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   1 /*
   2  * Copyright © 2010 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 package altosui;
  19
  20 import java.awt.*;
  21 import java.awt.event.*;
  22 import javax.swing.*;
  23 import javax.swing.filechooser.FileNameExtensionFilter;
  24 import javax.swing.table.*;
  25 import java.io.*;
  26 import java.util.*;
  27 import java.text.*;
  28 import java.util.prefs.*;
  29 import java.util.concurrent.LinkedBlockingQueue;
  30
  31 import altosui.AltosSerial;
  32 import altosui.AltosSerialMonitor;
  33 import altosui.AltosTelemetry;
  34 import altosui.AltosState;
  35 import altosui.AltosDeviceDialog;
  36 import altosui.AltosPreferences;
  37 import altosui.AltosLog;
  38 import altosui.AltosVoice;
  39
  40 import libaltosJNI.*;
  41
  42 class AltosFlightStatusTableModel extends AbstractTableModel {
  43         private String[] columnNames = {"Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
  44         private Object[] data = { 0, "idle", 0, 0 };
  45
  46         public int getColumnCount() { return columnNames.length; }
  47         public int getRowCount() { return 2; }
  48         public Object getValueAt(int row, int col) {
  49                 if (row == 0)
  50                         return columnNames[col];
  51                 return data[col];
  52         }
  53
  54         public void setValueAt(Object value, int col) {
  55                 data[col] = value;
  56                 fireTableCellUpdated(1, col);
  57         }
  58
  59         public void setValueAt(Object value, int row, int col) {
  60                 setValueAt(value, col);
  61         }
  62
  63         public void set(AltosState state) {
  64                 setValueAt(String.format("%1.0f", state.height), 0);
  65                 setValueAt(state.data.state, 1);
  66                 setValueAt(state.data.rssi, 2);
  67                 double speed = state.baro_speed;
  68                 if (state.ascent)
  69                         speed = state.speed;
  70                 setValueAt(String.format("%1.0f", speed), 3);
  71         }
  72 }
  73
  74 class AltosFlightInfoTableModel extends AbstractTableModel {
  75         private String[] columnNames = {"Field", "Value"};
  76
  77         class InfoLine {
  78                 String  name;
  79                 String  value;
  80
  81                 public InfoLine(String n, String v) {
  82                         name = n;
  83                         value = v;
  84                 }
  85         }
  86
  87         private ArrayList<InfoLine> rows = new ArrayList<InfoLine>();
  88
  89         public int getColumnCount() { return columnNames.length; }
  90         public String getColumnName(int col) { return columnNames[col]; }
  91
  92         public int getRowCount() { return 20; }
  93
  94         public Object getValueAt(int row, int col) {
  95                 if (row >= rows.size())
  96                         return "";
  97                 if (col == 0)
  98                         return rows.get(row).name;
  99                 else
 100                         return rows.get(row).value;
 101         }
 102
 103         int     current_row = 0;
 104         int     prev_num_rows = 0;
 105
 106         public void resetRow() {
 107                 current_row = 0;
 108         }
 109         public void addRow(String name, String value) {
 110                 if (current_row >= rows.size())
 111                         rows.add(current_row, new InfoLine(name, value));
 112                 else
 113                         rows.set(current_row, new InfoLine(name, value));
 114                 current_row++;
 115         }
 116         public void finish() {
 117                 if (current_row > prev_num_rows) {
 118                         fireTableRowsInserted(prev_num_rows, current_row - 1);
 119                         prev_num_rows = current_row;
 120                 }
 121                 fireTableDataChanged();
 122         }
 123 }
 124
 125 public class AltosUI extends JFrame {
 126         private int channel = -1;
 127
 128         private AltosFlightStatusTableModel flightStatusModel;
 129         private JTable flightStatus;
 130
 131         static final int info_columns = 3;
 132
 133         private AltosFlightInfoTableModel[] flightInfoModel;
 134         private JTable[] flightInfo;
 135         private AltosSerial serial_line;
 136         private AltosLog altos_log;
 137         private Box[] ibox;
 138         private Box vbox;
 139         private Box hbox;
 140
 141         private Font statusFont = new Font("SansSerif", Font.BOLD, 24);
 142         private Font infoLabelFont = new Font("SansSerif", Font.PLAIN, 14);
 143         private Font infoValueFont = new Font("Monospaced", Font.PLAIN, 14);
 144
 145         public AltosVoice voice = new AltosVoice();
 146
 147         public AltosUI() {
 148
 149                 String[] statusNames = { "Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
 150                 Object[][] statusData = { { "0", "pad", "-50", "0" } };
 151
