/*
- * Copyright © 2012 Mike Beattie <mike@ethernal.org>
+ * Copyright © 2012 Mike Beattie <mike@ethernal.org>
*
* 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
package org.altusmetrum.AltosDroid;
import java.lang.ref.WeakReference;
-import java.util.ArrayList;
-import java.util.concurrent.LinkedBlockingQueue;
+import java.util.concurrent.TimeoutException;
+import java.util.*;
import android.app.Notification;
//import android.app.NotificationManager;
import android.app.PendingIntent;
import android.app.Service;
import android.bluetooth.BluetoothDevice;
+import android.bluetooth.BluetoothAdapter;
+import android.hardware.usb.*;
import android.content.Intent;
+import android.content.Context;
+import android.os.Bundle;
import android.os.IBinder;
import android.os.Handler;
import android.os.Message;
import android.os.Messenger;
-import android.util.Log;
+import android.os.RemoteException;
+import android.os.Looper;
import android.widget.Toast;
+import android.location.Criteria;
-// Need the following import to get access to the app resources, since this
-// class is in a sub-package.
-//import org.altusmetrum.AltosDroid.R;
+import org.altusmetrum.altoslib_10.*;
-import org.altusmetrum.AltosLib.*;
-
-public class TelemetryService extends Service {
-
- private static final String TAG = "TelemetryService";
- private static final boolean D = true;
+public class TelemetryService extends Service implements AltosIdleMonitorListener {
static final int MSG_REGISTER_CLIENT = 1;
static final int MSG_UNREGISTER_CLIENT = 2;
static final int MSG_CONNECT = 3;
- static final int MSG_CONNECTED = 4;
-
- public static final int STATE_NONE = 0;
- public static final int STATE_READY = 1;
- public static final int STATE_CONNECTING = 2;
- public static final int STATE_CONNECTED = 3;
+ static final int MSG_OPEN_USB = 4;
+ static final int MSG_CONNECTED = 5;
+ static final int MSG_CONNECT_FAILED = 6;
+ static final int MSG_DISCONNECTED = 7;
+ static final int MSG_TELEMETRY = 8;
+ static final int MSG_SETFREQUENCY = 9;
+ static final int MSG_CRC_ERROR = 10;
+ static final int MSG_SETBAUD = 11;
+ static final int MSG_DISCONNECT = 12;
+ static final int MSG_DELETE_SERIAL = 13;
+ static final int MSG_BLUETOOTH_ENABLED = 14;
+ static final int MSG_MONITOR_IDLE_START= 15;
+ static final int MSG_MONITOR_IDLE_STOP = 16;
+ static final int MSG_REBOOT = 17;
+ static final int MSG_IGNITER_QUERY = 18;
+ static final int MSG_IGNITER_FIRE = 19;
// Unique Identification Number for the Notification.
// We use it on Notification start, and to cancel it.
private int NOTIFICATION = R.string.telemetry_service_label;
//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.
+ ArrayList<Messenger> clients = new ArrayList<Messenger>(); // Keeps track of all current registered clients.
+ final Handler handler = new IncomingHandler(this);
+ final Messenger messenger = new Messenger(handler); // Target we publish for clients to send messages to IncomingHandler.
// Name of the connected device
- private String mConnectedDeviceName = null;
- private AltosBluetooth mAltosBluetooth = null;
- private int state = STATE_NONE;
- LinkedBlockingQueue<AltosLine> telem;
+ DeviceAddress address;
+ private AltosDroidLink altos_link = null;
+ private TelemetryReader telemetry_reader = null;
+ private TelemetryLogger telemetry_logger = null;
+
+ // Local Bluetooth adapter
+ private BluetoothAdapter bluetooth_adapter = null;
+
+ // Last data seen; send to UI when it starts
+ private TelemetryState telemetry_state;
+
+ // Idle monitor if active
+ AltosIdleMonitor idle_monitor = null;
+
+ // Igniter bits
+ AltosIgnite ignite = null;
+ boolean ignite_running;
// Handler of incoming messages from clients.
