Finish basic flight monitoring UI with voice using FreeTTS

This captures telemetry data to log files and presents flight status
information in audio form using FreeTTS.

Signed-off-by: Keith Packard <keithp@keithp.com>

8 files changed, 415 insertions, 79 deletions

diff --git a/ao-tools/altosui/AltosFile.java b/ao-tools/altosui/AltosFile.java
new file mode 100644
index 00000000..c7ee8679
--- /dev/null
+++ b/ao-tools/altosui/AltosFile.java
@@ -0,0 +1,37 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.lang.*;
+import java.io.File;
+import java.util.*;
+import altosui.AltosTelemetry;
+import altosui.AltosPreferences;
+
+class AltosFile extends File {
+	public AltosFile(AltosTelemetry telem) {
+		super (AltosPreferences.logdir(),
+		       String.format("%04d-%02d-%02d-serial-%03d-flight-%03d.%s",
+				     Calendar.getInstance().get(Calendar.YEAR),
+				     Calendar.getInstance().get(Calendar.MONTH),
+				     Calendar.getInstance().get(Calendar.DAY_OF_MONTH),
+				     telem.serial,
+				     telem.flight,
+				     "telem"));
+	}
+}
diff --git a/ao-tools/altosui/AltosLog.java b/ao-tools/altosui/AltosLog.java
new file mode 100644
index 00000000..ec868b9c
--- /dev/null
+++ b/ao-tools/altosui/AltosLog.java
@@ -0,0 +1,104 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.io.*;
+import java.lang.*;
+import java.util.*;
+import java.text.ParseException;
+import java.util.concurrent.LinkedBlockingQueue;
+import altosui.AltosSerial;
+import altosui.AltosFile;
+
+/*
+ * This creates a thread to capture telemetry data and write it to
+ * a log file
+ */
+class AltosLog implements Runnable {
+
+	LinkedBlockingQueue<String>	input_queue;
+	LinkedBlockingQueue<String>	pending_queue;
+	int				serial;
+	int				flight;
+	FileWriter			log_file;
+	Thread				log_thread;
+
+	void close() throws IOException {
+		if (log_file != null)
+			log_file.close();
+	}
+
+	boolean open (AltosTelemetry telem) throws IOException {
+		AltosFile	a = new AltosFile(telem);
+
+		log_file = new FileWriter(a, true);
+		if (log_file != null) {
+			while (!pending_queue.isEmpty()) {
+				try {
+					String s = pending_queue.take();
+					log_file.write(s);
+					log_file.write('\n');
+				} catch (InterruptedException ie) {
+				}
+			}
+			log_file.flush();
+		}
+		return log_file != null;
+	}
+
+	public void run () {
+		try {
+			for (;;) {
+				String	line = input_queue.take();
+				try {
+					AltosTelemetry	telem = new AltosTelemetry(line);
+					if (telem.serial != serial || telem.flight != flight || log_file == null) {
+						close();
+						serial = telem.serial;
+						flight = telem.flight;
+						open(telem);
+					}
+				} catch (ParseException pe) {
+				}
+				if (log_file != null) {
+					log_file.write(line);
+					log_file.write('\n');
+					log_file.flush();
+				} else
+					pending_queue.put(line);
+			}
+		} catch (InterruptedException ie) {
+		} catch (IOException ie) {
+		}
+		try {
+			close();
+		} catch (IOException ie) {
+		}
+	}
+
+	public AltosLog (AltosSerial s) {
+		pending_queue = new LinkedBlockingQueue<String> ();
+		input_queue = new LinkedBlockingQueue<String> ();
+		s.add_monitor(input_queue);
+		serial = -1;
+		flight = -1;
+		log_file = null;