 152                 AltosPreferences.init(this);
 153
 154                 vbox = Box.createVerticalBox();
 155                 this.add(vbox);
 156
 157                 flightStatusModel = new AltosFlightStatusTableModel();
 158                 flightStatus = new JTable(flightStatusModel);
 159                 flightStatus.setFont(statusFont);
 160                 TableColumnModel tcm = flightStatus.getColumnModel();
 161                 for (int i = 0; i < flightStatusModel.getColumnCount(); i++) {
 162                         DefaultTableCellRenderer       r = new DefaultTableCellRenderer();
 163                         r.setFont(statusFont);
 164                         r.setHorizontalAlignment(SwingConstants.CENTER);
 165                         tcm.getColumn(i).setCellRenderer(r);
 166                 }
 167
 168                 FontMetrics     statusMetrics = flightStatus.getFontMetrics(statusFont);
 169                 int statusHeight = (statusMetrics.getHeight() + statusMetrics.getLeading()) * 15 / 10;
 170                 flightStatus.setRowHeight(statusHeight);
 171                 flightStatus.setShowGrid(false);
 172
 173                 vbox.add(flightStatus);
 174
 175                 hbox = Box.createHorizontalBox();
 176                 vbox.add(hbox);
 177
 178                 flightInfo = new JTable[3];
 179                 flightInfoModel = new AltosFlightInfoTableModel[3];
 180                 ibox = new Box[3];
 181                 FontMetrics     infoValueMetrics = flightStatus.getFontMetrics(infoValueFont);
 182                 int infoHeight = (infoValueMetrics.getHeight() + infoValueMetrics.getLeading()) * 20 / 10;
 183
 184                 for (int i = 0; i < info_columns; i++) {
 185                         ibox[i] = Box.createVerticalBox();
 186                         flightInfoModel[i] = new AltosFlightInfoTableModel();
 187                         flightInfo[i] = new JTable(flightInfoModel[i]);
 188                         flightInfo[i].setFont(infoValueFont);
 189                         flightInfo[i].setRowHeight(infoHeight);
 190                         flightInfo[i].setShowGrid(true);
 191                         ibox[i].add(flightInfo[i].getTableHeader());
 192                         ibox[i].add(flightInfo[i]);
 193                         hbox.add(ibox[i]);
 194                 }
 195
 196                 setTitle("AltOS");
 197
 198                 createMenu();
 199
 200                 serial_line = new AltosSerial();
 201                 altos_log = new AltosLog(serial_line);
 202                 int dpi = Toolkit.getDefaultToolkit().getScreenResolution();
 203                 this.setSize(new Dimension (infoValueMetrics.charWidth('0') * 6 * 20,
 204                                             statusHeight * 4 + infoHeight * 17));
 205                 this.validate();
 206                 setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
 207                 addWindowListener(new WindowAdapter() {
 208                         @Override
 209                         public void windowClosing(WindowEvent e) {
 210                                 System.exit(0);
 211                         }
 212                 });
 213         }
 214
 215         public void info_reset() {
 216                 for (int i = 0; i < info_columns; i++)
 217                         flightInfoModel[i].resetRow();
 218         }
 219
 220         public void info_add_row(int col, String name, String value) {
 221                 flightInfoModel[col].addRow(name, value);
 222         }
 223
 224         public void info_add_row(int col, String name, String format, Object... parameters) {
 225                 flightInfoModel[col].addRow(name, String.format(format, parameters));
 226         }
 227
 228         public void info_add_deg(int col, String name, double v, int pos, int neg) {
 229                 int     c = pos;
 230                 if (v < 0) {
 231                         c = neg;
 232                         v = -v;
 233                 }
 234                 double  deg = Math.floor(v);
 235                 double  min = (v - deg) * 60;
 236
 237                 flightInfoModel[col].addRow(name, String.format("%3.0f°%08.5f'", deg, min));
 238         }
 239
 240         public void info_finish() {
 241                 for (int i = 0; i < info_columns; i++)
 242                         flightInfoModel[i].finish();
 243         }
 244
 245         static final int MIN_PAD_SAMPLES = 10;
 246
 247         public void show(AltosState state) {
 248                 flightStatusModel.set(state);
 249
 250                 info_reset();
 251                 if (state.npad >= MIN_PAD_SAMPLES)
 252                         info_add_row(0, "Ground state", "%s", "ready");
 253                 else
 254                         info_add_row(0, "Ground state", "wait (%d)",
 255                                      MIN_PAD_SAMPLES - state.npad);
 256                 info_add_row(0, "Rocket state", "%s", state.data.state);
 257                 info_add_row(0, "Callsign", "%s", state.data.callsign);
