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 android.os.Parcelable;
  40 import androidx.fragment.app.FragmentActivity;
  41 import androidx.fragment.app.FragmentManager;
  42 import android.view.*;
  43 import android.widget.*;
  44 import android.app.AlertDialog;
  45 import android.location.Location;
  46 import android.location.LocationManager;
  47 import android.location.LocationListener;
  48 import android.hardware.usb.*;
  49 import android.content.pm.PackageManager;
  50 import androidx.core.app.ActivityCompat;
  51 import org.altusmetrum.altoslib_13.*;
  52
  53 class SavedState {
  54         long    received_time;
  55         int     state;
  56         boolean locked;
  57         String  callsign;
  58         int     serial;
  59         int     flight;
  60         int     rssi;
  61
  62         SavedState(AltosState state) {
  63                 received_time = state.received_time;
  64                 this.state = state.state();
  65                 if (state.gps != null)
  66                         locked = state.gps.locked;
  67                 else
  68                         locked = false;
  69                 callsign = state.cal_data().callsign;
  70                 serial = state.cal_data().serial;
  71                 flight = state.cal_data().flight;
  72                 rssi = state.rssi;
  73         }
  74 }
  75
  76 public class AltosDroid extends FragmentActivity implements AltosUnitsListener, LocationListener, ActivityCompat.OnRequestPermissionsResultCallback {
  77
  78         // Actions sent to the telemetry server at startup time
  79
  80         public static final String ACTION_BLUETOOTH = "org.altusmetrum.AltosDroid.BLUETOOTH";
  81         public static final String ACTION_USB = "org.altusmetrum.AltosDroid.USB";
  82
  83         // Message types received by our Handler
  84
  85         public static final int MSG_STATE           = 1;
  86         public static final int MSG_UPDATE_AGE      = 2;
  87         public static final int MSG_IDLE_MODE       = 3;
  88         public static final int MSG_IGNITER_STATUS  = 4;
  89
  90         // Intent request codes
  91         public static final int REQUEST_CONNECT_DEVICE = 1;
  92         public static final int REQUEST_ENABLE_BT      = 2;
  93         public static final int REQUEST_PRELOAD_MAPS   = 3;
  94         public static final int REQUEST_IDLE_MODE      = 5;
  95         public static final int REQUEST_IGNITERS       = 6;
  96         public static final int REQUEST_SETUP          = 7;
  97         public static final int REQUEST_SELECT_TRACKER = 8;
  98
  99         public static final String EXTRA_IDLE_MODE = "idle_mode";
 100         public static final String EXTRA_IDLE_RESULT = "idle_result";
 101         public static final String EXTRA_FREQUENCY = "frequency";
 102         public static final String EXTRA_TELEMETRY_SERVICE = "telemetry_service";
 103         public static final String EXTRA_TRACKERS = "trackers";
 104
 105         // Setup result bits
 106         public static final int SETUP_BAUD = 1;
 107         public static final int SETUP_UNITS = 2;
 108         public static final int SETUP_MAP_SOURCE = 4;
 109         public static final int SETUP_MAP_TYPE = 8;
 110         public static final int SETUP_FONT_SIZE = 16;
 111
 112         public static FragmentManager   fm;
 113
 114         private BluetoothAdapter mBluetoothAdapter = null;
 115
 116         // Flight state values
 117         private TextView mCallsignView;
 118         private TextView mRSSIView;
 119         private TextView mSerialView;
 120         private TextView mFlightView;
 121         private RelativeLayout mStateLayout;
 122         private TextView mStateView;
 123         private TextView mAgeView;
 124         private boolean  mAgeViewOld;
 125         private int mAgeNewColor;
 126         private int mAgeOldColor;
 127
 128         public static final String      tab_pad_name = "pad";
 129         public static final String      tab_flight_name = "flight";
 130         public static final String      tab_recover_name = "recover";
 131         public static final String      tab_map_name = "map";
 132
 133         // field to display the version at the bottom of the screen
 134         private TextView mVersion;
 135
 136         private boolean idle_mode = false;
 137
 138         public Location location = null;
 139
 140         private AltosState      state;
 141         private SavedState      saved_state;
 142
 143         // Tabs
 144         TabHost         mTabHost;
 145         AltosViewPager  mViewPager;
 146         TabsAdapter     mTabsAdapter;
 147         ArrayList<AltosDroidTab> mTabs = new ArrayList<AltosDroidTab>();
 148         int             tabHeight;
 149
 150         // Timer and Saved flight state for Age calculation
 151         private Timer timer;
 152
 153         TelemetryState  telemetry_state;
 154         Tracker[]       trackers;
 155
 156         UsbDevice       pending_usb_device;
 157         boolean         start_with_usb;
 158
 159         // Service
 160         private boolean mIsBound   = false;
 161         private Messenger mService = null;
 162         final Messenger mMessenger = new Messenger(new IncomingHandler(this));
 163
 164         // Text to Speech
 165         private AltosVoice mAltosVoice = null;
 166
 167         // The Handler that gets information back from the Telemetry Service
 168         static class IncomingHandler extends Handler {
 169                 private final WeakReference<AltosDroid> mAltosDroid;
 170                 IncomingHandler(AltosDroid ad) { mAltosDroid = new WeakReference<AltosDroid>(ad); }
 171
 172                 @Override
 173                 public void handleMessage(Message msg) {
 174                         AltosDroid ad = mAltosDroid.get();
 175
 176                         switch (msg.what) {
 177                         case MSG_STATE:
 178                                 if (msg.obj == null) {
 179                                         AltosDebug.debug("telemetry_state null!");
 180                                         return;
 181                                 }
 182                                 ad.update_state((TelemetryState) msg.obj);
 183                                 break;
 184                         case MSG_UPDATE_AGE:
 185                                 ad.update_age();
 186                                 break;
 187                         case MSG_IDLE_MODE:
 188                                 ad.idle_mode = (Boolean) msg.obj;
 189                                 ad.update_state(null);
 190                                 break;
 191                         }
 192                 }
 193         };
 194
 195
 196         private ServiceConnection mConnection = new ServiceConnection() {
 197                 public void onServiceConnected(ComponentName className, IBinder service) {
 198                         mService = new Messenger(service);
 199                         try {
 200                                 Message msg = Message.obtain(null, TelemetryService.MSG_REGISTER_CLIENT);
 201                                 msg.replyTo = mMessenger;
 202                                 mService.send(msg);
 203                         } catch (RemoteException e) {
 204                                 // In this case the service has crashed before we could even do anything with it
 205                         }
 206                         if (pending_usb_device != null) {
 207                                 try {
 208                                         mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, pending_usb_device));
 209                                         pending_usb_device = null;
 210                                 } catch (RemoteException e) {
 211                                 }
 212                         }
 213                 }
 214
 215                 public void onServiceDisconnected(ComponentName className) {
 216                         // This is called when the connection with the service has been unexpectedly disconnected - process crashed.
