+ //private NotificationManager mNM;
+
+ ArrayList<Messenger> mClients = new ArrayList<Messenger>(); // Keeps track of all current registered clients.
+ final Handler mHandler = new IncomingHandler(this);
+ final Messenger mMessenger = new Messenger(mHandler); // Target we publish for clients to send messages to IncomingHandler.
+
+ // Name of the connected device
+ private BluetoothDevice device = null;
+ private AltosBluetooth mAltosBluetooth = null;
+ private TelemetryReader mTelemetryReader = null;
+
+ // internally track state of bluetooth connection
+ private int state = STATE_NONE;
+
+ // Handler of incoming messages from clients.
+ static class IncomingHandler extends Handler {
+ private final WeakReference<TelemetryService> service;
+ IncomingHandler(TelemetryService s) { service = new WeakReference<TelemetryService>(s); }
+
+ @Override
+ public void handleMessage(Message msg) {
+ TelemetryService s = service.get();
+ switch (msg.what) {
+ case MSG_REGISTER_CLIENT:
+ s.mClients.add(msg.replyTo);
+ try {
+ msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_DEVNAME, s.device.getName()));
+ msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_STATE_CHANGE, s.state, -1));
+ } catch (RemoteException e) {
+ s.mClients.remove(msg.replyTo);
+ }
+ if (D) Log.d(TAG, "Client bound to service");
+ break;
+ case MSG_UNREGISTER_CLIENT:
+ s.mClients.remove(msg.replyTo);
+ if (D) Log.d(TAG, "Client unbound from service");
+ break;
+ case MSG_CONNECT:
+ if (D) Log.d(TAG, "Connect command received");
+ s.device = (BluetoothDevice) msg.obj;
+ s.startAltosBluetooth();
+ break;
+ case MSG_CONNECTED:
+ if (D) Log.d(TAG, "Connected to device");
+ s.connected();
+ break;
+ case MSG_CONNECT_FAILED:
+ if (D) Log.d(TAG, "Connection failed... retrying");
+ s.startAltosBluetooth();
+ break;
+ case MSG_DISCONNECTED:
+ if (D) Log.d(TAG, "Disconnected from " + s.device.getName());
+ s.stopAltosBluetooth();
+ break;
+ case MSG_TELEMETRY:
+ s.sendMessageToClients(Message.obtain(null, AltosDroid.MSG_TELEMETRY, msg.obj));
+ break;
+ default:
+ super.handleMessage(msg);
+ }
+ }
+ }
+
+ private void sendMessageToClients(Message m) {
+ for (int i=mClients.size()-1; i>=0; i--) {
+ try {
+ mClients.get(i).send(m);
+ } catch (RemoteException e) {
+ mClients.remove(i);
+ }
+ }
+ }
+
+ private void stopAltosBluetooth() {
+ if (D) Log.i(TAG, "Stopping BT");
+ setState(STATE_READY);
+ if (mTelemetryReader != null) {
+ mTelemetryReader.interrupt();
+ try {
+ mTelemetryReader.join();
+ } catch (InterruptedException e) {
+ }
+ mTelemetryReader = null;
+ }
+ if (mAltosBluetooth != null) {
+ if (D) Log.i(TAG, "Closing AltosBluetooth");
+ mAltosBluetooth.close();
+ mAltosBluetooth = null;
+ }
+ device = null;
+ }
+
+ private void startAltosBluetooth() {
+ if (mAltosBluetooth == null) {
+ if (D) Log.i(TAG, "Connecting to " + device.getName());
+ mAltosBluetooth = new AltosBluetooth(device, mHandler);
+ setState(STATE_CONNECTING);
+ } else {
+ stopAltosBluetooth();
+ mHandler.sendMessageDelayed(Message.obtain(null, MSG_CONNECT, device), 1000);
+ }
+ }
+
+ private synchronized void setState(int s) {
+ if (D) Log.d(TAG, "setState() " + state + " -> " + s);
+ state = s;
+
+ sendMessageToClients(Message.obtain(null, AltosDroid.MSG_STATE_CHANGE, state, -1));
+ }
+
+ private void connected() {
+ sendMessageToClients(Message.obtain(null, AltosDroid.MSG_DEVNAME, device.getName()));
+ setState(STATE_CONNECTED);
+ try {
+ sendMessageToClients(Message.obtain(null, AltosDroid.MSG_DEVCONFIG, mAltosBluetooth.config_data()));
+ } catch (InterruptedException e) {
+ } catch (TimeoutException e) {
+ }
+ mTelemetryReader = new TelemetryReader(mAltosBluetooth, mHandler);
+ mTelemetryReader.start();
+ }
+