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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.location.LocationManager;
  49 import android.location.LocationListener;
  50 import android.hardware.usb.*;
  51 import android.graphics.*;
  52 import android.graphics.drawable.*;
  53
  54 import org.altusmetrum.altoslib_10.*;
  55
  56 public class AltosDroid extends FragmentActivity implements AltosUnitsListener, LocationListener {
  57
  58         // Actions sent to the telemetry server at startup time
  59
  60         public static final String ACTION_BLUETOOTH = "org.altusmetrum.AltosDroid.BLUETOOTH";
  61         public static final String ACTION_USB = "org.altusmetrum.AltosDroid.USB";
  62
  63         // Message types received by our Handler
  64
  65         public static final int MSG_STATE           = 1;
  66         public static final int MSG_UPDATE_AGE      = 2;
  67         public static final int MSG_IDLE_MODE       = 3;
  68         public static final int MSG_IGNITER_STATUS  = 4;
  69
  70         // Intent request codes
  71         public static final int REQUEST_CONNECT_DEVICE = 1;
  72         public static final int REQUEST_ENABLE_BT      = 2;
  73         public static final int REQUEST_PRELOAD_MAPS   = 3;
  74         public static final int REQUEST_MAP_TYPE       = 4;
  75         public static final int REQUEST_IDLE_MODE      = 5;
  76         public static final int REQUEST_IGNITERS       = 6;
  77
  78         public static final String EXTRA_IDLE_MODE = "idle_mode";
  79         public static final String EXTRA_IDLE_RESULT = "idle_result";
  80         public static final String EXTRA_TELEMETRY_SERVICE = "telemetry_service";
  81
  82         public int map_type = AltosMap.maptype_hybrid;
  83
  84         public static FragmentManager   fm;
  85
  86         private BluetoothAdapter mBluetoothAdapter = null;
  87
  88         // Flight state values
  89         private TextView mCallsignView;
  90         private TextView mRSSIView;
  91         private TextView mSerialView;
  92         private TextView mFlightView;
  93         private RelativeLayout mStateLayout;
  94         private TextView mStateView;
  95         private TextView mAgeView;
  96         private boolean  mAgeViewOld;
  97         private int mAgeNewColor;
  98         private int mAgeOldColor;
  99
 100         public static final String      tab_pad_name = "pad";
 101         public static final String      tab_flight_name = "flight";
 102         public static final String      tab_recover_name = "recover";
 103         public static final String      tab_map_name = "map";
 104
 105         // field to display the version at the bottom of the screen
 106         private TextView mVersion;
 107
 108         private double frequency;
 109         private int telemetry_rate;
 110
 111         private boolean idle_mode = false;
 112
 113         public Location location = null;
 114
 115         // Tabs
 116         TabHost         mTabHost;
 117         AltosViewPager  mViewPager;
 118         TabsAdapter     mTabsAdapter;
 119         ArrayList<AltosDroidTab> mTabs = new ArrayList<AltosDroidTab>();
 120         int             tabHeight;
 121
 122         // Timer and Saved flight state for Age calculation
 123         private Timer timer;
 124         AltosState saved_state;
 125         TelemetryState  telemetry_state;
 126         Integer[]       serials;
 127
 128         UsbDevice       pending_usb_device;
 129         boolean         start_with_usb;
 130
 131         // Service
 132         private boolean mIsBound   = false;
 133         private Messenger mService = null;
 134         final Messenger mMessenger = new Messenger(new IncomingHandler(this));
 135
 136         // Text to Speech
 137         private AltosVoice mAltosVoice = null;
 138
 139         // The Handler that gets information back from the Telemetry Service
 140         static class IncomingHandler extends Handler {
 141                 private final WeakReference<AltosDroid> mAltosDroid;
 142                 IncomingHandler(AltosDroid ad) { mAltosDroid = new WeakReference<AltosDroid>(ad); }
 143
 144                 @Override
 145                 public void handleMessage(Message msg) {
 146                         AltosDroid ad = mAltosDroid.get();
 147
 148                         switch (msg.what) {
 149                         case MSG_STATE:
 150                                 if (msg.obj == null) {
 151                                         AltosDebug.debug("telemetry_state null!");
 152                                         return;
 153                                 }
 154                                 ad.update_state((TelemetryState) msg.obj);
 155                                 break;
 156                         case MSG_UPDATE_AGE:
 157                                 ad.update_age();
 158                                 break;
 159                         case MSG_IDLE_MODE:
 160                                 ad.idle_mode = (Boolean) msg.obj;
 161                                 ad.update_state(null);
 162                                 break;
 163                         }
 164                 }
 165         };
 166
 167
 168         private ServiceConnection mConnection = new ServiceConnection() {
 169                 public void onServiceConnected(ComponentName className, IBinder service) {
 170                         mService = new Messenger(service);
 171                         try {
 172                                 Message msg = Message.obtain(null, TelemetryService.MSG_REGISTER_CLIENT);
 173                                 msg.replyTo = mMessenger;
 174                                 mService.send(msg);
 175                         } catch (RemoteException e) {
 176                                 // In this case the service has crashed before we could even do anything with it
 177                         }
 178                         if (pending_usb_device != null) {
 179                                 try {
 180                                         mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, pending_usb_device));
 181                                         pending_usb_device = null;
 182                                 } catch (RemoteException e) {
 183                                 }
 184                         }
 185                 }
 186
 187                 public void onServiceDisconnected(ComponentName className) {
 188                         // This is called when the connection with the service has been unexpectedly disconnected - process crashed.
