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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
  48 import libaltosJNI.*;
  49
  50 public class AltosUI extends JFrame {
  51         private int channel = -1;
  52
  53         private AltosFlightStatusTableModel flightStatusModel;
  54         private JTable flightStatus;
  55
  56         static final int info_columns = 3;
  57
  58         private AltosFlightInfoTableModel[] flightInfoModel;
  59         private JTable[] flightInfo;
  60         private AltosSerial serial_line;
  61         private AltosLog altos_log;
  62         private Box[] ibox;
  63         private Box vbox;
  64         private Box hbox;
  65
  66         private Font statusFont = new Font("SansSerif", Font.BOLD, 24);
  67         private Font infoLabelFont = new Font("SansSerif", Font.PLAIN, 14);
  68         private Font infoValueFont = new Font("Monospaced", Font.PLAIN, 14);
  69
  70         public AltosVoice voice = new AltosVoice();
  71
  72         public AltosUI() {
  73
  74                 String[] statusNames = { "Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
  75                 Object[][] statusData = { { "0", "pad", "-50", "0" } };
  76
  77                 AltosPreferences.init(this);
  78
  79                 vbox = Box.createVerticalBox();
  80                 this.add(vbox);
  81
  82                 flightStatusModel = new AltosFlightStatusTableModel();
  83                 flightStatus = new JTable(flightStatusModel);
  84                 flightStatus.setFont(statusFont);
  85                 TableColumnModel tcm = flightStatus.getColumnModel();
  86                 for (int i = 0; i < flightStatusModel.getColumnCount(); i++) {
  87                         DefaultTableCellRenderer       r = new DefaultTableCellRenderer();
  88                         r.setFont(statusFont);
  89                         r.setHorizontalAlignment(SwingConstants.CENTER);
  90                         tcm.getColumn(i).setCellRenderer(r);
  91                 }
  92
  93                 FontMetrics     statusMetrics = flightStatus.getFontMetrics(statusFont);
  94                 int statusHeight = (statusMetrics.getHeight() + statusMetrics.getLeading()) * 15 / 10;
  95                 flightStatus.setRowHeight(statusHeight);
  96                 flightStatus.setShowGrid(false);
  97
  98                 vbox.add(flightStatus);
  99
 100                 hbox = Box.createHorizontalBox();
 101                 vbox.add(hbox);
 102
 103                 flightInfo = new JTable[3];
 104                 flightInfoModel = new AltosFlightInfoTableModel[3];
 105                 ibox = new Box[3];
 106                 FontMetrics     infoValueMetrics = flightStatus.getFontMetrics(infoValueFont);
 107                 int infoHeight = (infoValueMetrics.getHeight() + infoValueMetrics.getLeading()) * 20 / 10;
 108
 109                 for (int i = 0; i < info_columns; i++) {
 110                         ibox[i] = Box.createVerticalBox();
 111                         flightInfoModel[i] = new AltosFlightInfoTableModel();
 112                         flightInfo[i] = new JTable(flightInfoModel[i]);
 113                         flightInfo[i].setFont(infoValueFont);
 114                         flightInfo[i].setRowHeight(infoHeight);
 115                         flightInfo[i].setShowGrid(true);
 116                         ibox[i].add(flightInfo[i].getTableHeader());
 117                         ibox[i].add(flightInfo[i]);
 118                         hbox.add(ibox[i]);
 119                 }
 120
 121                 setTitle("AltOS");
 122
 123                 createMenu();
 124
 125                 serial_line = new AltosSerial();
 126                 altos_log = new AltosLog(serial_line);
 127                 int dpi = Toolkit.getDefaultToolkit().getScreenResolution();
 128                 this.setSize(new Dimension (infoValueMetrics.charWidth('0') * 6 * 20,
 129                                             statusHeight * 4 + infoHeight * 17));
 130                 this.validate();
 131                 setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
 132                 addWindowListener(new WindowAdapter() {
 133                         @Override
 134                         public void windowClosing(WindowEvent e) {
 135                                 System.exit(0);
 136                         }
 137                 });
 138                 voice.speak("Rocket flight monitor ready.");
 139         }
 140
 141         public void info_reset() {
 142                 for (int i = 0; i < info_columns; i++)
 143                         flightInfoModel[i].resetRow();
 144         }
 145
 146         public void info_add_row(int col, String name, String value) {
 147                 flightInfoModel[col].addRow(name, value);
 148         }
 149
 150         public void info_add_row(int col, String name, String format, Object... parameters) {
 151                 flightInfoModel[col].addRow(name, String.format(format, parameters));
 152         }
 153
 154         public void info_add_deg(int col, String name, double v, int pos, int neg) {
 155                 int     c = pos;
 156                 if (v < 0) {
 157                         c = neg;
 158                         v = -v;
 159                 }