 217                         mService = null;
 218                 }
 219         };
 220
 221         void doBindService() {
 222                 bindService(new Intent(this, TelemetryService.class), mConnection, Context.BIND_AUTO_CREATE);
 223                 mIsBound = true;
 224         }
 225
 226         void doUnbindService() {
 227                 if (mIsBound) {
 228                         // If we have received the service, and hence registered with it, then now is the time to unregister.
 229                         if (mService != null) {
 230                                 try {
 231                                         Message msg = Message.obtain(null, TelemetryService.MSG_UNREGISTER_CLIENT);
 232                                         msg.replyTo = mMessenger;
 233                                         mService.send(msg);
 234                                 } catch (RemoteException e) {
 235                                         // There is nothing special we need to do if the service has crashed.
 236                                 }
 237                         }
 238                         // Detach our existing connection.
 239                         unbindService(mConnection);
 240                         mIsBound = false;
 241                 }
 242         }
 243
 244         public void registerTab(AltosDroidTab mTab) {
 245                 mTabs.add(mTab);
 246         }
 247
 248         public void unregisterTab(AltosDroidTab mTab) {
 249                 mTabs.remove(mTab);
 250         }
 251
 252         public void units_changed(boolean imperial_units) {
 253                 for (AltosDroidTab mTab : mTabs)
 254                         mTab.units_changed(imperial_units);
 255         }
 256
 257         void update_title(TelemetryState telemetry_state) {
 258                 switch (telemetry_state.connect) {
 259                 case TelemetryState.CONNECT_CONNECTED:
 260                         if (telemetry_state.config != null) {
 261                                 String str = String.format("S/N %d %6.3f MHz%s", telemetry_state.config.serial,
 262                                                            telemetry_state.frequency, telemetry_state.idle_mode ? " (idle)" : "");
 263                                 if (telemetry_state.telemetry_rate != AltosLib.ao_telemetry_rate_38400)
 264                                         str = str.concat(String.format(" %d bps",
 265                                                                        AltosLib.ao_telemetry_rate_values[telemetry_state.telemetry_rate]));
 266                                 setTitle(str);
 267                         } else {
 268                                 setTitle(R.string.title_connected_to);
 269                         }
 270                         break;
 271                 case TelemetryState.CONNECT_CONNECTING:
 272                         if (telemetry_state.address != null)
 273                                 setTitle(String.format("Connecting to %s...", telemetry_state.address.name));
 274                         else
 275                                 setTitle("Connecting to something...");
 276                         break;
 277                 case TelemetryState.CONNECT_DISCONNECTED:
 278                 case TelemetryState.CONNECT_NONE:
 279                         setTitle(R.string.title_not_connected);
 280                         break;
 281                 }
 282         }
 283
 284         void start_timer() {
 285                 if (timer == null) {
 286                         timer = new Timer();
 287                         timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 1000L, 1000L);
 288                 }
 289         }
 290
 291         void stop_timer() {
 292                 if (timer != null) {
 293                         timer.cancel();
 294                         timer.purge();
 295                         timer = null;
 296                 }
 297         }
 298
 299         int     selected_serial = 0;
 300         long    switch_time;
 301
 302         void set_switch_time() {
 303                 switch_time = System.currentTimeMillis();
 304                 selected_serial = 0;
 305         }
 306
 307         boolean registered_units_listener;
 308
 309         void update_state(TelemetryState new_telemetry_state) {
 310
 311                 if (new_telemetry_state != null)
 312                         telemetry_state = new_telemetry_state;
 313
 314                 if (selected_frequency != AltosLib.MISSING) {
 315                         AltosState selected_state = telemetry_state.get(selected_serial);
 316                         AltosState latest_state = telemetry_state.get(telemetry_state.latest_serial);
 317
 318                         if (selected_state != null && selected_state.frequency == selected_frequency) {
 319                                 selected_frequency = AltosLib.MISSING;
 320                         } else if ((selected_state == null || selected_state.frequency != selected_frequency) &&
 321                                    (latest_state != null && latest_state.frequency == selected_frequency))
 322                         {
 323                                 selected_frequency = AltosLib.MISSING;
 324                                 selected_serial = telemetry_state.latest_serial;
 325                         }
 326                 }
 327
 328                 if (!telemetry_state.containsKey(selected_serial)) {
 329                         selected_serial = telemetry_state.latest_serial;
 330                         AltosDebug.debug("selected serial set to %d", selected_serial);
 331                 }
 332
 333                 int shown_serial = selected_serial;
 334
 335                 if (telemetry_state.idle_mode)
 336                         shown_serial = telemetry_state.latest_serial;
 337
 338                 if (!registered_units_listener) {
 339                         registered_units_listener = true;
 340                         AltosPreferences.register_units_listener(this);
 341                 }
 342
 343                 int     num_trackers = 0;
 344
 345                 for (AltosState s : telemetry_state.values()) {
 346                         num_trackers++;
 347                 }
 348
 349                 trackers = new Tracker[num_trackers + 1];
 350
 351                 int n = 0;
 352                 trackers[n++] = new Tracker(0, "auto", 0.0);
 353
 354                 for (AltosState s : telemetry_state.values())
 355                         trackers[n++] = new Tracker(s);
 356
 357                 Arrays.sort(trackers);
 358
 359                 if (telemetry_state.frequency != AltosLib.MISSING)
 360                         telem_frequency = telemetry_state.frequency;
 361
 362                 update_title(telemetry_state);
 363
 364                 AltosState      state = telemetry_state.get(shown_serial);
 365
 366                 update_ui(telemetry_state, state, telemetry_state.quiet);
 367
 368                 start_timer();
 369         }
 370
 371         boolean same_string(String a, String b) {
 372                 if (a == null) {
 373                         if (b == null)
 374                                 return true;
 375                         return false;
 376                 } else {
 377                         if (b == null)
