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

   1 /*
   2  * Copyright © 2012-2013 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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 package org.altusmetrum.AltosDroid;
  20
  21 import java.lang.ref.WeakReference;
  22 import java.util.*;
  23 import java.io.*;
  24
  25 import android.Manifest;
  26 import android.app.Activity;
  27 import android.app.PendingIntent;
  28 import android.bluetooth.BluetoothAdapter;
  29 import android.content.Intent;
  30 import android.content.Context;
  31 import android.content.ComponentName;
  32 import android.content.ServiceConnection;
  33 import android.content.DialogInterface;
  34 import android.os.IBinder;
  35 import android.os.Bundle;
  36 import android.os.Handler;
  37 import android.os.Message;
  38 import android.os.Messenger;
  39 import android.os.RemoteException;
  40 import android.os.Parcelable;
  41 import androidx.fragment.app.FragmentActivity;
  42 import androidx.fragment.app.FragmentManager;
  43 import android.view.*;
  44 import android.widget.*;
  45 import android.app.AlertDialog;
  46 import android.location.Location;
  47 import android.location.LocationManager;
  48 import android.location.LocationListener;
  49 import android.hardware.usb.*;
  50 import android.content.pm.PackageManager;
  51 import androidx.core.app.ActivityCompat;
  52 import org.altusmetrum.altoslib_14.*;
  53
  54 class SavedState {
  55         long    received_time;
  56         int     state;
  57         boolean locked;
  58         String  callsign;
  59         int     serial;
  60         int     flight;
  61         int     rssi;
  62
  63         SavedState(AltosState state) {
  64                 received_time = state.received_time;
  65                 this.state = state.state();
  66                 if (state.gps != null)
  67                         locked = state.gps.locked;
  68                 else
  69                         locked = false;
  70                 callsign = state.cal_data().callsign;
  71                 serial = state.cal_data().serial;
  72                 flight = state.cal_data().flight;
  73                 rssi = state.rssi;
  74         }
  75 }
  76
  77 public class AltosDroid extends FragmentActivity implements AltosUnitsListener, LocationListener, ActivityCompat.OnRequestPermissionsResultCallback {
  78
  79         // Actions sent to the telemetry server at startup time
  80
  81         public static final String ACTION_BLUETOOTH = "org.altusmetrum.AltosDroid.BLUETOOTH";
  82         public static final String ACTION_USB = "org.altusmetrum.AltosDroid.USB";
  83
  84         // Message types received by our Handler
  85
  86         public static final int MSG_STATE           = 1;
  87         public static final int MSG_UPDATE_AGE      = 2;
  88         public static final int MSG_IDLE_MODE       = 3;
  89         public static final int MSG_IGNITER_STATUS  = 4;
  90         public static final int MSG_FILE_FAILED     = 5;
  91
  92         // Intent request codes
  93         public static final int REQUEST_CONNECT_DEVICE = 1;
  94         public static final int REQUEST_ENABLE_BT      = 2;
  95         public static final int REQUEST_PRELOAD_MAPS   = 3;
  96         public static final int REQUEST_IDLE_MODE      = 5;
  97         public static final int REQUEST_IGNITERS       = 6;
  98         public static final int REQUEST_SETUP          = 7;
  99         public static final int REQUEST_SELECT_TRACKER = 8;
 100         public static final int REQUEST_DELETE_TRACKER = 9;
 101
 102         public static final String EXTRA_IDLE_MODE = "idle_mode";
 103         public static final String EXTRA_IDLE_RESULT = "idle_result";
 104         public static final String EXTRA_FREQUENCY = "frequency";
 105         public static final String EXTRA_TELEMETRY_SERVICE = "telemetry_service";
 106         public static final String EXTRA_TRACKERS = "trackers";
 107         public static final String EXTRA_TRACKERS_TITLE = "trackers_title";
 108
 109         // Setup result bits
 110         public static final int SETUP_BAUD = 1;
 111         public static final int SETUP_UNITS = 2;
 112         public static final int SETUP_MAP_SOURCE = 4;
 113         public static final int SETUP_MAP_TYPE = 8;
 114         public static final int SETUP_FONT_SIZE = 16;
 115
 116         public static FragmentManager   fm;
 117
 118         private BluetoothAdapter mBluetoothAdapter = null;
 119
 120         // Flight state values
 121         private TextView mCallsignView;
 122         private TextView mRSSIView;
 123         private TextView mSerialView;
 124         private TextView mFlightView;
 125         private RelativeLayout mStateLayout;
 126         private TextView mStateView;
 127         private TextView mAgeView;
 128         private boolean  mAgeViewOld;
 129         private int mAgeNewColor;
 130         private int mAgeOldColor;
 131
 132         public static final String      tab_pad_name = "pad";
 133         public static final String      tab_flight_name = "flight";
 134         public static final String      tab_recover_name = "recover";
 135         public static final String      tab_map_name = "map";
 136
 137         // field to display the version at the bottom of the screen
 138         private TextView mVersion;
 139
 140         private boolean idle_mode = false;
 141
 142         public Location location = null;
 143
 144         private AltosState      state;
 145         private SavedState      saved_state;
 146
 147         // Tabs
 148         TabHost         mTabHost;
 149         AltosViewPager  mViewPager;
 150         TabsAdapter     mTabsAdapter;
 151         ArrayList<AltosDroidTab> mTabs = new ArrayList<AltosDroidTab>();
 152         int             tabHeight;
 153
 154         // Timer and Saved flight state for Age calculation
 155         private Timer timer;
 156
 157         TelemetryState  telemetry_state;
 158         Tracker[]       trackers;
 159
 160         UsbDevice       pending_usb_device;
 161         boolean         start_with_usb;
 162
 163         // Service
 164         private boolean mIsBound   = false;
 165         private Messenger mService = null;
 166         final Messenger mMessenger = new Messenger(new IncomingHandler(this));
 167
 168         // Text to Speech
 169         private AltosVoice mAltosVoice = null;
 170
 171         // The Handler that gets information back from the Telemetry Service
 172         static class IncomingHandler extends Handler {
 173                 private final WeakReference<AltosDroid> mAltosDroid;
 174                 IncomingHandler(AltosDroid ad) { mAltosDroid = new WeakReference<AltosDroid>(ad); }
 175
 176                 @Override
 177                 public void handleMessage(Message msg) {
 178                         AltosDroid ad = mAltosDroid.get();
 179
 180                         switch (msg.what) {
 181                         case MSG_STATE:
 182                                 if (msg.obj == null) {
 183                                         AltosDebug.debug("telemetry_state null!");
 184                                         return;
 185                                 }
 186                                 ad.update_state((TelemetryState) msg.obj);
 187                                 break;
 188                         case MSG_UPDATE_AGE:
 189                                 ad.update_age();
 190                                 break;
 191                         case MSG_IDLE_MODE:
 192                                 ad.idle_mode = (Boolean) msg.obj;
 193                                 ad.update_state(null);
 194                                 break;
 195                         case MSG_FILE_FAILED:
 196                                 ad.file_failed((File) msg.obj);
 197                                 break;
 198                         }
 199                 }
 200         };
 201
 202         private ServiceConnection mConnection = new ServiceConnection() {
 203                 public void onServiceConnected(ComponentName className, IBinder service) {
 204                         AltosDebug.debug("onServiceConnected\n");
