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
  24 import android.Manifest;
  25 import android.app.Activity;
  26 import android.app.PendingIntent;
  27 import android.bluetooth.BluetoothAdapter;
  28 import android.content.Intent;
  29 import android.content.Context;
  30 import android.content.ComponentName;
  31 import android.content.ServiceConnection;
  32 import android.content.DialogInterface;
  33 import android.os.IBinder;
  34 import android.os.Bundle;
  35 import android.os.Handler;
  36 import android.os.Message;
  37 import android.os.Messenger;
  38 import android.os.RemoteException;
  39 import androidx.fragment.app.FragmentActivity;
  40 import androidx.fragment.app.FragmentManager;
  41 import android.view.*;
  42 import android.widget.*;
  43 import android.app.AlertDialog;
  44 import android.location.Location;
  45 import android.location.LocationManager;
  46 import android.location.LocationListener;
  47 import android.hardware.usb.*;
  48 import android.content.pm.PackageManager;
  49 import androidx.core.app.ActivityCompat;
  50 import org.altusmetrum.altoslib_13.*;
  51
  52 class SavedState {
  53         long    received_time;
  54         int     state;
  55         boolean locked;
  56         String  callsign;
  57         int     serial;
  58         int     flight;
  59         int     rssi;
  60
  61         SavedState(AltosState state) {
  62                 received_time = state.received_time;
  63                 this.state = state.state();
  64                 if (state.gps != null)
  65                         locked = state.gps.locked;
  66                 else
  67                         locked = false;
  68                 callsign = state.cal_data().callsign;
  69                 serial = state.cal_data().serial;
  70                 flight = state.cal_data().flight;
  71                 rssi = state.rssi;
  72         }
  73 }
  74
  75 class Tracker implements CharSequence, Comparable {
  76         int     serial;
  77         String  call;
  78         double  frequency;
  79
  80         String  display;
  81
  82         public Tracker(int serial, String call, double frequency) {
  83                 if (call == null)
  84                         call = "none";
  85
  86                 this.serial = serial;
  87                 this.call = call;
  88                 this.frequency = frequency;
  89                 if (frequency == 0.0)
  90                         display = "Auto";
  91                 else if (frequency == AltosLib.MISSING) {
  92                         display = String.format("%-8.8s  %6d", call, serial);
  93                 } else {
  94                         display = String.format("%-8.8s %7.3f %6d", call, frequency, serial);
  95                 }
  96         }
  97
  98         public Tracker(AltosState s) {
  99                 this(s == null ? 0 : s.cal_data().serial,
 100                      s == null ? null : s.cal_data().callsign,
 101                      s == null ? 0.0 : s.frequency);
 102         }
 103
 104         /* CharSequence */
 105         public char charAt(int index) {
 106                 return display.charAt(index);
 107         }
 108
 109         public int length() {
 110                 return display.length();
 111         }
 112
 113         public CharSequence subSequence(int start, int end) throws IndexOutOfBoundsException {
 114                 return display.subSequence(start, end);
 115         }
 116
 117         public String toString() {
 118                 return display.toString();
 119         }
 120
 121         /* Comparable */
 122         public int compareTo (Object other) {
 123                 Tracker o = (Tracker) other;
 124                 if (frequency == 0.0) {
 125                         if (o.frequency == 0.0)
 126                                 return 0;
 127                         return -1;
 128                 }
 129                 if (o.frequency == 0.0)
 130                         return 1;
 131
 132                 int     a = serial - o.serial;
 133                 int     b = call.compareTo(o.call);
 134                 int     c = (int) Math.signum(frequency - o.frequency);
 135
 136                 if (b != 0)
 137                         return b;
 138                 if (c != 0)
 139                         return c;
 140                 return a;
 141         }
 142 }
 143
 144 public class AltosDroid extends FragmentActivity implements AltosUnitsListener, LocationListener, ActivityCompat.OnRequestPermissionsResultCallback {
 145
 146         // Actions sent to the telemetry server at startup time
 147
 148         public static final String ACTION_BLUETOOTH = "org.altusmetrum.AltosDroid.BLUETOOTH";
 149         public static final String ACTION_USB = "org.altusmetrum.AltosDroid.USB";
 150
 151         // Message types received by our Handler
 152
 153         public static final int MSG_STATE           = 1;
 154         public static final int MSG_UPDATE_AGE      = 2;
 155         public static final int MSG_IDLE_MODE       = 3;
 156         public static final int MSG_IGNITER_STATUS  = 4;
 157
 158         // Intent request codes
 159         public static final int REQUEST_CONNECT_DEVICE = 1;
 160         public static final int REQUEST_ENABLE_BT      = 2;
 161         public static final int REQUEST_PRELOAD_MAPS   = 3;
 162         public static final int REQUEST_IDLE_MODE      = 5;
 163         public static final int REQUEST_IGNITERS       = 6;
 164         public static final int REQUEST_SETUP          = 7;
 165
 166         public static final String EXTRA_IDLE_MODE = "idle_mode";
 167         public static final String EXTRA_IDLE_RESULT = "idle_result";
 168         public static final String EXTRA_TELEMETRY_SERVICE = "telemetry_service";
 169
 170         // Setup result bits
 171         public static final int SETUP_BAUD = 1;
 172         public static final int SETUP_UNITS = 2;
 173         public static final int SETUP_MAP_SOURCE = 4;
 174         public static final int SETUP_MAP_TYPE = 8;
