import altosui.AltosFlightStatusTableModel;
import altosui.AltosFlightInfoTableModel;
import altosui.AltosChannelMenu;
+import altosui.AltosFlashUI;
+import altosui.AltosLogfileChooser;
+import altosui.AltosCSVUI;
+import altosui.AltosLine;
import libaltosJNI.*;
public AltosVoice voice = new AltosVoice();
+ public static boolean load_library(Frame frame) {
+ if (!AltosDevice.load_library()) {
+ JOptionPane.showMessageDialog(frame,
+ String.format("No AltOS library in \"%s\"",
+ System.getProperty("java.library.path","<undefined>")),
+ "Cannot load device access library",
+ JOptionPane.ERROR_MESSAGE);
+ return false;
+ }
+ return true;
+ }
+
public AltosUI() {
+ load_library(null);
+
String[] statusNames = { "Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
Object[][] statusData = { { "0", "pad", "-50", "0" } };
+ java.net.URL imgURL = AltosUI.class.getResource("/altus-metrum-16x16.jpg");
+ if (imgURL != null)
+ setIconImage(new ImageIcon(imgURL).getImage());
+
AltosPreferences.init(this);
vbox = Box.createVerticalBox();
flightInfoModel[i].finish();
}
- public void show(AltosState state) {
+ public void show(AltosState state, int crc_errors) {
+ if (state == null)
+ return;
flightStatusModel.set(state);
info_reset();
- if (state.gps_ready)
- info_add_row(0, "Ground state", "%s", "ready");
- else
- info_add_row(0, "Ground state", "wait (%d)",
- 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_row(0, "Rocket flight", "%6d", state.data.flight);
info_add_row(0, "RSSI", "%6d dBm", state.data.rssi);
+ info_add_row(0, "CRC Errors", "%6d", crc_errors);
info_add_row(0, "Height", "%6.0f m", state.height);
info_add_row(0, "Max height", "%6.0f m", state.max_height);
info_add_row(0, "Acceleration", "%8.1f m/s²", state.acceleration);
if (state.gps == null) {
info_add_row(1, "GPS", "not available");
} else {
+ if (state.gps_ready)
+ info_add_row(1, "GPS state", "%s", "ready");
+ else
+ info_add_row(1, "GPS state", "wait (%d)",
+ state.gps_waiting);
if (state.data.gps.locked)
info_add_row(1, "GPS", " locked");
else if (state.data.gps.connected)
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_row(1, "Direction from pad", "%6.0f°", state.from_pad.bearing);
+ info_add_row(1, "Distance from pad", "%6d m",
+ (int) (state.from_pad.distance + 0.5));
+ info_add_row(1, "Direction from pad", "%6d°",
+ (int) (state.from_pad.bearing + 0.5));
+ info_add_row(1, "Elevation from pad", "%6d°",
+ (int) (state.elevation + 0.5));
+ info_add_row(1, "Range from pad", "%6d m",
+ (int) (state.range + 0.5));
} else {
info_add_row(1, "Distance from pad", "unknown");
info_add_row(1, "Direction from pad", "unknown");
+ info_add_row(1, "Elevation from pad", "unknown");
+ info_add_row(1, "Range from pad", "unknown");
}
info_add_deg(1, "Pad latitude", state.pad_lat, 'N', 'S');
info_add_deg(1, "Pad longitude", state.pad_lon, 'E', 'W');
class IdleThread extends Thread {
+ boolean started;
private AltosState state;
int reported_landing;
+ int report_interval;
+ long report_time;
- public void report(boolean last) {
+ public synchronized void report(boolean last) {
if (state == null)
return;
}
/* If the rocket isn't on the pad, then report height */
- if (state.state > Altos.ao_flight_pad) {
+ if (Altos.ao_flight_drogue <= state.state &&
+ state.state < Altos.ao_flight_landed &&
+ state.range >= 0)
+ {
+ voice.speak("Height %d, bearing %d, elevation %d, range %d.\n",
+ (int) (state.height + 0.5),
+ (int) (state.from_pad.bearing + 0.5),
+ (int) (state.elevation + 0.5),
+ (int) (state.range + 0.5));
+ } else if (state.state > Altos.ao_flight_pad) {
voice.speak("%d meters", (int) (state.height + 0.5));
} else {
reported_landing = 0;
* either we've got a landed report or we haven't heard from it in
* a long time
*/
- if (!state.ascent &&
+ if (state.state >= Altos.ao_flight_drogue &&
(last ||
System.currentTimeMillis() - state.report_time >= 15000 ||
state.state == Altos.ao_flight_landed))
else
voice.speak("rocket may have crashed");
if (state.from_pad != null)
- voice.speak("bearing %d degrees, range %d meters",
+ voice.speak("Bearing %d degrees, range %d meters.",
(int) (state.from_pad.bearing + 0.5),
(int) (state.from_pad.distance + 0.5));
++reported_landing;
}
}
+ long now () {
+ return System.currentTimeMillis();
+ }
+
+ void set_report_time() {
+ report_time = now() + report_interval;
+ }
+
public void run () {
reported_landing = 0;
state = null;
+ report_interval = 10000;
try {
for (;;) {
- Thread.sleep(10000);
+ set_report_time();