static class IncomingHandler extends Handler {
@Override
public void handleMessage(Message msg) {
+ DeviceAddress address;
+
TelemetryService s = service.get();
+ AltosDroidLink bt = null;
+ if (s == null)
+ return;
+
switch (msg.what) {
+
+ /* Messages from application */
case MSG_REGISTER_CLIENT:
- s.mClients.add(msg.replyTo);
- if (D) Log.d(TAG, "Client bound to service");
+ s.add_client(msg.replyTo);
break;
case MSG_UNREGISTER_CLIENT:
- s.mClients.remove(msg.replyTo);
- if (D) Log.d(TAG, "Client unbound from service");
+ s.remove_client(msg.replyTo);
break;
case MSG_CONNECT:
- if (D) Log.d(TAG, "Connect command received");
- s.startAltosBluetooth((BluetoothDevice) msg.obj);
+ AltosDebug.debug("Connect command received");
+ address = (DeviceAddress) msg.obj;
+ AltosDroidPreferences.set_active_device(address);
+ s.start_altos_bluetooth(address, false);
+ break;
+ case MSG_OPEN_USB:
+ AltosDebug.debug("Open USB command received");
+ UsbDevice device = (UsbDevice) msg.obj;
+ s.start_usb(device);
+ break;
+ case MSG_DISCONNECT:
+ AltosDebug.debug("Disconnect command received");
+ s.address = null;
+ s.disconnect(true);
+ break;
+ case MSG_DELETE_SERIAL:
+ AltosDebug.debug("Delete Serial command received");
+ s.delete_serial((Integer) msg.obj);
break;
+ case MSG_SETFREQUENCY:
+ AltosDebug.debug("MSG_SETFREQUENCY");
+ s.telemetry_state.frequency = (Double) msg.obj;
+ if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
+ try {
+ s.altos_link.set_radio_frequency(s.telemetry_state.frequency);
+ s.altos_link.save_frequency();
+ } catch (InterruptedException e) {
+ } catch (TimeoutException e) {
+ }
+ }
+ s.send_to_clients();
+ break;
+ case MSG_SETBAUD:
+ AltosDebug.debug("MSG_SETBAUD");
+ s.telemetry_state.telemetry_rate = (Integer) msg.obj;
+ if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
+ s.altos_link.set_telemetry_rate(s.telemetry_state.telemetry_rate);
+ s.altos_link.save_telemetry_rate();
+ }
+ s.send_to_clients();
+ break;
+
+ /*
+ *Messages from AltosBluetooth
+ */
case MSG_CONNECTED:
- if (D) Log.d(TAG, "Connected to device");
- s.setState(STATE_CONNECTED);
- s.mAltosBluetooth.add_monitor(s.telem);
+ AltosDebug.debug("MSG_CONNECTED");
+ bt = (AltosDroidLink) msg.obj;
+
+ if (bt != s.altos_link) {
+ AltosDebug.debug("Stale message");
+ break;
+ }
+ AltosDebug.debug("Connected to device");
+ try {
+ s.connected();
+ } catch (InterruptedException ie) {
+ }
+ break;
+ case MSG_CONNECT_FAILED:
+ AltosDebug.debug("MSG_CONNECT_FAILED");
+ bt = (AltosDroidLink) msg.obj;
+
+ if (bt != s.altos_link) {
+ AltosDebug.debug("Stale message");
+ break;
+ }
+ if (s.address != null) {
+ AltosDebug.debug("Connection failed... retrying");
+ s.start_altos_bluetooth(s.address, true);
+ } else {
+ s.disconnect(true);
+ }
+ break;
+ case MSG_DISCONNECTED:
+
+ /* This can be sent by either AltosDroidLink or TelemetryReader */
+ AltosDebug.debug("MSG_DISCONNECTED");
+ bt = (AltosDroidLink) msg.obj;
+
+ if (bt != s.altos_link) {
+ AltosDebug.debug("Stale message");
+ break;
+ }
+ if (s.address != null) {
+ AltosDebug.debug("Connection lost... retrying");
+ s.start_altos_bluetooth(s.address, true);
+ } else {
+ s.disconnect(true);
+ }
+ break;
+
+ /*
+ * Messages from TelemetryReader
+ */
+ case MSG_TELEMETRY:
+ s.telemetry((AltosTelemetry) msg.obj);
+ break;
+ case MSG_CRC_ERROR:
+ // forward crc error messages
+ s.telemetry_state.crc_errors = (Integer) msg.obj;
+ s.send_to_clients();
+ break;
+ case MSG_BLUETOOTH_ENABLED:
+ AltosDebug.debug("TelemetryService notes that BT is now enabled");
+ address = AltosDroidPreferences.active_device();
+ if (address != null && !address.address.startsWith("USB"))
+ s.start_altos_bluetooth(address, false);
+ break;
+ case MSG_MONITOR_IDLE_START:
+ AltosDebug.debug("start monitor idle");
+ s.start_idle_monitor();
+ break;
+ case MSG_MONITOR_IDLE_STOP:
+ AltosDebug.debug("stop monitor idle");
+ s.stop_idle_monitor();
+ break;
+ case MSG_REBOOT:
+ AltosDebug.debug("reboot");
+ s.reboot_remote();
+ break;
+ case MSG_IGNITER_QUERY:
+ AltosDebug.debug("igniter query");
+ s.igniter_query(msg.replyTo);
+ break;
+ case MSG_IGNITER_FIRE:
+ AltosDebug.debug("igniter fire");
+ s.igniter_fire((String) msg.obj);
break;
default:
super.handleMessage(msg);
}
}
- private void sendMessageToClients(Message m) {
- for (int i=mClients.size()-1; i>=0; i--) {
+ /* Handle telemetry packet
+ */
+ private void telemetry(AltosTelemetry telem) {
+ AltosState state;
+
+ if (telemetry_state.states.containsKey(telem.serial))
+ state = telemetry_state.states.get(telem.serial).clone();
+ else
+ state = new AltosState();
+ telem.update_state(state);
+ telemetry_state.states.put(telem.serial, state);
+ if (state != null) {
+ AltosPreferences.set_state(state);
+ }
+ send_to_clients();
+ }
+
+ /* Construct the message to deliver to clients
+ */
+ private Message message() {
+ if (telemetry_state == null)
+ AltosDebug.debug("telemetry_state null!");
+ if (telemetry_state.states == null)
+ AltosDebug.debug("telemetry_state.states null!");
+ return Message.obtain(null, AltosDroid.MSG_STATE, telemetry_state);
+ }
+
+ /* A new friend has connected
+ */
+ private void add_client(Messenger client) {
+
+ clients.add(client);
+ AltosDebug.debug("Client bound to service");
+
+ /* On connect, send the current state to the new client
+ */
+ send_to_client(client);
+ send_idle_mode_to_client(client);
+
+ /* If we've got an address from a previous session, then
+ * go ahead and try to reconnect to the device
+ */
+ if (address != null && telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED) {
+ AltosDebug.debug("Reconnecting now...");
+ start_altos_bluetooth(address, false);
+ }
+ }
+
+ /* A client has disconnected, clean up
+ */
+ private void remove_client(Messenger client) {
+ clients.remove(client);
+ AltosDebug.debug("Client unbound from service");
+
+ /* When the list of clients is empty, stop the service if
+ * we have no current telemetry source
+ */
+
+ if (clients.isEmpty() && telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED) {
+ AltosDebug.debug("No clients, no connection. Stopping\n");
+ stopSelf();
+ }
+ }
+
+ private void send_to_client(Messenger client) {
+ Message m = message();
+ try {
+ client.send(m);
+ } catch (RemoteException e) {
+ AltosDebug.error("Client %s disappeared", client.toString());
+ remove_client(client);
+ }
+ }
+
+ private void send_to_clients() {
+ for (Messenger client : clients)
+ send_to_client(client);
+ }
+
+ private void send_idle_mode_to_client(Messenger client) {