 189                         mService = null;
 190                 }
 191         };
 192
 193         void doBindService() {
 194                 bindService(new Intent(this, TelemetryService.class), mConnection, Context.BIND_AUTO_CREATE);
 195                 mIsBound = true;
 196         }
 197
 198         void doUnbindService() {
 199                 if (mIsBound) {
 200                         // If we have received the service, and hence registered with it, then now is the time to unregister.
 201                         if (mService != null) {
 202                                 try {
 203                                         Message msg = Message.obtain(null, TelemetryService.MSG_UNREGISTER_CLIENT);
 204                                         msg.replyTo = mMessenger;
 205                                         mService.send(msg);
 206                                 } catch (RemoteException e) {
 207                                         // There is nothing special we need to do if the service has crashed.
 208                                 }
 209                         }
 210                         // Detach our existing connection.
 211                         unbindService(mConnection);
 212                         mIsBound = false;
 213                 }
 214         }
 215
 216         public void registerTab(AltosDroidTab mTab) {
 217                 mTabs.add(mTab);
 218         }
 219
 220         public void unregisterTab(AltosDroidTab mTab) {
 221                 mTabs.remove(mTab);
 222         }
 223
 224         public void units_changed(boolean imperial_units) {
 225                 for (AltosDroidTab mTab : mTabs)
 226                         mTab.units_changed(imperial_units);
 227         }
 228
 229         void update_title(TelemetryState telemetry_state) {
 230                 switch (telemetry_state.connect) {
 231                 case TelemetryState.CONNECT_CONNECTED:
 232                         if (telemetry_state.config != null) {
 233                                 String str = String.format("S/N %d %6.3f MHz%s", telemetry_state.config.serial,
 234                                                            telemetry_state.frequency, idle_mode ? " (idle)" : "");
 235                                 if (telemetry_state.telemetry_rate != AltosLib.ao_telemetry_rate_38400)
 236                                         str = str.concat(String.format(" %d bps",
 237                                                                        AltosLib.ao_telemetry_rate_values[telemetry_state.telemetry_rate]));
 238                                 setTitle(str);
 239                         } else {
 240                                 setTitle(R.string.title_connected_to);
 241                         }
 242                         break;
 243                 case TelemetryState.CONNECT_CONNECTING:
 244                         if (telemetry_state.address != null)
 245                                 setTitle(String.format("Connecting to %s...", telemetry_state.address.name));
 246                         else
 247                                 setTitle("Connecting to something...");
 248                         break;
 249                 case TelemetryState.CONNECT_DISCONNECTED:
 250                 case TelemetryState.CONNECT_NONE:
 251                         setTitle(R.string.title_not_connected);
 252                         break;
 253                 }
 254         }
 255
 256         void start_timer() {
 257                 if (timer == null) {
 258                         timer = new Timer();
 259                         timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 1000L, 1000L);
 260                 }
 261         }
 262
 263         void stop_timer() {
 264                 if (timer != null) {
 265                         timer.cancel();
 266                         timer.purge();
 267                         timer = null;
 268                 }
 269         }
 270
 271         int     selected_serial = 0;
 272         int     current_serial;
 273         long    switch_time;
 274
 275         void set_switch_time() {
 276                 switch_time = System.currentTimeMillis();
 277                 selected_serial = 0;
 278         }
 279
 280         boolean registered_units_listener;
 281
 282         void update_state(TelemetryState new_telemetry_state) {
 283
 284                 if (new_telemetry_state != null)
 285                         telemetry_state = new_telemetry_state;
 286
 287                 if (selected_serial != 0)
 288                         current_serial = selected_serial;
 289
 290                 if (current_serial == 0)
 291                         current_serial = telemetry_state.latest_serial;
 292
 293                 if (!registered_units_listener) {
 294                         registered_units_listener = true;
 295                         AltosPreferences.register_units_listener(this);
 296                 }
 297
 298                 serials = telemetry_state.states.keySet().toArray(new Integer[0]);
 299                 Arrays.sort(serials);
 300
 301                 update_title(telemetry_state);
 302
 303                 AltosState      state = null;
 304                 boolean         aged = true;
 305
 306                 if (telemetry_state.states.containsKey(current_serial)) {
 307                         state = telemetry_state.states.get(current_serial);
 308                         int age = state_age(state);
 309                         if (age < 20)
 310                                 aged = false;
 311                         if (current_serial == selected_serial)
 312                                 aged = false;
 313                         else if (switch_time != 0 && (switch_time - state.received_time) > 0)
 314                                 aged = true;
 315                 }
 316
 317                 if (aged) {
 318                         AltosState      newest_state = null;
 319                         int             newest_age = 0;
 320
 321                         for (int serial : telemetry_state.states.keySet()) {
 322                                 AltosState      existing = telemetry_state.states.get(serial);
 323                                 int             existing_age = state_age(existing);
 324
 325                                 if (newest_state == null || existing_age < newest_age) {
 326                                         newest_state = existing;
 327                                         newest_age = existing_age;
 328                                 }
 329                         }
 330
 331                         if (newest_state != null)
 332                                 state = newest_state;
 333                 }
 334
 335                 update_ui(telemetry_state, state);
 336
 337                 start_timer();
 338         }
 339
 340         boolean same_string(String a, String b) {
 341                 if (a == null) {
 342                         if (b == null)
 343                                 return true;
 344                         return false;
 345                 } else {
