2 * Copyright © 2010 Keith Packard <keithp@keithp.com>
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.
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.
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.
21 import java.awt.event.*;
23 import javax.swing.filechooser.FileNameExtensionFilter;
24 import javax.swing.table.*;
28 import java.util.prefs.*;
29 import java.util.concurrent.LinkedBlockingQueue;
32 import altosui.AltosSerial;
33 import altosui.AltosSerialMonitor;
34 import altosui.AltosTelemetry;
35 import altosui.AltosState;
36 import altosui.AltosDeviceDialog;
37 import altosui.AltosPreferences;
38 import altosui.AltosLog;
39 import altosui.AltosVoice;
43 class AltosFlightStatusTableModel extends AbstractTableModel {
44 private String[] columnNames = {"Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
45 private Object[] data = { 0, "idle", 0, 0 };
47 public int getColumnCount() { return columnNames.length; }
48 public int getRowCount() { return 2; }
49 public Object getValueAt(int row, int col) {
51 return columnNames[col];
55 public void setValueAt(Object value, int col) {
57 fireTableCellUpdated(1, col);
60 public void setValueAt(Object value, int row, int col) {
61 setValueAt(value, col);
64 public void set(AltosState state) {
65 setValueAt(String.format("%1.0f", state.height), 0);
66 setValueAt(state.data.state, 1);
67 setValueAt(state.data.rssi, 2);
68 double speed = state.baro_speed;
71 setValueAt(String.format("%1.0f", speed), 3);
75 class AltosFlightInfoTableModel extends AbstractTableModel {
76 private String[] columnNames = {"Field", "Value"};
82 public InfoLine(String n, String v) {
88 private ArrayList<InfoLine> rows = new ArrayList<InfoLine>();
90 public int getColumnCount() { return columnNames.length; }
91 public String getColumnName(int col) { return columnNames[col]; }
93 public int getRowCount() { return 20; }
95 public Object getValueAt(int row, int col) {
96 if (row >= rows.size())
99 return rows.get(row).name;
101 return rows.get(row).value;
105 int prev_num_rows = 0;
107 public void resetRow() {
110 public void addRow(String name, String value) {
111 if (current_row >= rows.size())
112 rows.add(current_row, new InfoLine(name, value));
114 rows.set(current_row, new InfoLine(name, value));
117 public void finish() {
118 if (current_row > prev_num_rows) {
119 fireTableRowsInserted(prev_num_rows, current_row - 1);
120 prev_num_rows = current_row;
122 fireTableDataChanged();
126 public class AltosUI extends JFrame {
127 private int channel = -1;
129 private AltosFlightStatusTableModel flightStatusModel;
130 private JTable flightStatus;
132 static final int info_columns = 3;
134 private AltosFlightInfoTableModel[] flightInfoModel;
135 private JTable[] flightInfo;
136 private AltosSerial serial_line;
137 private AltosLog altos_log;
142 private Font statusFont = new Font("SansSerif", Font.BOLD, 24);
143 private Font infoLabelFont = new Font("SansSerif", Font.PLAIN, 14);
144 private Font infoValueFont = new Font("Monospaced", Font.PLAIN, 14);
146 public AltosVoice voice = new AltosVoice();
150 String[] statusNames = { "Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
151 Object[][] statusData = { { "0", "pad", "-50", "0" } };
153 AltosPreferences.init(this);
155 vbox = Box.createVerticalBox();
158 flightStatusModel = new AltosFlightStatusTableModel();
159 flightStatus = new JTable(flightStatusModel);
160 flightStatus.setFont(statusFont);
161 TableColumnModel tcm = flightStatus.getColumnModel();
162 for (int i = 0; i < flightStatusModel.getColumnCount(); i++) {
