git.gag.com Git - fw/altos/blob - ao-tools/altosui/AltosUI.java

   1 /*
   2  * Copyright © 2010 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 package altosui;
  19
  20 import java.awt.*;
  21 import java.awt.event.*;
  22 import javax.swing.*;
  23 import javax.swing.filechooser.FileNameExtensionFilter;
  24 import javax.swing.table.*;
  25 import java.io.*;
  26 import java.util.*;
  27 import java.text.*;
  28 import java.util.prefs.*;
  29 import java.util.concurrent.LinkedBlockingQueue;
  30
  31 import altosui.Altos;
  32 import altosui.AltosSerial;
  33 import altosui.AltosSerialMonitor;
  34 import altosui.AltosRecord;
  35 import altosui.AltosTelemetry;
  36 import altosui.AltosState;
  37 import altosui.AltosDeviceDialog;
  38 import altosui.AltosPreferences;
  39 import altosui.AltosLog;
  40 import altosui.AltosVoice;
  41 import altosui.AltosFlightStatusTableModel;
  42 import altosui.AltosFlightInfoTableModel;
  43 import altosui.AltosChannelMenu;
  44 import altosui.AltosFlashUI;
  45 import altosui.AltosLogfileChooser;
  46 import altosui.AltosCSVUI;
  47 import altosui.AltosLine;
  48
  49 import libaltosJNI.*;
  50
  51 public class AltosUI extends JFrame {
  52         private int channel = -1;
  53
  54         private AltosFlightStatusTableModel flightStatusModel;
  55         private JTable flightStatus;
  56
  57         static final int info_columns = 3;
  58
  59         private AltosFlightInfoTableModel[] flightInfoModel;
  60         private JTable[] flightInfo;
  61         private AltosSerial serial_line;
  62         private AltosLog altos_log;
  63         private Box[] ibox;
  64         private Box vbox;
  65         private Box hbox;
  66
  67         private Font statusFont = new Font("SansSerif", Font.BOLD, 24);
  68         private Font infoLabelFont = new Font("SansSerif", Font.PLAIN, 14);
  69         private Font infoValueFont = new Font("Monospaced", Font.PLAIN, 14);
  70
  71         public AltosVoice voice = new AltosVoice();
  72
  73         public AltosUI() {
  74
  75                 String[] statusNames = { "Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
  76                 Object[][] statusData = { { "0", "pad", "-50", "0" } };
  77
  78                 java.net.URL imgURL = AltosUI.class.getResource("/altus-metrum-16x16.jpg");
  79                 if (imgURL != null)
  80                         setIconImage(new ImageIcon(imgURL).getImage());
  81
  82                 AltosPreferences.init(this);
  83
  84                 vbox = Box.createVerticalBox();
  85                 this.add(vbox);
  86
  87                 flightStatusModel = new AltosFlightStatusTableModel();
  88                 flightStatus = new JTable(flightStatusModel);
  89                 flightStatus.setFont(statusFont);
  90                 TableColumnModel tcm = flightStatus.getColumnModel();
  91                 for (int i = 0; i < flightStatusModel.getColumnCount(); i++) {
  92                         DefaultTableCellRenderer       r = new DefaultTableCellRenderer();
  93                         r.setFont(statusFont);
  94                         r.setHorizontalAlignment(SwingConstants.CENTER);
  95                         tcm.getColumn(i).setCellRenderer(r);
  96                 }
  97
  98                 FontMetrics     statusMetrics = flightStatus.getFontMetrics(statusFont);
  99                 int statusHeight = (statusMetrics.getHeight() + statusMetrics.getLeading()) * 15 / 10;
 100                 flightStatus.setRowHeight(statusHeight);
 101                 flightStatus.setShowGrid(false);
 102
 103                 vbox.add(flightStatus);
 104
 105                 hbox = Box.createHorizontalBox();
 106                 vbox.add(hbox);
 107
 108                 flightInfo = new JTable[3];
 109                 flightInfoModel = new AltosFlightInfoTableModel[3];
 110                 ibox = new Box[3];
 111                 FontMetrics     infoValueMetrics = flightStatus.getFontMetrics(infoValueFont);
 112                 int infoHeight = (infoValueMetrics.getHeight() + infoValueMetrics.getLeading()) * 20 / 10;
 113
 114                 for (int i = 0; i < info_columns; i++) {
 115                         ibox[i] = Box.createVerticalBox();
 116                         flightInfoModel[i] = new AltosFlightInfoTableModel();
 117                         flightInfo[i] = new JTable(flightInfoModel[i]);
 118                         flightInfo[i].setFont(infoValueFont);
 119                         flightInfo[i].setRowHeight(infoHeight);
 120                         flightInfo[i].setShowGrid(true);
 121                         ibox[i].add(flightInfo[i].getTableHeader());
 122                         ibox[i].add(flightInfo[i]);
 123                         hbox.add(ibox[i]);
 124                 }
 125
 126                 setTitle("AltOS");
 127
 128                 createMenu();
 129
 130                 serial_line = new AltosSerial();
 131                 altos_log = new AltosLog(serial_line);
 132                 int dpi = Toolkit.getDefaultToolkit().getScreenResolution();
 133                 this.setSize(new Dimension (infoValueMetrics.charWidth('0') * 6 * 20,
 134                                             statusHeight * 4 + infoHeight * 17));