 346                         if (b == null)
 347                                 return false;
 348                         return a.equals(b);
 349                 }
 350         }
 351
 352
 353         private int blend_component(int a, int b, double r, int shift, int mask) {
 354                 return ((int) (((a >> shift) & mask) * r + ((b >> shift) & mask) * (1 - r)) & mask) << shift;
 355         }
 356         private int blend_color(int a, int b, double r) {
 357                 return (blend_component(a, b, r, 0, 0xff) |
 358                         blend_component(a, b, r, 8, 0xff) |
 359                         blend_component(a, b, r, 16, 0xff) |
 360                         blend_component(a, b, r, 24, 0xff));
 361         }
 362
 363         int state_age(AltosState state) {
 364                 return (int) ((System.currentTimeMillis() - state.received_time + 500) / 1000);
 365         }
 366
 367         void set_screen_on(int age) {
 368                 if (age < 60)
 369                         getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 370                 else
 371                         getWindow().clearFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 372         }
 373
 374         void update_age() {
 375                 if (saved_state != null) {
 376                         int age = state_age(saved_state);
 377
 378                         double age_scale = age / 100.0;
 379
 380                         if (age_scale > 1.0)
 381                                 age_scale = 1.0;
 382
 383                         mAgeView.setTextColor(blend_color(mAgeOldColor, mAgeNewColor, age_scale));
 384
 385                         set_screen_on(age);
 386
 387                         String  text;
 388                         if (age < 60)
 389                                 text = String.format("%ds", age);
 390                         else if (age < 60 * 60)
 391                                 text = String.format("%dm", age / 60);
 392                         else if (age < 60 * 60 * 24)
 393                                 text = String.format("%dh", age / (60 * 60));
 394                         else
 395                                 text = String.format("%dd", age / (24 * 60 * 60));
 396                         mAgeView.setText(text);
 397                 }
 398         }
 399
 400         void update_ui(TelemetryState telem_state, AltosState state) {
 401
 402                 int prev_state = AltosLib.ao_flight_invalid;
 403
 404                 AltosGreatCircle from_receiver = null;
 405
 406                 if (saved_state != null)
 407                         prev_state = saved_state.state();
 408
 409                 if (state != null) {
 410                         set_screen_on(state_age(state));
 411
 412                         if (state.state() == AltosLib.ao_flight_stateless) {
 413                                 boolean prev_locked = false;
 414                                 boolean locked = false;
 415
 416                                 if(state.gps != null)
 417                                         locked = state.gps.locked;
 418                                 if (saved_state != null && saved_state.gps != null)
 419                                         prev_locked = saved_state.gps.locked;
 420                                 if (prev_locked != locked) {
 421                                         String currentTab = mTabHost.getCurrentTabTag();
 422                                         if (locked) {
 423                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 424                                         } else {
 425                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_pad_name);
 426                                         }
 427                                 }
 428                         } else {
 429                                 if (prev_state != state.state()) {
 430                                         String currentTab = mTabHost.getCurrentTabTag();
 431                                         switch (state.state()) {
 432                                         case AltosLib.ao_flight_boost:
 433                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 434                                                 break;
 435                                         case AltosLib.ao_flight_landed:
 436                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_recover_name);
 437                                                 break;
 438                                         case AltosLib.ao_flight_stateless:
 439                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 440                                                 break;
 441                                         }
 442                                 }
 443                         }
 444
 445                         if (location != null && state.gps != null && state.gps.locked) {
 446                                 double altitude = 0;
 447                                 if (location.hasAltitude())
 448                                         altitude = location.getAltitude();
 449                                 from_receiver = new AltosGreatCircle(location.getLatitude(),
 450                                                                      location.getLongitude(),
 451                                                                      altitude,
 452                                                                      state.gps.lat,
 453                                                                      state.gps.lon,
 454                                                                      state.gps.alt);
 455                         }
 456
 457                         if (saved_state == null || !same_string(saved_state.callsign, state.callsign)) {
 458                                 mCallsignView.setText(state.callsign);
 459                         }
 460                         if (saved_state == null || state.serial != saved_state.serial) {
 461                                 if (state.serial == AltosLib.MISSING)
 462                                         mSerialView.setText("");
 463                                 else
 464                                         mSerialView.setText(String.format("%d", state.serial));
 465                         }
 466                         if (saved_state == null || state.flight != saved_state.flight) {
 467                                 if (state.flight == AltosLib.MISSING)
 468                                         mFlightView.setText("");
 469                                 else
 470                                         mFlightView.setText(String.format("%d", state.flight));
 471                         }
 472                         if (saved_state == null || state.state() != saved_state.state()) {
 473                                 if (state.state() == AltosLib.ao_flight_stateless) {
 474                                         mStateLayout.setVisibility(View.GONE);
 475                                 } else {
 476                                         mStateView.setText(state.state_name());