 160                 double  deg = Math.floor(v);
 161                 double  min = (v - deg) * 60;
 162
 163                 flightInfoModel[col].addRow(name, String.format("%3.0f°%08.5f'", deg, min));
 164         }
 165
 166         public void info_finish() {
 167                 for (int i = 0; i < info_columns; i++)
 168                         flightInfoModel[i].finish();
 169         }
 170
 171         public void show(AltosState state) {
 172                 flightStatusModel.set(state);
 173
 174                 info_reset();
 175                 if (state.gps_ready)
 176                         info_add_row(0, "Ground state", "%s", "ready");
 177                 else
 178                         info_add_row(0, "Ground state", "wait (%d)",
 179                                      state.gps_waiting);
 180                 info_add_row(0, "Rocket state", "%s", state.data.state());
 181                 info_add_row(0, "Callsign", "%s", state.data.callsign);
 182                 info_add_row(0, "Rocket serial", "%6d", state.data.serial);
 183                 info_add_row(0, "Rocket flight", "%6d", state.data.flight);
 184
 185                 info_add_row(0, "RSSI", "%6d    dBm", state.data.rssi);
 186                 info_add_row(0, "Height", "%6.0f    m", state.height);
 187                 info_add_row(0, "Max height", "%6.0f    m", state.max_height);
 188                 info_add_row(0, "Acceleration", "%8.1f  m/s²", state.acceleration);
 189                 info_add_row(0, "Max acceleration", "%8.1f  m/s²", state.max_acceleration);
 190                 info_add_row(0, "Speed", "%8.1f  m/s", state.ascent ? state.speed : state.baro_speed);
 191                 info_add_row(0, "Max Speed", "%8.1f  m/s", state.max_speed);
 192                 info_add_row(0, "Temperature", "%9.2f °C", state.temperature);
 193                 info_add_row(0, "Battery", "%9.2f V", state.battery);
 194                 info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense);
 195                 info_add_row(0, "Main", "%9.2f V", state.main_sense);
 196                 info_add_row(0, "Pad altitude", "%6.0f    m", state.ground_altitude);
 197                 if (state.gps == null) {
 198                         info_add_row(1, "GPS", "not available");
 199                 } else {
 200                         if (state.data.gps.locked)
 201                                 info_add_row(1, "GPS", "   locked");
 202                         else if (state.data.gps.connected)
 203                                 info_add_row(1, "GPS", " unlocked");
 204                         else
 205                                 info_add_row(1, "GPS", "  missing");
 206                         info_add_row(1, "Satellites", "%6d", state.data.gps.nsat);
 207                         info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
 208                         info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
 209                         info_add_row(1, "GPS altitude", "%6d", state.gps.alt);
 210                         info_add_row(1, "GPS height", "%6.0f", state.gps_height);
 211
 212                         /* The SkyTraq GPS doesn't report these values */
 213                         if (false) {
 214                                 info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°",
 215                                              state.gps.ground_speed,
 216                                              state.gps.course);
 217                                 info_add_row(1, "GPS climb rate", "%8.1f m/s",
 218                                              state.gps.climb_rate);
 219                                 info_add_row(1, "GPS error", "%6d m(h)%3d m(v)",
 220                                              state.gps.h_error, state.gps.v_error);
 221                         }
 222                         info_add_row(1, "GPS hdop", "%8.1f", state.gps.hdop);
 223
 224                         if (state.npad > 0) {
 225                                 if (state.from_pad != null) {
 226                                         info_add_row(1, "Distance from pad", "%6.0f m", state.from_pad.distance);
 227                                         info_add_row(1, "Direction from pad", "%6.0f°", state.from_pad.bearing);
 228                                 } else {
 229                                         info_add_row(1, "Distance from pad", "unknown");
 230                                         info_add_row(1, "Direction from pad", "unknown");
 231                                 }
 232                                 info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
 233                                 info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
 234                                 info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt);
 235                         }
 236                         info_add_row(1, "GPS date", "%04d-%02d-%02d",
 237                                        state.gps.year,
 238                                        state.gps.month,
 239                                        state.gps.day);
 240                         info_add_row(1, "GPS time", "  %02d:%02d:%02d",
 241                                        state.gps.hour,
 242                                        state.gps.minute,
