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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.AltosSerial;
  32 import altosui.AltosSerialMonitor;
  33 import altosui.AltosTelemetry;
  34 import altosui.AltosState;
  35 import altosui.AltosDeviceDialog;
  36 import altosui.AltosPreferences;
  37 import altosui.AltosLog;
  38 import altosui.AltosVoice;
  39
  40 import libaltosJNI.*;
  41
  42 class AltosFlightStatusTableModel extends AbstractTableModel {
  43         private String[] columnNames = {"Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
  44         private Object[] data = { 0, "idle", 0, 0 };
  45
  46         public int getColumnCount() { return columnNames.length; }
  47         public int getRowCount() { return 2; }
  48         public Object getValueAt(int row, int col) {
  49                 if (row == 0)
  50                         return columnNames[col];
  51                 return data[col];
  52         }
  53
  54         public void setValueAt(Object value, int col) {
  55                 data[col] = value;
  56                 fireTableCellUpdated(1, col);
  57         }
  58
  59         public void setValueAt(Object value, int row, int col) {
  60                 setValueAt(value, col);
  61         }
  62
  63         public void set(AltosState state) {
  64                 setValueAt(String.format("%1.0f", state.height), 0);
  65                 setValueAt(state.data.state, 1);
  66                 setValueAt(state.data.rssi, 2);
  67                 double speed = state.baro_speed;
  68                 if (state.ascent)
  69                         speed = state.speed;
  70                 setValueAt(String.format("%1.0f", speed), 3);
  71         }
  72 }
  73
  74 class AltosFlightInfoTableModel extends AbstractTableModel {
  75         private String[] columnNames = {"Field", "Value"};
  76
  77         class InfoLine {
  78                 String  name;
  79                 String  value;
  80
  81                 public InfoLine(String n, String v) {
  82                         name = n;
  83                         value = v;
  84                 }
  85         }
  86
  87         private ArrayList<InfoLine> rows = new ArrayList<InfoLine>();
  88
  89         public int getColumnCount() { return columnNames.length; }
  90         public String getColumnName(int col) { return columnNames[col]; }
  91
  92         public int getRowCount() { return 20; }
  93
  94         public Object getValueAt(int row, int col) {
  95                 if (row >= rows.size())
  96                         return "";
  97                 if (col == 0)
  98                         return rows.get(row).name;
  99                 else
 100                         return rows.get(row).value;
 101         }
 102
 103         int     current_row = 0;
 104         int     prev_num_rows = 0;
 105
 106         public void resetRow() {
 107                 current_row = 0;
 108         }
 109         public void addRow(String name, String value) {
 110                 if (current_row >= rows.size())
 111                         rows.add(current_row, new InfoLine(name, value));
 112                 else
 113                         rows.set(current_row, new InfoLine(name, value));
 114                 current_row++;
 115         }
 116         public void finish() {
 117                 if (current_row > prev_num_rows) {
 118                         fireTableRowsInserted(prev_num_rows, current_row - 1);
 119                         prev_num_rows = current_row;
 120                 }
 121                 fireTableDataChanged();
 122         }
 123 }
 124
 125 public class AltosUI extends JFrame {
 126         private int channel = -1;
 127
 128         private AltosFlightStatusTableModel flightStatusModel;
 129         private JTable flightStatus;
 130
 131         static final int info_columns = 3;
 132
 133         private AltosFlightInfoTableModel[] flightInfoModel;
 134         private JTable[] flightInfo;
 135         private AltosSerial serial_line;
 136         private AltosLog altos_log;
 137         private Box[] ibox;
 138         private Box vbox;
 139         private Box hbox;
 140
 141         private Font statusFont = new Font("SansSerif", Font.BOLD, 24);
 142         private Font infoLabelFont = new Font("SansSerif", Font.PLAIN, 14);
 143         private Font infoValueFont = new Font("Monospaced", Font.PLAIN, 14);
 144
 145         public AltosVoice voice = new AltosVoice();
 146
 147         public AltosUI() {
 148
 149                 String[] statusNames = { "Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
 150                 Object[][] statusData = { { "0", "pad", "-50", "0" } };
 151
 152                 AltosPreferences.init(this);
 153
 154                 vbox = Box.createVerticalBox();
 155                 this.add(vbox);
 156
 157                 flightStatusModel = new AltosFlightStatusTableModel();
 158                 flightStatus = new JTable(flightStatusModel);
 159                 flightStatus.setFont(statusFont);
 160                 TableColumnModel tcm = flightStatus.getColumnModel();
 161                 for (int i = 0; i < flightStatusModel.getColumnCount(); i++) {