 175
 176         public static FragmentManager   fm;
 177
 178         private BluetoothAdapter mBluetoothAdapter = null;
 179
 180         // Flight state values
 181         private TextView mCallsignView;
 182         private TextView mRSSIView;
 183         private TextView mSerialView;
 184         private TextView mFlightView;
 185         private RelativeLayout mStateLayout;
 186         private TextView mStateView;
 187         private TextView mAgeView;
 188         private boolean  mAgeViewOld;
 189         private int mAgeNewColor;
 190         private int mAgeOldColor;
 191
 192         public static final String      tab_pad_name = "pad";
 193         public static final String      tab_flight_name = "flight";
 194         public static final String      tab_recover_name = "recover";
 195         public static final String      tab_map_name = "map";
 196
 197         // field to display the version at the bottom of the screen
 198         private TextView mVersion;
 199
 200         private boolean idle_mode = false;
 201
 202         public Location location = null;
 203
 204         private AltosState      state;
 205         private SavedState      saved_state;
 206
 207         // Tabs
 208         TabHost         mTabHost;
 209         AltosViewPager  mViewPager;
 210         TabsAdapter     mTabsAdapter;
 211         ArrayList<AltosDroidTab> mTabs = new ArrayList<AltosDroidTab>();
 212         int             tabHeight;
 213
 214         // Timer and Saved flight state for Age calculation
 215         private Timer timer;
 216
 217         TelemetryState  telemetry_state;
 218         Tracker[]       trackers;
 219
 220
 221         UsbDevice       pending_usb_device;
 222         boolean         start_with_usb;
 223
 224         // Service
 225         private boolean mIsBound   = false;
 226         private Messenger mService = null;
 227         final Messenger mMessenger = new Messenger(new IncomingHandler(this));
 228
 229         // Text to Speech
 230         private AltosVoice mAltosVoice = null;
 231
 232         // The Handler that gets information back from the Telemetry Service
 233         static class IncomingHandler extends Handler {
 234                 private final WeakReference<AltosDroid> mAltosDroid;
 235                 IncomingHandler(AltosDroid ad) { mAltosDroid = new WeakReference<AltosDroid>(ad); }
 236
 237                 @Override
 238                 public void handleMessage(Message msg) {
 239                         AltosDroid ad = mAltosDroid.get();
 240
 241                         switch (msg.what) {
 242                         case MSG_STATE:
 243                                 if (msg.obj == null) {
 244                                         AltosDebug.debug("telemetry_state null!");
 245                                         return;
 246                                 }
 247                                 ad.update_state((TelemetryState) msg.obj);
 248                                 break;
 249                         case MSG_UPDATE_AGE:
 250                                 ad.update_age();
 251                                 break;
 252                         case MSG_IDLE_MODE:
 253                                 ad.idle_mode = (Boolean) msg.obj;
 254                                 ad.update_state(null);
 255                                 break;
 256                         }
 257                 }
 258         };
 259
 260
 261         private ServiceConnection mConnection = new ServiceConnection() {
 262                 public void onServiceConnected(ComponentName className, IBinder service) {
 263                         mService = new Messenger(service);
 264                         try {
 265                                 Message msg = Message.obtain(null, TelemetryService.MSG_REGISTER_CLIENT);
 266                                 msg.replyTo = mMessenger;
 267                                 mService.send(msg);
 268                         } catch (RemoteException e) {
 269                                 // In this case the service has crashed before we could even do anything with it
 270                         }
 271                         if (pending_usb_device != null) {
 272                                 try {
 273                                         mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, pending_usb_device));
 274                                         pending_usb_device = null;
 275                                 } catch (RemoteException e) {
 276                                 }
 277                         }
 278                 }
 279
 280                 public void onServiceDisconnected(ComponentName className) {
 281                         // This is called when the connection with the service has been unexpectedly disconnected - process crashed.
 282                         mService = null;
 283                 }
 284         };
 285
 286         void doBindService() {
 287                 bindService(new Intent(this, TelemetryService.class), mConnection, Context.BIND_AUTO_CREATE);
 288                 mIsBound = true;
 289         }
 290
 291         void doUnbindService() {
 292                 if (mIsBound) {
 293                         // If we have received the service, and hence registered with it, then now is the time to unregister.
 294                         if (mService != null) {
 295                                 try {
 296                                         Message msg = Message.obtain(null, TelemetryService.MSG_UNREGISTER_CLIENT);
 297                                         msg.replyTo = mMessenger;
 298                                         mService.send(msg);
 299                                 } catch (RemoteException e) {
 300                                         // There is nothing special we need to do if the service has crashed.
 301                                 }
 302                         }
 303                         // Detach our existing connection.
