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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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 package org.altusmetrum.AltosDroid;
  20
  21 import java.lang.ref.WeakReference;
  22 import java.text.*;
  23 import java.util.*;
  24 import java.io.*;
  25
  26 import android.app.Activity;
  27 import android.app.PendingIntent;
  28 import android.bluetooth.BluetoothAdapter;
  29 import android.bluetooth.BluetoothDevice;
  30 import android.content.Intent;
  31 import android.content.Context;
  32 import android.content.ComponentName;
  33 import android.content.ServiceConnection;
  34 import android.content.DialogInterface;
  35 import android.os.IBinder;
  36 import android.os.Bundle;
  37 import android.os.Handler;
  38 import android.os.Message;
  39 import android.os.Messenger;
  40 import android.os.RemoteException;
  41 import android.content.res.Resources;
  42 import android.support.v4.app.FragmentActivity;
  43 import android.support.v4.app.FragmentManager;
  44 import android.util.DisplayMetrics;
  45 import android.view.*;
  46 import android.widget.*;
  47 import android.app.AlertDialog;
  48 import android.location.Location;
  49 import android.location.LocationManager;
  50 import android.location.LocationListener;
  51 import android.hardware.usb.*;
  52 import android.graphics.*;
  53 import android.graphics.drawable.*;
  54
  55 import org.altusmetrum.altoslib_11.*;
  56
  57 public class AltosDroid extends FragmentActivity implements AltosUnitsListener, LocationListener {
  58
  59         // Actions sent to the telemetry server at startup time
  60
  61         public static final String ACTION_BLUETOOTH = "org.altusmetrum.AltosDroid.BLUETOOTH";
  62         public static final String ACTION_USB = "org.altusmetrum.AltosDroid.USB";
  63
  64         // Message types received by our Handler
  65
  66         public static final int MSG_STATE           = 1;
  67         public static final int MSG_UPDATE_AGE      = 2;
  68         public static final int MSG_IDLE_MODE       = 3;
  69         public static final int MSG_IGNITER_STATUS  = 4;
  70
  71         // Intent request codes
  72         public static final int REQUEST_CONNECT_DEVICE = 1;
  73         public static final int REQUEST_ENABLE_BT      = 2;
  74         public static final int REQUEST_PRELOAD_MAPS   = 3;
  75         public static final int REQUEST_IDLE_MODE      = 5;
  76         public static final int REQUEST_IGNITERS       = 6;
  77         public static final int REQUEST_SETUP          = 7;
  78
  79         public static final String EXTRA_IDLE_MODE = "idle_mode";
  80         public static final String EXTRA_IDLE_RESULT = "idle_result";
  81         public static final String EXTRA_TELEMETRY_SERVICE = "telemetry_service";
  82
  83         // Setup result bits
  84         public static final int SETUP_BAUD = 1;
  85         public static final int SETUP_UNITS = 2;
  86         public static final int SETUP_MAP_SOURCE = 4;
  87         public static final int SETUP_MAP_TYPE = 8;
  88
  89         public static FragmentManager   fm;
  90
  91         private BluetoothAdapter mBluetoothAdapter = null;
  92
  93         // Flight state values
  94         private TextView mCallsignView;
  95         private TextView mRSSIView;
  96         private TextView mSerialView;
  97         private TextView mFlightView;
  98         private RelativeLayout mStateLayout;
  99         private TextView mStateView;
 100         private TextView mAgeView;
 101         private boolean  mAgeViewOld;
 102         private int mAgeNewColor;
 103         private int mAgeOldColor;
 104
 105         public static final String      tab_pad_name = "pad";
 106         public static final String      tab_flight_name = "flight";
 107         public static final String      tab_recover_name = "recover";
 108         public static final String      tab_map_name = "map";
 109
 110         // field to display the version at the bottom of the screen
 111         private TextView mVersion;
 112
 113         private boolean idle_mode = false;
 114
 115         public Location location = null;
 116
 117         // Tabs
 118         TabHost         mTabHost;
 119         AltosViewPager  mViewPager;
 120         TabsAdapter     mTabsAdapter;
 121         ArrayList<AltosDroidTab> mTabs = new ArrayList<AltosDroidTab>();
 122         int             tabHeight;
 123
 124         // Timer and Saved flight state for Age calculation