 162                         DefaultTableCellRenderer       r = new DefaultTableCellRenderer();
 163                         r.setFont(statusFont);
 164                         r.setHorizontalAlignment(SwingConstants.CENTER);
 165                         tcm.getColumn(i).setCellRenderer(r);
 166                 }
 167
 168                 FontMetrics     statusMetrics = flightStatus.getFontMetrics(statusFont);
 169                 int statusHeight = (statusMetrics.getHeight() + statusMetrics.getLeading()) * 15 / 10;
 170                 flightStatus.setRowHeight(statusHeight);
 171                 flightStatus.setShowGrid(false);
 172
 173                 vbox.add(flightStatus);
 174
 175                 hbox = Box.createHorizontalBox();
 176                 vbox.add(hbox);
 177
 178                 flightInfo = new JTable[3];
 179                 flightInfoModel = new AltosFlightInfoTableModel[3];
 180                 ibox = new Box[3];
 181                 FontMetrics     infoValueMetrics = flightStatus.getFontMetrics(infoValueFont);
 182                 int infoHeight = (infoValueMetrics.getHeight() + infoValueMetrics.getLeading()) * 20 / 10;
 183
 184                 for (int i = 0; i < info_columns; i++) {
 185                         ibox[i] = Box.createVerticalBox();
 186                         flightInfoModel[i] = new AltosFlightInfoTableModel();
 187                         flightInfo[i] = new JTable(flightInfoModel[i]);
 188                         flightInfo[i].setFont(infoValueFont);
 189                         flightInfo[i].setRowHeight(infoHeight);
 190                         flightInfo[i].setShowGrid(true);
 191                         ibox[i].add(flightInfo[i].getTableHeader());
 192                         ibox[i].add(flightInfo[i]);
 193                         hbox.add(ibox[i]);
 194                 }
 195
 196                 setTitle("AltOS");
 197
 198                 createMenu();
 199
 200                 serial_line = new AltosSerial();
 201                 altos_log = new AltosLog(serial_line);
 202                 int dpi = Toolkit.getDefaultToolkit().getScreenResolution();
 203                 this.setSize(new Dimension (infoValueMetrics.charWidth('0') * 6 * 20,
 204                                             statusHeight * 4 + infoHeight * 17));
 205                 this.validate();
 206                 setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
 207                 addWindowListener(new WindowAdapter() {
 208                         @Override
 209                         public void windowClosing(WindowEvent e) {
 210                                 System.exit(0);
 211                         }
 212                 });
 213                 voice.speak("Rocket flight monitor ready.");
 214         }
 215
 216         public void info_reset() {
 217                 for (int i = 0; i < info_columns; i++)
 218                         flightInfoModel[i].resetRow();
 219         }
 220
 221         public void info_add_row(int col, String name, String value) {
 222                 flightInfoModel[col].addRow(name, value);
 223         }
 224
 225         public void info_add_row(int col, String name, String format, Object... parameters) {
 226                 flightInfoModel[col].addRow(name, String.format(format, parameters));
 227         }
 228
 229         public void info_add_deg(int col, String name, double v, int pos, int neg) {
 230                 int     c = pos;
 231                 if (v < 0) {
 232                         c = neg;
 233                         v = -v;
 234                 }
 235                 double  deg = Math.floor(v);
 236                 double  min = (v - deg) * 60;
 237
 238                 flightInfoModel[col].addRow(name, String.format("%3.0f°%08.5f'", deg, min));
 239         }
 240
 241         public void info_finish() {
 242                 for (int i = 0; i < info_columns; i++)
 243                         flightInfoModel[i].finish();
 244         }
 245
 246         static final int MIN_PAD_SAMPLES = 10;
 247
 248         public void show(AltosState state) {
 249                 flightStatusModel.set(state);
 250
 251                 info_reset();
 252                 if (state.npad >= MIN_PAD_SAMPLES)
 253                         info_add_row(0, "Ground state", "%s", "ready");
 254                 else
 255                         info_add_row(0, "Ground state", "wait (%d)",
 256                                      MIN_PAD_SAMPLES - state.npad);
 257                 info_add_row(0, "Rocket state", "%s", state.data.state);
 258                 info_add_row(0, "Callsign", "%s", state.data.callsign);
 259                 info_add_row(0, "Rocket serial", "%6d", state.data.serial);
 260                 info_add_row(0, "Rocket flight", "%6d", state.data.flight);
 261
 262                 info_add_row(0, "RSSI", "%6d    dBm", state.data.rssi);
 263                 info_add_row(0, "Height", "%6.0f    m", state.height);
 264                 info_add_row(0, "Max height", "%6.0f    m", state.max_height);
 265                 info_add_row(0, "Acceleration", "%8.1f  m/s²", state.acceleration);
 266                 info_add_row(0, "Max acceleration", "%8.1f  m/s²", state.max_acceleration);
