git.gag.com Git - fw/altos/blob - telegps/TeleGPS.java

   1 /*
   2  * Copyright © 2014 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 org.altusmetrum.telegps;
  19
  20 import java.awt.*;
  21 import java.awt.event.*;
  22 import javax.swing.*;
  23 import java.io.*;
  24 import java.util.concurrent.*;
  25 import java.util.*;
  26 import java.text.*;
  27 import org.altusmetrum.altoslib_7.*;
  28 import org.altusmetrum.altosuilib_7.*;
  29
  30 public class TeleGPS
  31         extends AltosUIFrame
  32         implements AltosFlightDisplay, AltosFontListener, AltosUnitsListener, ActionListener
  33 {
  34
  35         static String[] telegps_icon_names = {
  36                 "/altusmetrum-telegps-16.png",
  37                 "/altusmetrum-telegps-32.png",
  38                 "/altusmetrum-telegps-48.png",
  39                 "/altusmetrum-telegps-64.png",
  40                 "/altusmetrum-telegps-128.png",
  41                 "/altusmetrum-telegps-256.png"
  42         };
  43
  44         static { set_icon_names(telegps_icon_names); }
  45
  46         static AltosVoice       voice;
  47
  48         static AltosVoice voice() {
  49                 if (voice == null)
  50                         voice = new AltosVoice();
  51                 return voice;
  52         }
  53
  54         AltosFlightReader       reader;
  55         TeleGPSDisplayThread    thread;
  56
  57         JMenuBar                menu_bar;
  58
  59         JMenu                   file_menu;
  60         JMenu                   monitor_menu;
  61         JMenu                   device_menu;
  62         AltosUIFreqList         frequencies;
  63         ActionListener          frequency_listener;
  64         AltosUIRateList         rates;
  65         ActionListener          rate_listener;
  66
  67         Container               bag;
  68
  69         TeleGPSStatus           telegps_status;
  70         TeleGPSStatusUpdate     status_update;
  71
  72         JTabbedPane             pane;
  73
  74         AltosUIMapNew           map;
  75         TeleGPSInfo             gps_info;
  76         TeleGPSState            gps_state;
  77         AltosInfoTable          info_table;
  78
  79         LinkedList<AltosFlightDisplay>  displays;
  80
  81         /* File menu */
  82         final static String     new_command = "new";
  83         final static String     graph_command = "graph";
  84         final static String     export_command = "export";
  85         final static String     load_maps_command = "loadmaps";
  86         final static String     preferences_command = "preferences";
  87         final static String     close_command = "close";
  88         final static String     exit_command = "exit";
  89
  90         static final String[][] file_menu_entries = new String[][] {
  91                 { "New Window",         new_command },
  92                 { "Graph Data",         graph_command },
  93                 { "Export Data",        export_command },
  94                 { "Load Maps",          load_maps_command },
  95                 { "Preferences",        preferences_command },
  96                 { "Close",              close_command },
  97                 { "Exit",               exit_command },
  98         };
  99
 100         /* Monitor menu */
 101         final static String     connect_command = "connect";
 102         final static String     disconnect_command = "disconnect";
 103         final static String     scan_command = "scan";
 104
 105         static final String[][] monitor_menu_entries = new String[][] {
 106                 { "Connect Device",     connect_command },
 107                 { "Disconnect",         disconnect_command },
 108                 { "Scan Channels",      scan_command },
 109         };
 110
 111         /* Device menu */
 112         final static String     download_command = "download";
 113         final static String     configure_command = "configure";
 114         final static String     flash_command = "flash";
 115
 116         static final String[][] device_menu_entries = new String[][] {
 117                 { "Download Data",      download_command },
 118                 { "Configure Device",   configure_command },
 119                 { "Flash Device",       flash_command },
 120         };
 121
 122         void stop_display() {
 123                 if (thread != null && thread.isAlive()) {
 124                         thread.interrupt();
 125                         try {
 126                                 thread.join();
 127                         } catch (InterruptedException ie) {}
 128                 }
 129                 thread = null;
 130         }
 131
 132         public void reset() {
 133                 for (AltosFlightDisplay display : displays)
 134                         display.reset();
 135         }
 136
 137         public void font_size_changed(int font_size) {
 138                 for (AltosFlightDisplay display : displays)
 139                         display.font_size_changed(font_size);
 140         }
 141
 142         public void units_changed(boolean imperial_units) {
 143                 for (AltosFlightDisplay display : displays)
 144                         display.units_changed(imperial_units);
 145         }
 146
