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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         }
 214
 215         public void info_reset() {
 216                 for (int i = 0; i < info_columns; i++)
 217                         flightInfoModel[i].resetRow();
 218         }
 219
 220         public void info_add_row(int col, String name, String value) {
 221                 flightInfoModel[col].addRow(name, value);
 222         }
 223
 224         public void info_add_row(int col, String name, String format, Object value) {
 225                 flightInfoModel[col].addRow(name, String.format(format, value));
 226         }
 227
 228         public void info_add_row(int col, String name, String format, Object v1, Object v2) {
 229                 flightInfoModel[col].addRow(name, String.format(format, v1, v2));
 230         }
 231
 232         public void info_add_row(int col, String name, String format, Object v1, Object v2, Object v3) {
 233                 flightInfoModel[col].addRow(name, String.format(format, v1, v2, v3));
 234         }
 235
 236         public void info_add_deg(int col, String name, double v, int pos, int neg) {
 237                 int     c = pos;
 238                 if (v < 0) {
 239                         c = neg;
 240                         v = -v;
 241                 }
 242                 double  deg = Math.floor(v);
 243                 double  min = (v - deg) * 60;
 244
 245                 flightInfoModel[col].addRow(name, String.format("%3.0f°%08.5f'", deg, min));
 246         }
 247
 248         public void info_finish() {
 249                 for (int i = 0; i < info_columns; i++)
 250                         flightInfoModel[i].finish();
 251         }
 252
 253         static final int MIN_PAD_SAMPLES = 10;
 254
 255         public void show(AltosState state) {
 256                 flightStatusModel.set(state);
 257
 258                 info_reset();
 259                 if (state.npad >= MIN_PAD_SAMPLES)
 260                         info_add_row(0, "Ground state", "%s", "ready");
 261                 else
 262                         info_add_row(0, "Ground state", "wait (%d)",
 263                                      MIN_PAD_SAMPLES - state.npad);
 264                 info_add_row(0, "Rocket state", "%s", state.data.state);
 265                 info_add_row(0, "Callsign", "%s", state.data.callsign);
 266                 info_add_row(0, "Rocket serial", "%6d", state.data.serial);
 267                 info_add_row(0, "Rocket flight", "%6d", state.data.flight);
 268
 269                 info_add_row(0, "RSSI", "%6d    dBm", state.data.rssi);
 270                 info_add_row(0, "Height", "%6.0f    m", state.height);
 271                 info_add_row(0, "Max height", "%6.0f    m", state.max_height);
 272                 info_add_row(0, "Acceleration", "%8.1f  m/s²", state.acceleration);
 273                 info_add_row(0, "Max acceleration", "%8.1f  m/s²", state.max_acceleration);
 274                 info_add_row(0, "Speed", "%8.1f  m/s", state.ascent ? state.speed : state.baro_speed);
 275                 info_add_row(0, "Max Speed", "%8.1f  m/s", state.max_speed);
 276                 info_add_row(0, "Temperature", "%9.2f °C", state.temperature);
 277                 info_add_row(0, "Battery", "%9.2f V", state.battery);
 278                 info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense);
 279                 info_add_row(0, "Main", "%9.2f V", state.main_sense);
 280                 info_add_row(0, "Pad altitude", "%6.0f    m", state.ground_altitude);
 281                 if (state.gps == null) {
 282                         info_add_row(1, "GPS", "not available");
 283                 } else {
 284                         if (state.data.gps.gps_locked)
 285                                 info_add_row(1, "GPS", "   locked");
 286                         else if (state.data.gps.gps_connected)
 287                                 info_add_row(1, "GPS", " unlocked");
 288                         else
 289                                 info_add_row(1, "GPS", "  missing");
 290                         info_add_row(1, "Satellites", "%6d", state.data.gps.nsat);
 291                         info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
 292                         info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
 293                         info_add_row(1, "GPS altitude", "%6d", state.gps.alt);
 294                         info_add_row(1, "GPS height", "%6.0f", state.gps_height);
 295
 296                         /* The SkyTraq GPS doesn't report these values */
 297                         if (false) {
 298                                 info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°",
 299                                              state.gps.ground_speed,
 300                                              state.gps.course);
 301                                 info_add_row(1, "GPS climb rate", "%8.1f m/s",
 302                                              state.gps.climb_rate);
 303                                 info_add_row(1, "GPS error", "%6d m(h)%3d m(v)",
 304                                              state.gps.h_error, state.gps.v_error);
 305                         }
 306                         info_add_row(1, "GPS hdop", "%8.1f", state.gps.hdop);
 307
 308                         if (state.npad > 0) {
 309                                 if (state.from_pad != null) {