 267                 info_add_row(0, "Speed", "%8.1f  m/s", state.ascent ? state.speed : state.baro_speed);
 268                 info_add_row(0, "Max Speed", "%8.1f  m/s", state.max_speed);
 269                 info_add_row(0, "Temperature", "%9.2f °C", state.temperature);
 270                 info_add_row(0, "Battery", "%9.2f V", state.battery);
 271                 info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense);
 272                 info_add_row(0, "Main", "%9.2f V", state.main_sense);
 273                 info_add_row(0, "Pad altitude", "%6.0f    m", state.ground_altitude);
 274                 if (state.gps == null) {
 275                         info_add_row(1, "GPS", "not available");
 276                 } else {
 277                         if (state.data.gps.gps_locked)
 278                                 info_add_row(1, "GPS", "   locked");
 279                         else if (state.data.gps.gps_connected)
 280                                 info_add_row(1, "GPS", " unlocked");
 281                         else
 282                                 info_add_row(1, "GPS", "  missing");
 283                         info_add_row(1, "Satellites", "%6d", state.data.gps.nsat);
 284                         info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
 285                         info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
 286                         info_add_row(1, "GPS altitude", "%6d", state.gps.alt);
 287                         info_add_row(1, "GPS height", "%6.0f", state.gps_height);
 288
 289                         /* The SkyTraq GPS doesn't report these values */
 290                         if (false) {
 291                                 info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°",
 292                                              state.gps.ground_speed,
 293                                              state.gps.course);
 294                                 info_add_row(1, "GPS climb rate", "%8.1f m/s",
 295                                              state.gps.climb_rate);
 296                                 info_add_row(1, "GPS error", "%6d m(h)%3d m(v)",
 297                                              state.gps.h_error, state.gps.v_error);
 298                         }
 299                         info_add_row(1, "GPS hdop", "%8.1f", state.gps.hdop);
 300
 301                         if (state.npad > 0) {
 302                                 if (state.from_pad != null) {
 303                                         info_add_row(1, "Distance from pad", "%6.0f m", state.from_pad.distance);
 304                                         info_add_row(1, "Direction from pad", "%6.0f°", state.from_pad.bearing);
 305                                 } else {
 306                                         info_add_row(1, "Distance from pad", "unknown");
 307                                         info_add_row(1, "Direction from pad", "unknown");
 308                                 }
 309                                 info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
 310                                 info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
 311                                 info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt);
 312                         }
 313                         info_add_row(1, "GPS date", "%04d-%02d-%02d",
 314                                        state.gps.gps_time.year,
 315                                        state.gps.gps_time.month,
 316                                        state.gps.gps_time.day);
 317                         info_add_row(1, "GPS time", "  %02d:%02d:%02d",
 318                                        state.gps.gps_time.hour,
 319                                        state.gps.gps_time.minute,
 320                                        state.gps.gps_time.second);
 321                         int     nsat_vis = 0;
 322                         int     c;
 323
 324                         if (state.gps.cc_gps_sat == null)
 325                                 info_add_row(2, "Satellites Visible", "%4d", 0);
 326                         else {
 327                                 info_add_row(2, "Satellites Visible", "%4d", state.gps.cc_gps_sat.length);
 328                                 for (c = 0; c < state.gps.cc_gps_sat.length; c++) {
 329                                         info_add_row(2, "Satellite id,C/N0",
 330                                                      "%4d, %4d",
 331                                                      state.gps.cc_gps_sat[c].svid,
 332                                                      state.gps.cc_gps_sat[c].c_n0);
 333                                 }
 334                         }
 335                 }
 336                 info_finish();
 337         }
 338
 339         class IdleThread extends Thread {
 340
 341                 private AltosState state;
 342                 int     reported_landing;
 343
 344                 public void report(boolean last) {
 345                         if (state == null)
 346                                 return;
 347
 348                         /* reset the landing count once we hear about a new flight */
 349                         if (state.state < AltosTelemetry.ao_flight_drogue)
