import altosui.AltosPreferences;
import altosui.AltosLog;
import altosui.AltosVoice;
-import altosui.AltosFlightStatusTableModel;
import altosui.AltosFlightInfoTableModel;
import altosui.AltosChannelMenu;
import altosui.AltosFlashUI;
+import altosui.AltosLogfileChooser;
+import altosui.AltosCSVUI;
+import altosui.AltosLine;
+import altosui.AltosStatusTable;
+import altosui.AltosInfoTable;
+import altosui.AltosDisplayThread;
import libaltosJNI.*;
public class AltosUI extends JFrame {
private int channel = -1;
- private AltosFlightStatusTableModel flightStatusModel;
- private JTable flightStatus;
-
- static final int info_columns = 3;
-
- private AltosFlightInfoTableModel[] flightInfoModel;
- private JTable[] flightInfo;
+ private AltosStatusTable flightStatus;
+ private AltosInfoTable flightInfo;
private AltosSerial serial_line;
private AltosLog altos_log;
- private Box[] ibox;
private Box vbox;
- private Box hbox;
private Font statusFont = new Font("SansSerif", Font.BOLD, 24);
private Font infoLabelFont = new Font("SansSerif", Font.PLAIN, 14);
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();
this.add(vbox);
- flightStatusModel = new AltosFlightStatusTableModel();
- flightStatus = new JTable(flightStatusModel);
- flightStatus.setFont(statusFont);
- TableColumnModel tcm = flightStatus.getColumnModel();
- for (int i = 0; i < flightStatusModel.getColumnCount(); i++) {
- DefaultTableCellRenderer r = new DefaultTableCellRenderer();
- r.setFont(statusFont);
- r.setHorizontalAlignment(SwingConstants.CENTER);
- tcm.getColumn(i).setCellRenderer(r);
- }
-
- FontMetrics statusMetrics = flightStatus.getFontMetrics(statusFont);
- int statusHeight = (statusMetrics.getHeight() + statusMetrics.getLeading()) * 15 / 10;
- flightStatus.setRowHeight(statusHeight);
- flightStatus.setShowGrid(false);
+ flightStatus = new AltosStatusTable(this);
vbox.add(flightStatus);
- hbox = Box.createHorizontalBox();
- vbox.add(hbox);
-
- flightInfo = new JTable[3];
- flightInfoModel = new AltosFlightInfoTableModel[3];
- ibox = new Box[3];
- FontMetrics infoValueMetrics = flightStatus.getFontMetrics(infoValueFont);
- int infoHeight = (infoValueMetrics.getHeight() + infoValueMetrics.getLeading()) * 20 / 10;
-
- for (int i = 0; i < info_columns; i++) {
- ibox[i] = Box.createVerticalBox();
- flightInfoModel[i] = new AltosFlightInfoTableModel();
- flightInfo[i] = new JTable(flightInfoModel[i]);
- flightInfo[i].setFont(infoValueFont);
- flightInfo[i].setRowHeight(infoHeight);
- flightInfo[i].setShowGrid(true);
- ibox[i].add(flightInfo[i].getTableHeader());
- ibox[i].add(flightInfo[i]);
- hbox.add(ibox[i]);
- }
+ flightInfo = new AltosInfoTable();
+ vbox.add(flightInfo.box());
setTitle("AltOS");
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));
+ this.setSize(new Dimension (flightInfo.width(),
+ flightStatus.height() + flightInfo.height()));
this.validate();
setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
addWindowListener(new WindowAdapter() {
voice.speak("Rocket flight monitor ready.");
}
- public void info_reset() {
- for (int i = 0; i < info_columns; i++)
- flightInfoModel[i].resetRow();
- }
-
- public void info_add_row(int col, String name, String value) {
- flightInfoModel[col].addRow(name, value);
- }
-
- 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) {
- int c = pos;
- if (v < 0) {
- c = neg;
- v = -v;
- }
- double deg = Math.floor(v);
- double min = (v - deg) * 60;
-
- flightInfoModel[col].addRow(name, String.format("%3.0f°%08.5f'", deg, min));
- }
-
- public void info_finish() {
- for (int i = 0; i < info_columns; i++)
- flightInfoModel[i].finish();
- }
-
- public void show(AltosState state) {
- 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, "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);
- info_add_row(0, "Max acceleration", "%8.1f m/s²", state.max_acceleration);
- info_add_row(0, "Speed", "%8.1f m/s", state.ascent ? state.speed : state.baro_speed);
- info_add_row(0, "Max Speed", "%8.1f m/s", state.max_speed);
- info_add_row(0, "Temperature", "%9.2f °C", state.temperature);
- info_add_row(0, "Battery", "%9.2f V", state.battery);
- info_add_row(0, "Drogue", "%9.2f V", state.drogue_sense);
- info_add_row(0, "Main", "%9.2f V", state.main_sense);
- info_add_row(0, "Pad altitude", "%6.0f m", state.ground_altitude);
- if (state.gps == null) {
- info_add_row(1, "GPS", "not available");
- } else {
- if (state.data.gps.locked)
- info_add_row(1, "GPS", " locked");
- else if (state.data.gps.connected)
- info_add_row(1, "GPS", " unlocked");
- else
- info_add_row(1, "GPS", " missing");
- info_add_row(1, "Satellites", "%6d", state.data.gps.nsat);
- info_add_deg(1, "Latitude", state.gps.lat, 'N', 'S');