 205                         mService = new Messenger(service);
 206                         try {
 207                                 Message msg = Message.obtain(null, TelemetryService.MSG_REGISTER_CLIENT);
 208                                 msg.replyTo = mMessenger;
 209                                 mService.send(msg);
 210                         } catch (RemoteException e) {
 211                                 AltosDebug.debug("attempt to register telemetry service client failed\n");
 212                                 // In this case the service has crashed before we could even do anything with it
 213                         }
 214                         if (pending_usb_device != null) {
 215                                 try {
 216                                         mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, pending_usb_device));
 217                                         pending_usb_device = null;
 218                                 } catch (RemoteException e) {
 219                                 }
 220                         }
 221                 }
 222
 223                 public void onServiceDisconnected(ComponentName className) {
 224                         AltosDebug.debug("onServiceDisconnected\n");
 225                         // This is called when the connection with the service has been unexpectedly disconnected - process crashed.
 226                         mService = null;
 227                 }
 228         };
 229
 230         void doBindService() {
 231                 AltosDebug.debug("doBindService\n");
 232                 bindService(new Intent(this, TelemetryService.class), mConnection, Context.BIND_AUTO_CREATE);
 233                 mIsBound = true;
 234         }
 235
 236         void doUnbindService() {
 237                 AltosDebug.debug("doUnbindService\n");
 238                 if (mIsBound) {
 239                         // If we have received the service, and hence registered with it, then now is the time to unregister.
 240                         if (mService != null) {
 241                                 try {
 242                                         Message msg = Message.obtain(null, TelemetryService.MSG_UNREGISTER_CLIENT);
 243                                         msg.replyTo = mMessenger;
 244                                         mService.send(msg);
 245                                 } catch (RemoteException e) {
 246                                         // There is nothing special we need to do if the service has crashed.
 247                                 }
 248                         }
 249                         // Detach our existing connection.
 250                         unbindService(mConnection);
 251                         mIsBound = false;
 252                 }
 253         }
 254
 255         public AltosDroidTab findTab(String name) {
 256                 for (AltosDroidTab mTab : mTabs)
 257                         if (name.equals(mTab.tab_name()))
 258                                 return mTab;
 259                 return null;
 260         }
 261
 262         public void registerTab(AltosDroidTab mTab) {
 263                 mTabs.add(mTab);
 264         }
 265
 266         public void unregisterTab(AltosDroidTab mTab) {
 267                 mTabs.remove(mTab);
 268         }
 269
 270         public void units_changed(boolean imperial_units) {
 271                 for (AltosDroidTab mTab : mTabs)
 272                         mTab.units_changed(imperial_units);
 273         }
 274
 275         void update_title(TelemetryState telemetry_state) {
 276                 switch (telemetry_state.connect) {
 277                 case TelemetryState.CONNECT_CONNECTED:
 278                         if (telemetry_state.config != null) {
 279                                 String str = String.format("S/N %d %6.3f MHz%s", telemetry_state.config.serial,
 280                                                            telemetry_state.frequency, telemetry_state.idle_mode ? " (idle)" : "");
 281                                 if (telemetry_state.telemetry_rate != AltosLib.ao_telemetry_rate_38400)
 282                                         str = str.concat(String.format(" %d bps",
 283                                                                        AltosLib.ao_telemetry_rate_values[telemetry_state.telemetry_rate]));
 284                                 setTitle(str);
 285                         } else {
 286                                 setTitle(R.string.title_connected_to);
 287                         }
 288                         break;
 289                 case TelemetryState.CONNECT_CONNECTING:
 290                         if (telemetry_state.address != null)
 291                                 setTitle(String.format("Connecting to %s...", telemetry_state.address.name));
 292                         else
 293                                 setTitle("Connecting to something...");
 294                         break;
 295                 case TelemetryState.CONNECT_DISCONNECTED:
 296                 case TelemetryState.CONNECT_NONE:
 297                         setTitle(R.string.title_not_connected);
 298                         break;
 299                 }
 300         }
 301
 302         void start_timer() {
 303                 if (timer == null) {
 304                         timer = new Timer();
 305                         timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 1000L, 1000L);
 306                 }
 307         }
 308
 309         void stop_timer() {
 310                 if (timer != null) {
 311                         timer.cancel();
 312                         timer.purge();
 313                         timer = null;
 314                 }
 315         }
 316
 317         int     selected_serial = 0;
 318         long    switch_time;
 319
 320         void set_switch_time() {
 321                 switch_time = System.currentTimeMillis();
 322                 selected_serial = 0;
 323         }
 324
 325         boolean registered_units_listener;
 326
 327         void update_state(TelemetryState new_telemetry_state) {
 328
 329                 if (new_telemetry_state != null)
 330                         telemetry_state = new_telemetry_state;
 331
 332                 if (selected_frequency != AltosLib.MISSING) {
 333                         AltosState selected_state = telemetry_state.get(selected_serial);
 334                         AltosState latest_state = telemetry_state.get(telemetry_state.latest_serial);
 335
 336                         if (selected_state != null && selected_state.frequency == selected_frequency) {
 337                                 selected_frequency = AltosLib.MISSING;
 338                         } else if ((selected_state == null || selected_state.frequency != selected_frequency) &&
 339                                    (latest_state != null && latest_state.frequency == selected_frequency))
 340                         {
 341                                 selected_frequency = AltosLib.MISSING;
 342                                 selected_serial = telemetry_state.latest_serial;
 343                         }
 344                 }
 345
 346                 if (!telemetry_state.containsKey(selected_serial)) {
 347                         selected_serial = telemetry_state.latest_serial;
 348                         AltosDebug.debug("selected serial set to %d", selected_serial);
 349                 }
 350
 351                 int shown_serial = selected_serial;
 352
 353                 if (telemetry_state.idle_mode)
 354                         shown_serial = telemetry_state.latest_serial;
 355
 356                 if (!registered_units_listener) {
 357                         registered_units_listener = true;
 358                         AltosPreferences.register_units_listener(this);
 359                 }
 360
 361                 int     num_trackers = 0;
 362
 363                 for (AltosState s : telemetry_state.values()) {
 364                         num_trackers++;
 365                 }
 366
 367                 trackers = new Tracker[num_trackers + 1];
 368
 369                 int n = 0;