 258                 info_add_row(0, "Rocket serial", "%6d", state.data.serial);
 259                 info_add_row(0, "Rocket flight", "%6d", state.data.flight);
 260
 261                 info_add_row(0, "RSSI", "%6d    dBm", state.data.rssi);
 262                 info_add_row(0, "Height", "%6.0f    m", state.height);
 263                 info_add_row(0, "Max height", "%6.0f    m", state.max_height);
 264                 info_add_row(0, "Acceleration", "%8.1f  m/s²", state.acceleration);
 265                 info_add_row(0, "Max acceleration", "%8.1f  m/s²", state.max_acceleration);
 266                 info_add_row(0, "Speed", "%8.1f  m/s", state.ascent ? state.speed : state.baro_speed);
 267                 info_add_row(0, "Max Speed", "%8.1f  m/s", state.max_speed);
 268                 info_add_row(0, "Temperature", "%9.2f °C", state.temperature);
 269                 info_add_row(0, "Battery", "%9.2f V", state.battery);
 270                 info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense);
 271                 info_add_row(0, "Main", "%9.2f V", state.main_sense);
 272                 info_add_row(0, "Pad altitude", "%6.0f    m", state.ground_altitude);
 273                 if (state.gps == null) {
 274                         info_add_row(1, "GPS", "not available");
 275                 } else {
 276                         if (state.data.gps.gps_locked)
 277                                 info_add_row(1, "GPS", "   locked");
 278                         else if (state.data.gps.gps_connected)
 279                                 info_add_row(1, "GPS", " unlocked");
 280                         else
 281                                 info_add_row(1, "GPS", "  missing");
 282                         info_add_row(1, "Satellites", "%6d", state.data.gps.nsat);
 283                         info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
 284                         info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
 285                         info_add_row(1, "GPS altitude", "%6d", state.gps.alt);
 286                         info_add_row(1, "GPS height", "%6.0f", state.gps_height);
 287
 288                         /* The SkyTraq GPS doesn't report these values */
 289                         if (false) {
 290                                 info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°",
 291                                              state.gps.ground_speed,
 292                                              state.gps.course);
 293                                 info_add_row(1, "GPS climb rate", "%8.1f m/s",
 294                                              state.gps.climb_rate);
 295                                 info_add_row(1, "GPS error", "%6d m(h)%3d m(v)",
 296                                              state.gps.h_error, state.gps.v_error);
 297                         }
 298                         info_add_row(1, "GPS hdop", "%8.1f", state.gps.hdop);
 299
 300                         if (state.npad > 0) {
 301                                 if (state.from_pad != null) {
 302                                         info_add_row(1, "Distance from pad", "%6.0f m", state.from_pad.distance);
 303                                         info_add_row(1, "Direction from pad", "%6.0f°", state.from_pad.bearing);
 304                                 } else {
 305                                         info_add_row(1, "Distance from pad", "unknown");
 306                                         info_add_row(1, "Direction from pad", "unknown");
 307                                 }
 308                                 info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
 309                                 info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
 310                                 info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt);
 311                         }
 312                         info_add_row(1, "GPS date", "%04d-%02d-%02d",
 313                                        state.gps.gps_time.year,
 314                                        state.gps.gps_time.month,
 315                                        state.gps.gps_time.day);
 316                         info_add_row(1, "GPS time", "  %02d:%02d:%02d",
 317                                        state.gps.gps_time.hour,
 318                                        state.gps.gps_time.minute,
 319                                        state.gps.gps_time.second);
 320                         int     nsat_vis = 0;
 321                         int     c;
 322
 323                         if (state.gps.cc_gps_sat == null)
 324                                 info_add_row(2, "Satellites Visible", "%4d", 0);
 325                         else {
 326                                 info_add_row(2, "Satellites Visible", "%4d", state.gps.cc_gps_sat.length);
 327                                 for (c = 0; c < state.gps.cc_gps_sat.length; c++) {
 328                                         info_add_row(2, "Satellite id,C/N0",
 329                                                      "%4d, %4d",