 135                 this.validate();
 136                 setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
 137                 addWindowListener(new WindowAdapter() {
 138                         @Override
 139                         public void windowClosing(WindowEvent e) {
 140                                 System.exit(0);
 141                         }
 142                 });
 143                 voice.speak("Rocket flight monitor ready.");
 144         }
 145
 146         public void info_reset() {
 147                 for (int i = 0; i < info_columns; i++)
 148                         flightInfoModel[i].resetRow();
 149         }
 150
 151         public void info_add_row(int col, String name, String value) {
 152                 flightInfoModel[col].addRow(name, value);
 153         }
 154
 155         public void info_add_row(int col, String name, String format, Object... parameters) {
 156                 flightInfoModel[col].addRow(name, String.format(format, parameters));
 157         }
 158
 159         public void info_add_deg(int col, String name, double v, int pos, int neg) {
 160                 int     c = pos;
 161                 if (v < 0) {
 162                         c = neg;
 163                         v = -v;
 164                 }
 165                 double  deg = Math.floor(v);
 166                 double  min = (v - deg) * 60;
 167
 168                 flightInfoModel[col].addRow(name, String.format("%3.0f°%08.5f'", deg, min));
 169         }
 170
 171         public void info_finish() {
 172                 for (int i = 0; i < info_columns; i++)
 173                         flightInfoModel[i].finish();
 174         }
 175
 176         public void show(AltosState state, int crc_errors) {
 177                 if (state == null)
 178                         return;
 179                 flightStatusModel.set(state);
 180
 181                 info_reset();
 182                 info_add_row(0, "Rocket state", "%s", state.data.state());
 183                 info_add_row(0, "Callsign", "%s", state.data.callsign);
 184                 info_add_row(0, "Rocket serial", "%6d", state.data.serial);
 185                 info_add_row(0, "Rocket flight", "%6d", state.data.flight);
 186
 187                 info_add_row(0, "RSSI", "%6d    dBm", state.data.rssi);
 188                 info_add_row(0, "CRC Errors", "%6d", crc_errors);
 189                 info_add_row(0, "Height", "%6.0f    m", state.height);
 190                 info_add_row(0, "Max height", "%6.0f    m", state.max_height);
 191                 info_add_row(0, "Acceleration", "%8.1f  m/s²", state.acceleration);
 192                 info_add_row(0, "Max acceleration", "%8.1f  m/s²", state.max_acceleration);
 193                 info_add_row(0, "Speed", "%8.1f  m/s", state.ascent ? state.speed : state.baro_speed);
 194                 info_add_row(0, "Max Speed", "%8.1f  m/s", state.max_speed);
 195                 info_add_row(0, "Temperature", "%9.2f °C", state.temperature);
 196                 info_add_row(0, "Battery", "%9.2f V", state.battery);
 197                 info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense);
 198                 info_add_row(0, "Main", "%9.2f V", state.main_sense);
 199                 info_add_row(0, "Pad altitude", "%6.0f    m", state.ground_altitude);
 200                 if (state.gps == null) {
 201                         info_add_row(1, "GPS", "not available");
 202                 } else {
 203                         if (state.gps_ready)
 204                                 info_add_row(1, "GPS state", "%s", "ready");
 205                         else
 206                                 info_add_row(1, "GPS state", "wait (%d)",
 207                                              state.gps_waiting);
 208                         if (state.data.gps.locked)
 209                                 info_add_row(1, "GPS", "   locked");
 210                         else if (state.data.gps.connected)
 211                                 info_add_row(1, "GPS", " unlocked");
 212                         else
 213                                 info_add_row(1, "GPS", "  missing");
 214                         info_add_row(1, "Satellites", "%6d", state.data.gps.nsat);
 215                         info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
 216                         info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
 217                         info_add_row(1, "GPS altitude", "%6d", state.gps.alt);
 218                         info_add_row(1, "GPS height", "%6.0f", state.gps_height);
 219
 220                         /* The SkyTraq GPS doesn't report these values */
 221                         if (false) {
 222                                 info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°",
 223                                              state.gps.ground_speed,
 224                                              state.gps.course);
 225                                 info_add_row(1, "GPS climb rate", "%8.1f m/s",
 226                                              state.gps.climb_rate);
 227                                 info_add_row(1, "GPS error", "%6d m(h)%3d m(v)",