 477                                         mStateLayout.setVisibility(View.VISIBLE);
 478                                 }
 479                         }
 480                         if (saved_state == null || state.rssi != saved_state.rssi) {
 481                                 if (state.rssi == AltosLib.MISSING)
 482                                         mRSSIView.setText("");
 483                                 else
 484                                         mRSSIView.setText(String.format("%d", state.rssi));
 485                         }
 486                 }
 487
 488                 for (AltosDroidTab mTab : mTabs)
 489                         mTab.update_ui(telem_state, state, from_receiver, location, mTab == mTabsAdapter.currentItem());
 490
 491                 if (mAltosVoice != null)
 492                         mAltosVoice.tell(telem_state, state, from_receiver, location, (AltosDroidTab) mTabsAdapter.currentItem());
 493
 494                 saved_state = state;
 495         }
 496
 497         private void onTimerTick() {
 498                 try {
 499                         mMessenger.send(Message.obtain(null, MSG_UPDATE_AGE));
 500                 } catch (RemoteException e) {
 501                 }
 502         }
 503
 504         static String pos(double p, String pos, String neg) {
 505                 String  h = pos;
 506                 if (p == AltosLib.MISSING)
 507                         return "";
 508                 if (p < 0) {
 509                         h = neg;
 510                         p = -p;
 511                 }
 512                 int deg = (int) Math.floor(p);
 513                 double min = (p - Math.floor(p)) * 60.0;
 514                 return String.format("%d°%9.4f\" %s", deg, min, h);
 515         }
 516
 517         static String number(String format, double value) {
 518                 if (value == AltosLib.MISSING)
 519                         return "";
 520                 return String.format(format, value);
 521         }
 522
 523         static String integer(String format, int value) {
 524                 if (value == AltosLib.MISSING)
 525                         return "";
 526                 return String.format(format, value);
 527         }
 528
 529         private View create_tab_view(String label) {
 530                 LayoutInflater inflater = (LayoutInflater) this.getLayoutInflater();
 531                 View tab_view = inflater.inflate(R.layout.tab_layout, null);
 532                 TextView text_view = (TextView) tab_view.findViewById (R.id.tabLabel);
 533                 text_view.setText(label);
 534                 return tab_view;
 535         }
 536
 537         public void set_map_source(int source) {
 538                 for (AltosDroidTab mTab : mTabs)
 539                         mTab.set_map_source(source);
 540         }
 541
 542         @Override
 543         public void onCreate(Bundle savedInstanceState) {
 544                 super.onCreate(savedInstanceState);
 545                 AltosDebug.init(this);
 546                 AltosDebug.debug("+++ ON CREATE +++");
 547
 548                 // Initialise preferences
 549                 AltosDroidPreferences.init(this);
 550
 551                 fm = getSupportFragmentManager();
 552
 553                 // Set up the window layout
 554                 setContentView(R.layout.altosdroid);
 555
 556                 // Create the Tabs and ViewPager
 557                 mTabHost = (TabHost)findViewById(android.R.id.tabhost);
 558                 mTabHost.setup();
 559
 560                 mViewPager = (AltosViewPager)findViewById(R.id.pager);
 561                 mViewPager.setOffscreenPageLimit(4);
 562
 563                 mTabsAdapter = new TabsAdapter(this, mTabHost, mViewPager);
 564
 565                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_pad_name).setIndicator(create_tab_view("Pad")), TabPad.class, null);
 566                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_flight_name).setIndicator(create_tab_view("Flight")), TabFlight.class, null);
 567                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_recover_name).setIndicator(create_tab_view("Recover")), TabRecover.class, null);
 568                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_map_name).setIndicator(create_tab_view("Map")), TabMap.class, null);
 569
 570                 // Display the Version
 571                 mVersion = (TextView) findViewById(R.id.version);
 572                 mVersion.setText("Version: " + BuildInfo.version +
 573                                  "  Built: " + BuildInfo.builddate + " " + BuildInfo.buildtime + " " + BuildInfo.buildtz +
 574                                  "  (" + BuildInfo.branch + "-" + BuildInfo.commitnum + "-" + BuildInfo.commithash + ")");
 575
 576                 mCallsignView  = (TextView) findViewById(R.id.callsign_value);
 577                 mRSSIView      = (TextView) findViewById(R.id.rssi_value);
 578                 mSerialView    = (TextView) findViewById(R.id.serial_value);
 579                 mFlightView    = (TextView) findViewById(R.id.flight_value);
 580                 mStateLayout   = (RelativeLayout) findViewById(R.id.state_container);
 581                 mStateView     = (TextView) findViewById(R.id.state_value);
 582                 mAgeView       = (TextView) findViewById(R.id.age_value);
 583                 mAgeNewColor   = mAgeView.getTextColors().getDefaultColor();
 584                 mAgeOldColor   = getResources().getColor(R.color.old_color);
 585         }
 586
 587         private void ensureBluetooth() {
 588                 // Get local Bluetooth adapter
 589                 mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
 590
 591                 /* if there is a BT adapter and it isn't turned on, then turn it on */
 592                 if (mBluetoothAdapter != null && !mBluetoothAdapter.isEnabled()) {
 593                         Intent enableIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
 594                         startActivityForResult(enableIntent, AltosDroid.REQUEST_ENABLE_BT);
 595                 }
 596         }
 597
 598         private boolean check_usb() {
 599                 UsbDevice       device = AltosUsb.find_device(this, AltosLib.product_basestation);
 600
 601                 if (device != null) {
 602                         Intent          i = new Intent(this, AltosDroid.class);
 603                         PendingIntent   pi = PendingIntent.getActivity(this, 0, new Intent("hello world", null, this, AltosDroid.class), 0);
 604
 605                         if (AltosUsb.request_permission(this, device, pi)) {
 606                                 connectUsb(device);
 607                         }
 608                         start_with_usb = true;
 609                         return true;
 610                 }
 611
 612                 start_with_usb = false;
 613
 614                 return false;
 615         }
 616
 617         private void noticeIntent(Intent intent) {
 618
 619                 /* Ok, this is pretty convenient.
