20 files changed, 1177 insertions, 355 deletions

diff --git a/ao-tools/Makefile.am b/ao-tools/Makefile.am
index 2850e909..54dc777a 100644
--- a/ao-tools/Makefile.am
+++ b/ao-tools/Makefile.am
@@ -1 +1 @@
-SUBDIRS=lib ao-rawload ao-dbg ao-dumplog ao-bitbang ao-eeprom ao-list ao-load ao-postflight ao-view
+SUBDIRS=lib ao-rawload ao-dbg ao-dumplog ao-bitbang ao-eeprom ao-list ao-load ao-postflight ao-view libaltos altosui
diff --git a/ao-tools/altosui/AltosDevice.java b/ao-tools/altosui/AltosDevice.java
index 66800c5c..0e7d01da 100644
--- a/ao-tools/altosui/AltosDevice.java
+++ b/ao-tools/altosui/AltosDevice.java
@@ -18,13 +18,38 @@
 package altosui;
 import java.lang.*;
 import java.util.*;
+import libaltosJNI.*;
 
-public class AltosDevice {
-	String	tty;	/* suitable to be passed to AltosSerial.connect */
-	String	manufacturer;
-	String	product;
-	int	serial;
-	int	idProduct;
-	int	idVendor;
+public class AltosDevice extends altos_device {
 
+	public String toString() {
+		return String.format("%-20.20s %4d %s",
+				     getProduct(), getSerial(), getPath());
+	}
+
+	static {
+		System.loadLibrary("altos");
+		libaltos.altos_init();
+	}
+	static AltosDevice[] list(String product) {
+		SWIGTYPE_p_altos_list list = libaltos.altos_list_start();
+
+		ArrayList<AltosDevice> device_list = new ArrayList<AltosDevice>();
+		if (list != null) {
+			SWIGTYPE_p_altos_file file;
+
+			for (;;) {
+				AltosDevice device = new AltosDevice();
+				if (libaltos.altos_list_next(list, device) == 0)
+					break;
+				device_list.add(device);
+			}
+			libaltos.altos_list_finish(list);
+		}
+
+		AltosDevice[] devices = new AltosDevice[device_list.size()];
+		for (int i = 0; i < device_list.size(); i++)
+			devices[i] = device_list.get(i);
+		return devices;
+	}
 }
\ No newline at end of file
diff --git a/ao-tools/altosui/AltosDeviceDialog.java b/ao-tools/altosui/AltosDeviceDialog.java
index cb1eef8b..eb70877c 100644
--- a/ao-tools/altosui/AltosDeviceDialog.java
+++ b/ao-tools/altosui/AltosDeviceDialog.java
@@ -20,15 +20,17 @@ package altosui;
 import java.lang.*;
 import java.util.*;
 import javax.swing.*;
+import libaltosJNI.libaltos;
+import libaltosJNI.altos_device;
+import libaltosJNI.SWIGTYPE_p_altos_file;
+import libaltosJNI.SWIGTYPE_p_altos_list;
 import altosui.AltosDevice;
-import altosui.AltosDeviceLinux;
 
 public class AltosDeviceDialog {
 
-	static AltosDevice show (JFrame frame, String product) {
-		AltosDevice[]	devices = null;
-		if (System.getProperty("os.name").startsWith("Linux"))
-			devices = AltosDeviceLinux.list(product);
+	static altos_device show (JFrame frame, String product) {
+		AltosDevice[]	devices;
+		devices = AltosDevice.list(product);
 		if (devices != null & devices.length > 0) {
 			Object o = JOptionPane.showInputDialog(frame,
 							       "Select a device",
@@ -37,7 +39,7 @@ public class AltosDeviceDialog {
 							       null,
 							       devices,
 							       devices[0]);
-			return (AltosDevice) o;
+			return (altos_device) o;
 		} else {
 			return null;
 		}
diff --git a/ao-tools/altosui/AltosDeviceLinux.java b/ao-tools/altosui/AltosDeviceLinux.java
deleted file mode 100644
index ffc70aff..00000000
--- a/ao-tools/altosui/AltosDeviceLinux.java
+++ /dev/null
@@ -1,172 +0,0 @@
-/*
- * 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.*;
-import java.util.*;
-import altosui.AltosDevice;
-
-public class AltosDeviceLinux extends AltosDevice {
-
-	String load_string(File file) {
-		try {
-			FileInputStream	in = new FileInputStream(file);
-			String result = "";
-			int c;
-			try {
-				while ((c = in.read()) != -1) {
-					if (c == '\n')
-						break;
-					result = result + (char) c;
-				}
-				return result;
-			} catch (IOException ee) {
-				return "";
-			}
-		} catch (FileNotFoundException ee) {
-			return "";
-		}
-	}
-	String load_string(File dir, String name) {
-		return load_string(new File(dir, name));
-	}
-
-	int load_hex(File file) {
-		try {
-			return Integer.parseInt(load_string(file).trim(), 16);
-		} catch (NumberFormatException ee) {
-			return -1;
-		}
-	}
-
-	int load_hex(File dir, String name) {
-		return load_hex(new File(dir, name));
-	}
-
-	int load_dec(File file) {
-		try {
-			return Integer.parseInt(load_string(file).trim());
-		} catch (NumberFormatException ee) {
-			return -1;
-		}
-	}
-
-	int load_dec(File dir, String name) {
-		return load_dec(new File(dir, name));
-	}
-
-	String usb_tty(File sys_dir) {
-		String base = sys_dir.getName();
-		int num_configs = load_hex(sys_dir, "bNumConfigurations");
-		int num_inters = load_hex(sys_dir, "bNumInterfaces");
-		for (int config = 1; config <= num_configs; config++) {
-			for (int inter = 0; inter < num_inters; inter++) {
-				String endpoint_base = String.format("%s:%d.%d",
-								     base, config, inter);
-				File endpoint_full = new File(sys_dir, endpoint_base);
-
-				File[] namelist;
-
-				/* Check for tty:ttyACMx style names */
-				class tty_colon_filter implements FilenameFilter {
-					public boolean accept(File dir, String name) {
-						return name.startsWith("tty:");
-					}
-				}
-				namelist = endpoint_full.listFiles(new tty_colon_filter());
-				if (namelist != null && namelist.length > 0)
-					return new File ("/dev", namelist[0].getName().substring(4)).getPath();
-
-				/* Check for tty/ttyACMx style names */
-				class tty_filter implements FilenameFilter {
-					public boolean accept(File dir, String name) {
-						return name.startsWith("tty");
-					}
-				}
-				File tty_dir = new File(endpoint_full, "tty");
-				namelist = tty_dir.listFiles(new tty_filter());
-				if (namelist != null && namelist.length > 0)
-					return new File ("/dev", namelist[0].getName()).getPath();
-			}
-		}
-		return null;
-	}
-
-	public AltosDeviceLinux (File sys) {
-		sys = sys;
-		manufacturer = load_string(sys, "manufacturer");
-		product = load_string(sys, "product");
-		serial = load_dec(sys, "serial");
-		idProduct = load_hex(sys, "idProduct");
-		idVendor = load_hex(sys, "idVendor");
-		tty = usb_tty(sys);
-	}
-
-	public String toString() {
-		return String.format("%-20s %6d %-15s", product, serial, tty == null ? "" : tty);
-	}
-	static public AltosDeviceLinux[] list() {
-		LinkedList<AltosDeviceLinux> devices = new LinkedList<AltosDeviceLinux>();
-
-		class dev_filter implements FilenameFilter{
-			public boolean accept(File dir, String name) {
-				for (int i = 0; i < name.length(); i++) {
-					char c = name.charAt(i);
-					if (Character.isDigit(c))
-						continue;
-					if (c == '-')
-						continue;
-					if (c == '.' && i != 1)
-						continue;
-					return false;
-				}
-				return true;
-			}
-		}
-
-		File usb_devices = new File("/sys/bus/usb/devices");
-		File[] devs = usb_devices.listFiles(new dev_filter());
-		if (devs != null) {
-			for (int e = 0; e < devs.length; e++) {
-				AltosDeviceLinux	dev = new AltosDeviceLinux(devs[e]);
-				if (dev.idVendor == 0xfffe && dev.tty != null) {
-					devices.add(dev);
-				}
-			}
-		}
-		AltosDeviceLinux[] foo = new AltosDeviceLinux[devices.size()];
-		for (int e = 0; e < devices.size(); e++)
-			foo[e] = devices.get(e);
-		return foo;
-	}
-
-	static public AltosDeviceLinux[] list(String model) {
-		AltosDeviceLinux[] devices = list();
-		if (model != null) {
-			LinkedList<AltosDeviceLinux> subset = new LinkedList<AltosDeviceLinux>();
-			for (int i = 0; i < devices.length; i++) {
-				if (devices[i].product.startsWith(model))
-					subset.add(devices[i]);
-			}
-			devices = new AltosDeviceLinux[subset.size()];
-			for (int e = 0; e < subset.size(); e++)
-				devices[e] = subset.get(e);
-		}
-		return devices;
-	}
-}
diff --git a/ao-tools/altosui/AltosGPS.java b/ao-tools/altosui/AltosGPS.java
index c3b368e2..f8eb5f48 100644
--- a/ao-tools/altosui/AltosGPS.java
+++ b/ao-tools/altosui/AltosGPS.java
@@ -90,6 +90,9 @@ public class AltosGPS {
 			gps_connected = true;
 			gps_time = new AltosGPSTime();
 			i++;
+		} else if ((words[i]).equals("not-connected")) {
+			gps_time = new AltosGPSTime();
+			i++;
 		} else if (words.length >= 40) {
 			gps_locked = true;
 			gps_connected = true;
@@ -106,6 +109,7 @@ public class AltosGPS {
 			v_error = AltosParse.parse_int(AltosParse.strip_suffix(words[i++], "(verr)"));
 		} else {
 			gps_time = new AltosGPSTime();
+			i++;
 		}
 		AltosParse.word(words[i++], "SAT");
 		int tracking_channels = 0;
diff --git a/ao-tools/altosui/AltosSerial.java b/ao-tools/altosui/AltosSerial.java
index 03ab28c5..e84f5b63 100644
--- a/ao-tools/altosui/AltosSerial.java
+++ b/ao-tools/altosui/AltosSerial.java
@@ -26,16 +26,21 @@ import java.io.*;
 import java.util.concurrent.LinkedBlockingQueue;
 import java.util.LinkedList;
 import java.util.Iterator;
-import gnu.io.*;
 import altosui.AltosSerialMonitor;
+import libaltosJNI.libaltos;
+import libaltosJNI.altos_device;
+import libaltosJNI.SWIGTYPE_p_altos_file;
+import libaltosJNI.SWIGTYPE_p_altos_list;
 