 228                                              state.gps.h_error, state.gps.v_error);
 229                         }
 230                         info_add_row(1, "GPS hdop", "%8.1f", state.gps.hdop);
 231
 232                         if (state.npad > 0) {
 233                                 if (state.from_pad != null) {
 234                                         info_add_row(1, "Distance from pad", "%6d m",
 235                                                      (int) (state.from_pad.distance + 0.5));
 236                                         info_add_row(1, "Direction from pad", "%6d°",
 237                                                      (int) (state.from_pad.bearing + 0.5));
 238                                         info_add_row(1, "Elevation from pad", "%6d°",
 239                                                      (int) (state.elevation + 0.5));
 240                                         info_add_row(1, "Range from pad", "%6d m",
 241                                                      (int) (state.range + 0.5));
 242                                 } else {
 243                                         info_add_row(1, "Distance from pad", "unknown");
 244                                         info_add_row(1, "Direction from pad", "unknown");
 245                                         info_add_row(1, "Elevation from pad", "unknown");
 246                                         info_add_row(1, "Range from pad", "unknown");
 247                                 }
 248                                 info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
 249                                 info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
 250                                 info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt);
 251                         }
 252                         info_add_row(1, "GPS date", "%04d-%02d-%02d",
 253                                        state.gps.year,
 254                                        state.gps.month,
 255                                        state.gps.day);
 256                         info_add_row(1, "GPS time", "  %02d:%02d:%02d",
 257                                        state.gps.hour,
 258                                        state.gps.minute,
 259                                        state.gps.second);
 260                         int     nsat_vis = 0;
 261                         int     c;
 262
 263                         if (state.gps.cc_gps_sat == null)
 264                                 info_add_row(2, "Satellites Visible", "%4d", 0);
 265                         else {
 266                                 info_add_row(2, "Satellites Visible", "%4d", state.gps.cc_gps_sat.length);
 267                                 for (c = 0; c < state.gps.cc_gps_sat.length; c++) {
 268                                         info_add_row(2, "Satellite id,C/N0",
 269                                                      "%4d, %4d",
 270                                                      state.gps.cc_gps_sat[c].svid,
 271                                                      state.gps.cc_gps_sat[c].c_n0);
 272                                 }
 273                         }
 274                 }
 275                 info_finish();
 276         }
 277
 278         class IdleThread extends Thread {
 279
 280                 boolean started;
 281                 private AltosState state;
 282                 int     reported_landing;
 283
 284                 public synchronized void report(boolean last) {
 285                         if (state == null)
 286                                 return;
 287
 288                         /* reset the landing count once we hear about a new flight */
 289                         if (state.state < Altos.ao_flight_drogue)
 290                                 reported_landing = 0;
 291
 292                         /* Shut up once the rocket is on the ground */
 293                         if (reported_landing > 2) {
 294                                 return;
 295                         }
 296
 297                         /* If the rocket isn't on the pad, then report height */
 298                         if (Altos.ao_flight_drogue <= state.state &&
 299                             state.state < Altos.ao_flight_landed &&
 300                             state.range >= 0)
 301                         {
 302                                 voice.speak("Height %d, bearing %d, elevation %d, range %d.\n",
 303                                             (int) (state.height + 0.5),
 304                                             (int) (state.from_pad.bearing + 0.5),
 305                                             (int) (state.elevation + 0.5),
 306                                             (int) (state.range + 0.5));
 307                         } else if (state.state > Altos.ao_flight_pad) {
 308                                 voice.speak("%d meters", (int) (state.height + 0.5));
 309                         } else {
 310                                 reported_landing = 0;
 311                         }
 312
 313                         /* If the rocket is coming down, check to see if it has landed;
 314                          * either we've got a landed report or we haven't heard from it in
