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_14.*;
  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         public static final int REQUEST_DELETE_TRACKER = 9;
  99
 100         public static final String EXTRA_IDLE_MODE = "idle_mode";
 101         public static final String EXTRA_IDLE_RESULT = "idle_result";
 102         public static final String EXTRA_FREQUENCY = "frequency";
 103         public static final String EXTRA_TELEMETRY_SERVICE = "telemetry_service";
 104         public static final String EXTRA_TRACKERS = "trackers";
 105         public static final String EXTRA_TRACKERS_TITLE = "trackers_title";
 106
 107         // Setup result bits
 108         public static final int SETUP_BAUD = 1;
 109         public static final int SETUP_UNITS = 2;
 110         public static final int SETUP_MAP_SOURCE = 4;
 111         public static final int SETUP_MAP_TYPE = 8;
 112         public static final int SETUP_FONT_SIZE = 16;
 113
 114         public static FragmentManager   fm;
 115
 116         private BluetoothAdapter mBluetoothAdapter = null;
 117
 118         // Flight state values
 119         private TextView mCallsignView;
 120         private TextView mRSSIView;
 121         private TextView mSerialView;
 122         private TextView mFlightView;
 123         private RelativeLayout mStateLayout;
 124         private TextView mStateView;
 125         private TextView mAgeView;
 126         private boolean  mAgeViewOld;
 127         private int mAgeNewColor;
 128         private int mAgeOldColor;
 129
 130         public static final String      tab_pad_name = "pad";
 131         public static final String      tab_flight_name = "flight";
 132         public static final String      tab_recover_name = "recover";
 133         public static final String      tab_map_name = "map";
 134
 135         // field to display the version at the bottom of the screen
 136         private TextView mVersion;
 137
 138         private boolean idle_mode = false;
 139
 140         public Location location = null;
 141
 142         private AltosState      state;
 143         private SavedState      saved_state;
 144
 145         // Tabs
 146         TabHost         mTabHost;
 147         AltosViewPager  mViewPager;
 148         TabsAdapter     mTabsAdapter;
 149         ArrayList<AltosDroidTab> mTabs = new ArrayList<AltosDroidTab>();
 150         int             tabHeight;
 151
 152         // Timer and Saved flight state for Age calculation
 153         private Timer timer;
 154
 155         TelemetryState  telemetry_state;
 156         Tracker[]       trackers;
 157
 158         UsbDevice       pending_usb_device;
 159         boolean         start_with_usb;
 160
 161         // Service
 162         private boolean mIsBound   = false;
 163         private Messenger mService = null;
 164         final Messenger mMessenger = new Messenger(new IncomingHandler(this));
 165
 166         // Text to Speech
 167         private AltosVoice mAltosVoice = null;
 168
 169         // The Handler that gets information back from the Telemetry Service
 170         static class IncomingHandler extends Handler {
 171                 private final WeakReference<AltosDroid> mAltosDroid;
 172                 IncomingHandler(AltosDroid ad) { mAltosDroid = new WeakReference<AltosDroid>(ad); }
 173
 174                 @Override
 175                 public void handleMessage(Message msg) {
 176                         AltosDroid ad = mAltosDroid.get();
 177
 178                         switch (msg.what) {
 179                         case MSG_STATE:
 180                                 if (msg.obj == null) {
 181                                         AltosDebug.debug("telemetry_state null!");
 182                                         return;
 183                                 }
 184                                 ad.update_state((TelemetryState) msg.obj);
 185                                 break;
 186                         case MSG_UPDATE_AGE:
 187                                 ad.update_age();
 188                                 break;
 189                         case MSG_IDLE_MODE:
 190                                 ad.idle_mode = (Boolean) msg.obj;
 191                                 ad.update_state(null);
 192                                 break;
 193                         }
 194                 }
 195         };
 196
 197
 198         private ServiceConnection mConnection = new ServiceConnection() {
 199                 public void onServiceConnected(ComponentName className, IBinder service) {
 200                         mService = new Messenger(service);
 201                         try {
 202                                 Message msg = Message.obtain(null, TelemetryService.MSG_REGISTER_CLIENT);
 203                                 msg.replyTo = mMessenger;
 204                                 mService.send(msg);
 205                         } catch (RemoteException e) {
 206                                 // In this case the service has crashed before we could even do anything with it
 207                         }
 208                         if (pending_usb_device != null) {
 209                                 try {
 210                                         mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, pending_usb_device));
 211                                         pending_usb_device = null;
 212                                 } catch (RemoteException e) {
 213                                 }
 214                         }
 215                 }
 216
 217                 public void onServiceDisconnected(ComponentName className) {
 218                         // This is called when the connection with the service has been unexpectedly disconnected - process crashed.
 219                         mService = null;
 220                 }
 221         };
 222
 223         void doBindService() {
 224                 bindService(new Intent(this, TelemetryService.class), mConnection, Context.BIND_AUTO_CREATE);
 225                 mIsBound = true;
 226         }
 227
 228         void doUnbindService() {
 229                 if (mIsBound) {
 230                         // If we have received the service, and hence registered with it, then now is the time to unregister.
 231                         if (mService != null) {
 232                                 try {
 233                                         Message msg = Message.obtain(null, TelemetryService.MSG_UNREGISTER_CLIENT);
 234                                         msg.replyTo = mMessenger;
 235                                         mService.send(msg);
 236                                 } catch (RemoteException e) {
 237                                         // There is nothing special we need to do if the service has crashed.