163 DefaultTableCellRenderer r = new DefaultTableCellRenderer();
164 r.setFont(statusFont);
165 r.setHorizontalAlignment(SwingConstants.CENTER);
166 tcm.getColumn(i).setCellRenderer(r);
169 FontMetrics statusMetrics = flightStatus.getFontMetrics(statusFont);
170 int statusHeight = (statusMetrics.getHeight() + statusMetrics.getLeading()) * 15 / 10;
171 flightStatus.setRowHeight(statusHeight);
172 flightStatus.setShowGrid(false);
174 vbox.add(flightStatus);
176 hbox = Box.createHorizontalBox();
179 flightInfo = new JTable[3];
180 flightInfoModel = new AltosFlightInfoTableModel[3];
182 FontMetrics infoValueMetrics = flightStatus.getFontMetrics(infoValueFont);
183 int infoHeight = (infoValueMetrics.getHeight() + infoValueMetrics.getLeading()) * 20 / 10;
185 for (int i = 0; i < info_columns; i++) {
186 ibox[i] = Box.createVerticalBox();
187 flightInfoModel[i] = new AltosFlightInfoTableModel();
188 flightInfo[i] = new JTable(flightInfoModel[i]);
189 flightInfo[i].setFont(infoValueFont);
190 flightInfo[i].setRowHeight(infoHeight);
191 flightInfo[i].setShowGrid(true);
192 ibox[i].add(flightInfo[i].getTableHeader());
193 ibox[i].add(flightInfo[i]);
201 serial_line = new AltosSerial();
202 altos_log = new AltosLog(serial_line);
203 int dpi = Toolkit.getDefaultToolkit().getScreenResolution();
204 this.setSize(new Dimension (infoValueMetrics.charWidth('0') * 6 * 20,
205 statusHeight * 4 + infoHeight * 17));
207 setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
208 addWindowListener(new WindowAdapter() {
210 public void windowClosing(WindowEvent e) {
214 voice.speak("Rocket flight monitor ready.");
217 public void info_reset() {
218 for (int i = 0; i < info_columns; i++)
219 flightInfoModel[i].resetRow();
222 public void info_add_row(int col, String name, String value) {
223 flightInfoModel[col].addRow(name, value);
226 public void info_add_row(int col, String name, String format, Object... parameters) {
227 flightInfoModel[col].addRow(name, String.format(format, parameters));
230 public void info_add_deg(int col, String name, double v, int pos, int neg) {
236 double deg = Math.floor(v);
237 double min = (v - deg) * 60;
239 flightInfoModel[col].addRow(name, String.format("%3.0f°%08.5f'", deg, min));
242 public void info_finish() {
243 for (int i = 0; i < info_columns; i++)
244 flightInfoModel[i].finish();
247 public void show(AltosState state) {
248 flightStatusModel.set(state);
252 info_add_row(0, "Ground state", "%s", "ready");
254 info_add_row(0, "Ground state", "wait (%d)",
256 info_add_row(0, "Rocket state", "%s", state.data.state);
257 info_add_row(0, "Callsign", "%s", state.data.callsign);
258 info_add_row(0, "Rocket serial", "%6d", state.data.serial);
259 info_add_row(0, "Rocket flight", "%6d", state.data.flight);
261 info_add_row(0, "RSSI", "%6d dBm", state.data.rssi);
262 info_add_row(0, "Height", "%6.0f m", state.height);
263 info_add_row(0, "Max height", "%6.0f m", state.max_height);
264 info_add_row(0, "Acceleration", "%8.1f m/s²", state.acceleration);
265 info_add_row(0, "Max acceleration", "%8.1f m/s²", state.max_acceleration);
266 info_add_row(0, "Speed", "%8.1f m/s", state.ascent ? state.speed : state.baro_speed);
267 info_add_row(0, "Max Speed", "%8.1f m/s", state.max_speed);
268 info_add_row(0, "Temperature", "%9.2f °C", state.temperature);
269 info_add_row(0, "Battery", "%9.2f V", state.battery);
270 info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense);
271 info_add_row(0, "Main", "%9.2f V", state.main_sense);
272 info_add_row(0, "Pad altitude", "%6.0f m", state.ground_altitude);