 330                                                      state.gps.cc_gps_sat[c].svid,
 331                                                      state.gps.cc_gps_sat[c].c_n0);
 332                                 }
 333                         }
 334                 }
 335                 info_finish();
 336         }
 337
 338         class IdleThread extends Thread {
 339
 340                 private AltosState state;
 341                 int     reported_landing;
 342
 343                 public void report(boolean last) {
 344                         if (state == null)
 345                                 return;
 346
 347                         /* reset the landing count once we hear about a new flight */
 348                         if (state.state < AltosTelemetry.ao_flight_drogue)
 349                                 reported_landing = 0;
 350
 351                         /* Shut up once the rocket is on the ground */
 352                         if (reported_landing > 2) {
 353                                 return;
 354                         }
 355
 356                         /* If the rocket isn't on the pad, then report height */
 357                         if (state.state > AltosTelemetry.ao_flight_pad) {
 358                                 voice.speak("%d meters", (int) (state.height + 0.5));
 359                         } else {
 360                                 reported_landing = 0;
 361                         }
 362
 363                         /* If the rocket is coming down, check to see if it has landed;
 364                          * either we've got a landed report or we haven't heard from it in
 365                          * a long time
 366                          */
 367                         if (!state.ascent &&
 368                             (last ||
 369                              System.currentTimeMillis() - state.report_time >= 15000 ||
 370                              state.state == AltosTelemetry.ao_flight_landed))
 371                         {
 372                                 if (Math.abs(state.baro_speed) < 20 && state.height < 100)
 373                                         voice.speak("rocket landed safely");
 374                                 else
 375                                         voice.speak("rocket may have crashed");
 376                                 if (state.gps != null)
 377                                         voice.speak("bearing %d degrees, range %d meters",
 378                                                     (int) (state.from_pad.bearing + 0.5),
 379                                                     (int) (state.from_pad.distance + 0.5));
 380                                 ++reported_landing;
 381                         }
 382                 }
 383
 384                 public void run () {
 385
 386                         reported_landing = 0;
 387                         state = null;
 388                         try {
 389                                 for (;;) {
 390                                         Thread.sleep(10000);
 391                                         report(false);
 392                                 }
 393                         } catch (InterruptedException ie) {
 394                         }
 395                 }
 396
 397                 public void notice(AltosState new_state) {
 398                         state = new_state;
 399                 }
 400         }
 401
 402         private void tell(AltosState state, AltosState old_state) {
 403                 if (old_state == null || old_state.state != state.state) {
 404                         voice.speak(state.data.state);
 405                         if ((old_state == null || old_state.state <= AltosTelemetry.ao_flight_boost) &&
 406                             state.state > AltosTelemetry.ao_flight_boost) {
 407                                 voice.speak("max speed: %d meters per second.",
 408                                             (int) (state.max_speed + 0.5));
 409                         } else if ((old_state == null || old_state.state < AltosTelemetry.ao_flight_drogue) &&
 410                                    state.state >= AltosTelemetry.ao_flight_drogue) {
 411                                 voice.speak("max height: %d meters.",
 412                                             (int) (state.max_height + 0.5));
 413                         }
 414                 }
 415                 old_state = state;
 416         }
 417
 418         class DisplayThread extends Thread {
 419                 IdleThread      idle_thread;
 420
 421                 String read() throws InterruptedException { return null; }
 422
 423                 void close() { }
 424
 425                 void update(AltosState state) throws InterruptedException { }
 426
 427                 public void run() {
 428                         String          line;
 429                         AltosState      state = null;
 430                         AltosState      old_state = null;
 431
 432                         idle_thread = new IdleThread();
 433
 434                         info_reset();
