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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                                 AltosDebug.debug("MSG_STATE");
 137                                 if (msg.obj == null) {
 138                                         AltosDebug.debug("telemetry_state null!");
 139                                         return;
 140                                 }
 141                                 ad.update_state((TelemetryState) msg.obj);
 142                                 break;
 143                         case MSG_UPDATE_AGE:
 144                                 AltosDebug.debug("MSG_UPDATE_AGE");
 145                                 ad.update_age();
 146                                 break;
 147                         }
 148                 }
 149         };
 150
 151
 152         private ServiceConnection mConnection = new ServiceConnection() {
 153                 public void onServiceConnected(ComponentName className, IBinder service) {
 154                         mService = new Messenger(service);
 155                         try {
 156                                 Message msg = Message.obtain(null, TelemetryService.MSG_REGISTER_CLIENT);
 157                                 msg.replyTo = mMessenger;
 158                                 mService.send(msg);
 159                         } catch (RemoteException e) {
 160                                 // In this case the service has crashed before we could even do anything with it
 161                         }
 162                         if (pending_usb_device != null) {
 163                                 try {
 164                                         mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, pending_usb_device));
 165                                         pending_usb_device = null;
 166                                 } catch (RemoteException e) {
 167                                 }
 168                         }
 169                 }
 170
 171                 public void onServiceDisconnected(ComponentName className) {
 172                         // This is called when the connection with the service has been unexpectedly disconnected - process crashed.
 173                         mService = null;
 174                 }
 175         };
 176
 177         void doBindService() {
 178                 bindService(new Intent(this, TelemetryService.class), mConnection, Context.BIND_AUTO_CREATE);
 179                 mIsBound = true;
 180         }
 181
 182         void doUnbindService() {
 183                 if (mIsBound) {
 184                         // If we have received the service, and hence registered with it, then now is the time to unregister.
 185                         if (mService != null) {
 186                                 try {
 187                                         Message msg = Message.obtain(null, TelemetryService.MSG_UNREGISTER_CLIENT);
 188                                         msg.replyTo = mMessenger;
 189                                         mService.send(msg);
 190                                 } catch (RemoteException e) {
 191                                         // There is nothing special we need to do if the service has crashed.
 192                                 }
 193                         }
 194                         // Detach our existing connection.
 195                         unbindService(mConnection);
 196                         mIsBound = false;
 197                 }
 198         }
 199
 200         public void registerTab(AltosDroidTab mTab) {
 201                 mTabs.add(mTab);
 202         }
 203
 204         public void unregisterTab(AltosDroidTab mTab) {
 205                 mTabs.remove(mTab);
 206         }
 207
 208         public void units_changed(boolean imperial_units) {
 209                 for (AltosDroidTab mTab : mTabs)
 210                         mTab.units_changed(imperial_units);
 211         }
 212
 213         void update_title(TelemetryState telemetry_state) {
 214                 switch (telemetry_state.connect) {
 215                 case TelemetryState.CONNECT_CONNECTED:
 216                         if (telemetry_state.config != null) {
 217                                 String str = String.format("S/N %d %6.3f MHz", telemetry_state.config.serial,
 218                                                            telemetry_state.frequency);
 219                                 if (telemetry_state.telemetry_rate != AltosLib.ao_telemetry_rate_38400)
 220                                         str = str.concat(String.format(" %d bps",
 221                                                                        AltosLib.ao_telemetry_rate_values[telemetry_state.telemetry_rate]));
 222                                 setTitle(str);
 223                         } else {
 224                                 setTitle(R.string.title_connected_to);
 225                         }
 226                         break;
 227                 case TelemetryState.CONNECT_CONNECTING:
 228                         if (telemetry_state.address != null)
 229                                 setTitle(String.format("Connecting to %s...", telemetry_state.address.name));
 230                         else
 231                                 setTitle("Connecting to something...");
 232                         break;
 233                 case TelemetryState.CONNECT_DISCONNECTED:
 234                 case TelemetryState.CONNECT_NONE:
 235                         setTitle(R.string.title_not_connected);
 236                         break;
 237                 }
 238         }
 239
 240         void start_timer() {
 241                 if (timer == null) {
 242                         timer = new Timer();
 243                         timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 1000L, 1000L);
