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   1 /*
   2  * Copyright © 2010 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 package altosui;
  19
  20 import java.awt.*;
  21 import java.awt.event.*;
  22 import javax.swing.*;
  23 import javax.swing.filechooser.FileNameExtensionFilter;
  24 import javax.swing.table.*;
  25 import java.io.*;
  26 import java.util.*;
  27 import java.text.*;
  28 import java.util.prefs.*;
  29 import java.util.concurrent.LinkedBlockingQueue;
  30
  31 import altosui.Altos;
  32 import altosui.AltosSerial;
  33 import altosui.AltosSerialMonitor;
  34 import altosui.AltosRecord;
  35 import altosui.AltosTelemetry;
  36 import altosui.AltosState;
  37 import altosui.AltosDeviceDialog;
  38 import altosui.AltosPreferences;
  39 import altosui.AltosLog;
  40 import altosui.AltosVoice;
  41 import altosui.AltosFlightInfoTableModel;
  42 import altosui.AltosChannelMenu;
  43 import altosui.AltosFlashUI;
  44 import altosui.AltosLogfileChooser;
  45 import altosui.AltosCSVUI;
  46 import altosui.AltosLine;
  47 import altosui.AltosStatusTable;
  48 import altosui.AltosInfoTable;
  49
  50 import libaltosJNI.*;
  51
  52 public class AltosUI extends JFrame {
  53         private int channel = -1;
  54
  55         private AltosStatusTable flightStatus;
  56         private AltosInfoTable flightInfo;
  57         private AltosSerial serial_line;
  58         private AltosLog altos_log;
  59         private Box vbox;
  60
  61         private Font statusFont = new Font("SansSerif", Font.BOLD, 24);
  62         private Font infoLabelFont = new Font("SansSerif", Font.PLAIN, 14);
  63         private Font infoValueFont = new Font("Monospaced", Font.PLAIN, 14);
  64
  65         public AltosVoice voice = new AltosVoice();
  66
  67         public static boolean load_library(Frame frame) {
  68                 if (!AltosDevice.load_library()) {
  69                         JOptionPane.showMessageDialog(frame,
  70                                                       String.format("No AltOS library in \"%s\"",
  71                                                                     System.getProperty("java.library.path","<undefined>")),
  72                                                       "Cannot load device access library",
  73                                                       JOptionPane.ERROR_MESSAGE);
  74                         return false;
  75                 }
  76                 return true;
  77         }
  78
  79         public AltosUI() {
  80
  81                 load_library(null);
  82
  83                 String[] statusNames = { "Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
  84                 Object[][] statusData = { { "0", "pad", "-50", "0" } };
  85
  86                 java.net.URL imgURL = AltosUI.class.getResource("/altus-metrum-16x16.jpg");
  87                 if (imgURL != null)
  88                         setIconImage(new ImageIcon(imgURL).getImage());
  89
  90                 AltosPreferences.init(this);
  91
  92                 vbox = Box.createVerticalBox();
  93                 this.add(vbox);
  94
  95                 flightStatus = new AltosStatusTable(this);
  96
  97                 vbox.add(flightStatus);
  98
  99                 flightInfo = new AltosInfoTable();
 100                 vbox.add(flightInfo.box());
 101
 102                 setTitle("AltOS");
 103
 104                 createMenu();
 105
 106                 serial_line = new AltosSerial();
 107                 altos_log = new AltosLog(serial_line);
 108                 int dpi = Toolkit.getDefaultToolkit().getScreenResolution();
 109                 this.setSize(new Dimension (flightInfo.width(),
 110                                             flightStatus.height() + flightInfo.height()));
 111                 this.validate();
 112                 setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
 113                 addWindowListener(new WindowAdapter() {
 114                         @Override
 115                         public void windowClosing(WindowEvent e) {
 116                                 System.exit(0);
 117                         }
 118                 });
 119                 voice.speak("Rocket flight monitor ready.");
 120         }
 121
 122         void show(AltosState state, int crc_errors) {
 123                 if (state != null) {
 124                         flightStatus.set(state);
 125                         flightInfo.show(state, crc_errors);
 126                 }
 127         }
 128
 129         class IdleThread extends Thread {
 130
 131                 boolean started;
 132                 private AltosState state;
 133                 int     reported_landing;
 134                 int     report_interval;
 135                 long    report_time;
 136
 137                 public synchronized void report(boolean last) {
 138                         if (state == null)
 139                                 return;
 140
 141                         /* reset the landing count once we hear about a new flight */
 142                         if (state.state < Altos.ao_flight_drogue)
 143                                 reported_landing = 0;
 144
 145                         /* Shut up once the rocket is on the ground */
 146                         if (reported_landing > 2) {
 147                                 return;
 148                         }
 149
 150                         /* If the rocket isn't on the pad, then report height */
 151                         if (Altos.ao_flight_drogue <= state.state &&
 152                             state.state < Altos.ao_flight_landed &&
 153                             state.range >= 0)