 304                         unbindService(mConnection);
 305                         mIsBound = false;
 306                 }
 307         }
 308
 309         public void registerTab(AltosDroidTab mTab) {
 310                 mTabs.add(mTab);
 311         }
 312
 313         public void unregisterTab(AltosDroidTab mTab) {
 314                 mTabs.remove(mTab);
 315         }
 316
 317         public void units_changed(boolean imperial_units) {
 318                 for (AltosDroidTab mTab : mTabs)
 319                         mTab.units_changed(imperial_units);
 320         }
 321
 322         void update_title(TelemetryState telemetry_state) {
 323                 switch (telemetry_state.connect) {
 324                 case TelemetryState.CONNECT_CONNECTED:
 325                         if (telemetry_state.config != null) {
 326                                 String str = String.format("S/N %d %6.3f MHz%s", telemetry_state.config.serial,
 327                                                            telemetry_state.frequency, idle_mode ? " (idle)" : "");
 328                                 if (telemetry_state.telemetry_rate != AltosLib.ao_telemetry_rate_38400)
 329                                         str = str.concat(String.format(" %d bps",
 330                                                                        AltosLib.ao_telemetry_rate_values[telemetry_state.telemetry_rate]));
 331                                 setTitle(str);
 332                         } else {
 333                                 setTitle(R.string.title_connected_to);
 334                         }
 335                         break;
 336                 case TelemetryState.CONNECT_CONNECTING:
 337                         if (telemetry_state.address != null)
 338                                 setTitle(String.format("Connecting to %s...", telemetry_state.address.name));
 339                         else
 340                                 setTitle("Connecting to something...");
 341                         break;
 342                 case TelemetryState.CONNECT_DISCONNECTED:
 343                 case TelemetryState.CONNECT_NONE:
 344                         setTitle(R.string.title_not_connected);
 345                         break;
 346                 }
 347         }
 348
 349         void start_timer() {
 350                 if (timer == null) {
 351                         timer = new Timer();
 352                         timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 1000L, 1000L);
 353                 }
 354         }
 355
 356         void stop_timer() {
 357                 if (timer != null) {
 358                         timer.cancel();
 359                         timer.purge();
 360                         timer = null;
 361                 }
 362         }
 363
 364         int     selected_serial = 0;
 365         int     current_serial;
 366         long    switch_time;
 367
 368         void set_switch_time() {
 369                 switch_time = System.currentTimeMillis();
 370                 selected_serial = 0;
 371         }
 372
 373         boolean registered_units_listener;
 374
 375         void update_state(TelemetryState new_telemetry_state) {
 376
 377                 if (new_telemetry_state != null)
 378                         telemetry_state = new_telemetry_state;
 379
 380                 if (selected_serial != 0)
 381                         current_serial = selected_serial;
 382
 383                 if (current_serial == 0)
 384                         current_serial = telemetry_state.latest_serial;
 385
 386                 if (!registered_units_listener) {
 387                         registered_units_listener = true;
 388                         AltosPreferences.register_units_listener(this);
 389                 }
 390
 391                 int     num_trackers = 0;
 392                 for (AltosState s : telemetry_state.states.values()) {
 393                         num_trackers++;
 394                 }
 395
 396                 trackers = new Tracker[num_trackers + 1];
 397
 398                 int n = 0;
 399                 trackers[n++] = new Tracker(0, "auto", 0.0);
 400
 401                 for (AltosState s : telemetry_state.states.values())
 402                         trackers[n++] = new Tracker(s);
 403
 404                 Arrays.sort(trackers);
 405
 406                 update_title(telemetry_state);
 407
 408                 AltosState      state = null;
 409                 boolean         aged = true;
 410
 411                 if (telemetry_state.states.containsKey(current_serial)) {
 412                         state = telemetry_state.states.get(current_serial);
 413                         int age = state_age(state.received_time);
 414                         if (age < 20)
 415                                 aged = false;
 416                         if (current_serial == selected_serial)
 417                                 aged = false;
 418                         else if (switch_time != 0 && (switch_time - state.received_time) > 0)
 419                                 aged = true;
 420                 }
 421
 422                 if (aged) {
 423                         AltosState      newest_state = null;
 424                         int             newest_age = 0;
 425
 426                         for (int serial : telemetry_state.states.keySet()) {
 427                                 AltosState      existing = telemetry_state.states.get(serial);
 428                                 int             existing_age = state_age(existing.received_time);
 429
 430                                 if (newest_state == null || existing_age < newest_age) {
 431                                         newest_state = existing;
 432                                         newest_age = existing_age;
 433                                 }
 434                         }
 435
 436                         if (newest_state != null)
 437                                 state = newest_state;
 438                 }
 439
 440                 update_ui(telemetry_state, state, telemetry_state.quiet);
 441
 442                 start_timer();
 443         }
 444
 445         boolean same_string(String a, String b) {
 446                 if (a == null) {
 447                         if (b == null)
 448                                 return true;
 449                         return false;
 450                 } else {
 451                         if (b == null)
 452                                 return false;
 453                         return a.equals(b);
 454                 }
 455         }
 456
 457
 458         private int blend_component(int a, int b, double r, int shift, int mask) {
 459                 return ((int) (((a >> shift) & mask) * r + ((b >> shift) & mask) * (1 - r)) & mask) << shift;
 460         }
 461         private int blend_color(int a, int b, double r) {
 462                 return (blend_component(a, b, r, 0, 0xff) |
 463                         blend_component(a, b, r, 8, 0xff) |
 464                         blend_component(a, b, r, 16, 0xff) |
 465                         blend_component(a, b, r, 24, 0xff));
 466         }
 467
 468         int state_age(long received_time) {
 469                 return (int) ((System.currentTimeMillis() - received_time + 500) / 1000);
 470         }
 471
 472         void set_screen_on(int age) {
 473                 if (age < 60)
 474                         getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 475                 else