 244                 }
 245         }
 246
 247         void stop_timer() {
 248                 if (timer != null) {
 249                         timer.cancel();
 250                         timer.purge();
 251                         timer = null;
 252                 }
 253         }
 254
 255         int     selected_serial = 0;
 256         int     current_serial;
 257         long    switch_time;
 258
 259         void set_switch_time() {
 260                 switch_time = System.currentTimeMillis();
 261                 selected_serial = 0;
 262         }
 263
 264         boolean registered_units_listener;
 265
 266         void update_state(TelemetryState new_telemetry_state) {
 267
 268                 if (new_telemetry_state != null)
 269                         telemetry_state = new_telemetry_state;
 270
 271                 if (selected_serial != 0)
 272                         current_serial = selected_serial;
 273
 274                 if (current_serial == 0)
 275                         current_serial = telemetry_state.latest_serial;
 276
 277                 if (!registered_units_listener) {
 278                         registered_units_listener = true;
 279                         AltosPreferences.register_units_listener(this);
 280                 }
 281
 282                 serials = telemetry_state.states.keySet().toArray(new Integer[0]);
 283                 Arrays.sort(serials);
 284
 285                 update_title(telemetry_state);
 286
 287                 AltosState      state = null;
 288                 boolean         aged = true;
 289
 290                 if (telemetry_state.states.containsKey(current_serial)) {
 291                         state = telemetry_state.states.get(current_serial);
 292                         int age = state_age(state);
 293                         if (age < 20)
 294                                 aged = false;
 295                         if (current_serial == selected_serial)
 296                                 aged = false;
 297                         else if (switch_time != 0 && (switch_time - state.received_time) > 0)
 298                                 aged = true;
 299                 }
 300
 301                 if (aged) {
 302                         AltosState      newest_state = null;
 303                         int             newest_age = 0;
 304
 305                         for (int serial : telemetry_state.states.keySet()) {
 306                                 AltosState      existing = telemetry_state.states.get(serial);
 307                                 int             existing_age = state_age(existing);
 308
 309                                 if (newest_state == null || existing_age < newest_age) {
 310                                         newest_state = existing;
 311                                         newest_age = existing_age;
 312                                 }
 313                         }
 314
 315                         if (newest_state != null)
 316                                 state = newest_state;
 317                 }
 318
 319                 update_ui(telemetry_state, state, telemetry_state.location);
 320
 321                 start_timer();
 322         }
 323
 324         boolean same_string(String a, String b) {
 325                 if (a == null) {
 326                         if (b == null)
 327                                 return true;
 328                         return false;
 329                 } else {
 330                         if (b == null)
 331                                 return false;
 332                         return a.equals(b);
 333                 }
 334         }
 335
 336
 337         private int blend_component(int a, int b, double r, int shift, int mask) {
 338                 return ((int) (((a >> shift) & mask) * r + ((b >> shift) & mask) * (1 - r)) & mask) << shift;
 339         }
 340         private int blend_color(int a, int b, double r) {
 341                 return (blend_component(a, b, r, 0, 0xff) |
 342                         blend_component(a, b, r, 8, 0xff) |
 343                         blend_component(a, b, r, 16, 0xff) |
 344                         blend_component(a, b, r, 24, 0xff));
 345         }
 346
 347         int state_age(AltosState state) {
 348                 return (int) ((System.currentTimeMillis() - state.received_time + 500) / 1000);
 349         }
 350
 351         void set_screen_on(int age) {
 352                 if (age < 60)
 353                         getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 354                 else
 355                         getWindow().clearFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 356         }
 357
 358         void update_age() {
 359                 if (saved_state != null) {
 360                         int age = state_age(saved_state);
 361
 362                         double age_scale = age / 100.0;
 363
 364                         if (age_scale > 1.0)
 365                                 age_scale = 1.0;
 366
 367                         mAgeView.setTextColor(blend_color(mAgeOldColor, mAgeNewColor, age_scale));
 368
 369                         set_screen_on(age);
 370
 371                         String  text;
 372                         if (age < 60)
 373                                 text = String.format("%ds", age);
 374                         else if (age < 60 * 60)
 375                                 text = String.format("%dm", age / 60);
 376                         else if (age < 60 * 60 * 24)
 377                                 text = String.format("%dh", age / (60 * 60));
 378                         else
 379                                 text = String.format("%dd", age / (24 * 60 * 60));
 380                         mAgeView.setText(text);
 381                 }
 382         }
 383