 154                         {
 155                                 voice.speak("Height %d, bearing %d, elevation %d, range %d.\n",
 156                                             (int) (state.height + 0.5),
 157                                             (int) (state.from_pad.bearing + 0.5),
 158                                             (int) (state.elevation + 0.5),
 159                                             (int) (state.range + 0.5));
 160                         } else if (state.state > Altos.ao_flight_pad) {
 161                                 voice.speak("%d meters", (int) (state.height + 0.5));
 162                         } else {
 163                                 reported_landing = 0;
 164                         }
 165
 166                         /* If the rocket is coming down, check to see if it has landed;
 167                          * either we've got a landed report or we haven't heard from it in
 168                          * a long time
 169                          */
 170                         if (state.state >= Altos.ao_flight_drogue &&
 171                             (last ||
 172                              System.currentTimeMillis() - state.report_time >= 15000 ||
 173                              state.state == Altos.ao_flight_landed))
 174                         {
 175                                 if (Math.abs(state.baro_speed) < 20 && state.height < 100)
 176                                         voice.speak("rocket landed safely");
 177                                 else
 178                                         voice.speak("rocket may have crashed");
 179                                 if (state.from_pad != null)
 180                                         voice.speak("Bearing %d degrees, range %d meters.",
 181                                                     (int) (state.from_pad.bearing + 0.5),
 182                                                     (int) (state.from_pad.distance + 0.5));
 183                                 ++reported_landing;
 184                         }
 185                 }
 186
 187                 long now () {
 188                         return System.currentTimeMillis();
 189                 }
 190
 191                 void set_report_time() {
 192                         report_time = now() + report_interval;
 193                 }
 194
 195                 public void run () {
 196
 197                         reported_landing = 0;
 198                         state = null;
 199                         report_interval = 10000;
 200                         try {
 201                                 for (;;) {
 202                                         set_report_time();
 203                                         for (;;) {
 204                                                 voice.drain();
 205                                                 synchronized (this) {
 206                                                         long    sleep_time = report_time - now();
 207                                                         if (sleep_time <= 0)
 208                                                                 break;
 209                                                         wait(sleep_time);
 210                                                 }
 211                                         }
 212                                         report(false);
 213                                 }
 214                         } catch (InterruptedException ie) {
 215                                 try {
 216                                         voice.drain();
 217                                 } catch (InterruptedException iie) { }
 218                         }
 219                 }
 220
 221                 public synchronized void notice(AltosState new_state, boolean spoken) {
 222                         AltosState old_state = state;
 223                         state = new_state;
 224                         if (!started && state.state > Altos.ao_flight_pad) {
 225                                 started = true;
 226                                 start();
 227                         }
 228
 229                         if (state.state < Altos.ao_flight_drogue)
 230                                 report_interval = 10000;
 231                         else
 232                                 report_interval = 20000;
 233                         if (old_state != null && old_state.state != state.state) {
 234                                 report_time = now();
 235                                 this.notify();
 236                         } else if (spoken)
 237                                 set_report_time();
 238                 }
 239         }
 240
 241         private boolean tell(AltosState state, AltosState old_state) {
 242                 boolean ret = false;
 243                 if (old_state == null || old_state.state != state.state) {
 244                         voice.speak(state.data.state());
 245                         if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
 246                             state.state > Altos.ao_flight_boost) {
 247                                 voice.speak("max speed: %d meters per second.",
 248                                             (int) (state.max_speed + 0.5));
 249                                 ret = true;
 250                         } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
 251                                    state.state >= Altos.ao_flight_drogue) {
 252                                 voice.speak("max height: %d meters.",
 253                                             (int) (state.max_height + 0.5));
 254                                 ret = true;