 378                                 return false;
 379                         return a.equals(b);
 380                 }
 381         }
 382
 383
 384         private int blend_component(int a, int b, double r, int shift, int mask) {
 385                 return ((int) (((a >> shift) & mask) * r + ((b >> shift) & mask) * (1 - r)) & mask) << shift;
 386         }
 387         private int blend_color(int a, int b, double r) {
 388                 return (blend_component(a, b, r, 0, 0xff) |
 389                         blend_component(a, b, r, 8, 0xff) |
 390                         blend_component(a, b, r, 16, 0xff) |
 391                         blend_component(a, b, r, 24, 0xff));
 392         }
 393
 394         int state_age(long received_time) {
 395                 return (int) ((System.currentTimeMillis() - received_time + 500) / 1000);
 396         }
 397
 398         void set_screen_on(int age) {
 399                 if (age < 60)
 400                         getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 401                 else
 402                         getWindow().clearFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 403         }
 404
 405         static String age_string(int age) {
 406                 String  text;
 407                 if (age < 60)
 408                         text = String.format("%ds", age);
 409                 else if (age < 60 * 60)
 410                         text = String.format("%dm", age / 60);
 411                 else if (age < 60 * 60 * 24)
 412                         text = String.format("%dh", age / (60 * 60));
 413                 else
 414                         text = String.format("%dd", age / (24 * 60 * 60));
 415                 return text;
 416         }
 417
 418         void update_age() {
 419                 if (saved_state != null) {
 420                         int age = state_age(saved_state.received_time);
 421
 422                         double age_scale = age / 100.0;
 423
 424                         if (age_scale > 1.0)
 425                                 age_scale = 1.0;
 426
 427                         mAgeView.setTextColor(blend_color(mAgeOldColor, mAgeNewColor, age_scale));
 428
 429                         set_screen_on(age);
 430
 431                         mAgeView.setText(age_string(age));
 432                 }
 433         }
 434
 435         void update_ui(TelemetryState telem_state, AltosState state, boolean quiet) {
 436
 437                 this.state = state;
 438
 439                 int prev_state = AltosLib.ao_flight_invalid;
 440
 441                 AltosGreatCircle from_receiver = null;
 442
 443                 if (saved_state != null)
 444                         prev_state = saved_state.state;
 445
 446                 if (state != null) {
 447                         set_screen_on(state_age(state.received_time));
 448
 449                         if (state.state() == AltosLib.ao_flight_stateless) {
 450                                 boolean prev_locked = false;
 451                                 boolean locked = false;
 452
 453                                 if(state.gps != null)
 454                                         locked = state.gps.locked;
 455                                 if (saved_state != null)
 456                                         prev_locked = saved_state.locked;
 457                                 if (prev_locked != locked) {
 458                                         String currentTab = mTabHost.getCurrentTabTag();
 459                                         if (locked) {
 460                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 461                                         } else {
 462                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_pad_name);
 463                                         }
 464                                 }
 465                         } else {
 466                                 if (prev_state != state.state()) {
 467                                         String currentTab = mTabHost.getCurrentTabTag();
 468                                         switch (state.state()) {
 469                                         case AltosLib.ao_flight_boost:
 470                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 471                                                 break;
 472                                         case AltosLib.ao_flight_landed:
 473                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_recover_name);
 474                                                 break;
 475                                         case AltosLib.ao_flight_stateless:
 476                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 477                                                 break;
 478                                         }
 479                                 }
 480                         }
 481
 482                         if (location != null && state.gps != null && state.gps.locked) {
 483                                 double altitude = 0;
 484                                 if (location.hasAltitude())
 485                                         altitude = location.getAltitude();
 486                                 from_receiver = new AltosGreatCircle(location.getLatitude(),
 487                                                                      location.getLongitude(),
 488                                                                      altitude,
 489                                                                      state.gps.lat,
 490                                                                      state.gps.lon,
 491                                                                      state.gps.alt);
 492                         }
 493
 494                         if (saved_state == null || !same_string(saved_state.callsign, state.cal_data().callsign)) {
 495                                 mCallsignView.setText(state.cal_data().callsign);
 496                         }
 497                         if (saved_state == null || state.cal_data().serial != saved_state.serial) {
 498                                 if (state.cal_data().serial == AltosLib.MISSING)
 499                                         mSerialView.setText("");
 500                                 else
 501                                         mSerialView.setText(String.format("%d", state.cal_data().serial));
 502                         }
 503                         if (saved_state == null || state.cal_data().flight != saved_state.flight) {
 504                                 if (state.cal_data().flight == AltosLib.MISSING)
 505                                         mFlightView.setText("");
 506                                 else
 507                                         mFlightView.setText(String.format("%d", state.cal_data().flight));
 508                         }
 509                         if (saved_state == null || state.state() != saved_state.state) {
 510                                 if (state.state() == AltosLib.ao_flight_stateless) {
 511                                         mStateLayout.setVisibility(View.GONE);
 512                                 } else {
 513                                         mStateView.setText(state.state_name());
 514                                         mStateLayout.setVisibility(View.VISIBLE);
 515                                 }