+		log_thread = new Thread(this);
+		log_thread.start();
+	}
+}
diff --git a/ao-tools/altosui/AltosPreferences.java b/ao-tools/altosui/AltosPreferences.java
new file mode 100644
index 00000000..0296d935
--- /dev/null
+++ b/ao-tools/altosui/AltosPreferences.java
@@ -0,0 +1,117 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+import java.awt.Component;
+import javax.swing.*;
+import javax.swing.filechooser.FileSystemView;
+
+class AltosPreferences {
+	static Preferences preferences;
+
+	/* logdir preference name */
+	final static String logdirPreference = "LOGDIR";
+
+	/* Default logdir is ~/TeleMetrum */
+	final static String logdirName = "TeleMetrum";
+
+	/* UI Component to pop dialogs up */
+	static Component component;
+
+	/* Log directory */
+	static File logdir;
+
+	public static void init(Component ui) {
+		preferences = Preferences.userRoot().node("/org/altusmetrum/altosui");
+
+		component = ui;
+
+		/* Initialize logdir from preferences */
+		String logdir_string = preferences.get(logdirPreference, null);
+		if (logdir_string != null)
+			logdir = new File(logdir_string);
+		else {
+			/* Use the file system view default directory */
+			logdir = new File(FileSystemView.getFileSystemView().getDefaultDirectory(), logdirName);
+			if (!logdir.exists())
+				logdir.mkdirs();
+		}
+	}
+
+	static void flush_preferences() {
+		try {
+			preferences.flush();
+		} catch (BackingStoreException ee) {
+			JOptionPane.showMessageDialog(component,
+						      preferences.absolutePath(),
+						      "Cannot save prefernces",
+						      JOptionPane.ERROR_MESSAGE);
+		}
+	}
+
+	public static void set_logdir(File new_logdir) {
+		logdir = new_logdir;
+		synchronized (preferences) {
+			preferences.put(logdirPreference, logdir.getPath());
+			flush_preferences();
+		}
+	}
+
+	private static boolean check_dir(File dir) {
+		if (!dir.exists()) {
+			if (!dir.mkdirs()) {
+				JOptionPane.showMessageDialog(component,
+							      dir.getName(),
+							      "Cannot create directory",
+							      JOptionPane.ERROR_MESSAGE);
+				return false;
+			}
+		} else if (!dir.isDirectory()) {
+			JOptionPane.showMessageDialog(component,
+						      dir.getName(),
+						      "Is not a directory",
+						      JOptionPane.ERROR_MESSAGE);
+			return false;
+		}
+		return true;
+	}
+
+	/* Configure the log directory. This is where all telemetry and eeprom files
+	 * will be written to, and where replay will look for telemetry files
+	 */
+	public static void ConfigureLog() {
+		JFileChooser	logdir_chooser = new JFileChooser(logdir.getParentFile());
+
+		logdir_chooser.setDialogTitle("Configure Data Logging Directory");
+		logdir_chooser.setFileSelectionMode(JFileChooser.DIRECTORIES_ONLY);
+
+		if (logdir_chooser.showDialog(component, "Select Directory") == JFileChooser.APPROVE_OPTION) {
+			File dir = logdir_chooser.getSelectedFile();
+			if (check_dir(dir))
+				set_logdir(dir);
+		}
+	}
+
+	public static File logdir() {
+		return logdir;
+	}
+}
diff --git a/ao-tools/altosui/AltosState.java b/ao-tools/altosui/AltosState.java
index 192011d0..59a1999e 100644
--- a/ao-tools/altosui/AltosState.java
+++ b/ao-tools/altosui/AltosState.java
@@ -29,7 +29,7 @@ public class AltosState {
 