 315                          * a long time
 316                          */
 317                         if (state.state >= Altos.ao_flight_drogue &&
 318                             (last ||
 319                              System.currentTimeMillis() - state.report_time >= 15000 ||
 320                              state.state == Altos.ao_flight_landed))
 321                         {
 322                                 if (Math.abs(state.baro_speed) < 20 && state.height < 100)
 323                                         voice.speak("rocket landed safely");
 324                                 else
 325                                         voice.speak("rocket may have crashed");
 326                                 if (state.from_pad != null)
 327                                         voice.speak("Bearing %d degrees, range %d meters.",
 328                                                     (int) (state.from_pad.bearing + 0.5),
 329                                                     (int) (state.from_pad.distance + 0.5));
 330                                 ++reported_landing;
 331                         }
 332                 }
 333
 334                 public void run () {
 335
 336                         reported_landing = 0;
 337                         state = null;
 338                         try {
 339                                 for (;;) {
 340                                         Thread.sleep(20000);
 341                                         report(false);
 342                                 }
 343                         } catch (InterruptedException ie) {
 344                         }
 345                 }
 346
 347                 public void notice(AltosState new_state) {
 348                         AltosState old_state = state;
 349                         state = new_state;
 350                         if (!started && state.state > Altos.ao_flight_pad) {
 351                                 started = true;
 352                                 start();
 353                         }
 354                         if (old_state != null && old_state.state != state.state)
 355                                 report(false);
 356                 }
 357         }
 358
 359         private void tell(AltosState state, AltosState old_state) {
 360                 if (old_state == null || old_state.state != state.state) {
 361                         voice.speak(state.data.state());
 362                         if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
 363                             state.state > Altos.ao_flight_boost) {
 364                                 voice.speak("max speed: %d meters per second.",
 365                                             (int) (state.max_speed + 0.5));
 366                         } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
 367                                    state.state >= Altos.ao_flight_drogue) {
 368                                 voice.speak("max height: %d meters.",
 369                                             (int) (state.max_height + 0.5));
 370                         }
 371                 }
 372                 if (old_state == null || old_state.gps_ready != state.gps_ready) {
 373                         if (state.gps_ready)
 374                                 voice.speak("GPS ready");
 375                         else if (old_state != null)
 376                                 voice.speak("GPS lost");
 377                 }
 378                 old_state = state;
 379         }
 380
 381         class DisplayThread extends Thread {
 382                 IdleThread      idle_thread;
 383
 384                 String          name;
 385
 386                 int             crc_errors;
 387
 388                 void init() { }
 389
 390                 AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException { return null; }
 391
 392                 void close(boolean interrupted) { }
 393
 394                 void update(AltosState state) throws InterruptedException { }
 395
 396                 public void run() {
 397                         boolean         interrupted = false;
 398                         String          line;
 399                         AltosState      state = null;
 400                         AltosState      old_state = null;
 401
 402                         idle_thread = new IdleThread();
 403
 404                         info_reset();
 405                         info_finish();
 406                         try {
 407                                 for (;;) {
 408                                         try {
 409                                                 AltosRecord record = read();
 410                                                 if (record == null)
 411                                                         break;
 412                                                 old_state = state;
 413                                                 state = new AltosState(record, state);
 414                                                 update(state);
 415                                                 show(state, crc_errors);
 416                                                 tell(state, old_state);