 384         void update_ui(TelemetryState telem_state, AltosState state, Location location) {
 385
 386                 int prev_state = AltosLib.ao_flight_invalid;
 387
 388                 AltosGreatCircle from_receiver = null;
 389
 390                 if (saved_state != null)
 391                         prev_state = saved_state.state;
 392
 393                 if (state != null) {
 394                         set_screen_on(state_age(state));
 395
 396                         if (state.state == AltosLib.ao_flight_stateless) {
 397                                 boolean prev_locked = false;
 398                                 boolean locked = false;
 399
 400                                 if(state.gps != null)
 401                                         locked = state.gps.locked;
 402                                 if (saved_state != null && saved_state.gps != null)
 403                                         prev_locked = saved_state.gps.locked;
 404                                 if (prev_locked != locked) {
 405                                         String currentTab = mTabHost.getCurrentTabTag();
 406                                         if (locked) {
 407                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 408                                         } else {
 409                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_pad_name);
 410                                         }
 411                                 }
 412                         } else {
 413                                 if (prev_state != state.state) {
 414                                         String currentTab = mTabHost.getCurrentTabTag();
 415                                         switch (state.state) {
 416                                         case AltosLib.ao_flight_boost:
 417                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 418                                                 break;
 419                                         case AltosLib.ao_flight_landed:
 420                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_recover_name);
 421                                                 break;
 422                                         case AltosLib.ao_flight_stateless:
 423                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 424                                                 break;
 425                                         }
 426                                 }
 427                         }
 428
 429                         if (location != null && state.gps != null && state.gps.locked) {
 430                                 double altitude = 0;
 431                                 if (location.hasAltitude())
 432                                         altitude = location.getAltitude();
 433                                 from_receiver = new AltosGreatCircle(location.getLatitude(),
 434                                                                      location.getLongitude(),
 435                                                                      altitude,
 436                                                                      state.gps.lat,
 437                                                                      state.gps.lon,
 438                                                                      state.gps.alt);
 439                         }
 440
 441                         if (saved_state == null || !same_string(saved_state.callsign, state.callsign)) {
 442                                 mCallsignView.setText(state.callsign);
 443                         }
 444                         if (saved_state == null || state.serial != saved_state.serial) {
 445                                 mSerialView.setText(String.format("%d", state.serial));
 446                         }
 447                         if (saved_state == null || state.flight != saved_state.flight) {
 448                                 if (state.flight == AltosLib.MISSING)
 449                                         mFlightView.setText("");
 450                                 else
 451                                         mFlightView.setText(String.format("%d", state.flight));
 452                         }
 453                         if (saved_state == null || state.state != saved_state.state) {
 454                                 if (state.state == AltosLib.ao_flight_stateless) {
 455                                         mStateLayout.setVisibility(View.GONE);
 456                                 } else {
 457                                         mStateView.setText(state.state_name());
 458                                         mStateLayout.setVisibility(View.VISIBLE);
 459                                 }
 460                         }
 461                         if (saved_state == null || state.rssi != saved_state.rssi) {
 462                                 mRSSIView.setText(String.format("%d", state.rssi));
 463                         }
 464                 }
 465
 466                 for (AltosDroidTab mTab : mTabs)
 467                         mTab.update_ui(telem_state, state, from_receiver, location, mTab == mTabsAdapter.currentItem());
 468
 469                 if (mAltosVoice != null)
 470                         mAltosVoice.tell(telem_state, state, from_receiver, location, (AltosDroidTab) mTabsAdapter.currentItem());
 471
 472                 saved_state = state;
 473         }
 474
 475         private void onTimerTick() {
 476                 try {
 477                         mMessenger.send(Message.obtain(null, MSG_UPDATE_AGE));
 478                 } catch (RemoteException e) {
 479                 }
 480         }
 481
 482         static String pos(double p, String pos, String neg) {
 483                 String  h = pos;
 484                 if (p == AltosLib.MISSING)
 485                         return "";
 486                 if (p < 0) {