 125         private Timer timer;
 126         AltosState saved_state;
 127         TelemetryState  telemetry_state;
 128         Integer[]       serials;
 129
 130         UsbDevice       pending_usb_device;
 131         boolean         start_with_usb;
 132
 133         // Service
 134         private boolean mIsBound   = false;
 135         private Messenger mService = null;
 136         final Messenger mMessenger = new Messenger(new IncomingHandler(this));
 137
 138         // Text to Speech
 139         private AltosVoice mAltosVoice = null;
 140
 141         // The Handler that gets information back from the Telemetry Service
 142         static class IncomingHandler extends Handler {
 143                 private final WeakReference<AltosDroid> mAltosDroid;
 144                 IncomingHandler(AltosDroid ad) { mAltosDroid = new WeakReference<AltosDroid>(ad); }
 145
 146                 @Override
 147                 public void handleMessage(Message msg) {
 148                         AltosDroid ad = mAltosDroid.get();
 149
 150                         switch (msg.what) {
 151                         case MSG_STATE:
 152                                 if (msg.obj == null) {
 153                                         AltosDebug.debug("telemetry_state null!");
 154                                         return;
 155                                 }
 156                                 ad.update_state((TelemetryState) msg.obj);
 157                                 break;
 158                         case MSG_UPDATE_AGE:
 159                                 ad.update_age();
 160                                 break;
 161                         case MSG_IDLE_MODE:
 162                                 ad.idle_mode = (Boolean) msg.obj;
 163                                 ad.update_state(null);
 164                                 break;
 165                         }
 166                 }
 167         };
 168
 169
 170         private ServiceConnection mConnection = new ServiceConnection() {
 171                 public void onServiceConnected(ComponentName className, IBinder service) {
 172                         mService = new Messenger(service);
 173                         try {
 174                                 Message msg = Message.obtain(null, TelemetryService.MSG_REGISTER_CLIENT);
 175                                 msg.replyTo = mMessenger;
 176                                 mService.send(msg);
 177                         } catch (RemoteException e) {
 178                                 // In this case the service has crashed before we could even do anything with it
 179                         }
 180                         if (pending_usb_device != null) {
 181                                 try {
 182                                         mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, pending_usb_device));
 183                                         pending_usb_device = null;
 184                                 } catch (RemoteException e) {
 185                                 }
 186                         }
 187                 }
 188
 189                 public void onServiceDisconnected(ComponentName className) {
 190                         // This is called when the connection with the service has been unexpectedly disconnected - process crashed.
 191                         mService = null;
 192                 }
 193         };
 194
 195         void doBindService() {
 196                 bindService(new Intent(this, TelemetryService.class), mConnection, Context.BIND_AUTO_CREATE);
 197                 mIsBound = true;
 198         }
 199
 200         void doUnbindService() {
 201                 if (mIsBound) {
 202                         // If we have received the service, and hence registered with it, then now is the time to unregister.
 203                         if (mService != null) {
 204                                 try {
 205                                         Message msg = Message.obtain(null, TelemetryService.MSG_UNREGISTER_CLIENT);
 206                                         msg.replyTo = mMessenger;
 207                                         mService.send(msg);
 208                                 } catch (RemoteException e) {
 209                                         // There is nothing special we need to do if the service has crashed.
 210                                 }
 211                         }
 212                         // Detach our existing connection.
