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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.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                 private AltosState state;
 281                 int     reported_landing;
 282
 283                 public synchronized void report(boolean last) {
 284                         if (state == null)
 285                                 return;
 286
 287                         /* reset the landing count once we hear about a new flight */
 288                         if (state.state < Altos.ao_flight_drogue)
 289                                 reported_landing = 0;
 290
 291                         /* Shut up once the rocket is on the ground */
 292                         if (reported_landing > 2) {
 293                                 return;
 294                         }
 295
 296                         /* If the rocket isn't on the pad, then report height */
 297                         if (Altos.ao_flight_drogue <= state.state &&
 298                             state.state < Altos.ao_flight_landed &&
 299                             state.range >= 0)
 300                         {
 301                                 voice.speak("Height %d, bearing %d, elevation %d, range %d.\n",
 302                                             (int) (state.height + 0.5),
 303                                             (int) (state.from_pad.bearing + 0.5),
 304                                             (int) (state.elevation + 0.5),
 305                                             (int) (state.range + 0.5));
 306                         } else if (state.state > Altos.ao_flight_pad) {
 307                                 voice.speak("%d meters", (int) (state.height + 0.5));
 308                         } else {
 309                                 reported_landing = 0;
 310                         }
 311
 312                         /* If the rocket is coming down, check to see if it has landed;
 313                          * either we've got a landed report or we haven't heard from it in
 314                          * a long time
 315                          */
 316                         if (state.state >= Altos.ao_flight_drogue &&
 317                             (last ||
 318                              System.currentTimeMillis() - state.report_time >= 15000 ||
 319                              state.state == Altos.ao_flight_landed))
 320                         {
 321                                 if (Math.abs(state.baro_speed) < 20 && state.height < 100)
 322                                         voice.speak("rocket landed safely");
 323                                 else
 324                                         voice.speak("rocket may have crashed");
 325                                 if (state.from_pad != null)
 326                                         voice.speak("Bearing %d degrees, range %d meters.",
 327                                                     (int) (state.from_pad.bearing + 0.5),
 328                                                     (int) (state.from_pad.distance + 0.5));
 329                                 ++reported_landing;
 330                         }
 331                 }
 332
 333                 public void run () {
 334
 335                         reported_landing = 0;
 336                         state = null;
 337                         try {
 338                                 for (;;) {
 339                                         Thread.sleep(20000);
 340                                         report(false);
 341                                 }
 342                         } catch (InterruptedException ie) {
 343                         }
 344                 }
 345
 346                 public void notice(AltosState new_state) {
 347                         AltosState old_state = state;
 348                         state = new_state;
 349                         if (old_state != null && old_state.state != state.state)
 350                                 report(false);
 351                 }
 352         }
 353
 354         private void tell(AltosState state, AltosState old_state) {
 355                 if (old_state == null || old_state.state != state.state) {
 356                         voice.speak(state.data.state());
 357                         if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
 358                             state.state > Altos.ao_flight_boost) {
 359                                 voice.speak("max speed: %d meters per second.",
 360                                             (int) (state.max_speed + 0.5));
 361                         } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
 362                                    state.state >= Altos.ao_flight_drogue) {
 363                                 voice.speak("max height: %d meters.",
 364                                             (int) (state.max_height + 0.5));
 365                         }
 366                 }
 367                 if (old_state == null || old_state.gps_ready != state.gps_ready) {
 368                         if (state.gps_ready)
 369                                 voice.speak("GPS ready");
 370                         else if (old_state != null)
 371                                 voice.speak("GPS lost");
 372                 }
 373                 old_state = state;
 374         }
 375
 376         class DisplayThread extends Thread {
 377                 IdleThread      idle_thread;
 378
 379                 String          name;
 380
 381                 int             crc_errors;
 382
