import java.io.*;
import java.util.*;
import java.text.*;
-import gnu.io.CommPortIdentifier;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+import altosui.Altos;
import altosui.AltosSerial;
import altosui.AltosSerialMonitor;
import altosui.AltosTelemetry;
import altosui.AltosState;
+import altosui.AltosDeviceDialog;
+import altosui.AltosPreferences;
+import altosui.AltosLog;
+import altosui.AltosVoice;
-class AltosUIMonitor implements AltosSerialMonitor {
- public void data(String data) {
- System.out.println(data);
- }
-}
+import libaltosJNI.*;
class AltosFlightStatusTableModel extends AbstractTableModel {
private String[] columnNames = {"Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
}
}
-class AltosFlightStatusCellRenderer extends DefaultTableCellRenderer {
-
- static Font statusFont = new Font("SansSerif", Font.BOLD, 24);
-
- @Override public Component getTableCellRendererComponent (JTable table, Object value, boolean isSelected,
- boolean hasFocus, int row, int column)
- {
- Component cell = super.getTableCellRendererComponent
- (table, value, isSelected, hasFocus, row, column);
- System.out.println("Selecting new font for cell " + row + " " + column + " " + statusFont);
- cell.setFont(statusFont);
- return cell;
- }
-
- public AltosFlightStatusCellRenderer () {
- super();
- System.out.println("Made a status cell renderer\n");
- }
-}
-
class AltosFlightInfoTableModel extends AbstractTableModel {
private String[] columnNames = {"Field", "Value"};
private AltosFlightInfoTableModel[] flightInfoModel;
private JTable[] flightInfo;
- private AltosSerial serialLine;
+ private AltosSerial serial_line;
+ private AltosLog altos_log;
private Box[] ibox;
private Box vbox;
private Box hbox;
private Font infoLabelFont = new Font("SansSerif", Font.PLAIN, 14);
private Font infoValueFont = new Font("Monospaced", Font.PLAIN, 14);
+ public AltosVoice voice = new AltosVoice();
+
public AltosUI() {
String[] statusNames = { "Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
Object[][] statusData = { { "0", "pad", "-50", "0" } };
+ AltosPreferences.init(this);
+
vbox = Box.createVerticalBox();
this.add(vbox);
createMenu();
- serialLine = new AltosSerial();
- serialLine.monitor(new AltosUIMonitor());
+ serial_line = new AltosSerial();
+ altos_log = new AltosLog(serial_line);
int dpi = Toolkit.getDefaultToolkit().getScreenResolution();
this.setSize(new Dimension (infoValueMetrics.charWidth('0') * 6 * 20,
statusHeight * 4 + infoHeight * 17));
System.exit(0);
}
});
+ voice.speak("Rocket flight monitor ready.");
}
public void info_reset() {
flightInfoModel[col].addRow(name, value);
}
- public void info_add_row(int col, String name, String format, Object value) {
- flightInfoModel[col].addRow(name, String.format(format, value));
- }
-
- public void info_add_row(int col, String name, String format, Object v1, Object v2) {
- flightInfoModel[col].addRow(name, String.format(format, v1, v2));
- }
-
- public void info_add_row(int col, String name, String format, Object v1, Object v2, Object v3) {
- flightInfoModel[col].addRow(name, String.format(format, v1, v2, v3));
+ public void info_add_row(int col, String name, String format, Object... parameters) {
+ flightInfoModel[col].addRow(name, String.format(format, parameters));
}
public void info_add_deg(int col, String name, double v, int pos, int neg) {
flightInfoModel[i].finish();
}
- static final int MIN_PAD_SAMPLES = 10;
-
public void show(AltosState state) {
flightStatusModel.set(state);
info_reset();
- if (state.npad >= MIN_PAD_SAMPLES)
+ if (state.gps_ready)
info_add_row(0, "Ground state", "%s", "ready");
else
info_add_row(0, "Ground state", "wait (%d)",
- MIN_PAD_SAMPLES - state.npad);
+ state.gps_waiting);
info_add_row(0, "Rocket state", "%s", state.data.state);
info_add_row(0, "Callsign", "%s", state.data.callsign);
info_add_row(0, "Rocket serial", "%6d", state.data.serial);
info_add_deg(1, "Longitude", state.gps.lon, 'E', 'W');
