import java.awt.*;
import java.awt.event.*;
import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
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;
+
+import libaltosJNI.*;
+
+class AltosFlightStatusTableModel extends AbstractTableModel {
+ private String[] columnNames = {"Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
+ private Object[] data = { 0, "idle", 0, 0 };
+
+ public int getColumnCount() { return columnNames.length; }
+ public int getRowCount() { return 2; }
+ public Object getValueAt(int row, int col) {
+ if (row == 0)
+ return columnNames[col];
+ return data[col];
+ }
+
+ public void setValueAt(Object value, int col) {
+ data[col] = value;
+ fireTableCellUpdated(1, col);
+ }
+
+ public void setValueAt(Object value, int row, int col) {
+ setValueAt(value, col);
+ }
+
+ public void set(AltosState state) {
+ setValueAt(String.format("%1.0f", state.height), 0);
+ setValueAt(state.data.state, 1);
+ setValueAt(state.data.rssi, 2);
+ double speed = state.baro_speed;
+ if (state.ascent)
+ speed = state.speed;
+ setValueAt(String.format("%1.0f", speed), 3);
+ }
+}
+
+class AltosFlightInfoTableModel extends AbstractTableModel {
+ private String[] columnNames = {"Field", "Value"};
+
+ class InfoLine {
+ String name;
+ String value;
+
+ public InfoLine(String n, String v) {
+ name = n;
+ value = v;
+ }
+ }
+
+ private ArrayList<InfoLine> rows = new ArrayList<InfoLine>();
+
+ public int getColumnCount() { return columnNames.length; }
+ public String getColumnName(int col) { return columnNames[col]; }
+
+ public int getRowCount() { return 20; }
+
+ int current_row = 0;
+ int prev_num_rows = 0;
-class AltosUIMonitor implements AltosSerialMonitor {
- public void data(String data) {
- System.out.println(data);
+ public Object getValueAt(int row, int col) {
+ if (row >= prev_num_rows)
+ return "";
+ if (col == 0)
+ return rows.get(row).name;
+ else
+ return rows.get(row).value;
+ }
+
+ public void resetRow() {
+ current_row = 0;
+ }
+ public void addRow(String name, String value) {
+ if (current_row >= rows.size())
+ rows.add(current_row, new InfoLine(name, value));
+ else
+ rows.set(current_row, new InfoLine(name, value));
+ current_row++;
+ }
+ public void finish() {
+ if (current_row > prev_num_rows)
+ fireTableRowsInserted(prev_num_rows, current_row - 1);
+ prev_num_rows = current_row;
+ fireTableDataChanged();
}
}
public class AltosUI extends JFrame {
private int channel = -1;
+ private AltosFlightStatusTableModel flightStatusModel;
private JTable flightStatus;
- private JTable flightInfo;
- private AltosSerial serialLine;
+
+ static final int info_columns = 3;
+
+ private AltosFlightInfoTableModel[] flightInfoModel;
+ private JTable[] 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);
+ 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" } };
- flightStatus = new JTable(statusData, statusNames);
+ 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);
- this.add(flightStatus);
+ 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]);
+ }
setTitle("AltOS");
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 (dpi * 5, dpi * 4));
+ this.setSize(new Dimension (infoValueMetrics.charWidth('0') * 6 * 20,
+ statusHeight * 4 + infoHeight * 17));
this.validate();
setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
addWindowListener(new WindowAdapter() {
System.exit(0);
}
});
+ 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.gps_locked)
+ info_add_row(1, "GPS", " locked");
+ else if (state.data.gps.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 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);
+ }
}
- final JFileChooser deviceChooser = new JFileChooser();
+ class DeviceThread extends DisplayThread {
+ AltosSerial serial;
+ LinkedBlockingQueue<String> telem;
+
+ String read() throws InterruptedException {
+ return telem.take();
+ }
- 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());
+ 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 DisplayThread {
+ FileInputStream replay;
+ String filename;
+
+ ReplayThread(FileInputStream in, String name) {
+ replay = in;
+ filename = name;
+ }
+
+ String read() {
+ try {
+ return readline(replay);
+ } catch (IOException ee) {
+ JOptionPane.showMessageDialog(AltosUI.this,
+ filename,
+ "error reading",
+ JOptionPane.ERROR_MESSAGE);
+ }
+ 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() {
-// int returnVal = deviceChooser.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 = deviceChooser.getSelectedFile();
-// String filename = file.getName();
- String filename = "/home/keithp/src/cc1111/flights/2010-02-13-serial-051-flight-002.telem";
+ 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);
- FileInputStream replay = new FileInputStream(filename);
- String line;
-
- try {
- while ((line = readline(replay)) != null) {
- try {
- AltosTelemetry t = new AltosTelemetry(line);
- System.out.println ("Version " + t.version + t.callsign);
- } catch (ParseException pp) {
- JOptionPane.showMessageDialog(AltosUI.this,
- line,
- "error parsing",
- JOptionPane.ERROR_MESSAGE);
- break;
- }
- }
- } catch (IOException ee) {
- JOptionPane.showMessageDialog(AltosUI.this,
- filename,
- "error reading",
- JOptionPane.ERROR_MESSAGE);
- } finally {
- try {
- replay.close();
- } catch (IOException e) {}
- }
+ FileInputStream replay = new FileInputStream(file);
+ ReplayThread thread = new ReplayThread(replay, filename);
+ 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