 383                 void init() { }
 384
 385                 AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException { return null; }
 386
 387                 void close(boolean interrupted) { }
 388
 389                 void update(AltosState state) throws InterruptedException { }
 390
 391                 public void run() {
 392                         boolean         interrupted = false;
 393                         String          line;
 394                         AltosState      state = null;
 395                         AltosState      old_state = null;
 396
 397                         idle_thread = new IdleThread();
 398
 399                         info_reset();
 400                         info_finish();
 401                         idle_thread.start();
 402                         try {
 403                                 for (;;) {
 404                                         try {
 405                                                 AltosRecord record = read();
 406                                                 if (record == null)
 407                                                         break;
 408                                                 old_state = state;
 409                                                 state = new AltosState(record, state);
 410                                                 update(state);
 411                                                 show(state, crc_errors);
 412                                                 tell(state, old_state);
 413                                                 idle_thread.notice(state);
 414                                         } catch (ParseException pp) {
 415                                                 System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
 416                                         } catch (AltosCRCException ce) {
 417                                                 ++crc_errors;
 418                                                 show(state, crc_errors);
 419                                         }
 420                                 }
 421                         } catch (InterruptedException ee) {
 422                                 interrupted = true;
 423                         } catch (IOException ie) {
 424                                 JOptionPane.showMessageDialog(AltosUI.this,
 425                                                               String.format("Error reading from \"%s\"", name),
 426                                                               "Telemetry Read Error",
 427                                                               JOptionPane.ERROR_MESSAGE);
 428                         } finally {
 429                                 close(interrupted);
 430                                 idle_thread.interrupt();
 431                                 try {
 432                                         idle_thread.join();
 433                                 } catch (InterruptedException ie) {}
 434                         }
 435                 }
 436
 437                 public void report() {
 438                         if (idle_thread != null)
 439                                 idle_thread.report(true);
 440                 }
 441         }
 442
 443         class DeviceThread extends DisplayThread {
 444                 AltosSerial     serial;
 445                 LinkedBlockingQueue<AltosLine> telem;
 446
 447                 AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
 448                         AltosLine l = telem.take();
 449                         if (l.line == null)
 450                                 throw new IOException("IO error");
 451                         return new AltosTelemetry(l.line);
 452                 }
 453
 454                 void close(boolean interrupted) {
 455                         serial.close();
 456                         serial.remove_monitor(telem);
 457                 }
 458
 459                 public DeviceThread(AltosSerial s, String in_name) {
 460                         serial = s;
 461                         telem = new LinkedBlockingQueue<AltosLine>();
 462                         serial.add_monitor(telem);
 463                         name = in_name;
 464                 }
 465         }
 466
 467         private void ConnectToDevice() {
 468                 AltosDevice     device = AltosDeviceDialog.show(AltosUI.this, AltosDevice.BaseStation);
 469
 470                 if (device != null) {
 471                         try {
 472                                 stop_display();
 473                                 serial_line.open(device);
 474                                 DeviceThread thread = new DeviceThread(serial_line, device.getPath());
 475                                 serial_line.set_channel(AltosPreferences.channel());
 476                                 serial_line.set_callsign(AltosPreferences.callsign());
 477                                 run_display(thread);
 478                         } catch (FileNotFoundException ee) {
 479                                 JOptionPane.showMessageDialog(AltosUI.this,
 480                                                               String.format("Cannot open device \"%s\"",
 481                                                                             device.getPath()),
 482                                                               "Cannot open target device",
 483                                                               JOptionPane.ERROR_MESSAGE);
 484                         } catch (IOException ee) {
