git.gag.com Git - fw/altos/blob - altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java

   1 /*
   2  * Copyright © 2012 Mike Beattie <mike@ethernal.org>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 package org.altusmetrum.AltosDroid;
  19
  20 import java.lang.ref.WeakReference;
  21 import java.util.concurrent.TimeoutException;
  22 import java.util.*;
  23
  24 import android.app.Notification;
  25 //import android.app.NotificationManager;
  26 import android.app.PendingIntent;
  27 import android.app.Service;
  28 import android.bluetooth.BluetoothDevice;
  29 import android.bluetooth.BluetoothAdapter;
  30 import android.hardware.usb.*;
  31 import android.content.Intent;
  32 import android.content.Context;
  33 import android.os.Bundle;
  34 import android.os.IBinder;
  35 import android.os.Handler;
  36 import android.os.Message;
  37 import android.os.Messenger;
  38 import android.os.RemoteException;
  39 import android.os.Looper;
  40 import android.widget.Toast;
  41 import android.location.Criteria;
  42
  43 import org.altusmetrum.altoslib_10.*;
  44
  45 public class TelemetryService extends Service {
  46
  47         static final int MSG_REGISTER_CLIENT   = 1;
  48         static final int MSG_UNREGISTER_CLIENT = 2;
  49         static final int MSG_CONNECT           = 3;
  50         static final int MSG_OPEN_USB          = 4;
  51         static final int MSG_CONNECTED         = 5;
  52         static final int MSG_CONNECT_FAILED    = 6;
  53         static final int MSG_DISCONNECTED      = 7;
  54         static final int MSG_TELEMETRY         = 8;
  55         static final int MSG_SETFREQUENCY      = 9;
  56         static final int MSG_CRC_ERROR         = 10;
  57         static final int MSG_SETBAUD           = 11;
  58         static final int MSG_DISCONNECT        = 12;
  59         static final int MSG_DELETE_SERIAL     = 13;
  60
  61         // Unique Identification Number for the Notification.
  62         // We use it on Notification start, and to cancel it.
  63         private int NOTIFICATION = R.string.telemetry_service_label;
  64         //private NotificationManager mNM;
  65
  66         ArrayList<Messenger> clients = new ArrayList<Messenger>(); // Keeps track of all current registered clients.
  67         final Handler   handler   = new IncomingHandler(this);
  68         final Messenger messenger = new Messenger(handler); // Target we publish for clients to send messages to IncomingHandler.
  69
  70         // Name of the connected device
  71         DeviceAddress address;
  72         private AltosDroidLink  altos_link  = null;
  73         private TelemetryReader telemetry_reader = null;
  74         private TelemetryLogger telemetry_logger = null;
  75
  76         // Local Bluetooth adapter
  77         private BluetoothAdapter bluetooth_adapter = null;
  78
  79         // Last data seen; send to UI when it starts
  80         private TelemetryState  telemetry_state;
  81
  82         // Handler of incoming messages from clients.
