.ERROR_MESSAGE);
 591                         } catch (ParseException pe) {
 592                         }
 593                         return null;
 594                 }
 595
 596                 public void close (boolean interrupted) {
 597                         if (!interrupted)
 598                                 report();
 599                 }
 600
 601                 public ReplayThread(AltosReader in_reader, String in_name) {
 602                         reader = in_reader;
 603                 }
 604                 void update(AltosState state) throws InterruptedException {
 605                         /* Make it run in realtime after the rocket leaves the pad */
 606                         if (state.state > Altos.ao_flight_pad)
 607                                 Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
 608                 }
 609         }
 610
 611         class ReplayTelemetryThread extends ReplayThread {
 612                 ReplayTelemetryThread(FileInputStream in, String in_name) {
 613                         super(new AltosTelemetryReader(in), in_name);
 614                 }
 615
 616         }
 617
 618         class ReplayEepromThread extends ReplayThread {
 619                 ReplayEepromThread(FileInputStream in, String in_name) {
 620                         super(new AltosEepromReader(in), in_name);
 621                 }
 622         }
 623
 624         Thread          display_thread;
 625
 626         private void stop_display() {
 627                 if (display_thread != null && display_thread.isAlive()) {
 628                         display_thread.interrupt();
 629                         try {
 630                                 display_thread.join();
 631                         } catch (InterruptedException ie) {}
 632                 }
 633                 display_thread = null;
 634         }
 635
 636         private void run_display(Thread thread) {
 637                 stop_display();
 638                 display_thread = thread;
 639                 display_thread.start();
 640         }
 641
 642         /*
 643          * Replay a flight from telemetry data
 644          */
 645         private void Replay() {
 646                 AltosLogfileChooser chooser = new AltosLogfileChooser(
 647                         AltosUI.this);
 648                 AltosReader reader = chooser.runDialog();
 649                 if (reader != null)
 650                         run_display(new ReplayThread(reader,
 651                                                      chooser.filename()));
 652         }
 653
 654         /* Connect to TeleMetrum, either directly or through
 655          * a TeleDongle over the packet link
 656          */
 657         private void SaveFlightData() {
 658                 new AltosEepromDownload(AltosUI.this);
 659         }
 660
 661         /* Load a flight log file and write out a CSV file containing
 662          * all of the data in standard units
 663          */
 664
 665         private void ExportData() {
 666                 new AltosCSVUI(AltosUI.this);
 667         }
 668
 669         /* Create the AltosUI menus
 670          */
 671         private void createMenu() {
 672                 JMenuBar menubar = new JMenuBar();
 673                 JMenu menu;
 674                 JMenuItem item;
 675                 JRadioButtonMenuItem radioitem;
 676
 677                 // File menu
 678                 {
 679                         menu = new JMenu("File");
 680                         menu.setMnemonic(KeyEvent.VK_F);
 681                         menubar.add(menu);
 682
 683                         item = new JMenuItem("Replay File",KeyEvent.VK_R);
 684                         item.addActionListener(new ActionListener() {
 685                                         public void actionPerformed(ActionEvent e) {
 686                                                 Replay();
 687                                         }
 688                                 });
 689                         menu.add(item);
 690
 691                         item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
 692                         item.addActionListener(new ActionListener() {
 693                                         public void actionPerformed(ActionEvent e) {
 694                                                 SaveFlightData();
 695                                         }
 696                                 });
 697                         menu.add(item);
 698
 699                         item = new JMenuItem("Flash Image",KeyEvent.VK_F);
 700                         item.addActionListener(new ActionListener() {
 701                                         public void actionPerformed(ActionEvent e) {
 702                                                 FlashImage();
 703                                         }
 704                                 });
 705                         menu.add(item);
 706
 707                         item = new JMenuItem("Export Data",KeyEvent.VK_F);
 708                         item.addActionListener(new ActionListener() {
 709                                         public void actionPerformed(ActionEvent e) {
 710                                                 ExportData();
 711                                         }
 712                                 });
 713                         menu.add(item);
 714
 715                         item = new JMenuItem("Quit",KeyEvent.VK_Q);
 716                         item.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_Q,
 717                                                                    ActionEvent.CTRL_MASK));
 718                         item.addActionListener(new ActionListener() {
 719                                         public void actionPerformed(ActionEvent e) {
 720                                                 System.exit(0);
 721                                         }
 722                                 });
 723                         menu.add(item);
 724                 }
 725
 726                 // Device menu
 727                 {
 728                         menu = new JMenu("Device");
 729                         menu.setMnemonic(KeyEvent.VK_D);
 730                         menubar.add(menu);
 731
 732                         item = new JMenuItem("Connect to Device",KeyEvent.VK_C);
 733                         item.addActionListener(new ActionListener() {
 734                                         public void actionPerformed(ActionEvent e) {
 735                                                 ConnectToDevice();
 736                                         }
 737                                 });
 738                         menu.add(item);
 739
 740                         item = new JMenuItem("Disconnect from Device",KeyEvent.VK_D);
 741                         item.addActionListener(new ActionListener() {
 742                                         public void actionPerformed(ActionEvent e) {
 743                                                 DisconnectFromDevice();
 744                                         }
 745                                 });
 746                         menu.add(item);
 747
 748                         menu.addSeparator();
 749
 750                         item = new JMenuItem("Set Callsign",KeyEvent.VK_S);