 /*
  * This class reads from the serial port and places each received
  * line in a queue. Dealing with that queue is left up to other
  * threads.
  */
-class AltosSerialReader implements Runnable {
-	InputStream	serial_in;
+
+public class AltosSerial implements Runnable {
+
+	SWIGTYPE_p_altos_file altos;
 	LinkedList<LinkedBlockingQueue<String>> monitors;
 	LinkedBlockingQueue<String> reply_queue;
 	Thread input_thread;
@@ -46,7 +51,7 @@ class AltosSerialReader implements Runnable {
 
 		try {
 			for (;;) {
-				c = serial_in.read();
+				c = libaltos.altos_getchar(altos, 0);
 				if (Thread.interrupted())
 					break;
 				if (c == -1)
@@ -70,7 +75,6 @@ class AltosSerialReader implements Runnable {
 					}
 				}
 			}
-		} catch (IOException e) {
 		} catch (InterruptedException e) {
 		}
 	}
@@ -96,16 +100,13 @@ class AltosSerialReader implements Runnable {
 	}
 
 	public boolean opened() {
-		return serial_in != null;
+		return altos != null;
 	}
 
 	public void close() {
-		if (serial_in != null) {
-			try {
-				serial_in.close();
-			} catch (IOException e) {
-			}
-			serial_in = null;
+		if (altos != null) {
+			libaltos.altos_close(altos);
+			altos = null;
 		}
 		if (input_thread != null) {
 			try {
@@ -117,87 +118,31 @@ class AltosSerialReader implements Runnable {
 		}
 	}
 
-	public void open(File name) throws FileNotFoundException {
-		close();
-		serial_in = new FileInputStream(name);
-		input_thread = new Thread(this);
-		input_thread.start();
-	}
-	public void open(CommPort c) throws IOException {
-		close();
-		try {
-		c.enableReceiveTimeout(1000);	/* icky. the read method cannot be interrupted */
-		} catch (UnsupportedCommOperationException ee) {
-		}
-		serial_in = c.getInputStream();
-		input_thread = new Thread(this);
-		input_thread.start();
-	}
-	public AltosSerialReader () {
-		serial_in = null;
-		input_thread = null;
-		line = "";
-		monitors = new LinkedList<LinkedBlockingQueue<String>> ();
-		reply_queue = new LinkedBlockingQueue<String> ();
+	public void putc(char c) {
+		libaltos.altos_putchar(altos, c);
 	}
 
-}
-
-public class AltosSerial {
-	OutputStream serial_out = null;
-	AltosSerialReader reader = null;
-
-	CommPort comm_port = null;
-
-	public void close() {
-		try {
-			serial_out.close();
-		} catch (IOException ee) {
-		}
-		reader.close();
-		if (comm_port != null) {
-			comm_port.close();
-		}
-	}
-
-	public void open(File serial_name) throws FileNotFoundException {
-		reader.open(serial_name);
-		serial_out = new FileOutputStream(serial_name);
-	}
-
-	public void open(CommPort c) throws IOException {
-		reader.open(c);
-		serial_out = c.getOutputStream();
+	public void print(String data) {
+		for (int i = 0; i < data.length(); i++)
+			putc(data.charAt(i));
 	}
 