 516                         }
 517                         if (saved_state == null || state.rssi != saved_state.rssi) {
 518                                 if (state.rssi == AltosLib.MISSING)
 519                                         mRSSIView.setText("");
 520                                 else
 521                                         mRSSIView.setText(String.format("%d", state.rssi));
 522                         }
 523                         saved_state = new SavedState(state);
 524                 }
 525
 526                 for (AltosDroidTab mTab : mTabs)
 527                         mTab.update_ui(telem_state, state, from_receiver, location, mTab == mTabsAdapter.currentItem());
 528
 529                 if (mAltosVoice != null && mTabsAdapter.currentItem() != null)
 530                         mAltosVoice.tell(telem_state, state, from_receiver, location, (AltosDroidTab) mTabsAdapter.currentItem(), quiet);
 531
 532         }
 533
 534         private void onTimerTick() {
 535                 try {
 536                         mMessenger.send(Message.obtain(null, MSG_UPDATE_AGE));
 537                 } catch (RemoteException e) {
 538                 }
 539         }
 540
 541         static String pos(double p, String pos, String neg) {
 542                 String  h = pos;
 543                 if (p == AltosLib.MISSING)
 544                         return "";
 545                 if (p < 0) {
 546                         h = neg;
 547                         p = -p;
 548                 }
 549                 int deg = (int) Math.floor(p);
 550                 double min = (p - Math.floor(p)) * 60.0;
 551                 return String.format("%d° %7.4f\" %s", deg, min, h);
 552         }
 553
 554         static String number(String format, double value) {
 555                 if (value == AltosLib.MISSING)
 556                         return "";
 557                 return String.format(format, value);
 558         }
 559
 560         static String integer(String format, int value) {
 561                 if (value == AltosLib.MISSING)
 562                         return "";
 563                 return String.format(format, value);
 564         }
 565
 566         private View create_tab_view(String label) {
 567                 LayoutInflater inflater = (LayoutInflater) this.getLayoutInflater();
 568                 View tab_view = inflater.inflate(R.layout.tab_layout, null);
 569                 TextView text_view = (TextView) tab_view.findViewById (R.id.tabLabel);
 570                 text_view.setText(label);
 571                 return tab_view;
 572         }
 573
 574         static public int[] themes = {
 575                 R.style.Small,
 576                 R.style.Medium,
 577                 R.style.Large,
 578                 R.style.Extra
 579         };
 580
 581         static public int[] dialog_themes = {
 582                 R.style.Small_Dialog,
 583                 R.style.Medium_Dialog,
 584                 R.style.Large_Dialog,
 585                 R.style.Extra_Dialog
 586         };
 587
 588         @Override
 589         public void onCreate(Bundle savedInstanceState) {
 590                 // Initialise preferences
 591                 AltosDroidPreferences.init(this);
 592                 setTheme(themes[AltosDroidPreferences.font_size()]);
 593                 super.onCreate(savedInstanceState);
 594                 AltosDebug.init(this);
 595                 AltosDebug.debug("+++ ON CREATE +++");
 596
 597
 598                 fm = getSupportFragmentManager();
 599
 600                 // Set up the window layout
 601                 setContentView(R.layout.altosdroid);
 602
 603                 // Create the Tabs and ViewPager
 604                 mTabHost = (TabHost)findViewById(android.R.id.tabhost);
 605                 mTabHost.setup();
 606
 607                 mViewPager = (AltosViewPager)findViewById(R.id.pager);
 608                 mViewPager.setOffscreenPageLimit(4);
 609
 610                 mTabsAdapter = new TabsAdapter(this, mTabHost, mViewPager);
 611
 612                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_pad_name).setIndicator(create_tab_view("Pad")), TabPad.class, null);
 613                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_flight_name).setIndicator(create_tab_view("Flight")), TabFlight.class, null);
 614                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_recover_name).setIndicator(create_tab_view("Recover")), TabRecover.class, null);
 615                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_map_name).setIndicator(create_tab_view("Map")), TabMap.class, null);
 616
 617                 // Display the Version
 618                 mVersion = (TextView) findViewById(R.id.version);
 619                 mVersion.setText("Version: " + BuildInfo.version +
 620                                  " Built: " + BuildInfo.builddate + " " + BuildInfo.buildtime + " " + BuildInfo.buildtz +
 621                                  " (" + BuildInfo.branch + "-" + BuildInfo.commitnum + "-" + BuildInfo.commithash + ")");
 622
 623                 mCallsignView  = (TextView) findViewById(R.id.callsign_value);
 624                 mRSSIView      = (TextView) findViewById(R.id.rssi_value);
 625                 mSerialView    = (TextView) findViewById(R.id.serial_value);
 626                 mFlightView    = (TextView) findViewById(R.id.flight_value);
 627                 mStateLayout   = (RelativeLayout) findViewById(R.id.state_container);
 628                 mStateView     = (TextView) findViewById(R.id.state_value);
 629                 mAgeView       = (TextView) findViewById(R.id.age_value);
 630                 mAgeNewColor   = mAgeView.getTextColors().getDefaultColor();
 631                 mAgeOldColor   = getResources().getColor(R.color.old_color, getTheme());
 632         }
 633
 634         private void ensureBluetooth() {
 635                 // Get local Bluetooth adapter
 636                 mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
 637
 638                 /* if there is a BT adapter and it isn't turned on, then turn it on */
 639                 if (mBluetoothAdapter != null && !mBluetoothAdapter.isEnabled()) {
 640                         Intent enableIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
 641                         startActivityForResult(enableIntent, AltosDroid.REQUEST_ENABLE_BT);
 642                 }
 643         }
 644
 645         private boolean check_usb() {
 646                 UsbDevice       device = AltosUsb.find_device(this, AltosLib.product_basestation);
 647
 648                 if (device != null) {
 649                         Intent          i = new Intent(this, AltosDroid.class);
 650                         PendingIntent   pi = PendingIntent.getActivity(this, 0, new Intent("hello world", null, this, AltosDroid.class), 0);
 651
 652                         if (AltosUsb.request_permission(this, device, pi)) {
 653                                 connectUsb(device);
 654                         }
 655                         start_with_usb = true;
 656                         return true;
 657                 }
 658
 659                 start_with_usb = false;
 660
 661                 return false;
 662         }
 663
 664         private void noticeIntent(Intent intent) {
 665
 666                 /* Ok, this is pretty convenient.