 147         public void show(AltosState state, AltosListenerState listener_state) {
 148                 try {
 149                         status_update.saved_state = state;
 150                         status_update.saved_listener_state = listener_state;
 151
 152                         if (state == null)
 153                                 state = new AltosState();
 154
 155                         int i = 0;
 156                         for (AltosFlightDisplay display : displays) {
 157                                 display.show(state, listener_state);
 158                                 i++;
 159                         }
 160                 } catch (Exception ex) {
 161                         System.out.printf("Exception %s\n", ex.toString());
 162                         for (StackTraceElement e : ex.getStackTrace())
 163                                 System.out.printf("%s\n", e.toString());
 164                 }
 165         }
 166
 167         void new_window() {
 168                 new TeleGPS();
 169         }
 170
 171         void preferences() {
 172                 new TeleGPSPreferences(this, voice());
 173         }
 174
 175         void load_maps() {
 176                 new AltosUIMapPreloadNew(this);
 177         }
 178
 179         void disconnect() {
 180                 setTitle("TeleGPS");
 181                 stop_display();
 182                 telegps_status.stop();
 183
 184                 telegps_status.disable_receive();
 185                 disable_frequency_menu();
 186                 disable_rate_menu();
 187         }
 188
 189         void connect(AltosDevice device) {
 190                 if (reader != null)
 191                         disconnect();
 192                 try {
 193                         AltosFlightReader       reader = new AltosTelemetryReader(new AltosSerial(device));
 194                         set_reader(reader, device);
 195                 } catch (FileNotFoundException ee) {
 196                         JOptionPane.showMessageDialog(this,
 197                                                       ee.getMessage(),
 198                                                       String.format ("Cannot open %s", device.toShortString()),
 199                                                       JOptionPane.ERROR_MESSAGE);
 200                 } catch (AltosSerialInUseException si) {
 201                         JOptionPane.showMessageDialog(this,
 202                                                       String.format("Device \"%s\" already in use",
 203                                                                     device.toShortString()),
 204                                                       "Device in use",
 205                                                       JOptionPane.ERROR_MESSAGE);
 206                 } catch (IOException ee) {
 207                         JOptionPane.showMessageDialog(this,
 208                                                       String.format ("Unknown I/O error on %s", device.toShortString()),
 209                                                       "Unknown I/O error",
 210                                                       JOptionPane.ERROR_MESSAGE);
 211                 } catch (TimeoutException te) {
 212                         JOptionPane.showMessageDialog(this,
 213                                                       String.format ("Timeout on %s", device.toShortString()),
 214                                                       "Timeout error",
 215                                                       JOptionPane.ERROR_MESSAGE);
 216                 } catch (InterruptedException ie) {
 217                         JOptionPane.showMessageDialog(this,
 218                                                       String.format("Interrupted %s", device.toShortString()),
 219                                                       "Interrupted exception",
 220                                                       JOptionPane.ERROR_MESSAGE);
 221                 }
 222         }
 223
 224         void connect() {
 225                 AltosDevice     device = AltosDeviceUIDialog.show(this,
 226                                                                   AltosLib.product_basestation);
 227                 if (device == null)
 228                         return;
 229                 connect(device);
 230         }
 231
 232         public void scan_device_selected(AltosDevice device) {
 233                 connect(device);
 234         }
 235
 236         void scan() {
 237                 new AltosScanUI(this, false);
 238         }
 239
 240         void download(){
 241                 new AltosEepromManage(this, AltosLib.product_telegps);
 242         }
 243
 244         void configure() {
 245                 new TeleGPSConfig(this);
 246         }
 247
 248         void export() {
 249                 AltosDataChooser chooser;
 250                 chooser = new AltosDataChooser(this);
 251                 AltosStateIterable states = chooser.runDialog();
 252                 if (states == null)
 253                         return;
 254                 new AltosCSVUI(this, states, chooser.file());
 255         }
 256
 257         void graph() {
 258                 AltosDataChooser chooser;
 259                 chooser = new AltosDataChooser(this);
