X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao-tools%2Faltosui%2FAltosUI.java;h=ad02f2ef990149ae21325a99699418fe84cf2745;hp=21c3e7a27367e9fd4815998709cdb3dc30a65bd4;hb=61590b8729831cb138b2ba6b88802c208d114753;hpb=65079f84ea64220fa928c3ad96652fed159bf74b

diff --git a/ao-tools/altosui/AltosUI.java b/ao-tools/altosui/AltosUI.java
index 21c3e7a2..ad02f2ef 100644
--- a/ao-tools/altosui/AltosUI.java
+++ b/ao-tools/altosui/AltosUI.java
@@ -21,75 +21,131 @@ import java.awt.*;
 import java.awt.event.*;
 import javax.swing.*;
 import javax.swing.filechooser.FileNameExtensionFilter;
-import javax.swing.table.AbstractTableModel;
+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.AltosRecord;
 import altosui.AltosTelemetry;
 import altosui.AltosState;
+import altosui.AltosDeviceDialog;
+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 libaltosJNI.*;
 
-class AltosUIMonitor implements AltosSerialMonitor {
-	public void data(String data) {
-		System.out.println(data);
-	}
-}
-
-class AltosFlightStatusTableModel extends AbstractTableModel {
-	private String[] columnNames = {"Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
-	private Object[] data = { 0, "idle", 0, 0 };
+public class AltosUI extends JFrame {
+	private int channel = -1;
 
-	public int getColumnCount() { return columnNames.length; }
-	public int getRowCount() { return 1; }
-	public String getColumnName(int col) { return columnNames[col]; }
-	public Object getValueAt(int row, int col) { return data[col]; }
+	private AltosFlightStatusTableModel flightStatusModel;
+	private JTable flightStatus;
 
-	public void setValueAt(Object value, int col) {
-		data[col] = value;
-		fireTableCellUpdated(0, col);
-	}
+	static final int info_columns = 3;
 
-	public void setValueAt(Object value, int row, int col) {
-		setValueAt(value, col);
-	}
+	private AltosFlightInfoTableModel[] flightInfoModel;
+	private JTable[] flightInfo;
+	private AltosSerial serial_line;
+	private AltosLog altos_log;
+	private Box[] ibox;
+	private Box vbox;
+	private Box hbox;
 
-	public void set(AltosState state) {
-		setValueAt(state.height, 0);
-		setValueAt(state.data.state, 1);
-		setValueAt(state.data.rssi, 2);
-		setValueAt(state.speed, 3);
-	}
-}
+	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 class AltosUI extends JFrame {
-	private int channel = -1;
+	public AltosVoice voice = new AltosVoice();
 
-	private JTable flightStatus;
-	private JTable flightInfo;
-	private AltosSerial serialLine;
+	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" } };
 
-		flightStatus = new JTable(statusData, statusNames);
+		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);
 
-		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() {
@@ -98,128 +154,528 @@ public class AltosUI extends JFrame {
 				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));
 	}
 
-	final JFileChooser deviceChooser = new JFileChooser();
-	final JFileChooser logdirChooser = new JFileChooser();
-	final String logdirName = "TeleMetrum";
-	File logdir = null;
+	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));
+	}
 
-	private void setLogdir() {
-		if (logdir == null)
-			logdir = new File(logdirChooser.getCurrentDirectory(), logdirName);
-		logdirChooser.setCurrentDirectory(logdir);
+	public void info_finish() {
+		for (int i = 0; i < info_columns; i++)
+			flightInfoModel[i].finish();
+	}
+
+	public void show(AltosState state, int crc_errors) {
+		if (state == null)
+			return;
+		flightStatusModel.set(state);
+
+		info_reset();
+		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);
+		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.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)
+				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", "%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');
+				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();
 	}
 