 243                                        state.gps.second);
 244                         int     nsat_vis = 0;
 245                         int     c;
 246
 247                         if (state.gps.cc_gps_sat == null)
 248                                 info_add_row(2, "Satellites Visible", "%4d", 0);
 249                         else {
 250                                 info_add_row(2, "Satellites Visible", "%4d", state.gps.cc_gps_sat.length);
 251                                 for (c = 0; c < state.gps.cc_gps_sat.length; c++) {
 252                                         info_add_row(2, "Satellite id,C/N0",
 253                                                      "%4d, %4d",
 254                                                      state.gps.cc_gps_sat[c].svid,
 255                                                      state.gps.cc_gps_sat[c].c_n0);
 256                                 }
 257                         }
 258                 }
 259                 info_finish();
 260         }
 261
 262         class IdleThread extends Thread {
 263
 264                 private AltosState state;
 265                 int     reported_landing;
 266
 267                 public void report(boolean last) {
 268                         if (state == null)
 269                                 return;
 270
 271                         /* reset the landing count once we hear about a new flight */
 272                         if (state.state < Altos.ao_flight_drogue)
 273                                 reported_landing = 0;
 274
 275                         /* Shut up once the rocket is on the ground */
 276                         if (reported_landing > 2) {
 277                                 return;
 278                         }
 279
 280                         /* If the rocket isn't on the pad, then report height */
 281                         if (state.state > Altos.ao_flight_pad) {
 282                                 voice.speak("%d meters", (int) (state.height + 0.5));
 283                         } else {
 284                                 reported_landing = 0;
 285                         }
 286
 287                         /* If the rocket is coming down, check to see if it has landed;
 288                          * either we've got a landed report or we haven't heard from it in
 289                          * a long time
 290                          */
 291                         if (!state.ascent &&
 292                             (last ||
 293                              System.currentTimeMillis() - state.report_time >= 15000 ||
 294                              state.state == Altos.ao_flight_landed))
 295                         {
 296                                 if (Math.abs(state.baro_speed) < 20 && state.height < 100)
 297                                         voice.speak("rocket landed safely");
 298                                 else
 299                                         voice.speak("rocket may have crashed");
 300                                 if (state.from_pad != null)
 301                                         voice.speak("bearing %d degrees, range %d meters",
 302                                                     (int) (state.from_pad.bearing + 0.5),
 303                                                     (int) (state.from_pad.distance + 0.5));
 304                                 ++reported_landing;
 305                         }
 306                 }
 307
 308                 public void run () {
 309
 310                         reported_landing = 0;
 311                         state = null;
 312                         try {
 313                                 for (;;) {
 314                                         Thread.sleep(10000);
 315                                         report(false);
 316                                 }
 317                         } catch (InterruptedException ie) {
 318                         }
 319                 }
 320
 321                 public void notice(AltosState new_state) {
 322                         state = new_state;
 323                 }
 324         }
 325
 326         private void tell(AltosState state, AltosState old_state) {
 327                 if (old_state == null || old_state.state != state.state) {
 328                         voice.speak(state.data.state());
 329                         if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
 330                             state.state > Altos.ao_flight_boost) {
 331                                 voice.speak("max speed: %d meters per second.",
 332                                             (int) (state.max_speed + 0.5));
 333                         } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
 334                                    state.state >= Altos.ao_flight_drogue) {
 335                                 voice.speak("max height: %d meters.",
 336                                             (int) (state.max_height + 0.5));
 337                         }
 338                 }
 339                 if (old_state == null || old_state.gps_ready != state.gps_ready) {
 340                         if (state.gps_ready)
 341                                 voice.speak("GPS ready");
 342                         else if (old_state != null)