 	/* derived data */
 
-	double  report_time;
+	long  	report_time;
 
 	double	time_change;
 	int	tick;
@@ -66,11 +66,6 @@ public class AltosState {
 	int	speak_tick;
 	double	speak_altitude;
 
-	static double
-	aoview_time()
-	{
-		return System.currentTimeMillis() / 1000.0;
-	}
 
 	void init (AltosTelemetry cur, AltosState prev_state) {
 		int		i;
@@ -82,7 +77,7 @@ public class AltosState {
 		ground_altitude = AltosConvert.cc_barometer_to_altitude(data.ground_pres);
 		height = AltosConvert.cc_barometer_to_altitude(data.flight_pres) - ground_altitude;
 
-		report_time = aoview_time();
+		report_time = System.currentTimeMillis();
 
 		accel_counts_per_mss = ((data.accel_minus_g - data.accel_plus_g) / 2.0) / 9.80665;
 		acceleration = (data.ground_accel - data.flight_accel) / accel_counts_per_mss;
diff --git a/ao-tools/altosui/AltosUI.java b/ao-tools/altosui/AltosUI.java
index 2952fcc0..43c40799 100644
--- a/ao-tools/altosui/AltosUI.java
+++ b/ao-tools/altosui/AltosUI.java
@@ -34,6 +34,9 @@ import altosui.AltosSerialMonitor;
 import altosui.AltosTelemetry;
 import altosui.AltosState;
 import altosui.AltosDeviceDialog;
+import altosui.AltosPreferences;
+import altosui.AltosLog;
+import altosui.AltosVoice;
 
 class AltosFlightStatusTableModel extends AbstractTableModel {
 	private String[] columnNames = {"Height (m)", "State", "RSSI (dBm)", "Speed (m/s)" };
@@ -128,7 +131,8 @@ public class AltosUI extends JFrame {
 
 	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;
@@ -137,11 +141,15 @@ public class AltosUI extends JFrame {
 	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);
 
@@ -188,7 +196,8 @@ public class AltosUI extends JFrame {
 
 		createMenu();
 
-		serialLine = new AltosSerial();
+		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));
@@ -333,63 +342,76 @@ public class AltosUI extends JFrame {
 		info_finish();
 	}
 
-	/* User Preferences */
-	Preferences altosui_preferences = Preferences.userNodeForPackage(this.getClass());
-
-	/* Log directory */
-	private File logdir = null;
+	class IdleThread extends Thread {
 
-	/* logdir preference name */
-	final static String logdirPreference = "LOGDIR";
+		private AltosState state;
 
-	/* Default logdir is ~/TeleMetrum */
-	final static String logdirName = "TeleMetrum";
-
-	/* Initialize logdir from preferences */
-	{
-		String logdir_string = altosui_preferences.get(logdirPreference, null);
-		if (logdir_string != null)
-			logdir = new File(logdir_string);
-		else
-			/* a hack -- make the file chooser tell us what the default directory
-			 * would be and stick our logdir in a subdirectory of that.
-			 */
-			logdir = new File(new JFileChooser().getCurrentDirectory(), logdirName);
-	}
+		public void run () {
+			int	reported_landing = 0;
 
-	private void set_logdir(File new_logdir) {
-		logdir = new_logdir;
-		System.out.printf("Set logdir to %s\n", logdir.toString());
-		synchronized (altosui_preferences) {
-			altosui_preferences.put(logdirPreference, logdir.getPath());
+			state = null;
 			try {
-				altosui_preferences.flush();
-			} catch (BackingStoreException ee) {
-				JOptionPane.showMessageDialog(AltosUI.this,
-							      altosui_preferences.absolutePath(),
-							      "Cannot save prefernces",
-							      JOptionPane.ERROR_MESSAGE);
+				for (;;) {
+					Thread.sleep(10000);
+					if (state == null)
+						continue;
+
+					/* reset the landing count once we hear about a new flight */
+					if (state.state < AltosTelemetry.ao_flight_drogue)
+						reported_landing = 0;
+
+					/* Shut up once the rocket is on the ground */
+					if (reported_landing > 2)
+						continue;
+
+					/* If the rocket isn't on the pad, then report height */
+					if (state.state > AltosTelemetry.ao_flight_pad) {
+						voice.speak(String.format("%d meters", (int) (state.height + 0.5)));
+					}
+
+					/* 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 &&
+					    (System.currentTimeMillis() - state.report_time > 10000 ||
+					     state.state == AltosTelemetry.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.gps != null)
+							voice.speak(String.format("bearing %d degrees, range %d meters",
+										  (int) (state.from_pad.bearing + 0.5),
+										  (int) (state.from_pad.distance + 0.5)));
+						++reported_landing;
+					}
+				}
+			} catch (InterruptedException ie) {
 			}
 		}
+
+		public void notice(AltosState new_state) {
+			state = new_state;
+		}
 	}
 