 417                                                 idle_thread.notice(state);
 418                                         } catch (ParseException pp) {
 419                                                 System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
 420                                         } catch (AltosCRCException ce) {
 421                                                 ++crc_errors;
 422                                                 show(state, crc_errors);
 423                                         }
 424                                 }
 425                         } catch (InterruptedException ee) {
 426                                 interrupted = true;
 427                         } catch (IOException ie) {
 428                                 JOptionPane.showMessageDialog(AltosUI.this,
 429                                                               String.format("Error reading from \"%s\"", name),
 430                                                               "Telemetry Read Error",
 431                                                               JOptionPane.ERROR_MESSAGE);
 432                         } finally {
 433                                 close(interrupted);
 434                                 idle_thread.interrupt();
 435                                 try {
 436                                         idle_thread.join();
 437                                 } catch (InterruptedException ie) {}
 438                         }
 439                 }
 440
 441                 public void report() {
 442                         if (idle_thread != null)
 443                                 idle_thread.report(true);
 444                 }
 445         }
 446
 447         class DeviceThread extends DisplayThread {
 448                 AltosSerial     serial;
 449                 LinkedBlockingQueue<AltosLine> telem;
 450
 451                 AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
 452                         AltosLine l = telem.take();
 453                         if (l.line == null)
 454                                 throw new IOException("IO error");
 455                         return new AltosTelemetry(l.line);
 456                 }
 457
 458                 void close(boolean interrupted) {
 459                         serial.close();
 460                         serial.remove_monitor(telem);
 461                 }
 462
 463                 public DeviceThread(AltosSerial s, String in_name) {
 464                         serial = s;
 465                         telem = new LinkedBlockingQueue<AltosLine>();
 466                         serial.add_monitor(telem);
 467                         name = in_name;
 468                 }
 469         }
 470
 471         private void ConnectToDevice() {
 472                 AltosDevice     device = AltosDeviceDialog.show(AltosUI.this, AltosDevice.BaseStation);
 473
 474                 if (device != null) {
 475                         try {
 476                                 stop_display();
 477                                 serial_line.open(device);
 478                                 DeviceThread thread = new DeviceThread(serial_line, device.getPath());
 479                                 serial_line.set_channel(AltosPreferences.channel());
 480                                 serial_line.set_callsign(AltosPreferences.callsign());
 481                                 run_display(thread);
 482                         } catch (FileNotFoundException ee) {
 483                                 JOptionPane.showMessageDialog(AltosUI.this,
 484                                                               String.format("Cannot open device \"%s\"",
 485                                                                             device.getPath()),
 486                                                               "Cannot open target device",
 487                                                               JOptionPane.ERROR_MESSAGE);
 488                         } catch (IOException ee) {
 489                                 JOptionPane.showMessageDialog(AltosUI.this,
 490                                                               device.getPath(),
 491                                                               "Unkonwn I/O error",
 492                                                               JOptionPane.ERROR_MESSAGE);
 493                         }
 494                 }
 495         }
 496
 497         void DisconnectFromDevice () {
 498                 stop_display();
 499         }
 500
 501         void ConfigureCallsign() {
 502                 String  result;
 503                 result = JOptionPane.showInputDialog(AltosUI.this,
 504                                                      "Configure Callsign",
 505                                                      AltosPreferences.callsign());
 506                 if (result != null) {
 507                         AltosPreferences.set_callsign(result);
 508                         if (serial_line != null)
 509                                 serial_line.set_callsign(result);
 510                 }
 511         }
 512
 513         void ConfigureTeleMetrum() {