 370                 trackers[n++] = new Tracker(0, "auto", 0.0);
 371
 372                 for (AltosState s : telemetry_state.values())
 373                         trackers[n++] = new Tracker(s);
 374
 375                 Arrays.sort(trackers);
 376
 377                 if (telemetry_state.frequency != AltosLib.MISSING)
 378                         telem_frequency = telemetry_state.frequency;
 379
 380                 update_title(telemetry_state);
 381
 382                 AltosState      state = telemetry_state.get(shown_serial);
 383
 384                 update_ui(telemetry_state, state, telemetry_state.quiet);
 385
 386                 start_timer();
 387         }
 388
 389         boolean same_string(String a, String b) {
 390                 if (a == null) {
 391                         if (b == null)
 392                                 return true;
 393                         return false;
 394                 } else {
 395                         if (b == null)
 396                                 return false;
 397                         return a.equals(b);
 398                 }
 399         }
 400
 401
 402         private int blend_component(int a, int b, double r, int shift, int mask) {
 403                 return ((int) (((a >> shift) & mask) * r + ((b >> shift) & mask) * (1 - r)) & mask) << shift;
 404         }
 405         private int blend_color(int a, int b, double r) {
 406                 return (blend_component(a, b, r, 0, 0xff) |
 407                         blend_component(a, b, r, 8, 0xff) |
 408                         blend_component(a, b, r, 16, 0xff) |
 409                         blend_component(a, b, r, 24, 0xff));
 410         }
 411
 412         int state_age(long received_time) {
 413                 return (int) ((System.currentTimeMillis() - received_time + 500) / 1000);
 414         }
 415
 416         void set_screen_on(int age) {
 417                 if (age < 60)
 418                         getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 419                 else
 420                         getWindow().clearFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 421         }
 422
 423         static String age_string(int age) {
 424                 String  text;
 425                 if (age < 60)
 426                         text = String.format("%ds", age);
 427                 else if (age < 60 * 60)
 428                         text = String.format("%dm", age / 60);
 429                 else if (age < 60 * 60 * 24)
 430                         text = String.format("%dh", age / (60 * 60));
 431                 else
 432                         text = String.format("%dd", age / (24 * 60 * 60));
 433                 return text;
 434         }
 435
 436         void update_age() {
 437                 if (saved_state != null) {
 438                         int age = state_age(saved_state.received_time);
 439
 440                         double age_scale = age / 100.0;
 441
 442                         if (age_scale > 1.0)
 443                                 age_scale = 1.0;
 444
 445                         mAgeView.setTextColor(blend_color(mAgeOldColor, mAgeNewColor, age_scale));
 446
 447                         set_screen_on(age);
 448
 449                         mAgeView.setText(age_string(age));
 450                 }
 451         }
 452
 453         void update_ui(TelemetryState telem_state, AltosState state, boolean quiet) {
 454
 455                 AltosDebug.debug("update_ui telem %b state %b quiet %b saved_state %b\n",
 456                                  telem_state != null,
 457                                  state != null,
 458                                  quiet,
 459                                  saved_state != null);
 460
 461                 this.state = state;
 462
 463                 int prev_state = AltosLib.ao_flight_invalid;
 464
 465                 AltosGreatCircle from_receiver = null;
 466
 467                 if (saved_state != null)
 468                         prev_state = saved_state.state;
 469
 470                 if (state != null) {
 471                         set_screen_on(state_age(state.received_time));
 472
 473                         if (state.state() == AltosLib.ao_flight_stateless) {
 474                                 boolean prev_locked = false;
 475                                 boolean locked = false;
 476
 477                                 if(state.gps != null)
 478                                         locked = state.gps.locked;
 479                                 if (saved_state != null)
 480                                         prev_locked = saved_state.locked;
 481                                 if (prev_locked != locked) {
 482                                         String currentTab = mTabHost.getCurrentTabTag();
 483                                         if (locked) {
 484                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 485                                         } else {
 486                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_pad_name);
 487                                         }
 488                                 }
 489                         } else {
 490                                 if (prev_state != state.state()) {
 491                                         String currentTab = mTabHost.getCurrentTabTag();
 492                                         switch (state.state()) {
 493                                         case AltosLib.ao_flight_boost:
 494                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 495                                                 break;
 496                                         case AltosLib.ao_flight_landed:
 497                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_recover_name);
 498                                                 break;
 499                                         case AltosLib.ao_flight_stateless:
 500                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 501                                                 break;
 502                                         }
 503                                 }
 504                         }
 505
 506                         if (location != null && state.gps != null && state.gps.locked) {
 507                                 double altitude = 0;
 508                                 if (location.hasAltitude())
 509                                         altitude = location.getAltitude();
 510                                 from_receiver = new AltosGreatCircle(location.getLatitude(),
 511                                                                      location.getLongitude(),
 512                                                                      altitude,
 513                                                                      state.gps.lat,
 514                                                                      state.gps.lon,
 515                                                                      state.gps.alt);
 516                         }
 517
 518                         if (saved_state == null || !same_string(saved_state.callsign, state.cal_data().callsign)) {
 519                                 mCallsignView.setText(state.cal_data().callsign);
 520                         }
 521                         if (saved_state == null || state.cal_data().serial != saved_state.serial) {
 522                                 if (state.cal_data().serial == AltosLib.MISSING)
 523                                         mSerialView.setText("");
 524                                 else
 525                                         mSerialView.setText(String.format("%d", state.cal_data().serial));
 526                         }
 527                         if (saved_state == null || state.cal_data().flight != saved_state.flight) {
 528                                 if (state.cal_data().flight == AltosLib.MISSING)
 529                                         mFlightView.setText("");
 530                                 else
 531                                         mFlightView.setText(String.format("%d", state.cal_data().flight));
 532                         }