-	public void connect(String port_name) throws IOException, NoSuchPortException, PortInUseException {
-		comm_port = new RXTXPort(port_name);
-		open(comm_port);
+	public void printf(String format, Object ... arguments) {
+		print(String.format(format, arguments));
 	}
 
-	void init() {
-		reader = new AltosSerialReader();
-	}
-
-	public void add_monitor(LinkedBlockingQueue<String> q) {
-		reader.add_monitor(q);
-	}
-
-	public void remove_monitor(LinkedBlockingQueue<String> q) {
-		reader.remove_monitor(q);
+	public void open(altos_device device) throws FileNotFoundException {
+		close();
+		altos = libaltos.altos_open(device);
+		input_thread = new Thread(this);
+		input_thread.start();
 	}
 
 	public AltosSerial() {
-		init();
-	}
-
-	public AltosSerial(File serial_name) throws FileNotFoundException {
-		init();
-		open(serial_name);
-	}
-
-	public AltosSerial(CommPort comm_port) throws IOException {
-		init();
-		open(comm_port);
+		altos = null;
+		input_thread = null;
+		line = "";
+		monitors = new LinkedList<LinkedBlockingQueue<String>> ();
+		reply_queue = new LinkedBlockingQueue<String> ();
 	}
 }
diff --git a/ao-tools/altosui/AltosUI.java b/ao-tools/altosui/AltosUI.java
index 43c40799..3dfc8952 100644
--- a/ao-tools/altosui/AltosUI.java
+++ b/ao-tools/altosui/AltosUI.java
@@ -27,7 +27,6 @@ import java.util.*;
 import java.text.*;
 import java.util.prefs.*;
 import java.util.concurrent.LinkedBlockingQueue;
-import gnu.io.*;
 
 import altosui.AltosSerial;
 import altosui.AltosSerialMonitor;
@@ -38,6 +37,8 @@ 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 };
@@ -220,16 +221,8 @@ public class AltosUI extends JFrame {
 		flightInfoModel[col].addRow(name, value);
 	}
 
-	public void info_add_row(int col, String name, String format, Object value) {
-		flightInfoModel[col].addRow(name, String.format(format, value));
-	}
-
-	public void info_add_row(int col, String name, String format, Object v1, Object v2) {
-		flightInfoModel[col].addRow(name, String.format(format, v1, v2));
-	}
-
-	public void info_add_row(int col, String name, String format, Object v1, Object v2, Object v3) {
-		flightInfoModel[col].addRow(name, String.format(format, v1, v2, v3));
+	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) {
@@ -345,48 +338,57 @@ public class AltosUI extends JFrame {
 	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 < AltosTelemetry.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 > AltosTelemetry.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 == 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("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 () {
-			int	reported_landing = 0;
 
+			reported_landing = 0;
 			state = null;
 			try {
 				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;
-					}
+					report(false);
 				}
 			} catch (InterruptedException ie) {
 			}
@@ -400,21 +402,22 @@ public class AltosUI extends JFrame {
 	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;
+			if ((old_state == null || old_state.state <= AltosTelemetry.ao_flight_boost) &&
+			    state.state > AltosTelemetry.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 < AltosTelemetry.ao_flight_drogue) &&
+				   state.state >= AltosTelemetry.ao_flight_drogue) {
+				voice.speak("max height: %d meters.",
+					    (int) (state.max_height + 0.5));
 			}
 		}
 		old_state = state;
 	}
 
 	class DisplayThread extends Thread {
+		IdleThread	idle_thread;
+
 		String read() throws InterruptedException { return null; }
 
 		void close() { }
@@ -425,7 +428,8 @@ public class AltosUI extends JFrame {
 			String		line;
 			AltosState	state = null;
 			AltosState	old_state = null;
-			IdleThread	idle_thread = new IdleThread();
+
+			idle_thread = new IdleThread();
 
 			info_reset();
 			info_finish();
@@ -451,6 +455,11 @@ public class AltosUI extends JFrame {
 				idle_thread.interrupt();
 			}
 		}
+
+		public void report() {
+			if (idle_thread != null)
+				idle_thread.report(true);
+		}
 	}
 
 	class DeviceThread extends DisplayThread {
@@ -475,31 +484,21 @@ public class AltosUI extends JFrame {
 	}
 
 	private void ConnectToDevice() {
-		AltosDevice	device = AltosDeviceDialog.show(AltosUI.this, "TeleDongle");
+		altos_device	device = AltosDeviceDialog.show(AltosUI.this, "TeleDongle");
 
 		if (device != null) {
 			try {
-				serial_line.connect(device.tty);
+				serial_line.open(device);
 				DeviceThread thread = new DeviceThread(serial_line);
 				run_display(thread);
 			} catch (FileNotFoundException ee) {
 				JOptionPane.showMessageDialog(AltosUI.this,
-							      device.tty,
+							      device.getPath(),
 							      "Cannot open serial port",
 							      JOptionPane.ERROR_MESSAGE);
-			} catch (NoSuchPortException ee) {
-				JOptionPane.showMessageDialog(AltosUI.this,
-							      device.tty,
-							      "No such serial port",
-							      JOptionPane.ERROR_MESSAGE);
-			} catch (PortInUseException ee) {
-				JOptionPane.showMessageDialog(AltosUI.this,
-							      device.tty,
-							      "Port in use",
-							      JOptionPane.ERROR_MESSAGE);
 			} catch (IOException ee) {
 				JOptionPane.showMessageDialog(AltosUI.this,
-							      device.tty,
+							      device.getPath(),
 							      "Unkonwn I/O error",
 							      JOptionPane.ERROR_MESSAGE);
 			}
@@ -517,8 +516,9 @@ public class AltosUI extends JFrame {
 		while ((c = s.read()) != -1) {
 			if (c == '\r')
 				continue;
-			if (c == '\n')
+			if (c == '\n') {
 				return line;
+			}
 			line = line + (char) c;
 		}
 		return null;
@@ -554,12 +554,13 @@ public class AltosUI extends JFrame {
 				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) (state.time_change * 1000));
+				Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
 		}
 	}
 
@@ -600,7 +601,7 @@ public class AltosUI extends JFrame {
 			} catch (FileNotFoundException ee) {
 				JOptionPane.showMessageDialog(AltosUI.this,
 							      filename,
-							      "Cannot open serial port",
+							      "Cannot open telemetry file",
 							      JOptionPane.ERROR_MESSAGE);
 			}
 		}
diff --git a/ao-tools/altosui/AltosUIIcon.icns b/ao-tools/altosui/AltosUIIcon.icns
new file mode 100644
index 00000000..fe49f362
--- /dev/null
+++ b/ao-tools/altosui/AltosUIIcon.icns
diff --git a/ao-tools/altosui/AltosVoice.java b/ao-tools/altosui/AltosVoice.java
index e4ea99a2..c39bfb9b 100644
--- a/ao-tools/altosui/AltosVoice.java
+++ b/ao-tools/altosui/AltosVoice.java
@@ -47,6 +47,10 @@ public class AltosVoice implements Runnable {
 		}
 	}
 