 476                         getWindow().clearFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 477         }
 478
 479         void update_age() {
 480                 if (saved_state != null) {
 481                         int age = state_age(saved_state.received_time);
 482
 483                         double age_scale = age / 100.0;
 484
 485                         if (age_scale > 1.0)
 486                                 age_scale = 1.0;
 487
 488                         mAgeView.setTextColor(blend_color(mAgeOldColor, mAgeNewColor, age_scale));
 489
 490                         set_screen_on(age);
 491
 492                         String  text;
 493                         if (age < 60)
 494                                 text = String.format("%ds", age);
 495                         else if (age < 60 * 60)
 496                                 text = String.format("%dm", age / 60);
 497                         else if (age < 60 * 60 * 24)
 498                                 text = String.format("%dh", age / (60 * 60));
 499                         else
 500                                 text = String.format("%dd", age / (24 * 60 * 60));
 501                         mAgeView.setText(text);
 502                 }
 503         }
 504
 505         void update_ui(TelemetryState telem_state, AltosState state, boolean quiet) {
 506
 507                 this.state = state;
 508
 509                 int prev_state = AltosLib.ao_flight_invalid;
 510
 511                 AltosGreatCircle from_receiver = null;
 512
 513                 if (saved_state != null)
 514                         prev_state = saved_state.state;
 515
 516                 if (state != null) {
 517                         set_screen_on(state_age(state.received_time));
 518
 519                         if (state.state() == AltosLib.ao_flight_stateless) {
 520                                 boolean prev_locked = false;
 521                                 boolean locked = false;
 522
 523                                 if(state.gps != null)
 524                                         locked = state.gps.locked;
 525                                 if (saved_state != null)
 526                                         prev_locked = saved_state.locked;
 527                                 if (prev_locked != locked) {
 528                                         String currentTab = mTabHost.getCurrentTabTag();
 529                                         if (locked) {
 530                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 531                                         } else {
 532                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_pad_name);
 533                                         }
 534                                 }
 535                         } else {
 536                                 if (prev_state != state.state()) {
 537                                         String currentTab = mTabHost.getCurrentTabTag();
 538                                         switch (state.state()) {
 539                                         case AltosLib.ao_flight_boost:
 540                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 541                                                 break;
 542                                         case AltosLib.ao_flight_landed:
 543                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_recover_name);
 544                                                 break;
 545                                         case AltosLib.ao_flight_stateless:
 546                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 547                                                 break;
 548                                         }
 549                                 }
 550                         }
 551
 552                         if (location != null && state.gps != null && state.gps.locked) {
 553                                 double altitude = 0;
 554                                 if (location.hasAltitude())
 555                                         altitude = location.getAltitude();
 556                                 from_receiver = new AltosGreatCircle(location.getLatitude(),
 557                                                                      location.getLongitude(),
 558                                                                      altitude,
 559                                                                      state.gps.lat,
 560                                                                      state.gps.lon,
 561                                                                      state.gps.alt);
 562                         }
 563
 564                         if (saved_state == null || !same_string(saved_state.callsign, state.cal_data().callsign)) {
 565                                 mCallsignView.setText(state.cal_data().callsign);
 566                         }
 567                         if (saved_state == null || state.cal_data().serial != saved_state.serial) {
 568                                 if (state.cal_data().serial == AltosLib.MISSING)
 569                                         mSerialView.setText("");
 570                                 else
 571                                         mSerialView.setText(String.format("%d", state.cal_data().serial));
 572                         }
 573                         if (saved_state == null || state.cal_data().flight != saved_state.flight) {
 574                                 if (state.cal_data().flight == AltosLib.MISSING)
 575                                         mFlightView.setText("");
 576                                 else
 577                                         mFlightView.setText(String.format("%d", state.cal_data().flight));
 578                         }
 579                         if (saved_state == null || state.state() != saved_state.state) {
 580                                 if (state.state() == AltosLib.ao_flight_stateless) {
 581                                         mStateLayout.setVisibility(View.GONE);
 582                                 } else {
 583                                         mStateView.setText(state.state_name());
 584                                         mStateLayout.setVisibility(View.VISIBLE);
 585                                 }
 586                         }
 587                         if (saved_state == null || state.rssi != saved_state.rssi) {
 588                                 if (state.rssi == AltosLib.MISSING)
 589                                         mRSSIView.setText("");
 590                                 else
 591                                         mRSSIView.setText(String.format("%d", state.rssi));
 592                         }
 593                         saved_state = new SavedState(state);
 594                 }
 595
 596                 for (AltosDroidTab mTab : mTabs)
 597                         mTab.update_ui(telem_state, state, from_receiver, location, mTab == mTabsAdapter.currentItem());
 598
 599                 AltosDebug.debug("quiet %b\n", quiet);
 600                 if (mAltosVoice != null && mTabsAdapter.currentItem() != null)
 601                         mAltosVoice.tell(telem_state, state, from_receiver, location, (AltosDroidTab) mTabsAdapter.currentItem(), quiet);
 602
 603         }
 604
 605         private void onTimerTick() {
 606                 try {
 607                         mMessenger.send(Message.obtain(null, MSG_UPDATE_AGE));