273 if (state.gps == null) {
274 info_add_row(1, "GPS", "not available");
276 if (state.data.gps.gps_locked)
277 info_add_row(1, "GPS", " locked");
278 else if (state.data.gps.gps_connected)
279 info_add_row(1, "GPS", " unlocked");
281 info_add_row(1, "GPS", " missing");
282 info_add_row(1, "Satellites", "%6d", state.data.gps.nsat);
283 info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
284 info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
285 info_add_row(1, "GPS altitude", "%6d", state.gps.alt);
286 info_add_row(1, "GPS height", "%6.0f", state.gps_height);
288 /* The SkyTraq GPS doesn't report these values */
290 info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°",
291 state.gps.ground_speed,
293 info_add_row(1, "GPS climb rate", "%8.1f m/s",
294 state.gps.climb_rate);
295 info_add_row(1, "GPS error", "%6d m(h)%3d m(v)",
296 state.gps.h_error, state.gps.v_error);
298 info_add_row(1, "GPS hdop", "%8.1f", state.gps.hdop);
300 if (state.npad > 0) {
301 if (state.from_pad != null) {
302 info_add_row(1, "Distance from pad", "%6.0f m", state.from_pad.distance);
303 info_add_row(1, "Direction from pad", "%6.0f°", state.from_pad.bearing);
305 info_add_row(1, "Distance from pad", "unknown");
306 info_add_row(1, "Direction from pad", "unknown");
308 info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
309 info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
310 info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt);
312 info_add_row(1, "GPS date", "%04d-%02d-%02d",
316 info_add_row(1, "GPS time", " %02d:%02d:%02d",
323 if (state.gps.cc_gps_sat == null)
324 info_add_row(2, "Satellites Visible", "%4d", 0);
326 info_add_row(2, "Satellites Visible", "%4d", state.gps.cc_gps_sat.length);
327 for (c = 0; c < state.gps.cc_gps_sat.length; c++) {
328 info_add_row(2, "Satellite id,C/N0",
330 state.gps.cc_gps_sat[c].svid,
331 state.gps.cc_gps_sat[c].c_n0);
338 class IdleThread extends Thread {
340 private AltosState state;
341 int reported_landing;
343 public void report(boolean last) {
347 /* reset the landing count once we hear about a new flight */
348 if (state.state < Altos.ao_flight_drogue)
349 reported_landing = 0;
351 /* Shut up once the rocket is on the ground */
352 if (reported_landing > 2) {
356 /* If the rocket isn't on the pad, then report height */
357 if (state.state > Altos.ao_flight_pad) {
358 voice.speak("%d meters", (int) (state.height + 0.5));
360 reported_landing = 0;
363 /* If the rocket is coming down, check to see if it has landed;
364 * either we've got a landed report or we haven't heard from it in
369 System.currentTimeMillis() - state.report_time >= 15000 ||
370 state.state == Altos.ao_flight_landed))
372 if (Math.abs(state.baro_speed) < 20 && state.height < 100)
373 voice.speak("rocket landed safely");
375 voice.speak("rocket may have crashed");
376 if (state.from_pad != null)
377 voice.speak("bearing %d degrees, range %d meters",
378 (int) (state.from_pad.bearing + 0.5),
379 (int) (state.from_pad.distance + 0.5));
386 reported_landing = 0;
393 } catch (InterruptedException ie) {
397 public void notice(AltosState new_state) {
402 private void tell(AltosState state, AltosState old_state) {
403 if (old_state == null || old_state.state != state.state) {
404 voice.speak(state.data.state);
405 if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
406 state.state > Altos.ao_flight_boost) {
407 voice.speak("max speed: %d meters per second.",
408 (int) (state.max_speed + 0.5));
409 } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