+ Message m = Message.obtain(null, AltosDroid.MSG_IDLE_MODE, idle_monitor != null);
+ try {
+ client.send(m);
+ } catch (RemoteException e) {
+ AltosDebug.error("Client %s disappeared", client.toString());
+ remove_client(client);
+ }
+ }
+
+ private void send_idle_mode_to_clients() {
+ for (Messenger client : clients)
+ send_idle_mode_to_client(client);
+ }
+
+ private void telemetry_start() {
+ if (telemetry_reader == null && idle_monitor == null && !ignite_running) {
+ telemetry_reader = new TelemetryReader(altos_link, handler);
+ telemetry_reader.start();
+ }
+ }
+
+ private void telemetry_stop() {
+ if (telemetry_reader != null) {
+ AltosDebug.debug("disconnect(): stopping TelemetryReader");
+ telemetry_reader.interrupt();
try {
- mClients.get(i).send(m);
- } catch (RemoteException e) {
- mClients.remove(i);
+ telemetry_reader.join();
+ } catch (InterruptedException e) {
}
+ telemetry_reader = null;
}
}
- private void stopAltosBluetooth() {
- setState(STATE_READY);
- if (mAltosBluetooth != null) {
- mAltosBluetooth.close();
- mAltosBluetooth = null;
+ private void disconnect(boolean notify) {
+ AltosDebug.debug("disconnect(): begin");
+
+ telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
+ telemetry_state.address = null;
+
+ if (idle_monitor != null)
+ stop_idle_monitor();
+
+ if (altos_link != null)
+ altos_link.closing();
+
+ stop_receiver_voltage_timer();
+
+ telemetry_stop();
+ if (telemetry_logger != null) {
+ AltosDebug.debug("disconnect(): stopping TelemetryLogger");
+ telemetry_logger.stop();
+ telemetry_logger = null;
+ }
+ if (altos_link != null) {
+ AltosDebug.debug("disconnect(): stopping AltosDroidLink");
+ altos_link.close();
+ altos_link = null;
+ ignite = null;
+ }
+ telemetry_state.config = null;
+ if (notify) {
+ AltosDebug.debug("disconnect(): send message to clients");
+ send_to_clients();
+ if (clients.isEmpty()) {
+ AltosDebug.debug("disconnect(): no clients, terminating");
+ stopSelf();
+ }
}
- telem.clear();
}
- private void startAltosBluetooth(BluetoothDevice d) {
- mAltosBluetooth = new AltosBluetooth(d, mHandler);
- setState(STATE_CONNECTING);
+ private void start_usb(UsbDevice device) {
+ AltosUsb d = new AltosUsb(this, device, handler);
+
+ if (d != null) {
+ disconnect(false);
+ altos_link = d;
+ try {
+ connected();
+ } catch (InterruptedException ie) {
+ }
+ }
}
- private synchronized void setState(int s) {
- if (D) Log.d(TAG, "setState() " + state + " -> " + s);
- state = s;
+ private void delete_serial(int serial) {
+ telemetry_state.states.remove((Integer) serial);
+ AltosPreferences.remove_state(serial);
+ send_to_clients();
+ }
+
+ private void start_altos_bluetooth(DeviceAddress address, boolean pause) {
+ if (bluetooth_adapter == null || !bluetooth_adapter.isEnabled())
+ return;
+
+ disconnect(false);
+
+ // Get the BluetoothDevice object
+ BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address);
+
+ this.address = address;
+ AltosDebug.debug("start_altos_bluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress());
+ altos_link = new AltosBluetooth(device, handler, pause);
+ telemetry_state.connect = TelemetryState.CONNECT_CONNECTING;
+ telemetry_state.address = address;
+ send_to_clients();
+ }
+
+ private void start_idle_monitor() {
+ if (altos_link != null && idle_monitor == null) {