 435                         info_finish();
 436                         idle_thread.start();
 437                         try {
 438                                 while ((line = read()) != null) {
 439                                         try {
 440                                                 AltosTelemetry  t = new AltosTelemetry(line);
 441                                                 old_state = state;
 442                                                 state = new AltosState(t, state);
 443                                                 update(state);
 444                                                 show(state);
 445                                                 tell(state, old_state);
 446                                                 idle_thread.notice(state);
 447                                         } catch (ParseException pp) {
 448                                                 System.out.printf("Parse error on %s\n", line);
 449                                                 System.out.println("exception " + pp);
 450                                         }
 451                                 }
 452                         } catch (InterruptedException ee) {
 453                         } finally {
 454                                 close();
 455                                 idle_thread.interrupt();
 456                         }
 457                 }
 458
 459                 public void report() {
 460                         if (idle_thread != null)
 461                                 idle_thread.report(true);
 462                 }
 463         }
 464
 465         class DeviceThread extends DisplayThread {
 466                 AltosSerial     serial;
 467                 LinkedBlockingQueue<String> telem;
 468
 469                 String read() throws InterruptedException {
 470                         return telem.take();
 471                 }
 472
 473                 void close() {
 474                         serial.close();
 475                         serial.remove_monitor(telem);
 476                         System.out.println("DisplayThread done");
 477                 }
 478
 479                 public DeviceThread(AltosSerial s) {
 480                         serial = s;
 481                         telem = new LinkedBlockingQueue<String>();
 482                         serial.add_monitor(telem);
 483                 }
 484         }
 485
 486         private void ConnectToDevice() {
 487                 altos_device    device = AltosDeviceDialog.show(AltosUI.this, "TeleDongle");
 488
 489                 if (device != null) {
 490                         try {
 491                                 serial_line.open(device);
 492                                 DeviceThread thread = new DeviceThread(serial_line);
 493                                 run_display(thread);
 494                         } catch (FileNotFoundException ee) {
 495                                 JOptionPane.showMessageDialog(AltosUI.this,
 496                                                               String.format("Cannot open device \"%s\"",
 497                                                                             device.getPath()),
 498                                                               "Cannot open target device",
 499                                                               JOptionPane.ERROR_MESSAGE);
 500                         } catch (IOException ee) {
 501                                 JOptionPane.showMessageDialog(AltosUI.this,
 502                                                               device.getPath(),
 503                                                               "Unkonwn I/O error",
 504                                                               JOptionPane.ERROR_MESSAGE);
 505                         }
 506                 }
 507         }
 508
 509         void DisconnectFromDevice () {
 510                 stop_display();
 511         }
 512
 513         String readline(FileInputStream s) throws IOException {
 514                 int c;
 515                 String  line = "";
 516
 517                 while ((c = s.read()) != -1) {
 518                         if (c == '\r')
 519                                 continue;
 520                         if (c == '\n') {
 521                                 return line;
 522                         }
 523                         line = line + (char) c;
 524                 }
 525                 return null;
 526         }
 527
 528         /*
 529          * Open an existing telemetry file and replay it in realtime
 530          */
 531
 532         class ReplayThread extends DisplayThread {
 533                 FileInputStream replay;
 534                 String filename;
 535
 536                 ReplayThread(FileInputStream in, String name) {
 537                         replay = in;
 538                         filename = name;
 539                 }
 540
 541                 String read() {
 542                         try {
 543                                 return readline(replay);