 487                         h = neg;
 488                         p = -p;
 489                 }
 490                 int deg = (int) Math.floor(p);
 491                 double min = (p - Math.floor(p)) * 60.0;
 492                 return String.format("%d°%9.4f\" %s", deg, min, h);
 493         }
 494
 495         static String number(String format, double value) {
 496                 if (value == AltosLib.MISSING)
 497                         return "";
 498                 return String.format(format, value);
 499         }
 500
 501         static String integer(String format, int value) {
 502                 if (value == AltosLib.MISSING)
 503                         return "";
 504                 return String.format(format, value);
 505         }
 506
 507         private View create_tab_view(String label) {
 508                 LayoutInflater inflater = (LayoutInflater) this.getLayoutInflater();
 509                 View tab_view = inflater.inflate(R.layout.tab_layout, null);
 510                 TextView text_view = (TextView) tab_view.findViewById (R.id.tabLabel);
 511                 text_view.setText(label);
 512                 return tab_view;
 513         }
 514
 515         public void set_map_source(int source) {
 516                 for (AltosDroidTab mTab : mTabs)
 517                         mTab.set_map_source(source);
 518         }
 519
 520         @Override
 521         public void onCreate(Bundle savedInstanceState) {
 522                 super.onCreate(savedInstanceState);
 523                 AltosDebug.init(this);
 524                 AltosDebug.debug("+++ ON CREATE +++");
 525
 526                 // Initialise preferences
 527                 AltosDroidPreferences.init(this);
 528
 529                 fm = getSupportFragmentManager();
 530
 531                 // Set up the window layout
 532                 setContentView(R.layout.altosdroid);
 533
 534                 // Create the Tabs and ViewPager
 535                 mTabHost = (TabHost)findViewById(android.R.id.tabhost);
 536                 mTabHost.setup();
 537
 538                 mViewPager = (AltosViewPager)findViewById(R.id.pager);
 539                 mViewPager.setOffscreenPageLimit(4);
 540
 541                 mTabsAdapter = new TabsAdapter(this, mTabHost, mViewPager);
 542
 543                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_pad_name).setIndicator(create_tab_view("Pad")), TabPad.class, null);
 544                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_flight_name).setIndicator(create_tab_view("Flight")), TabFlight.class, null);
 545                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_recover_name).setIndicator(create_tab_view("Recover")), TabRecover.class, null);
 546                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_map_name).setIndicator(create_tab_view("Map")), TabMap.class, null);
 547
 548                 // Display the Version
 549                 mVersion = (TextView) findViewById(R.id.version);
 550                 mVersion.setText("Version: " + BuildInfo.version +
 551                                  "  Built: " + BuildInfo.builddate + " " + BuildInfo.buildtime + " " + BuildInfo.buildtz +
 552                                  "  (" + BuildInfo.branch + "-" + BuildInfo.commitnum + "-" + BuildInfo.commithash + ")");
 553
 554                 mCallsignView  = (TextView) findViewById(R.id.callsign_value);
 555                 mRSSIView      = (TextView) findViewById(R.id.rssi_value);
 556                 mSerialView    = (TextView) findViewById(R.id.serial_value);
 557                 mFlightView    = (TextView) findViewById(R.id.flight_value);
 558                 mStateLayout   = (RelativeLayout) findViewById(R.id.state_container);
 559                 mStateView     = (TextView) findViewById(R.id.state_value);
 560                 mAgeView       = (TextView) findViewById(R.id.age_value);
 561                 mAgeNewColor   = mAgeView.getTextColors().getDefaultColor();
 562                 mAgeOldColor   = getResources().getColor(R.color.old_color);
 563         }
 564
 565         private boolean ensureBluetooth() {
 566                 // Get local Bluetooth adapter
 567                 mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
 568
 569                 // If the adapter is null, then Bluetooth is not supported
 570                 if (mBluetoothAdapter == null) {
 571                         Toast.makeText(this, "Bluetooth is not available", Toast.LENGTH_LONG).show();
 572                         return false;
 573                 }
 574
 575                 if (!mBluetoothAdapter.isEnabled()) {
 576                         Intent enableIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
 577                         startActivityForResult(enableIntent, AltosDroid.REQUEST_ENABLE_BT);
 578                 }
 579
 580                 return true;
 581         }
 582
 583         private boolean check_usb() {
 584                 UsbDevice       device = AltosUsb.find_device(this, AltosLib.product_basestation);
 585
 586                 if (device != null) {
 587                         Intent          i = new Intent(this, AltosDroid.class);
 588                         PendingIntent   pi = PendingIntent.getActivity(this, 0, new Intent("hello world", null, this, AltosDroid.class), 0);
 589
 590                         if (AltosUsb.request_permission(this, device, pi)) {
 591                                 connectUsb(device);
 592                         }
 593                         start_with_usb = true;
 594                         return true;
 595                 }
 596
 597                 start_with_usb = false;
 598
 599                 return false;
 600         }
 601
 602         private void noticeIntent(Intent intent) {
 603
 604                 /* Ok, this is pretty convenient.