 620                  *
 621                  * When a USB device is plugged in, and our 'hotplug'
 622                  * intent registration fires, we get an Intent with
 623                  * EXTRA_DEVICE set.
 624                  *
 625                  * When we start up and see a usb device and request
 626                  * permission to access it, that queues a
 627                  * PendingIntent, which has the EXTRA_DEVICE added in,
 628                  * along with the EXTRA_PERMISSION_GRANTED field as
 629                  * well.
 630                  *
 631                  * So, in both cases, we get the device name using the
 632                  * same call. We check to see if access was granted,
 633                  * in which case we ignore the device field and do our
 634                  * usual startup thing.
 635                  */
 636
 637                 UsbDevice device = (UsbDevice) intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
 638                 boolean granted = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, true);
 639
 640                 AltosDebug.debug("intent %s device %s granted %s", intent, device, granted);
 641
 642                 if (!granted)
 643                         device = null;
 644
 645                 if (device != null) {
 646                         AltosDebug.debug("intent has usb device " + device.toString());
 647                         connectUsb(device);
 648                 } else {
 649
 650                         /* 'granted' is only false if this intent came
 651                          * from the request_permission call and
 652                          * permission was denied. In which case, we
 653                          * don't want to loop forever...
 654                          */
 655                         if (granted) {
 656                                 AltosDebug.debug("check for a USB device at startup");
 657                                 if (check_usb())
 658                                         return;
 659                         }
 660                         AltosDebug.debug("Starting by looking for bluetooth devices");
 661                         ensureBluetooth();
 662                 }
 663         }
 664
 665         @Override
 666         public void onStart() {
 667                 super.onStart();
 668                 AltosDebug.debug("++ ON START ++");
 669
 670                 set_switch_time();
 671
 672                 noticeIntent(getIntent());
 673
 674                 // Start Telemetry Service
 675                 String  action = start_with_usb ? ACTION_USB : ACTION_BLUETOOTH;
 676
 677                 startService(new Intent(action, null, AltosDroid.this, TelemetryService.class));
 678
 679                 doBindService();
 680
 681                 if (mAltosVoice == null)
 682                         mAltosVoice = new AltosVoice(this);
 683
 684         }
 685
 686         @Override
 687         public void onNewIntent(Intent intent) {
 688                 super.onNewIntent(intent);
 689                 AltosDebug.debug("onNewIntent");
 690                 noticeIntent(intent);
 691         }
 692
 693         @Override
 694         public void onResume() {
 695                 super.onResume();
 696                 AltosDebug.debug("+ ON RESUME +");
 697
 698                 // Listen for GPS and Network position updates
 699                 LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
 700                 locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this);
 701
 702                 location = locationManager.getLastKnownLocation(LocationManager.GPS_PROVIDER);
 703
 704                 if (location != null)
 705                         AltosDebug.debug("Resume, location is %f,%f\n",
 706                                          location.getLatitude(),
 707                                          location.getLongitude());
 708
 709                 update_ui(telemetry_state, saved_state);
 710         }
 711
 712         @Override
 713         public void onPause() {
 714                 super.onPause();
 715                 AltosDebug.debug("- ON PAUSE -");
 716                 // Stop listening for location updates
 717                 ((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this);
 718         }
 719
 720         @Override
 721         public void onStop() {
 722                 super.onStop();
 723                 AltosDebug.debug("-- ON STOP --");
 724         }
 725
 726         @Override
 727         public void onDestroy() {
 728                 super.onDestroy();
 729                 AltosDebug.debug("--- ON DESTROY ---");
 730
 731                 doUnbindService();
 732                 if (mAltosVoice != null) {
 733                         mAltosVoice.stop();
 734                         mAltosVoice = null;
 735                 }
 736                 stop_timer();
 737         }
 738
 739         protected void onActivityResult(int requestCode, int resultCode, Intent data) {
 740                 AltosDebug.debug("onActivityResult " + resultCode);
 741                 switch (requestCode) {
 742                 case REQUEST_CONNECT_DEVICE:
 743                         // When DeviceListActivity returns with a device to connect to
 744                         if (resultCode == Activity.RESULT_OK) {
 745                                 connectDevice(data);
 746                         }
 747                         break;
 748                 case REQUEST_ENABLE_BT:
 749                         // When the request to enable Bluetooth returns
 750                         if (resultCode == Activity.RESULT_OK) {
 751                                 // Bluetooth is now enabled, so set up a chat session
 752                                 //setupChat();
 753                                 AltosDebug.debug("BT enabled");
 754                                 bluetoothEnabled(data);
 755                         } else {
 756                                 // User did not enable Bluetooth or an error occured
 757                                 AltosDebug.debug("BT not enabled");
 758                         }
 759                         break;
 760                 case REQUEST_MAP_TYPE:
 761                         if (resultCode == Activity.RESULT_OK)
 762                                 set_map_type(data);
 763                         break;
 764                 case REQUEST_IDLE_MODE:
 765                         if (resultCode == Activity.RESULT_OK)
 766                                 idle_mode(data);