 350                                 reported_landing = 0;
 351
 352                         /* Shut up once the rocket is on the ground */
 353                         if (reported_landing > 2) {
 354                                 return;
 355                         }
 356
 357                         /* If the rocket isn't on the pad, then report height */
 358                         if (state.state > AltosTelemetry.ao_flight_pad) {
 359                                 voice.speak("%d meters", (int) (state.height + 0.5));
 360                         } else {
 361                                 reported_landing = 0;
 362                         }
 363
 364                         /* If the rocket is coming down, check to see if it has landed;
 365                          * either we've got a landed report or we haven't heard from it in
 366                          * a long time
 367                          */
 368                         if (!state.ascent &&
 369                             (last ||
 370                              System.currentTimeMillis() - state.report_time >= 15000 ||
 371                              state.state == AltosTelemetry.ao_flight_landed))
 372                         {
 373                                 if (Math.abs(state.baro_speed) < 20 && state.height < 100)
 374                                         voice.speak("rocket landed safely");
 375                                 else
 376                                         voice.speak("rocket may have crashed");
 377                                 if (state.gps != null)
 378                                         voice.speak("bearing %d degrees, range %d meters",
 379                                                     (int) (state.from_pad.bearing + 0.5),
 380                                                     (int) (state.from_pad.distance + 0.5));
 381                                 ++reported_landing;
 382                         }
 383                 }
 384
 385                 public void run () {
 386
 387                         reported_landing = 0;
 388                         state = null;
 389                         try {
 390                                 for (;;) {
 391                                         Thread.sleep(10000);
 392                                         report(false);
 393                                 }
 394                         } catch (InterruptedException ie) {
 395                         }
 396                 }
 397
 398                 public void notice(AltosState new_state) {
 399                         state = new_state;
 400                 }
 401         }
 402
 403         private void tell(AltosState state, AltosState old_state) {
 404                 if (old_state == null || old_state.state != state.state) {
 405                         voice.speak(state.data.state);
 406                         if ((old_state == null || old_state.state <= AltosTelemetry.ao_flight_boost) &&
 407                             state.state > AltosTelemetry.ao_flight_boost) {
 408                                 voice.speak("max speed: %d meters per second.",
 409                                             (int) (state.max_speed + 0.5));
 410                         } else if ((old_state == null || old_state.state < AltosTelemetry.ao_flight_drogue) &&
 411                                    state.state >= AltosTelemetry.ao_flight_drogue) {
 412                                 voice.speak("max height: %d meters.",
 413                                             (int) (state.max_height + 0.5));
 414                         }
 415                 }
 416                 old_state = state;
 417         }
 418
 419         class DisplayThread extends Thread {
 420                 IdleThread      idle_thread;
 421
 422                 String read() throws InterruptedException { return null; }
 423
 424                 void close() { }
 425
 426                 void update(AltosState state) throws InterruptedException { }
 427
 428                 public void run() {
 429                         String          line;
 430                         AltosState      state = null;
 431                         AltosState      old_state = null;
 432
 433                         idle_thread = new IdleThread();
 434
 435                         info_reset();
 436                         info_finish();
 437                         idle_thread.start();
 438                         try {
 439                                 while ((line = read()) != null) {
 440                                         try {
 441                                                 AltosTelemetry  t = new AltosTelemetry(line);
 442                                                 old_state = state;
 443                                                 state = new AltosState(t, state);
 444                                                 update(state);
 445                                                 show(state);
 446                                                 tell(state, old_state);
 447                                                 idle_thread.notice(state);
 448                                         } catch (ParseException pp) {