 751                         item.addActionListener(new ActionListener() {
 752                                         public void actionPerformed(ActionEvent e) {
 753                                                 ConfigureCallsign();
 754                                         }
 755                                 });
 756
 757                         menu.add(item);
 758
 759                         item = new JMenuItem("Configure TeleMetrum device",KeyEvent.VK_T);
 760                         item.addActionListener(new ActionListener() {
 761                                         public void actionPerformed(ActionEvent e) {
 762                                                 ConfigureTeleMetrum();
 763                                         }
 764                                 });
 765
 766                         menu.add(item);
 767                 }
 768                 // Log menu
 769                 {
 770                         menu = new JMenu("Log");
 771                         menu.setMnemonic(KeyEvent.VK_L);
 772                         menubar.add(menu);
 773
 774                         item = new JMenuItem("New Log",KeyEvent.VK_N);
 775                         item.addActionListener(new ActionListener() {
 776                                         public void actionPerformed(ActionEvent e) {
 777                                         }
 778                                 });
 779                         menu.add(item);
 780
 781                         item = new JMenuItem("Configure Log",KeyEvent.VK_C);
 782                         item.addActionListener(new ActionListener() {
 783                                         public void actionPerformed(ActionEvent e) {
 784                                                 AltosPreferences.ConfigureLog();
 785                                         }
 786                                 });
 787                         menu.add(item);
 788                 }
 789                 // Voice menu
 790                 {
 791                         menu = new JMenu("Voice", true);
 792                         menu.setMnemonic(KeyEvent.VK_V);
 793                         menubar.add(menu);
 794
 795                         radioitem = new JRadioButtonMenuItem("Enable Voice", AltosPreferences.voice());
 796                         radioitem.addActionListener(new ActionListener() {
 797                                         public void actionPerformed(ActionEvent e) {
 798                                                 JRadioButtonMenuItem item = (JRadioButtonMenuItem) e.getSource();
 799                                                 boolean enabled = item.isSelected();
 800                                                 AltosPreferences.set_voice(enabled);
 801                                                 if (enabled)
 802                                                         voice.speak_always("Enable voice.");
 803                                                 else
 804                                                         voice.speak_always("Disable voice.");
 805                                         }
 806                                 });
 807                         menu.add(radioitem);
 808                         item = new JMenuItem("Test Voice",KeyEvent.VK_T);
 809                         item.addActionListener(new ActionListener() {
 810                                         public void actionPerformed(ActionEvent e) {
 811                                                 voice.speak("That's one small step for man; one giant leap for mankind.");
 812                                         }
 813                                 });
 814                         menu.add(item);
 815                 }
 816
 817                 // Channel menu
 818                 {
 819                         menu = new AltosChannelMenu(AltosPreferences.channel());
 820                         menu.addActionListener(new ActionListener() {
 821                                                 public void actionPerformed(ActionEvent e) {
 822                                                         int new_channel = Integer.parseInt(e.getActionCommand());
 823                                                         AltosPreferences.set_channel(new_channel);
 824                                                         serial_line.set_channel(new_channel);
 825                                                 }
 826                                 });
 827                         menu.setMnemonic(KeyEvent.VK_C);
 828                         menubar.add(menu);
 829                 }
 830
 831                 this.setJMenuBar(menubar);
 832
 833         }
 834
 835         static String replace_extension(String input, String extension) {
 836                 int dot = input.lastIndexOf(".");
 837                 if (dot > 0)
 838                         input = input.substring(0,dot);
 839                 return input.concat(extension);
 840         }
 841
 842         static AltosReader open_logfile(String filename) {
 843                 File file = new File (filename);
 844                 try {
 845                         FileInputStream in;
 846
 847                         in = new FileInputStream(file);
 848                         if (filename.endsWith("eeprom"))
 849                                 return new AltosEepromReader(in);
 850                         else
 851                                 return new AltosTelemetryReader(in);
 852                 } catch (FileNotFoundException fe) {
 853                         System.out.printf("Cannot open '%s'\n", filename);
 854                         return null;
 855                 }
 856         }
 857
 858         static AltosCSV open_csv(String filename) {
 859                 File file = new File (filename);
 860                 try {
 861                         return new AltosCSV(file);
 862                 } catch (FileNotFoundException fe) {
 863                         System.out.printf("Cannot open '%s'\n", filename);
 864                         return null;
 865                 }
 866         }
 867
 868         static void process_file(String input) {
 869                 String output = replace_extension(input,".csv");
 870                 if (input.equals(output)) {
 871                         System.out.printf("Not processing '%s'\n", input);
 872                         return;
 873                 }
 874                 System.out.printf("Processing \"%s\" to \"%s\"\n", input, output);
 875                 AltosReader reader = open_logfile(input);
 876                 if (reader == null)
 877                         return;
 878                 AltosCSV writer = open_csv(output);
 879                 if (writer == null)
 880                         return;
 881                 writer.write(reader);
 882                 reader.close();
 883                 writer.close();
 884         }
 885
 886         public static void main(final String[] args) {
 887
 888                 /* Handle batch-mode */
 889                 if (args.length > 0) {
 890                         for (int i = 0; i < args.length; i++)
 891                                 process_file(args[i]);
 892                 } else {
 893                         AltosUI altosui = new AltosUI();
 894                         altosui.setVisible(true);
 895                 }
 896         }
 897 }