 260                 AltosStateIterable states = chooser.runDialog();
 261                 if (states == null)
 262                         return;
 263                 try {
 264                         new TeleGPSGraphUI(states, chooser.file());
 265                 } catch (InterruptedException ie) {
 266                 } catch (IOException ie) {
 267                 }
 268         }
 269
 270         void flash() {
 271                 AltosFlashUI.show(this);
 272         }
 273
 274         public void actionPerformed(ActionEvent ev) {
 275
 276                 /* File menu */
 277                 if (new_command.equals(ev.getActionCommand())) {
 278                         new_window();
 279                         return;
 280                 }
 281                 if (preferences_command.equals(ev.getActionCommand())) {
 282                         preferences();
 283                         return;
 284                 }
 285                 if (load_maps_command.equals(ev.getActionCommand())) {
 286                         load_maps();
 287                         return;
 288                 }
 289                 if (close_command.equals(ev.getActionCommand())) {
 290                         close();
 291                         return;
 292                 }
 293                 if (exit_command.equals(ev.getActionCommand()))
 294                         System.exit(0);
 295
 296                 /* Monitor menu */
 297                 if (connect_command.equals(ev.getActionCommand())) {
 298                         connect();
 299                         return;
 300                 }
 301                 if (disconnect_command.equals(ev.getActionCommand())) {
 302                         disconnect();
 303                         return;
 304                 }
 305                 if (scan_command.equals(ev.getActionCommand())) {
 306                         scan();
 307                         return;
 308                 }
 309
 310                 /* Device menu */
 311                 if (download_command.equals(ev.getActionCommand())) {
 312                         download();
 313                         return;
 314                 }
 315                 if (configure_command.equals(ev.getActionCommand())) {
 316                         configure();
 317                         return;
 318                 }
 319                 if (export_command.equals(ev.getActionCommand())) {
 320                         export();
 321                         return;
 322                 }
 323                 if (graph_command.equals(ev.getActionCommand())) {
 324                         graph();
 325                         return;
 326                 }
 327                 if (flash_command.equals(ev.getActionCommand())) {
 328                         flash();
 329                         return;
 330                 }
 331         }
 332
 333         void enable_frequency_menu(int serial, final AltosFlightReader reader) {
 334
 335                 if (frequency_listener != null)
 336                         disable_frequency_menu();
 337
 338                 frequency_listener = new ActionListener() {
 339                                 public void actionPerformed(ActionEvent e) {
 340                                         double frequency = frequencies.frequency();
 341                                         try {
 342                                                 reader.set_frequency(frequency);
 343                                         } catch (TimeoutException te) {
 344                                         } catch (InterruptedException ie) {
 345                                         }
 346                                         reader.save_frequency();
 347                                 }
 348                         };
 349
 350                 frequencies.addActionListener(frequency_listener);
 351                 frequencies.set_product("Monitor");
 352                 frequencies.set_serial(serial);
 353                 frequencies.set_frequency(AltosUIPreferences.frequency(serial));
 354                 frequencies.setEnabled(true);
 355
 356         }
 357
 358         void disable_frequency_menu() {
 359                 if (frequency_listener != null) {
 360                         frequencies.removeActionListener(frequency_listener);
 361                         frequencies.setEnabled(false);
 362                         frequency_listener = null;
 363                 }
 364
 365         }
 366
 367         void enable_rate_menu(int serial, final AltosFlightReader reader) {
 368
 369                 if (rate_listener != null)
 370                         disable_rate_menu();
 371
 372                 rate_listener = new ActionListener() {
 373                                 public void actionPerformed(ActionEvent e) {
 374                                         int rate = rates.rate();
 375                                         try {
 376                                                 System.out.printf("set rate %d\n", rate);
 377                                                 reader.set_telemetry_rate(rate);
 378                                         } catch (TimeoutException te) {
 379                                         } catch (InterruptedException ie) {
 380                                         }