 255                         }
 256                 }
 257                 if (old_state == null || old_state.gps_ready != state.gps_ready) {
 258                         if (state.gps_ready) {
 259                                 voice.speak("GPS ready");
 260                                 ret = true;
 261                         }
 262                         else if (old_state != null) {
 263                                 voice.speak("GPS lost");
 264                                 ret = true;
 265                         }
 266                 }
 267                 old_state = state;
 268                 return ret;
 269         }
 270
 271         class DisplayThread extends Thread {
 272                 IdleThread      idle_thread;
 273
 274                 String          name;
 275
 276                 int             crc_errors;
 277
 278                 void init() { }
 279
 280                 AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException { return null; }
 281
 282                 void close(boolean interrupted) { }
 283
 284                 void update(AltosState state) throws InterruptedException { }
 285
 286                 public void run() {
 287                         boolean         interrupted = false;
 288                         String          line;
 289                         AltosState      state = null;
 290                         AltosState      old_state = null;
 291                         boolean         told;
 292
 293                         idle_thread = new IdleThread();
 294
 295                         flightInfo.clear();
 296                         try {
 297                                 for (;;) {
 298                                         try {
 299                                                 AltosRecord record = read();
 300                                                 if (record == null)
 301                                                         break;
 302                                                 old_state = state;
 303                                                 state = new AltosState(record, state);
 304                                                 update(state);
 305                                                 show(state, crc_errors);
 306                                                 told = tell(state, old_state);
 307                                                 idle_thread.notice(state, told);
 308                                         } catch (ParseException pp) {
 309                                                 System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
 310                                         } catch (AltosCRCException ce) {
 311                                                 ++crc_errors;
 312                                                 show(state, crc_errors);
 313                                         }
 314                                 }
 315                         } catch (InterruptedException ee) {
 316                                 interrupted = true;
 317                         } catch (IOException ie) {
 318                                 JOptionPane.showMessageDialog(AltosUI.this,
 319                                                               String.format("Error reading from \"%s\"", name),
 320                                                               "Telemetry Read Error",
 321                                                               JOptionPane.ERROR_MESSAGE);
 322                         } finally {
 323                                 close(interrupted);
 324                                 idle_thread.interrupt();
 325                                 try {
 326                                         idle_thread.join();
 327                                 } catch (InterruptedException ie) {}
 328                         }
 329                 }
 330
 331                 public void report() {
 332                         if (idle_thread != null)
 333                                 idle_thread.report(true);
 334                 }
 335         }
 336
 337         class DeviceThread extends DisplayThread {
 338                 AltosSerial     serial;
 339                 LinkedBlockingQueue<AltosLine> telem;
 340
 341                 AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
 342                         AltosLine l = telem.take();
 343                         if (l.line == null)
 344                                 throw new IOException("IO error");
 345                         return new AltosTelemetry(l.line);
 346                 }
 347
 348                 void close(boolean interrupted) {
 349                         serial.close();
 350                         serial.remove_monitor(telem);
 351                 }
 352
 353                 public DeviceThread(AltosSerial s, String in_name) {
 354                         serial = s;
 355                         telem = new LinkedBlockingQueue<AltosLine>();
 356                         serial.add_monitor(telem);
 357                         name = in_name;
 358                 }
 359         }
 360
 361         private void ConnectToDevice() {
 362                 AltosDevice     device = AltosDeviceDialog.show(AltosUI.this,
 363                                                                 AltosDevice.product_basestation);
 364
 365                 if (device != null) {
 366                         try {
 367                                 stop_display();
 368                                 serial_line.open(device);
 369                                 DeviceThread thread = new DeviceThread(serial_line, device.getPath());
 370                                 serial_line.set_channel(AltosPreferences.channel());