 767                         break;
 768                 case REQUEST_IGNITERS:
 769                         break;
 770                 }
 771         }
 772
 773         private void connectUsb(UsbDevice device) {
 774                 if (mService == null)
 775                         pending_usb_device = device;
 776                 else {
 777                         // Attempt to connect to the device
 778                         try {
 779                                 mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, device));
 780                                 AltosDebug.debug("Sent OPEN_USB message");
 781                         } catch (RemoteException e) {
 782                                 AltosDebug.debug("connect device message failed");
 783                         }
 784                 }
 785         }
 786
 787         private void bluetoothEnabled(Intent data) {
 788                 try {
 789                         mService.send(Message.obtain(null, TelemetryService.MSG_BLUETOOTH_ENABLED, null));
 790                 } catch (RemoteException e) {
 791                         AltosDebug.debug("send BT enabled message failed");
 792                 }
 793         }
 794
 795         private void connectDevice(Intent data) {
 796                 // Attempt to connect to the device
 797                 try {
 798                         String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS);
 799                         String name = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_NAME);
 800
 801                         AltosDebug.debug("Connecting to " + address + " " + name);
 802                         DeviceAddress   a = new DeviceAddress(address, name);
 803                         mService.send(Message.obtain(null, TelemetryService.MSG_CONNECT, a));
 804                         AltosDebug.debug("Sent connecting message");
 805                 } catch (RemoteException e) {
 806                         AltosDebug.debug("connect device message failed");
 807                 }
 808         }
 809
 810         private void disconnectDevice() {
 811                 try {
 812                         mService.send(Message.obtain(null, TelemetryService.MSG_DISCONNECT, null));
 813                 } catch (RemoteException e) {
 814                 }
 815         }
 816
 817         private void set_map_type(Intent data) {
 818                 int type = data.getIntExtra(MapTypeActivity.EXTRA_MAP_TYPE, -1);
 819
 820                 AltosDebug.debug("intent set_map_type %d\n", type);
 821                 if (type != -1) {
 822                         map_type = type;
 823                         for (AltosDroidTab mTab : mTabs)
 824                                 mTab.set_map_type(map_type);
 825                 }
 826         }
 827
 828         private void idle_mode(Intent data) {
 829                 int type = data.getIntExtra(IdleModeActivity.EXTRA_IDLE_RESULT, -1);
 830                 Message msg;
 831
 832                 AltosDebug.debug("intent idle_mode %d", type);
 833                 switch (type) {
 834                 case IdleModeActivity.IDLE_MODE_CONNECT:
 835                         msg = Message.obtain(null, TelemetryService.MSG_MONITOR_IDLE_START);
 836                         try {
 837                                 mService.send(msg);
 838                         } catch (RemoteException re) {
 839                         }
 840                         break;
 841                 case IdleModeActivity.IDLE_MODE_DISCONNECT:
 842                         msg = Message.obtain(null, TelemetryService.MSG_MONITOR_IDLE_STOP);
 843                         try {
 844                                 mService.send(msg);
 845                         } catch (RemoteException re) {
 846                         }
 847                         break;
 848                 case IdleModeActivity.IDLE_MODE_REBOOT:
 849                         msg = Message.obtain(null, TelemetryService.MSG_REBOOT);
 850                         try {
 851                                 mService.send(msg);
 852                         } catch (RemoteException re) {
 853                         }
 854                         break;
 855                 case IdleModeActivity.IDLE_MODE_IGNITERS:
 856                         Intent serverIntent = new Intent(this, IgniterActivity.class);
 857                         startActivityForResult(serverIntent, REQUEST_IGNITERS);
 858                         break;
 859                 }
 860         }
 861
 862         @Override
 863         public boolean onCreateOptionsMenu(Menu menu) {
 864                 MenuInflater inflater = getMenuInflater();
 865                 inflater.inflate(R.menu.option_menu, menu);
 866                 return true;
 867         }
 868
 869         void setFrequency(double freq) {
 870                 try {
 871                         mService.send(Message.obtain(null, TelemetryService.MSG_SETFREQUENCY, freq));
 872                         set_switch_time();
 873                 } catch (RemoteException e) {
 874                 }
 875         }
 876
 877         void setFrequency(String freq) {
 878                 try {
 879                         setFrequency (AltosParse.parse_double_net(freq.substring(11, 17)));
 880                 } catch (ParseException e) {
 881                 }
 882         }
 883
 884         void setBaud(int baud) {
 885                 try {
 886                         mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD, baud));
 887                         set_switch_time();
 888                 } catch (RemoteException e) {
 889                 }
 890         }
 891
 892         void setBaud(String baud) {
 893                 try {
 894                         int     value = Integer.parseInt(baud);
 895                         int     rate = AltosLib.ao_telemetry_rate_38400;
 896                         switch (value) {
 897                         case 2400:
 898                                 rate = AltosLib.ao_telemetry_rate_2400;
 899                                 break;
 900                         case 9600:
 901                                 rate = AltosLib.ao_telemetry_rate_9600;
 902                                 break;
 903                         case 38400:
 904                                 rate = AltosLib.ao_telemetry_rate_38400;
 905                                 break;
 906                         }
 907                         setBaud(rate);
 908                 } catch (NumberFormatException e) {