+	public void speak(String format, Object... parameters) {
+		speak(String.format(format, parameters));
+	}
+
 	public AltosVoice () {
 		voice_manager = VoiceManager.getInstance();
 		voice = voice_manager.getVoice(voice_name);
diff --git a/ao-tools/altosui/Makefile b/ao-tools/altosui/Makefile
index 57c889b8..cd123023 100644
--- a/ao-tools/altosui/Makefile
+++ b/ao-tools/altosui/Makefile
@@ -1,6 +1,6 @@
 .SUFFIXES: .java .class
 
-CLASSPATH=..:/usr/share/java/*:/home/keithp/src/freetts/freetts-1.2.2
+CLASSPATH=classes:./*
 CLASSFILES=\
 	AltosConvert.class \
 	AltosFile.class \
@@ -15,24 +15,45 @@ CLASSFILES=\
 	AltosTelemetry.class \
 	AltosUI.class \
 	AltosDevice.class \
-	AltosDeviceLinux.class \
 	AltosDeviceDialog.class \
 	AltosVoice.class
 
+FREETTSSRC=/home/keithp/src/freetts/freetts-1.2.2
+FREETTSLIB=$(FREETTSSRC)/lib
+FREETTSJAR= \
+	cmudict04.jar \
+	cmulex.jar \
+	cmu_time_awb.jar \
+	cmutimelex.jar \
+	cmu_us_kal.jar \
+	en_us.jar \
+	freetts.jar \
+	freetts-jsapi10.jar \
+	jsapi.jar
+
 JAVAFLAGS=-Xlint:unchecked
 
-all: $(CLASSFILES) altosui altosui.jar
+all: altosui.jar
+
+$(CLASSFILES):
 
 .java.class:
 	javac -cp "$(CLASSPATH)" $(JAVAFLAGS) $*.java
 
-altosui: Makefile
-	(echo '#!/bin/sh'; \
-	echo exec java -cp '"$(CLASSPATH)"' altosui/AltosUI) > $@
-	chmod +x $@
+altosui.jar: classes/altosui classes/libaltosJNI $(FREETTSJAR) $(CLASSFILES) Manifest.txt
+	cd ./classes && jar cfm ../$@ altosui/Manifest.txt altosui/*.class libaltosJNI/*.class
+
+classes/altosui:
+	mkdir -p classes
+	ln -s .. classes/altosui
+
+classes/libaltosJNI:
+	mkdir -p classes
+	ln -s ../../libaltos/libaltosJNI classes/libaltosJNI
 
-altosui.jar: $(CLASSFILES) Manifest.txt
-	cd .. && jar cfm altosui/$@ altosui/Manifest.txt altosui/*.class
+$(FREETTSJAR):
+	ln -s $(FREETTSLIB)/$@ .
 