 605                  *
 606                  * When a USB device is plugged in, and our 'hotplug'
 607                  * intent registration fires, we get an Intent with
 608                  * EXTRA_DEVICE set.
 609                  *
 610                  * When we start up and see a usb device and request
 611                  * permission to access it, that queues a
 612                  * PendingIntent, which has the EXTRA_DEVICE added in,
 613                  * along with the EXTRA_PERMISSION_GRANTED field as
 614                  * well.
 615                  *
 616                  * So, in both cases, we get the device name using the
 617                  * same call. We check to see if access was granted,
 618                  * in which case we ignore the device field and do our
 619                  * usual startup thing.
 620                  */
 621
 622                 UsbDevice device = (UsbDevice) intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
 623                 boolean granted = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, true);
 624
 625                 AltosDebug.debug("intent %s device %s granted %s", intent, device, granted);
 626
 627                 if (!granted)
 628                         device = null;
 629
 630                 if (device != null) {
 631                         AltosDebug.debug("intent has usb device " + device.toString());
 632                         connectUsb(device);
 633                 } else {
 634
 635                         /* 'granted' is only false if this intent came
 636                          * from the request_permission call and
 637                          * permission was denied. In which case, we
 638                          * don't want to loop forever...
 639                          */
 640                         if (granted) {
 641                                 AltosDebug.debug("check for a USB device at startup");
 642                                 if (check_usb())
 643                                         return;
 644                         }
 645                         AltosDebug.debug("Starting by looking for bluetooth devices");
 646                         if (ensureBluetooth())
 647                                 return;
 648                         finish();
 649                 }
 650         }
 651
 652         @Override
 653         public void onStart() {
 654                 super.onStart();
 655                 AltosDebug.debug("++ ON START ++");
 656
 657                 noticeIntent(getIntent());
 658
 659                 // Start Telemetry Service
 660                 String  action = start_with_usb ? ACTION_USB : ACTION_BLUETOOTH;
 661
 662                 startService(new Intent(action, null, AltosDroid.this, TelemetryService.class));
 663
 664                 doBindService();
 665
 666                 if (mAltosVoice == null)
 667                         mAltosVoice = new AltosVoice(this);
 668
 669         }
 670
 671         @Override
 672         public void onNewIntent(Intent intent) {
 673                 super.onNewIntent(intent);
 674                 AltosDebug.debug("onNewIntent");
 675                 noticeIntent(intent);
 676         }
 677
 678         @Override
 679         public void onResume() {
 680                 super.onResume();
 681                 AltosDebug.debug("+ ON RESUME +");
 682         }
 683
 684         @Override
 685         public void onPause() {
 686                 super.onPause();
 687                 AltosDebug.debug("- ON PAUSE -");
 688         }
 689
 690         @Override
 691         public void onStop() {
 692                 super.onStop();
 693                 AltosDebug.debug("-- ON STOP --");
 694
 695                 doUnbindService();
 696                 if (mAltosVoice != null) {
 697                         mAltosVoice.stop();
 698                         mAltosVoice = null;
 699                 }
 700         }
 701
 702         @Override
 703         public void onDestroy() {
 704                 super.onDestroy();
 705                 AltosDebug.debug("--- ON DESTROY ---");
 706
 707                 if (mAltosVoice != null) mAltosVoice.stop();
 708                 stop_timer();
 709         }
 710
 711         protected void onActivityResult(int requestCode, int resultCode, Intent data) {
 712                 AltosDebug.debug("onActivityResult " + resultCode);
 713                 switch (requestCode) {
 714                 case REQUEST_CONNECT_DEVICE:
 715                         // When DeviceListActivity returns with a device to connect to
 716                         if (resultCode == Activity.RESULT_OK) {
 717                                 connectDevice(data);
 718                         }
 719                         break;
 720                 case REQUEST_ENABLE_BT:
 721                         // When the request to enable Bluetooth returns
 722                         if (resultCode == Activity.RESULT_OK) {
 723                                 // Bluetooth is now enabled, so set up a chat session
 724                                 //setupChat();
 725                         } else {