 371                                 serial_line.set_callsign(AltosPreferences.callsign());
 372                                 run_display(thread);
 373                         } catch (FileNotFoundException ee) {
 374                                 JOptionPane.showMessageDialog(AltosUI.this,
 375                                                               String.format("Cannot open device \"%s\"",
 376                                                                             device.getPath()),
 377                                                               "Cannot open target device",
 378                                                               JOptionPane.ERROR_MESSAGE);
 379                         } catch (IOException ee) {
 380                                 JOptionPane.showMessageDialog(AltosUI.this,
 381                                                               device.getPath(),
 382                                                               "Unkonwn I/O error",
 383                                                               JOptionPane.ERROR_MESSAGE);
 384                         }
 385                 }
 386         }
 387
 388         void DisconnectFromDevice () {
 389                 stop_display();
 390         }
 391
 392         void ConfigureCallsign() {
 393                 String  result;
 394                 result = JOptionPane.showInputDialog(AltosUI.this,
 395                                                      "Configure Callsign",
 396                                                      AltosPreferences.callsign());
 397                 if (result != null) {
 398                         AltosPreferences.set_callsign(result);
 399                         if (serial_line != null)
 400                                 serial_line.set_callsign(result);
 401                 }
 402         }
 403
 404         void ConfigureTeleMetrum() {
 405                 new AltosConfig(AltosUI.this);
 406         }
 407
 408         void FlashImage() {
 409                 new AltosFlashUI(AltosUI.this);
 410         }
 411
 412         /*
 413          * Open an existing telemetry file and replay it in realtime
 414          */
 415
 416         class ReplayThread extends DisplayThread {
 417                 AltosReader     reader;
 418                 String          name;
 419
 420                 public AltosRecord read() {
 421                         try {
 422                                 return reader.read();
 423                         } catch (IOException ie) {
 424                                 JOptionPane.showMessageDialog(AltosUI.this,
 425                                                               name,
 426                                                               "error reading",
 427                                                               JOptionPane.ERROR_MESSAGE);
 428                         } catch (ParseException pe) {
 429                         }
 430                         return null;
 431                 }
 432
 433                 public void close (boolean interrupted) {
 434                         if (!interrupted)
 435                                 report();
 436                 }
 437
 438                 public ReplayThread(AltosReader in_reader, String in_name) {
 439                         reader = in_reader;
 440                 }
 441                 void update(AltosState state) throws InterruptedException {
 442                         /* Make it run in realtime after the rocket leaves the pad */
 443                         if (state.state > Altos.ao_flight_pad)
 444                                 Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
 445                 }
 446         }
 447
 448         Thread          display_thread;
 449
 450         private void stop_display() {
 451                 if (display_thread != null && display_thread.isAlive()) {
 452                         display_thread.interrupt();
 453                         try {
 454                                 display_thread.join();
 455                         } catch (InterruptedException ie) {}
 456                 }
 457                 display_thread = null;
 458         }
 459
 460         private void run_display(Thread thread) {
 461                 stop_display();
 462                 display_thread = thread;
 463                 display_thread.start();
 464         }
 465
 466         /*
 467          * Replay a flight from telemetry data
 468          */
 469         private void Replay() {
 470                 AltosLogfileChooser chooser = new AltosLogfileChooser(
 471                         AltosUI.this);
 472                 AltosReader reader = chooser.runDialog();
 473                 if (reader != null)
 474                         run_display(new ReplayThread(reader,
 475                                                      chooser.filename()));
 476         }
 477
 478         /* Connect to TeleMetrum, either directly or through
 479          * a TeleDongle over the packet link
 480          */
 481         private void SaveFlightData() {
 482                 new AltosEepromDownload(AltosUI.this);
 483         }
 484
 485         /* Load a flight log file and write out a CSV file containing
 486          * all of the data in standard units
 487          */
 488
 489         private void ExportData() {
 490                 new AltosCSVUI(AltosUI.this);
 491         }
 492
 493         /* Create the AltosUI menus
 494          */
 495         private void createMenu() {
 496                 JMenuBar menubar = new JMenuBar();
 497                 JMenu menu;
 498                 JMenuItem item;