 909                 }
 910         }
 911
 912         void select_tracker(int serial) {
 913                 int i;
 914
 915                 AltosDebug.debug("select tracker %d\n", serial);
 916
 917                 if (serial == selected_serial) {
 918                         AltosDebug.debug("%d already selected\n", serial);
 919                         return;
 920                 }
 921
 922                 if (serial != 0) {
 923                         for (i = 0; i < serials.length; i++)
 924                                 if (serials[i] == serial)
 925                                         break;
 926
 927                         if (i == serials.length) {
 928                                 AltosDebug.debug("attempt to select unknown tracker %d\n", serial);
 929                                 return;
 930                         }
 931                 }
 932
 933                 current_serial = selected_serial = serial;
 934                 update_state(null);
 935         }
 936
 937         void touch_trackers(Integer[] serials) {
 938                 AlertDialog.Builder builder_tracker = new AlertDialog.Builder(this);
 939                 builder_tracker.setTitle("Select Tracker");
 940                 final String[] trackers = new String[serials.length + 1];
 941                 trackers[0] = "Auto";
 942                 for (int i = 0; i < serials.length; i++)
 943                         trackers[i+1] = String.format("%d", serials[i]);
 944                 builder_tracker.setItems(trackers,
 945                                          new DialogInterface.OnClickListener() {
 946                                                  public void onClick(DialogInterface dialog, int item) {
 947                                                          if (item == 0)
 948                                                                  select_tracker(0);
 949                                                          else
 950                                                                  select_tracker(Integer.parseInt(trackers[item]));
 951                                                  }
 952                                          });
 953                 AlertDialog alert_tracker = builder_tracker.create();
 954                 alert_tracker.show();
 955         }
 956
 957         void delete_track(int serial) {
 958                 try {
 959                         mService.send(Message.obtain(null, TelemetryService.MSG_DELETE_SERIAL, (Integer) serial));
 960                 } catch (Exception ex) {
 961                 }
 962         }
 963
 964         @Override
 965         public boolean onOptionsItemSelected(MenuItem item) {
 966                 Intent serverIntent = null;
 967                 switch (item.getItemId()) {
 968                 case R.id.connect_scan:
 969                         ensureBluetooth();
 970                         // Launch the DeviceListActivity to see devices and do scan
 971                         serverIntent = new Intent(this, DeviceListActivity.class);
 972                         startActivityForResult(serverIntent, REQUEST_CONNECT_DEVICE);
 973                         return true;
 974                 case R.id.disconnect:
 975                         /* Disconnect the device
 976                          */
 977                         disconnectDevice();
 978                         return true;
 979                 case R.id.quit:
 980                         AltosDebug.debug("R.id.quit");
 981                         disconnectDevice();
 982                         finish();
 983                         return true;
 984                 case R.id.select_freq:
 985                         // Set the TBT radio frequency
 986
 987                         final String[] frequencies = {
 988                                 "Channel 0 (434.550MHz)",
 989                                 "Channel 1 (434.650MHz)",
 990                                 "Channel 2 (434.750MHz)",
 991                                 "Channel 3 (434.850MHz)",
 992                                 "Channel 4 (434.950MHz)",
 993                                 "Channel 5 (435.050MHz)",
 994                                 "Channel 6 (435.150MHz)",
 995                                 "Channel 7 (435.250MHz)",
 996                                 "Channel 8 (435.350MHz)",
 997                                 "Channel 9 (435.450MHz)"
 998                         };
 999
1000                         AlertDialog.Builder builder_freq = new AlertDialog.Builder(this);
1001                         builder_freq.setTitle("Pick a frequency");
1002                         builder_freq.setItems(frequencies,
1003                                          new DialogInterface.OnClickListener() {
1004                                                  public void onClick(DialogInterface dialog, int item) {
1005                                                          setFrequency(frequencies[item]);
1006                                                  }
1007                                          });
1008                         AlertDialog alert_freq = builder_freq.create();
1009                         alert_freq.show();
1010                         return true;
1011                 case R.id.select_rate:
1012                         // Set the TBT baud rate
1013
1014                         final String[] rates = {
1015                                 "38400",
1016                                 "9600",
1017                                 "2400",
1018                         };
1019
1020                         AlertDialog.Builder builder_rate = new AlertDialog.Builder(this);
1021                         builder_rate.setTitle("Pick a baud rate");
1022                         builder_rate.setItems(rates,
1023                                          new DialogInterface.OnClickListener() {
1024                                                  public void onClick(DialogInterface dialog, int item) {
1025                                                          setBaud(rates[item]);
1026                                                  }
1027                                          });
1028                         AlertDialog alert_rate = builder_rate.create();
1029                         alert_rate.show();
1030                         return true;
1031                 case R.id.change_units:
1032                         boolean imperial = AltosPreferences.imperial_units();
1033                         AltosPreferences.set_imperial_units(!imperial);