-	private boolean check_dir(File dir) {
-		if (!dir.exists()) {
-			if (!dir.mkdirs()) {
-				JOptionPane.showMessageDialog(AltosUI.this,
-							      dir.getName(),
-							      "Cannot create directory",
-							      JOptionPane.ERROR_MESSAGE);
-				return false;
+	private void tell(AltosState state, AltosState old_state) {
+		if (old_state == null || old_state.state != state.state) {
+			voice.speak(state.data.state);
+			switch (state.state) {
+			case AltosTelemetry.ao_flight_fast:
+				voice.speak(String.format("max speed %d meters per second",
+							  (int) (state.max_speed + 0.5)));
+				break;
+			case AltosTelemetry.ao_flight_drogue:
+				voice.speak(String.format("max height %d meters",
+							  (int) (state.max_height + 0.5)));
+				break;
 			}
-		} else if (!dir.isDirectory()) {
-			JOptionPane.showMessageDialog(AltosUI.this,
-						      dir.getName(),
-						      "Is not a directory",
-						      JOptionPane.ERROR_MESSAGE);
-			return false;
 		}
-		return true;
+		old_state = state;
 	}
 
 	class DisplayThread extends Thread {
@@ -402,16 +424,22 @@ public class AltosUI extends JFrame {
 		public void run() {
 			String		line;
 			AltosState	state = null;
+			AltosState	old_state = null;
+			IdleThread	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);
@@ -420,6 +448,7 @@ public class AltosUI extends JFrame {
 			} catch (InterruptedException ee) {
 			} finally {
 				close();
+				idle_thread.interrupt();
 			}
 		}
 	}
@@ -450,8 +479,8 @@ public class AltosUI extends JFrame {
 
 		if (device != null) {
 			try {
-				serialLine.connect(device.tty);
-				DeviceThread thread = new DeviceThread(serialLine);
+				serial_line.connect(device.tty);
+				DeviceThread thread = new DeviceThread(serial_line);
 				run_display(thread);
 			} catch (FileNotFoundException ee) {
 				JOptionPane.showMessageDialog(AltosUI.this,
@@ -556,7 +585,7 @@ public class AltosUI extends JFrame {
 
 		logfile_chooser.setDialogTitle("Select Telemetry File");
 		logfile_chooser.setFileFilter(new FileNameExtensionFilter("Telemetry file", "telem"));
-		logfile_chooser.setCurrentDirectory(logdir);
+		logfile_chooser.setCurrentDirectory(AltosPreferences.logdir());
 		int returnVal = logfile_chooser.showOpenDialog(AltosUI.this);
 
 		if (returnVal == JFileChooser.APPROVE_OPTION) {
@@ -583,23 +612,6 @@ public class AltosUI extends JFrame {
 	private void SaveFlightData() {
 	}
 