 499                 JRadioButtonMenuItem radioitem;
 500
 501                 // File menu
 502                 {
 503                         menu = new JMenu("File");
 504                         menu.setMnemonic(KeyEvent.VK_F);
 505                         menubar.add(menu);
 506
 507                         item = new JMenuItem("Replay File",KeyEvent.VK_R);
 508                         item.addActionListener(new ActionListener() {
 509                                         public void actionPerformed(ActionEvent e) {
 510                                                 Replay();
 511                                         }
 512                                 });
 513                         menu.add(item);
 514
 515                         item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
 516                         item.addActionListener(new ActionListener() {
 517                                         public void actionPerformed(ActionEvent e) {
 518                                                 SaveFlightData();
 519                                         }
 520                                 });
 521                         menu.add(item);
 522
 523                         item = new JMenuItem("Flash Image",KeyEvent.VK_F);
 524                         item.addActionListener(new ActionListener() {
 525                                         public void actionPerformed(ActionEvent e) {
 526                                                 FlashImage();
 527                                         }
 528                                 });
 529                         menu.add(item);
 530
 531                         item = new JMenuItem("Export Data",KeyEvent.VK_F);
 532                         item.addActionListener(new ActionListener() {
 533                                         public void actionPerformed(ActionEvent e) {
 534                                                 ExportData();
 535                                         }
 536                                 });
 537                         menu.add(item);
 538
 539                         item = new JMenuItem("Quit",KeyEvent.VK_Q);
 540                         item.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_Q,
 541                                                                    ActionEvent.CTRL_MASK));
 542                         item.addActionListener(new ActionListener() {
 543                                         public void actionPerformed(ActionEvent e) {
 544                                                 System.exit(0);
 545                                         }
 546                                 });
 547                         menu.add(item);
 548                 }
 549
 550                 // Device menu
 551                 {
 552                         menu = new JMenu("Device");
 553                         menu.setMnemonic(KeyEvent.VK_D);
 554                         menubar.add(menu);
 555
 556                         item = new JMenuItem("Connect to Device",KeyEvent.VK_C);
 557                         item.addActionListener(new ActionListener() {
 558                                         public void actionPerformed(ActionEvent e) {
 559                                                 ConnectToDevice();
 560                                         }
 561                                 });
 562                         menu.add(item);
 563
 564                         item = new JMenuItem("Disconnect from Device",KeyEvent.VK_D);
 565                         item.addActionListener(new ActionListener() {
 566                                         public void actionPerformed(ActionEvent e) {
 567                                                 DisconnectFromDevice();
 568                                         }
 569                                 });
 570                         menu.add(item);
 571
 572                         menu.addSeparator();
 573
 574                         item = new JMenuItem("Set Callsign",KeyEvent.VK_S);
 575                         item.addActionListener(new ActionListener() {
 576                                         public void actionPerformed(ActionEvent e) {
 577                                                 ConfigureCallsign();
 578                                         }
 579                                 });
 580
 581                         menu.add(item);
 582
 583                         item = new JMenuItem("Configure TeleMetrum device",KeyEvent.VK_T);
 584                         item.addActionListener(new ActionListener() {
 585                                         public void actionPerformed(ActionEvent e) {
 586                                                 ConfigureTeleMetrum();
 587                                         }
 588                                 });
 589
 590                         menu.add(item);
 591                 }
 592                 // Log menu
 593                 {
 594                         menu = new JMenu("Log");
 595                         menu.setMnemonic(KeyEvent.VK_L);
 596                         menubar.add(menu);
 597
 598                         item = new JMenuItem("New Log",KeyEvent.VK_N);
 599                         item.addActionListener(new ActionListener() {
 600                                         public void actionPerformed(ActionEvent e) {
 601                                         }
 602                                 });
 603                         menu.add(item);
 604
 605                         item = new JMenuItem("Configure Log",KeyEvent.VK_C);
 606                         item.addActionListener(new ActionListener() {
 607                                         public void actionPerformed(ActionEvent e) {