 533                         if (saved_state == null || state.state() != saved_state.state) {
 534                                 if (state.state() == AltosLib.ao_flight_stateless) {
 535                                         mStateLayout.setVisibility(View.GONE);
 536                                 } else {
 537                                         mStateView.setText(state.state_name());
 538                                         mStateLayout.setVisibility(View.VISIBLE);
 539                                 }
 540                         }
 541                         if (saved_state == null || state.rssi != saved_state.rssi) {
 542                                 if (state.rssi == AltosLib.MISSING)
 543                                         mRSSIView.setText("");
 544                                 else
 545                                         mRSSIView.setText(String.format("%d", state.rssi));
 546                         }
 547                         saved_state = new SavedState(state);
 548                 }
 549
 550                 for (AltosDroidTab mTab : mTabs) {
 551                         AltosDebug.debug("mTab %s current %s\n",
 552                                          mTab, mTabsAdapter.currentItem());
 553                         mTab.update_ui(telem_state, state, from_receiver, location, mTab == mTabsAdapter.currentItem());
 554                 }
 555
 556                 if (mAltosVoice != null && mTabsAdapter.currentItem() != null)
 557                         mAltosVoice.tell(telem_state, state, from_receiver, location, (AltosDroidTab) mTabsAdapter.currentItem(), quiet);
 558
 559         }
 560
 561         private void onTimerTick() {
 562                 try {
 563                         mMessenger.send(Message.obtain(null, MSG_UPDATE_AGE));
 564                 } catch (RemoteException e) {
 565                 }
 566         }
 567
 568         static String pos(double p, String pos, String neg) {
 569                 String  h = pos;
 570                 if (p == AltosLib.MISSING)
 571                         return "";
 572                 if (p < 0) {
 573                         h = neg;
 574                         p = -p;
 575                 }
 576                 int deg = (int) Math.floor(p);
 577                 double min = (p - Math.floor(p)) * 60.0;
 578                 return String.format("%d° %7.4f\" %s", deg, min, h);
 579         }
 580
 581         static String number(String format, double value) {
 582                 if (value == AltosLib.MISSING)
 583                         return "";
 584                 return String.format(format, value);
 585         }
 586
 587         static String integer(String format, int value) {
 588                 if (value == AltosLib.MISSING)
 589                         return "";
 590                 return String.format(format, value);
 591         }
 592
 593         private View create_tab_view(String label) {
 594                 LayoutInflater inflater = (LayoutInflater) this.getLayoutInflater();
 595                 View tab_view = inflater.inflate(R.layout.tab_layout, null);
 596                 TextView text_view = (TextView) tab_view.findViewById (R.id.tabLabel);
 597                 text_view.setText(label);
 598                 return tab_view;
 599         }
 600
 601         static public int[] themes = {
 602                 R.style.Small,
 603                 R.style.Medium,
 604                 R.style.Large,
 605                 R.style.Extra
 606         };
 607
 608         static public int[] dialog_themes = {
 609                 R.style.Small_Dialog,
 610                 R.style.Medium_Dialog,
 611                 R.style.Large_Dialog,
 612                 R.style.Extra_Dialog
 613         };
 614
 615         @Override
 616         public void onCreate(Bundle savedInstanceState) {
 617                 AltosDebug.init(this);
 618                 AltosDebug.debug("+++ ON CREATE +++");
 619
 620                 // Initialise preferences
 621                 AltosDroidPreferences.init(this);
 622                 setTheme(themes[AltosDroidPreferences.font_size()]);
 623                 super.onCreate(savedInstanceState);
 624
 625                 fm = getSupportFragmentManager();
 626
 627                 // Set up the window layout
 628                 setContentView(R.layout.altosdroid);
 629
 630                 // Create the Tabs and ViewPager
 631                 mTabHost = (TabHost)findViewById(android.R.id.tabhost);
 632                 mTabHost.setup();
 633
 634                 mViewPager = (AltosViewPager)findViewById(R.id.pager);
 635                 mViewPager.setOffscreenPageLimit(4);
 636
 637                 mTabsAdapter = new TabsAdapter(this, mTabHost, mViewPager);
 638
 639                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_pad_name).setIndicator(create_tab_view("Pad")), TabPad.class, null, findTab(tab_pad_name));
 640                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_flight_name).setIndicator(create_tab_view("Flight")), TabFlight.class, null, findTab(tab_flight_name));
 641                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_recover_name).setIndicator(create_tab_view("Recover")), TabRecover.class, null, findTab(tab_recover_name));
 642                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_map_name).setIndicator(create_tab_view("Map")), TabMap.class, null, findTab(tab_map_name));
 643
 644                 // Display the Version
 645                 mVersion = (TextView) findViewById(R.id.version);
 646                 mVersion.setText("Version: " + BuildInfo.version +
 647                                  " Built: " + BuildInfo.builddate + " " + BuildInfo.buildtime + " " + BuildInfo.buildtz +
 648                                  " (" + BuildInfo.branch + "-" + BuildInfo.commitnum + "-" + BuildInfo.commithash + ")");
 649
 650                 mCallsignView  = (TextView) findViewById(R.id.callsign_value);
 651                 mRSSIView      = (TextView) findViewById(R.id.rssi_value);
 652                 mSerialView    = (TextView) findViewById(R.id.serial_value);
 653                 mFlightView    = (TextView) findViewById(R.id.flight_value);
 654                 mStateLayout   = (RelativeLayout) findViewById(R.id.state_container);
 655                 mStateView     = (TextView) findViewById(R.id.state_value);
 656                 mAgeView       = (TextView) findViewById(R.id.age_value);
 657                 mAgeNewColor   = mAgeView.getTextColors().getDefaultColor();
 658                 mAgeOldColor   = getResources().getColor(R.color.old_color);
 659         }
 660
 661         private void ensureBluetooth() {
 662                 // Get local Bluetooth adapter
 663                 mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
 664
 665                 /* if there is a BT adapter and it isn't turned on, then turn it on */
 666                 if (mBluetoothAdapter != null && !mBluetoothAdapter.isEnabled()) {
 667                         Intent enableIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
 668                         startActivityForResult(enableIntent, AltosDroid.REQUEST_ENABLE_BT);
 669                 }
 670         }
 671
 672         private boolean check_usb() {
 673                 UsbDevice       device = AltosUsb.find_device(this, AltosLib.product_basestation);
 674
 675                 if (device != null) {
 676                         Intent          i = new Intent(this, AltosDroid.class);
 677                         PendingIntent   pi = PendingIntent.getActivity(this, 0, new Intent("hello world", null, this, AltosDroid.class), 0);
 678
 679                         if (AltosUsb.request_permission(this, device, pi)) {
 680                                 connectUsb(device);
 681                         }
 682                         start_with_usb = true;
 683                         return true;
 684                 }
 685
 686                 start_with_usb = false;
 687
 688                 return false;
 689         }
 690
 691         private void noticeIntent(Intent intent) {
 692
 693                 /* Ok, this is pretty convenient.