 238                                 }
 239                         }
 240                         // Detach our existing connection.
 241                         unbindService(mConnection);
 242                         mIsBound = false;
 243                 }
 244         }
 245
 246         public void registerTab(AltosDroidTab mTab) {
 247                 mTabs.add(mTab);
 248         }
 249
 250         public void unregisterTab(AltosDroidTab mTab) {
 251                 mTabs.remove(mTab);
 252         }
 253
 254         public void units_changed(boolean imperial_units) {
 255                 for (AltosDroidTab mTab : mTabs)
 256                         mTab.units_changed(imperial_units);
 257         }
 258
 259         void update_title(TelemetryState telemetry_state) {
 260                 switch (telemetry_state.connect) {
 261                 case TelemetryState.CONNECT_CONNECTED:
 262                         if (telemetry_state.config != null) {
 263                                 String str = String.format("S/N %d %6.3f MHz%s", telemetry_state.config.serial,
 264                                                            telemetry_state.frequency, telemetry_state.idle_mode ? " (idle)" : "");
 265                                 if (telemetry_state.telemetry_rate != AltosLib.ao_telemetry_rate_38400)
 266                                         str = str.concat(String.format(" %d bps",
 267                                                                        AltosLib.ao_telemetry_rate_values[telemetry_state.telemetry_rate]));
 268                                 setTitle(str);
 269                         } else {
 270                                 setTitle(R.string.title_connected_to);
 271                         }
 272                         break;
 273                 case TelemetryState.CONNECT_CONNECTING:
 274                         if (telemetry_state.address != null)
 275                                 setTitle(String.format("Connecting to %s...", telemetry_state.address.name));
 276                         else
 277                                 setTitle("Connecting to something...");
 278                         break;
 279                 case TelemetryState.CONNECT_DISCONNECTED:
 280                 case TelemetryState.CONNECT_NONE:
 281                         setTitle(R.string.title_not_connected);
 282                         break;
 283                 }
 284         }
 285
 286         void start_timer() {
 287                 if (timer == null) {
 288                         timer = new Timer();
 289                         timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 1000L, 1000L);
 290                 }
 291         }
 292
 293         void stop_timer() {
 294                 if (timer != null) {
 295                         timer.cancel();
 296                         timer.purge();
 297                         timer = null;
 298                 }
 299         }
 300
 301         int     selected_serial = 0;
 302         long    switch_time;
 303
 304         void set_switch_time() {
 305                 switch_time = System.currentTimeMillis();
 306                 selected_serial = 0;
 307         }
 308
 309         boolean registered_units_listener;
 310
 311         void update_state(TelemetryState new_telemetry_state) {
 312
 313                 if (new_telemetry_state != null)
 314                         telemetry_state = new_telemetry_state;
 315
 316                 if (selected_frequency != AltosLib.MISSING) {
 317                         AltosState selected_state = telemetry_state.get(selected_serial);
 318                         AltosState latest_state = telemetry_state.get(telemetry_state.latest_serial);
 319
 320                         if (selected_state != null && selected_state.frequency == selected_frequency) {
 321                                 selected_frequency = AltosLib.MISSING;
 322                         } else if ((selected_state == null || selected_state.frequency != selected_frequency) &&
 323                                    (latest_state != null && latest_state.frequency == selected_frequency))
 324                         {
 325                                 selected_frequency = AltosLib.MISSING;
 326                                 selected_serial = telemetry_state.latest_serial;
 327                         }
 328                 }
 329
 330                 if (!telemetry_state.containsKey(selected_serial)) {
 331                         selected_serial = telemetry_state.latest_serial;
 332                         AltosDebug.debug("selected serial set to %d", selected_serial);
 333                 }
 334
 335                 int shown_serial = selected_serial;
 336
 337                 if (telemetry_state.idle_mode)
 338                         shown_serial = telemetry_state.latest_serial;
 339
 340                 if (!registered_units_listener) {
 341                         registered_units_listener = true;
 342                         AltosPreferences.register_units_listener(this);
 343                 }
 344
 345                 int     num_trackers = 0;
 346
 347                 for (AltosState s : telemetry_state.values()) {
 348                         num_trackers++;
 349                 }
 350
 351                 trackers = new Tracker[num_trackers + 1];
 352
 353                 int n = 0;
 354                 trackers[n++] = new Tracker(0, "auto", 0.0);
 355
 356                 for (AltosState s : telemetry_state.values())
 357                         trackers[n++] = new Tracker(s);
 358
 359                 Arrays.sort(trackers);
 360
 361                 if (telemetry_state.frequency != AltosLib.MISSING)
 362                         telem_frequency = telemetry_state.frequency;
 363
 364                 update_title(telemetry_state);
 365
 366                 AltosState      state = telemetry_state.get(shown_serial);
 367
 368                 update_ui(telemetry_state, state, telemetry_state.quiet);
 369
 370                 start_timer();
 371         }
 372
 373         boolean same_string(String a, String b) {
 374                 if (a == null) {
 375                         if (b == null)
 376                                 return true;
 377                         return false;
 378                 } else {
 379                         if (b == null)
 380                                 return false;
 381                         return a.equals(b);
 382                 }
 383         }
 384
 385
 386         private int blend_component(int a, int b, double r, int shift, int mask) {
 387                 return ((int) (((a >> shift) & mask) * r + ((b >> shift) & mask) * (1 - r)) & mask) << shift;
 388         }
 389         private int blend_color(int a, int b, double r) {
 390                 return (blend_component(a, b, r, 0, 0xff) |
 391                         blend_component(a, b, r, 8, 0xff) |
 392                         blend_component(a, b, r, 16, 0xff) |
 393                         blend_component(a, b, r, 24, 0xff));
 394         }
 395
