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   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; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 package org.altusmetrum.AltosDroid;
  19
  20 import java.lang.ref.WeakReference;
  21 import java.text.*;
  22 import java.util.*;
  23 import java.io.*;
  24
  25 import android.app.Activity;
  26 import android.app.PendingIntent;
  27 import android.bluetooth.BluetoothAdapter;
  28 import android.bluetooth.BluetoothDevice;
  29 import android.content.Intent;
  30 import android.content.Context;
  31 import android.content.ComponentName;
  32 import android.content.ServiceConnection;
  33 import android.content.DialogInterface;
  34 import android.os.IBinder;
  35 import android.os.Bundle;
  36 import android.os.Handler;
  37 import android.os.Message;
  38 import android.os.Messenger;
  39 import android.os.RemoteException;
  40 import android.content.res.Resources;
  41 import android.support.v4.app.FragmentActivity;
  42 import android.support.v4.app.FragmentManager;
  43 import android.util.DisplayMetrics;
  44 import android.view.*;
  45 import android.widget.*;
  46 import android.app.AlertDialog;
  47 import android.location.Location;
  48 import android.hardware.usb.*;
  49 import android.graphics.*;
  50 import android.graphics.drawable.*;
  51
  52 import org.altusmetrum.altoslib_7.*;
  53
  54 public class AltosDroid extends FragmentActivity implements AltosUnitsListener {
  55
  56         // Actions sent to the telemetry server at startup time
  57
  58         public static final String ACTION_BLUETOOTH = "org.altusmetrum.AltosDroid.BLUETOOTH";
  59         public static final String ACTION_USB = "org.altusmetrum.AltosDroid.USB";
  60
  61         // Message types received by our Handler
  62
  63         public static final int MSG_STATE           = 1;
  64         public static final int MSG_UPDATE_AGE      = 2;
  65
  66         // Intent request codes
  67         public static final int REQUEST_CONNECT_DEVICE = 1;
  68         public static final int REQUEST_ENABLE_BT      = 2;
  69         public static final int REQUEST_PRELOAD_MAPS   = 3;
  70         public static final int REQUEST_MAP_TYPE       = 4;
  71
  72         public int map_type = AltosMap.maptype_hybrid;
  73
  74         public static FragmentManager   fm;
  75
  76         private BluetoothAdapter mBluetoothAdapter = null;
  77
  78         // Flight state values
  79         private TextView mCallsignView;
  80         private TextView mRSSIView;
  81         private TextView mSerialView;
  82         private TextView mFlightView;
  83         private RelativeLayout mStateLayout;
  84         private TextView mStateView;
  85         private TextView mAgeView;
  86         private boolean  mAgeViewOld;
  87         private int mAgeNewColor;
  88         private int mAgeOldColor;
  89
  90         public static final String      tab_pad_name = "pad";
  91         public static final String      tab_flight_name = "flight";
  92         public static final String      tab_recover_name = "recover";
  93         public static final String      tab_map_name = "map";
  94
  95         // field to display the version at the bottom of the screen
  96         private TextView mVersion;
  97
  98         private double frequency;
  99         private int telemetry_rate;
 100
 101         // Tabs
 102         TabHost         mTabHost;
 103         AltosViewPager  mViewPager;
 104         TabsAdapter     mTabsAdapter;
 105         ArrayList<AltosDroidTab> mTabs = new ArrayList<AltosDroidTab>();
 106         int             tabHeight;
 107
 108         // Timer and Saved flight state for Age calculation
 109         private Timer timer;
 110         AltosState saved_state;
 111         TelemetryState  telemetry_state;
 112         Integer[]       serials;
 113
 114         UsbDevice       pending_usb_device;
 115         boolean         start_with_usb;
 116
 117         // Service
 118         private boolean mIsBound   = false;
 119         private Messenger mService = null;
 120         final Messenger mMessenger = new Messenger(new IncomingHandler(this));
 121
 122         // Text to Speech
 123         private AltosVoice mAltosVoice = null;
 124
 125         // The Handler that gets information back from the Telemetry Service
 126         static class IncomingHandler extends Handler {
 127                 private final WeakReference<AltosDroid> mAltosDroid;
 128                 IncomingHandler(AltosDroid ad) { mAltosDroid = new WeakReference<AltosDroid>(ad); }
 129
 130                 @Override
 131                 public void handleMessage(Message msg) {
 132                         AltosDroid ad = mAltosDroid.get();
 133
 134                         switch (msg.what) {
 135                         case MSG_STATE:
 136                                 if (msg.obj == null) {
 137                                         AltosDebug.debug("telemetry_state null!");
 138                                         return;
 139                                 }
 140                                 ad.update_state((TelemetryState) msg.obj);
 141                                 break;
 142                         case MSG_UPDATE_AGE:
 143                                 ad.update_age();
 144                                 break;
 145                         }
 146                 }
 147         };
 148
 149
 150         private ServiceConnection mConnection = new ServiceConnection() {
 151                 public void onServiceConnected(ComponentName className, IBinder service) {
 152                         mService = new Messenger(service);
 153                         try {
 154                                 Message msg = Message.obtain(null, TelemetryService.MSG_REGISTER_CLIENT);
 155                                 msg.replyTo = mMessenger;
 156                                 mService.send(msg);
 157                         } catch (RemoteException e) {
 158                                 // In this case the service has crashed before we could even do anything with it
 159                         }
 160                         if (pending_usb_device != null) {
 161                                 try {
 162                                         mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, pending_usb_device));
 163                                         pending_usb_device = null;
 164                                 } catch (RemoteException e) {
 165                                 }
 166                         }
 167                 }
 168
 169                 public void onServiceDisconnected(ComponentName className) {
 170                         // This is called when the connection with the service has been unexpectedly disconnected - process crashed.