 514                 new AltosConfig(AltosUI.this);
 515         }
 516
 517         void FlashImage() {
 518                 new AltosFlashUI(AltosUI.this);
 519         }
 520
 521         /*
 522          * Open an existing telemetry file and replay it in realtime
 523          */
 524
 525         class ReplayThread extends DisplayThread {
 526                 AltosReader     reader;
 527                 String          name;
 528
 529                 public AltosRecord read() {
 530                         try {
 531                                 return reader.read();
 532                         } catch (IOException ie) {
 533                                 JOptionPane.showMessageDialog(AltosUI.this,
 534                                                               name,
 535                                                               "error reading",
 536                                                               JOptionPane.ERROR_MESSAGE);
 537                         } catch (ParseException pe) {
 538                         }
 539                         return null;
 540                 }
 541
 542                 public void close (boolean interrupted) {
 543                         if (!interrupted)
 544                                 report();
 545                 }
 546
 547                 public ReplayThread(AltosReader in_reader, String in_name) {
 548                         reader = in_reader;
 549                 }
 550                 void update(AltosState state) throws InterruptedException {
 551                         /* Make it run in realtime after the rocket leaves the pad */
 552                         if (state.state > Altos.ao_flight_pad)
 553                                 Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
 554                 }
 555         }
 556
 557         class ReplayTelemetryThread extends ReplayThread {
 558                 ReplayTelemetryThread(FileInputStream in, String in_name) {
 559                         super(new AltosTelemetryReader(in), in_name);
 560                 }
 561
 562         }
 563
 564         class ReplayEepromThread extends ReplayThread {
 565                 ReplayEepromThread(FileInputStream in, String in_name) {
 566                         super(new AltosEepromReader(in), in_name);
 567                 }
 568         }
 569
 570         Thread          display_thread;
 571
 572         private void stop_display() {
 573                 if (display_thread != null && display_thread.isAlive()) {
 574                         display_thread.interrupt();
 575                         try {
 576                                 display_thread.join();
 577                         } catch (InterruptedException ie) {}
 578                 }
 579                 display_thread = null;
 580         }
 581
 582         private void run_display(Thread thread) {
 583                 stop_display();
 584                 display_thread = thread;
 585                 display_thread.start();
 586         }
 587
 588         /*
 589          * Replay a flight from telemetry data
 590          */
 591         private void Replay() {
 592                 AltosLogfileChooser chooser = new AltosLogfileChooser(
 593                         AltosUI.this);
 594                 AltosReader reader = chooser.runDialog();
 595                 if (reader != null)
 596                         run_display(new ReplayThread(reader,
 597                                                      chooser.filename()));
 598         }
 599
 600         /* Connect to TeleMetrum, either directly or through
 601          * a TeleDongle over the packet link
 602          */
 603         private void SaveFlightData() {
 604                 new AltosEepromDownload(AltosUI.this);
 605         }
 606
 607         /* Load a flight log file and write out a CSV file containing
 608          * all of the data in standard units
 609          */
 610
 611         private void ExportData() {
 612                 new AltosCSVUI(AltosUI.this);
 613         }
 614
 615         /* Create the AltosUI menus
 616          */
 617         private void createMenu() {
 618                 JMenuBar menubar = new JMenuBar();
 619                 JMenu menu;
 620                 JMenuItem item;
 621                 JRadioButtonMenuItem radioitem;
 622
 623                 // File menu
 624                 {
 625                         menu = new JMenu("File");
 626                         menu.setMnemonic(KeyEvent.VK_F);
 627                         menubar.add(menu);
 628
 629                         item = new JMenuItem("Replay File",KeyEvent.VK_R);
 630                         item.addActionListener(new ActionListener() {
 631                                         public void actionPerformed(ActionEvent e) {
 632                                                 Replay();
 633                                         }
 634                                 });
 635                         menu.add(item);
 636
 637                         item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
 638                         item.addActionListener(new ActionListener() {
 639                                         public void actionPerformed(ActionEvent e) {