 381                                         reader.save_telemetry_rate();
 382                                 }
 383                         };
 384
 385                 rates.addActionListener(rate_listener);
 386                 rates.set_product("Monitor");
 387                 rates.set_serial(serial);
 388                 rates.set_rate(AltosUIPreferences.telemetry_rate(serial));
 389                 rates.setEnabled(reader.supports_telemetry_rate(AltosLib.ao_telemetry_rate_2400));
 390         }
 391
 392         void disable_rate_menu() {
 393                 if (rate_listener != null) {
 394                         rates.removeActionListener(rate_listener);
 395                         rates.setEnabled(false);
 396                         rate_listener = null;
 397                 }
 398
 399         }
 400
 401         public void set_reader(AltosFlightReader reader, AltosDevice device) {
 402                 status_update = new TeleGPSStatusUpdate(telegps_status);
 403
 404                 telegps_status.start(status_update);
 405
 406                 setTitle(String.format("TeleGPS %s", reader.name));
 407                 thread = new TeleGPSDisplayThread(this, voice(), this, reader);
 408                 thread.start();
 409
 410                 if (device != null) {
 411                         enable_frequency_menu(device.getSerial(), reader);
 412                         enable_rate_menu(device.getSerial(), reader);
 413                 }
 414         }
 415
 416         static int      number_of_windows;
 417
 418         static public void add_window() {
 419                 ++number_of_windows;
 420         }
 421
 422         static public void subtract_window() {
 423                 --number_of_windows;
 424                 if (number_of_windows == 0)
 425                         System.exit(0);
 426         }
 427
 428         private void close() {
 429                 disconnect();
 430                 AltosUIPreferences.unregister_font_listener(this);
 431                 AltosPreferences.unregister_units_listener(this);
 432                 setVisible(false);
 433                 dispose();
 434                 subtract_window();
 435         }
 436
 437         private void add_menu(JMenu menu, String label, String action) {
 438                 JMenuItem       item = new JMenuItem(label);
 439                 menu.add(item);
 440                 item.addActionListener(this);
 441                 item.setActionCommand(action);
 442         }
 443
 444
 445         private JMenu make_menu(String label, String[][] items) {
 446                 JMenu   menu = new JMenu(label);
 447                 for (int i = 0; i < items.length; i++) {
 448                         if (MAC_OS_X) {
 449                                 if (items[i][1].equals("exit"))
 450                                         continue;
 451                                 if (items[i][1].equals("preferences"))
 452                                         continue;
 453                         }
 454                         add_menu(menu, items[i][0], items[i][1]);
 455                 }
 456                 menu_bar.add(menu);
 457                 return menu;
 458         }
 459
 460         /* OSXAdapter interfaces */
 461         public void macosx_file_handler(String path) {
 462                 process_graph(new File(path));
 463         }
 464
 465         public void macosx_quit_handler() {
 466                 System.exit(0);
 467         }
 468
 469         public void macosx_preferences_handler() {
 470                 preferences();
 471         }
 472
 473         public TeleGPS() {
 474
 475                 AltosUIPreferences.set_component(this);
 476
 477                 register_for_macosx_events();
 478
 479                 reader = null;
 480
 481                 bag = getContentPane();
 482                 bag.setLayout(new GridBagLayout());
 483
 484                 GridBagConstraints c = new GridBagConstraints();
 485
 486                 setTitle("TeleGPS");
 487
 488                 menu_bar = new JMenuBar();
 489                 setJMenuBar(menu_bar);
 490
 491                 file_menu = make_menu("File", file_menu_entries);
 492                 monitor_menu = make_menu("Monitor", monitor_menu_entries);
 493                 device_menu = make_menu("Device", device_menu_entries);
 494
 495                 frequencies = new AltosUIFreqList();
 496                 frequencies.setEnabled(false);
 497                 c.gridx = 0;
 498                 c.gridy = 0;
 499                 c.fill = GridBagConstraints.NONE;
 500                 c.anchor = GridBagConstraints.WEST;
 501                 c.weightx = 0;
 502                 c.gridwidth = 1;
 503                 bag.add(frequencies, c);
 504
 505                 rates = new AltosUIRateList();
 506                 rates.setEnabled(false);
 507                 c.gridx = 1;
 508                 c.gridy = 0;
 509                 c.fill = GridBagConstraints.NONE;
 510                 c.anchor = GridBagConstraints.WEST;
 511                 c.weightx = 0;
 512                 c.gridwidth = 1;
 513                 bag.add(rates, c);
 514
 515                 displays = new LinkedList<AltosFlightDisplay>();
 516
 517                 int serial = -1;
 518
 519                 /* TeleGPS status is always visible */