 clean:
-	rm -f *.class
+	rm -f *.class $(FREETTSJAR) altosui.jar
+	rm -rf classes
diff --git a/ao-tools/altosui/Manifest.txt b/ao-tools/altosui/Manifest.txt
index 0305fcfb..251ce2a0 100644
--- a/ao-tools/altosui/Manifest.txt
+++ b/ao-tools/altosui/Manifest.txt
@@ -1 +1,2 @@
 Main-Class: altosui.AltosUI
+Class-Path: freetts.jar
diff --git a/ao-tools/altosui/voices.txt b/ao-tools/altosui/voices.txt
deleted file mode 100644
index e8825fc3..00000000
--- a/ao-tools/altosui/voices.txt
+++ /dev/null
@@ -1 +0,0 @@
-com.sun.speech.freetts.en.us.cmu_us_kal.KevinVoiceDirectory
diff --git a/ao-tools/libaltos/AltOS Package Configuration.pmdoc/01altosui-contents.xml b/ao-tools/libaltos/AltOS Package Configuration.pmdoc/01altosui-contents.xml
new file mode 100644
index 00000000..e19a1e4c
--- /dev/null
+++ b/ao-tools/libaltos/AltOS Package Configuration.pmdoc/01altosui-contents.xml
@@ -0,0 +1 @@
+<pkg-contents spec="1.12"><f n="AltosUI.app" o="keithp" g="keithp" p="16877" pt="/Users/keithp/AltosUI.app" m="false" t="file"><f n="Contents" o="keithp" g="keithp" p="16877"><f n="Info.plist" o="keithp" g="keithp" p="33188"/><f n="MacOS" o="keithp" g="keithp" p="16877"><f n="JavaApplicationStub" o="keithp" g="keithp" p="33133"/></f><f n="PkgInfo" o="keithp" g="keithp" p="33188"/><f n="Resources" o="keithp" g="keithp" p="16877"><f n="AltosUIIcon.icns" o="keithp" g="keithp" p="33188"/><f n="Java" o="keithp" g="keithp" p="16877"><f n="altosui.jar" o="keithp" g="keithp" p="33188"/><f n="cmu_time_awb.jar" o="keithp" g="keithp" p="33188"/><f n="cmu_us_kal.jar" o="keithp" g="keithp" p="33188"/><f n="cmudict04.jar" o="keithp" g="keithp" p="33188"/><f n="cmulex.jar" o="keithp" g="keithp" p="33188"/><f n="cmutimelex.jar" o="keithp" g="keithp" p="33188"/><f n="en_us.jar" o="keithp" g="keithp" p="33188"/><f n="freetts-jsapi10.jar" o="keithp" g="keithp" p="33188"/><f n="freetts.jar" o="keithp" g="keithp" p="33188"/><f n="libaltos.dylib" o="keithp" g="keithp" p="33188"/></f></f></f></f></pkg-contents>
\ No newline at end of file
diff --git a/ao-tools/libaltos/AltOS Package Configuration.pmdoc/01altosui.xml b/ao-tools/libaltos/AltOS Package Configuration.pmdoc/01altosui.xml
new file mode 100644
index 00000000..5d84e5f0
--- /dev/null
+++ b/ao-tools/libaltos/AltOS Package Configuration.pmdoc/01altosui.xml
@@ -0,0 +1 @@
+<pkgref spec="1.12" uuid="C5762664-2F26-4536-94C4-56F0FBC08D1A"><config><identifier>org.altusmetrum.altosUi.AltosUI.pkg</identifier><version>1.0</version><description></description><post-install type="none"/><installFrom>/Users/keithp/AltosUI.app</installFrom><installTo mod="true" relocatable="true">/Applications/AltosUI.app</installTo><flags><followSymbolicLinks/></flags><packageStore type="internal"></packageStore><mod>installTo.path</mod><mod>parent</mod><mod>requireAuthorization</mod><mod>installTo</mod></config><contents><file-list>01altosui-contents.xml</file-list><filter>/CVS$</filter><filter>/\.svn$</filter><filter>/\.cvsignore$</filter><filter>/\.cvspass$</filter><filter>/\.DS_Store$</filter></contents></pkgref>
\ No newline at end of file
diff --git a/ao-tools/libaltos/AltOS Package Configuration.pmdoc/index.xml b/ao-tools/libaltos/AltOS Package Configuration.pmdoc/index.xml
new file mode 100644
index 00000000..1277db62
--- /dev/null
+++ b/ao-tools/libaltos/AltOS Package Configuration.pmdoc/index.xml
@@ -0,0 +1 @@
+<pkmkdoc spec="1.12"><properties><title>AltOS UI</title><build>/Users/keithp/Documents/AltosUI.pkg</build><organization>org.altusmetrum</organization><userSees ui="easy"/><min-target os="3"/><domain anywhere="true"/></properties><distribution><versions min-spec="1.000000"/><scripts></scripts></distribution><contents><choice title="AltosUI" id="choice0" starts_selected="true" starts_enabled="true" starts_hidden="false"><pkgref id="org.altusmetrum.altosUi.AltosUI.pkg"/></choice></contents><resources bg-scale="none" bg-align="topleft"><locale lang="en"/></resources><flags/><item type="file">01altosui.xml</item><mod>properties.title</mod></pkmkdoc>
\ No newline at end of file
diff --git a/ao-tools/libaltos/Makefile b/ao-tools/libaltos/Makefile
new file mode 100644
index 00000000..0bbd304c
--- /dev/null
+++ b/ao-tools/libaltos/Makefile
@@ -0,0 +1,80 @@
+OS:=$(shell uname)
+
+ifeq ($(OS),Linux)
+
+JAVA_CFLAGS=-I/usr/lib/jvm/java-6-openjdk/include
+
+OS_CFLAGS=-DLINUX -DPOSIX_TTY $(JAVA_CFLAGS)
+
+LIBEXT=so
+
+endif
+
+ifeq ($(OS),Darwin)
+
+DARWIN_CFLAGS=\
+	--sysroot=/Developer/SDKs/MacOSX10.5.sdk -mmacosx-version-min=10.5 \
+	-iwithsysroot /System/Library/Frameworks/JavaVM.framework/Headers \
+	-iwithsysroot /System/Library/Frameworks/IOKit.framework/Headers \
+	-iwithsysroot /System/Library/Frameworks/CoreFoundation.framework/Headers
+DARWIN_LIBS=\
+	-framework IOKit -framework CoreFoundation
+
+OS_CFLAGS = $(DARWIN_CFLAGS) -DDARWIN -DPOSIX_TTY -arch i386 -arch x86_64
+LIBEXT=dylib
+
+endif
+
+.SUFFIXES: .java .class
+
+CLASSPATH=".:jnitest/*:libaltosJNI:/usr/share/java/*"
+
+SWIG_DIR=swig_bindings/java
+SWIG_FILE=$(SWIG_DIR)/libaltos.swig
+SWIG_WRAP=$(SWIG_DIR)/libaltos_wrap.c
+
+JNI_DIR=libaltosJNI
+JNI_FILE=$(JNI_DIR)/libaltosJNI.java 
+JNI_SRCS=$(JNI_FILE) \
+	$(JNI_DIR)/SWIGTYPE_p_altos_file.java \
+	$(JNI_DIR)/SWIGTYPE_p_altos_list.java \
+	$(JNI_DIR)/altos_device.java \
+	$(JNI_DIR)/libaltos.java
+
+JAVAFILES=\
+	$(JNI_SRCS)
+
+CLASSFILES = $(JAVAFILES:%.java=%.class)
+
+JAVAFLAGS=-Xlint:unchecked
+
+all: libaltos.$(LIBEXT) cjnitest $(CLASSFILES)
+
+.java.class:
+	javac -cp "$(CLASSPATH)" $(JAVAFLAGS) $*.java
+
+CFLAGS=$(OS_CFLAGS) -O0 -g -I.
+
+HEADERS=libaltos.h
+SRCS = libaltos.c $(SWIG_WRAP)
+OBJS = $(SRCS:%.c=%.o)
+LIBS = $(DARWIN_LIBS)
+
+cjnitest: cjnitest.o $(OBJS)
+	cc -o $@ $(CFLAGS) cjnitest.o $(OBJS) $(LIBS)
+
+libaltos.$(LIBEXT): $(OBJS)
+	gcc -shared $(CFLAGS) -o $@ $(OBJS) $(LIBS)
+
+clean:
+	rm -f $(CLASSFILES) $(OBJS) libaltos.$(LIBEXT) cjnitest cjnitest.o
+	rm -rf swig_bindings libaltosJNI
+
+$(JNI_FILE): libaltos.i0 $(HEADERS)
+	mkdir -p $(SWIG_DIR)
+	mkdir -p libaltosJNI
+	sed 's;//%;%;' libaltos.i0 $(HEADERS) > $(SWIG_FILE)
+	swig -java -package libaltosJNI $(SWIG_FILE)