 640                                                 SaveFlightData();
 641                                         }
 642                                 });
 643                         menu.add(item);
 644
 645                         item = new JMenuItem("Flash Image",KeyEvent.VK_F);
 646                         item.addActionListener(new ActionListener() {
 647                                         public void actionPerformed(ActionEvent e) {
 648                                                 FlashImage();
 649                                         }
 650                                 });
 651                         menu.add(item);
 652
 653                         item = new JMenuItem("Export Data",KeyEvent.VK_F);
 654                         item.addActionListener(new ActionListener() {
 655                                         public void actionPerformed(ActionEvent e) {
 656                                                 ExportData();
 657                                         }
 658                                 });
 659                         menu.add(item);
 660
 661                         item = new JMenuItem("Quit",KeyEvent.VK_Q);
 662                         item.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_Q,
 663                                                                    ActionEvent.CTRL_MASK));
 664                         item.addActionListener(new ActionListener() {
 665                                         public void actionPerformed(ActionEvent e) {
 666                                                 System.exit(0);
 667                                         }
 668                                 });
 669                         menu.add(item);
 670                 }
 671
 672                 // Device menu
 673                 {
 674                         menu = new JMenu("Device");
 675                         menu.setMnemonic(KeyEvent.VK_D);
 676                         menubar.add(menu);
 677
 678                         item = new JMenuItem("Connect to Device",KeyEvent.VK_C);
 679                         item.addActionListener(new ActionListener() {
 680                                         public void actionPerformed(ActionEvent e) {
 681                                                 ConnectToDevice();
 682                                         }
 683                                 });
 684                         menu.add(item);
 685
 686                         item = new JMenuItem("Disconnect from Device",KeyEvent.VK_D);
 687                         item.addActionListener(new ActionListener() {
 688                                         public void actionPerformed(ActionEvent e) {
 689                                                 DisconnectFromDevice();
 690                                         }
 691                                 });
 692                         menu.add(item);
 693
 694                         menu.addSeparator();
 695
 696                         item = new JMenuItem("Set Callsign",KeyEvent.VK_S);
 697                         item.addActionListener(new ActionListener() {
 698                                         public void actionPerformed(ActionEvent e) {
 699                                                 ConfigureCallsign();
 700                                         }
 701                                 });
 702
 703                         menu.add(item);
 704
 705                         item = new JMenuItem("Configure TeleMetrum device",KeyEvent.VK_T);
 706                         item.addActionListener(new ActionListener() {
 707                                         public void actionPerformed(ActionEvent e) {
 708                                                 ConfigureTeleMetrum();
 709                                         }
 710                                 });
 711
 712                         menu.add(item);
 713                 }
 714                 // Log menu
 715                 {
 716                         menu = new JMenu("Log");
 717                         menu.setMnemonic(KeyEvent.VK_L);
 718                         menubar.add(menu);
 719
 720                         item = new JMenuItem("New Log",KeyEvent.VK_N);
 721                         item.addActionListener(new ActionListener() {
 722                                         public void actionPerformed(ActionEvent e) {
 723                                         }
 724                                 });
 725                         menu.add(item);
 726
 727                         item = new JMenuItem("Configure Log",KeyEvent.VK_C);
 728                         item.addActionListener(new ActionListener() {
 729                                         public void actionPerformed(ActionEvent e) {
 730                                                 AltosPreferences.ConfigureLog();
 731                                         }
 732                                 });
 733                         menu.add(item);
 734                 }
 735                 // Voice menu
 736                 {
 737                         menu = new JMenu("Voice", true);
 738                         menu.setMnemonic(KeyEvent.VK_V);
 739                         menubar.add(menu);