 544                         } catch (IOException ee) {
 545                                 JOptionPane.showMessageDialog(AltosUI.this,
 546                                                               filename,
 547                                                               "error reading",
 548                                                               JOptionPane.ERROR_MESSAGE);
 549                         }
 550                         return null;
 551                 }
 552
 553                 void close () {
 554                         try {
 555                                 replay.close();
 556                         } catch (IOException ee) {
 557                         }
 558                         report();
 559                 }
 560
 561                 void update(AltosState state) throws InterruptedException {
 562                         /* Make it run in realtime after the rocket leaves the pad */
 563                         if (state.state > AltosTelemetry.ao_flight_pad)
 564                                 Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
 565                 }
 566         }
 567
 568         Thread          display_thread;
 569
 570         private void stop_display() {
 571                 if (display_thread != null && display_thread.isAlive())
 572                         display_thread.interrupt();
 573                 display_thread = null;
 574         }
 575
 576         private void run_display(Thread thread) {
 577                 stop_display();
 578                 display_thread = thread;
 579                 display_thread.start();
 580         }
 581
 582         /*
 583          * Replay a flight from telemetry data
 584          */
 585         private void Replay() {
 586                 JFileChooser    logfile_chooser = new JFileChooser();
 587
 588                 logfile_chooser.setDialogTitle("Select Telemetry File");
 589                 logfile_chooser.setFileFilter(new FileNameExtensionFilter("Telemetry file", "telem"));
 590                 logfile_chooser.setCurrentDirectory(AltosPreferences.logdir());
 591                 int returnVal = logfile_chooser.showOpenDialog(AltosUI.this);
 592
 593                 if (returnVal == JFileChooser.APPROVE_OPTION) {
 594                         File file = logfile_chooser.getSelectedFile();
 595                         if (file == null)
 596                                 System.out.println("No file selected?");
 597                         String  filename = file.getName();
 598                         try {
 599                                 FileInputStream replay = new FileInputStream(file);
 600                                 ReplayThread    thread = new ReplayThread(replay, filename);
 601                                 run_display(thread);
 602                         } catch (FileNotFoundException ee) {
 603                                 JOptionPane.showMessageDialog(AltosUI.this,
 604                                                               filename,
 605                                                               "Cannot open telemetry file",
 606                                                               JOptionPane.ERROR_MESSAGE);
 607                         }
 608                 }
 609         }
 610
 611         /* Connect to TeleMetrum, either directly or through
 612          * a TeleDongle over the packet link
 613          */
 614         private void SaveFlightData() {
 615         }
 616
 617         /* Create the AltosUI menus
 618          */
 619         private void createMenu() {
 620                 JMenuBar menubar = new JMenuBar();
 621                 JMenu menu;
 622                 JMenuItem item;
 623                 JRadioButtonMenuItem radioitem;
 624
 625                 // File menu
 626                 {
 627                         menu = new JMenu("File");
 628                         menu.setMnemonic(KeyEvent.VK_F);
 629                         menubar.add(menu);
 630
 631                         item = new JMenuItem("Quit",KeyEvent.VK_Q);
 632                         item.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_Q,
 633                                                                    ActionEvent.CTRL_MASK));
 634                         item.addActionListener(new ActionListener() {
 635                                         public void actionPerformed(ActionEvent e) {
 636                                                 System.exit(0);
 637                                         }
 638                                 });
 639                         menu.add(item);
 640                 }
 641
 642                 // Device menu
 643                 {
 644                         menu = new JMenu("Device");
 645                         menu.setMnemonic(KeyEvent.VK_D);
 646                         menubar.add(menu);
 647
 648                         item = new JMenuItem("Connect to Device",KeyEvent.VK_C);
 649                         item.addActionListener(new ActionListener() {
 650                                         public void actionPerformed(ActionEvent e) {