 396         int state_age(long received_time) {
 397                 return (int) ((System.currentTimeMillis() - received_time + 500) / 1000);
 398         }
 399
 400         void set_screen_on(int age) {
 401                 if (age < 60)
 402                         getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 403                 else
 404                         getWindow().clearFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 405         }
 406
 407         static String age_string(int age) {
 408                 String  text;
 409                 if (age < 60)
 410                         text = String.format("%ds", age);
 411                 else if (age < 60 * 60)
 412                         text = String.format("%dm", age / 60);
 413                 else if (age < 60 * 60 * 24)
 414                         text = String.format("%dh", age / (60 * 60));
 415                 else
 416                         text = String.format("%dd", age / (24 * 60 * 60));
 417                 return text;
 418         }
 419
 420         void update_age() {
 421                 if (saved_state != null) {
 422                         int age = state_age(saved_state.received_time);
 423
 424                         double age_scale = age / 100.0;
 425
 426                         if (age_scale > 1.0)
 427                                 age_scale = 1.0;
 428
 429                         mAgeView.setTextColor(blend_color(mAgeOldColor, mAgeNewColor, age_scale));
 430
 431                         set_screen_on(age);
 432
 433                         mAgeView.setText(age_string(age));
 434                 }
 435         }
 436
 437         void update_ui(TelemetryState telem_state, AltosState state, boolean quiet) {
 438
 439                 this.state = state;
 440
 441                 int prev_state = AltosLib.ao_flight_invalid;
 442
 443                 AltosGreatCircle from_receiver = null;
 444
 445                 if (saved_state != null)
 446                         prev_state = saved_state.state;
 447
 448                 if (state != null) {
 449                         set_screen_on(state_age(state.received_time));
 450
 451                         if (state.state() == AltosLib.ao_flight_stateless) {
 452                                 boolean prev_locked = false;
 453                                 boolean locked = false;
 454
 455                                 if(state.gps != null)
 456                                         locked = state.gps.locked;
 457                                 if (saved_state != null)
 458                                         prev_locked = saved_state.locked;
 459                                 if (prev_locked != locked) {
 460                                         String currentTab = mTabHost.getCurrentTabTag();
 461                                         if (locked) {
 462                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 463                                         } else {
 464                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_pad_name);
 465                                         }
 466                                 }
 467                         } else {
 468                                 if (prev_state != state.state()) {
 469                                         String currentTab = mTabHost.getCurrentTabTag();
 470                                         switch (state.state()) {
 471                                         case AltosLib.ao_flight_boost:
 472                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 473                                                 break;
 474                                         case AltosLib.ao_flight_landed:
 475                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_recover_name);
 476                                                 break;
 477                                         case AltosLib.ao_flight_stateless:
 478                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 479                                                 break;
 480                                         }
 481                                 }
 482                         }
 483
 484                         if (location != null && state.gps != null && state.gps.locked) {
 485                                 double altitude = 0;
 486                                 if (location.hasAltitude())
 487                                         altitude = location.getAltitude();
 488                                 from_receiver = new AltosGreatCircle(location.getLatitude(),
 489                                                                      location.getLongitude(),
 490                                                                      altitude,
 491                                                                      state.gps.lat,
 492                                                                      state.gps.lon,
 493                                                                      state.gps.alt);
 494                         }
 495
 496                         if (saved_state == null || !same_string(saved_state.callsign, state.cal_data().callsign)) {
 497                                 mCallsignView.setText(state.cal_data().callsign);
 498                         }
 499                         if (saved_state == null || state.cal_data().serial != saved_state.serial) {
 500                                 if (state.cal_data().serial == AltosLib.MISSING)
 501                                         mSerialView.setText("");
 502                                 else
 503                                         mSerialView.setText(String.format("%d", state.cal_data().serial));
 504                         }
 505                         if (saved_state == null || state.cal_data().flight != saved_state.flight) {
 506                                 if (state.cal_data().flight == AltosLib.MISSING)
 507                                         mFlightView.setText("");
 508                                 else
 509                                         mFlightView.setText(String.format("%d", state.cal_data().flight));
 510                         }
 511                         if (saved_state == null || state.state() != saved_state.state) {
 512                                 if (state.state() == AltosLib.ao_flight_stateless) {
 513                                         mStateLayout.setVisibility(View.GONE);
 514                                 } else {
 515                                         mStateView.setText(state.state_name());
 516                                         mStateLayout.setVisibility(View.VISIBLE);
 517                                 }
 518                         }
 519                         if (saved_state == null || state.rssi != saved_state.rssi) {
 520                                 if (state.rssi == AltosLib.MISSING)
 521                                         mRSSIView.setText("");
 522                                 else