 213                         unbindService(mConnection);
 214                         mIsBound = false;
 215                 }
 216         }
 217
 218         public void registerTab(AltosDroidTab mTab) {
 219                 mTabs.add(mTab);
 220         }
 221
 222         public void unregisterTab(AltosDroidTab mTab) {
 223                 mTabs.remove(mTab);
 224         }
 225
 226         public void units_changed(boolean imperial_units) {
 227                 for (AltosDroidTab mTab : mTabs)
 228                         mTab.units_changed(imperial_units);
 229         }
 230
 231         void update_title(TelemetryState telemetry_state) {
 232                 switch (telemetry_state.connect) {
 233                 case TelemetryState.CONNECT_CONNECTED:
 234                         if (telemetry_state.config != null) {
 235                                 String str = String.format("S/N %d %6.3f MHz%s", telemetry_state.config.serial,
 236                                                            telemetry_state.frequency, idle_mode ? " (idle)" : "");
 237                                 if (telemetry_state.telemetry_rate != AltosLib.ao_telemetry_rate_38400)
 238                                         str = str.concat(String.format(" %d bps",
 239                                                                        AltosLib.ao_telemetry_rate_values[telemetry_state.telemetry_rate]));
 240                                 setTitle(str);
 241                         } else {
 242                                 setTitle(R.string.title_connected_to);
 243                         }
 244                         break;
 245                 case TelemetryState.CONNECT_CONNECTING:
 246                         if (telemetry_state.address != null)
 247                                 setTitle(String.format("Connecting to %s...", telemetry_state.address.name));
 248                         else
 249                                 setTitle("Connecting to something...");
 250                         break;
 251                 case TelemetryState.CONNECT_DISCONNECTED:
 252                 case TelemetryState.CONNECT_NONE:
 253                         setTitle(R.string.title_not_connected);
 254                         break;
 255                 }
 256         }
 257
 258         void start_timer() {
 259                 if (timer == null) {
 260                         timer = new Timer();
 261                         timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 1000L, 1000L);
 262                 }
 263         }
 264
 265         void stop_timer() {
 266                 if (timer != null) {
 267                         timer.cancel();
 268                         timer.purge();
 269                         timer = null;
 270                 }
 271         }
 272
 273         int     selected_serial = 0;
 274         int     current_serial;
 275         long    switch_time;
 276
 277         void set_switch_time() {
 278                 switch_time = System.currentTimeMillis();
 279                 selected_serial = 0;
 280         }
 281
 282         boolean registered_units_listener;
 283
 284         void update_state(TelemetryState new_telemetry_state) {
 285
 286                 if (new_telemetry_state != null)
 287                         telemetry_state = new_telemetry_state;
 288
 289                 if (selected_serial != 0)
 290                         current_serial = selected_serial;
 291
 292                 if (current_serial == 0)
 293                         current_serial = telemetry_state.latest_serial;
 294
 295                 if (!registered_units_listener) {
 296                         registered_units_listener = true;
 297                         AltosPreferences.register_units_listener(this);
 298                 }
 299
 300                 serials = telemetry_state.states.keySet().toArray(new Integer[0]);
 301                 Arrays.sort(serials);
 302
 303                 update_title(telemetry_state);
 304
 305                 AltosState      state = null;
 306                 boolean         aged = true;
 307
 308                 if (telemetry_state.states.containsKey(current_serial)) {
 309                         state = telemetry_state.states.get(current_serial);
 310                         int age = state_age(state);
 311                         if (age < 20)
 312                                 aged = false;
 313                         if (current_serial == selected_serial)
 314                                 aged = false;
 315                         else if (switch_time != 0 && (switch_time - state.received_time) > 0)
 316                                 aged = true;
 317                 }
 318
 319                 if (aged) {
 320                         AltosState      newest_state = null;
 321                         int             newest_age = 0;
 322
 323                         for (int serial : telemetry_state.states.keySet()) {
 324                                 AltosState      existing = telemetry_state.states.get(serial);
 325                                 int             existing_age = state_age(existing);
 326
 327                                 if (newest_state == null || existing_age < newest_age) {
 328                                         newest_state = existing;