 449                                                 System.out.printf("Parse error on %s\n", line);
 450                                                 System.out.println("exception " + pp);
 451                                         }
 452                                 }
 453                         } catch (InterruptedException ee) {
 454                         } finally {
 455                                 close();
 456                                 idle_thread.interrupt();
 457                         }
 458                 }
 459
 460                 public void report() {
 461                         if (idle_thread != null)
 462                                 idle_thread.report(true);
 463                 }
 464         }
 465
 466         class DeviceThread extends DisplayThread {
 467                 AltosSerial     serial;
 468                 LinkedBlockingQueue<String> telem;
 469
 470                 String read() throws InterruptedException {
 471                         return telem.take();
 472                 }
 473
 474                 void close() {
 475                         serial.close();
 476                         serial.remove_monitor(telem);
 477                 }
 478
 479                 public DeviceThread(AltosSerial s) {
 480                         serial = s;
 481                         telem = new LinkedBlockingQueue<String>();
 482                         serial.add_monitor(telem);
 483                 }
 484         }
 485
 486         private void ConnectToDevice() {
 487                 altos_device    device = AltosDeviceDialog.show(AltosUI.this, "TeleDongle");
 488
 489                 if (device != null) {
 490                         try {
 491                                 serial_line.open(device);
 492                                 DeviceThread thread = new DeviceThread(serial_line);
 493                                 serial_line.set_channel(AltosPreferences.channel());
 494                                 run_display(thread);
 495                         } catch (FileNotFoundException ee) {
 496                                 JOptionPane.showMessageDialog(AltosUI.this,
 497                                                               String.format("Cannot open device \"%s\"",
 498                                                                             device.getPath()),
 499                                                               "Cannot open target device",
 500                                                               JOptionPane.ERROR_MESSAGE);
 501                         } catch (IOException ee) {
 502                                 JOptionPane.showMessageDialog(AltosUI.this,
 503                                                               device.getPath(),
 504                                                               "Unkonwn I/O error",
 505                                                               JOptionPane.ERROR_MESSAGE);
 506                         }
 507                 }
 508         }
 509
 510         void DisconnectFromDevice () {
 511                 stop_display();
 512         }
 513
 514         String readline(FileInputStream s) throws IOException {
 515                 int c;
 516                 String  line = "";
 517
 518                 while ((c = s.read()) != -1) {
 519                         if (c == '\r')
 520                                 continue;
 521                         if (c == '\n') {
 522                                 return line;
 523                         }
 524                         line = line + (char) c;
 525                 }
 526                 return null;
 527         }
 528
 529         /*
 530          * Open an existing telemetry file and replay it in realtime
 531          */
 532
 533         class ReplayThread extends DisplayThread {
 534                 FileInputStream replay;
 535                 String filename;
 536
 537                 ReplayThread(FileInputStream in, String name) {
 538                         replay = in;
 539                         filename = name;
 540                 }
 541
 542                 String read() {
 543                         try {
 544                                 return readline(replay);
 545                         } catch (IOException ee) {
 546                                 JOptionPane.showMessageDialog(AltosUI.this,
 547                                                               filename,
 548                                                               "error reading",
 549                                                               JOptionPane.ERROR_MESSAGE);
 550                         }
 551                         return null;
 552                 }
 553
 554                 void close () {
 555                         try {
 556                                 replay.close();
 557                         } catch (IOException ee) {
 558                         }
 559                         report();
 560                 }
 561
 562                 void update(AltosState state) throws InterruptedException {
 563                         /* Make it run in realtime after the rocket leaves the pad */
 564                         if (state.state > AltosTelemetry.ao_flight_pad)