 343                                 voice.speak("GPS lost");
 344                 }
 345                 old_state = state;
 346         }
 347
 348         class DisplayThread extends Thread {
 349                 IdleThread      idle_thread;
 350
 351                 String          name;
 352
 353                 AltosRecord read() throws InterruptedException, ParseException { return null; }
 354
 355                 void close() { }
 356
 357                 void update(AltosState state) throws InterruptedException { }
 358
 359                 public void run() {
 360                         String          line;
 361                         AltosState      state = null;
 362                         AltosState      old_state = null;
 363
 364                         idle_thread = new IdleThread();
 365
 366                         info_reset();
 367                         info_finish();
 368                         idle_thread.start();
 369                         try {
 370                                 for (;;) {
 371                                         try {
 372                                                 AltosRecord record = read();
 373                                                 if (record == null)
 374                                                         break;
 375                                                 old_state = state;
 376                                                 state = new AltosState(record, state);
 377                                                 update(state);
 378                                                 show(state);
 379                                                 tell(state, old_state);
 380                                                 idle_thread.notice(state);
 381                                         } catch (ParseException pp) {
 382                                                 System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
 383                                         }
 384                                 }
 385                         } catch (InterruptedException ee) {
 386                         } finally {
 387                                 close();
 388                                 idle_thread.interrupt();
 389                         }
 390                 }
 391
 392                 public void report() {
 393                         if (idle_thread != null)
 394                                 idle_thread.report(true);
 395                 }
 396         }
 397
 398         class DeviceThread extends DisplayThread {
 399                 AltosSerial     serial;
 400                 LinkedBlockingQueue<String> telem;
 401
 402                 AltosRecord read() throws InterruptedException, ParseException {
 403                         return new AltosTelemetry(telem.take());
 404                 }
 405
 406                 void close() {
 407                         serial.close();
 408                         serial.remove_monitor(telem);
 409                 }
 410
 411                 public DeviceThread(AltosSerial s) {
 412                         serial = s;
 413                         telem = new LinkedBlockingQueue<String>();
 414                         serial.add_monitor(telem);
 415                         name = "telemetry";
 416                 }
 417         }
 418
 419         private void ConnectToDevice() {
 420                 AltosDevice     device = AltosDeviceDialog.show(AltosUI.this, AltosDevice.BaseStation);
 421
 422                 if (device != null) {
 423                         try {
 424                                 serial_line.open(device);
 425                                 DeviceThread thread = new DeviceThread(serial_line);
 426                                 serial_line.set_channel(AltosPreferences.channel());
 427                                 serial_line.set_callsign(AltosPreferences.callsign());
 428                                 run_display(thread);
 429                         } catch (FileNotFoundException ee) {
 430                                 JOptionPane.showMessageDialog(AltosUI.this,
 431                                                               String.format("Cannot open device \"%s\"",
 432                                                                             device.getPath()),
 433                                                               "Cannot open target device",
 434                                                               JOptionPane.ERROR_MESSAGE);
 435                         } catch (IOException ee) {
 436                                 JOptionPane.showMessageDialog(AltosUI.this,
 437                                                               device.getPath(),
 438                                                               "Unkonwn I/O error",
 439                                                               JOptionPane.ERROR_MESSAGE);
 440                         }
 441                 }
 442         }
 443
 444         void DisconnectFromDevice () {
 445                 stop_display();
 446         }
 447
 448         void ConfigureCallsign() {
 449                 String  result;
 450                 result = JOptionPane.showInputDialog(AltosUI.this,
 451                                                      "Configure Callsign",