  83         static class IncomingHandler extends Handler {
  84                 private final WeakReference<TelemetryService> service;
  85                 IncomingHandler(TelemetryService s) { service = new WeakReference<TelemetryService>(s); }
  86
  87                 @Override
  88                 public void handleMessage(Message msg) {
  89                         TelemetryService s = service.get();
  90                         AltosDroidLink bt = null;
  91                         if (s == null)
  92                                 return;
  93                         switch (msg.what) {
  94
  95                                 /* Messages from application */
  96                         case MSG_REGISTER_CLIENT:
  97                                 s.add_client(msg.replyTo);
  98                                 break;
  99                         case MSG_UNREGISTER_CLIENT:
 100                                 s.remove_client(msg.replyTo);
 101                                 break;
 102                         case MSG_CONNECT:
 103                                 AltosDebug.debug("Connect command received");
 104                                 DeviceAddress address = (DeviceAddress) msg.obj;
 105                                 AltosDroidPreferences.set_active_device(address);
 106                                 s.start_altos_bluetooth(address, false);
 107                                 break;
 108                         case MSG_OPEN_USB:
 109                                 AltosDebug.debug("Open USB command received");
 110                                 UsbDevice device = (UsbDevice) msg.obj;
 111                                 s.start_usb(device);
 112                                 break;
 113                         case MSG_DISCONNECT:
 114                                 AltosDebug.debug("Disconnect command received");
 115                                 s.address = null;
 116                                 s.disconnect(true);
 117                                 break;
 118                         case MSG_DELETE_SERIAL:
 119                                 AltosDebug.debug("Delete Serial command received");
 120                                 s.delete_serial((Integer) msg.obj);
 121                                 break;
 122                         case MSG_SETFREQUENCY:
 123                                 AltosDebug.debug("MSG_SETFREQUENCY");
 124                                 s.telemetry_state.frequency = (Double) msg.obj;
 125                                 if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
 126                                         try {
 127                                                 s.altos_link.set_radio_frequency(s.telemetry_state.frequency);
 128                                                 s.altos_link.save_frequency();
 129                                         } catch (InterruptedException e) {
 130                                         } catch (TimeoutException e) {
 131                                         }
 132                                 }
 133                                 s.send_to_clients();
 134                                 break;
 135                         case MSG_SETBAUD:
 136                                 AltosDebug.debug("MSG_SETBAUD");
 137                                 s.telemetry_state.telemetry_rate = (Integer) msg.obj;
 138                                 if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
 139                                         s.altos_link.set_telemetry_rate(s.telemetry_state.telemetry_rate);
 140                                         s.altos_link.save_telemetry_rate();
 141                                 }
 142                                 s.send_to_clients();
 143                                 break;
 144
 145                                 /*
 146                                  *Messages from AltosBluetooth
 147                                  */
 148                         case MSG_CONNECTED:
 149                                 AltosDebug.debug("MSG_CONNECTED");
 150                                 bt = (AltosDroidLink) msg.obj;
 151
 152                                 if (bt != s.altos_link) {
 153                                         AltosDebug.debug("Stale message");
 154                                         break;
 155                                 }
 156                                 AltosDebug.debug("Connected to device");
 157                                 try {
 158                                         s.connected();
 159                                 } catch (InterruptedException ie) {
 160                                 }
 161                                 break;
 162                         case MSG_CONNECT_FAILED:
 163                                 AltosDebug.debug("MSG_CONNECT_FAILED");
 164                                 bt = (AltosDroidLink) msg.obj;
 165
 166                                 if (bt != s.altos_link) {
 167                                         AltosDebug.debug("Stale message");
 168                                         break;
 169                                 }
 170                                 if (s.address != null) {
 171                                         AltosDebug.debug("Connection failed... retrying");
 172                                         s.start_altos_bluetooth(s.address, true);
 173                                 } else {
 174                                         s.disconnect(true);
 175                                 }
 176                                 break;
 177                         case MSG_DISCONNECTED:
 178
 179                                 /* This can be sent by either AltosDroidLink or TelemetryReader */