 608                 } catch (RemoteException e) {
 609                 }
 610         }
 611
 612         static String pos(double p, String pos, String neg) {
 613                 String  h = pos;
 614                 if (p == AltosLib.MISSING)
 615                         return "";
 616                 if (p < 0) {
 617                         h = neg;
 618                         p = -p;
 619                 }
 620                 int deg = (int) Math.floor(p);
 621                 double min = (p - Math.floor(p)) * 60.0;
 622                 return String.format("%d°%9.4f\" %s", deg, min, h);
 623         }
 624
 625         static String number(String format, double value) {
 626                 if (value == AltosLib.MISSING)
 627                         return "";
 628                 return String.format(format, value);
 629         }
 630
 631         static String integer(String format, int value) {
 632                 if (value == AltosLib.MISSING)
 633                         return "";
 634                 return String.format(format, value);
 635         }
 636
 637         private View create_tab_view(String label) {
 638                 LayoutInflater inflater = (LayoutInflater) this.getLayoutInflater();
 639                 View tab_view = inflater.inflate(R.layout.tab_layout, null);
 640                 TextView text_view = (TextView) tab_view.findViewById (R.id.tabLabel);
 641                 text_view.setText(label);
 642                 return tab_view;
 643         }
 644
 645         @Override
 646         public void onCreate(Bundle savedInstanceState) {
 647                 super.onCreate(savedInstanceState);
 648                 AltosDebug.init(this);
 649                 AltosDebug.debug("+++ ON CREATE +++");
 650
 651                 // Initialise preferences
 652                 AltosDroidPreferences.init(this);
 653
 654                 fm = getSupportFragmentManager();
 655
 656                 // Set up the window layout
 657                 setContentView(R.layout.altosdroid);
 658
 659                 // Create the Tabs and ViewPager
 660                 mTabHost = (TabHost)findViewById(android.R.id.tabhost);
 661                 mTabHost.setup();
 662
 663                 mViewPager = (AltosViewPager)findViewById(R.id.pager);
 664                 mViewPager.setOffscreenPageLimit(4);
 665
 666                 mTabsAdapter = new TabsAdapter(this, mTabHost, mViewPager);
 667
 668                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_pad_name).setIndicator(create_tab_view("Pad")), TabPad.class, null);
 669                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_flight_name).setIndicator(create_tab_view("Flight")), TabFlight.class, null);
 670                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_recover_name).setIndicator(create_tab_view("Recover")), TabRecover.class, null);
 671                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_map_name).setIndicator(create_tab_view("Map")), TabMap.class, null);
 672
 673                 // Display the Version
 674                 mVersion = (TextView) findViewById(R.id.version);
 675                 mVersion.setText("Version: " + BuildInfo.version +
 676                                  " Built: " + BuildInfo.builddate + " " + BuildInfo.buildtime + " " + BuildInfo.buildtz +
 677                                  " (" + BuildInfo.branch + "-" + BuildInfo.commitnum + "-" + BuildInfo.commithash + ")");
 678
 679                 mCallsignView  = (TextView) findViewById(R.id.callsign_value);
 680                 mRSSIView      = (TextView) findViewById(R.id.rssi_value);
 681                 mSerialView    = (TextView) findViewById(R.id.serial_value);
 682                 mFlightView    = (TextView) findViewById(R.id.flight_value);
 683                 mStateLayout   = (RelativeLayout) findViewById(R.id.state_container);
 684                 mStateView     = (TextView) findViewById(R.id.state_value);
 685                 mAgeView       = (TextView) findViewById(R.id.age_value);
 686                 mAgeNewColor   = mAgeView.getTextColors().getDefaultColor();
 687                 mAgeOldColor   = getResources().getColor(R.color.old_color);
 688         }
 689
 690         private void ensureBluetooth() {
 691                 // Get local Bluetooth adapter
 692                 mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
 693
 694                 /* if there is a BT adapter and it isn't turned on, then turn it on */
 695                 if (mBluetoothAdapter != null && !mBluetoothAdapter.isEnabled()) {
 696                         Intent enableIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
 697                         startActivityForResult(enableIntent, AltosDroid.REQUEST_ENABLE_BT);
 698                 }
 699         }
 700
 701         private boolean check_usb() {
 702                 UsbDevice       device = AltosUsb.find_device(this, AltosLib.product_basestation);
 703
 704                 if (device != null) {
 705                         Intent          i = new Intent(this, AltosDroid.class);
 706                         PendingIntent   pi = PendingIntent.getActivity(this, 0, new Intent("hello world", null, this, AltosDroid.class), 0);
 707
 708                         if (AltosUsb.request_permission(this, device, pi)) {
 709                                 connectUsb(device);
 710                         }
 711                         start_with_usb = true;
 712                         return true;
 713                 }
 714
 715                 start_with_usb = false;
 716
 717                 return false;
 718         }
 719
 720         private void noticeIntent(Intent intent) {
 721
 722                 /* Ok, this is pretty convenient.
 723                  *
 724                  * When a USB device is plugged in, and our 'hotplug'
 725                  * intent registration fires, we get an Intent with
 726                  * EXTRA_DEVICE set.
 727                  *
 728                  * When we start up and see a usb device and request
 729                  * permission to access it, that queues a
 730                  * PendingIntent, which has the EXTRA_DEVICE added in,
 731                  * along with the EXTRA_PERMISSION_GRANTED field as
 732                  * well.
 733                  *
 734                  * So, in both cases, we get the device name using the
 735                  * same call. We check to see if access was granted,
 736                  * in which case we ignore the device field and do our
 737                  * usual startup thing.
 738                  */
 739
 740                 UsbDevice device = (UsbDevice) intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
 741                 boolean granted = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, true);
 742
 743                 AltosDebug.debug("intent %s device %s granted %s", intent, device, granted);
 744
 745                 if (!granted)
 746                         device = null;
 747
 748                 if (device != null) {
 749                         AltosDebug.debug("intent has usb device " + device.toString());
 750                         connectUsb(device);
 751                 } else {
 752
 753                         /* 'granted' is only false if this intent came
 754                          * from the request_permission call and
 755                          * permission was denied. In which case, we
 756                          * don't want to loop forever...