 694                  *
 695                  * When a USB device is plugged in, and our 'hotplug'
 696                  * intent registration fires, we get an Intent with
 697                  * EXTRA_DEVICE set.
 698                  *
 699                  * When we start up and see a usb device and request
 700                  * permission to access it, that queues a
 701                  * PendingIntent, which has the EXTRA_DEVICE added in,
 702                  * along with the EXTRA_PERMISSION_GRANTED field as
 703                  * well.
 704                  *
 705                  * So, in both cases, we get the device name using the
 706                  * same call. We check to see if access was granted,
 707                  * in which case we ignore the device field and do our
 708                  * usual startup thing.
 709                  */
 710
 711                 UsbDevice device = (UsbDevice) intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
 712                 boolean granted = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, true);
 713
 714                 AltosDebug.debug("intent %s device %s granted %s", intent, device, granted);
 715
 716                 if (!granted)
 717                         device = null;
 718
 719                 if (device != null) {
 720                         AltosDebug.debug("intent has usb device " + device.toString());
 721                         connectUsb(device);
 722                 } else {
 723
 724                         /* 'granted' is only false if this intent came
 725                          * from the request_permission call and
 726                          * permission was denied. In which case, we
 727                          * don't want to loop forever...
 728                          */
 729                         if (granted) {
 730                                 AltosDebug.debug("check for a USB device at startup");
 731                                 if (check_usb())
 732                                         return;
 733                         }
 734                         AltosDebug.debug("Starting by looking for bluetooth devices");
 735                         ensureBluetooth();
 736                 }
 737         }
 738
 739         @Override
 740         public void onStart() {
 741                 super.onStart();
 742                 AltosDebug.debug("++ ON START ++");
 743
 744                 set_switch_time();
 745
 746                 noticeIntent(getIntent());
 747
 748                 // Start Telemetry Service
 749                 String  action = start_with_usb ? ACTION_USB : ACTION_BLUETOOTH;
 750
 751                 startService(new Intent(action, null, AltosDroid.this, TelemetryService.class));
 752
 753                 doBindService();
 754
 755                 if (mAltosVoice == null)
 756                         mAltosVoice = new AltosVoice(this);
 757
 758         }
 759
 760         @Override
 761         public void onNewIntent(Intent intent) {
 762                 super.onNewIntent(intent);
 763                 AltosDebug.debug("+ ON NEW INTENT +");
 764                 noticeIntent(intent);
 765         }
 766
 767         private void enable_location_updates(boolean do_update) {
 768                 // Listen for GPS and Network position updates
 769                 LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
 770
 771                 if (locationManager != null)
 772                 {
 773                         try {
 774                                 locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this);
 775                                 location = locationManager.getLastKnownLocation(LocationManager.GPS_PROVIDER);
 776                         } catch (Exception e) {
 777                                 locationManager.requestLocationUpdates(LocationManager.NETWORK_PROVIDER, 1000, 1, this);
 778                                 location = locationManager.getLastKnownLocation(LocationManager.NETWORK_PROVIDER);
 779                         }
 780
 781                         if (location != null)
 782                                 AltosDebug.debug("Resume, location is %f,%f\n",
 783                                                  location.getLatitude(),
 784                                                  location.getLongitude());
 785                         AltosDebug.debug("Failed to get GPS updates\n");
 786                 }
 787
 788                 if (do_update)
 789                         update_ui(telemetry_state, state, true);
 790         }
 791
 792         static final int MY_PERMISSION_REQUEST = 1001;
 793
 794         public boolean have_location_permission = false;
 795         public boolean have_storage_permission = false;
 796         public boolean asked_permission = false;
 797
 798         AltosMapOnline map_online;
 799
 800         void
 801         tell_map_permission(AltosMapOnline map_online) {
 802                 this.map_online = map_online;
 803         }
 804
 805         @Override
 806         public void onRequestPermissionsResult(int requestCode, String[] permissions,
 807                                                int[] grantResults) {
 808                 if (requestCode == MY_PERMISSION_REQUEST) {
 809                         for (int i = 0; i < grantResults.length; i++) {
 810                                 if (grantResults[i] == PackageManager.PERMISSION_GRANTED) {
 811                                         if (permissions[i].equals(Manifest.permission.ACCESS_FINE_LOCATION)) {
 812                                                 have_location_permission = true;
 813                                                 enable_location_updates(true);
 814                                                 if (map_online != null)
 815                                                         map_online.position_permission();
 816                                         }
 817                                         if (permissions[i].equals(Manifest.permission.WRITE_EXTERNAL_STORAGE)) {
 818                                                 have_storage_permission = true;
 819                                         }
 820                                 }
 821                         }
 822                 }
 823         }
 824
 825         @Override
 826         public void onResume() {
 827                 AltosDebug.debug("+ ON RESUME +");
 828
 829                 super.onResume();
 830
 831                 if (!asked_permission) {
 832                         asked_permission = true;
 833                         if (ActivityCompat.checkSelfPermission(this,
 834                                                               Manifest.permission.ACCESS_FINE_LOCATION)
 835                             == PackageManager.PERMISSION_GRANTED)
 836                         {
 837                                 have_location_permission = true;
 838                         }
 839                         if (ActivityCompat.checkSelfPermission(this,
 840                                                                Manifest.permission.WRITE_EXTERNAL_STORAGE)
 841                             == PackageManager.PERMISSION_GRANTED)
 842                         {
 843                                 have_storage_permission = true;