 180                                 AltosDebug.debug("MSG_DISCONNECTED");
 181                                 bt = (AltosDroidLink) msg.obj;
 182
 183                                 if (bt != s.altos_link) {
 184                                         AltosDebug.debug("Stale message");
 185                                         break;
 186                                 }
 187                                 if (s.address != null) {
 188                                         AltosDebug.debug("Connection lost... retrying");
 189                                         s.start_altos_bluetooth(s.address, true);
 190                                 } else {
 191                                         s.disconnect(true);
 192                                 }
 193                                 break;
 194
 195                                 /*
 196                                  * Messages from TelemetryReader
 197                                  */
 198                         case MSG_TELEMETRY:
 199                                 s.telemetry((AltosTelemetry) msg.obj);
 200                                 break;
 201                         case MSG_CRC_ERROR:
 202                                 // forward crc error messages
 203                                 s.telemetry_state.crc_errors = (Integer) msg.obj;
 204                                 s.send_to_clients();
 205                                 break;
 206                         default:
 207                                 super.handleMessage(msg);
 208                         }
 209                 }
 210         }
 211
 212         /* Handle telemetry packet
 213          */
 214         private void telemetry(AltosTelemetry telem) {
 215                 AltosState      state;
 216
 217                 if (telemetry_state.states.containsKey(telem.serial))
 218                         state = telemetry_state.states.get(telem.serial).clone();
 219                 else
 220                         state = new AltosState();
 221                 telem.update_state(state);
 222                 telemetry_state.states.put(telem.serial, state);
 223                 if (state != null) {
 224                         AltosPreferences.set_state(telem.serial, state, null);
 225                 }
 226                 send_to_clients();
 227         }
 228
 229         /* Construct the message to deliver to clients
 230          */
 231         private Message message() {
 232                 if (telemetry_state == null)
 233                         AltosDebug.debug("telemetry_state null!");
 234                 if (telemetry_state.states == null)
 235                         AltosDebug.debug("telemetry_state.states null!");
 236                 return Message.obtain(null, AltosDroid.MSG_STATE, telemetry_state);
 237         }
 238
 239         /* A new friend has connected
 240          */
 241         private void add_client(Messenger client) {
 242
 243                 clients.add(client);
 244                 AltosDebug.debug("Client bound to service");
 245
 246                 /* On connect, send the current state to the new client
 247                  */
 248                 send_to_client(client);
 249
 250                 /* If we've got an address from a previous session, then
 251                  * go ahead and try to reconnect to the device
 252                  */
 253                 if (address != null && telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED) {
 254                         AltosDebug.debug("Reconnecting now...");
 255                         start_altos_bluetooth(address, false);
 256                 }
 257         }
 258
 259         /* A client has disconnected, clean up
 260          */
 261         private void remove_client(Messenger client) {
 262                 clients.remove(client);
 263                 AltosDebug.debug("Client unbound from service");
 264
 265                 /* When the list of clients is empty, stop the service if
 266                  * we have no current telemetry source
 267                  */
 268
 269                  if (clients.isEmpty() && telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED) {
 270                          AltosDebug.debug("No clients, no connection. Stopping\n");
 271                          stopSelf();
 272                  }
 273         }
 274
 275         private void send_to_client(Messenger client) {
 276                 Message m = message();
 277                 try {
 278                         client.send(m);
 279                 } catch (RemoteException e) {
 280                         AltosDebug.error("Client %s disappeared", client.toString());
 281                         remove_client(client);
 282                 }
 283         }
 284
 285         private void send_to_clients() {
 286                 for (Messenger client : clients)
 287                         send_to_client(client);
 288         }
 289
 290         private void disconnect(boolean notify) {
 291                 AltosDebug.debug("disconnect(): begin");
 292
 293                 telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
 294                 telemetry_state.address = null;
 295
 296                 if (altos_link != null)
 297                         altos_link.closing();
 298
 299                 stop_receiver_voltage_timer();
 300
 301                 if (telemetry_reader != null) {
 302                         AltosDebug.debug("disconnect(): stopping TelemetryReader");
 303                         telemetry_reader.interrupt();
 304                         try {
 305                                 telemetry_reader.join();
 306                         } catch (InterruptedException e) {
 307                         }
 308                         telemetry_reader = null;
