import android.speech.tts.TextToSpeech;
import android.speech.tts.TextToSpeech.OnInitListener;
+import android.location.Location;
import org.altusmetrum.altoslib_7.*;
private TextToSpeech tts = null;
private boolean tts_enabled = false;
- private IdleThread idle_thread = null;
+ static final int TELL_MODE_NONE = 0;
+ static final int TELL_MODE_PAD = 1;
+ static final int TELL_MODE_FLIGHT = 2;
+ static final int TELL_MODE_RECOVER = 3;
- private AltosState old_state = null;
+ static final int TELL_FLIGHT_NONE = 0;
+ static final int TELL_FLIGHT_STATE = 1;
+ static final int TELL_FLIGHT_SPEED = 2;
+ static final int TELL_FLIGHT_HEIGHT = 3;
+ static final int TELL_FLIGHT_TRACK = 4;
- public AltosVoice(AltosDroid a) {
+ private int last_tell_mode;
+ private int last_tell_serial = AltosLib.MISSING;
+ private int last_state;
+ private AltosGPS last_gps;
+ private double last_height = AltosLib.MISSING;
+ private Location last_receiver;
+ private long last_speak_time;
+ private int last_flight_tell = TELL_FLIGHT_NONE;
+
+ private long now() {
+ return System.currentTimeMillis();
+ }
+
+ private void reset_last() {
+ last_tell_mode = TELL_MODE_NONE;
+ last_speak_time = now() - 100 * 1000;
+ last_gps = null;
+ last_height = AltosLib.MISSING;
+ last_receiver = null;
+ last_state = AltosLib.ao_flight_invalid;
+ last_flight_tell = TELL_FLIGHT_NONE;
+ }
+ public AltosVoice(AltosDroid a) {
tts = new TextToSpeech(a, new OnInitListener() {
public void onInit(int status) {
if (status == TextToSpeech.SUCCESS) tts_enabled = true;
- if (tts_enabled) {
- idle_thread = new IdleThread();
- }
}
});
+ reset_last();
+ }
+ public synchronized void set_enable(boolean enable) {
+ tts_enabled = enable;
}
public synchronized void speak(String s) {
if (!tts_enabled) return;
+ last_speak_time = now();
tts.speak(s, TextToSpeech.QUEUE_ADD, null);
}
+ public synchronized long time_since_speak() {
+ return now() - last_speak_time;
+ }
+
+ public synchronized void speak(String format, Object ... arguments) {
+ speak(String.format(format, arguments));
+ }
+
+ public synchronized boolean is_speaking() {
+ return tts.isSpeaking();
+ }
+
public void stop() {
- if (tts != null) tts.shutdown();
- if (idle_thread != null) {
- idle_thread.interrupt();
- idle_thread = null;
+ if (tts != null) {
+ tts.stop();
+ tts.shutdown();
}
}
- public void tell(AltosState state, AltosGreatCircle from_receiver) {
- if (!tts_enabled) return;
+ private boolean last_apogee_good;
+ private boolean last_main_good;
+ private boolean last_gps_good;
- boolean spoke = false;
- if (old_state == null || old_state.state != state.state) {
- if (state.state != AltosLib.ao_flight_stateless)
- speak(state.state_name());
- if ((old_state == null || old_state.state <= AltosLib.ao_flight_boost) &&
- state.state > AltosLib.ao_flight_boost) {
- if (state.max_speed() != AltosLib.MISSING)
- speak(String.format("Max speed: %s.",
- AltosConvert.speed.say_units(state.max_speed())));
- spoke = true;
- } else if ((old_state == null || old_state.state < AltosLib.ao_flight_drogue) &&
- state.state >= AltosLib.ao_flight_drogue) {
- if (state.max_height() != AltosLib.MISSING)
- speak(String.format("Max height: %s.",
- AltosConvert.height.say_units(state.max_height())));
- spoke = true;
- }
- }
- if (old_state == null || old_state.gps_ready != state.gps_ready) {
- if (state.gps_ready) {
- speak("GPS ready");
- spoke = true;
- } else if (old_state != null) {
- speak("GPS lost");
- spoke = true;
- }
+ private boolean tell_gonogo(String name,
+ boolean current,
+ boolean previous,
+ boolean new_mode) {
+ if (current != previous || new_mode)
+ speak("%s %s.", name, current ? "ready" : "not ready");
+ return current;
+ }
+
+ private boolean tell_pad(TelemetryState telem_state, AltosState state,
+ AltosGreatCircle from_receiver, Location receiver) {
+
+ if (state == null)
+ return false;
+
+ if (state.apogee_voltage != AltosLib.MISSING)
+ last_apogee_good = tell_gonogo("apogee",
+ state.apogee_voltage >= AltosLib.ao_igniter_good,
+ last_apogee_good,
+ last_tell_mode != TELL_MODE_PAD);
+
+ if (state.main_voltage != AltosLib.MISSING)
+ last_main_good = tell_gonogo("main",
+ state.main_voltage >= AltosLib.ao_igniter_good,