 171                         mService = null;
 172                 }
 173         };
 174
 175         void doBindService() {
 176                 bindService(new Intent(this, TelemetryService.class), mConnection, Context.BIND_AUTO_CREATE);
 177                 mIsBound = true;
 178         }
 179
 180         void doUnbindService() {
 181                 if (mIsBound) {
 182                         // If we have received the service, and hence registered with it, then now is the time to unregister.
 183                         if (mService != null) {
 184                                 try {
 185                                         Message msg = Message.obtain(null, TelemetryService.MSG_UNREGISTER_CLIENT);
 186                                         msg.replyTo = mMessenger;
 187                                         mService.send(msg);
 188                                 } catch (RemoteException e) {
 189                                         // There is nothing special we need to do if the service has crashed.
 190                                 }
 191                         }
 192                         // Detach our existing connection.
 193                         unbindService(mConnection);
 194                         mIsBound = false;
 195                 }
 196         }
 197
 198         public void registerTab(AltosDroidTab mTab) {
 199                 mTabs.add(mTab);
 200         }
 201
 202         public void unregisterTab(AltosDroidTab mTab) {
 203                 mTabs.remove(mTab);
 204         }
 205
 206         public void units_changed(boolean imperial_units) {
 207                 for (AltosDroidTab mTab : mTabs)
 208                         mTab.units_changed(imperial_units);
 209         }
 210
 211         void update_title(TelemetryState telemetry_state) {
 212                 switch (telemetry_state.connect) {
 213                 case TelemetryState.CONNECT_CONNECTED:
 214                         if (telemetry_state.config != null) {
 215                                 String str = String.format("S/N %d %6.3f MHz", telemetry_state.config.serial,
 216                                                            telemetry_state.frequency);
 217                                 if (telemetry_state.telemetry_rate != AltosLib.ao_telemetry_rate_38400)
 218                                         str = str.concat(String.format(" %d bps",
 219                                                                        AltosLib.ao_telemetry_rate_values[telemetry_state.telemetry_rate]));
 220                                 setTitle(str);
 221                         } else {
 222                                 setTitle(R.string.title_connected_to);
 223                         }
 224                         break;
 225                 case TelemetryState.CONNECT_CONNECTING:
 226                         if (telemetry_state.address != null)
 227                                 setTitle(String.format("Connecting to %s...", telemetry_state.address.name));
 228                         else
 229                                 setTitle("Connecting to something...");
 230                         break;
 231                 case TelemetryState.CONNECT_DISCONNECTED:
 232                 case TelemetryState.CONNECT_NONE:
 233                         setTitle(R.string.title_not_connected);
 234                         break;
 235                 }
 236         }
 237
 238         void start_timer() {
 239                 if (timer == null) {
 240                         timer = new Timer();
 241                         timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 1000L, 1000L);
 242                 }
 243         }
 244
 245         void stop_timer() {
 246                 if (timer != null) {
 247                         timer.cancel();
 248                         timer.purge();
 249                         timer = null;
 250                 }
 251         }
 252
 253         int     selected_serial = 0;
 254         int     current_serial;
 255         long    switch_time;
 256
 257         void set_switch_time() {
 258                 switch_time = System.currentTimeMillis();
 259                 selected_serial = 0;
 260         }
 261
 262         boolean registered_units_listener;
 263
 264         void update_state(TelemetryState new_telemetry_state) {
 265
 266                 if (new_telemetry_state != null)
 267                         telemetry_state = new_telemetry_state;
 268
 269                 if (selected_serial != 0)
 270                         current_serial = selected_serial;
 271
 272                 if (current_serial == 0)
 273                         current_serial = telemetry_state.latest_serial;
 274
 275                 if (!registered_units_listener) {
 276                         registered_units_listener = true;
 277                         AltosPreferences.register_units_listener(this);
 278                 }
 279
 280                 serials = telemetry_state.states.keySet().toArray(new Integer[0]);
 281                 Arrays.sort(serials);
 282
 283                 update_title(telemetry_state);
 284
 285                 AltosState      state = null;
 286                 boolean         aged = true;
 287
 288                 if (telemetry_state.states.containsKey(current_serial)) {
 289                         state = telemetry_state.states.get(current_serial);
 290                         int age = state_age(state);
 291                         if (age < 20)
 292                                 aged = false;
 293                         if (current_serial == selected_serial)
 294                                 aged = false;
 295                         else if (switch_time != 0 && (switch_time - state.received_time) > 0)