 523                                         mRSSIView.setText(String.format("%d", state.rssi));
 524                         }
 525                         saved_state = new SavedState(state);
 526                 }
 527
 528                 for (AltosDroidTab mTab : mTabs)
 529                         mTab.update_ui(telem_state, state, from_receiver, location, mTab == mTabsAdapter.currentItem());
 530
 531                 if (mAltosVoice != null && mTabsAdapter.currentItem() != null)
 532                         mAltosVoice.tell(telem_state, state, from_receiver, location, (AltosDroidTab) mTabsAdapter.currentItem(), quiet);
 533
 534         }
 535
 536         private void onTimerTick() {
 537                 try {
 538                         mMessenger.send(Message.obtain(null, MSG_UPDATE_AGE));
 539                 } catch (RemoteException e) {
 540                 }
 541         }
 542
 543         static String pos(double p, String pos, String neg) {
 544                 String  h = pos;
 545                 if (p == AltosLib.MISSING)
 546                         return "";
 547                 if (p < 0) {
 548                         h = neg;
 549                         p = -p;
 550                 }
 551                 int deg = (int) Math.floor(p);
 552                 double min = (p - Math.floor(p)) * 60.0;
 553                 return String.format("%d° %7.4f\" %s", deg, min, h);
 554         }
 555
 556         static String number(String format, double value) {
 557                 if (value == AltosLib.MISSING)
 558                         return "";
 559                 return String.format(format, value);
 560         }
 561
 562         static String integer(String format, int value) {
 563                 if (value == AltosLib.MISSING)
 564                         return "";
 565                 return String.format(format, value);
 566         }
 567
 568         private View create_tab_view(String label) {
 569                 LayoutInflater inflater = (LayoutInflater) this.getLayoutInflater();
 570                 View tab_view = inflater.inflate(R.layout.tab_layout, null);
 571                 TextView text_view = (TextView) tab_view.findViewById (R.id.tabLabel);
 572                 text_view.setText(label);
 573                 return tab_view;
 574         }
 575
 576         static public int[] themes = {
 577                 R.style.Small,
 578                 R.style.Medium,
 579                 R.style.Large,
 580                 R.style.Extra
 581         };
 582
 583         static public int[] dialog_themes = {
 584                 R.style.Small_Dialog,
 585                 R.style.Medium_Dialog,
 586                 R.style.Large_Dialog,
 587                 R.style.Extra_Dialog
 588         };
 589
 590         @Override
 591         public void onCreate(Bundle savedInstanceState) {
 592                 // Initialise preferences
 593                 AltosDroidPreferences.init(this);
 594                 setTheme(themes[AltosDroidPreferences.font_size()]);
 595                 super.onCreate(savedInstanceState);
 596                 AltosDebug.init(this);
 597                 AltosDebug.debug("+++ ON CREATE +++");
 598
 599
 600                 fm = getSupportFragmentManager();
 601
 602                 // Set up the window layout
 603                 setContentView(R.layout.altosdroid);
 604
 605                 // Create the Tabs and ViewPager
 606                 mTabHost = (TabHost)findViewById(android.R.id.tabhost);
 607                 mTabHost.setup();
 608
 609                 mViewPager = (AltosViewPager)findViewById(R.id.pager);
 610                 mViewPager.setOffscreenPageLimit(4);
 611
 612                 mTabsAdapter = new TabsAdapter(this, mTabHost, mViewPager);
 613
 614                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_pad_name).setIndicator(create_tab_view("Pad")), TabPad.class, null);
 615                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_flight_name).setIndicator(create_tab_view("Flight")), TabFlight.class, null);
 616                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_recover_name).setIndicator(create_tab_view("Recover")), TabRecover.class, null);
 617                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_map_name).setIndicator(create_tab_view("Map")), TabMap.class, null);
 618
 619                 // Display the Version
 620                 mVersion = (TextView) findViewById(R.id.version);
 621                 mVersion.setText("Version: " + BuildInfo.version +
 622                                  " Built: " + BuildInfo.builddate + " " + BuildInfo.buildtime + " " + BuildInfo.buildtz +
 623                                  " (" + BuildInfo.branch + "-" + BuildInfo.commitnum + "-" + BuildInfo.commithash + ")");
 624
 625                 mCallsignView  = (TextView) findViewById(R.id.callsign_value);
 626                 mRSSIView      = (TextView) findViewById(R.id.rssi_value);
 627                 mSerialView    = (TextView) findViewById(R.id.serial_value);
 628                 mFlightView    = (TextView) findViewById(R.id.flight_value);
 629                 mStateLayout   = (RelativeLayout) findViewById(R.id.state_container);
 630                 mStateView     = (TextView) findViewById(R.id.state_value);
 631                 mAgeView       = (TextView) findViewById(R.id.age_value);
 632                 mAgeNewColor   = mAgeView.getTextColors().getDefaultColor();
 633                 mAgeOldColor   = getResources().getColor(R.color.old_color, getTheme());
 634         }
 635
 636         private void ensureBluetooth() {
 637                 // Get local Bluetooth adapter
 638                 mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
 639
 640                 /* if there is a BT adapter and it isn't turned on, then turn it on */
 641                 if (mBluetoothAdapter != null && !mBluetoothAdapter.isEnabled()) {
 642                         Intent enableIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
 643                         startActivityForResult(enableIntent, AltosDroid.REQUEST_ENABLE_BT);
 644                 }
 645         }
 646
 647         private boolean check_usb() {
 648                 UsbDevice       device = AltosUsb.find_device(this, AltosLib.product_basestation);
 649
 650                 if (device != null) {
 651                         Intent          i = new Intent(this, AltosDroid.class);
 652                         PendingIntent   pi = PendingIntent.getActivity(this, 0, new Intent("hello world", null, this, AltosDroid.class), 0);
 653
 654                         if (AltosUsb.request_permission(this, device, pi)) {
 655                                 connectUsb(device);
 656                         }
 657                         start_with_usb = true;
 658                         return true;
 659                 }
 660
 661                 start_with_usb = false;
 662
 663                 return false;
 664         }
 665
 666         private void noticeIntent(Intent intent) {
 667
 668                 /* Ok, this is pretty convenient.