 667                  *
 668                  * When a USB device is plugged in, and our 'hotplug'
 669                  * intent registration fires, we get an Intent with
 670                  * EXTRA_DEVICE set.
 671                  *
 672                  * When we start up and see a usb device and request
 673                  * permission to access it, that queues a
 674                  * PendingIntent, which has the EXTRA_DEVICE added in,
 675                  * along with the EXTRA_PERMISSION_GRANTED field as
 676                  * well.
 677                  *
 678                  * So, in both cases, we get the device name using the
 679                  * same call. We check to see if access was granted,
 680                  * in which case we ignore the device field and do our
 681                  * usual startup thing.
 682                  */
 683
 684                 UsbDevice device = (UsbDevice) intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
 685                 boolean granted = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, true);
 686
 687                 AltosDebug.debug("intent %s device %s granted %s", intent, device, granted);
 688
 689                 if (!granted)
 690                         device = null;
 691
 692                 if (device != null) {
 693                         AltosDebug.debug("intent has usb device " + device.toString());
 694                         connectUsb(device);
 695                 } else {
 696
 697                         /* 'granted' is only false if this intent came
 698                          * from the request_permission call and
 699                          * permission was denied. In which case, we
 700                          * don't want to loop forever...
 701                          */
 702                         if (granted) {
 703                                 AltosDebug.debug("check for a USB device at startup");
 704                                 if (check_usb())
 705                                         return;
 706                         }
 707                         AltosDebug.debug("Starting by looking for bluetooth devices");
 708                         ensureBluetooth();
 709                 }
 710         }
 711
 712         @Override
 713         public void onStart() {
 714                 super.onStart();
 715                 AltosDebug.debug("++ ON START ++");
 716
 717                 set_switch_time();
 718
 719                 noticeIntent(getIntent());
 720
 721                 // Start Telemetry Service
 722                 String  action = start_with_usb ? ACTION_USB : ACTION_BLUETOOTH;
 723
 724                 startService(new Intent(action, null, AltosDroid.this, TelemetryService.class));
 725
 726                 doBindService();
 727
 728                 if (mAltosVoice == null)
 729                         mAltosVoice = new AltosVoice(this);
 730
 731         }
 732
 733         @Override
 734         public void onNewIntent(Intent intent) {
 735                 super.onNewIntent(intent);
 736                 AltosDebug.debug("onNewIntent");
 737                 noticeIntent(intent);
 738         }
 739
 740         private void enable_location_updates() {
 741                 // Listen for GPS and Network position updates
 742                 LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
 743                 locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this);
 744
 745                 location = locationManager.getLastKnownLocation(LocationManager.GPS_PROVIDER);
 746
 747                 if (location != null)
 748                         AltosDebug.debug("Resume, location is %f,%f\n",
 749                                          location.getLatitude(),
 750                                          location.getLongitude());
 751
 752                 update_ui(telemetry_state, state, true);
 753         }
 754
 755         static final int MY_PERMISSION_REQUEST = 1001;
 756
 757         public boolean have_location_permission = false;
 758         public boolean have_storage_permission = false;
 759         public boolean asked_permission = false;
 760
 761         AltosMapOnline map_online;
 762
 763         void
 764         tell_map_permission(AltosMapOnline map_online) {
 765                 this.map_online = map_online;
 766         }
 767
 768         @Override
 769         public void onRequestPermissionsResult(int requestCode, String[] permissions,
 770                                                int[] grantResults) {
 771                 if (requestCode == MY_PERMISSION_REQUEST) {
 772                         for (int i = 0; i < grantResults.length; i++) {
 773                                 if (grantResults[i] == PackageManager.PERMISSION_GRANTED) {
 774                                         if (permissions[i].equals(Manifest.permission.ACCESS_FINE_LOCATION)) {
 775                                                 have_location_permission = true;
 776                                                 enable_location_updates();
 777                                                 if (map_online != null)
 778                                                         map_online.position_permission();
 779                                         }
 780                                         if (permissions[i].equals(Manifest.permission.WRITE_EXTERNAL_STORAGE)) {
 781                                                 have_storage_permission = true;
 782                                         }
 783                                 }
 784                         }
 785                 }
 786         }
 787
 788         @Override
 789         public void onResume() {
 790                 super.onResume();
 791                 AltosDebug.debug("+ ON RESUME +");
 792
 793                 if (!asked_permission) {
 794                         asked_permission = true;
 795                         if (ActivityCompat.checkSelfPermission(this,
 796                                                               Manifest.permission.ACCESS_FINE_LOCATION)
 797                             == PackageManager.PERMISSION_GRANTED)
 798                         {
 799                                 have_location_permission = true;
 800                         }
 801                         if (ActivityCompat.checkSelfPermission(this,
 802                                                                Manifest.permission.WRITE_EXTERNAL_STORAGE)
 803                             == PackageManager.PERMISSION_GRANTED)
 804                         {
 805                                 have_storage_permission = true;
 806                         }
 807                         int count = (have_location_permission ? 0 : 1) + (have_storage_permission ? 0 : 1);
 808                         if (count > 0)
 809                         {
 810                                 String[] permissions = new String[count];
 811                                 int i = 0;
 812                                 if (!have_location_permission)
 813                                         permissions[i++] = Manifest.permission.ACCESS_FINE_LOCATION;
 814                                 if (!have_location_permission)
