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