 329                                         newest_age = existing_age;
 330                                 }
 331                         }
 332
 333                         if (newest_state != null)
 334                                 state = newest_state;
 335                 }
 336
 337                 update_ui(telemetry_state, state);
 338
 339                 start_timer();
 340         }
 341
 342         boolean same_string(String a, String b) {
 343                 if (a == null) {
 344                         if (b == null)
 345                                 return true;
 346                         return false;
 347                 } else {
 348                         if (b == null)
 349                                 return false;
 350                         return a.equals(b);
 351                 }
 352         }
 353
 354
 355         private int blend_component(int a, int b, double r, int shift, int mask) {
 356                 return ((int) (((a >> shift) & mask) * r + ((b >> shift) & mask) * (1 - r)) & mask) << shift;
 357         }
 358         private int blend_color(int a, int b, double r) {
 359                 return (blend_component(a, b, r, 0, 0xff) |
 360                         blend_component(a, b, r, 8, 0xff) |
 361                         blend_component(a, b, r, 16, 0xff) |
 362                         blend_component(a, b, r, 24, 0xff));
 363         }
 364
 365         int state_age(AltosState state) {
 366                 return (int) ((System.currentTimeMillis() - state.received_time + 500) / 1000);
 367         }
 368
 369         void set_screen_on(int age) {
 370                 if (age < 60)
 371                         getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 372                 else
 373                         getWindow().clearFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 374         }
 375
 376         void update_age() {
 377                 if (saved_state != null) {
 378                         int age = state_age(saved_state);
 379
 380                         double age_scale = age / 100.0;
 381
 382                         if (age_scale > 1.0)
 383                                 age_scale = 1.0;
 384
 385                         mAgeView.setTextColor(blend_color(mAgeOldColor, mAgeNewColor, age_scale));
 386
 387                         set_screen_on(age);
 388
 389                         String  text;
 390                         if (age < 60)
 391                                 text = String.format("%ds", age);
 392                         else if (age < 60 * 60)
 393                                 text = String.format("%dm", age / 60);
 394                         else if (age < 60 * 60 * 24)
 395                                 text = String.format("%dh", age / (60 * 60));
 396                         else
 397                                 text = String.format("%dd", age / (24 * 60 * 60));
 398                         mAgeView.setText(text);
 399                 }
 400         }
 401
 402         void update_ui(TelemetryState telem_state, AltosState state) {
 403
 404                 int prev_state = AltosLib.ao_flight_invalid;
 405
 406                 AltosGreatCircle from_receiver = null;
 407
 408                 if (saved_state != null)
 409                         prev_state = saved_state.state();
 410
 411                 if (state != null) {
 412                         set_screen_on(state_age(state));
 413
 414                         if (state.state() == AltosLib.ao_flight_stateless) {
 415                                 boolean prev_locked = false;
 416                                 boolean locked = false;
 417
 418                                 if(state.gps != null)
 419                                         locked = state.gps.locked;
 420                                 if (saved_state != null && saved_state.gps != null)
 421                                         prev_locked = saved_state.gps.locked;
 422                                 if (prev_locked != locked) {
 423                                         String currentTab = mTabHost.getCurrentTabTag();
 424                                         if (locked) {
 425                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 426                                         } else {
 427                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_pad_name);
 428                                         }
 429                                 }
 430                         } else {
 431                                 if (prev_state != state.state()) {
 432                                         String currentTab = mTabHost.getCurrentTabTag();
 433                                         switch (state.state()) {
 434                                         case AltosLib.ao_flight_boost:
 435                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 436                                                 break;
 437                                         case AltosLib.ao_flight_landed:
 438                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_recover_name);
 439                                                 break;
 440                                         case AltosLib.ao_flight_stateless:
 441                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 442                                                 break;
 443                                         }
 444                                 }
 445                         }
 446
 447                         if (location != null && state.gps != null && state.gps.locked) {
 448                                 double altitude = 0;
 449                                 if (location.hasAltitude())
 450                                         altitude = location.getAltitude();
 451                                 from_receiver = new AltosGreatCircle(location.getLatitude(),
 452                                                                      location.getLongitude(),
 453                                                                      altitude,
 454                                                                      state.gps.lat,
 455                                                                      state.gps.lon,
 456                                                                      state.gps.alt);
 457                         }
 458
 459                         if (saved_state == null || !same_string(saved_state.callsign, state.callsign)) {
 460                                 mCallsignView.setText(state.callsign);
 461                         }
 462                         if (saved_state == null || state.serial != saved_state.serial) {
 463                                 if (state.serial == AltosLib.MISSING)
 464                                         mSerialView.setText("");
 465                                 else
 466                                         mSerialView.setText(String.format("%d", state.serial));
 467                         }
 468                         if (saved_state == null || state.flight != saved_state.flight) {
 469                                 if (state.flight == AltosLib.MISSING)
 470                                         mFlightView.setText("");
 471                                 else
 472                                         mFlightView.setText(String.format("%d", state.flight));
 473                         }
 474                         if (saved_state == null || state.state() != saved_state.state()) {
 475                                 if (state.state() == AltosLib.ao_flight_stateless) {
 476                                         mStateLayout.setVisibility(View.GONE);
 477                                 } else {
 478                                         mStateView.setText(state.state_name());
 479                                         mStateLayout.setVisibility(View.VISIBLE);
 480                                 }
 481                         }
 482                         if (saved_state == null || state.rssi != saved_state.rssi) {
 483                                 if (state.rssi == AltosLib.MISSING)
 484                                         mRSSIView.setText("");
 485                                 else
 486                                         mRSSIView.setText(String.format("%d", state.rssi));
 487                         }
 488                 }
 489
 490                 for (AltosDroidTab mTab : mTabs)
 491                         mTab.update_ui(telem_state, state, from_receiver, location, mTab == mTabsAdapter.currentItem());
 492
 493                 if (mAltosVoice != null)
 494                         mAltosVoice.tell(telem_state, state, from_receiver, location, (AltosDroidTab) mTabsAdapter.currentItem());
 495
 496                 saved_state = state;
 497         }
 498
 499         private void onTimerTick() {
 500                 try {
 501                         mMessenger.send(Message.obtain(null, MSG_UPDATE_AGE));
 502                 } catch (RemoteException e) {
 503                 }
 504         }
 505
 506         static String pos(double p, String pos, String neg) {
 507                 String  h = pos;
 508                 if (p == AltosLib.MISSING)
 509                         return "";
 510                 if (p < 0) {
 511                         h = neg;
 512                         p = -p;
 513                 }
 514                 int deg = (int) Math.floor(p);
 515                 double min = (p - Math.floor(p)) * 60.0;
 516                 return String.format("%d°%9.4f\" %s", deg, min, h);
 517         }
 518
 519         static String number(String format, double value) {
 520                 if (value == AltosLib.MISSING)
 521                         return "";
 522                 return String.format(format, value);
 523         }
 524
 525         static String integer(String format, int value) {
 526                 if (value == AltosLib.MISSING)
 527                         return "";
 528                 return String.format(format, value);
 529         }
 530
 531         private View create_tab_view(String label) {
 532                 LayoutInflater inflater = (LayoutInflater) this.getLayoutInflater();
 533                 View tab_view = inflater.inflate(R.layout.tab_layout, null);
 534                 TextView text_view = (TextView) tab_view.findViewById (R.id.tabLabel);
 535                 text_view.setText(label);
 536                 return tab_view;
 537         }
 538
 539         @Override