 565                                 Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
 566                 }
 567         }
 568
 569         Thread          display_thread;
 570
 571         private void stop_display() {
 572                 if (display_thread != null && display_thread.isAlive())
 573                         display_thread.interrupt();
 574                 display_thread = null;
 575         }
 576
 577         private void run_display(Thread thread) {
 578                 stop_display();
 579                 display_thread = thread;
 580                 display_thread.start();
 581         }
 582
 583         /*
 584          * Replay a flight from telemetry data
 585          */
 586         private void Replay() {
 587                 JFileChooser    logfile_chooser = new JFileChooser();
 588
 589                 logfile_chooser.setDialogTitle("Select Telemetry File");
 590                 logfile_chooser.setFileFilter(new FileNameExtensionFilter("Telemetry file", "telem"));
 591                 logfile_chooser.setCurrentDirectory(AltosPreferences.logdir());
 592                 int returnVal = logfile_chooser.showOpenDialog(AltosUI.this);
 593
 594                 if (returnVal == JFileChooser.APPROVE_OPTION) {
 595                         File file = logfile_chooser.getSelectedFile();
 596                         if (file == null)
 597                                 System.out.println("No file selected?");
 598                         String  filename = file.getName();
 599                         try {
 600                                 FileInputStream replay = new FileInputStream(file);
 601                                 ReplayThread    thread = new ReplayThread(replay, filename);
 602                                 run_display(thread);
 603                         } catch (FileNotFoundException ee) {
 604                                 JOptionPane.showMessageDialog(AltosUI.this,
 605                                                               filename,
 606                                                               "Cannot open telemetry file",
 607                                                               JOptionPane.ERROR_MESSAGE);
 608                         }
 609                 }
 610         }
 611
 612         /* Connect to TeleMetrum, either directly or through
 613          * a TeleDongle over the packet link
 614          */
 615         private void SaveFlightData() {
 616         }
 617
 618         /* Create the AltosUI menus
 619          */
 620         private void createMenu() {
 621                 JMenuBar menubar = new JMenuBar();
 622                 JMenu menu;
 623                 JMenuItem item;
 624                 JRadioButtonMenuItem radioitem;
 625
 626                 // File menu
 627                 {
 628                         menu = new JMenu("File");
 629                         menu.setMnemonic(KeyEvent.VK_F);
 630                         menubar.add(menu);
 631
 632                         item = new JMenuItem("Quit",KeyEvent.VK_Q);
 633                         item.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_Q,
 634                                                                    ActionEvent.CTRL_MASK));
 635                         item.addActionListener(new ActionListener() {
 636                                         public void actionPerformed(ActionEvent e) {
 637                                                 System.exit(0);
 638                                         }
 639                                 });
 640                         menu.add(item);
 641                 }
 642
 643                 // Device menu
 644                 {
 645                         menu = new JMenu("Device");
 646                         menu.setMnemonic(KeyEvent.VK_D);
 647                         menubar.add(menu);
 648
 649                         item = new JMenuItem("Connect to Device",KeyEvent.VK_C);
 650                         item.addActionListener(new ActionListener() {
 651                                         public void actionPerformed(ActionEvent e) {
 652                                                 ConnectToDevice();
 653                                         }
 654                                 });
 655                         menu.add(item);
 656
 657                         item = new JMenuItem("Disconnect from Device",KeyEvent.VK_D);
 658                         item.addActionListener(new ActionListener() {
 659                                         public void actionPerformed(ActionEvent e) {
 660                                                 DisconnectFromDevice();
 661                                         }
 662                                 });
 663                         menu.add(item);
 664
 665                         menu.addSeparator();
 666
 667                         item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
 668                         item.addActionListener(new ActionListener() {
 669                                         public void actionPerformed(ActionEvent e) {
 670                                                 SaveFlightData();
 671                                         }