 520                 telegps_status = new TeleGPSStatus();
 521                 c.gridx = 0;
 522                 c.gridy = 1;
 523                 c.fill = GridBagConstraints.HORIZONTAL;
 524                 c.weightx = 1;
 525                 c.gridwidth = 2;
 526                 bag.add(telegps_status, c);
 527                 c.gridwidth = 1;
 528                 displays.add(telegps_status);
 529
 530
 531                 /* The rest of the window uses a tabbed pane to
 532                  * show one of the alternate data views
 533                  */
 534                 pane = new JTabbedPane();
 535
 536                 /* Make the tabbed pane use the rest of the window space */
 537                 c.gridx = 0;
 538                 c.gridy = 2;
 539                 c.fill = GridBagConstraints.BOTH;
 540                 c.weightx = 1;
 541                 c.weighty = 1;
 542                 c.gridwidth = 2;
 543                 bag.add(pane, c);
 544
 545                 map = new AltosUIMapNew();
 546                 pane.add(map.getName(), map);
 547                 displays.add(map);
 548
 549                 gps_info = new TeleGPSInfo();
 550                 pane.add(gps_info.getName(), gps_info);
 551                 displays.add(gps_info);
 552
 553                 gps_state = new TeleGPSState();
 554                 pane.add(gps_state.getName(), gps_state);
 555                 displays.add(gps_state);
 556
 557                 info_table = new AltosInfoTable();
 558                 pane.add("Table", info_table);
 559                 displays.add(info_table);
 560
 561                 setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
 562
 563                 AltosUIPreferences.register_font_listener(this);
 564                 AltosPreferences.register_units_listener(this);
 565
 566                 addWindowListener(new WindowAdapter() {
 567                                 @Override
 568                                 public void windowClosing(WindowEvent e) {
 569                                         close();
 570                                 }
 571                         });
 572
 573                 pack();
 574                 setVisible(true);
 575
 576                 add_window();
 577         }
 578
 579         public TeleGPS(AltosFlightReader reader) {
 580                 this();
 581                 set_reader(reader, null);
 582         }
 583
 584         public TeleGPS(AltosDevice device) {
 585                 this();
 586                 connect(device);
 587         }
 588
 589         static AltosStateIterable record_iterable(File file) {
 590                 FileInputStream in;
 591                 try {
 592                         in = new FileInputStream(file);
 593                 } catch (Exception e) {
 594                         System.out.printf("Failed to open file '%s'\n", file);
 595                         return null;
 596                 }
 597                 if (file.getName().endsWith("telem"))
 598                         return new AltosTelemetryFile(in);
 599                 else
 600                         return new AltosEepromFile(in);
 601         }
 602
 603         static AltosReplayReader replay_file(File file) {
 604                 AltosStateIterable states = record_iterable(file);
 605                 if (states == null)
 606                         return null;
 607                 return new AltosReplayReader(states.iterator(), file);
 608         }
 609
 610         static boolean process_graph(File file) {
 611                 AltosStateIterable states = record_iterable(file);
 612                 if (states == null)
 613                         return false;
 614                 try {
 615                         new TeleGPSGraphUI(states, file);
 616                 } catch (Exception e) {
 617                         return false;
 618                 }
 619                 return true;
 620         }
 621
 622         static boolean process_replay(File file) {
 623                 AltosReplayReader new_reader = replay_file(file);
 624                 if (new_reader == null)
 625                         return false;
 626
 627                 new TeleGPS(new_reader);
 628                 return true;
 629         }
 630
 631         static final int process_none = 0;
 632         static final int process_csv = 1;
 633         static final int process_kml = 2;
 634         static final int process_graph = 3;
 635         static final int process_replay = 4;
 636         static final int process_summary = 5;
 637         static final int process_cat = 6;
 638
 639         public static boolean load_library(Frame frame) {
 640                 if (!AltosUILib.load_library()) {
 641                         JOptionPane.showMessageDialog(frame,
 642                                                       String.format("No AltOS library in \"%s\"",
 643                                                                     System.getProperty("java.library.path","<undefined>")),
 644                                                       "Cannot load device access library",
 645                                                       JOptionPane.ERROR_MESSAGE);
 646                         return false;
 647                 }
 648                 return true;