 669                  *
 670                  * When a USB device is plugged in, and our 'hotplug'
 671                  * intent registration fires, we get an Intent with
 672                  * EXTRA_DEVICE set.
 673                  *
 674                  * When we start up and see a usb device and request
 675                  * permission to access it, that queues a
 676                  * PendingIntent, which has the EXTRA_DEVICE added in,
 677                  * along with the EXTRA_PERMISSION_GRANTED field as
 678                  * well.
 679                  *
 680                  * So, in both cases, we get the device name using the
 681                  * same call. We check to see if access was granted,
 682                  * in which case we ignore the device field and do our
 683                  * usual startup thing.
 684                  */
 685
 686                 UsbDevice device = (UsbDevice) intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
 687                 boolean granted = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, true);
 688
 689                 AltosDebug.debug("intent %s device %s granted %s", intent, device, granted);
 690
 691                 if (!granted)
 692                         device = null;
 693
 694                 if (device != null) {
 695                         AltosDebug.debug("intent has usb device " + device.toString());
 696                         connectUsb(device);
 697                 } else {
 698
 699                         /* 'granted' is only false if this intent came
 700                          * from the request_permission call and
 701                          * permission was denied. In which case, we
 702                          * don't want to loop forever...
 703                          */
 704                         if (granted) {
 705                                 AltosDebug.debug("check for a USB device at startup");
 706                                 if (check_usb())
 707                                         return;
 708                         }
 709                         AltosDebug.debug("Starting by looking for bluetooth devices");
 710                         ensureBluetooth();
 711                 }
 712         }
 713
 714         @Override
 715         public void onStart() {
 716                 super.onStart();
 717                 AltosDebug.debug("++ ON START ++");
 718
 719                 set_switch_time();
 720
 721                 noticeIntent(getIntent());
 722
 723                 // Start Telemetry Service
 724                 String  action = start_with_usb ? ACTION_USB : ACTION_BLUETOOTH;
 725
 726                 startService(new Intent(action, null, AltosDroid.this, TelemetryService.class));
 727
 728                 doBindService();
 729
 730                 if (mAltosVoice == null)
 731                         mAltosVoice = new AltosVoice(this);
 732
 733         }
 734
 735         @Override
 736         public void onNewIntent(Intent intent) {
 737                 super.onNewIntent(intent);
 738                 AltosDebug.debug("onNewIntent");
 739                 noticeIntent(intent);
 740         }
 741
 742         private void enable_location_updates() {
 743                 // Listen for GPS and Network position updates
 744                 LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
 745                 locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this);
 746
 747                 location = locationManager.getLastKnownLocation(LocationManager.GPS_PROVIDER);
 748
 749                 if (location != null)
 750                         AltosDebug.debug("Resume, location is %f,%f\n",
 751                                          location.getLatitude(),
 752                                          location.getLongitude());
 753
 754                 update_ui(telemetry_state, state, true);
 755         }
 756
 757         static final int MY_PERMISSION_REQUEST = 1001;
 758
 759         public boolean have_location_permission = false;
 760         public boolean have_storage_permission = false;
 761         public boolean asked_permission = false;
 762
 763         AltosMapOnline map_online;
 764
 765         void
 766         tell_map_permission(AltosMapOnline map_online) {
 767                 this.map_online = map_online;
 768         }
 769
 770         @Override
 771         public void onRequestPermissionsResult(int requestCode, String[] permissions,
 772                                                int[] grantResults) {
 773                 if (requestCode == MY_PERMISSION_REQUEST) {
 774                         for (int i = 0; i < grantResults.length; i++) {
 775                                 if (grantResults[i] == PackageManager.PERMISSION_GRANTED) {
 776                                         if (permissions[i].equals(Manifest.permission.ACCESS_FINE_LOCATION)) {
 777                                                 have_location_permission = true;
 778                                                 enable_location_updates();
 779                                                 if (map_online != null)
 780                                                         map_online.position_permission();
 781                                         }
 782                                         if (permissions[i].equals(Manifest.permission.WRITE_EXTERNAL_STORAGE)) {
 783                                                 have_storage_permission = true;
 784                                         }
 785                                 }
 786                         }
 787                 }
 788         }
 789
 790         @Override
 791         public void onResume() {
 792                 super.onResume();
 793                 AltosDebug.debug("+ ON RESUME +");
 794
 795                 if (!asked_permission) {
 796                         asked_permission = true;
 797                         if (ActivityCompat.checkSelfPermission(this,
 798                                                               Manifest.permission.ACCESS_FINE_LOCATION)
 799                             == PackageManager.PERMISSION_GRANTED)
 800                         {
 801                                 have_location_permission = true;
 802                         }
 803                         if (ActivityCompat.checkSelfPermission(this,
 804                                                                Manifest.permission.WRITE_EXTERNAL_STORAGE)