 296                                 aged = true;
 297                 }
 298
 299                 if (aged) {
 300                         AltosState      newest_state = null;
 301                         int             newest_age = 0;
 302
 303                         for (int serial : telemetry_state.states.keySet()) {
 304                                 AltosState      existing = telemetry_state.states.get(serial);
 305                                 int             existing_age = state_age(existing);
 306
 307                                 if (newest_state == null || existing_age < newest_age) {
 308                                         newest_state = existing;
 309                                         newest_age = existing_age;
 310                                 }
 311                         }
 312
 313                         if (newest_state != null)
 314                                 state = newest_state;
 315                 }
 316
 317                 update_ui(telemetry_state, state, telemetry_state.location);
 318
 319                 start_timer();
 320         }
 321
 322         boolean same_string(String a, String b) {
 323                 if (a == null) {
 324                         if (b == null)
 325                                 return true;
 326                         return false;
 327                 } else {
 328                         if (b == null)
 329                                 return false;
 330                         return a.equals(b);
 331                 }
 332         }
 333
 334
 335         private int blend_component(int a, int b, double r, int shift, int mask) {
 336                 return ((int) (((a >> shift) & mask) * r + ((b >> shift) & mask) * (1 - r)) & mask) << shift;
 337         }
 338         private int blend_color(int a, int b, double r) {
 339                 return (blend_component(a, b, r, 0, 0xff) |
 340                         blend_component(a, b, r, 8, 0xff) |
 341                         blend_component(a, b, r, 16, 0xff) |
 342                         blend_component(a, b, r, 24, 0xff));
 343         }
 344
 345         int state_age(AltosState state) {
 346                 return (int) ((System.currentTimeMillis() - state.received_time + 500) / 1000);
 347         }
 348
 349         void set_screen_on(int age) {
 350                 if (age < 60)
 351                         getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 352                 else
 353                         getWindow().clearFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 354         }
 355
 356         void update_age() {
 357                 if (saved_state != null) {
 358                         int age = state_age(saved_state);
 359
 360                         double age_scale = age / 100.0;
 361
 362                         if (age_scale > 1.0)
 363                                 age_scale = 1.0;
 364
 365                         mAgeView.setTextColor(blend_color(mAgeOldColor, mAgeNewColor, age_scale));
 366
 367                         set_screen_on(age);
 368
 369                         String  text;
 370                         if (age < 60)
 371                                 text = String.format("%ds", age);
 372                         else if (age < 60 * 60)
 373                                 text = String.format("%dm", age / 60);
 374                         else if (age < 60 * 60 * 24)
 375                                 text = String.format("%dh", age / (60 * 60));
 376                         else
 377                                 text = String.format("%dd", age / (24 * 60 * 60));
 378                         mAgeView.setText(text);
 379                 }
 380         }
 381
 382         void update_ui(TelemetryState telem_state, AltosState state, Location location) {
 383
 384                 int prev_state = AltosLib.ao_flight_invalid;
 385
 386                 AltosGreatCircle from_receiver = null;
 387
 388                 if (saved_state != null)
 389                         prev_state = saved_state.state;
 390
 391                 if (state != null) {
 392                         set_screen_on(state_age(state));
 393
 394                         if (state.state == AltosLib.ao_flight_stateless) {
 395                                 boolean prev_locked = false;
 396                                 boolean locked = false;
 397
 398                                 if(state.gps != null)
 399                                         locked = state.gps.locked;
 400                                 if (saved_state != null && saved_state.gps != null)
 401                                         prev_locked = saved_state.gps.locked;
 402                                 if (prev_locked != locked) {
 403                                         String currentTab = mTabHost.getCurrentTabTag();
 404                                         if (locked) {
 405                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 406                                         } else {
 407                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_pad_name);
 408                                         }
 409                                 }
 410                         } else {
 411                                 if (prev_state != state.state) {
 412                                         String currentTab = mTabHost.getCurrentTabTag();
 413                                         switch (state.state) {
 414                                         case AltosLib.ao_flight_boost:
 415                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 416                                                 break;
 417                                         case AltosLib.ao_flight_landed:
 418                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_recover_name);
 419                                                 break;
 420                                         case AltosLib.ao_flight_stateless:
 421                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 422                                                 break;
 423                                         }
 424                                 }
 425                         }
 426
 427                         if (location != null && state.gps != null && state.gps.locked) {
 428                                 double altitude = 0;
 429                                 if (location.hasAltitude())
 430                                         altitude = location.getAltitude();
 431                                 from_receiver = new AltosGreatCircle(location.getLatitude(),
 432                                                                      location.getLongitude(),
 433                                                                      altitude,
 434                                                                      state.gps.lat,
 435                                                                      state.gps.lon,
 436                                                                      state.gps.alt);
 437                         }
 438
 439                         if (saved_state == null || !same_string(saved_state.callsign, state.callsign)) {
 440                                 mCallsignView.setText(state.callsign);
 441                         }
 442                         if (saved_state == null || state.serial != saved_state.serial) {
 443                                 mSerialView.setText(String.format("%d", state.serial));
 444                         }
 445                         if (saved_state == null || state.flight != saved_state.flight) {
 446                                 if (state.flight == AltosLib.MISSING)
 447                                         mFlightView.setText("");
 448                                 else
 449                                         mFlightView.setText(String.format("%d", state.flight));
 450                         }
 451                         if (saved_state == null || state.state != saved_state.state) {
 452                                 if (state.state == AltosLib.ao_flight_stateless) {
 453                                         mStateLayout.setVisibility(View.GONE);
 454                                 } else {
 455                                         mStateView.setText(state.state_name());
 456                                         mStateLayout.setVisibility(View.VISIBLE);
 457                                 }
 458                         }
 459                         if (saved_state == null || state.rssi != saved_state.rssi) {
 460                                 mRSSIView.setText(String.format("%d", state.rssi));
 461                         }
 462                 }
 463
 464                 for (AltosDroidTab mTab : mTabs)
 465                         mTab.update_ui(telem_state, state, from_receiver, location, mTab == mTabsAdapter.currentItem());
 466
 467                 if (mAltosVoice != null)
 468                         mAltosVoice.tell(telem_state, state, from_receiver, location, (AltosDroidTab) mTabsAdapter.currentItem());
 469
 470                 saved_state = state;
 471         }
 472
 473         private void onTimerTick() {
 474                 try {
 475                         mMessenger.send(Message.obtain(null, MSG_UPDATE_AGE));
 476                 } catch (RemoteException e) {
 477                 }
 478         }
 479
 480         static String pos(double p, String pos, String neg) {
 481                 String  h = pos;
 482                 if (p == AltosLib.MISSING)
 483                         return "";
 484                 if (p < 0) {
 485                         h = neg;
 486                         p = -p;
 487                 }
 488                 int deg = (int) Math.floor(p);
 489                 double min = (p - Math.floor(p)) * 60.0;
 490                 return String.format("%d°%9.4f\" %s", deg, min, h);
 491         }
 492
 493         static String number(String format, double value) {
 494                 if (value == AltosLib.MISSING)
 495                         return "";
 496                 return String.format(format, value);
 497         }
 498
 499         static String integer(String format, int value) {
 500                 if (value == AltosLib.MISSING)
 501                         return "";
 502                 return String.format(format, value);
 503         }
 504
 505         private View create_tab_view(String label) {
 506                 LayoutInflater inflater = (LayoutInflater) this.getLayoutInflater();
 507                 View tab_view = inflater.inflate(R.layout.tab_layout, null);
 508                 TextView text_view = (TextView) tab_view.findViewById (R.id.tabLabel);
 509                 text_view.setText(label);
 510                 return tab_view;
 511         }
 512
 513         public void set_map_source(int source) {
 514                 for (AltosDroidTab mTab : mTabs)
 515                         mTab.set_map_source(source);
 516         }
 517
 518         @Override
 519         public void onCreate(Bundle savedInstanceState) {
 520                 super.onCreate(savedInstanceState);
 521                 AltosDebug.init(this);
 522                 AltosDebug.debug("+++ ON CREATE +++");
 523
 524                 // Initialise preferences
 525                 AltosDroidPreferences.init(this);
 526
 527                 fm = getSupportFragmentManager();
 528
 529                 // Set up the window layout
 530                 setContentView(R.layout.altosdroid);