 740
 741                         radioitem = new JRadioButtonMenuItem("Enable Voice", AltosPreferences.voice());
 742                         radioitem.addActionListener(new ActionListener() {
 743                                         public void actionPerformed(ActionEvent e) {
 744                                                 JRadioButtonMenuItem item = (JRadioButtonMenuItem) e.getSource();
 745                                                 boolean enabled = item.isSelected();
 746                                                 AltosPreferences.set_voice(enabled);
 747                                                 if (enabled)
 748                                                         voice.speak_always("Enable voice.");
 749                                                 else
 750                                                         voice.speak_always("Disable voice.");
 751                                         }
 752                                 });
 753                         menu.add(radioitem);
 754                         item = new JMenuItem("Test Voice",KeyEvent.VK_T);
 755                         item.addActionListener(new ActionListener() {
 756                                         public void actionPerformed(ActionEvent e) {
 757                                                 voice.speak("That's one small step for man; one giant leap for mankind.");
 758                                         }
 759                                 });
 760                         menu.add(item);
 761                 }
 762
 763                 // Channel menu
 764                 {
 765                         menu = new AltosChannelMenu(AltosPreferences.channel());
 766                         menu.addActionListener(new ActionListener() {
 767                                                 public void actionPerformed(ActionEvent e) {
 768                                                         int new_channel = Integer.parseInt(e.getActionCommand());
 769                                                         AltosPreferences.set_channel(new_channel);
 770                                                         serial_line.set_channel(new_channel);
 771                                                 }
 772                                 });
 773                         menu.setMnemonic(KeyEvent.VK_C);
 774                         menubar.add(menu);
 775                 }
 776
 777                 this.setJMenuBar(menubar);
 778
 779         }
 780
 781         static String replace_extension(String input, String extension) {
 782                 int dot = input.lastIndexOf(".");
 783                 if (dot > 0)
 784                         input = input.substring(0,dot);
 785                 return input.concat(extension);
 786         }
 787
 788         static AltosReader open_logfile(String filename) {
 789                 File file = new File (filename);
 790                 try {
 791                         FileInputStream in;
 792
 793                         in = new FileInputStream(file);
 794                         if (filename.endsWith("eeprom"))
 795                                 return new AltosEepromReader(in);
 796                         else
 797                                 return new AltosTelemetryReader(in);
 798                 } catch (FileNotFoundException fe) {
 799                         System.out.printf("Cannot open '%s'\n", filename);
 800                         return null;
 801                 }
 802         }
 803
 804         static AltosCSV open_csv(String filename) {
 805                 File file = new File (filename);
 806                 try {
 807                         return new AltosCSV(file);
 808                 } catch (FileNotFoundException fe) {
 809                         System.out.printf("Cannot open '%s'\n", filename);
 810                         return null;
 811                 }
 812         }
 813
 814         static void process_file(String input) {
 815                 String output = replace_extension(input,".csv");
 816                 if (input.equals(output)) {
 817                         System.out.printf("Not processing '%s'\n", input);
 818                         return;
 819                 }
 820                 System.out.printf("Processing \"%s\" to \"%s\"\n", input, output);
 821                 AltosReader reader = open_logfile(input);
 822                 if (reader == null)
 823                         return;
 824                 AltosCSV writer = open_csv(output);
 825                 if (writer == null)
 826                         return;
 827                 writer.write(reader);
 828                 reader.close();
 829                 writer.close();
 830         }
 831
 832         public static void main(final String[] args) {
 833
 834                 /* Handle batch-mode */
 835                 if (args.length > 0) {
 836                         for (int i = 0; i < args.length; i++)
 837                                 process_file(args[i]);
 838                 } else {
 839                         AltosUI altosui = new AltosUI();
 840                         altosui.setVisible(true);
 841                 }
 842         }
 843 }