 672                                 });
 673                         menu.add(item);
 674
 675                         item = new JMenuItem("Replay",KeyEvent.VK_R);
 676                         item.addActionListener(new ActionListener() {
 677                                         public void actionPerformed(ActionEvent e) {
 678                                                 Replay();
 679                                         }
 680                                 });
 681                         menu.add(item);
 682                 }
 683                 // Log menu
 684                 {
 685                         menu = new JMenu("Log");
 686                         menu.setMnemonic(KeyEvent.VK_L);
 687                         menubar.add(menu);
 688
 689                         item = new JMenuItem("New Log",KeyEvent.VK_N);
 690                         item.addActionListener(new ActionListener() {
 691                                         public void actionPerformed(ActionEvent e) {
 692                                         }
 693                                 });
 694                         menu.add(item);
 695
 696                         item = new JMenuItem("Configure Log",KeyEvent.VK_C);
 697                         item.addActionListener(new ActionListener() {
 698                                         public void actionPerformed(ActionEvent e) {
 699                                                 AltosPreferences.ConfigureLog();
 700                                         }
 701                                 });
 702                         menu.add(item);
 703                 }
 704                 // Voice menu
 705                 {
 706                         menu = new JMenu("Voice", true);
 707                         menu.setMnemonic(KeyEvent.VK_V);
 708                         menubar.add(menu);
 709
 710                         radioitem = new JRadioButtonMenuItem("Enable Voice", AltosPreferences.voice());
 711                         radioitem.addActionListener(new ActionListener() {
 712                                         public void actionPerformed(ActionEvent e) {
 713                                                 JRadioButtonMenuItem item = (JRadioButtonMenuItem) e.getSource();
 714                                                 boolean enabled = item.isSelected();
 715                                                 AltosPreferences.set_voice(enabled);
 716                                                 if (enabled)
 717                                                         voice.speak_always("Enable voice.");
 718                                                 else
 719                                                         voice.speak_always("Disable voice.");
 720                                         }
 721                                 });
 722                         menu.add(radioitem);
 723                         item = new JMenuItem("Test Voice",KeyEvent.VK_T);
 724                         item.addActionListener(new ActionListener() {
 725                                         public void actionPerformed(ActionEvent e) {
 726                                                 voice.speak("That's one small step for man; one giant leap for mankind.");
 727                                         }
 728                                 });
 729                         menu.add(item);
 730                 }
 731
 732                 // Channel menu
 733                 {
 734                         menu = new JMenu("Channel", true);
 735                         menu.setMnemonic(KeyEvent.VK_C);
 736                         menubar.add(menu);
 737                         ButtonGroup group = new ButtonGroup();
 738
 739                         for (int c = 0; c <= 9; c++) {
 740                                 radioitem = new JRadioButtonMenuItem(String.format("Channel %1d (%7.3fMHz)", c,
 741                                                                                    434.550 + c * 0.1),
 742                                                                      c == AltosPreferences.channel());
 743                                 radioitem.setActionCommand(String.format("%d", c));
 744                                 radioitem.addActionListener(new ActionListener() {
 745                                                 public void actionPerformed(ActionEvent e) {
 746                                                         int new_channel = Integer.parseInt(e.getActionCommand());
 747                                                         AltosPreferences.set_channel(new_channel);
 748                                                         serial_line.set_channel(new_channel);
 749                                                 }
 750                                         });
 751                                 menu.add(radioitem);
 752                                 group.add(radioitem);
 753                         }
 754                 }
 755
 756                 this.setJMenuBar(menubar);
 757
 758         }
 759         public static void main(final String[] args) {
 760                 AltosUI altosui = new AltosUI();
 761                 altosui.setVisible(true);
 762         }
 763 }