 651                                                 ConnectToDevice();
 652                                         }
 653                                 });
 654                         menu.add(item);
 655
 656                         item = new JMenuItem("Disconnect from Device",KeyEvent.VK_D);
 657                         item.addActionListener(new ActionListener() {
 658                                         public void actionPerformed(ActionEvent e) {
 659                                                 DisconnectFromDevice();
 660                                         }
 661                                 });
 662                         menu.add(item);
 663
 664                         menu.addSeparator();
 665
 666                         item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
 667                         item.addActionListener(new ActionListener() {
 668                                         public void actionPerformed(ActionEvent e) {
 669                                                 SaveFlightData();
 670                                         }
 671                                 });
 672                         menu.add(item);
 673
 674                         item = new JMenuItem("Replay",KeyEvent.VK_R);
 675                         item.addActionListener(new ActionListener() {
 676                                         public void actionPerformed(ActionEvent e) {
 677                                                 Replay();
 678                                         }
 679                                 });
 680                         menu.add(item);
 681                 }
 682                 // Log menu
 683                 {
 684                         menu = new JMenu("Log");
 685                         menu.setMnemonic(KeyEvent.VK_L);
 686                         menubar.add(menu);
 687
 688                         item = new JMenuItem("New Log",KeyEvent.VK_N);
 689                         item.addActionListener(new ActionListener() {
 690                                         public void actionPerformed(ActionEvent e) {
 691                                         }
 692                                 });
 693                         menu.add(item);
 694
 695                         item = new JMenuItem("Configure Log",KeyEvent.VK_C);
 696                         item.addActionListener(new ActionListener() {
 697                                         public void actionPerformed(ActionEvent e) {
 698                                                 AltosPreferences.ConfigureLog();
 699                                         }
 700                                 });
 701                         menu.add(item);
 702                 }
 703                 // Voice menu
 704                 {
 705                         menu = new JMenu("Voice", true);
 706                         menu.setMnemonic(KeyEvent.VK_V);
 707                         menubar.add(menu);
 708
 709                         radioitem = new JRadioButtonMenuItem("Enable Voice");
 710                         radioitem.addActionListener(new ActionListener() {
 711                                         public void actionPerformed(ActionEvent e) {
 712                                         }
 713                                 });
 714                         menu.add(radioitem);
 715                 }
 716
 717                 // Channel menu
 718                 {
 719                         menu = new JMenu("Channel", true);
 720                         menu.setMnemonic(KeyEvent.VK_C);
 721                         menubar.add(menu);
 722                         ButtonGroup group = new ButtonGroup();
 723
 724                         for (int c = 0; c <= 9; c++) {
 725                                 radioitem = new JRadioButtonMenuItem(String.format("Channel %1d (%7.3fMHz)", c,
 726                                                                                    434.550 + c * 0.1),
 727                                                                      c == 0);
 728                                 radioitem.setActionCommand(String.format("%d", c));
 729                                 radioitem.addActionListener(new ActionListener() {
 730                                                 public void actionPerformed(ActionEvent e) {
 731                                                         System.out.println("Command: " + e.getActionCommand() + " param: " +
 732                                                                            e.paramString());
 733                                                 }
 734                                         });
 735                                 menu.add(radioitem);
 736                                 group.add(radioitem);
 737                         }
 738                 }
 739
 740                 this.setJMenuBar(menubar);
 741
 742         }
 743         public static void main(final String[] args) {
 744                 AltosUI altosui = new AltosUI();
 745                 altosui.setVisible(true);
 746         }
 747 }