 757                          */
 758                         if (granted) {
 759                                 AltosDebug.debug("check for a USB device at startup");
 760                                 if (check_usb())
 761                                         return;
 762                         }
 763                         AltosDebug.debug("Starting by looking for bluetooth devices");
 764                         ensureBluetooth();
 765                 }
 766         }
 767
 768         @Override
 769         public void onStart() {
 770                 super.onStart();
 771                 AltosDebug.debug("++ ON START ++");
 772
 773                 set_switch_time();
 774
 775                 noticeIntent(getIntent());
 776
 777                 // Start Telemetry Service
 778                 String  action = start_with_usb ? ACTION_USB : ACTION_BLUETOOTH;
 779
 780                 startService(new Intent(action, null, AltosDroid.this, TelemetryService.class));
 781
 782                 doBindService();
 783
 784                 if (mAltosVoice == null)
 785                         mAltosVoice = new AltosVoice(this);
 786
 787         }
 788
 789         @Override
 790         public void onNewIntent(Intent intent) {
 791                 super.onNewIntent(intent);
 792                 AltosDebug.debug("onNewIntent");
 793                 noticeIntent(intent);
 794         }
 795
 796         private void enable_location_updates() {
 797                 // Listen for GPS and Network position updates
 798                 LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
 799                 locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this);
 800
 801                 location = locationManager.getLastKnownLocation(LocationManager.GPS_PROVIDER);
 802
 803                 if (location != null)
 804                         AltosDebug.debug("Resume, location is %f,%f\n",
 805                                          location.getLatitude(),
 806                                          location.getLongitude());
 807
 808                 update_ui(telemetry_state, state, true);
 809         }
 810
 811         static final int MY_PERMISSION_REQUEST_FINE_POSITION = 1001;
 812
 813         public boolean have_location_permission = false;
 814         public boolean asked_location_permission = false;
 815
 816         AltosMapOnline map_online;
 817
 818         void
 819         tell_map_permission(AltosMapOnline map_online) {
 820                 this.map_online = map_online;
 821         }
 822
 823         @Override
 824         public void onRequestPermissionsResult(int requestCode, String[] permissions,
 825                                                int[] grantResults) {
 826                 switch (requestCode) {
 827                 case MY_PERMISSION_REQUEST_FINE_POSITION:
 828                         if (grantResults.length > 0 &&
 829                             grantResults[0] == PackageManager.PERMISSION_GRANTED) {
 830                                 have_location_permission = true;
 831                                 enable_location_updates();
 832                                 if (map_online != null)
 833                                         map_online.position_permission();
 834                         }
 835                         break;
 836                 }
 837         }
 838
 839         @Override
 840         public void onResume() {
 841                 super.onResume();
 842                 AltosDebug.debug("+ ON RESUME +");
 843
 844                 if (!asked_location_permission) {
 845                         asked_location_permission = true;
 846                         if (ActivityCompat.checkSelfPermission(this,
 847                                                               Manifest.permission.ACCESS_FINE_LOCATION)
 848                             == PackageManager.PERMISSION_GRANTED)
 849                         {
 850                                 have_location_permission = true;
 851                         }
 852                         else
 853                         {
 854                                 ActivityCompat.requestPermissions(this,
 855                                                                   new String[]{Manifest.permission.ACCESS_FINE_LOCATION},
 856                                                                   MY_PERMISSION_REQUEST_FINE_POSITION);
 857                         }
 858                 }
 859                 if (have_location_permission)
 860                         enable_location_updates();
 861         }
 862
 863         @Override
 864         public void onPause() {
 865                 super.onPause();
 866                 AltosDebug.debug("- ON PAUSE -");
 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                 super.onStop();
 875                 AltosDebug.debug("-- ON STOP --");
 876         }
 877
 878         @Override
 879         public void onDestroy() {
 880                 super.onDestroy();
 881                 AltosDebug.debug("--- ON DESTROY ---");
 882
 883                 doUnbindService();
 884                 if (mAltosVoice != null) {
 885                         mAltosVoice.stop();
 886                         mAltosVoice = null;
 887                 }
 888                 stop_timer();
 889         }
 890
 891         protected void onActivityResult(int requestCode, int resultCode, Intent data) {
 892                 AltosDebug.debug("onActivityResult " + resultCode);
 893                 switch (requestCode) {
 894                 case REQUEST_CONNECT_DEVICE:
 895                         // When DeviceListActivity returns with a device to connect to
 896                         if (resultCode == Activity.RESULT_OK) {
 897                                 connectDevice(data);
 898                         }
 899                         break;
 900                 case REQUEST_ENABLE_BT:
 901                         // When the request to enable Bluetooth returns
 902                         if (resultCode == Activity.RESULT_OK) {
 903                                 // Bluetooth is now enabled, so set up a chat session
 904                                 //setupChat();
 905                                 AltosDebug.debug("BT enabled");
 906                                 bluetoothEnabled(data);
 907                         } else {
 908                                 // User did not enable Bluetooth or an error occured
 909                                 AltosDebug.debug("BT not enabled");
 910                         }
 911                         break;
 912                 case REQUEST_IDLE_MODE:
 913                         if (resultCode == Activity.RESULT_OK)
 914                                 idle_mode(data);
 915                         break;
 916                 case REQUEST_IGNITERS:
 917                         break;
 918                 case REQUEST_SETUP:
 919                         if (resultCode == Activity.RESULT_OK)
 920                                 note_setup_changes(data);
 921                         break;
 922                 }
 923         }
 924
 925         private void note_setup_changes(Intent data) {
 926                 int changes = data.getIntExtra(SetupActivity.EXTRA_SETUP_CHANGES, 0);
 927
 928                 if ((changes & SETUP_BAUD) != 0) {
 929                         try {
 930                                 mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD,
 931                                                              AltosPreferences.telemetry_rate(1)));
 932                         } catch (RemoteException re) {
 933                         }
 934                 }
 935                 if ((changes & SETUP_UNITS) != 0) {
 936                         /* nothing to do here */
 937                 }
 938                 if ((changes & SETUP_MAP_SOURCE) != 0) {
 939                         /* nothing to do here */
 940                 }
 941                 if ((changes & SETUP_MAP_TYPE) != 0) {
 942                         /* nothing to do here */
 943                 }
 944                 set_switch_time();
 945         }
 946
 947         private void connectUsb(UsbDevice device) {