 844                         }
 845                         int count = (have_location_permission ? 0 : 1) + (have_storage_permission ? 0 : 1);
 846                         if (count > 0)
 847                         {
 848                                 String[] permissions = new String[count];
 849                                 int i = 0;
 850                                 if (!have_location_permission)
 851                                         permissions[i++] = Manifest.permission.ACCESS_FINE_LOCATION;
 852                                 if (!have_location_permission)
 853                                         permissions[i++] = Manifest.permission.WRITE_EXTERNAL_STORAGE;
 854                                 ActivityCompat.requestPermissions(this, permissions, MY_PERMISSION_REQUEST);
 855                         }
 856                 }
 857                 if (have_location_permission)
 858                         enable_location_updates(false);
 859         }
 860
 861         @Override
 862         public void onPause() {
 863                 AltosDebug.debug("- ON PAUSE -");
 864
 865                 super.onPause();
 866
 867                 // Stop listening for location updates
 868                 if (have_location_permission)
 869                         ((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this);
 870         }
 871
 872         @Override
 873         public void onStop() {
 874                 AltosDebug.debug("-- ON STOP --");
 875
 876                 super.onStop();
 877         }
 878
 879         @Override
 880         public void onDestroy() {
 881                 AltosDebug.debug("--- ON DESTROY ---");
 882
 883                 super.onDestroy();
 884
 885                 saved_state = null;
 886
 887                 doUnbindService();
 888                 if (mAltosVoice != null) {
 889                         mAltosVoice.stop();
 890                         mAltosVoice = null;
 891                 }
 892                 stop_timer();
 893         }
 894
 895         protected void onActivityResult(int requestCode, int resultCode, Intent data) {
 896                 AltosDebug.debug("onActivityResult request %d result %d", requestCode, resultCode);
 897                 switch (requestCode) {
 898                 case REQUEST_CONNECT_DEVICE:
 899                         // When DeviceListActivity returns with a device to connect to
 900                         if (resultCode == Activity.RESULT_OK) {
 901                                 connectDevice(data);
 902                         }
 903                         break;
 904                 case REQUEST_ENABLE_BT:
 905                         // When the request to enable Bluetooth returns
 906                         if (resultCode == Activity.RESULT_OK) {
 907                                 // Bluetooth is now enabled, so set up a chat session
 908                                 //setupChat();
 909                                 AltosDebug.debug("BT enabled");
 910                                 bluetoothEnabled(data);
 911                         } else {
 912                                 // User did not enable Bluetooth or an error occured
 913                                 AltosDebug.debug("BT not enabled");
 914                         }
 915                         break;
 916                 case REQUEST_IDLE_MODE:
 917                         if (resultCode == Activity.RESULT_OK)
 918                                 idle_mode(data);
 919                         break;
 920                 case REQUEST_IGNITERS:
 921                         break;
 922                 case REQUEST_SETUP:
 923                         if (resultCode == Activity.RESULT_OK)
 924                                 note_setup_changes(data);
 925                         break;
 926                 case REQUEST_SELECT_TRACKER:
 927                         if (resultCode == Activity.RESULT_OK)
 928                                 select_tracker(data);
 929                         break;
 930                 case REQUEST_DELETE_TRACKER:
 931                         if (resultCode == Activity.RESULT_OK)
 932                                 delete_track(data);
 933                         break;
 934                 }
 935         }
 936
 937         private void note_setup_changes(Intent data) {
 938                 int changes = data.getIntExtra(SetupActivity.EXTRA_SETUP_CHANGES, 0);
 939
 940                 AltosDebug.debug("note_setup_changes changes %d\n", changes);
 941
 942                 if ((changes & SETUP_BAUD) != 0) {
 943                         try {
 944                                 mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD,
 945                                                              AltosPreferences.telemetry_rate(1)));
 946                         } catch (RemoteException re) {
 947                         }
 948                 }
 949                 if ((changes & SETUP_UNITS) != 0) {
 950                         /* nothing to do here */
 951                 }
 952                 if ((changes & SETUP_MAP_SOURCE) != 0) {
 953                         /* nothing to do here */
 954                 }
 955                 if ((changes & SETUP_MAP_TYPE) != 0) {
 956                         /* nothing to do here */
 957                 }
 958                 set_switch_time();
 959                 if ((changes & SETUP_FONT_SIZE) != 0) {
 960                         AltosDebug.debug(" ==== Recreate to switch font sizes ==== ");
 961                         finish();
 962                         startActivity(getIntent());
 963                 }
 964         }
 965
 966         private void connectUsb(UsbDevice device) {
 967                 if (mService == null)
 968                         pending_usb_device = device;
 969                 else {
 970                         // Attempt to connect to the device
 971                         try {
 972                                 mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, device));
 973                                 AltosDebug.debug("Sent OPEN_USB message");
 974                         } catch (RemoteException e) {
 975                                 AltosDebug.debug("connect device message failed");
 976                         }
 977                 }
 978         }
 979
 980         private void bluetoothEnabled(Intent data) {
 981                 if (mService != null) {
 982                         try {
 983                                 mService.send(Message.obtain(null, TelemetryService.MSG_BLUETOOTH_ENABLED, null));
 984                         } catch (RemoteException e) {
 985                                 AltosDebug.debug("send BT enabled message failed");
 986                         }
 987                 }
 988         }
 989
 990         private void connectDevice(Intent data) {
 991                 // Attempt to connect to the device
 992                 try {
 993                         String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS);
 994                         String name = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_NAME);
 995
 996                         AltosDebug.debug("Connecting to " + address + " " + name);
 997                         DeviceAddress   a = new DeviceAddress(address, name);