 531
 532                 // Create the Tabs and ViewPager
 533                 mTabHost = (TabHost)findViewById(android.R.id.tabhost);
 534                 mTabHost.setup();
 535
 536                 mViewPager = (AltosViewPager)findViewById(R.id.pager);
 537                 mViewPager.setOffscreenPageLimit(4);
 538
 539                 mTabsAdapter = new TabsAdapter(this, mTabHost, mViewPager);
 540
 541                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_pad_name).setIndicator(create_tab_view("Pad")), TabPad.class, null);
 542                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_flight_name).setIndicator(create_tab_view("Flight")), TabFlight.class, null);
 543                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_recover_name).setIndicator(create_tab_view("Recover")), TabRecover.class, null);
 544                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_map_name).setIndicator(create_tab_view("Map")), TabMap.class, null);
 545
 546                 // Display the Version
 547                 mVersion = (TextView) findViewById(R.id.version);
 548                 mVersion.setText("Version: " + BuildInfo.version +
 549                                  "  Built: " + BuildInfo.builddate + " " + BuildInfo.buildtime + " " + BuildInfo.buildtz +
 550                                  "  (" + BuildInfo.branch + "-" + BuildInfo.commitnum + "-" + BuildInfo.commithash + ")");
 551
 552                 mCallsignView  = (TextView) findViewById(R.id.callsign_value);
 553                 mRSSIView      = (TextView) findViewById(R.id.rssi_value);
 554                 mSerialView    = (TextView) findViewById(R.id.serial_value);
 555                 mFlightView    = (TextView) findViewById(R.id.flight_value);
 556                 mStateLayout   = (RelativeLayout) findViewById(R.id.state_container);
 557                 mStateView     = (TextView) findViewById(R.id.state_value);
 558                 mAgeView       = (TextView) findViewById(R.id.age_value);
 559                 mAgeNewColor   = mAgeView.getTextColors().getDefaultColor();
 560                 mAgeOldColor   = getResources().getColor(R.color.old_color);
 561         }
 562
 563         private boolean ensureBluetooth() {
 564                 // Get local Bluetooth adapter
 565                 mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
 566
 567                 // If the adapter is null, then Bluetooth is not supported
 568                 if (mBluetoothAdapter == null) {
 569                         Toast.makeText(this, "Bluetooth is not available", Toast.LENGTH_LONG).show();
 570                         return false;
 571                 }
 572
 573                 if (!mBluetoothAdapter.isEnabled()) {
 574                         Intent enableIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
 575                         startActivityForResult(enableIntent, AltosDroid.REQUEST_ENABLE_BT);
 576                 }
 577
 578                 return true;
 579         }
 580
 581         private boolean check_usb() {
 582                 UsbDevice       device = AltosUsb.find_device(this, AltosLib.product_basestation);
 583
 584                 if (device != null) {
 585                         Intent          i = new Intent(this, AltosDroid.class);
 586                         PendingIntent   pi = PendingIntent.getActivity(this, 0, new Intent("hello world", null, this, AltosDroid.class), 0);
 587
 588                         if (AltosUsb.request_permission(this, device, pi)) {
 589                                 connectUsb(device);
 590                         }
 591                         start_with_usb = true;
 592                         return true;
 593                 }
 594
 595                 start_with_usb = false;
 596
 597                 return false;
 598         }
 599
 600         private void noticeIntent(Intent intent) {
 601
 602                 /* Ok, this is pretty convenient.
 603                  *
 604                  * When a USB device is plugged in, and our 'hotplug'
 605                  * intent registration fires, we get an Intent with
 606                  * EXTRA_DEVICE set.
 607                  *
 608                  * When we start up and see a usb device and request
 609                  * permission to access it, that queues a
 610                  * PendingIntent, which has the EXTRA_DEVICE added in,
 611                  * along with the EXTRA_PERMISSION_GRANTED field as
 612                  * well.
 613                  *
 614                  * So, in both cases, we get the device name using the
 615                  * same call. We check to see if access was granted,
 616                  * in which case we ignore the device field and do our
 617                  * usual startup thing.
 618                  */
 619
 620                 UsbDevice device = (UsbDevice) intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
 621                 boolean granted = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, true);
 622
 623                 AltosDebug.debug("intent %s device %s granted %s", intent, device, granted);
 624
 625                 if (!granted)
 626                         device = null;
 627
 628                 if (device != null) {
 629                         AltosDebug.debug("intent has usb device " + device.toString());
 630                         connectUsb(device);
 631                 } else {
 632
 633                         /* 'granted' is only false if this intent came
 634                          * from the request_permission call and
 635                          * permission was denied. In which case, we
 636                          * don't want to loop forever...