-	/* Configure the log directory. This is where all telemetry and eeprom files
-	 * will be written to, and where replay will look for telemetry files
-	 */
-	private void ConfigureLog() {
-		JFileChooser	logdir_chooser = new JFileChooser();
-
-		logdir_chooser.setDialogTitle("Configure Data Logging Directory");
-		logdir_chooser.setCurrentDirectory(logdir.getParentFile());
-		logdir_chooser.setFileSelectionMode(JFileChooser.DIRECTORIES_ONLY);
-
-		if (logdir_chooser.showDialog(AltosUI.this, "Select Directory") == JFileChooser.APPROVE_OPTION) {
-			File dir = logdir_chooser.getSelectedFile();
-			if (check_dir(dir))
-				set_logdir(dir);
-		}
-	}
-
 	/* Create the AltosUI menus
 	 */
 	private void createMenu() {
@@ -681,7 +693,7 @@ public class AltosUI extends JFrame {
 			item = new JMenuItem("Configure Log",KeyEvent.VK_C);
 			item.addActionListener(new ActionListener() {
 					public void actionPerformed(ActionEvent e) {
-						ConfigureLog();
+						AltosPreferences.ConfigureLog();
 					}
 				});
 			menu.add(item);
diff --git a/ao-tools/altosui/AltosVoice.java b/ao-tools/altosui/AltosVoice.java
new file mode 100644
index 00000000..e4ea99a2
--- /dev/null
+++ b/ao-tools/altosui/AltosVoice.java
@@ -0,0 +1,69 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import com.sun.speech.freetts.Voice;
+import com.sun.speech.freetts.VoiceManager;
+import com.sun.speech.freetts.audio.JavaClipAudioPlayer;
+import java.util.concurrent.LinkedBlockingQueue;
+
+public class AltosVoice implements Runnable {
+	VoiceManager			voice_manager;
+	Voice				voice;
+	LinkedBlockingQueue<String>	phrases;
+	Thread				thread;
+
+	final static String voice_name = "kevin16";
+
+	public void run() {
+		try {
+			for (;;) {
+				String s = phrases.take();
+				voice.speak(s);
+			}
+		} catch (InterruptedException e) {
+		}
+	}
+	public void speak(String s) {
+		try {
+			if (voice != null)
+				phrases.put(s);
+		} catch (InterruptedException e) {
+		}
+	}
+
+	public AltosVoice () {
+		voice_manager = VoiceManager.getInstance();
+		voice = voice_manager.getVoice(voice_name);
+		if (voice != null) {
+			voice.allocate();
+			phrases = new LinkedBlockingQueue<String> ();
+			thread = new Thread(this);
+			thread.start();
+			speak("Rocket Flight Monitor Ready");
+		} else {
+			System.out.printf("Voice manager failed to open %s\n", voice_name);
+			Voice[] voices = voice_manager.getVoices();
+			System.out.printf("Available voices:\n");
+			for (int i = 0; i < voices.length; i++) {
+				System.out.println("    " + voices[i].getName()
+						   + " (" + voices[i].getDomain() + " domain)");
+			}
+		}
+	}
+}
diff --git a/ao-tools/altosui/Makefile b/ao-tools/altosui/Makefile
index b9f025da..57c889b8 100644
--- a/ao-tools/altosui/Makefile
+++ b/ao-tools/altosui/Makefile
@@ -1,6 +1,6 @@
 .SUFFIXES: .java .class
 
-CLASSPATH=..:/usr/share/java/*
+CLASSPATH=..:/usr/share/java/*:/home/keithp/src/freetts/freetts-1.2.2
 CLASSFILES=\
 	AltosConvert.class \
 	AltosFile.class \
@@ -16,7 +16,8 @@ CLASSFILES=\
 	AltosUI.class \
 	AltosDevice.class \
 	AltosDeviceLinux.class \
-	AltosDeviceDialog.class
+	AltosDeviceDialog.class \
+	AltosVoice.class
 
 JAVAFLAGS=-Xlint:unchecked
 
diff --git a/ao-tools/altosui/voices.txt b/ao-tools/altosui/voices.txt
new file mode 100644
index 00000000..e8825fc3
--- /dev/null
+++ b/ao-tools/altosui/voices.txt
@@ -0,0 +1 @@
+com.sun.speech.freetts.en.us.cmu_us_kal.KevinVoiceDirectory