+ telemetry_stop();
+ idle_monitor = new AltosIdleMonitor(this, altos_link, true, false);
+ idle_monitor.set_callsign(AltosPreferences.callsign());
+ idle_monitor.start();
+ send_idle_mode_to_clients();
+ }
+ }
+
+ private void stop_idle_monitor() {
+ if (idle_monitor != null) {
+ try {
+ idle_monitor.abort();
+ } catch (InterruptedException ie) {
+ }
+ idle_monitor = null;
+ telemetry_start();
+ send_idle_mode_to_clients();
+ }
+ }
+
+ private void reboot_remote() {
+ if (altos_link != null) {
+ stop_idle_monitor();
+ try {
+ altos_link.start_remote();
+ altos_link.printf("r eboot\n");
+ altos_link.flush_output();
+ } catch (TimeoutException te) {
+ } catch (InterruptedException ie) {
+ } finally {
+ try {
+ altos_link.stop_remote();
+ } catch (InterruptedException ie) {
+ }
+ }
+ }
+ }
+
+ private void ensure_ignite() {
+ if (ignite == null)
+ ignite = new AltosIgnite(altos_link, true, false);
+ }
+
+ private synchronized void igniter_query(Messenger client) {
+ ensure_ignite();
+ HashMap<String,Integer> status_map = null;
+ ignite_running = true;
+ try {
+ stop_idle_monitor();
+ try {
+ status_map = ignite.status();
+ } catch (InterruptedException ie) {
+ AltosDebug.debug("ignite.status interrupted");
+ } catch (TimeoutException te) {
+ AltosDebug.debug("ignite.status timeout");
+ }
+ } finally {
+ ignite_running = false;
+ }
+ Message m = Message.obtain(null, AltosDroid.MSG_IGNITER_STATUS, status_map);
+ try {
+ client.send(m);
+ } catch (RemoteException e) {
+ }
+ }
+
+ private synchronized void igniter_fire(String igniter) {
+ ensure_ignite();
+ ignite_running = true;
+ stop_idle_monitor();
+ try {
+ ignite.fire(igniter);
+ } catch (InterruptedException ie) {
+ } finally {
+ ignite_running = false;
+ }
+ }
+
+ // Timer for receiver battery voltage monitoring
+ Timer receiver_voltage_timer;
+
+ private void update_receiver_voltage() {
+ if (altos_link != null && idle_monitor == null && !ignite_running) {
+ try {
+ double voltage = altos_link.monitor_battery();
+ telemetry_state.receiver_battery = voltage;
+ send_to_clients();
+ } catch (InterruptedException ie) {
+ }
+ }
+ }
- sendMessageToClients(Message.obtain(null, AltosDroid.MSG_STATE_CHANGE, state, -1));
+ private void stop_receiver_voltage_timer() {
+ if (receiver_voltage_timer != null) {
+ receiver_voltage_timer.cancel();
+ receiver_voltage_timer.purge();
+ receiver_voltage_timer = null;
+ }
}
+ private void start_receiver_voltage_timer() {
+ if (receiver_voltage_timer == null && altos_link.has_monitor_battery()) {
+ receiver_voltage_timer = new Timer();
+ receiver_voltage_timer.scheduleAtFixedRate(new TimerTask() { public void run() {update_receiver_voltage();}}, 1000L, 10000L);
+ }
+ }
+
+ private void connected() throws InterruptedException {
+ AltosDebug.debug("connected top");
+ AltosDebug.check_ui("connected\n");
+ try {
+ if (altos_link == null)
+ throw new InterruptedException("no bluetooth");
+ telemetry_state.config = altos_link.config_data();
+ altos_link.set_radio_frequency(telemetry_state.frequency);
+ altos_link.set_telemetry_rate(telemetry_state.telemetry_rate);
+ } catch (TimeoutException e) {
+ // If this timed out, then we really want to retry it, but
+ // probably safer to just retry the connection from scratch.