-	private void makeLogdir() {
-		setLogdir();
-		if (!logdir.exists()) {
-			if (!logdir.mkdirs())
+	class IdleThread extends Thread {
+
+		boolean	started;
+		private AltosState state;
+		int	reported_landing;
+		int	report_interval;
+		long	report_time;
+
+		public synchronized 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 (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;
+			}
+
+			/* 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.state >= Altos.ao_flight_drogue &&
+			    (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;
+			}
+		}
+
+		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 (;;) {
+					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 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 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) {
+				voice.speak("GPS ready");
+				ret = true;
+			}
+			else if (old_state != null) {
+				voice.speak("GPS lost");
+				ret = true;
+			}
+		}
+		old_state = state;
+		return ret;
+	}
+
+	class DisplayThread extends Thread {
+		IdleThread	idle_thread;
+
+		String		name;
+
+		int		crc_errors;
+
+		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();
+			try {
+				for (;;) {
+					try {
+						AltosRecord record = read();
+						if (record == null)
+							break;
+						old_state = state;
+						state = new AltosState(record, state);
+						update(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,
-							      logdir.getName(),
-							      "Cannot create directory",
+							      String.format("Error reading from \"%s\"", name),
+							      "Telemetry Read Error",
 							      JOptionPane.ERROR_MESSAGE);
-		} else if (!logdir.isDirectory()) {
-			JOptionPane.showMessageDialog(AltosUI.this,
-						      logdir.getName(),
-						      "Is not a directory",
-						      JOptionPane.ERROR_MESSAGE);
+			} finally {
+				close(interrupted);
+				idle_thread.interrupt();
+				try {
+					idle_thread.join();
+				} catch (InterruptedException ie) {}
+			}
+		}
+
+		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<AltosLine> telem;
+
+		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(boolean interrupted) {
+			serial.close();
+			serial.remove_monitor(telem);
+		}
+
+		public DeviceThread(AltosSerial s, String in_name) {
+			serial = s;
+			telem = new LinkedBlockingQueue<AltosLine>();
+			serial.add_monitor(telem);
+			name = in_name;
 		}
 	}
 
 	private void ConnectToDevice() {
-		PickSerialDevice();
-		int returnVal = deviceChooser.showOpenDialog(AltosUI.this);
+		AltosDevice	device = AltosDeviceDialog.show(AltosUI.this,
+								AltosDevice.product_basestation);
 
-		if (returnVal == JFileChooser.APPROVE_OPTION) {
-			File file = deviceChooser.getSelectedFile();
+		if (device != null) {
 			try {
-				serialLine.open(file);
+				stop_display();
+				serial_line.open(device);
+				DeviceThread thread = new DeviceThread(serial_line, device.getPath());
+				serial_line.set_channel(AltosPreferences.channel());
+				serial_line.set_callsign(AltosPreferences.callsign());
+				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);
 			}
 		}
 	}
 
-	String readline(FileInputStream s) throws IOException {
-		int c;
-		String	line = "";
+	void DisconnectFromDevice () {
+		stop_display();
+	}
 
-		while ((c = s.read()) != -1) {
-			if (c == '\r')
-				continue;
-			if (c == '\n')
-				return line;
-			line = line + (char) c;
+	void ConfigureCallsign() {
+		String	result;
+		result = JOptionPane.showInputDialog(AltosUI.this,
+						     "Configure Callsign",
+						     AltosPreferences.callsign());
+		if (result != null) {
+			AltosPreferences.set_callsign(result);
+			if (serial_line != null)
+				serial_line.set_callsign(result);
 		}
-		return null;
+	}
+
+	void ConfigureTeleMetrum() {
+		new AltosConfig(AltosUI.this);
+	}
+
+	void FlashImage() {
+		new AltosFlashUI(AltosUI.this);
 	}
 
 	/*
 	 * Open an existing telemetry file and replay it in realtime
 	 */
 
-	private void Replay() {
-		setLogdir();
-		logdirChooser.setDialogTitle("Select Telemetry File");
-		logdirChooser.setFileFilter(new FileNameExtensionFilter("Telemetry file", "telem"));
-		int returnVal = logdirChooser.showOpenDialog(AltosUI.this);
-
-		if (returnVal == JFileChooser.APPROVE_OPTION) {
-			File file = logdirChooser.getSelectedFile();
-			if (file == null)
-				System.out.println("No file selected?");
-			String	filename = file.getName();
-			try {
-				FileInputStream	replay = new FileInputStream(file);
-				String	line;
+	class ReplayThread extends DisplayThread {
+		AltosReader	reader;
+		String		name;
 