 815                                         permissions[i++] = Manifest.permission.WRITE_EXTERNAL_STORAGE;
 816                                 ActivityCompat.requestPermissions(this, permissions, MY_PERMISSION_REQUEST);
 817                         }
 818                 }
 819                 if (have_location_permission)
 820                         enable_location_updates();
 821         }
 822
 823         @Override
 824         public void onPause() {
 825                 super.onPause();
 826                 AltosDebug.debug("- ON PAUSE -");
 827                 // Stop listening for location updates
 828                 if (have_location_permission)
 829                         ((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this);
 830         }
 831
 832         @Override
 833         public void onStop() {
 834                 super.onStop();
 835                 AltosDebug.debug("-- ON STOP --");
 836         }
 837
 838         @Override
 839         public void onDestroy() {
 840                 super.onDestroy();
 841                 AltosDebug.debug("--- ON DESTROY ---");
 842
 843                 doUnbindService();
 844                 if (mAltosVoice != null) {
 845                         mAltosVoice.stop();
 846                         mAltosVoice = null;
 847                 }
 848                 stop_timer();
 849         }
 850
 851         protected void onActivityResult(int requestCode, int resultCode, Intent data) {
 852                 AltosDebug.debug("onActivityResult request %d result %d", requestCode, resultCode);
 853                 switch (requestCode) {
 854                 case REQUEST_CONNECT_DEVICE:
 855                         // When DeviceListActivity returns with a device to connect to
 856                         if (resultCode == Activity.RESULT_OK) {
 857                                 connectDevice(data);
 858                         }
 859                         break;
 860                 case REQUEST_ENABLE_BT:
 861                         // When the request to enable Bluetooth returns
 862                         if (resultCode == Activity.RESULT_OK) {
 863                                 // Bluetooth is now enabled, so set up a chat session
 864                                 //setupChat();
 865                                 AltosDebug.debug("BT enabled");
 866                                 bluetoothEnabled(data);
 867                         } else {
 868                                 // User did not enable Bluetooth or an error occured
 869                                 AltosDebug.debug("BT not enabled");
 870                         }
 871                         break;
 872                 case REQUEST_IDLE_MODE:
 873                         if (resultCode == Activity.RESULT_OK)
 874                                 idle_mode(data);
 875                         break;
 876                 case REQUEST_IGNITERS:
 877                         break;
 878                 case REQUEST_SETUP:
 879                         if (resultCode == Activity.RESULT_OK)
 880                                 note_setup_changes(data);
 881                         break;
 882                 case REQUEST_SELECT_TRACKER:
 883                         if (resultCode == Activity.RESULT_OK)
 884                                 select_tracker(data);
 885                         break;
 886                 }
 887         }
 888
 889         private void note_setup_changes(Intent data) {
 890                 int changes = data.getIntExtra(SetupActivity.EXTRA_SETUP_CHANGES, 0);
 891
 892                 AltosDebug.debug("note_setup_changes changes %d\n", changes);
 893
 894                 if ((changes & SETUP_BAUD) != 0) {
 895                         try {
 896                                 mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD,
 897                                                              AltosPreferences.telemetry_rate(1)));
 898                         } catch (RemoteException re) {
 899                         }
 900                 }
 901                 if ((changes & SETUP_UNITS) != 0) {
 902                         /* nothing to do here */
 903                 }
 904                 if ((changes & SETUP_MAP_SOURCE) != 0) {
 905                         /* nothing to do here */
 906                 }
 907                 if ((changes & SETUP_MAP_TYPE) != 0) {
 908                         /* nothing to do here */
 909                 }
 910                 set_switch_time();
 911                 if ((changes & SETUP_FONT_SIZE) != 0) {
 912                         AltosDebug.debug(" ==== Recreate to switch font sizes ==== ");
 913                         finish();
 914                         startActivity(getIntent());
 915                 }
 916         }
 917
 918         private void connectUsb(UsbDevice device) {
 919                 if (mService == null)
 920                         pending_usb_device = device;
 921                 else {
 922                         // Attempt to connect to the device
 923                         try {
 924                                 mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, device));
 925                                 AltosDebug.debug("Sent OPEN_USB message");
 926                         } catch (RemoteException e) {
 927                                 AltosDebug.debug("connect device message failed");
 928                         }
 929                 }
 930         }
 931
 932         private void bluetoothEnabled(Intent data) {
 933                 if (mService != null) {
 934                         try {
 935                                 mService.send(Message.obtain(null, TelemetryService.MSG_BLUETOOTH_ENABLED, null));
 936                         } catch (RemoteException e) {
 937                                 AltosDebug.debug("send BT enabled message failed");
 938                         }
 939                 }
 940         }
 941
 942         private void connectDevice(Intent data) {
 943                 // Attempt to connect to the device
 944                 try {
 945                         String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS);
 946                         String name = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_NAME);
 947
 948                         AltosDebug.debug("Connecting to " + address + " " + name);
 949                         DeviceAddress   a = new DeviceAddress(address, name);
 950                         mService.send(Message.obtain(null, TelemetryService.MSG_CONNECT, a));
 951                         AltosDebug.debug("Sent connecting message");
 952                 } catch (RemoteException e) {
 953                         AltosDebug.debug("connect device message failed");
 954                 }
 955         }
 956
 957         private void disconnectDevice(boolean remember) {
 958                 try {
 959                         mService.send(Message.obtain(null, TelemetryService.MSG_DISCONNECT, (Boolean) remember));
 960                 } catch (RemoteException e) {
 961                 }
 962         }
 963
 964         private void idle_mode(Intent data) {