 805                             == PackageManager.PERMISSION_GRANTED)
 806                         {
 807                                 have_storage_permission = true;
 808                         }
 809                         int count = (have_location_permission ? 0 : 1) + (have_storage_permission ? 0 : 1);
 810                         if (count > 0)
 811                         {
 812                                 String[] permissions = new String[count];
 813                                 int i = 0;
 814                                 if (!have_location_permission)
 815                                         permissions[i++] = Manifest.permission.ACCESS_FINE_LOCATION;
 816                                 if (!have_location_permission)
 817                                         permissions[i++] = Manifest.permission.WRITE_EXTERNAL_STORAGE;
 818                                 ActivityCompat.requestPermissions(this, permissions, MY_PERMISSION_REQUEST);
 819                         }
 820                 }
 821                 if (have_location_permission)
 822                         enable_location_updates();
 823         }
 824
 825         @Override
 826         public void onPause() {
 827                 super.onPause();
 828                 AltosDebug.debug("- ON PAUSE -");
 829                 // Stop listening for location updates
 830                 if (have_location_permission)
 831                         ((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this);
 832         }
 833
 834         @Override
 835         public void onStop() {
 836                 super.onStop();
 837                 AltosDebug.debug("-- ON STOP --");
 838         }
 839
 840         @Override
 841         public void onDestroy() {
 842                 super.onDestroy();
 843                 AltosDebug.debug("--- ON DESTROY ---");
 844
 845                 doUnbindService();
 846                 if (mAltosVoice != null) {
 847                         mAltosVoice.stop();
 848                         mAltosVoice = null;
 849                 }
 850                 stop_timer();
 851         }
 852
 853         protected void onActivityResult(int requestCode, int resultCode, Intent data) {
 854                 AltosDebug.debug("onActivityResult request %d result %d", requestCode, resultCode);
 855                 switch (requestCode) {
 856                 case REQUEST_CONNECT_DEVICE:
 857                         // When DeviceListActivity returns with a device to connect to
 858                         if (resultCode == Activity.RESULT_OK) {
 859                                 connectDevice(data);
 860                         }
 861                         break;
 862                 case REQUEST_ENABLE_BT:
 863                         // When the request to enable Bluetooth returns
 864                         if (resultCode == Activity.RESULT_OK) {
 865                                 // Bluetooth is now enabled, so set up a chat session
 866                                 //setupChat();
 867                                 AltosDebug.debug("BT enabled");
 868                                 bluetoothEnabled(data);
 869                         } else {
 870                                 // User did not enable Bluetooth or an error occured
 871                                 AltosDebug.debug("BT not enabled");
 872                         }
 873                         break;
 874                 case REQUEST_IDLE_MODE:
 875                         if (resultCode == Activity.RESULT_OK)
 876                                 idle_mode(data);
 877                         break;
 878                 case REQUEST_IGNITERS:
 879                         break;
 880                 case REQUEST_SETUP:
 881                         if (resultCode == Activity.RESULT_OK)
 882                                 note_setup_changes(data);
 883                         break;
 884                 case REQUEST_SELECT_TRACKER:
 885                         if (resultCode == Activity.RESULT_OK)
 886                                 select_tracker(data);
 887                         break;
 888                 case REQUEST_DELETE_TRACKER:
 889                         if (resultCode == Activity.RESULT_OK)
 890                                 delete_track(data);
 891                         break;
 892                 }
 893         }
 894
 895         private void note_setup_changes(Intent data) {
 896                 int changes = data.getIntExtra(SetupActivity.EXTRA_SETUP_CHANGES, 0);
 897
 898                 AltosDebug.debug("note_setup_changes changes %d\n", changes);
 899
 900                 if ((changes & SETUP_BAUD) != 0) {
 901                         try {
 902                                 mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD,
 903                                                              AltosPreferences.telemetry_rate(1)));
 904                         } catch (RemoteException re) {
 905                         }
 906                 }
 907                 if ((changes & SETUP_UNITS) != 0) {
 908                         /* nothing to do here */
 909                 }
 910                 if ((changes & SETUP_MAP_SOURCE) != 0) {
 911                         /* nothing to do here */
 912                 }
 913                 if ((changes & SETUP_MAP_TYPE) != 0) {
 914                         /* nothing to do here */
 915                 }
 916                 set_switch_time();
 917                 if ((changes & SETUP_FONT_SIZE) != 0) {
 918                         AltosDebug.debug(" ==== Recreate to switch font sizes ==== ");
 919                         finish();
 920                         startActivity(getIntent());
 921                 }
 922         }
 923
 924         private void connectUsb(UsbDevice device) {
 925                 if (mService == null)
 926                         pending_usb_device = device;
 927                 else {
 928                         // Attempt to connect to the device
 929                         try {
 930                                 mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, device));
 931                                 AltosDebug.debug("Sent OPEN_USB message");
 932                         } catch (RemoteException e) {
 933                                 AltosDebug.debug("connect device message failed");
 934                         }
 935                 }