info_add_row(1, "GPS altitude", "%6d", state.gps.alt);
info_add_row(1, "GPS height", "%6.0f", state.gps_height);
- info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°",
- state.gps.ground_speed,
- state.gps.course);
- info_add_row(1, "GPS climb rate", "%8.1f m/s",
- state.gps.climb_rate);
+
+ /* The SkyTraq GPS doesn't report these values */
+ if (false) {
+ info_add_row(1, "GPS ground speed", "%8.1f m/s %3d°",
+ state.gps.ground_speed,
+ state.gps.course);
+ info_add_row(1, "GPS climb rate", "%8.1f m/s",
+ state.gps.climb_rate);
+ info_add_row(1, "GPS error", "%6d m(h)%3d m(v)",
+ state.gps.h_error, state.gps.v_error);
+ }
info_add_row(1, "GPS hdop", "%8.1f", state.gps.hdop);
- info_add_row(1, "GPS error", "%6d m(h)%3d m(v)",
- state.gps.h_error, state.gps.v_error);
+
if (state.npad > 0) {
if (state.from_pad != null) {
info_add_row(1, "Distance from pad", "%6.0f m", state.from_pad.distance);
}
info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
- info_add_row(1, "Pad GPS alt", "%9.2fm", state.pad_alt);
+ info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt);
}
info_add_row(1, "GPS date", "%04d-%02d-%02d",
state.gps.gps_time.year,
info_finish();
}
+ class IdleThread extends Thread {
+
+ private AltosState state;
+ int reported_landing;
+
+ public void report(boolean last) {
+ if (state == null)
+ return;
- final JFileChooser deviceChooser = new JFileChooser();
- final JFileChooser logdirChooser = new JFileChooser();
- final String logdirName = "TeleMetrum";
- File logdir = null;
+ /* reset the landing count once we hear about a new flight */
+ if (state.state < Altos.ao_flight_drogue)
+ reported_landing = 0;
- private void setLogdir() {
- if (logdir == null)
- logdir = new File(logdirChooser.getCurrentDirectory(), logdirName);
- logdirChooser.setCurrentDirectory(logdir);
+ /* Shut up once the rocket is on the ground */
+ if (reported_landing > 2) {
+ return;
+ }
+
+ /* If the rocket isn't on the pad, then report height */
+ if (state.state > Altos.ao_flight_pad) {
+ voice.speak("%d meters", (int) (state.height + 0.5));
+ } else {
+ reported_landing = 0;
+ }
+
+ /* If the rocket is coming down, check to see if it has landed;
+ * either we've got a landed report or we haven't heard from it in
+ * a long time
+ */
+ if (!state.ascent &&
+ (last ||
+ System.currentTimeMillis() - state.report_time >= 15000 ||
+ state.state == Altos.ao_flight_landed))
+ {
+ if (Math.abs(state.baro_speed) < 20 && state.height < 100)
+ voice.speak("rocket landed safely");
+ else
+ voice.speak("rocket may have crashed");
+ if (state.from_pad != null)
+ voice.speak("bearing %d degrees, range %d meters",
+ (int) (state.from_pad.bearing + 0.5),
+ (int) (state.from_pad.distance + 0.5));
+ ++reported_landing;
+ }
+ }
+
+ public void run () {
+
+ reported_landing = 0;
+ state = null;
+ try {
+ for (;;) {
+ Thread.sleep(10000);
+ report(false);
+ }
+ } catch (InterruptedException ie) {
+ }
+ }
+
+ public void notice(AltosState new_state) {
+ state = new_state;
+ }
}
- private void makeLogdir() {
- setLogdir();
- if (!logdir.exists()) {
- if (!logdir.mkdirs())
- JOptionPane.showMessageDialog(AltosUI.this,
- logdir.getName(),
- "Cannot create directory",
- JOptionPane.ERROR_MESSAGE);
- } else if (!logdir.isDirectory()) {
- JOptionPane.showMessageDialog(AltosUI.this,
- logdir.getName(),
- "Is not a directory",
- JOptionPane.ERROR_MESSAGE);
+ private void tell(AltosState state, AltosState old_state) {
+ if (old_state == null || old_state.state != state.state) {
+ voice.speak(state.data.state);
+ if ((old_state == null || old_state.state <= Altos.ao_flight_boost) &&
+ state.state > Altos.ao_flight_boost) {
+ voice.speak("max speed: %d meters per second.",
+ (int) (state.max_speed + 0.5));
+ } else if ((old_state == null || old_state.state < Altos.ao_flight_drogue) &&
+ state.state >= Altos.ao_flight_drogue) {
+ voice.speak("max height: %d meters.",
+ (int) (state.max_height + 0.5));
+ }
+ }