-				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) {}
-				}
-			} catch (FileNotFoundException ee) {
+		public AltosRecord read() {
+			try {
+				return reader.read();
+			} catch (IOException ie) {
 				JOptionPane.showMessageDialog(AltosUI.this,
-							      filename,
-							      "Cannot open serial port",
+							      name,
+							      "error reading",
 							      JOptionPane.ERROR_MESSAGE);
+			} catch (ParseException pe) {
 			}
+			return null;
+		}
+
+		public void close (boolean interrupted) {
+			if (!interrupted)
+				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()) {
+			display_thread.interrupt();
+			try {
+				display_thread.join();
+			} catch (InterruptedException ie) {}
+		}
+		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() {
+		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
+	 * a TeleDongle over the packet link
+	 */
 	private void SaveFlightData() {
+		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() {
 		JMenuBar menubar = new JMenuBar();
 		JMenu menu;
@@ -232,6 +688,46 @@ public class AltosUI extends JFrame {
 			menu.setMnemonic(KeyEvent.VK_F);
 			menubar.add(menu);
 
+			item = new JMenuItem("Replay File",KeyEvent.VK_R);
+			item.addActionListener(new ActionListener() {
+					public void actionPerformed(ActionEvent e) {
+						Replay();
+					}
+				});
+			menu.add(item);
+
+			item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
+			item.addActionListener(new ActionListener() {
+					public void actionPerformed(ActionEvent e) {
+						SaveFlightData();
+					}
+				});
+			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));
@@ -260,27 +756,29 @@ public class AltosUI extends JFrame {
 			item = new JMenuItem("Disconnect from Device",KeyEvent.VK_D);
 			item.addActionListener(new ActionListener() {
 					public void actionPerformed(ActionEvent e) {
-						serialLine.close();
+						DisconnectFromDevice();
 					}
 				});
 			menu.add(item);
 
 			menu.addSeparator();
 
-			item = new JMenuItem("Save Flight Data",KeyEvent.VK_S);
+			item = new JMenuItem("Set Callsign",KeyEvent.VK_S);
 			item.addActionListener(new ActionListener() {
 					public void actionPerformed(ActionEvent e) {
-						SaveFlightData();
+						ConfigureCallsign();
 					}
 				});
+
 			menu.add(item);
 
-			item = new JMenuItem("Replay",KeyEvent.VK_R);
+			item = new JMenuItem("Configure TeleMetrum device",KeyEvent.VK_T);
 			item.addActionListener(new ActionListener() {
 					public void actionPerformed(ActionEvent e) {
-						Replay();
+						ConfigureTeleMetrum();
 					}
 				});
+
 			menu.add(item);
 		}
 		// Log menu
@@ -299,6 +797,7 @@ public class AltosUI extends JFrame {
 			item = new JMenuItem("Configure Log",KeyEvent.VK_C);
 			item.addActionListener(new ActionListener() {
 					public void actionPerformed(ActionEvent e) {
+						AltosPreferences.ConfigureLog();
 					}
 				});
 			menu.add(item);
@@ -309,42 +808,106 @@ public class AltosUI extends JFrame {
 			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
 		{
-			menu = new JMenu("Channel", true);
-			menu.setMnemonic(KeyEvent.VK_C);
-			menubar.add(menu);
-			ButtonGroup group = new ButtonGroup();
-
-			for (int c = 0; c <= 9; c++) {
-				radioitem = new JRadioButtonMenuItem(String.format("Channel %1d (%7.3fMHz)", c,
-										   434.550 + c * 0.1),
-								     c == 0);
-				radioitem.setActionCommand(String.format("%d", c));
-				radioitem.addActionListener(new ActionListener() {
+			menu = new AltosChannelMenu(AltosPreferences.channel());
+			menu.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);
-				group.add(radioitem);
-			}
+				});
+			menu.setMnemonic(KeyEvent.VK_C);
+			menubar.add(menu);
 		}
 
 		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
+}