 637                          */
 638                         if (granted) {
 639                                 AltosDebug.debug("check for a USB device at startup");
 640                                 if (check_usb())
 641                                         return;
 642                         }
 643                         AltosDebug.debug("Starting by looking for bluetooth devices");
 644                         if (ensureBluetooth())
 645                                 return;
 646                         finish();
 647                 }
 648         }
 649
 650         @Override
 651         public void onStart() {
 652                 super.onStart();
 653                 AltosDebug.debug("++ ON START ++");
 654
 655                 noticeIntent(getIntent());
 656
 657                 // Start Telemetry Service
 658                 String  action = start_with_usb ? ACTION_USB : ACTION_BLUETOOTH;
 659
 660                 startService(new Intent(action, null, AltosDroid.this, TelemetryService.class));
 661
 662                 doBindService();
 663
 664                 if (mAltosVoice == null)
 665                         mAltosVoice = new AltosVoice(this);
 666
 667         }
 668
 669         @Override
 670         public void onNewIntent(Intent intent) {
 671                 super.onNewIntent(intent);
 672                 AltosDebug.debug("onNewIntent");
 673                 noticeIntent(intent);
 674         }
 675
 676         @Override
 677         public void onResume() {
 678                 super.onResume();
 679                 AltosDebug.debug("+ ON RESUME +");
 680         }
 681
 682         @Override
 683         public void onPause() {
 684                 super.onPause();
 685                 AltosDebug.debug("- ON PAUSE -");
 686         }
 687
 688         @Override
 689         public void onStop() {
 690                 super.onStop();
 691                 AltosDebug.debug("-- ON STOP --");
 692         }
 693
 694         @Override
 695         public void onDestroy() {
 696                 super.onDestroy();
 697                 AltosDebug.debug("--- ON DESTROY ---");
 698
 699                 doUnbindService();
 700                 if (mAltosVoice != null) {
 701                         mAltosVoice.stop();
 702                         mAltosVoice = null;
 703                 }
 704                 stop_timer();
 705         }
 706
 707         protected void onActivityResult(int requestCode, int resultCode, Intent data) {
 708                 AltosDebug.debug("onActivityResult " + resultCode);
 709                 switch (requestCode) {
 710                 case REQUEST_CONNECT_DEVICE:
 711                         // When DeviceListActivity returns with a device to connect to
 712                         if (resultCode == Activity.RESULT_OK) {
 713                                 connectDevice(data);
 714                         }
 715                         break;
 716                 case REQUEST_ENABLE_BT:
 717                         // When the request to enable Bluetooth returns
 718                         if (resultCode == Activity.RESULT_OK) {
 719                                 // Bluetooth is now enabled, so set up a chat session
 720                                 //setupChat();
 721                         } else {
 722                                 // User did not enable Bluetooth or an error occured
 723                                 AltosDebug.error("BT not enabled");
 724                                 stopService(new Intent(AltosDroid.this, TelemetryService.class));
 725                                 Toast.makeText(this, R.string.bt_not_enabled, Toast.LENGTH_SHORT).show();
 726                                 finish();
 727                         }
 728                         break;
 729                 case REQUEST_MAP_TYPE:
 730                         if (resultCode == Activity.RESULT_OK)
 731                                 set_map_type(data);
 732                         break;
 733                 }
 734         }
 735
 736         private void connectUsb(UsbDevice device) {
 737                 if (mService == null)
 738                         pending_usb_device = device;
 739                 else {
 740                         // Attempt to connect to the device
 741                         try {
 742                                 mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, device));
 743                                 AltosDebug.debug("Sent OPEN_USB message");
 744                         } catch (RemoteException e) {
 745                                 AltosDebug.debug("connect device message failed");
 746                         }
 747                 }
 748         }
 749
 750         private void connectDevice(Intent data) {
 751                 // Attempt to connect to the device
 752                 try {
 753                         String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS);
 754                         String name = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_NAME);
 755
 756                         AltosDebug.debug("Connecting to " + address + " " + name);
 757                         DeviceAddress   a = new DeviceAddress(address, name);
 758                         mService.send(Message.obtain(null, TelemetryService.MSG_CONNECT, a));
 759                         AltosDebug.debug("Sent connecting message");
 760                 } catch (RemoteException e) {
 761                         AltosDebug.debug("connect device message failed");
 762                 }
 763         }
 764
 765         private void disconnectDevice() {
 766                 try {
 767                         mService.send(Message.obtain(null, TelemetryService.MSG_DISCONNECT, null));
 768                 } catch (RemoteException e) {
 769                 }
 770         }
 771
 772         private void set_map_type(Intent data) {
 773                 int type = data.getIntExtra(MapTypeActivity.EXTRA_MAP_TYPE, -1);
 774
 775                 AltosDebug.debug("intent set_map_type %d\n", type);
 776                 if (type != -1) {
 777                         map_type = type;
 778                         for (AltosDroidTab mTab : mTabs)
 779                                 mTab.set_map_type(map_type);
 780                 }
 781         }