+ last_main_good,
+ last_tell_mode != TELL_MODE_PAD);
+
+ if (state.gps != null)
+ last_gps_good = tell_gonogo("G P S",
+ state.gps_ready,
+ last_gps_good,
+ last_tell_mode != TELL_MODE_PAD);
+ return true;
+ }
+
+
+ private boolean descending(int state) {
+ return AltosLib.ao_flight_drogue <= state && state <= AltosLib.ao_flight_landed;
+ }
+
+ private boolean target_moved(AltosState state) {
+ if (last_gps != null && state != null && state.gps != null) {
+ AltosGreatCircle moved = new AltosGreatCircle(last_gps.lat, last_gps.lon, last_gps.alt,
+ state.gps.lat, state.gps.lon, state.gps.alt);
+ double height_change = 0;
+ double height = state.height();
+
+ if (height != AltosLib.MISSING && last_height != AltosLib.MISSING)
+ height_change = Math.abs(last_height - height);
+
+ if (moved.range < 10 && height_change < 10)
+ return false;
}
- old_state = state;
- if (idle_thread != null)
- idle_thread.notice(state, from_receiver, spoke);
+ return true;
}
+ private boolean receiver_moved(Location receiver) {
+ if (last_receiver != null && receiver != null) {
+ AltosGreatCircle moved = new AltosGreatCircle(last_receiver.getLatitude(),
+ last_receiver.getLongitude(),
+ last_receiver.getAltitude(),
+ receiver.getLatitude(),
+ receiver.getLongitude(),
+ receiver.getAltitude());
+ if (moved.range < 10)
+ return false;
+ }
+ return true;
+ }
- class IdleThread extends Thread {
- boolean started;
- private AltosState state;
- private AltosGreatCircle from_receiver;
- int reported_landing;
- int report_interval;
- long report_time;
+ private boolean tell_flight(TelemetryState telem_state, AltosState state,
+ AltosGreatCircle from_receiver, Location receiver) {
- public synchronized void report(boolean last) {
- if (state == null)
- return;
+ boolean spoken = false;
- /* reset the landing count once we hear about a new flight */
- if (state.state < AltosLib.ao_flight_drogue)
- reported_landing = 0;
+ if (state == null)
+ return false;
- /* Shut up once the rocket is on the ground */
- if (reported_landing > 2) {
- return;
+ if (state.state != last_state && AltosLib.ao_flight_boost <= state.state && state.state <= AltosLib.ao_flight_landed) {
+ speak(state.state_name());
+ if (descending(state.state) && !descending(last_state)) {
+ if (state.max_height() != AltosLib.MISSING) {
+ speak("max height: %s.",
+ AltosConvert.height.say_units(state.max_height()));
+ }
}
+ last_flight_tell = TELL_FLIGHT_STATE;
+ return true;
+ }
- /* If the rocket isn't on the pad, then report location */
- if ((AltosLib.ao_flight_drogue <= state.state &&
- state.state < AltosLib.ao_flight_landed) ||
- state.state == AltosLib.ao_flight_stateless)
- {
- AltosGreatCircle position;
-
- if (from_receiver != null)
- position = from_receiver;
- else
- position = state.from_pad;
-
- if (position != null) {
- speak(String.format("Height %s, bearing %s %d, elevation %d, range %s.\n",
- AltosConvert.height.say_units(state.height()),
- position.bearing_words(
- AltosGreatCircle.BEARING_VOICE),
- (int) (position.bearing + 0.5),
- (int) (position.elevation + 0.5),
- AltosConvert.distance.say_units(position.range)));
- }
- } else if (state.state > AltosLib.ao_flight_pad) {
- if (state.height() != AltosLib.MISSING)
- speak(AltosConvert.height.say_units(state.height()));
+ if (last_tell_mode == TELL_MODE_FLIGHT) {
+ if (time_since_speak() < 10 * 1000 && last_flight_tell == TELL_FLIGHT_TRACK)
+ return false;
+ if (!target_moved(state) && !receiver_moved(receiver))
+ return false;
+ }
+
+ double speed;
+ double height;
+
+ if (last_flight_tell == TELL_FLIGHT_NONE || last_flight_tell == TELL_FLIGHT_STATE || last_flight_tell == TELL_FLIGHT_TRACK) {
+ last_flight_tell = TELL_FLIGHT_SPEED;
+
+ if (state.state <= AltosLib.ao_flight_coast) {
+ speed = state.speed();
} else {
- reported_landing = 0;
+ speed = state.gps_speed();
+ if (speed == AltosLib.MISSING)
+ speed = state.speed();
}
- /* If the rocket is coming down, check to see if it has landed;
- * either we've got a landed report or we haven't heard from it in
- * a long time
- */
- if (state.state >= AltosLib.ao_flight_drogue &&
- (last ||
- System.currentTimeMillis() - state.received_time >= 15000 ||