 608                                                 AltosPreferences.ConfigureLog();
 609                                         }
 610                                 });
 611                         menu.add(item);
 612                 }
 613                 // Voice menu
 614                 {
 615                         menu = new JMenu("Voice", true);
 616                         menu.setMnemonic(KeyEvent.VK_V);
 617                         menubar.add(menu);
 618
 619                         radioitem = new JRadioButtonMenuItem("Enable Voice", AltosPreferences.voice());
 620                         radioitem.addActionListener(new ActionListener() {
 621                                         public void actionPerformed(ActionEvent e) {
 622                                                 JRadioButtonMenuItem item = (JRadioButtonMenuItem) e.getSource();
 623                                                 boolean enabled = item.isSelected();
 624                                                 AltosPreferences.set_voice(enabled);
 625                                                 if (enabled)
 626                                                         voice.speak_always("Enable voice.");
 627                                                 else
 628                                                         voice.speak_always("Disable voice.");
 629                                         }
 630                                 });
 631                         menu.add(radioitem);
 632                         item = new JMenuItem("Test Voice",KeyEvent.VK_T);
 633                         item.addActionListener(new ActionListener() {
 634                                         public void actionPerformed(ActionEvent e) {
 635                                                 voice.speak("That's one small step for man; one giant leap for mankind.");
 636                                         }
 637                                 });
 638                         menu.add(item);
 639                 }
 640
 641                 // Channel menu
 642                 {
 643                         menu = new AltosChannelMenu(AltosPreferences.channel());
 644                         menu.addActionListener(new ActionListener() {
 645                                                 public void actionPerformed(ActionEvent e) {
 646                                                         int new_channel = Integer.parseInt(e.getActionCommand());
 647                                                         AltosPreferences.set_channel(new_channel);
 648                                                         serial_line.set_channel(new_channel);
 649                                                 }
 650                                 });
 651                         menu.setMnemonic(KeyEvent.VK_C);
 652                         menubar.add(menu);
 653                 }
 654
 655                 this.setJMenuBar(menubar);
 656
 657         }
 658
 659         static String replace_extension(String input, String extension) {
 660                 int dot = input.lastIndexOf(".");
 661                 if (dot > 0)
 662                         input = input.substring(0,dot);
 663                 return input.concat(extension);
 664         }
 665
 666         static AltosReader open_logfile(String filename) {
 667                 File file = new File (filename);
 668                 try {
 669                         FileInputStream in;
 670
 671                         in = new FileInputStream(file);
 672                         if (filename.endsWith("eeprom"))
 673                                 return new AltosEepromReader(in);
 674                         else
 675                                 return new AltosTelemetryReader(in);
 676                 } catch (FileNotFoundException fe) {
 677                         System.out.printf("Cannot open '%s'\n", filename);
 678                         return null;
 679                 }
 680         }
 681
 682         static AltosCSV open_csv(String filename) {
 683                 File file = new File (filename);
 684                 try {
 685                         return new AltosCSV(file);
 686                 } catch (FileNotFoundException fe) {
 687                         System.out.printf("Cannot open '%s'\n", filename);
 688                         return null;
 689                 }
 690         }
 691
 692         static void process_file(String input) {
 693                 String output = replace_extension(input,".csv");
 694                 if (input.equals(output)) {
 695                         System.out.printf("Not processing '%s'\n", input);
 696                         return;
 697                 }
 698                 System.out.printf("Processing \"%s\" to \"%s\"\n", input, output);
 699                 AltosReader reader = open_logfile(input);
 700                 if (reader == null)
 701                         return;
 702                 AltosCSV writer = open_csv(output);
 703                 if (writer == null)
 704                         return;
 705                 writer.write(reader);
 706                 reader.close();
 707                 writer.close();
 708         }
 709
 710         public static void main(final String[] args) {
 711
 712                 /* Handle batch-mode */
 713                 if (args.length > 0) {
 714                         for (int i = 0; i < args.length; i++)
 715                                 process_file(args[i]);
 716                 } else {
 717                         AltosUI altosui = new AltosUI();
 718                         altosui.setVisible(true);
 719                 }
 720         }
 721 }