 782
 783         @Override
 784         public boolean onCreateOptionsMenu(Menu menu) {
 785                 MenuInflater inflater = getMenuInflater();
 786                 inflater.inflate(R.menu.option_menu, menu);
 787                 return true;
 788         }
 789
 790         void setFrequency(double freq) {
 791                 try {
 792                         mService.send(Message.obtain(null, TelemetryService.MSG_SETFREQUENCY, freq));
 793                         set_switch_time();
 794                 } catch (RemoteException e) {
 795                 }
 796         }
 797
 798         void setFrequency(String freq) {
 799                 try {
 800                         setFrequency (AltosParse.parse_double_net(freq.substring(11, 17)));
 801                 } catch (ParseException e) {
 802                 }
 803         }
 804
 805         void setBaud(int baud) {
 806                 try {
 807                         mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD, baud));
 808                         set_switch_time();
 809                 } catch (RemoteException e) {
 810                 }
 811         }
 812
 813         void setBaud(String baud) {
 814                 try {
 815                         int     value = Integer.parseInt(baud);
 816                         int     rate = AltosLib.ao_telemetry_rate_38400;
 817                         switch (value) {
 818                         case 2400:
 819                                 rate = AltosLib.ao_telemetry_rate_2400;
 820                                 break;
 821                         case 9600:
 822                                 rate = AltosLib.ao_telemetry_rate_9600;
 823                                 break;
 824                         case 38400:
 825                                 rate = AltosLib.ao_telemetry_rate_38400;
 826                                 break;
 827                         }
 828                         setBaud(rate);
 829                 } catch (NumberFormatException e) {
 830                 }
 831         }
 832
 833         void select_tracker(int serial) {
 834                 int i;
 835
 836                 AltosDebug.debug("select tracker %d\n", serial);
 837
 838                 if (serial == selected_serial) {
 839                         AltosDebug.debug("%d already selected\n", serial);
 840                         return;
 841                 }
 842
 843                 if (serial != 0) {
 844                         for (i = 0; i < serials.length; i++)
 845                                 if (serials[i] == serial)
 846                                         break;
 847
 848                         if (i == serials.length) {
 849                                 AltosDebug.debug("attempt to select unknown tracker %d\n", serial);
 850                                 return;
 851                         }
 852                 }
 853
 854                 current_serial = selected_serial = serial;
 855                 update_state(null);
 856         }
 857
 858         void delete_track(int serial) {
 859                 try {
 860                         mService.send(Message.obtain(null, TelemetryService.MSG_DELETE_SERIAL, (Integer) serial));
 861                 } catch (Exception ex) {
 862                 }
 863         }
 864
 865         @Override
 866         public boolean onOptionsItemSelected(MenuItem item) {
 867                 Intent serverIntent = null;
 868                 switch (item.getItemId()) {
 869                 case R.id.connect_scan:
 870                         if (ensureBluetooth()) {
 871                                 // Launch the DeviceListActivity to see devices and do scan
 872                                 serverIntent = new Intent(this, DeviceListActivity.class);
 873                                 startActivityForResult(serverIntent, REQUEST_CONNECT_DEVICE);
 874                         }
 875                         return true;
 876                 case R.id.disconnect:
 877                         /* Disconnect the device
 878                          */
 879                         disconnectDevice();
 880                         return true;
 881                 case R.id.quit:
 882                         AltosDebug.debug("R.id.quit");
 883                         disconnectDevice();
 884                         finish();
 885                         return true;
 886                 case R.id.select_freq:
 887                         // Set the TBT radio frequency
 888
 889                         final String[] frequencies = {
 890                                 "Channel 0 (434.550MHz)",
 891                                 "Channel 1 (434.650MHz)",
 892                                 "Channel 2 (434.750MHz)",
 893                                 "Channel 3 (434.850MHz)",
 894                                 "Channel 4 (434.950MHz)",
 895                                 "Channel 5 (435.050MHz)",
 896                                 "Channel 6 (435.150MHz)",
 897                                 "Channel 7 (435.250MHz)",
 898                                 "Channel 8 (435.350MHz)",
 899                                 "Channel 9 (435.450MHz)"
 900                         };
 901
 902                         AlertDialog.Builder builder_freq = new AlertDialog.Builder(this);
 903                         builder_freq.setTitle("Pick a frequency");
 904                         builder_freq.setItems(frequencies,
 905                                          new DialogInterface.OnClickListener() {
 906                                                  public void onClick(DialogInterface dialog, int item) {
 907                                                          setFrequency(frequencies[item]);
 908                                                  }
 909                                          });
 910                         AlertDialog alert_freq = builder_freq.create();
 911                         alert_freq.show();
 912                         return true;
 913                 case R.id.select_rate:
 914                         // Set the TBT baud rate
 915
 916                         final String[] rates = {
 917                                 "38400",
 918                                 "9600",
 919                                 "2400",