- state.state == AltosLib.ao_flight_landed))
- {
- if (Math.abs(state.speed()) < 20 && state.height() < 100)
- speak("rocket landed safely");
- else
- speak("rocket may have crashed");
- if (state.from_pad != null)
- speak(String.format("Bearing %d degrees, range %s.",
- (int) (state.from_pad.bearing + 0.5),
- AltosConvert.distance.say_units(state.from_pad.distance)));
- ++reported_landing;
+ if (speed != AltosLib.MISSING) {
+ speak("speed: %s.", AltosConvert.speed.say_units(speed));
+ return true;
}
}
- long now () {
- return System.currentTimeMillis();
- }
+ if (last_flight_tell == TELL_FLIGHT_SPEED) {
+ last_flight_tell = TELL_FLIGHT_HEIGHT;
+ height = state.height();
- void set_report_time() {
- report_time = now() + report_interval;
+ if (height != AltosLib.MISSING) {
+ speak("height: %s.", AltosConvert.height.say_units(height));
+ return true;
+ }
}
- public void run () {
- try {
- for (;;) {
- set_report_time();
- for (;;) {
- synchronized (this) {
- long sleep_time = report_time - now();
- if (sleep_time <= 0)
- break;
- wait(sleep_time);
- }
- }
- report(false);
- }
- } catch (InterruptedException ie) {
+ if (last_flight_tell == TELL_FLIGHT_HEIGHT) {
+ last_flight_tell = TELL_FLIGHT_TRACK;
+ if (from_receiver != null) {
+ speak("bearing %s %d, elevation %d, range %s.",
+ from_receiver.bearing_words(
+ AltosGreatCircle.BEARING_VOICE),
+ (int) (from_receiver.bearing + 0.5),
+ (int) (from_receiver.elevation + 0.5),
+ AltosConvert.distance.say(from_receiver.range));
+ return true;
}
}
- public synchronized void notice(AltosState new_state, AltosGreatCircle new_from_receiver, boolean spoken) {
- AltosState old_state = state;
- state = new_state;
- from_receiver = new_from_receiver;
- if (!started && state.state > AltosLib.ao_flight_pad) {
- started = true;
- start();
- }
+ return spoken;
+ }
- if (state.state < AltosLib.ao_flight_drogue)
- report_interval = 10000;
- else
- report_interval = 20000;
- if (old_state != null && old_state.state != state.state) {
- report_time = now();
- this.notify();
- } else if (spoken)
- set_report_time();
- }
+ private boolean tell_recover(TelemetryState telem_state, AltosState state,
+ AltosGreatCircle from_receiver, Location receiver) {
+
+ if (from_receiver == null)
+ return false;
- public IdleThread() {
- state = null;
- reported_landing = 0;
- report_interval = 10000;
+ if (last_tell_mode == TELL_MODE_RECOVER) {
+ if (!target_moved(state) && !receiver_moved(receiver))
+ return false;
+ if (time_since_speak() <= 10 * 1000)
+ return false;
}
+
+ String direction = AltosDroid.direction(from_receiver, receiver);
+ if (direction == null)
+ direction = String.format("Bearing %d", (int) (from_receiver.bearing + 0.5));
+
+ speak("%s, range %s.", direction,
+ AltosConvert.distance.say_units(from_receiver.distance));
+
+ return true;
}
+ public void tell(TelemetryState telem_state, AltosState state,
+ AltosGreatCircle from_receiver, Location receiver,
+ AltosDroidTab tab) {
+
+ boolean spoken = false;
+
+ if (!tts_enabled) return;
+
+ if (is_speaking()) return;
+
+ int tell_serial = last_tell_serial;
+
+ if (state != null)
+ tell_serial = state.serial;
+
+ if (tell_serial != last_tell_serial)
+ reset_last();
+
+ int tell_mode = TELL_MODE_NONE;
+
+ if (tab.tab_name().equals(AltosDroid.tab_pad_name))
+ tell_mode = TELL_MODE_PAD;
+ else if (tab.tab_name().equals(AltosDroid.tab_flight_name))
+ tell_mode = TELL_MODE_FLIGHT;
+ else
+ tell_mode = TELL_MODE_RECOVER;
+
+ AltosDebug.debug("last_serial %d serial %d last_mode %d mode %d\n",
+ last_tell_serial, tell_serial,
+ last_tell_mode, tell_mode);
+
+ if (tell_mode == TELL_MODE_PAD)
+ spoken = tell_pad(telem_state, state, from_receiver, receiver);
+ else if (tell_mode == TELL_MODE_FLIGHT)
+ spoken = tell_flight(telem_state, state, from_receiver, receiver);
+ else
+ spoken = tell_recover(telem_state, state, from_receiver, receiver);
+
+ if (spoken) {
+ last_tell_mode = tell_mode;
+ last_tell_serial = tell_serial;
+ if (state != null) {
+ last_state = state.state;
+ last_height = state.height();
+ if (state.gps != null)
+ last_gps = state.gps;
+ }
+ if (receiver != null)
+ last_receiver = receiver;
+ }
+ }
}
projects / fw / altos / commitdiff