+	cp swig_bindings/java/*.java libaltosJNI
+
+$(SWIG_WRAP): $(JNI_FILE)
diff --git a/ao-tools/libaltos/cjnitest.c b/ao-tools/libaltos/cjnitest.c
new file mode 100644
index 00000000..cd3898ed
--- /dev/null
+++ b/ao-tools/libaltos/cjnitest.c
@@ -0,0 +1,25 @@
+#include <stdio.h>
+#include "libaltos.h"
+
+main ()
+{
+	struct altos_device	device;
+	struct altos_list	*list;
+
+	altos_init();
+	list = altos_list_start();
+	while (altos_list_next(list, &device)) {
+		struct altos_file	*file;
+		int			c;
+
+		file = altos_open(&device);
+		altos_putchar(file, '?'); altos_putchar(file, '\n'); altos_flush(file);
+		while ((c = altos_getchar(file, 100)) >= 0) {
+			putchar (c);
+		}
+		printf ("getchar returns %d\n", c);
+		altos_close(file);
+	}
+	altos_list_finish(list);
+	altos_fini();
+}
diff --git a/ao-tools/libaltos/libaltos.c b/ao-tools/libaltos/libaltos.c
new file mode 100644
index 00000000..df0d5b2e
--- /dev/null
+++ b/ao-tools/libaltos/libaltos.c
@@ -0,0 +1,825 @@
+/*
+ * 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.
+ */
+
+#include "libaltos.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+static int
+match_dev(char *product, int serial, struct altos_device *device)
+{
+	struct altos_list	*list;
+	int			i;
+
+	list = altos_list_start();
+	if (!list)
+		return 0;
+	while ((i = altos_list_next(list, device)) != 0) {
+		if (product && strncmp (product, device->product, strlen(product)) != 0)
+			continue;
+		if (serial && serial != device->serial)
+			continue;
+		break;
+	}
+	altos_list_finish(list);
+	return i;
+}
+
+#ifdef DARWIN
+/* Mac OS X don't have strndup even if _GNU_SOURCE is defined */
+static char *
+altos_strndup (const char *s, size_t n)
+{
+    size_t len = strlen (s);
+    char *ret;
+
+    if (len <= n)
+       return strdup (s);
+    ret = malloc(n + 1);
+    strncpy(ret, s, n);
+    ret[n] = '\0';
+    return ret;
+}
+
+#else
+#define altos_strndup strndup
+#endif
+
+int
+altos_find_by_arg(char *arg, char *default_product, struct altos_device *device)
+{
+	char	*product;
+	int	serial;
+	char	*end;
+	char	*colon;
+	int	ret;
+
+	if (arg)
+	{
+		/* check for <serial> */
+		serial = strtol(arg, &end, 0);
+		if (end != arg) {
+			if (*end != '\0')
+				return 0;
+			product = NULL;
+		} else {
+			/* check for <product>:<serial> */
+			colon = strchr(arg, ':');
+			if (colon) {
+				product = altos_strndup(arg, colon - arg);
+				serial = strtol(colon + 1, &end, 0);
+				if (*end != '\0')
+					return 0;
+			} else {
+				product = arg;
+				serial = 0;
+			}
+		}
+	} else {
+		product = NULL;
+		serial = 0;
+	}
+	if (!product && default_product)
+		ret = match_dev(default_product, serial, device);
+	if (!ret)
+		ret = match_dev(product, serial, device);
+	if (product && product != arg)
+		free(product);
+	return ret;
+}
+
+#ifdef LINUX
+
+#define _GNU_SOURCE
+#include <ctype.h>
+#include <dirent.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+static char *
+cc_fullname (char *dir, char *file)
+{
+	char	*new;
+	int	dlen = strlen (dir);
+	int	flen = strlen (file);
+	int	slen = 0;
+
+	if (dir[dlen-1] != '/')
+		slen = 1;
+	new = malloc (dlen + slen + flen + 1);
+	if (!new)
+		return 0;
+	strcpy(new, dir);
+	if (slen)
+		strcat (new, "/");
+	strcat(new, file);
+	return new;
+}
+
+static char *
+cc_basename(char *file)
+{
+	char *b;
+
+	b = strrchr(file, '/');
+	if (!b)
+		return file;
+	return b + 1;
+}
+
+static char *
+load_string(char *dir, char *file)
+{
+	char	*full = cc_fullname(dir, file);
+	char	line[4096];
+	char	*r;
+	FILE	*f;
+	int	rlen;
+
+	f = fopen(full, "r");
+	free(full);
+	if (!f)
+		return NULL;
+	r = fgets(line, sizeof (line), f);
+	fclose(f);
+	if (!r)
+		return NULL;
+	rlen = strlen(r);
+	if (r[rlen-1] == '\n')
+		r[rlen-1] = '\0';
+	return strdup(r);
+}
+
+static int
+load_hex(char *dir, char *file)
+{
+	char	*line;
+	char	*end;
+	long	i;
+
+	line = load_string(dir, file);
+	if (!line)
+		return -1;
+	i = strtol(line, &end, 16);
+	free(line);
+	if (end == line)
+		return -1;
+	return i;
+}
+
+static int
+load_dec(char *dir, char *file)
+{
+	char	*line;
+	char	*end;
+	long	i;
+
+	line = load_string(dir, file);
+	if (!line)
+		return -1;
+	i = strtol(line, &end, 10);
+	free(line);
+	if (end == line)
+		return -1;
+	return i;
+}
+
+static int
+dir_filter_tty_colon(const struct dirent *d)
+{
+	return strncmp(d->d_name, "tty:", 4) == 0;
+}
+
+static int
+dir_filter_tty(const struct dirent *d)
+{
+	return strncmp(d->d_name, "tty", 3) == 0;
+}
+
+struct altos_usbdev {
+	char	*sys;
+	char	*tty;
+	char	*manufacturer;
+	char	*product;
+	int	serial;	/* AltOS always uses simple integer serial numbers */
+	int	idProduct;
+	int	idVendor;
+};
+
+static char *
+usb_tty(char *sys)
+{
+	char *base;
+	int num_configs;
+	int config;
+	struct dirent **namelist;
+	int interface;
+	int num_interfaces;
+	char endpoint_base[20];
+	char *endpoint_full;
+	char *tty_dir;
+	int ntty;
+	char *tty;
+
+	base = cc_basename(sys);
+	num_configs = load_hex(sys, "bNumConfigurations");
+	num_interfaces = load_hex(sys, "bNumInterfaces");
+	for (config = 1; config <= num_configs; config++) {
+		for (interface = 0; interface < num_interfaces; interface++) {
+			sprintf(endpoint_base, "%s:%d.%d",
+				base, config, interface);
+			endpoint_full = cc_fullname(sys, endpoint_base);
+
+			/* Check for tty:ttyACMx style names
+			 */
+			ntty = scandir(endpoint_full, &namelist,
+				       dir_filter_tty_colon,
+				       alphasort);
+			if (ntty > 0) {
+				free(endpoint_full);
+				tty = cc_fullname("/dev", namelist[0]->d_name + 4);
+				free(namelist);
+				return tty;
+			}
+
+			/* Check for tty/ttyACMx style names
+			 */
+			tty_dir = cc_fullname(endpoint_full, "tty");
+			free(endpoint_full);
+			ntty = scandir(tty_dir, &namelist,
+				       dir_filter_tty,
+				       alphasort);
+			free (tty_dir);
+			if (ntty > 0) {
+				tty = cc_fullname("/dev", namelist[0]->d_name);
+				free(namelist);
+				return tty;
+			}
+		}
+	}
+	return NULL;
+}
+
+static struct altos_usbdev *
+usb_scan_device(char *sys)
+{
+	struct altos_usbdev *usbdev;
+