 920                         };
 921
 922                         AlertDialog.Builder builder_rate = new AlertDialog.Builder(this);
 923                         builder_rate.setTitle("Pick a baud rate");
 924                         builder_rate.setItems(rates,
 925                                          new DialogInterface.OnClickListener() {
 926                                                  public void onClick(DialogInterface dialog, int item) {
 927                                                          setBaud(rates[item]);
 928                                                  }
 929                                          });
 930                         AlertDialog alert_rate = builder_rate.create();
 931                         alert_rate.show();
 932                         return true;
 933                 case R.id.change_units:
 934                         boolean imperial = AltosPreferences.imperial_units();
 935                         AltosPreferences.set_imperial_units(!imperial);
 936                         return true;
 937                 case R.id.preload_maps:
 938                         serverIntent = new Intent(this, PreloadMapActivity.class);
 939                         startActivityForResult(serverIntent, REQUEST_PRELOAD_MAPS);
 940                         return true;
 941                 case R.id.map_type:
 942                         serverIntent = new Intent(this, MapTypeActivity.class);
 943                         startActivityForResult(serverIntent, REQUEST_MAP_TYPE);
 944                         return true;
 945                 case R.id.map_source:
 946                         int source = AltosDroidPreferences.map_source();
 947                         int new_source = source == AltosDroidPreferences.MAP_SOURCE_ONLINE ? AltosDroidPreferences.MAP_SOURCE_OFFLINE : AltosDroidPreferences.MAP_SOURCE_ONLINE;
 948                         AltosDroidPreferences.set_map_source(new_source);
 949                         set_map_source(new_source);
 950                         return true;
 951                 case R.id.select_tracker:
 952                         if (serials != null) {
 953                                 String[] trackers = new String[serials.length+1];
 954                                 trackers[0] = "Auto";
 955                                 for (int i = 0; i < serials.length; i++)
 956                                         trackers[i+1] = String.format("%d", serials[i]);
 957                                 AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
 958                                 builder_serial.setTitle("Select a tracker");
 959                                 builder_serial.setItems(trackers,
 960                                                         new DialogInterface.OnClickListener() {
 961                                                                 public void onClick(DialogInterface dialog, int item) {
 962                                                                         if (item == 0)
 963                                                                                 select_tracker(0);
 964                                                                         else
 965                                                                                 select_tracker(serials[item-1]);
 966                                                                 }
 967                                                         });
 968                                 AlertDialog alert_serial = builder_serial.create();
 969                                 alert_serial.show();
 970
 971                         }
 972                         return true;
 973                 case R.id.delete_track:
 974                         if (serials != null) {
 975                                 String[] trackers = new String[serials.length];
 976                                 for (int i = 0; i < serials.length; i++)
 977                                         trackers[i] = String.format("%d", serials[i]);
 978                                 AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
 979                                 builder_serial.setTitle("Delete a track");
 980                                 builder_serial.setItems(trackers,
 981                                                         new DialogInterface.OnClickListener() {
 982                                                                 public void onClick(DialogInterface dialog, int item) {
 983                                                                         delete_track(serials[item]);
 984                                                                 }
 985                                                         });
 986                                 AlertDialog alert_serial = builder_serial.create();
 987                                 alert_serial.show();
 988
 989                         }
 990                         return true;
 991                 }
 992                 return false;
 993         }
 994
 995         static String direction(AltosGreatCircle from_receiver,
 996                              Location receiver) {
 997                 if (from_receiver == null)
 998                         return null;
 999
1000                 if (receiver == null)
1001                         return null;
1002
1003                 if (!receiver.hasBearing())
1004                         return null;
1005
1006                 float   bearing = receiver.getBearing();
1007                 float   heading = (float) from_receiver.bearing - bearing;
1008
1009                 while (heading <= -180.0f)
1010                         heading += 360.0f;
1011                 while (heading > 180.0f)
1012                         heading -= 360.0f;
1013
1014                 int iheading = (int) (heading + 0.5f);
1015
1016                 if (-1 < iheading && iheading < 1)
1017                         return "ahead";
1018                 else if (iheading < -179 || 179 < iheading)
1019                         return "backwards";
1020                 else if (iheading < 0)
1021                         return String.format("left %d°", -iheading);
1022                 else
1023                         return String.format("right %d°", iheading);
1024         }
1025 }