+ AltosDebug.debug("connected timeout");
+ if (address != null) {
+ AltosDebug.debug("connected timeout, retrying");
+ start_altos_bluetooth(address, true);
+ } else {
+ handler.obtainMessage(MSG_CONNECT_FAILED).sendToTarget();
+ disconnect(true);
+ }
+ return;
+ }
+
+ AltosDebug.debug("connected bluetooth configured");
+ telemetry_state.connect = TelemetryState.CONNECT_CONNECTED;
+ telemetry_state.address = address;
+
+ telemetry_start();
+
+ AltosDebug.debug("connected TelemetryReader started");
+
+ telemetry_logger = new TelemetryLogger(this, altos_link);
+
+ start_receiver_voltage_timer();
+
+ AltosDebug.debug("Notify UI of connection");
+
+ send_to_clients();
+ }
+
+
@Override
public void onCreate() {
+
+ AltosDebug.init(this);
+
+ // Initialise preferences
+ AltosDroidPreferences.init(this);
+
+ // Get local Bluetooth adapter
+ bluetooth_adapter = BluetoothAdapter.getDefaultAdapter();
+
+ telemetry_state = new TelemetryState();
+
// Create a reference to the NotificationManager so that we can update our notifcation text later
//mNM = (NotificationManager)getSystemService(NOTIFICATION_SERVICE);
- telem = new LinkedBlockingQueue<AltosLine>();
- setState(STATE_READY);
+ telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
+ telemetry_state.address = null;
+
+ /* Pull the saved state information out of the preferences database
+ */
+ ArrayList<Integer> serials = AltosPreferences.list_states();
+
+ telemetry_state.latest_serial = AltosPreferences.latest_state();
+
+ for (int serial : serials) {
+ AltosState saved_state = AltosPreferences.state(serial);
+ if (saved_state != null) {
+ if (telemetry_state.latest_serial == 0)
+ telemetry_state.latest_serial = serial;
+
+ AltosDebug.debug("recovered old state serial %d flight %d",
+ serial,
+ saved_state.flight);
+ if (saved_state.gps != null)
+ AltosDebug.debug("\tposition %f,%f",
+ saved_state.gps.lat,
+ saved_state.gps.lon);
+ telemetry_state.states.put(serial, saved_state);
+ } else {
+ AltosDebug.debug("Failed to recover state for %d", serial);
+ }
+ }
}
@Override
public int onStartCommand(Intent intent, int flags, int startId) {
- Log.i("TelemetryService", "Received start id " + startId + ": " + intent);
+ AltosDebug.debug("Received start id %d: %s", startId, intent);
CharSequence text = getText(R.string.telemetry_service_started);
// Move us into the foreground.
startForeground(NOTIFICATION, notification);
+ /* Start bluetooth if we don't have a connection already */
+ if (intent != null &&
+ (telemetry_state.connect == TelemetryState.CONNECT_NONE ||
+ telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED))
+ {
+ String action = intent.getAction();
+
+ if (action.equals(AltosDroid.ACTION_BLUETOOTH)) {
+ DeviceAddress address = AltosDroidPreferences.active_device();
+ if (address != null && !address.address.startsWith("USB"))
+ start_altos_bluetooth(address, false);
+ }
+ }
+
// We want this service to continue running until it is explicitly
// stopped, so return sticky.
return START_STICKY;
public void onDestroy() {
// Stop the bluetooth Comms threads
- stopAltosBluetooth();
+ disconnect(true);
// Demote us from the foreground, and cancel the persistent notification.
stopForeground(true);
@Override
public IBinder onBind(Intent intent) {
- return mMessenger.getBinder();
+ return messenger.getBinder();
}
+ /* AltosIdleMonitorListener */
+ public void update(AltosState state, AltosListenerState listener_state) {
+ telemetry_state.states.put(state.serial, state);
+ telemetry_state.receiver_battery = listener_state.battery;
+ send_to_clients();
+ }
+
+ public void failed() {
+ }
+ public void error(String reason) {
+ stop_idle_monitor();
+ }
}