 726                                 // User did not enable Bluetooth or an error occured
 727                                 AltosDebug.error("BT not enabled");
 728                                 stopService(new Intent(AltosDroid.this, TelemetryService.class));
 729                                 Toast.makeText(this, R.string.bt_not_enabled, Toast.LENGTH_SHORT).show();
 730                                 finish();
 731                         }
 732                         break;
 733                 case REQUEST_MAP_TYPE:
 734                         if (resultCode == Activity.RESULT_OK)
 735                                 set_map_type(data);
 736                         break;
 737                 }
 738         }
 739
 740         private void connectUsb(UsbDevice device) {
 741                 if (mService == null)
 742                         pending_usb_device = device;
 743                 else {
 744                         // Attempt to connect to the device
 745                         try {
 746                                 mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, device));
 747                                 AltosDebug.debug("Sent OPEN_USB message");
 748                         } catch (RemoteException e) {
 749                                 AltosDebug.debug("connect device message failed");
 750                         }
 751                 }
 752         }
 753
 754         private void connectDevice(Intent data) {
 755                 // Attempt to connect to the device
 756                 try {
 757                         String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS);
 758                         String name = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_NAME);
 759
 760                         AltosDebug.debug("Connecting to " + address + " " + name);
 761                         DeviceAddress   a = new DeviceAddress(address, name);
 762                         mService.send(Message.obtain(null, TelemetryService.MSG_CONNECT, a));
 763                         AltosDebug.debug("Sent connecting message");
 764                 } catch (RemoteException e) {
 765                         AltosDebug.debug("connect device message failed");
 766                 }
 767         }
 768
 769         private void disconnectDevice() {
 770                 try {
 771                         mService.send(Message.obtain(null, TelemetryService.MSG_DISCONNECT, null));
 772                 } catch (RemoteException e) {
 773                 }
 774         }
 775
 776         private void set_map_type(Intent data) {
 777                 int type = data.getIntExtra(MapTypeActivity.EXTRA_MAP_TYPE, -1);
 778
 779                 AltosDebug.debug("intent set_map_type %d\n", type);
 780                 if (type != -1) {
 781                         map_type = type;
 782                         for (AltosDroidTab mTab : mTabs)
 783                                 mTab.set_map_type(map_type);
 784                 }
 785         }
 786
 787         @Override
 788         public boolean onCreateOptionsMenu(Menu menu) {
 789                 MenuInflater inflater = getMenuInflater();
 790                 inflater.inflate(R.menu.option_menu, menu);
 791                 return true;
 792         }
 793
 794         void setFrequency(double freq) {
 795                 try {
 796                         mService.send(Message.obtain(null, TelemetryService.MSG_SETFREQUENCY, freq));
 797                         set_switch_time();
 798                 } catch (RemoteException e) {
 799                 }
 800         }
 801
 802         void setFrequency(String freq) {
 803                 try {
 804                         setFrequency (AltosParse.parse_double_net(freq.substring(11, 17)));
 805                 } catch (ParseException e) {
 806                 }
 807         }
 808
 809         void setBaud(int baud) {
 810                 try {
 811                         mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD, baud));
 812                         set_switch_time();
 813                 } catch (RemoteException e) {
 814                 }
 815         }
 816
 817         void setBaud(String baud) {
 818                 try {
 819                         int     value = Integer.parseInt(baud);
 820                         int     rate = AltosLib.ao_telemetry_rate_38400;
 821                         switch (value) {
 822                         case 2400:
 823                                 rate = AltosLib.ao_telemetry_rate_2400;
 824                                 break;
 825                         case 9600:
 826                                 rate = AltosLib.ao_telemetry_rate_9600;
 827                                 break;
 828                         case 38400:
 829                                 rate = AltosLib.ao_telemetry_rate_38400;
 830                                 break;
 831                         }
 832                         setBaud(rate);
 833                 } catch (NumberFormatException e) {
 834                 }
 835         }
 836
 837         void select_tracker(int serial) {
 838                 int i;
 839
 840                 AltosDebug.debug("select tracker %d\n", serial);
 841