 965                 int type = data.getIntExtra(IdleModeActivity.EXTRA_IDLE_RESULT, -1);
 966                 Message msg;
 967
 968                 AltosDebug.debug("intent idle_mode %d", type);
 969                 switch (type) {
 970                 case IdleModeActivity.IDLE_MODE_CONNECT:
 971                         msg = Message.obtain(null, TelemetryService.MSG_MONITOR_IDLE_START);
 972                         try {
 973                                 mService.send(msg);
 974                         } catch (RemoteException re) {
 975                         }
 976                         break;
 977                 case IdleModeActivity.IDLE_MODE_DISCONNECT:
 978                         msg = Message.obtain(null, TelemetryService.MSG_MONITOR_IDLE_STOP);
 979                         try {
 980                                 mService.send(msg);
 981                         } catch (RemoteException re) {
 982                         }
 983                         break;
 984                 case IdleModeActivity.IDLE_MODE_REBOOT:
 985                         msg = Message.obtain(null, TelemetryService.MSG_REBOOT);
 986                         try {
 987                                 mService.send(msg);
 988                         } catch (RemoteException re) {
 989                         }
 990                         break;
 991                 case IdleModeActivity.IDLE_MODE_IGNITERS:
 992                         Intent serverIntent = new Intent(this, IgniterActivity.class);
 993                         startActivityForResult(serverIntent, REQUEST_IGNITERS);
 994                         break;
 995                 }
 996         }
 997
 998         @Override
 999         public boolean onCreateOptionsMenu(Menu menu) {
1000                 MenuInflater inflater = getMenuInflater();
1001                 inflater.inflate(R.menu.option_menu, menu);
1002                 return true;
1003         }
1004
1005         double telem_frequency = 434.550;
1006         double selected_frequency = AltosLib.MISSING;
1007
1008         void setFrequency(double freq) {
1009                 telem_frequency = freq;
1010                 selected_frequency = AltosLib.MISSING;
1011                 try {
1012                         mService.send(Message.obtain(null, TelemetryService.MSG_SETFREQUENCY, freq));
1013                         set_switch_time();
1014                 } catch (RemoteException e) {
1015                 }
1016         }
1017
1018         void setFrequency(AltosFrequency frequency) {
1019                 setFrequency (frequency.frequency);
1020         }
1021
1022         void setBaud(int baud) {
1023                 try {
1024                         mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD, baud));
1025                         set_switch_time();
1026                 } catch (RemoteException e) {
1027                 }
1028         }
1029
1030         void setBaud(String baud) {
1031                 try {
1032                         int     value = Integer.parseInt(baud);
1033                         int     rate = AltosLib.ao_telemetry_rate_38400;
1034                         switch (value) {
1035                         case 2400:
1036                                 rate = AltosLib.ao_telemetry_rate_2400;
1037                                 break;
1038                         case 9600:
1039                                 rate = AltosLib.ao_telemetry_rate_9600;
1040                                 break;
1041                         case 38400:
1042                                 rate = AltosLib.ao_telemetry_rate_38400;
1043                                 break;
1044                         }
1045                         setBaud(rate);
1046                 } catch (NumberFormatException e) {
1047                 }
1048         }
1049
1050         void select_tracker(int serial, double frequency) {
1051
1052                 AltosDebug.debug("select tracker %d %7.3f\n", serial, frequency);
1053
1054                 if (serial == selected_serial) {
1055                         AltosDebug.debug("%d already selected\n", serial);
1056                         return;
1057                 }
1058
1059                 if (serial != 0) {
1060                         int i;
1061                         for (i = 0; i < trackers.length; i++)
1062                                 if (trackers[i].serial == serial)
1063                                         break;
1064
1065                         if (i == trackers.length) {
1066                                 AltosDebug.debug("attempt to select unknown tracker %d\n", serial);
1067                                 return;
1068                         }
1069                         if (frequency != 0.0 && frequency != AltosLib.MISSING)
1070                                 setFrequency(frequency);
1071                 }
1072
1073                 selected_serial = serial;
1074                 update_state(null);
1075         }
1076
1077         void select_tracker(Intent data) {
1078                 int serial = data.getIntExtra(SelectTrackerActivity.EXTRA_SERIAL_NUMBER, 0);
1079                 double frequency = data.getDoubleExtra(SelectTrackerActivity.EXTRA_FREQUENCY, 0.0);
1080                 select_tracker(serial, frequency);
1081         }
1082
1083         void touch_trackers(Integer[] serials) {
1084                 AlertDialog.Builder builder_tracker = new AlertDialog.Builder(this);
1085                 builder_tracker.setTitle("Select Tracker");
1086
1087                 final Tracker[] my_trackers = new Tracker[serials.length + 1];
1088
1089                 my_trackers[0] = new Tracker(null);
1090
1091                 for (int i = 0; i < serials.length; i++) {
1092                         AltosState      s = telemetry_state.get(serials[i]);
1093                         my_trackers[i+1] = new Tracker(s);
1094                 }
1095                 builder_tracker.setItems(my_trackers,
1096                                          new DialogInterface.OnClickListener() {
1097                                                  public void onClick(DialogInterface dialog, int item) {
1098                                                          if (item == 0)
1099                                                                  select_tracker(0, 0.0);
1100                                                          else
1101                                                                  select_tracker(my_trackers[item].serial, my_trackers[item].frequency);
1102                                                  }
1103                                          });
1104                 AlertDialog alert_tracker = builder_tracker.create();
1105                 alert_tracker.show();
1106         }
1107
1108         void delete_track(int serial) {
1109                 try {
1110                         mService.send(Message.obtain(null, TelemetryService.MSG_DELETE_SERIAL, (Integer) serial));
1111                 } catch (Exception ex) {
1112                 }
1113         }
1114
1115         @Override
1116         public boolean onOptionsItemSelected(MenuItem item) {
1117                 Intent serverIntent = null;