 485                                 JOptionPane.showMessageDialog(AltosUI.this,
 486                                                               device.getPath(),
 487                                                               "Unkonwn I/O error",
 488                                                               JOptionPane.ERROR_MESSAGE);
 489                         }
 490                 }
 491         }
 492
 493         void DisconnectFromDevice () {
 494                 stop_display();
 495         }
 496
 497         void ConfigureCallsign() {
 498                 String  result;
 499                 result = JOptionPane.showInputDialog(AltosUI.this,
 500                                                      "Configure Callsign",
 501                                                      AltosPreferences.callsign());
 502                 if (result != null) {
 503                         AltosPreferences.set_callsign(result);
 504                         if (serial_line != null)
 505                                 serial_line.set_callsign(result);
 506                 }
 507         }
 508
 509         void ConfigureTeleMetrum() {
 510                 new AltosConfig(AltosUI.this);
 511         }
 512
 513         void FlashImage() {
 514                 new AltosFlashUI(AltosUI.this);
 515         }
 516
 517         /*
 518          * Open an existing telemetry file and replay it in realtime
 519          */
 520
 521         class ReplayThread extends DisplayThread {
 522                 AltosReader     reader;
 523                 String          name;
 524
 525                 public AltosRecord read() {
 526                         try {
 527                                 return reader.read();
 528                         } catch (IOException ie) {
 529                                 JOptionPane.showMessageDialog(AltosUI.this,
 530                                                               name,
 531                                                               "error reading",
 532                                                               JOptionPane.ERROR_MESSAGE);
 533                         } catch (ParseException pe) {
 534                         }
 535                         return null;
 536                 }
 537
 538                 public void close (boolean interrupted) {
 539                         if (!interrupted)
 540                                 report();
 541                 }
 542
 543                 public ReplayThread(AltosReader in_reader, String in_name) {
 544                         reader = in_reader;
 545                 }
 546                 void update(AltosState state) throws InterruptedException {
 547                         /* Make it run in realtime after the rocket leaves the pad */
 548                         if (state.state > Altos.ao_flight_pad)
 549                                 Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
 550                 }
 551         }
 552
 553         class ReplayTelemetryThread extends ReplayThread {
 554                 ReplayTelemetryThread(FileInputStream in, String in_name) {
 555                         super(new AltosTelemetryReader(in), in_name);
 556                 }
 557
 558         }
 559
 560         class ReplayEepromThread extends ReplayThread {
 561                 ReplayEepromThread(FileInputStream in, String in_name) {
 562                         super(new AltosEepromReader(in), in_name);
 563                 }
 564         }
 565
 566         Thread          display_thread;
 567
 568         private void stop_display() {
 569                 if (display_thread != null && display_thread.isAlive()) {
 570                         display_thread.interrupt();
 571                         try {
 572                                 display_thread.join();
 573                         } catch (InterruptedException ie) {}
 574                 }
 575                 display_thread = null;
 576         }
 577
 578         private void run_display(Thread thread) {
 579                 stop_display();
 580                 display_thread = thread;
 581                 display_thread.start();
 582         }
 583
 584         /*
 585          * Replay a flight from telemetry data
 586          */
 587         private void Replay() {
 588                 AltosLogfileChooser chooser = new AltosLogfileChooser(
 589                         AltosUI.this);
 590                 AltosReader reader = chooser.runDialog();
 591                 if (reader != null)
 592                         run_display(new ReplayThread(reader,
 593                                                      chooser.filename()));
 594         }
 595
 596         /* Connect to TeleMetrum, either directly or through
 597          * a TeleDongle over the packet link
 598          */
 599         private void SaveFlightData() {
 600                 new AltosEepromDownload(AltosUI.this);
 601         }
 602
 603         /* Load a flight log file and write out a CSV file containing
 604          * all of the data in standard units
 605          */
 606
 607         private void ExportData() {
 608                 new AltosCSVUI(AltosUI.this);
 609         }
 610
 611         /* Create the AltosUI menus
 612          */
 613         private void createMenu() {
 614                 JMenuBar menubar = new JMenuBar();
 615                 JMenu menu;
 616                 JMenuItem item;
 617                 JRadioButtonMenuItem radioitem;
 618
 619                 // File menu
 620                 {
 621                         menu = new JMenu("File");
 622                         menu.setMnemonic(KeyEvent.VK_F);