 948                 if (mService == null)
 949                         pending_usb_device = device;
 950                 else {
 951                         // Attempt to connect to the device
 952                         try {
 953                                 mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, device));
 954                                 AltosDebug.debug("Sent OPEN_USB message");
 955                         } catch (RemoteException e) {
 956                                 AltosDebug.debug("connect device message failed");
 957                         }
 958                 }
 959         }
 960
 961         private void bluetoothEnabled(Intent data) {
 962                 try {
 963                         mService.send(Message.obtain(null, TelemetryService.MSG_BLUETOOTH_ENABLED, null));
 964                 } catch (RemoteException e) {
 965                         AltosDebug.debug("send BT enabled message failed");
 966                 }
 967         }
 968
 969         private void connectDevice(Intent data) {
 970                 // Attempt to connect to the device
 971                 try {
 972                         String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS);
 973                         String name = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_NAME);
 974
 975                         AltosDebug.debug("Connecting to " + address + " " + name);
 976                         DeviceAddress   a = new DeviceAddress(address, name);
 977                         mService.send(Message.obtain(null, TelemetryService.MSG_CONNECT, a));
 978                         AltosDebug.debug("Sent connecting message");
 979                 } catch (RemoteException e) {
 980                         AltosDebug.debug("connect device message failed");
 981                 }
 982         }
 983
 984         private void disconnectDevice(boolean remember) {
 985                 try {
 986                         mService.send(Message.obtain(null, TelemetryService.MSG_DISCONNECT, (Boolean) remember));
 987                 } catch (RemoteException e) {
 988                 }
 989         }
 990
 991         private void idle_mode(Intent data) {
 992                 int type = data.getIntExtra(IdleModeActivity.EXTRA_IDLE_RESULT, -1);
 993                 Message msg;
 994
 995                 AltosDebug.debug("intent idle_mode %d", type);
 996                 switch (type) {
 997                 case IdleModeActivity.IDLE_MODE_CONNECT:
 998                         msg = Message.obtain(null, TelemetryService.MSG_MONITOR_IDLE_START);
 999                         try {
1000                                 mService.send(msg);
1001                         } catch (RemoteException re) {
1002                         }
1003                         break;
1004                 case IdleModeActivity.IDLE_MODE_DISCONNECT:
1005                         msg = Message.obtain(null, TelemetryService.MSG_MONITOR_IDLE_STOP);
1006                         try {
1007                                 mService.send(msg);
1008                         } catch (RemoteException re) {
1009                         }
1010                         break;
1011                 case IdleModeActivity.IDLE_MODE_REBOOT:
1012                         msg = Message.obtain(null, TelemetryService.MSG_REBOOT);
1013                         try {
1014                                 mService.send(msg);
1015                         } catch (RemoteException re) {
1016                         }
1017                         break;
1018                 case IdleModeActivity.IDLE_MODE_IGNITERS:
1019                         Intent serverIntent = new Intent(this, IgniterActivity.class);
1020                         startActivityForResult(serverIntent, REQUEST_IGNITERS);
1021                         break;
1022                 }
1023         }
1024
1025         @Override
1026         public boolean onCreateOptionsMenu(Menu menu) {
1027                 MenuInflater inflater = getMenuInflater();
1028                 inflater.inflate(R.menu.option_menu, menu);
1029                 return true;
1030         }
1031
1032         void setFrequency(double freq) {
1033                 try {
1034                         mService.send(Message.obtain(null, TelemetryService.MSG_SETFREQUENCY, freq));
1035                         set_switch_time();
1036                 } catch (RemoteException e) {
1037                 }
1038         }
1039
1040         void setFrequency(AltosFrequency frequency) {
1041                 setFrequency (frequency.frequency);
1042         }
1043
1044         void setBaud(int baud) {
1045                 try {
1046                         mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD, baud));
1047                         set_switch_time();
1048                 } catch (RemoteException e) {
1049                 }
1050         }
1051
1052         void setBaud(String baud) {
1053                 try {
1054                         int     value = Integer.parseInt(baud);
1055                         int     rate = AltosLib.ao_telemetry_rate_38400;
1056                         switch (value) {
1057                         case 2400:
1058                                 rate = AltosLib.ao_telemetry_rate_2400;
1059                                 break;
1060                         case 9600:
1061                                 rate = AltosLib.ao_telemetry_rate_9600;
1062                                 break;
1063                         case 38400:
1064                                 rate = AltosLib.ao_telemetry_rate_38400;
1065                                 break;
1066                         }
1067                         setBaud(rate);
1068                 } catch (NumberFormatException e) {
1069                 }
1070         }
1071
1072         void select_tracker(int serial) {
1073                 int i;
1074
1075                 AltosDebug.debug("select tracker %d\n", serial);
1076
1077                 if (serial == selected_serial) {
1078                         AltosDebug.debug("%d already selected\n", serial);
1079                         return;
1080                 }
1081
1082                 if (serial != 0) {
1083                         for (i = 0; i < trackers.length; i++)
1084                                 if (trackers[i].serial == serial)
1085                                         break;
1086
1087                         if (i == trackers.length) {
1088                                 AltosDebug.debug("attempt to select unknown tracker %d\n", serial);
1089                                 return;
1090                         }
1091                 }
1092
1093                 current_serial = selected_serial = serial;
1094                 update_state(null);
1095         }
1096
1097         void touch_trackers(Integer[] serials) {
1098                 AlertDialog.Builder builder_tracker = new AlertDialog.Builder(this);
1099                 builder_tracker.setTitle("Select Tracker");
1100
1101                 final Tracker[] my_trackers = new Tracker[serials.length + 1];
1102
1103                 my_trackers[0] = new Tracker(null);
1104
1105                 for (int i = 0; i < serials.length; i++) {
1106                         AltosState      s = telemetry_state.states.get(serials[i]);
1107                         my_trackers[i+1] = new Tracker(s);
1108                 }
1109                 builder_tracker.setItems(my_trackers,
1110                                          new DialogInterface.OnClickListener() {
1111                                                  public void onClick(DialogInterface dialog, int item) {
1112                                                          if (item == 0)
1113                                                                  select_tracker(0);
1114                                                          else
1115                                                                  select_tracker(my_trackers[item].serial);
1116                                                  }
1117                                          });
1118                 AlertDialog alert_tracker = builder_tracker.create();
1119                 alert_tracker.show();