1118                 switch (item.getItemId()) {
1119                 case R.id.connect_scan:
1120                         ensureBluetooth();
1121                         // Launch the DeviceListActivity to see devices and do scan
1122                         serverIntent = new Intent(this, DeviceListActivity.class);
1123                         startActivityForResult(serverIntent, REQUEST_CONNECT_DEVICE);
1124                         return true;
1125                 case R.id.disconnect:
1126                         /* Disconnect the device
1127                          */
1128                         disconnectDevice(false);
1129                         return true;
1130                 case R.id.quit:
1131                         AltosDebug.debug("R.id.quit");
1132                         disconnectDevice(true);
1133                         finish();
1134                         return true;
1135                 case R.id.setup:
1136                         serverIntent = new Intent(this, SetupActivity.class);
1137                         startActivityForResult(serverIntent, REQUEST_SETUP);
1138                         return true;
1139                 case R.id.select_freq:
1140                         // Set the TBT radio frequency
1141
1142                         final AltosFrequency[] frequencies = AltosPreferences.common_frequencies();
1143                         String[] frequency_strings = new String[frequencies.length];
1144                         for (int i = 0; i < frequencies.length; i++)
1145                                 frequency_strings[i] = frequencies[i].toString();
1146
1147                         AlertDialog.Builder builder_freq = new AlertDialog.Builder(this);
1148                         builder_freq.setTitle("Pick a frequency");
1149                         builder_freq.setItems(frequency_strings,
1150                                          new DialogInterface.OnClickListener() {
1151                                                  public void onClick(DialogInterface dialog, int item) {
1152                                                          setFrequency(frequencies[item]);
1153                                                          selected_frequency = frequencies[item].frequency;
1154                                                  }
1155                                          });
1156                         AlertDialog alert_freq = builder_freq.create();
1157                         alert_freq.show();
1158                         return true;
1159                 case R.id.select_tracker:
1160                         serverIntent = new Intent(this, SelectTrackerActivity.class);
1161                         if (trackers != null) {
1162                                 ArrayList<Tracker> tracker_array = new ArrayList<Tracker>(Arrays.asList(trackers));
1163                                 serverIntent.putParcelableArrayListExtra(EXTRA_TRACKERS, tracker_array);
1164                         } else {
1165                                 serverIntent.putExtra(EXTRA_TRACKERS, (Parcelable[]) null);
1166                         }
1167                         startActivityForResult(serverIntent, REQUEST_SELECT_TRACKER);
1168                         return true;
1169                 case R.id.delete_track:
1170                         if (trackers != null) {
1171                                 AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
1172                                 builder_serial.setTitle("Delete a track");
1173                                 final Tracker[] my_trackers = new Tracker[trackers.length - 1];
1174                                 for (int i = 0; i < trackers.length - 1; i++)
1175                                         my_trackers[i] = trackers[i+1];
1176                                 builder_serial.setItems(my_trackers,
1177                                                         new DialogInterface.OnClickListener() {
1178                                                                 public void onClick(DialogInterface dialog, int item) {
1179                                                                         delete_track(my_trackers[item].serial);
1180                                                                 }
1181                                                         });
1182                                 AlertDialog alert_serial = builder_serial.create();
1183                                 alert_serial.show();
1184
1185                         }
1186                         return true;
1187                 case R.id.idle_mode:
1188                         serverIntent = new Intent(this, IdleModeActivity.class);
1189                         serverIntent.putExtra(EXTRA_IDLE_MODE, idle_mode);
1190                         serverIntent.putExtra(EXTRA_FREQUENCY, telem_frequency);
1191                         startActivityForResult(serverIntent, REQUEST_IDLE_MODE);
1192                         return true;
1193                 }
1194                 return false;
1195         }
1196
1197         static String direction(AltosGreatCircle from_receiver,
1198                                 Location receiver) {
1199                 if (from_receiver == null)
1200                         return null;
1201
1202                 if (receiver == null)
1203                         return null;
1204
1205                 if (!receiver.hasBearing())
1206                         return null;
1207
1208                 float   bearing = receiver.getBearing();
1209                 float   heading = (float) from_receiver.bearing - bearing;
1210
1211                 while (heading <= -180.0f)
1212                         heading += 360.0f;
1213                 while (heading > 180.0f)
1214                         heading -= 360.0f;
1215
1216                 int iheading = (int) (heading + 0.5f);
1217
1218                 if (-1 < iheading && iheading < 1)
1219                         return "ahead";
1220                 else if (iheading < -179 || 179 < iheading)
1221                         return "backwards";
1222                 else if (iheading < 0)
1223                         return String.format("left %d°", -iheading);
1224                 else
1225                         return String.format("right %d°", iheading);
1226         }
1227
1228         public void onLocationChanged(Location location) {
1229                 this.location = location;
1230                 AltosDebug.debug("Location changed to %f,%f",
1231                                  location.getLatitude(),
1232                                  location.getLongitude());
1233                 update_ui(telemetry_state, state, false);
1234         }
1235
1236         public void onStatusChanged(String provider, int status, Bundle extras) {
1237                 AltosDebug.debug("Location status now %d\n", status);
1238         }
1239
1240         public void onProviderEnabled(String provider) {
1241                 AltosDebug.debug("Location provider enabled %s\n", provider);
1242         }
1243
1244         public void onProviderDisabled(String provider) {
1245                 AltosDebug.debug("Location provider disabled %s\n", provider);
1246         }
1247 }