 452                                                      AltosPreferences.callsign());
 453                 if (result != null) {
 454                         AltosPreferences.set_callsign(result);
 455                         if (serial_line != null)
 456                                 serial_line.set_callsign(result);
 457                 }
 458         }
 459
 460         void ConfigureTeleMetrum() {
 461                 new AltosConfig(AltosUI.this);
 462         }
 463
 464         void FlashImage() {
 465                 new AltosFlashUI(AltosUI.this);
 466         }
 467
 468         /*
 469          * Open an existing telemetry file and replay it in realtime
 470          */
 471
 472         class ReplayThread extends DisplayThread {
 473                 AltosReader     reader;
 474                 String          name;
 475
 476                 public AltosRecord read() {
 477                         try {
 478                                 return reader.read();
 479                         } catch (IOException ie) {
 480                                 JOptionPane.showMessageDialog(AltosUI.this,
 481                                                               name,
 482                                                               "error reading",
 483                                                               JOptionPane.ERROR_MESSAGE);
 484                         } catch (ParseException pe) {
 485                         }
 486                         return null;
 487                 }
 488
 489                 public void close () {
 490                         report();
 491                 }
 492
 493                 public ReplayThread(AltosReader in_reader, String in_name) {
 494                         reader = in_reader;
 495                 }
 496                 void update(AltosState state) throws InterruptedException {
 497                         /* Make it run in realtime after the rocket leaves the pad */
 498                         if (state.state > Altos.ao_flight_pad)
 499                                 Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
 500                 }
 501         }
 502
 503         class ReplayTelemetryThread extends ReplayThread {
 504                 ReplayTelemetryThread(FileInputStream in, String in_name) {
 505                         super(new AltosTelemetryReader(in), in_name);
 506                 }
 507
 508         }
 509
 510         class ReplayEepromThread extends ReplayThread {
 511                 ReplayEepromThread(FileInputStream in, String in_name) {
 512                         super(new AltosEepromReader(in), in_name);
 513                 }
 514         }
 515
 516         Thread          display_thread;
 517
 518         private void stop_display() {
 519                 if (display_thread != null && display_thread.isAlive())
 520                         display_thread.interrupt();
 521                 display_thread = null;
 522         }
 523
 524         private void run_display(Thread thread) {
 525                 stop_display();
 526                 display_thread = thread;
 527                 display_thread.start();
 528         }
 529
 530         /*
 531          * Replay a flight from telemetry data
 532          */
 533         private void Replay() {
 534                 AltosLogfileChooser chooser = new AltosLogfileChooser(
 535                         AltosUI.this);
 536                 AltosReader reader = chooser.runDialog();
 537                 if (reader != null)
 538                         run_display(new ReplayThread(reader,
 539                                                      chooser.filename()));
 540         }
 541
 542         /* Connect to TeleMetrum, either directly or through
 543          * a TeleDongle over the packet link
 544          */
 545         private void SaveFlightData() {
 546                 new AltosEepromDownload(AltosUI.this);
 547         }
 548
 549         /* Load a flight log file and write out a CSV file containing
 550          * all of the data in standard units
 551          */
 552
 553         private void ExportData() {
 554                 new AltosCSVUI(AltosUI.this);
 555         }
 556
 557         /* Create the AltosUI menus
 558          */
 559         private void createMenu() {
 560                 JMenuBar menubar = new JMenuBar();
 561                 JMenu menu;
 562                 JMenuItem item;
 563                 JRadioButtonMenuItem radioitem;
 564
 565                 // File menu
 566                 {
 567                         menu = new JMenu("File");
 568                         menu.setMnemonic(KeyEvent.VK_F);
 569                         menubar.add(menu);
 570
 571                         item = new JMenuItem("Replay File",KeyEvent.VK_R);
 572                         item.addActionListener(new ActionListener() {
 573                                         public void actionPerformed(ActionEvent e) {
 574                                                 Replay();
 575                                         }
 576                                 });
 577                         menu.add(item);
 578
 579                         item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