+ for (;;) {
+ voice.drain();
+ synchronized (this) {
+ long sleep_time = report_time - now();
+ if (sleep_time <= 0)
+ break;
+ wait(sleep_time);
+ }
+ }
report(false);
}
} catch (InterruptedException ie) {
+ try {
+ voice.drain();
+ } catch (InterruptedException iie) { }
}
}
- public void notice(AltosState new_state) {
+ public synchronized void notice(AltosState new_state, boolean spoken) {
+ AltosState old_state = state;
state = new_state;
+ if (!started && state.state > Altos.ao_flight_pad) {
+ started = true;
+ start();
+ }
+
+ if (state.state < Altos.ao_flight_drogue)
+ report_interval = 10000;
+ else
+ report_interval = 20000;
+ if (old_state != null && old_state.state != state.state) {
+ report_time = now();
+ this.notify();
+ } else if (spoken)
+ set_report_time();
}
}
- private void tell(AltosState state, AltosState old_state) {
+ private boolean tell(AltosState state, AltosState old_state) {
+ boolean ret = false;
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));
+ ret = true;
} 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));
+ ret = true;
}
}
if (old_state == null || old_state.gps_ready != state.gps_ready) {
- if (state.gps_ready)
+ if (state.gps_ready) {
voice.speak("GPS ready");
- else if (old_state != null)
+ ret = true;
+ }
+ else if (old_state != null) {
voice.speak("GPS lost");
+ ret = true;
+ }
}
old_state = state;
+ return ret;
}
class DisplayThread extends Thread {
String name;
- AltosRecord read() throws InterruptedException, ParseException { return null; }
+ int crc_errors;
- void close() { }
+ void init() { }
+
+ AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException { return null; }
+
+ void close(boolean interrupted) { }
void update(AltosState state) throws InterruptedException { }
public void run() {
+ boolean interrupted = false;
String line;
AltosState state = null;
AltosState old_state = null;
+ boolean told;
idle_thread = new IdleThread();
info_reset();
info_finish();
- idle_thread.start();
try {
for (;;) {
try {
old_state = state;
state = new AltosState(record, state);
update(state);
- show(state);
- tell(state, old_state);
- idle_thread.notice(state);
+ show(state, crc_errors);
+ told = tell(state, old_state);
+ idle_thread.notice(state, told);
} catch (ParseException pp) {
System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
+ } catch (AltosCRCException ce) {
+ ++crc_errors;
+ show(state, crc_errors);
}
}
} catch (InterruptedException ee) {
+ interrupted = true;
+ } catch (IOException ie) {
+ JOptionPane.showMessageDialog(AltosUI.this,
+ String.format("Error reading from \"%s\"", name),
+ "Telemetry Read Error",
+ JOptionPane.ERROR_MESSAGE);
} finally {
- close();
+ close(interrupted);
idle_thread.interrupt();
+ try {
+ idle_thread.join();
+ } catch (InterruptedException ie) {}
}
}
class DeviceThread extends DisplayThread {
AltosSerial serial;
- LinkedBlockingQueue<String> telem;
+ LinkedBlockingQueue<AltosLine> telem;
- AltosRecord read() throws InterruptedException, ParseException {
- return new AltosTelemetry(telem.take());
+ AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
+ AltosLine l = telem.take();
+ if (l.line == null)
+ throw new IOException("IO error");
+ return new AltosTelemetry(l.line);
}
- void close() {
+ void close(boolean interrupted) {
serial.close();
serial.remove_monitor(telem);
}
- public DeviceThread(AltosSerial s) {
+ public DeviceThread(AltosSerial s, String in_name) {
serial = s;
- telem = new LinkedBlockingQueue<String>();
+ telem = new LinkedBlockingQueue<AltosLine>();
serial.add_monitor(telem);
- name = "telemetry";
+ name = in_name;
}
}
private void ConnectToDevice() {
- AltosDevice device = AltosDeviceDialog.show(AltosUI.this, AltosDevice.BaseStation);
+ AltosDevice device = AltosDeviceDialog.show(AltosUI.this,
+ AltosDevice.product_basestation);
if (device != null) {
try {
+ stop_display();
serial_line.open(device);
- DeviceThread thread = new DeviceThread(serial_line);
+ DeviceThread thread = new DeviceThread(serial_line, device.getPath());
serial_line.set_channel(AltosPreferences.channel());
serial_line.set_callsign(AltosPreferences.callsign());
run_display(thread);
void ConfigureTeleMetrum() {
new AltosConfig(AltosUI.this);
}
+
+ void FlashImage() {
+ new AltosFlashUI(AltosUI.this);
+ }
+
/*
* Open an existing telemetry file and replay it in realtime
*/
return null;
}
- public void close () {
- report();
+ public void close (boolean interrupted) {
+ if (!interrupted)
+ report();
}