 309                 }
 310                 if (telemetry_logger != null) {
 311                         AltosDebug.debug("disconnect(): stopping TelemetryLogger");
 312                         telemetry_logger.stop();
 313                         telemetry_logger = null;
 314                 }
 315                 if (altos_link != null) {
 316                         AltosDebug.debug("disconnect(): stopping AltosDroidLink");
 317                         altos_link.close();
 318                         altos_link = null;
 319                 }
 320                 telemetry_state.config = null;
 321                 if (notify) {
 322                         AltosDebug.debug("disconnect(): send message to clients");
 323                         send_to_clients();
 324                         if (clients.isEmpty()) {
 325                                 AltosDebug.debug("disconnect(): no clients, terminating");
 326                                 stopSelf();
 327                         }
 328                 }
 329         }
 330
 331         private void start_usb(UsbDevice device) {
 332                 AltosUsb        d = new AltosUsb(this, device, handler);
 333
 334                 if (d != null) {
 335                         disconnect(false);
 336                         altos_link = d;
 337                         try {
 338                                 connected();
 339                         } catch (InterruptedException ie) {
 340                         }
 341                 }
 342         }
 343
 344         private void delete_serial(int serial) {
 345                 telemetry_state.states.remove((Integer) serial);
 346                 AltosPreferences.remove_state(serial);
 347                 send_to_clients();
 348         }
 349
 350         private void start_altos_bluetooth(DeviceAddress address, boolean pause) {
 351                 // Get the BLuetoothDevice object
 352                 BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address);
 353
 354                 disconnect(false);
 355                 this.address = address;
 356                 AltosDebug.debug("start_altos_bluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress());
 357                 altos_link = new AltosBluetooth(device, handler, pause);
 358                 telemetry_state.connect = TelemetryState.CONNECT_CONNECTING;
 359                 telemetry_state.address = address;
 360                 send_to_clients();
 361         }
 362
 363         // Timer for receiver battery voltage monitoring
 364         Timer receiver_voltage_timer;
 365
 366         private void update_receiver_voltage() {
 367                 if (altos_link != null) {
 368                         try {
 369                                 double  voltage = altos_link.monitor_battery();
 370                                 telemetry_state.receiver_battery = voltage;
 371                         } catch (InterruptedException ie) {
 372                         }
 373                 }
 374         }
 375
 376         private void stop_receiver_voltage_timer() {
 377                 if (receiver_voltage_timer != null) {
 378                         receiver_voltage_timer.cancel();
 379                         receiver_voltage_timer.purge();
 380                         receiver_voltage_timer = null;
 381                 }
 382         }
 383
 384         private void start_receiver_voltage_timer() {
 385                 if (receiver_voltage_timer == null && altos_link.has_monitor_battery()) {
 386                         receiver_voltage_timer = new Timer();
 387                         receiver_voltage_timer.scheduleAtFixedRate(new TimerTask() { public void run() {update_receiver_voltage();}}, 1000L, 10000L);
 388                 }
 389         }
 390
 391         private void connected() throws InterruptedException {
 392                 AltosDebug.debug("connected top");
 393                 AltosDebug.check_ui("connected\n");
 394                 try {
 395                         if (altos_link == null)
 396                                 throw new InterruptedException("no bluetooth");
 397                         telemetry_state.config = altos_link.config_data();
 398                         altos_link.set_radio_frequency(telemetry_state.frequency);
 399                         altos_link.set_telemetry_rate(telemetry_state.telemetry_rate);
 400                 } catch (TimeoutException e) {
 401                         // If this timed out, then we really want to retry it, but
 402                         // probably safer to just retry the connection from scratch.
 403                         AltosDebug.debug("connected timeout");
 404                         if (address != null) {
 405                                 AltosDebug.debug("connected timeout, retrying");
 406                                 start_altos_bluetooth(address, true);
 407                         } else {
 408                                 handler.obtainMessage(MSG_CONNECT_FAILED).sendToTarget();
 409                                 disconnect(true);
 410                         }
 411                         return;
 412                 }
 413
 414                 AltosDebug.debug("connected bluetooth configured");
 415                 telemetry_state.connect = TelemetryState.CONNECT_CONNECTED;
 416                 telemetry_state.address = address;
 417
 418                 telemetry_reader = new TelemetryReader(altos_link, handler);
 419                 telemetry_reader.start();
 420
 421                 AltosDebug.debug("connected TelemetryReader started");
 422
 423                 telemetry_logger = new TelemetryLogger(this, altos_link);
 424
 425                 start_receiver_voltage_timer();
 426