1120         }
1121
1122         void delete_track(int serial) {
1123                 try {
1124                         mService.send(Message.obtain(null, TelemetryService.MSG_DELETE_SERIAL, (Integer) serial));
1125                 } catch (Exception ex) {
1126                 }
1127         }
1128
1129         @Override
1130         public boolean onOptionsItemSelected(MenuItem item) {
1131                 Intent serverIntent = null;
1132                 switch (item.getItemId()) {
1133                 case R.id.connect_scan:
1134                         ensureBluetooth();
1135                         // Launch the DeviceListActivity to see devices and do scan
1136                         serverIntent = new Intent(this, DeviceListActivity.class);
1137                         startActivityForResult(serverIntent, REQUEST_CONNECT_DEVICE);
1138                         return true;
1139                 case R.id.disconnect:
1140                         /* Disconnect the device
1141                          */
1142                         disconnectDevice(false);
1143                         return true;
1144                 case R.id.quit:
1145                         AltosDebug.debug("R.id.quit");
1146                         disconnectDevice(true);
1147                         finish();
1148                         return true;
1149                 case R.id.setup:
1150                         serverIntent = new Intent(this, SetupActivity.class);
1151                         startActivityForResult(serverIntent, REQUEST_SETUP);
1152                         return true;
1153                 case R.id.select_freq:
1154                         // Set the TBT radio frequency
1155
1156                         final AltosFrequency[] frequencies = AltosPreferences.common_frequencies();
1157                         String[] frequency_strings = new String[frequencies.length];
1158                         for (int i = 0; i < frequencies.length; i++)
1159                                 frequency_strings[i] = frequencies[i].toString();
1160
1161                         AlertDialog.Builder builder_freq = new AlertDialog.Builder(this);
1162                         builder_freq.setTitle("Pick a frequency");
1163                         builder_freq.setItems(frequency_strings,
1164                                          new DialogInterface.OnClickListener() {
1165                                                  public void onClick(DialogInterface dialog, int item) {
1166                                                          setFrequency(frequencies[item]);
1167                                                  }
1168                                          });
1169                         AlertDialog alert_freq = builder_freq.create();
1170                         alert_freq.show();
1171                         return true;
1172                 case R.id.select_tracker:
1173                         if (trackers != null) {
1174                                 AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
1175                                 builder_serial.setTitle("Select a tracker");
1176                                 builder_serial.setItems(trackers,
1177                                                         new DialogInterface.OnClickListener() {
1178                                                                 public void onClick(DialogInterface dialog, int item) {
1179                                                                         System.out.printf("select item %d %s\n", item, trackers[item].display);
1180                                                                         if (item == 0)
1181                                                                                 select_tracker(0);
1182                                                                         else
1183                                                                                 select_tracker(trackers[item].serial);
1184                                                                 }
1185                                                         });
1186                                 AlertDialog alert_serial = builder_serial.create();
1187                                 alert_serial.show();
1188
1189                         }
1190                         return true;
1191                 case R.id.delete_track:
1192                         if (trackers != null) {
1193                                 AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
1194                                 builder_serial.setTitle("Delete a track");
1195                                 final Tracker[] my_trackers = new Tracker[trackers.length - 1];
1196                                 for (int i = 0; i < trackers.length - 1; i++)
1197                                         my_trackers[i] = trackers[i+1];
1198                                 builder_serial.setItems(my_trackers,
1199                                                         new DialogInterface.OnClickListener() {
1200                                                                 public void onClick(DialogInterface dialog, int item) {
1201                                                                         delete_track(my_trackers[item].serial);
1202                                                                 }
1203                                                         });
1204                                 AlertDialog alert_serial = builder_serial.create();
1205                                 alert_serial.show();
1206
1207                         }
1208                         return true;
1209                 case R.id.idle_mode:
1210                         serverIntent = new Intent(this, IdleModeActivity.class);
1211                         serverIntent.putExtra(EXTRA_IDLE_MODE, idle_mode);
1212                         startActivityForResult(serverIntent, REQUEST_IDLE_MODE);
1213                         return true;
1214                 }
1215                 return false;
1216         }
1217
1218         static String direction(AltosGreatCircle from_receiver,
1219                                 Location receiver) {
1220                 if (from_receiver == null)
1221                         return null;
1222
1223                 if (receiver == null)
1224                         return null;
1225
1226                 if (!receiver.hasBearing())
1227                         return null;
1228
1229                 float   bearing = receiver.getBearing();
1230                 float   heading = (float) from_receiver.bearing - bearing;
1231
1232                 while (heading <= -180.0f)
1233                         heading += 360.0f;
1234                 while (heading > 180.0f)
1235                         heading -= 360.0f;
1236
1237                 int iheading = (int) (heading + 0.5f);
1238
1239                 if (-1 < iheading && iheading < 1)
1240                         return "ahead";
1241                 else if (iheading < -179 || 179 < iheading)
1242                         return "backwards";
1243                 else if (iheading < 0)
1244                         return String.format("left %d°", -iheading);
1245                 else
1246                         return String.format("right %d°", iheading);
1247         }
1248
1249         public void onLocationChanged(Location location) {
1250                 this.location = location;
1251                 AltosDebug.debug("Location changed to %f,%f",
1252                                  location.getLatitude(),
1253                                  location.getLongitude());
1254                 update_ui(telemetry_state, state, false);
1255         }
1256
1257         public void onStatusChanged(String provider, int status, Bundle extras) {
1258                 AltosDebug.debug("Location status now %d\n", status);
1259         }
1260
1261         public void onProviderEnabled(String provider) {
1262                 AltosDebug.debug("Location provider enabled %s\n", provider);
1263         }
1264
1265         public void onProviderDisabled(String provider) {
1266                 AltosDebug.debug("Location provider disabled %s\n", provider);
1267         }
1268 }