 310                                         info_add_row(1, "Distance from pad", "%6.0f m", state.from_pad.distance);
 311                                         info_add_row(1, "Direction from pad", "%6.0f°", state.from_pad.bearing);
 312                                 } else {
 313                                         info_add_row(1, "Distance from pad", "unknown");
 314                                         info_add_row(1, "Direction from pad", "unknown");
 315                                 }
 316                                 info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
 317                                 info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
 318                                 info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt);
 319                         }
 320                         info_add_row(1, "GPS date", "%04d-%02d-%02d",
 321                                        state.gps.gps_time.year,
 322                                        state.gps.gps_time.month,
 323                                        state.gps.gps_time.day);
 324                         info_add_row(1, "GPS time", "  %02d:%02d:%02d",
 325                                        state.gps.gps_time.hour,
 326                                        state.gps.gps_time.minute,
 327                                        state.gps.gps_time.second);
 328                         int     nsat_vis = 0;
 329                         int     c;
 330
 331                         if (state.gps.cc_gps_sat == null)
 332                                 info_add_row(2, "Satellites Visible", "%4d", 0);
 333                         else {
 334                                 info_add_row(2, "Satellites Visible", "%4d", state.gps.cc_gps_sat.length);
 335                                 for (c = 0; c < state.gps.cc_gps_sat.length; c++) {
 336                                         info_add_row(2, "Satellite id,C/N0",
 337                                                      "%4d, %4d",
 338                                                      state.gps.cc_gps_sat[c].svid,
 339                                                      state.gps.cc_gps_sat[c].c_n0);
 340                                 }
 341                         }
 342                 }
 343                 info_finish();
 344         }
 345
 346         class IdleThread extends Thread {
 347
 348                 private AltosState state;
 349
 350                 public void run () {
 351                         int     reported_landing = 0;
 352
 353                         state = null;
 354                         try {
 355                                 for (;;) {
 356                                         Thread.sleep(10000);
 357                                         if (state == null)
 358                                                 continue;
 359
 360                                         /* reset the landing count once we hear about a new flight */
 361                                         if (state.state < AltosTelemetry.ao_flight_drogue)
 362                                                 reported_landing = 0;
 363
 364                                         /* Shut up once the rocket is on the ground */
 365                                         if (reported_landing > 2)
 366                                                 continue;
 367
 368                                         /* If the rocket isn't on the pad, then report height */
 369                                         if (state.state > AltosTelemetry.ao_flight_pad) {
 370                                                 voice.speak(String.format("%d meters", (int) (state.height + 0.5)));
 371                                         }
 372
 373                                         /* If the rocket is coming down, check to see if it has landed;
 374                                          * either we've got a landed report or we haven't heard from it in
 375                                          * a long time
 376                                          */
 377                                         if (!state.ascent &&
 378                                             (System.currentTimeMillis() - state.report_time > 10000 ||
 379                                              state.state == AltosTelemetry.ao_flight_landed))
 380                                         {
 381                                                 if (Math.abs(state.baro_speed) < 20 && state.height < 100)
 382                                                         voice.speak("rocket landed safely");
 383                                                 else
 384                                                         voice.speak("rocket may have crashed");
 385                                                 if (state.gps != null)
 386                                                         voice.speak(String.format("bearing %d degrees, range %d meters",
 387                                                                                   (int) (state.from_pad.bearing + 0.5),
 388                                                                                   (int) (state.from_pad.distance + 0.5)));
 389                                                 ++reported_landing;
 390                                         }
 391                                 }
 392                         } catch (InterruptedException ie) {
 393                         }
 394                 }
 395
 396                 public void notice(AltosState new_state) {