 427                 AltosDebug.debug("Notify UI of connection");
 428
 429                 send_to_clients();
 430         }
 431
 432
 433         @Override
 434         public void onCreate() {
 435
 436                 AltosDebug.init(this);
 437
 438                 // Initialise preferences
 439                 AltosDroidPreferences.init(this);
 440
 441                 // Get local Bluetooth adapter
 442                 bluetooth_adapter = BluetoothAdapter.getDefaultAdapter();
 443
 444                 // If the adapter is null, then Bluetooth is not supported
 445                 if (bluetooth_adapter == null) {
 446                         Toast.makeText(this, "Bluetooth is not available", Toast.LENGTH_LONG).show();
 447                 }
 448
 449                 telemetry_state = new TelemetryState();
 450
 451                 // Create a reference to the NotificationManager so that we can update our notifcation text later
 452                 //mNM = (NotificationManager)getSystemService(NOTIFICATION_SERVICE);
 453
 454                 telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
 455                 telemetry_state.address = null;
 456
 457                 /* Pull the saved state information out of the preferences database
 458                  */
 459                 ArrayList<Integer> serials = AltosPreferences.list_states();
 460
 461                 telemetry_state.latest_serial = AltosPreferences.latest_state();
 462
 463                 for (int serial : serials) {
 464                         AltosSavedState saved_state = AltosPreferences.state(serial);
 465                         if (saved_state != null) {
 466                                 if (serial == 0) {
 467                                         serial = saved_state.state.serial;
 468                                         AltosPreferences.set_state(serial, saved_state.state, saved_state.listener_state);
 469                                         AltosPreferences.remove_state(0);
 470                                 }
 471                                 if (telemetry_state.latest_serial == 0)
 472                                         telemetry_state.latest_serial = serial;
 473
 474                                 AltosDebug.debug("recovered old state serial %d flight %d\n",
 475                                                  serial,
 476                                                  saved_state.state.flight);
 477                                 if (saved_state.state.gps != null)
 478                                         AltosDebug.debug("\tposition %f,%f\n",
 479                                                          saved_state.state.gps.lat,
 480                                                          saved_state.state.gps.lon);
 481                                 telemetry_state.states.put(serial, saved_state.state);
 482                         }
 483                 }
 484         }
 485
 486         @Override
 487         public int onStartCommand(Intent intent, int flags, int startId) {
 488                 AltosDebug.debug("Received start id %d: %s", startId, intent);
 489
 490                 CharSequence text = getText(R.string.telemetry_service_started);
 491
 492                 // Create notification to be displayed while the service runs
 493                 Notification notification = new Notification(R.drawable.am_status_c, text, 0);
 494
 495                 // The PendingIntent to launch our activity if the user selects this notification
 496                 PendingIntent contentIntent = PendingIntent.getActivity(this, 0,
 497                                 new Intent(this, AltosDroid.class), 0);
 498
 499                 // Set the info for the views that show in the notification panel.
 500                 notification.setLatestEventInfo(this, getText(R.string.telemetry_service_label), text, contentIntent);
 501
 502                 // Set the notification to be in the "Ongoing" section.
 503                 notification.flags |= Notification.FLAG_ONGOING_EVENT;
 504
 505                 // Move us into the foreground.
 506                 startForeground(NOTIFICATION, notification);
 507
 508                 /* Start bluetooth if we don't have a connection already */
 509                 if (intent != null &&
 510                     (telemetry_state.connect == TelemetryState.CONNECT_NONE ||
 511                      telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED))
 512                 {
 513                         String  action = intent.getAction();
 514
 515                         if (action.equals(AltosDroid.ACTION_BLUETOOTH)) {
 516                                 DeviceAddress address = AltosDroidPreferences.active_device();
 517                                 if (address != null && !address.address.startsWith("USB"))
 518                                         start_altos_bluetooth(address, false);
 519                         }
 520                 }
 521
 522                 // We want this service to continue running until it is explicitly
 523                 // stopped, so return sticky.
 524                 return START_STICKY;
 525         }
 526
 527         @Override
 528         public void onDestroy() {
 529
 530                 // Stop the bluetooth Comms threads
 531                 disconnect(true);
 532
 533                 // Demote us from the foreground, and cancel the persistent notification.
 534                 stopForeground(true);
 535
 536                 // Tell the user we stopped.
 537                 Toast.makeText(this, R.string.telemetry_service_stopped, Toast.LENGTH_SHORT).show();
 538         }
 539
 540         @Override
 541         public IBinder onBind(Intent intent) {
 542                 return messenger.getBinder();
 543         }
 544 }