 580                         item.addActionListener(new ActionListener() {
 581                                         public void actionPerformed(ActionEvent e) {
 582                                                 SaveFlightData();
 583                                         }
 584                                 });
 585                         menu.add(item);
 586
 587                         item = new JMenuItem("Flash Image",KeyEvent.VK_F);
 588                         item.addActionListener(new ActionListener() {
 589                                         public void actionPerformed(ActionEvent e) {
 590                                                 FlashImage();
 591                                         }
 592                                 });
 593                         menu.add(item);
 594
 595                         item = new JMenuItem("Export Data",KeyEvent.VK_F);
 596                         item.addActionListener(new ActionListener() {
 597                                         public void actionPerformed(ActionEvent e) {
 598                                                 ExportData();
 599                                         }
 600                                 });
 601                         menu.add(item);
 602
 603                         item = new JMenuItem("Quit",KeyEvent.VK_Q);
 604                         item.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_Q,
 605                                                                    ActionEvent.CTRL_MASK));
 606                         item.addActionListener(new ActionListener() {
 607                                         public void actionPerformed(ActionEvent e) {
 608                                                 System.exit(0);
 609                                         }
 610                                 });
 611                         menu.add(item);
 612                 }
 613
 614                 // Device menu
 615                 {
 616                         menu = new JMenu("Device");
 617                         menu.setMnemonic(KeyEvent.VK_D);
 618                         menubar.add(menu);
 619
 620                         item = new JMenuItem("Connect to Device",KeyEvent.VK_C);
 621                         item.addActionListener(new ActionListener() {
 622                                         public void actionPerformed(ActionEvent e) {
 623                                                 ConnectToDevice();
 624                                         }
 625                                 });
 626                         menu.add(item);
 627
 628                         item = new JMenuItem("Disconnect from Device",KeyEvent.VK_D);
 629                         item.addActionListener(new ActionListener() {
 630                                         public void actionPerformed(ActionEvent e) {
 631                                                 DisconnectFromDevice();
 632                                         }
 633                                 });
 634                         menu.add(item);
 635
 636                         menu.addSeparator();
 637
 638                         item = new JMenuItem("Set Callsign",KeyEvent.VK_S);
 639                         item.addActionListener(new ActionListener() {
 640                                         public void actionPerformed(ActionEvent e) {
 641                                                 ConfigureCallsign();
 642                                         }
 643                                 });
 644
 645                         menu.add(item);
 646
 647                         item = new JMenuItem("Configure TeleMetrum device",KeyEvent.VK_T);
 648                         item.addActionListener(new ActionListener() {
 649                                         public void actionPerformed(ActionEvent e) {
 650                                                 ConfigureTeleMetrum();
 651                                         }
 652                                 });
 653
 654                         menu.add(item);
 655                 }
 656                 // Log menu
 657                 {
 658                         menu = new JMenu("Log");
 659                         menu.setMnemonic(KeyEvent.VK_L);
 660                         menubar.add(menu);
 661
 662                         item = new JMenuItem("New Log",KeyEvent.VK_N);
 663                         item.addActionListener(new ActionListener() {
 664                                         public void actionPerformed(ActionEvent e) {
 665                                         }
 666                                 });
 667                         menu.add(item);
 668
 669                         item = new JMenuItem("Configure Log",KeyEvent.VK_C);
 670                         item.addActionListener(new ActionListener() {
 671                                         public void actionPerformed(ActionEvent e) {
 672                                                 AltosPreferences.ConfigureLog();
 673                                         }
 674                                 });
 675                         menu.add(item);
 676                 }
 677                 // Voice menu
 678                 {
 679                         menu = new JMenu("Voice", true);
 680                         menu.setMnemonic(KeyEvent.VK_V);