 998                         mService.send(Message.obtain(null, TelemetryService.MSG_CONNECT, a));
 999                         AltosDebug.debug("Sent connecting message");
1000                 } catch (RemoteException e) {
1001                         AltosDebug.debug("connect device message failed");
1002                 }
1003         }
1004
1005         private void disconnectDevice(boolean remember) {
1006                 try {
1007                         mService.send(Message.obtain(null, TelemetryService.MSG_DISCONNECT, (Boolean) remember));
1008                 } catch (RemoteException e) {
1009                 }
1010         }
1011
1012         private void idle_mode(Intent data) {
1013                 int type = data.getIntExtra(IdleModeActivity.EXTRA_IDLE_RESULT, -1);
1014                 Message msg;
1015
1016                 AltosDebug.debug("intent idle_mode %d", type);
1017                 switch (type) {
1018                 case IdleModeActivity.IDLE_MODE_CONNECT:
1019                         msg = Message.obtain(null, TelemetryService.MSG_MONITOR_IDLE_START);
1020                         try {
1021                                 mService.send(msg);
1022                         } catch (RemoteException re) {
1023                         }
1024                         break;
1025                 case IdleModeActivity.IDLE_MODE_DISCONNECT:
1026                         msg = Message.obtain(null, TelemetryService.MSG_MONITOR_IDLE_STOP);
1027                         try {
1028                                 mService.send(msg);
1029                         } catch (RemoteException re) {
1030                         }
1031                         break;
1032                 case IdleModeActivity.IDLE_MODE_REBOOT:
1033                         msg = Message.obtain(null, TelemetryService.MSG_REBOOT);
1034                         try {
1035                                 mService.send(msg);
1036                         } catch (RemoteException re) {
1037                         }
1038                         break;
1039                 case IdleModeActivity.IDLE_MODE_IGNITERS:
1040                         Intent serverIntent = new Intent(this, IgniterActivity.class);
1041                         startActivityForResult(serverIntent, REQUEST_IGNITERS);
1042                         break;
1043                 }
1044         }
1045
1046         boolean fail_shown;
1047
1048         private void file_failed(File file) {
1049                 if (!fail_shown) {
1050                         fail_shown = true;
1051                         AlertDialog fail = new AlertDialog.Builder(this).create();
1052                         fail.setTitle("Failed to Create Log File");
1053                         fail.setMessage(file.getPath());
1054                         fail.setButton(AlertDialog.BUTTON_NEUTRAL, "OK",
1055                                        new DialogInterface.OnClickListener() {
1056                                                public void onClick(DialogInterface dialog, int which) {
1057                                                        dialog.dismiss();
1058                                                }
1059                                        });
1060                         fail.show();
1061                 }
1062         }
1063
1064         @Override
1065         public boolean onCreateOptionsMenu(Menu menu) {
1066                 MenuInflater inflater = getMenuInflater();
1067                 inflater.inflate(R.menu.option_menu, menu);
1068                 return true;
1069         }
1070
1071         double telem_frequency = 434.550;
1072         double selected_frequency = AltosLib.MISSING;
1073
1074         void setFrequency(double freq) {
1075                 telem_frequency = freq;
1076                 selected_frequency = AltosLib.MISSING;
1077                 try {
1078                         mService.send(Message.obtain(null, TelemetryService.MSG_SETFREQUENCY, freq));
1079                         set_switch_time();
1080                 } catch (RemoteException e) {
1081                 }
1082         }
1083
1084         void setFrequency(AltosFrequency frequency) {
1085                 setFrequency (frequency.frequency);
1086         }
1087
1088         void setBaud(int baud) {
1089                 try {
1090                         mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD, baud));
1091                         set_switch_time();
1092                 } catch (RemoteException e) {
1093                 }
1094         }
1095
1096         void setBaud(String baud) {
1097                 try {
1098                         int     value = Integer.parseInt(baud);
1099                         int     rate = AltosLib.ao_telemetry_rate_38400;
1100                         switch (value) {
1101                         case 2400:
1102                                 rate = AltosLib.ao_telemetry_rate_2400;
1103                                 break;
1104                         case 9600:
1105                                 rate = AltosLib.ao_telemetry_rate_9600;
1106                                 break;
1107                         case 38400:
1108                                 rate = AltosLib.ao_telemetry_rate_38400;
1109                                 break;
1110                         }
1111                         setBaud(rate);
1112                 } catch (NumberFormatException e) {
1113                 }
1114         }
1115
1116         void select_tracker(int serial, double frequency) {
1117
1118                 AltosDebug.debug("select tracker %d %7.3f\n", serial, frequency);
1119
1120                 if (serial == selected_serial) {
1121                         AltosDebug.debug("%d already selected\n", serial);
1122                         return;
1123                 }
1124
1125                 if (serial != 0) {
1126                         int i;
1127                         for (i = 0; i < trackers.length; i++)
1128                                 if (trackers[i].serial == serial)
1129                                         break;
1130
1131                         if (i == trackers.length) {
1132                                 AltosDebug.debug("attempt to select unknown tracker %d\n", serial);
1133                                 return;
1134                         }
1135                         if (frequency != 0.0 && frequency != AltosLib.MISSING)
1136                                 setFrequency(frequency);
1137                 }
1138
1139                 selected_serial = serial;
1140                 update_state(null);
1141         }
1142
1143         void select_tracker(Intent data) {
1144                 int serial = data.getIntExtra(SelectTrackerActivity.EXTRA_SERIAL_NUMBER, 0);
1145                 double frequency = data.getDoubleExtra(SelectTrackerActivity.EXTRA_FREQUENCY, 0.0);
1146                 select_tracker(serial, frequency);
1147         }
1148
1149         void delete_track(int serial) {
1150                 try {
1151                         mService.send(Message.obtain(null, TelemetryService.MSG_DELETE_SERIAL, (Integer) serial));
1152                 } catch (Exception ex) {
1153                 }
1154         }
1155
1156         void delete_track(Intent data) {
1157                 int serial = data.getIntExtra(SelectTrackerActivity.EXTRA_SERIAL_NUMBER, 0);
