11 files changed, 184 insertions, 354 deletions

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