 397                         state = new_state;
 398                 }
 399         }
 400
 401         private void tell(AltosState state, AltosState old_state) {
 402                 if (old_state == null || old_state.state != state.state) {
 403                         voice.speak(state.data.state);
 404                         switch (state.state) {
 405                         case AltosTelemetry.ao_flight_fast:
 406                                 voice.speak(String.format("max speed %d meters per second",
 407                                                           (int) (state.max_speed + 0.5)));
 408                                 break;
 409                         case AltosTelemetry.ao_flight_drogue:
 410                                 voice.speak(String.format("max height %d meters",
 411                                                           (int) (state.max_height + 0.5)));
 412                                 break;
 413                         }
 414                 }
 415                 old_state = state;
 416         }
 417
 418         class DisplayThread extends Thread {
 419                 String read() throws InterruptedException { return null; }
 420
 421                 void close() { }
 422
 423                 void update(AltosState state) throws InterruptedException { }
 424
 425                 public void run() {
 426                         String          line;
 427                         AltosState      state = null;
 428                         AltosState      old_state = null;
 429                         IdleThread      idle_thread = new IdleThread();
 430
 431                         info_reset();
 432                         info_finish();
 433                         idle_thread.start();
 434                         try {
 435                                 while ((line = read()) != null) {
 436                                         try {
 437                                                 AltosTelemetry  t = new AltosTelemetry(line);
 438                                                 old_state = state;
 439                                                 state = new AltosState(t, state);
 440                                                 update(state);
 441                                                 show(state);
 442                                                 tell(state, old_state);
 443                                                 idle_thread.notice(state);
 444                                         } catch (ParseException pp) {
 445                                                 System.out.printf("Parse error on %s\n", line);
 446                                                 System.out.println("exception " + pp);
 447                                         }
 448                                 }
 449                         } catch (InterruptedException ee) {
 450                         } finally {
 451                                 close();
 452                                 idle_thread.interrupt();
 453                         }
 454                 }
 455         }
 456
 457         class DeviceThread extends DisplayThread {
 458                 AltosSerial     serial;
 459                 LinkedBlockingQueue<String> telem;
 460
 461                 String read() throws InterruptedException {
 462                         return telem.take();
 463                 }
 464
 465                 void close() {
 466                         serial.close();
 467                         serial.remove_monitor(telem);
 468                         System.out.println("DisplayThread done");
 469                 }
 470
 471                 public DeviceThread(AltosSerial s) {
 472                         serial = s;
 473                         telem = new LinkedBlockingQueue<String>();
 474                         serial.add_monitor(telem);
 475                 }
 476         }
 477
 478         private void ConnectToDevice() {
 479                 altos_device    device = AltosDeviceDialog.show(AltosUI.this, "TeleDongle");
 480
 481                 if (device != null) {
 482                         try {
 483                                 serial_line.open(device);
 484                                 DeviceThread thread = new DeviceThread(serial_line);
 485                                 run_display(thread);
 486                         } catch (FileNotFoundException ee) {
 487                                 JOptionPane.showMessageDialog(AltosUI.this,
 488                                                               device.getPath(),
 489                                                               "Cannot open serial port",
 490                                                               JOptionPane.ERROR_MESSAGE);
 491                         } catch (IOException ee) {
 492                                 JOptionPane.showMessageDialog(AltosUI.this,
 493                                                               device.getPath(),
 494                                                               "Unkonwn I/O error",
 495                                                               JOptionPane.ERROR_MESSAGE);
 496                         }
 497                 }
 498         }
 499
 500         void DisconnectFromDevice () {
 501                 stop_display();
 502         }
 503
 504         String readline(FileInputStream s) throws IOException {
 505                 int c;
 506                 String  line = "";
 507
 508                 while ((c = s.read()) != -1) {