 936         }
 937
 938         private void bluetoothEnabled(Intent data) {
 939                 if (mService != null) {
 940                         try {
 941                                 mService.send(Message.obtain(null, TelemetryService.MSG_BLUETOOTH_ENABLED, null));
 942                         } catch (RemoteException e) {
 943                                 AltosDebug.debug("send BT enabled message failed");
 944                         }
 945                 }
 946         }
 947
 948         private void connectDevice(Intent data) {
 949                 // Attempt to connect to the device
 950                 try {
 951                         String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS);
 952                         String name = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_NAME);
 953
 954                         AltosDebug.debug("Connecting to " + address + " " + name);
 955                         DeviceAddress   a = new DeviceAddress(address, name);
 956                         mService.send(Message.obtain(null, TelemetryService.MSG_CONNECT, a));
 957                         AltosDebug.debug("Sent connecting message");
 958                 } catch (RemoteException e) {
 959                         AltosDebug.debug("connect device message failed");
 960                 }
 961         }
 962
 963         private void disconnectDevice(boolean remember) {
 964                 try {
 965                         mService.send(Message.obtain(null, TelemetryService.MSG_DISCONNECT, (Boolean) remember));
 966                 } catch (RemoteException e) {
 967                 }
 968         }
 969
 970         private void idle_mode(Intent data) {
 971                 int type = data.getIntExtra(IdleModeActivity.EXTRA_IDLE_RESULT, -1);
 972                 Message msg;
 973
 974                 AltosDebug.debug("intent idle_mode %d", type);
 975                 switch (type) {
 976                 case IdleModeActivity.IDLE_MODE_CONNECT:
 977                         msg = Message.obtain(null, TelemetryService.MSG_MONITOR_IDLE_START);
 978                         try {
 979                                 mService.send(msg);
 980                         } catch (RemoteException re) {
 981                         }
 982                         break;
 983                 case IdleModeActivity.IDLE_MODE_DISCONNECT:
 984                         msg = Message.obtain(null, TelemetryService.MSG_MONITOR_IDLE_STOP);
 985                         try {
 986                                 mService.send(msg);
 987                         } catch (RemoteException re) {
 988                         }
 989                         break;
 990                 case IdleModeActivity.IDLE_MODE_REBOOT:
 991                         msg = Message.obtain(null, TelemetryService.MSG_REBOOT);
 992                         try {
 993                                 mService.send(msg);
 994                         } catch (RemoteException re) {
 995                         }
 996                         break;
 997                 case IdleModeActivity.IDLE_MODE_IGNITERS:
 998                         Intent serverIntent = new Intent(this, IgniterActivity.class);
 999                         startActivityForResult(serverIntent, REQUEST_IGNITERS);
1000                         break;
1001                 }
1002         }
1003
1004         @Override
1005         public boolean onCreateOptionsMenu(Menu menu) {
1006                 MenuInflater inflater = getMenuInflater();
1007                 inflater.inflate(R.menu.option_menu, menu);
1008                 return true;
1009         }
1010
1011         double telem_frequency = 434.550;
1012         double selected_frequency = AltosLib.MISSING;
1013
1014         void setFrequency(double freq) {
1015                 telem_frequency = freq;
1016                 selected_frequency = AltosLib.MISSING;
1017                 try {
1018                         mService.send(Message.obtain(null, TelemetryService.MSG_SETFREQUENCY, freq));
1019                         set_switch_time();
1020                 } catch (RemoteException e) {
1021                 }
1022         }
1023
1024         void setFrequency(AltosFrequency frequency) {
1025                 setFrequency (frequency.frequency);
1026         }
1027
1028         void setBaud(int baud) {
1029                 try {
1030                         mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD, baud));
1031                         set_switch_time();
1032                 } catch (RemoteException e) {
1033                 }
1034         }
1035
1036         void setBaud(String baud) {
1037                 try {
1038                         int     value = Integer.parseInt(baud);
1039                         int     rate = AltosLib.ao_telemetry_rate_38400;
1040                         switch (value) {
1041                         case 2400:
1042                                 rate = AltosLib.ao_telemetry_rate_2400;
1043                                 break;
1044                         case 9600:
1045                                 rate = AltosLib.ao_telemetry_rate_9600;
1046                                 break;
1047                         case 38400:
1048                                 rate = AltosLib.ao_telemetry_rate_38400;
1049                                 break;
1050                         }
1051                         setBaud(rate);
1052                 } catch (NumberFormatException e) {
1053                 }
1054         }
1055
1056         void select_tracker(int serial, double frequency) {
1057
1058                 AltosDebug.debug("select tracker %d %7.3f\n", serial, frequency);
1059
1060                 if (serial == selected_serial) {
1061                         AltosDebug.debug("%d already selected\n", serial);
1062                         return;
1063                 }
1064
1065                 if (serial != 0) {
1066                         int i;
1067                         for (i = 0; i < trackers.length; i++)
1068                                 if (trackers[i].serial == serial)
1069                                         break;
1070
1071                         if (i == trackers.length) {
1072                                 AltosDebug.debug("attempt to select unknown tracker %d\n", serial);
1073                                 return;
1074                         }
1075                         if (frequency != 0.0 && frequency != AltosLib.MISSING)