+ if (old_state == null || old_state.gps_ready != state.gps_ready) {
+ if (state.gps_ready)
+ voice.speak("GPS ready");
+ else if (old_state != null)
+ voice.speak("GPS lost");
+ }
+ old_state = state;
+ }
+
+ class DisplayThread extends Thread {
+ IdleThread idle_thread;
+
+ String read() throws InterruptedException { return null; }
+
+ void close() { }
+
+ void update(AltosState state) throws InterruptedException { }
+
+ public void run() {
+ String line;
+ AltosState state = null;
+ AltosState old_state = null;
+
+ idle_thread = new IdleThread();
+
+ info_reset();
+ info_finish();
+ idle_thread.start();
+ try {
+ while ((line = read()) != null) {
+ try {
+ AltosTelemetry t = new AltosTelemetry(line);
+ old_state = state;
+ state = new AltosState(t, state);
+ update(state);
+ show(state);
+ tell(state, old_state);
+ idle_thread.notice(state);
+ } catch (ParseException pp) {
+ System.out.printf("Parse error on %s\n", line);
+ System.out.println("exception " + pp);
+ }
+ }
+ } catch (InterruptedException ee) {
+ } finally {
+ close();
+ idle_thread.interrupt();
+ }
+ }
+
+ public void report() {
+ if (idle_thread != null)
+ idle_thread.report(true);
}
}
- private void PickSerialDevice() {
- java.util.Enumeration<CommPortIdentifier> port_list = CommPortIdentifier.getPortIdentifiers();
- while (port_list.hasMoreElements()) {
- CommPortIdentifier identifier = port_list.nextElement();
- System.out.println("Serial port " + identifier.getName());
+ class DeviceThread extends DisplayThread {
+ AltosSerial serial;
+ LinkedBlockingQueue<String> telem;
+
+ String read() throws InterruptedException {
+ return telem.take();
+ }
+
+ void close() {
+ serial.close();
+ serial.remove_monitor(telem);
+ }
+
+ public DeviceThread(AltosSerial s) {
+ serial = s;
+ telem = new LinkedBlockingQueue<String>();
+ serial.add_monitor(telem);
}
}
private void ConnectToDevice() {
- PickSerialDevice();
- int returnVal = deviceChooser.showOpenDialog(AltosUI.this);
+ altos_device device = AltosDeviceDialog.show(AltosUI.this, "TeleDongle");
- if (returnVal == JFileChooser.APPROVE_OPTION) {
- File file = deviceChooser.getSelectedFile();
+ if (device != null) {
try {
- serialLine.open(file);
+ serial_line.open(device);
+ DeviceThread thread = new DeviceThread(serial_line);
+ serial_line.set_channel(AltosPreferences.channel());
+ run_display(thread);
} catch (FileNotFoundException ee) {
JOptionPane.showMessageDialog(AltosUI.this,
- file.getName(),
- "Cannot open serial port",
+ String.format("Cannot open device \"%s\"",
+ device.getPath()),
+ "Cannot open target device",
+ JOptionPane.ERROR_MESSAGE);
+ } catch (IOException ee) {
+ JOptionPane.showMessageDialog(AltosUI.this,
+ device.getPath(),
+ "Unkonwn I/O error",
JOptionPane.ERROR_MESSAGE);
}
}
}
+ void DisconnectFromDevice () {
+ stop_display();
+ }
+
String readline(FileInputStream s) throws IOException {
int c;
String line = "";
while ((c = s.read()) != -1) {
if (c == '\r')
continue;
- if (c == '\n')
+ if (c == '\n') {
return line;
+ }
line = line + (char) c;
}
return null;
* Open an existing telemetry file and replay it in realtime
*/
- class ReplayThread extends Thread {
+ class ReplayThread extends DisplayThread {
FileInputStream replay;
String filename;
filename = name;
}
- public void run() {
- String line;
- AltosState state = null;
+ String read() {
try {
- while ((line = readline(replay)) != null) {
- try {
- AltosTelemetry t = new AltosTelemetry(line);
- state = new AltosState(t, state);
- show(state);
- try {
- if (state.state > AltosTelemetry.ao_flight_pad)
- Thread.sleep((int) (state.time_change * 1000));
- } catch (InterruptedException e) {}
- } catch (ParseException pp) {
- JOptionPane.showMessageDialog(AltosUI.this,
- line,
- "error parsing",
- JOptionPane.ERROR_MESSAGE);
- break;
- }
- }
+ return readline(replay);
} catch (IOException ee) {
JOptionPane.showMessageDialog(AltosUI.this,
filename,
"error reading",
JOptionPane.ERROR_MESSAGE);
- } finally {