1158                 if (serial != 0)
1159                         delete_track(serial);
1160         }
1161
1162         void start_select_tracker(Tracker[] select_trackers, int title_id, int request) {
1163                 Intent intent = new Intent(this, SelectTrackerActivity.class);
1164                 AltosDebug.debug("put title id 0x%x %s", title_id, getResources().getString(title_id));
1165                 intent.putExtra(EXTRA_TRACKERS_TITLE, title_id);
1166                 if (select_trackers != null) {
1167                         ArrayList<Tracker> tracker_array = new ArrayList<Tracker>(Arrays.asList(select_trackers));
1168                         intent.putParcelableArrayListExtra(EXTRA_TRACKERS, tracker_array);
1169                 } else {
1170                         intent.putExtra(EXTRA_TRACKERS, (Parcelable[]) null);
1171                 }
1172                 startActivityForResult(intent, request);
1173         }
1174
1175         void start_select_tracker(Tracker[] select_trackers) {
1176                 start_select_tracker(select_trackers, R.string.select_tracker, REQUEST_SELECT_TRACKER);
1177         }
1178
1179         void touch_trackers(Integer[] serials) {
1180                 Tracker[] my_trackers = new Tracker[serials.length];
1181
1182                 for (int i = 0; i < serials.length; i++) {
1183                         AltosState      s = telemetry_state.get(serials[i]);
1184                         my_trackers[i] = new Tracker(s);
1185                 }
1186                 start_select_tracker(my_trackers);
1187         }
1188
1189         @Override
1190         public boolean onOptionsItemSelected(MenuItem item) {
1191                 Intent serverIntent = null;
1192                 switch (item.getItemId()) {
1193                 case R.id.connect_scan:
1194                         ensureBluetooth();
1195                         // Launch the DeviceListActivity to see devices and do scan
1196                         serverIntent = new Intent(this, DeviceListActivity.class);
1197                         startActivityForResult(serverIntent, REQUEST_CONNECT_DEVICE);
1198                         return true;
1199                 case R.id.disconnect:
1200                         /* Disconnect the device
1201                          */
1202                         disconnectDevice(false);
1203                         return true;
1204                 case R.id.quit:
1205                         AltosDebug.debug("R.id.quit");
1206                         disconnectDevice(true);
1207                         finish();
1208                         return true;
1209                 case R.id.setup:
1210                         serverIntent = new Intent(this, SetupActivity.class);
1211                         startActivityForResult(serverIntent, REQUEST_SETUP);
1212                         return true;
1213                 case R.id.select_freq:
1214                         // Set the TBT radio frequency
1215
1216                         final AltosFrequency[] frequencies = AltosPreferences.common_frequencies();
1217                         String[] frequency_strings = new String[frequencies.length];
1218                         for (int i = 0; i < frequencies.length; i++)
1219                                 frequency_strings[i] = frequencies[i].toString();
1220
1221                         AlertDialog.Builder builder_freq = new AlertDialog.Builder(this);
1222                         builder_freq.setTitle("Select Frequency");
1223                         builder_freq.setItems(frequency_strings,
1224                                          new DialogInterface.OnClickListener() {
1225                                                  public void onClick(DialogInterface dialog, int item) {
1226                                                          setFrequency(frequencies[item]);
1227                                                          selected_frequency = frequencies[item].frequency;
1228                                                  }
1229                                          });
1230                         AlertDialog alert_freq = builder_freq.create();
1231                         alert_freq.show();
1232                         return true;
1233                 case R.id.select_tracker:
1234                         start_select_tracker(trackers);
1235                         return true;
1236                 case R.id.delete_track:
1237                         if (trackers != null && trackers.length > 0)
1238                                 start_select_tracker(trackers, R.string.delete_track, REQUEST_DELETE_TRACKER);
1239                         return true;
1240                 case R.id.idle_mode:
1241                         serverIntent = new Intent(this, IdleModeActivity.class);
1242                         serverIntent.putExtra(EXTRA_IDLE_MODE, idle_mode);
1243                         serverIntent.putExtra(EXTRA_FREQUENCY, telem_frequency);
1244                         startActivityForResult(serverIntent, REQUEST_IDLE_MODE);
1245                         return true;
1246                 }
1247                 return false;
1248         }
1249
1250         static String direction(AltosGreatCircle from_receiver,
1251                                 Location receiver) {
1252                 if (from_receiver == null)
1253                         return null;
1254
1255                 if (receiver == null)
1256                         return null;
1257
1258                 if (!receiver.hasBearing())
1259                         return null;
1260
1261                 float   bearing = receiver.getBearing();
1262                 float   heading = (float) from_receiver.bearing - bearing;
1263
1264                 while (heading <= -180.0f)
1265                         heading += 360.0f;
1266                 while (heading > 180.0f)
1267                         heading -= 360.0f;
1268
1269                 int iheading = (int) (heading + 0.5f);
1270
1271                 if (-1 < iheading && iheading < 1)
1272                         return "ahead";
1273                 else if (iheading < -179 || 179 < iheading)
1274                         return "backwards";
1275                 else if (iheading < 0)
1276                         return String.format("left %d°", -iheading);
1277                 else
1278                         return String.format("right %d°", iheading);
1279         }
1280
1281         public void onLocationChanged(Location location) {
1282                 this.location = location;
1283                 AltosDebug.debug("Location changed to %f,%f",
1284                                  location.getLatitude(),
1285                                  location.getLongitude());
1286                 update_ui(telemetry_state, state, false);
1287         }
1288
1289         public void onStatusChanged(String provider, int status, Bundle extras) {
1290                 AltosDebug.debug("Location status now %d\n", status);
1291         }
1292
1293         public void onProviderEnabled(String provider) {
1294                 AltosDebug.debug("Location provider enabled %s\n", provider);
1295         }
1296
1297         public void onProviderDisabled(String provider) {
1298                 AltosDebug.debug("Location provider disabled %s\n", provider);
1299         }
1300 }