 842                 if (serial == selected_serial) {
 843                         AltosDebug.debug("%d already selected\n", serial);
 844                         return;
 845                 }
 846
 847                 if (serial != 0) {
 848                         for (i = 0; i < serials.length; i++)
 849                                 if (serials[i] == serial)
 850                                         break;
 851
 852                         if (i == serials.length) {
 853                                 AltosDebug.debug("attempt to select unknown tracker %d\n", serial);
 854                                 return;
 855                         }
 856                 }
 857
 858                 current_serial = selected_serial = serial;
 859                 update_state(null);
 860         }
 861
 862         void delete_track(int serial) {
 863                 try {
 864                         mService.send(Message.obtain(null, TelemetryService.MSG_DELETE_SERIAL, (Integer) serial));
 865                 } catch (Exception ex) {
 866                 }
 867         }
 868
 869         @Override
 870         public boolean onOptionsItemSelected(MenuItem item) {
 871                 Intent serverIntent = null;
 872                 switch (item.getItemId()) {
 873                 case R.id.connect_scan:
 874                         if (ensureBluetooth()) {
 875                                 // Launch the DeviceListActivity to see devices and do scan
 876                                 serverIntent = new Intent(this, DeviceListActivity.class);
 877                                 startActivityForResult(serverIntent, REQUEST_CONNECT_DEVICE);
 878                         }
 879                         return true;
 880                 case R.id.disconnect:
 881                         /* Disconnect the device
 882                          */
 883                         disconnectDevice();
 884                         return true;
 885                 case R.id.quit:
 886                         AltosDebug.debug("R.id.quit");
 887                         disconnectDevice();
 888                         finish();
 889                         return true;
 890                 case R.id.select_freq:
 891                         // Set the TBT radio frequency
 892
 893                         final String[] frequencies = {
 894                                 "Channel 0 (434.550MHz)",
 895                                 "Channel 1 (434.650MHz)",
 896                                 "Channel 2 (434.750MHz)",
 897                                 "Channel 3 (434.850MHz)",
 898                                 "Channel 4 (434.950MHz)",
 899                                 "Channel 5 (435.050MHz)",
 900                                 "Channel 6 (435.150MHz)",
 901                                 "Channel 7 (435.250MHz)",
 902                                 "Channel 8 (435.350MHz)",
 903                                 "Channel 9 (435.450MHz)"
 904                         };
 905
 906                         AlertDialog.Builder builder_freq = new AlertDialog.Builder(this);
 907                         builder_freq.setTitle("Pick a frequency");
 908                         builder_freq.setItems(frequencies,
 909                                          new DialogInterface.OnClickListener() {
 910                                                  public void onClick(DialogInterface dialog, int item) {
 911                                                          setFrequency(frequencies[item]);
 912                                                  }
 913                                          });
 914                         AlertDialog alert_freq = builder_freq.create();
 915                         alert_freq.show();
 916                         return true;
 917                 case R.id.select_rate:
 918                         // Set the TBT baud rate
 919
 920                         final String[] rates = {
 921                                 "38400",
 922                                 "9600",
 923                                 "2400",
 924                         };
 925
 926                         AlertDialog.Builder builder_rate = new AlertDialog.Builder(this);
 927                         builder_rate.setTitle("Pick a baud rate");
 928                         builder_rate.setItems(rates,
 929                                          new DialogInterface.OnClickListener() {
 930                                                  public void onClick(DialogInterface dialog, int item) {
 931                                                          setBaud(rates[item]);
 932                                                  }
 933                                          });
 934                         AlertDialog alert_rate = builder_rate.create();
 935                         alert_rate.show();
 936                         return true;
 937                 case R.id.change_units:
 938                         boolean imperial = AltosPreferences.imperial_units();
 939                         AltosPreferences.set_imperial_units(!imperial);
 940                         return true;
 941                 case R.id.preload_maps:
 942                         serverIntent = new Intent(this, PreloadMapActivity.class);
 943                         startActivityForResult(serverIntent, REQUEST_PRELOAD_MAPS);
 944                         return true;
 945                 case R.id.map_type:
 946                         serverIntent = new Intent(this, MapTypeActivity.class);
 947                         startActivityForResult(serverIntent, REQUEST_MAP_TYPE);
 948                         return true;
 949                 case R.id.map_source:
 950                         int source = AltosDroidPreferences.map_source();
 951                         int new_source = source == AltosDroidPreferences.MAP_SOURCE_ONLINE ? AltosDroidPreferences.MAP_SOURCE_OFFLINE : AltosDroidPreferences.MAP_SOURCE_ONLINE;
 952                         AltosDroidPreferences.set_map_source(new_source);
 953                         set_map_source(new_source);
 954                         return true;
 955                 case R.id.select_tracker:
 956                         if (serials != null) {
 957                                 String[] trackers = new String[serials.length+1];
 958                                 trackers[0] = "Auto";
 959                                 for (int i = 0; i < serials.length; i++)
 960                                         trackers[i+1] = String.format("%d", serials[i]);
 961                                 AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
 962                                 builder_serial.setTitle("Select a tracker");
 963                                 builder_serial.setItems(trackers,
 964                                                         new DialogInterface.OnClickListener() {
 965                                                                 public void onClick(DialogInterface dialog, int item) {
 966                                                                         if (item == 0)
 967                                                                                 select_tracker(0);
 968                                                                         else
 969                                                                                 select_tracker(serials[item-1]);
 970                                                                 }
 971                                                         });
 972                                 AlertDialog alert_serial = builder_serial.create();
 973                                 alert_serial.show();
 974
 975                         }
 976                         return true;
 977                 case R.id.delete_track:
 978                         if (serials != null) {
 979                                 String[] trackers = new String[serials.length];
 980                                 for (int i = 0; i < serials.length; i++)
 981                                         trackers[i] = String.format("%d", serials[i]);
 982                                 AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
 983                                 builder_serial.setTitle("Delete a track");
 984                                 builder_serial.setItems(trackers,
 985                                                         new DialogInterface.OnClickListener() {
 986                                                                 public void onClick(DialogInterface dialog, int item) {
 987                                                                         delete_track(serials[item]);
 988                                                                 }
 989                                                         });
 990                                 AlertDialog alert_serial = builder_serial.create();
 991                                 alert_serial.show();
 992
 993                         }
 994                         return true;
 995                 }
 996                 return false;
 997         }
 998
 999         static String direction(AltosGreatCircle from_receiver,
1000                              Location receiver) {
1001                 if (from_receiver == null)
1002                         return null;
1003
1004                 if (receiver == null)
1005                         return null;
1006
1007                 if (!receiver.hasBearing())
1008                         return null;
1009
1010                 float   bearing = receiver.getBearing();
1011                 float   heading = (float) from_receiver.bearing - bearing;
1012
1013                 while (heading <= -180.0f)
1014                         heading += 360.0f;
1015                 while (heading > 180.0f)
1016                         heading -= 360.0f;
1017
1018                 int iheading = (int) (heading + 0.5f);
1019
1020                 if (-1 < iheading && iheading < 1)
1021                         return "ahead";
1022                 else if (iheading < -179 || 179 < iheading)
1023                         return "backwards";
1024                 else if (iheading < 0)
1025                         return String.format("left %d°", -iheading);
1026                 else
1027                         return String.format("right %d°", iheading);
1028         }
1029 }