- try {
- replay.close();
- } catch (IOException e) {}
}
+ return null;
}
+
+ void close () {
+ try {
+ replay.close();
+ } catch (IOException ee) {
+ }
+ report();
+ }
+
+ void update(AltosState state) throws InterruptedException {
+ /* Make it run in realtime after the rocket leaves the pad */
+ if (state.state > AltosTelemetry.ao_flight_pad)
+ Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
+ }
+ }
+
+ Thread display_thread;
+
+ private void stop_display() {
+ if (display_thread != null && display_thread.isAlive())
+ display_thread.interrupt();
+ display_thread = null;
+ }
+
+ private void run_display(Thread thread) {
+ stop_display();
+ display_thread = thread;
+ display_thread.start();
}
+ /*
+ * Replay a flight from telemetry data
+ */
private void Replay() {
- setLogdir();
- logdirChooser.setDialogTitle("Select Telemetry File");
- logdirChooser.setFileFilter(new FileNameExtensionFilter("Telemetry file", "telem"));
- int returnVal = logdirChooser.showOpenDialog(AltosUI.this);
+ JFileChooser logfile_chooser = new JFileChooser();
+
+ logfile_chooser.setDialogTitle("Select Telemetry File");
+ logfile_chooser.setFileFilter(new FileNameExtensionFilter("Telemetry file", "telem"));
+ logfile_chooser.setCurrentDirectory(AltosPreferences.logdir());
+ int returnVal = logfile_chooser.showOpenDialog(AltosUI.this);
if (returnVal == JFileChooser.APPROVE_OPTION) {
- File file = logdirChooser.getSelectedFile();
+ File file = logfile_chooser.getSelectedFile();
if (file == null)
System.out.println("No file selected?");
String filename = file.getName();
try {
FileInputStream replay = new FileInputStream(file);
ReplayThread thread = new ReplayThread(replay, filename);
- thread.start();
+ run_display(thread);
} catch (FileNotFoundException ee) {
JOptionPane.showMessageDialog(AltosUI.this,
filename,
- "Cannot open serial port",
+ "Cannot open telemetry file",
JOptionPane.ERROR_MESSAGE);
}
}
}
+ /* Connect to TeleMetrum, either directly or through
+ * a TeleDongle over the packet link
+ */
private void SaveFlightData() {
+ new AltosEepromDownload(AltosUI.this);
}
+ /* Create the AltosUI menus
+ */
private void createMenu() {
JMenuBar menubar = new JMenuBar();
JMenu menu;
item = new JMenuItem("Disconnect from Device",KeyEvent.VK_D);
item.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
- serialLine.close();
+ DisconnectFromDevice();
}
});
menu.add(item);
item = new JMenuItem("Configure Log",KeyEvent.VK_C);
item.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
+ AltosPreferences.ConfigureLog();
}
});
menu.add(item);
menu.setMnemonic(KeyEvent.VK_V);
menubar.add(menu);
- radioitem = new JRadioButtonMenuItem("Enable Voice");
+ radioitem = new JRadioButtonMenuItem("Enable Voice", AltosPreferences.voice());
radioitem.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
+ JRadioButtonMenuItem item = (JRadioButtonMenuItem) e.getSource();
+ boolean enabled = item.isSelected();
+ AltosPreferences.set_voice(enabled);
+ if (enabled)
+ voice.speak_always("Enable voice.");
+ else
+ voice.speak_always("Disable voice.");
}
});
menu.add(radioitem);
+ item = new JMenuItem("Test Voice",KeyEvent.VK_T);
+ item.addActionListener(new ActionListener() {
+ public void actionPerformed(ActionEvent e) {
+ voice.speak("That's one small step for man; one giant leap for mankind.");
+ }
+ });
+ menu.add(item);
}
// Channel menu
for (int c = 0; c <= 9; c++) {
radioitem = new JRadioButtonMenuItem(String.format("Channel %1d (%7.3fMHz)", c,
434.550 + c * 0.1),
- c == 0);
+ c == AltosPreferences.channel());
radioitem.setActionCommand(String.format("%d", c));
radioitem.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
- System.out.println("Command: " + e.getActionCommand() + " param: " +
- e.paramString());
+ int new_channel = Integer.parseInt(e.getActionCommand());
+ AltosPreferences.set_channel(new_channel);
+ serial_line.set_channel(new_channel);
}
});
menu.add(radioitem);
projects / fw / altos / blobdiff