- 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);
-
- /* 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);
-
- 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);
- } else {
- info_add_row(1, "Distance from pad", "unknown");
- info_add_row(1, "Direction 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');
- info_add_row(1, "Pad GPS alt", "%6.0f m", state.pad_alt);
- }
- info_add_row(1, "GPS date", "%04d-%02d-%02d",
- state.gps.year,
- state.gps.month,
- state.gps.day);
- info_add_row(1, "GPS time", " %02d:%02d:%02d",
- state.gps.hour,
- state.gps.minute,
- state.gps.second);
- int nsat_vis = 0;
- int c;
-
- if (state.gps.cc_gps_sat == null)
- info_add_row(2, "Satellites Visible", "%4d", 0);
- else {
- info_add_row(2, "Satellites Visible", "%4d", state.gps.cc_gps_sat.length);
- for (c = 0; c < state.gps.cc_gps_sat.length; c++) {
- info_add_row(2, "Satellite id,C/N0",
- "%4d, %4d",
- state.gps.cc_gps_sat[c].svid,
- state.gps.cc_gps_sat[c].c_n0);
- }
- }
- }
- info_finish();
- }
-
- class IdleThread extends Thread {
-
- private AltosState state;
- int reported_landing;
-
- public void report(boolean last) {
- if (state == null)
- return;
-
- /* reset the landing count once we hear about a new flight */
- if (state.state < Altos.ao_flight_drogue)
- reported_landing = 0;
-
- /* 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 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 name;
-
- AltosRecord read() throws InterruptedException, ParseException { 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 {
- for (;;) {
- try {
- AltosRecord record = read();
- if (record == null)
- break;
- old_state = state;
- state = new AltosState(record, state);
- update(state);
- show(state);
- tell(state, old_state);
- idle_thread.notice(state);
- } catch (ParseException pp) {
- System.out.printf("Parse error: %d \"%s\"\n", pp.getErrorOffset(), pp.getMessage());
- }
- }
- } catch (InterruptedException ee) {
- } finally {
- close();
- idle_thread.interrupt();
- }
- }
-
- public void report() {
- if (idle_thread != null)
- idle_thread.report(true);
- }
- }
-
- class DeviceThread extends DisplayThread {
+ class DeviceThread extends AltosDisplayThread {
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, AltosVoice voice, AltosStatusTable status, AltosInfoTable info) {
+ super(AltosUI.this, voice, status, info);
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(), voice, flightStatus, flightInfo);
serial_line.set_channel(AltosPreferences.channel());
serial_line.set_callsign(AltosPreferences.callsign());
run_display(thread);
new AltosFlashUI(AltosUI.this);
}
- /*
- * Open an existing telemetry file and replay it in realtime
- */
-
- class ReplayThread extends DisplayThread {
- AltosReader reader;
- String name;
-
- public AltosRecord read() {
- try {
- return reader.read();
- } catch (IOException ie) {
- JOptionPane.showMessageDialog(AltosUI.this,
- name,
- "error reading",
- JOptionPane.ERROR_MESSAGE);
- } catch (ParseException pe) {
- }
- return null;
- }
-
- public void close () {
- report();
- }
-
- public ReplayThread(AltosReader in_reader, String in_name) {
- reader = in_reader;
- }
- void update(AltosState state) throws InterruptedException {
- /* Make it run in realtime after the rocket leaves the pad */
- if (state.state > Altos.ao_flight_pad)
- Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
- }
- }
-
- class ReplayTelemetryThread extends ReplayThread {
- ReplayTelemetryThread(FileInputStream in, String in_name) {
- super(new AltosTelemetryReader(in), in_name);
- }
-
- }
-
- class ReplayEepromThread extends ReplayThread {
- ReplayEepromThread(FileInputStream in, String in_name) {
- super(new AltosEepromReader(in), 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);
+ AltosRecordIterable iterable = chooser.runDialog();
+ if (iterable != null)
+ run_display(new AltosReplayThread(this, iterable.iterator(),
+ chooser.filename(),
+ voice,
+ flightStatus,
+ flightInfo));
}
/* 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("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 AltosRecordIterable open_logfile(String filename) {
+ File file = new File (filename);
+ try {
+ FileInputStream in;
+
+ in = new FileInputStream(file);
+ if (filename.endsWith("eeprom"))
+ return new AltosEepromIterable(in);
+ else
+ return new AltosTelemetryIterable(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);
+ AltosRecordIterable iterable = open_logfile(input);
+ if (iterable == null)
+ return;
+ AltosCSV writer = open_csv(output);
+ if (writer == null)
+ return;
+ writer.write(iterable);
+ 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