 649         }
 650
 651         public static void help(int code) {
 652                 System.out.printf("Usage: altosui [OPTION]... [FILE]...\n");
 653                 System.out.printf("  Options:\n");
 654                 System.out.printf("    --fetchmaps <lat> <lon>\tpre-fetch maps for site map view\n");
 655                 System.out.printf("    --replay <filename>\t\trelive the glory of past flights \n");
 656                 System.out.printf("    --graph <filename>\t\tgraph a flight\n");
 657                 System.out.printf("    --csv\tgenerate comma separated output for spreadsheets, etc\n");
 658                 System.out.printf("    --kml\tgenerate KML output for use with Google Earth\n");
 659                 System.exit(code);
 660         }
 661
 662         public static void main(String[] args) {
 663                 int     errors = 0;
 664
 665                 load_library(null);
 666                 try {
 667                         UIManager.setLookAndFeel(AltosUIPreferences.look_and_feel());
 668                 } catch (Exception e) {
 669                 }
 670
 671                 boolean any_created = false;
 672
 673
 674                 /* Handle batch-mode */
 675                 int process = process_none;
 676                 for (int i = 0; i < args.length; i++) {
 677                         if (args[i].equals("--help"))
 678                                 help(0);
 679                         else if (args[i].equals("--fetchmaps")) {
 680                                 if (args.length < i + 3) {
 681                                         help(1);
 682                                 } else {
 683                                         try {
 684                                         double lat = AltosParse.parse_double_locale(args[i+1]);
 685                                         double lon = AltosParse.parse_double_locale(args[i+2]);
 686                                         AltosUIMap.prefetch_maps(lat, lon);
 687                                         } catch (ParseException e) {
 688                                                 System.out.printf("Can't parse number %s\n", e.toString());
 689                                         }
 690                                         i += 2;
 691                                 }
 692                         } else if (args[i].equals("--replay"))
 693                                 process = process_replay;
 694                         else if (args[i].equals("--kml"))
 695                                 process = process_kml;
 696                         else if (args[i].equals("--csv"))
 697                                 process = process_csv;
 698                         else if (args[i].equals("--graph"))
 699                                 process = process_graph;
 700                         else if (args[i].equals("--summary"))
 701                                 process = process_summary;
 702                         else if (args[i].equals("--cat"))
 703                                 process = process_cat;
 704                         else if (args[i].startsWith("--"))
 705                                 help(1);
 706                         else {
 707                                 File file = new File(args[i]);
 708                                 switch (process) {
 709                                 case process_none:
 710                                 case process_graph:
 711                                         if (!process_graph(file))
 712                                                 ++errors;
 713                                         break;
 714                                 case process_replay:
 715                                         if (!process_replay(file))
 716                                                 ++errors;
 717                                         any_created = true;
 718                                         break;
 719                                 case process_kml:
 720                                         ++errors;
 721                                         break;
 722                                 case process_csv:
 723                                         ++errors;
 724                                         break;
 725                                 case process_summary:
 726                                         ++errors;
 727                                         break;
 728                                 case process_cat:
 729                                         ++errors;
 730                                 }
 731                         }
 732                 }
 733                 if (errors != 0)
 734                         System.exit(errors);
 735                 if (number_of_windows == 0) {
 736                         java.util.List<AltosDevice> devices = AltosUSBDevice.list(AltosLib.product_basestation);
 737                         if (devices != null)
 738                                 for (AltosDevice device : devices) {
 739                                         new TeleGPS(device);
 740                                         any_created = true;
 741                                 }
 742                         if (number_of_windows == 0)
 743                                 new TeleGPS();
 744                 }
 745         }
 746 }