 509                         if (c == '\r')
 510                                 continue;
 511                         if (c == '\n')
 512                                 return line;
 513                         line = line + (char) c;
 514                 }
 515                 return null;
 516         }
 517
 518         /*
 519          * Open an existing telemetry file and replay it in realtime
 520          */
 521
 522         class ReplayThread extends DisplayThread {
 523                 FileInputStream replay;
 524                 String filename;
 525
 526                 ReplayThread(FileInputStream in, String name) {
 527                         replay = in;
 528                         filename = name;
 529                 }
 530
 531                 String read() {
 532                         try {
 533                                 return readline(replay);
 534                         } catch (IOException ee) {
 535                                 JOptionPane.showMessageDialog(AltosUI.this,
 536                                                               filename,
 537                                                               "error reading",
 538                                                               JOptionPane.ERROR_MESSAGE);
 539                         }
 540                         return null;
 541                 }
 542
 543                 void close () {
 544                         try {
 545                                 replay.close();
 546                         } catch (IOException ee) {
 547                         }
 548                 }
 549
 550                 void update(AltosState state) throws InterruptedException {
 551                         /* Make it run in realtime after the rocket leaves the pad */
 552                         if (state.state > AltosTelemetry.ao_flight_pad)
 553                                 Thread.sleep((int) (state.time_change * 1000));
 554                 }
 555         }
 556
 557         Thread          display_thread;
 558
 559         private void stop_display() {
 560                 if (display_thread != null && display_thread.isAlive())
 561                         display_thread.interrupt();
 562                 display_thread = null;
 563         }
 564
 565         private void run_display(Thread thread) {
 566                 stop_display();
 567                 display_thread = thread;
 568                 display_thread.start();
 569         }
 570
 571         /*
 572          * Replay a flight from telemetry data
 573          */
 574         private void Replay() {
 575                 JFileChooser    logfile_chooser = new JFileChooser();
 576
 577                 logfile_chooser.setDialogTitle("Select Telemetry File");
 578                 logfile_chooser.setFileFilter(new FileNameExtensionFilter("Telemetry file", "telem"));
 579                 logfile_chooser.setCurrentDirectory(AltosPreferences.logdir());
 580                 int returnVal = logfile_chooser.showOpenDialog(AltosUI.this);
 581
 582                 if (returnVal == JFileChooser.APPROVE_OPTION) {
 583                         File file = logfile_chooser.getSelectedFile();
 584                         if (file == null)
 585                                 System.out.println("No file selected?");
 586                         String  filename = file.getName();
 587                         try {
 588                                 FileInputStream replay = new FileInputStream(file);
 589                                 ReplayThread    thread = new ReplayThread(replay, filename);
 590                                 run_display(thread);
 591                         } catch (FileNotFoundException ee) {
 592                                 JOptionPane.showMessageDialog(AltosUI.this,
 593                                                               filename,
 594                                                               "Cannot open serial port",
 595                                                               JOptionPane.ERROR_MESSAGE);
 596                         }
 597                 }
 598         }
 599
 600         /* Connect to TeleMetrum, either directly or through
 601          * a TeleDongle over the packet link
 602          */
 603         private void SaveFlightData() {
 604         }
 605
 606         /* Create the AltosUI menus
 607          */
 608         private void createMenu() {
 609                 JMenuBar menubar = new JMenuBar();
 610                 JMenu menu;
 611                 JMenuItem item;
 612                 JRadioButtonMenuItem radioitem;
 613
 614                 // File menu
 615                 {
 616                         menu = new JMenu("File");
 617                         menu.setMnemonic(KeyEvent.VK_F);
 618                         menubar.add(menu);
 619
 620                         item = new JMenuItem("Quit",KeyEvent.VK_Q);
 621                         item.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_Q,
 622                                                                    ActionEvent.CTRL_MASK));
 623                         item.addActionListener(new ActionListener() {
 624                                         public void actionPerformed(ActionEvent e) {
 625                                                 System.exit(0);
 626                                         }
 627                                 });
 628                         menu.add(item);
 629                 }
 630
 631                 // Device menu