410 state.state >= Altos.ao_flight_drogue) {
411 voice.speak("max height: %d meters.",
412 (int) (state.max_height + 0.5));
415 if (old_state == null || old_state.gps_ready != state.gps_ready) {
417 voice.speak("GPS ready");
418 else if (old_state != null)
419 voice.speak("GPS lost");
424 class DisplayThread extends Thread {
425 IdleThread idle_thread;
427 String read() throws InterruptedException { return null; }
431 void update(AltosState state) throws InterruptedException { }
435 AltosState state = null;
436 AltosState old_state = null;
438 idle_thread = new IdleThread();
444 while ((line = read()) != null) {
446 AltosTelemetry t = new AltosTelemetry(line);
448 state = new AltosState(t, state);
451 tell(state, old_state);
452 idle_thread.notice(state);
453 } catch (ParseException pp) {
454 System.out.printf("Parse error on %s\n", line);
455 System.out.println("exception " + pp);
458 } catch (InterruptedException ee) {
461 idle_thread.interrupt();
465 public void report() {
466 if (idle_thread != null)
467 idle_thread.report(true);
471 class DeviceThread extends DisplayThread {
473 LinkedBlockingQueue<String> telem;
475 String read() throws InterruptedException {
481 serial.remove_monitor(telem);
484 public DeviceThread(AltosSerial s) {
486 telem = new LinkedBlockingQueue<String>();
487 serial.add_monitor(telem);
491 private void ConnectToDevice() {
492 altos_device device = AltosDeviceDialog.show(AltosUI.this, "TeleDongle");
494 if (device != null) {
496 serial_line.open(device);
497 DeviceThread thread = new DeviceThread(serial_line);
498 serial_line.set_channel(AltosPreferences.channel());
500 } catch (FileNotFoundException ee) {
501 JOptionPane.showMessageDialog(AltosUI.this,
502 String.format("Cannot open device \"%s\"",
504 "Cannot open target device",
505 JOptionPane.ERROR_MESSAGE);
506 } catch (IOException ee) {
507 JOptionPane.showMessageDialog(AltosUI.this,
510 JOptionPane.ERROR_MESSAGE);
515 void DisconnectFromDevice () {
519 String readline(FileInputStream s) throws IOException {
523 while ((c = s.read()) != -1) {
529 line = line + (char) c;
535 * Open an existing telemetry file and replay it in realtime
538 class ReplayThread extends DisplayThread {
539 FileInputStream replay;
542 ReplayThread(FileInputStream in, String name) {
549 return readline(replay);
550 } catch (IOException ee) {
551 JOptionPane.showMessageDialog(AltosUI.this,
554 JOptionPane.ERROR_MESSAGE);
562 } catch (IOException ee) {
567 void update(AltosState state) throws InterruptedException {
568 /* Make it run in realtime after the rocket leaves the pad */
569 if (state.state > AltosTelemetry.ao_flight_pad)
570 Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
574 Thread display_thread;
576 private void stop_display() {
577 if (display_thread != null && display_thread.isAlive())
578 display_thread.interrupt();
579 display_thread = null;
582 private void run_display(Thread thread) {
584 display_thread = thread;
585 display_thread.start();
589 * Replay a flight from telemetry data
591 private void Replay() {
592 JFileChooser logfile_chooser = new JFileChooser();
594 logfile_chooser.setDialogTitle("Select Telemetry File");
595 logfile_chooser.setFileFilter(new FileNameExtensionFilter("Telemetry file", "telem"));
596 logfile_chooser.setCurrentDirectory(AltosPreferences.logdir());
597 int returnVal = logfile_chooser.showOpenDialog(AltosUI.this);
599 if (returnVal == JFileChooser.APPROVE_OPTION) {
600 File file = logfile_chooser.getSelectedFile();
602 System.out.println("No file selected?");