 623                         menubar.add(menu);
 624
 625                         item = new JMenuItem("Replay File",KeyEvent.VK_R);
 626                         item.addActionListener(new ActionListener() {
 627                                         public void actionPerformed(ActionEvent e) {
 628                                                 Replay();
 629                                         }
 630                                 });
 631                         menu.add(item);
 632
 633                         item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
 634                         item.addActionListener(new ActionListener() {
 635                                         public void actionPerformed(ActionEvent e) {
 636                                                 SaveFlightData();
 637                                         }
 638                                 });
 639                         menu.add(item);
 640
 641                         item = new JMenuItem("Flash Image",KeyEvent.VK_F);
 642                         item.addActionListener(new ActionListener() {
 643                                         public void actionPerformed(ActionEvent e) {
 644                                                 FlashImage();
 645                                         }
 646                                 });
 647                         menu.add(item);
 648
 649                         item = new JMenuItem("Export Data",KeyEvent.VK_F);
 650                         item.addActionListener(new ActionListener() {
 651                                         public void actionPerformed(ActionEvent e) {
 652                                                 ExportData();
 653                                         }
 654                                 });
 655                         menu.add(item);
 656
 657                         item = new JMenuItem("Quit",KeyEvent.VK_Q);
 658                         item.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_Q,
 659                                                                    ActionEvent.CTRL_MASK));
 660                         item.addActionListener(new ActionListener() {
 661                                         public void actionPerformed(ActionEvent e) {
 662                                                 System.exit(0);
 663                                         }
 664                                 });
 665                         menu.add(item);
 666                 }
 667
 668                 // Device menu
 669                 {
 670                         menu = new JMenu("Device");
 671                         menu.setMnemonic(KeyEvent.VK_D);
 672                         menubar.add(menu);
 673
 674                         item = new JMenuItem("Connect to Device",KeyEvent.VK_C);
 675                         item.addActionListener(new ActionListener() {
 676                                         public void actionPerformed(ActionEvent e) {
 677                                                 ConnectToDevice();
 678                                         }
 679                                 });
 680                         menu.add(item);
 681
 682                         item = new JMenuItem("Disconnect from Device",KeyEvent.VK_D);
 683                         item.addActionListener(new ActionListener() {
 684                                         public void actionPerformed(ActionEvent e) {
 685                                                 DisconnectFromDevice();
 686                                         }
 687                                 });
 688                         menu.add(item);
 689
 690                         menu.addSeparator();
 691
 692                         item = new JMenuItem("Set Callsign",KeyEvent.VK_S);
 693                         item.addActionListener(new ActionListener() {
 694                                         public void actionPerformed(ActionEvent e) {
 695                                                 ConfigureCallsign();
 696                                         }
 697                                 });
 698
 699                         menu.add(item);
 700
 701                         item = new JMenuItem("Configure TeleMetrum device",KeyEvent.VK_T);
 702                         item.addActionListener(new ActionListener() {
 703                                         public void actionPerformed(ActionEvent e) {
 704                                                 ConfigureTeleMetrum();
 705                                         }
 706                                 });
 707
 708                         menu.add(item);
 709                 }
 710                 // Log menu
 711                 {
 712                         menu = new JMenu("Log");
 713                         menu.setMnemonic(KeyEvent.VK_L);
 714                         menubar.add(menu);
 715
 716                         item = new JMenuItem("New Log",KeyEvent.VK_N);
 717                         item.addActionListener(new ActionListener() {
 718                                         public void actionPerformed(ActionEvent e) {
 719                                         }
 720                                 });
 721                         menu.add(item);
 722
 723                         item = new JMenuItem("Configure Log",KeyEvent.VK_C);
 724                         item.addActionListener(new ActionListener() {
 725                                         public void actionPerformed(ActionEvent e) {
 726                                                 AltosPreferences.ConfigureLog();