 632                 {
 633                         menu = new JMenu("Device");
 634                         menu.setMnemonic(KeyEvent.VK_D);
 635                         menubar.add(menu);
 636
 637                         item = new JMenuItem("Connect to Device",KeyEvent.VK_C);
 638                         item.addActionListener(new ActionListener() {
 639                                         public void actionPerformed(ActionEvent e) {
 640                                                 ConnectToDevice();
 641                                         }
 642                                 });
 643                         menu.add(item);
 644
 645                         item = new JMenuItem("Disconnect from Device",KeyEvent.VK_D);
 646                         item.addActionListener(new ActionListener() {
 647                                         public void actionPerformed(ActionEvent e) {
 648                                                 DisconnectFromDevice();
 649                                         }
 650                                 });
 651                         menu.add(item);
 652
 653                         menu.addSeparator();
 654
 655                         item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
 656                         item.addActionListener(new ActionListener() {
 657                                         public void actionPerformed(ActionEvent e) {
 658                                                 SaveFlightData();
 659                                         }
 660                                 });
 661                         menu.add(item);
 662
 663                         item = new JMenuItem("Replay",KeyEvent.VK_R);
 664                         item.addActionListener(new ActionListener() {
 665                                         public void actionPerformed(ActionEvent e) {
 666                                                 Replay();
 667                                         }
 668                                 });
 669                         menu.add(item);
 670                 }
 671                 // Log menu
 672                 {
 673                         menu = new JMenu("Log");
 674                         menu.setMnemonic(KeyEvent.VK_L);
 675                         menubar.add(menu);
 676
 677                         item = new JMenuItem("New Log",KeyEvent.VK_N);
 678                         item.addActionListener(new ActionListener() {
 679                                         public void actionPerformed(ActionEvent e) {
 680                                         }
 681                                 });
 682                         menu.add(item);
 683
 684                         item = new JMenuItem("Configure Log",KeyEvent.VK_C);
 685                         item.addActionListener(new ActionListener() {
 686                                         public void actionPerformed(ActionEvent e) {
 687                                                 AltosPreferences.ConfigureLog();
 688                                         }
 689                                 });
 690                         menu.add(item);
 691                 }
 692                 // Voice menu
 693                 {
 694                         menu = new JMenu("Voice", true);
 695                         menu.setMnemonic(KeyEvent.VK_V);
 696                         menubar.add(menu);
 697
 698                         radioitem = new JRadioButtonMenuItem("Enable Voice");
 699                         radioitem.addActionListener(new ActionListener() {
 700                                         public void actionPerformed(ActionEvent e) {
 701                                         }
 702                                 });
 703                         menu.add(radioitem);
 704                 }
 705
 706                 // Channel menu
 707                 {
 708                         menu = new JMenu("Channel", true);
 709                         menu.setMnemonic(KeyEvent.VK_C);
 710                         menubar.add(menu);
 711                         ButtonGroup group = new ButtonGroup();
 712
 713                         for (int c = 0; c <= 9; c++) {
 714                                 radioitem = new JRadioButtonMenuItem(String.format("Channel %1d (%7.3fMHz)", c,
 715                                                                                    434.550 + c * 0.1),
 716                                                                      c == 0);
 717                                 radioitem.setActionCommand(String.format("%d", c));
 718                                 radioitem.addActionListener(new ActionListener() {
 719                                                 public void actionPerformed(ActionEvent e) {
 720                                                         System.out.println("Command: " + e.getActionCommand() + " param: " +
 721                                                                            e.paramString());
 722                                                 }
 723                                         });
 724                                 menu.add(radioitem);
 725                                 group.add(radioitem);
 726                         }
 727                 }
 728
 729                 this.setJMenuBar(menubar);
 730
 731         }
 732         public static void main(final String[] args) {
 733                 AltosUI altosui = new AltosUI();
 734                 altosui.setVisible(true);
 735         }
 736 }