public ReplayThread(AltosReader in_reader, String in_name) {
Thread display_thread;
private void stop_display() {
- if (display_thread != null && display_thread.isAlive())
+ if (display_thread != null && display_thread.isAlive()) {
display_thread.interrupt();
+ try {
+ display_thread.join();
+ } catch (InterruptedException ie) {}
+ }
display_thread = null;
}
* Replay a flight from telemetry data
*/
private void Replay() {
- JFileChooser logfile_chooser = new JFileChooser();
-
- logfile_chooser.setDialogTitle("Select Flight Record File");
- logfile_chooser.setFileFilter(new FileNameExtensionFilter("Flight data file", "eeprom", "telem"));
- logfile_chooser.setCurrentDirectory(AltosPreferences.logdir());
- int returnVal = logfile_chooser.showOpenDialog(AltosUI.this);
-
- if (returnVal == JFileChooser.APPROVE_OPTION) {
- File file = logfile_chooser.getSelectedFile();
- if (file == null)
- System.out.println("No file selected?");
- String filename = file.getName();
- try {
- FileInputStream replay = new FileInputStream(file);
- DisplayThread thread;
- if (filename.endsWith("eeprom"))
- thread = new ReplayEepromThread(replay, filename);
- else
- thread = new ReplayTelemetryThread(replay, filename);
- run_display(thread);
- } catch (FileNotFoundException ee) {
- JOptionPane.showMessageDialog(AltosUI.this,
- filename,
- "Cannot open telemetry file",
- JOptionPane.ERROR_MESSAGE);
- }
- }
+ AltosLogfileChooser chooser = new AltosLogfileChooser(
+ AltosUI.this);
+ AltosReader reader = chooser.runDialog();
+ if (reader != null)
+ run_display(new ReplayThread(reader,
+ chooser.filename()));
}
/* Connect to TeleMetrum, either directly or through
new AltosEepromDownload(AltosUI.this);
}
+ /* Load a flight log file and write out a CSV file containing
+ * all of the data in standard units
+ */
+
+ private void ExportData() {
+ new AltosCSVUI(AltosUI.this);
+ }
+
+ /* Load a flight log CSV file and display a pretty graph.
+ */
+
+ private void GraphData() {
+ new AltosGraphUI(AltosUI.this);
+ }
+
/* Create the AltosUI menus
*/
private void createMenu() {
});
menu.add(item);
+ item = new JMenuItem("Flash Image",KeyEvent.VK_F);
+ item.addActionListener(new ActionListener() {
+ public void actionPerformed(ActionEvent e) {
+ FlashImage();
+ }
+ });
+ menu.add(item);
+
+ item = new JMenuItem("Export Data",KeyEvent.VK_F);
+ item.addActionListener(new ActionListener() {
+ public void actionPerformed(ActionEvent e) {
+ ExportData();
+ }
+ });
+ menu.add(item);
+
+ item = new JMenuItem("Graph Data",KeyEvent.VK_F);
+ item.addActionListener(new ActionListener() {
+ public void actionPerformed(ActionEvent e) {
+ GraphData();
+ }
+ });
+ menu.add(item);
+
item = new JMenuItem("Quit",KeyEvent.VK_Q);
item.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_Q,
ActionEvent.CTRL_MASK));
this.setJMenuBar(menubar);
}
+
+ static String replace_extension(String input, String extension) {
+ int dot = input.lastIndexOf(".");
+ if (dot > 0)
+ input = input.substring(0,dot);
+ return input.concat(extension);
+ }
+
+ static AltosReader open_logfile(String filename) {
+ File file = new File (filename);
+ try {
+ FileInputStream in;
+
+ in = new FileInputStream(file);
+ if (filename.endsWith("eeprom"))
+ return new AltosEepromReader(in);
+ else
+ return new AltosTelemetryReader(in);
+ } catch (FileNotFoundException fe) {
+ System.out.printf("Cannot open '%s'\n", filename);
+ return null;
+ }
+ }
+
+ static AltosCSV open_csv(String filename) {
+ File file = new File (filename);
+ try {
+ return new AltosCSV(file);
+ } catch (FileNotFoundException fe) {
+ System.out.printf("Cannot open '%s'\n", filename);
+ return null;
+ }
+ }
+
+ static void process_file(String input) {
+ String output = replace_extension(input,".csv");
+ if (input.equals(output)) {
+ System.out.printf("Not processing '%s'\n", input);
+ return;
+ }
+ System.out.printf("Processing \"%s\" to \"%s\"\n", input, output);
+ AltosReader reader = open_logfile(input);
+ if (reader == null)
+ return;
+ AltosCSV writer = open_csv(output);
+ if (writer == null)
+ return;
+ writer.write(reader);
+ reader.close();
+ writer.close();
+ }
+
public static void main(final String[] args) {
- AltosUI altosui = new AltosUI();
- altosui.setVisible(true);
+
+ /* Handle batch-mode */
+ if (args.length > 0) {
+ for (int i = 0; i < args.length; i++)
+ process_file(args[i]);
+ } else {
+ AltosUI altosui = new AltosUI();
+ altosui.setVisible(true);
+ }
}
-}
\ No newline at end of file
+}
projects / fw / altos / blobdiff