1034                         return true;
1035                 case R.id.preload_maps:
1036                         serverIntent = new Intent(this, PreloadMapActivity.class);
1037                         startActivityForResult(serverIntent, REQUEST_PRELOAD_MAPS);
1038                         return true;
1039                 case R.id.map_type:
1040                         serverIntent = new Intent(this, MapTypeActivity.class);
1041                         startActivityForResult(serverIntent, REQUEST_MAP_TYPE);
1042                         return true;
1043                 case R.id.map_source:
1044                         int source = AltosDroidPreferences.map_source();
1045                         int new_source = source == AltosDroidPreferences.MAP_SOURCE_ONLINE ? AltosDroidPreferences.MAP_SOURCE_OFFLINE : AltosDroidPreferences.MAP_SOURCE_ONLINE;
1046                         AltosDroidPreferences.set_map_source(new_source);
1047                         set_map_source(new_source);
1048                         return true;
1049                 case R.id.select_tracker:
1050                         if (serials != null) {
1051                                 String[] trackers = new String[serials.length+1];
1052                                 trackers[0] = "Auto";
1053                                 for (int i = 0; i < serials.length; i++)
1054                                         trackers[i+1] = String.format("%d", serials[i]);
1055                                 AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
1056                                 builder_serial.setTitle("Select a tracker");
1057                                 builder_serial.setItems(trackers,
1058                                                         new DialogInterface.OnClickListener() {
1059                                                                 public void onClick(DialogInterface dialog, int item) {
1060                                                                         if (item == 0)
1061                                                                                 select_tracker(0);
1062                                                                         else
1063                                                                                 select_tracker(serials[item-1]);
1064                                                                 }
1065                                                         });
1066                                 AlertDialog alert_serial = builder_serial.create();
1067                                 alert_serial.show();
1068
1069                         }
1070                         return true;
1071                 case R.id.delete_track:
1072                         if (serials != null) {
1073                                 String[] trackers = new String[serials.length];
1074                                 for (int i = 0; i < serials.length; i++)
1075                                         trackers[i] = String.format("%d", serials[i]);
1076                                 AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
1077                                 builder_serial.setTitle("Delete a track");
1078                                 builder_serial.setItems(trackers,
1079                                                         new DialogInterface.OnClickListener() {
1080                                                                 public void onClick(DialogInterface dialog, int item) {
1081                                                                         delete_track(serials[item]);
1082                                                                 }
1083                                                         });
1084                                 AlertDialog alert_serial = builder_serial.create();
1085                                 alert_serial.show();
1086
1087                         }
1088                         return true;
1089                 case R.id.idle_mode:
1090                         serverIntent = new Intent(this, IdleModeActivity.class);
1091                         serverIntent.putExtra(EXTRA_IDLE_MODE, idle_mode);
1092                         startActivityForResult(serverIntent, REQUEST_IDLE_MODE);
1093                         return true;
1094                 }
1095                 return false;
1096         }
1097
1098         static String direction(AltosGreatCircle from_receiver,
1099                                 Location receiver) {
1100                 if (from_receiver == null)
1101                         return null;
1102
1103                 if (receiver == null)
1104                         return null;
1105
1106                 if (!receiver.hasBearing())
1107                         return null;
1108
1109                 float   bearing = receiver.getBearing();
1110                 float   heading = (float) from_receiver.bearing - bearing;
1111
1112                 while (heading <= -180.0f)
1113                         heading += 360.0f;
1114                 while (heading > 180.0f)
1115                         heading -= 360.0f;
1116
1117                 int iheading = (int) (heading + 0.5f);
1118
1119                 if (-1 < iheading && iheading < 1)
1120                         return "ahead";
1121                 else if (iheading < -179 || 179 < iheading)
1122                         return "backwards";
1123                 else if (iheading < 0)
1124                         return String.format("left %d°", -iheading);
1125                 else
1126                         return String.format("right %d°", iheading);
1127         }
1128
1129         public void onLocationChanged(Location location) {
1130                 this.location = location;
1131                 AltosDebug.debug("Location changed to %f,%f",
1132                                  location.getLatitude(),
1133                                  location.getLongitude());
1134                 update_ui(telemetry_state, saved_state);
1135         }
1136
1137         public void onStatusChanged(String provider, int status, Bundle extras) {
1138                 AltosDebug.debug("Location status now %d\n", status);
1139         }
1140
1141         public void onProviderEnabled(String provider) {
1142                 AltosDebug.debug("Location provider enabled %s\n", provider);
1143         }
1144
1145         public void onProviderDisabled(String provider) {
1146                 AltosDebug.debug("Location provider disabled %s\n", provider);
1147         }
1148 }