+	usbdev = calloc(1, sizeof (struct altos_usbdev));
+	if (!usbdev)
+		return NULL;
+	usbdev->sys = strdup(sys);
+	usbdev->manufacturer = load_string(sys, "manufacturer");
+	usbdev->product = load_string(sys, "product");
+	usbdev->serial = load_dec(sys, "serial");
+	usbdev->idProduct = load_hex(sys, "idProduct");
+	usbdev->idVendor = load_hex(sys, "idVendor");
+	usbdev->tty = usb_tty(sys);
+	return usbdev;
+}
+
+static void
+usbdev_free(struct altos_usbdev *usbdev)
+{
+	free(usbdev->sys);
+	free(usbdev->manufacturer);
+	free(usbdev->product);
+	/* this can get used as a return value */
+	if (usbdev->tty)
+		free(usbdev->tty);
+	free(usbdev);
+}
+
+#define USB_DEVICES	"/sys/bus/usb/devices"
+
+static int
+dir_filter_dev(const struct dirent *d)
+{
+	const char	*n = d->d_name;
+	char	c;
+
+	while ((c = *n++)) {
+		if (isdigit(c))
+			continue;
+		if (c == '-')
+			continue;
+		if (c == '.' && n != d->d_name + 1)
+			continue;
+		return 0;
+	}
+	return 1;
+}
+
+struct altos_list {
+	struct altos_usbdev	**dev;
+	int			current;
+	int			ndev;
+};
+
+int
+altos_init(void)
+{
+	return 1;
+}
+
+void
+altos_fini(void)
+{
+}
+
+struct altos_list *
+altos_list_start(void)
+{
+	int			e;
+	struct dirent		**ents;
+	char			*dir;
+	struct altos_usbdev	*dev;
+	struct altos_list	*devs;
+	int			n;
+
+	devs = calloc(1, sizeof (struct altos_list));
+	if (!devs)
+		return NULL;
+
+	n = scandir (USB_DEVICES, &ents,
+		     dir_filter_dev,
+		     alphasort);
+	if (!n)
+		return 0;
+	for (e = 0; e < n; e++) {
+		dir = cc_fullname(USB_DEVICES, ents[e]->d_name);
+		dev = usb_scan_device(dir);
+		free(dir);
+		if (dev->idVendor == 0xfffe && dev->tty) {
+			if (devs->dev)
+				devs->dev = realloc(devs->dev,
+						    devs->ndev + 1 * sizeof (struct usbdev *));
+			else
+				devs->dev = malloc (sizeof (struct usbdev *));
+			devs->dev[devs->ndev++] = dev;
+		}
+	}
+	free(ents);
+	devs->current = 0;
+	return devs;
+}
+
+int
+altos_list_next(struct altos_list *list, struct altos_device *device)
+{
+	struct altos_usbdev *dev;
+	if (list->current >= list->ndev)
+		return 0;
+	dev = list->dev[list->current];
+	strcpy(device->product, dev->product);
+	strcpy(device->path, dev->tty);
+	device->serial = dev->serial;
+	list->current++;
+	return 1;
+}
+
+void
+altos_list_finish(struct altos_list *usbdevs)
+{
+	int	i;
+
+	if (!usbdevs)
+		return;
+	for (i = 0; i < usbdevs->ndev; i++)
+		usbdev_free(usbdevs->dev[i]);
+	free(usbdevs);
+}
+
+#endif
+
+#ifdef DARWIN
+
+#include <IOKitLib.h>
+#include <IOKit/usb/USBspec.h>
+#include <sys/param.h>
+#include <paths.h>
+#include <CFNumber.h>
+#include <IOBSD.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+struct altos_list {
+	io_iterator_t iterator;
+};
+
+static int
+get_string(io_object_t object, CFStringRef entry, char *result, int result_len)
+{
+	CFTypeRef entry_as_string;
+	Boolean got_string;
+
+	entry_as_string = IORegistryEntrySearchCFProperty (object,
+							   kIOServicePlane,
+							   entry,
+							   kCFAllocatorDefault,
+							   kIORegistryIterateRecursively);
+	if (entry_as_string) {
+		got_string = CFStringGetCString(entry_as_string,
+						result, result_len,
+						kCFStringEncodingASCII);
+    
+		CFRelease(entry_as_string);
+		if (got_string)
+			return 1;
+	}
+	return 0;
+}
+
+int
+altos_init(void)
+{
+	return 1;
+}
+
+void
+altos_fini(void)
+{
+}
+
+struct altos_list *
+altos_list_start(void)
+{
+	struct altos_list *list = calloc (sizeof (struct altos_list), 1);
+	CFMutableDictionaryRef matching_dictionary = IOServiceMatching("IOUSBDevice");
+	UInt32 vendor = 0xfffe, product = 0x000a;
+	CFNumberRef vendor_ref = CFNumberCreate(kCFAllocatorDefault, kCFNumberSInt32Type, &vendor);
+	CFNumberRef product_ref = CFNumberCreate(kCFAllocatorDefault, kCFNumberSInt32Type, &product);
+	io_iterator_t tdIterator;
+	io_object_t tdObject;
+  
+	CFDictionaryAddValue(matching_dictionary, CFSTR(kUSBVendorID), vendor_ref);
+	CFDictionaryAddValue(matching_dictionary, CFSTR(kUSBProductID), product_ref);
+
+	IOServiceGetMatchingServices(kIOMasterPortDefault, matching_dictionary, &list->iterator);
+  
+	CFRelease(vendor_ref);
+	CFRelease(product_ref);
+	return list;
+}
+
+int
+altos_list_next(struct altos_list *list, struct altos_device *device)
+{
+	io_object_t object;
+	char serial_string[128];
+
+	for (;;) {
+		object = IOIteratorNext(list->iterator);
+		if (!object)
+			return 0;
+  
+		if (get_string (object, CFSTR("IOCalloutDevice"), device->path, sizeof (device->path)) &&
+		    get_string (object, CFSTR("USB Product Name"), device->product, sizeof (device->product)) &&
+		    get_string (object, CFSTR("USB Serial Number"), serial_string, sizeof (serial_string))) {
+			device->serial = atoi(serial_string);
+			return 1;
+		}
+	}
+}
+
+void
+altos_list_finish(struct altos_list *list)
+{
+	IOObjectRelease (list->iterator);
+	free(list);
+}
+
+#endif
+
+#ifdef POSIX_TTY
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <errno.h>
+
+#define USB_BUF_SIZE	64
+
+struct altos_file {
+	int				fd;
+	unsigned char			out_data[USB_BUF_SIZE];
+	int				out_used;
+	unsigned char			in_data[USB_BUF_SIZE];
+	int				in_used;
+	int				in_read;
+};
+
+struct altos_file *
+altos_open(struct altos_device *device)
+{
+	struct altos_file	*file = calloc (sizeof (struct altos_file), 1);
+	int			ret;
+	struct termios		term;
+
+	if (!file)
+		return NULL;
+
+	file->fd = open(device->path, O_RDWR | O_NOCTTY);
+	if (file->fd < 0) {
+		perror(device->path);
+		free(file);
+		return NULL;
+	}
+	ret = tcgetattr(file->fd, &term);
+	if (ret < 0) {
+		perror("tcgetattr");
+		close(file->fd);
+		free(file);
+		return NULL;
+	}
+	cfmakeraw(&term);
+	term.c_cc[VMIN] = 0;
+	term.c_cc[VTIME] = 1;
+	ret = tcsetattr(file->fd, TCSAFLUSH, &term);
+	if (ret < 0) {
+		perror("tcsetattr");
+		close(file->fd);
+		free(file);
+		return NULL;
+	}
+	return file;
+}
+
+void
+altos_close(struct altos_file *file)
+{
+	close(file->fd);
+	free(file);
+}
+
+int
+altos_putchar(struct altos_file *file, char c)
+{
+	int	ret;
+
+	if (file->out_used == USB_BUF_SIZE) {
+		ret = altos_flush(file);
+		if (ret)
+			return ret;
+	}