1076                                 setFrequency(frequency);
1077                 }
1078
1079                 selected_serial = serial;
1080                 update_state(null);
1081         }
1082
1083         void select_tracker(Intent data) {
1084                 int serial = data.getIntExtra(SelectTrackerActivity.EXTRA_SERIAL_NUMBER, 0);
1085                 double frequency = data.getDoubleExtra(SelectTrackerActivity.EXTRA_FREQUENCY, 0.0);
1086                 select_tracker(serial, frequency);
1087         }
1088
1089         void delete_track(int serial) {
1090                 try {
1091                         mService.send(Message.obtain(null, TelemetryService.MSG_DELETE_SERIAL, (Integer) serial));
1092                 } catch (Exception ex) {
1093                 }
1094         }
1095
1096         void delete_track(Intent data) {
1097                 int serial = data.getIntExtra(SelectTrackerActivity.EXTRA_SERIAL_NUMBER, 0);
1098                 if (serial != 0)
1099                         delete_track(serial);
1100         }
1101
1102         void start_select_tracker(Tracker[] select_trackers, int title_id, int request) {
1103                 Intent intent = new Intent(this, SelectTrackerActivity.class);
1104                 AltosDebug.debug("put title id 0x%x %s", title_id, getResources().getString(title_id));
1105                 intent.putExtra(EXTRA_TRACKERS_TITLE, title_id);
1106                 if (select_trackers != null) {
1107                         ArrayList<Tracker> tracker_array = new ArrayList<Tracker>(Arrays.asList(select_trackers));
1108                         intent.putParcelableArrayListExtra(EXTRA_TRACKERS, tracker_array);
1109                 } else {
1110                         intent.putExtra(EXTRA_TRACKERS, (Parcelable[]) null);
1111                 }
1112                 startActivityForResult(intent, request);
1113         }
1114
1115         void start_select_tracker(Tracker[] select_trackers) {
1116                 start_select_tracker(select_trackers, R.string.select_tracker, REQUEST_SELECT_TRACKER);
1117         }
1118
1119         void touch_trackers(Integer[] serials) {
1120                 Tracker[] my_trackers = new Tracker[serials.length];
1121
1122                 for (int i = 0; i < serials.length; i++) {
1123                         AltosState      s = telemetry_state.get(serials[i]);
1124                         my_trackers[i] = new Tracker(s);
1125                 }
1126                 start_select_tracker(my_trackers);
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("Select Frequency");
1163                         builder_freq.setItems(frequency_strings,
1164                                          new DialogInterface.OnClickListener() {
1165                                                  public void onClick(DialogInterface dialog, int item) {
1166                                                          setFrequency(frequencies[item]);
1167                                                          selected_frequency = frequencies[item].frequency;
1168                                                  }
1169                                          });
1170                         AlertDialog alert_freq = builder_freq.create();
1171                         alert_freq.show();
1172                         return true;
1173                 case R.id.select_tracker:
1174                         start_select_tracker(trackers);
1175                         return true;
1176                 case R.id.delete_track:
1177                         if (trackers != null && trackers.length > 0)
1178                                 start_select_tracker(trackers, R.string.delete_track, REQUEST_DELETE_TRACKER);
1179                         return true;
1180                 case R.id.idle_mode:
1181                         serverIntent = new Intent(this, IdleModeActivity.class);
1182                         serverIntent.putExtra(EXTRA_IDLE_MODE, idle_mode);
1183                         serverIntent.putExtra(EXTRA_FREQUENCY, telem_frequency);
1184                         startActivityForResult(serverIntent, REQUEST_IDLE_MODE);
1185                         return true;
1186                 }
1187                 return false;
1188         }
1189
1190         static String direction(AltosGreatCircle from_receiver,
1191                                 Location receiver) {
1192                 if (from_receiver == null)
1193                         return null;
1194
1195                 if (receiver == null)
1196                         return null;
1197
1198                 if (!receiver.hasBearing())
1199                         return null;
1200
1201                 float   bearing = receiver.getBearing();
1202                 float   heading = (float) from_receiver.bearing - bearing;
1203
1204                 while (heading <= -180.0f)
1205                         heading += 360.0f;
1206                 while (heading > 180.0f)
1207                         heading -= 360.0f;
1208
1209                 int iheading = (int) (heading + 0.5f);
1210
1211                 if (-1 < iheading && iheading < 1)
1212                         return "ahead";
1213                 else if (iheading < -179 || 179 < iheading)
1214                         return "backwards";
1215                 else if (iheading < 0)
1216                         return String.format("left %d°", -iheading);
1217                 else
1218                         return String.format("right %d°", iheading);
1219         }
1220
1221         public void onLocationChanged(Location location) {
1222                 this.location = location;
1223                 AltosDebug.debug("Location changed to %f,%f",
1224                                  location.getLatitude(),
1225                                  location.getLongitude());
1226                 update_ui(telemetry_state, state, false);
1227         }
1228
1229         public void onStatusChanged(String provider, int status, Bundle extras) {
1230                 AltosDebug.debug("Location status now %d\n", status);
1231         }
1232
1233         public void onProviderEnabled(String provider) {
1234                 AltosDebug.debug("Location provider enabled %s\n", provider);
1235         }
1236
1237         public void onProviderDisabled(String provider) {
1238                 AltosDebug.debug("Location provider disabled %s\n", provider);
1239         }
1240 }