 727                                         }
 728                                 });
 729                         menu.add(item);
 730                 }
 731                 // Voice menu
 732                 {
 733                         menu = new JMenu("Voice", true);
 734                         menu.setMnemonic(KeyEvent.VK_V);
 735                         menubar.add(menu);
 736
 737                         radioitem = new JRadioButtonMenuItem("Enable Voice", AltosPreferences.voice());
 738                         radioitem.addActionListener(new ActionListener() {
 739                                         public void actionPerformed(ActionEvent e) {
 740                                                 JRadioButtonMenuItem item = (JRadioButtonMenuItem) e.getSource();
 741                                                 boolean enabled = item.isSelected();
 742                                                 AltosPreferences.set_voice(enabled);
 743                                                 if (enabled)
 744                                                         voice.speak_always("Enable voice.");
 745                                                 else
 746                                                         voice.speak_always("Disable voice.");
 747                                         }
 748                                 });
 749                         menu.add(radioitem);
 750                         item = new JMenuItem("Test Voice",KeyEvent.VK_T);
 751                         item.addActionListener(new ActionListener() {
 752                                         public void actionPerformed(ActionEvent e) {
 753                                                 voice.speak("That's one small step for man; one giant leap for mankind.");
 754                                         }
 755                                 });
 756                         menu.add(item);
 757                 }
 758
 759                 // Channel menu
 760                 {
 761                         menu = new AltosChannelMenu(AltosPreferences.channel());
 762                         menu.addActionListener(new ActionListener() {
 763                                                 public void actionPerformed(ActionEvent e) {
 764                                                         int new_channel = Integer.parseInt(e.getActionCommand());
 765                                                         AltosPreferences.set_channel(new_channel);
 766                                                         serial_line.set_channel(new_channel);
 767                                                 }
 768                                 });
 769                         menu.setMnemonic(KeyEvent.VK_C);
 770                         menubar.add(menu);
 771                 }
 772
 773                 this.setJMenuBar(menubar);
 774
 775         }
 776
 777         static String replace_extension(String input, String extension) {
 778                 int dot = input.lastIndexOf(".");
 779                 if (dot > 0)
 780                         input = input.substring(0,dot);
 781                 return input.concat(extension);
 782         }
 783
 784         static AltosReader open_logfile(String filename) {
 785                 File file = new File (filename);
 786                 try {
 787                         FileInputStream in;
 788
 789                         in = new FileInputStream(file);
 790                         if (filename.endsWith("eeprom"))
 791                                 return new AltosEepromReader(in);
 792                         else
 793                                 return new AltosTelemetryReader(in);
 794                 } catch (FileNotFoundException fe) {
 795                         System.out.printf("Cannot open '%s'\n", filename);
 796                         return null;
 797                 }
 798         }
 799
 800         static AltosCSV open_csv(String filename) {
 801                 File file = new File (filename);
 802                 try {
 803                         return new AltosCSV(file);
 804                 } catch (FileNotFoundException fe) {
 805                         System.out.printf("Cannot open '%s'\n", filename);
 806                         return null;
 807                 }
 808         }
 809
 810         static void process_file(String input) {
 811                 String output = replace_extension(input,".csv");
 812                 if (input.equals(output)) {
 813                         System.out.printf("Not processing '%s'\n", input);
 814                         return;
 815                 }
 816                 System.out.printf("Processing \"%s\" to \"%s\"\n", input, output);
 817                 AltosReader reader = open_logfile(input);
 818                 if (reader == null)
 819                         return;
 820                 AltosCSV writer = open_csv(output);
 821                 if (writer == null)
 822                         return;
 823                 writer.write(reader);
 824                 reader.close();
 825                 writer.close();
 826         }
 827
 828         public static void main(final String[] args) {
 829
 830                 /* Handle batch-mode */
 831                 if (args.length > 0) {
 832                         for (int i = 0; i < args.length; i++)
 833                                 process_file(args[i]);
 834                 } else {
 835                         AltosUI altosui = new AltosUI();
 836                         altosui.setVisible(true);
 837                 }
 838         }
 839 }