 681                         menubar.add(menu);
 682
 683                         radioitem = new JRadioButtonMenuItem("Enable Voice", AltosPreferences.voice());
 684                         radioitem.addActionListener(new ActionListener() {
 685                                         public void actionPerformed(ActionEvent e) {
 686                                                 JRadioButtonMenuItem item = (JRadioButtonMenuItem) e.getSource();
 687                                                 boolean enabled = item.isSelected();
 688                                                 AltosPreferences.set_voice(enabled);
 689                                                 if (enabled)
 690                                                         voice.speak_always("Enable voice.");
 691                                                 else
 692                                                         voice.speak_always("Disable voice.");
 693                                         }
 694                                 });
 695                         menu.add(radioitem);
 696                         item = new JMenuItem("Test Voice",KeyEvent.VK_T);
 697                         item.addActionListener(new ActionListener() {
 698                                         public void actionPerformed(ActionEvent e) {
 699                                                 voice.speak("That's one small step for man; one giant leap for mankind.");
 700                                         }
 701                                 });
 702                         menu.add(item);
 703                 }
 704
 705                 // Channel menu
 706                 {
 707                         menu = new AltosChannelMenu(AltosPreferences.channel());
 708                         menu.addActionListener(new ActionListener() {
 709                                                 public void actionPerformed(ActionEvent e) {
 710                                                         int new_channel = Integer.parseInt(e.getActionCommand());
 711                                                         AltosPreferences.set_channel(new_channel);
 712                                                         serial_line.set_channel(new_channel);
 713                                                 }
 714                                 });
 715                         menu.setMnemonic(KeyEvent.VK_C);
 716                         menubar.add(menu);
 717                 }
 718
 719                 this.setJMenuBar(menubar);
 720
 721         }
 722
 723         static String replace_extension(String input, String extension) {
 724                 int dot = input.lastIndexOf(".");
 725                 if (dot > 0)
 726                         input = input.substring(0,dot);
 727                 return input.concat(extension);
 728         }
 729
 730         static AltosReader open_logfile(String filename) {
 731                 File file = new File (filename);
 732                 try {
 733                         FileInputStream in;
 734
 735                         in = new FileInputStream(file);
 736                         if (filename.endsWith("eeprom"))
 737                                 return new AltosEepromReader(in);
 738                         else
 739                                 return new AltosTelemetryReader(in);
 740                 } catch (FileNotFoundException fe) {
 741                         System.out.printf("Cannot open '%s'\n", filename);
 742                         return null;
 743                 }
 744         }
 745
 746         static AltosCSV open_csv(String filename) {
 747                 File file = new File (filename);
 748                 try {
 749                         return new AltosCSV(file);
 750                 } catch (FileNotFoundException fe) {
 751                         System.out.printf("Cannot open '%s'\n", filename);
 752                         return null;
 753                 }
 754         }
 755
 756         static void process_file(String input) {
 757                 String output = replace_extension(input,".csv");
 758                 if (input.equals(output)) {
 759                         System.out.printf("Not processing '%s'\n", input);
 760                         return;
 761                 }
 762                 System.out.printf("Processing \"%s\" to \"%s\"\n", input, output);
 763                 AltosReader reader = open_logfile(input);
 764                 if (reader == null)
 765                         return;
 766                 AltosCSV writer = open_csv(output);
 767                 if (writer == null)
 768                         return;
 769                 writer.write(reader);
 770                 reader.close();
 771                 writer.close();
 772         }
 773
 774         public static void main(final String[] args) {
 775
 776                 /* Handle batch-mode */
 777                 if (args.length > 0) {
 778                         for (int i = 0; i < args.length; i++)
 779                                 process_file(args[i]);
 780                 } else {
 781                         AltosUI altosui = new AltosUI();
 782                         altosui.setVisible(true);
 783                 }
 784         }
 785 }