+	file->out_data[file->out_used++] = c;
+	if (file->out_used == USB_BUF_SIZE)
+		return altos_flush(file);
+	return 0;
+}
+
+int
+altos_flush(struct altos_file *file)
+{
+	while (file->out_used) {
+		int	ret;
+
+		ret = write (file->fd, file->out_data, file->out_used);
+		if (ret < 0)
+			return -errno;
+		if (ret) {
+			memmove(file->out_data, file->out_data + ret,
+				file->out_used - ret);
+			file->out_used -= ret;
+		}
+	}
+}
+
+int
+altos_getchar(struct altos_file *file, int timeout)
+{
+	while (file->in_read == file->in_used) {
+		int	ret;
+
+		altos_flush(file);
+		ret = read(file->fd, file->in_data, USB_BUF_SIZE);
+		if (ret < 0)
+			return -errno;
+		file->in_read = 0;
+		file->in_used = ret;
+	}
+	return file->in_data[file->in_read++];
+}
+
+#endif /* POSIX_TTY */
+
+#ifdef USE_LIBUSB
+#include <libusb.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+libusb_context	*usb_context;
+
+int altos_init(void)
+{
+	int	ret;
+	ret = libusb_init(&usb_context);
+	if (ret)
+		return ret;
+	libusb_set_debug(usb_context, 3);
+	return 0;
+}
+
+void altos_fini(void)
+{
+	libusb_exit(usb_context);
+	usb_context = NULL;
+}
+
+static libusb_device **list;
+static ssize_t num, current;
+
+int altos_list_start(void)
+{
+	if (list)
+		altos_list_finish();
+	current = 0;
+	num = libusb_get_device_list(usb_context, &list);
+	if (num == 0) {
+		current = num = 0;
+		list = NULL;
+		return 0;
+	}
+	return 1;
+}
+
+int altos_list_next(struct altos_device *device)
+{
+	while (current < num) {
+		struct libusb_device_descriptor descriptor;
+		libusb_device *usb_device = list[current++];
+
+		if (libusb_get_device_descriptor(usb_device, &descriptor) == 0) {
+			if (descriptor.idVendor == 0xfffe)
+			{
+				libusb_device_handle	*handle;
+				if (libusb_open(usb_device, &handle) == 0) {
+					char	serial_number[256];
+					libusb_get_string_descriptor_ascii(handle, descriptor.iProduct,
+									   device->product,
+									   sizeof(device->product));
+					libusb_get_string_descriptor_ascii(handle, descriptor.iSerialNumber,
+									   serial_number,
+									   sizeof (serial_number));
+					libusb_close(handle);
+					device->serial = atoi(serial_number);
+					device->device = usb_device;
+					return 1;
+				}
+			}
+		}
+	}
+	return 0;
+}
+
+void altos_list_finish(void)
+{
+	if (list) {
+		libusb_free_device_list(list, 1);
+		list = NULL;
+	}
+}
+
+#define USB_BUF_SIZE	64
+
+struct altos_file {
+	struct libusb_device		*device;
+	struct libusb_device_handle	*handle;
+	int				out_ep;
+	int				out_size;
+	int				in_ep;
+	int				in_size;
+	unsigned char			out_data[USB_BUF_SIZE];
+	int				out_used;
+	unsigned char			in_data[USB_BUF_SIZE];
+	int				in_used;
+	int				in_read;
+};
+
+struct altos_file *
+altos_open(struct altos_device *device)
+{
+	struct altos_file		*file;
+	struct libusb_device_handle	*handle;
+	if (libusb_open(device->device, &handle) == 0) {
+		int	ret;
+
+		ret = libusb_claim_interface(handle, 1);
+#if 0
+		if (ret) {
+			libusb_close(handle);
+			return NULL;
+		}
+#endif
+		ret = libusb_detach_kernel_driver(handle, 1);
+#if 0
+		if (ret) {
+			libusb_close(handle);
+			return NULL;
+		}
+#endif
+
+		file = calloc(sizeof (struct altos_file), 1);
+		file->device = libusb_ref_device(device->device);
+		file->handle = handle;
+		/* XXX should get these from the endpoint descriptors */
+		file->out_ep = 4 | LIBUSB_ENDPOINT_OUT;
+		file->out_size = 64;
+		file->in_ep = 5 | LIBUSB_ENDPOINT_IN;
+		file->in_size = 64;
+
+		return file;
+	}
+	return NULL;
+}
+
+void
+altos_close(struct altos_file *file)
+{
+	libusb_close(file->handle);
+	libusb_unref_device(file->device);
+	file->handle = NULL;
+	free(file);
+}
+
+int
+altos_putchar(struct altos_file *file, char c)
+{
+	int	ret;
+
+	if (file->out_used == file->out_size) {
+		ret = altos_flush(file);
+		if (ret)
+			return ret;
+	}
+	file->out_data[file->out_used++] = c;
+	if (file->out_used == file->out_size)
+		return altos_flush(file);
+	return 0;
+}
+
+int
+altos_flush(struct altos_file *file)
+{
+	while (file->out_used) {
+		int	transferred;
+		int	ret;
+
+		ret = libusb_bulk_transfer(file->handle,
+					   file->out_ep,
+					   file->out_data,
+					   file->out_used,
+					   &transferred,
+					   0);
+		if (ret)
+			return ret;
+		if (transferred) {
+			memmove(file->out_data, file->out_data + transferred,
+				file->out_used - transferred);
+			file->out_used -= transferred;
+		}
+	}
+}
+
+int
+altos_getchar(struct altos_file *file, int timeout)
+{
+	while (file->in_read == file->in_used) {
+		int	ret;
+		int	transferred;
+
+		altos_flush(file);
+		ret = libusb_bulk_transfer(file->handle,
+					   file->in_ep,
+					   file->in_data,
+					   file->in_size,
+					   &transferred,
+					   (unsigned int) timeout);
+		if (ret)
+			return ret;
+		file->in_read = 0;
+		file->in_used = transferred;
+	}
+	return file->in_data[file->in_read++];
+}
+
+#endif /* USE_LIBUSB */
diff --git a/ao-tools/libaltos/libaltos.h b/ao-tools/libaltos/libaltos.h
new file mode 100644
index 00000000..782f244e
--- /dev/null
+++ b/ao-tools/libaltos/libaltos.h
@@ -0,0 +1,54 @@
+/*
+ * 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.
+ */
+
+#ifndef _LIBALTOS_H_
+#define _LIBALTOS_H_
+
+struct altos_device {
+	//%immutable;
+	char				product[256];
+	int				serial;
+	char				path[256];
+	//%mutable;
+};
+
+int altos_init(void);
+
+void altos_fini(void);
+
+struct altos_list *
+altos_list_start(void);
+
+int altos_list_next(struct altos_list *list, struct altos_device *device);
+
+void altos_list_finish(struct altos_list *list);
+
+struct altos_file *
+altos_open(struct altos_device *device);
+
+void altos_close(struct altos_file *file);
+
+int
+altos_putchar(struct altos_file *file, char c);
+
+int
+altos_flush(struct altos_file *file);
+
+int
+altos_getchar(struct altos_file *file, int timeout);
+
+#endif /* _LIBALTOS_H_ */
diff --git a/ao-tools/libaltos/libaltos.i0 b/ao-tools/libaltos/libaltos.i0
new file mode 100644
index 00000000..d06468f5
--- /dev/null
+++ b/ao-tools/libaltos/libaltos.i0
@@ -0,0 +1,5 @@
+%module libaltos
+%{
+#include "libaltos.h"
+%}
+