603 String filename = file.getName();
605 FileInputStream replay = new FileInputStream(file);
606 ReplayThread thread = new ReplayThread(replay, filename);
608 } catch (FileNotFoundException ee) {
609 JOptionPane.showMessageDialog(AltosUI.this,
611 "Cannot open telemetry file",
612 JOptionPane.ERROR_MESSAGE);
617 /* Connect to TeleMetrum, either directly or through
618 * a TeleDongle over the packet link
620 private void SaveFlightData() {
621 new AltosEepromDownload(AltosUI.this);
624 /* Create the AltosUI menus
626 private void createMenu() {
627 JMenuBar menubar = new JMenuBar();
630 JRadioButtonMenuItem radioitem;
634 menu = new JMenu("File");
635 menu.setMnemonic(KeyEvent.VK_F);
638 item = new JMenuItem("Quit",KeyEvent.VK_Q);
639 item.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_Q,
640 ActionEvent.CTRL_MASK));
641 item.addActionListener(new ActionListener() {
642 public void actionPerformed(ActionEvent e) {
651 menu = new JMenu("Device");
652 menu.setMnemonic(KeyEvent.VK_D);
655 item = new JMenuItem("Connect to Device",KeyEvent.VK_C);
656 item.addActionListener(new ActionListener() {
657 public void actionPerformed(ActionEvent e) {
663 item = new JMenuItem("Disconnect from Device",KeyEvent.VK_D);
664 item.addActionListener(new ActionListener() {
665 public void actionPerformed(ActionEvent e) {
666 DisconnectFromDevice();
673 item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
674 item.addActionListener(new ActionListener() {
675 public void actionPerformed(ActionEvent e) {
681 item = new JMenuItem("Replay",KeyEvent.VK_R);
682 item.addActionListener(new ActionListener() {
683 public void actionPerformed(ActionEvent e) {
691 menu = new JMenu("Log");
692 menu.setMnemonic(KeyEvent.VK_L);
695 item = new JMenuItem("New Log",KeyEvent.VK_N);
696 item.addActionListener(new ActionListener() {
697 public void actionPerformed(ActionEvent e) {
702 item = new JMenuItem("Configure Log",KeyEvent.VK_C);
703 item.addActionListener(new ActionListener() {
704 public void actionPerformed(ActionEvent e) {
705 AltosPreferences.ConfigureLog();
712 menu = new JMenu("Voice", true);
713 menu.setMnemonic(KeyEvent.VK_V);
716 radioitem = new JRadioButtonMenuItem("Enable Voice", AltosPreferences.voice());
717 radioitem.addActionListener(new ActionListener() {
718 public void actionPerformed(ActionEvent e) {
719 JRadioButtonMenuItem item = (JRadioButtonMenuItem) e.getSource();
720 boolean enabled = item.isSelected();
721 AltosPreferences.set_voice(enabled);
723 voice.speak_always("Enable voice.");
725 voice.speak_always("Disable voice.");
729 item = new JMenuItem("Test Voice",KeyEvent.VK_T);
730 item.addActionListener(new ActionListener() {
731 public void actionPerformed(ActionEvent e) {
732 voice.speak("That's one small step for man; one giant leap for mankind.");
740 menu = new JMenu("Channel", true);
741 menu.setMnemonic(KeyEvent.VK_C);
743 ButtonGroup group = new ButtonGroup();
745 for (int c = 0; c <= 9; c++) {
746 radioitem = new JRadioButtonMenuItem(String.format("Channel %1d (%7.3fMHz)", c,
748 c == AltosPreferences.channel());
749 radioitem.setActionCommand(String.format("%d", c));
750 radioitem.addActionListener(new ActionListener() {
751 public void actionPerformed(ActionEvent e) {
752 int new_channel = Integer.parseInt(e.getActionCommand());
753 AltosPreferences.set_channel(new_channel);
754 serial_line.set_channel(new_channel);
758 group.add(radioitem);
762 this.setJMenuBar(menubar);
765 public static void main(final String[] args) {
766 AltosUI altosui = new AltosUI();
767 altosui.setVisible(true);