 540         public void onCreate(Bundle savedInstanceState) {
 541                 super.onCreate(savedInstanceState);
 542                 AltosDebug.init(this);
 543                 AltosDebug.debug("+++ ON CREATE +++");
 544
 545                 // Initialise preferences
 546                 AltosDroidPreferences.init(this);
 547
 548                 fm = getSupportFragmentManager();
 549
 550                 // Set up the window layout
 551                 setContentView(R.layout.altosdroid);
 552
 553                 // Create the Tabs and ViewPager
 554                 mTabHost = (TabHost)findViewById(android.R.id.tabhost);
 555                 mTabHost.setup();
 556
 557                 mViewPager = (AltosViewPager)findViewById(R.id.pager);
 558                 mViewPager.setOffscreenPageLimit(4);
 559
 560                 mTabsAdapter = new TabsAdapter(this, mTabHost, mViewPager);
 561
 562                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_pad_name).setIndicator(create_tab_view("Pad")), TabPad.class, null);
 563                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_flight_name).setIndicator(create_tab_view("Flight")), TabFlight.class, null);
 564                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_recover_name).setIndicator(create_tab_view("Recover")), TabRecover.class, null);
 565                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_map_name).setIndicator(create_tab_view("Map")), TabMap.class, null);
 566
 567                 // Display the Version
 568                 mVersion = (TextView) findViewById(R.id.version);
 569                 mVersion.setText("Version: " + BuildInfo.version +
 570                                  "  Built: " + BuildInfo.builddate + " " + BuildInfo.buildtime + " " + BuildInfo.buildtz +
 571                                  "  (" + BuildInfo.branch + "-" + BuildInfo.commitnum + "-" + BuildInfo.commithash + ")");
 572
 573                 mCallsignView  = (TextView) findViewById(R.id.callsign_value);
 574                 mRSSIView      = (TextView) findViewById(R.id.rssi_value);
 575                 mSerialView    = (TextView) findViewById(R.id.serial_value);
 576                 mFlightView    = (TextView) findViewById(R.id.flight_value);
 577                 mStateLayout   = (RelativeLayout) findViewById(R.id.state_container);
 578                 mStateView     = (TextView) findViewById(R.id.state_value);
 579                 mAgeView       = (TextView) findViewById(R.id.age_value);
 580                 mAgeNewColor   = mAgeView.getTextColors().getDefaultColor();
 581                 mAgeOldColor   = getResources().getColor(R.color.old_color);
 582         }
 583
 584         private void ensureBluetooth() {
 585                 // Get local Bluetooth adapter
 586                 mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
 587
 588                 /* if there is a BT adapter and it isn't turned on, then turn it on */
 589                 if (mBluetoothAdapter != null && !mBluetoothAdapter.isEnabled()) {
 590                         Intent enableIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
 591                         startActivityForResult(enableIntent, AltosDroid.REQUEST_ENABLE_BT);
 592                 }
 593         }
 594
 595         private boolean check_usb() {
 596                 UsbDevice       device = AltosUsb.find_device(this, AltosLib.product_basestation);
 597
 598                 if (device != null) {
 599                         Intent          i = new Intent(this, AltosDroid.class);
 600                         PendingIntent   pi = PendingIntent.getActivity(this, 0, new Intent("hello world", null, this, AltosDroid.class), 0);
 601
 602                         if (AltosUsb.request_permission(this, device, pi)) {
 603                                 connectUsb(device);
 604                         }
 605                         start_with_usb = true;
 606                         return true;
 607                 }
 608
 609                 start_with_usb = false;
 610
 611                 return false;
 612         }
 613
 614         private void noticeIntent(Intent intent) {
 615
 616                 /* Ok, this is pretty convenient.
 617                  *
 618                  * When a USB device is plugged in, and our 'hotplug'
 619                  * intent registration fires, we get an Intent with
 620                  * EXTRA_DEVICE set.
 621                  *
 622                  * When we start up and see a usb device and request
 623                  * permission to access it, that queues a
 624                  * PendingIntent, which has the EXTRA_DEVICE added in,
 625                  * along with the EXTRA_PERMISSION_GRANTED field as
 626                  * well.
 627                  *
 628                  * So, in both cases, we get the device name using the
 629                  * same call. We check to see if access was granted,
 630                  * in which case we ignore the device field and do our
 631                  * usual startup thing.
 632                  */
 633
 634                 UsbDevice device = (UsbDevice) intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
 635                 boolean granted = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, true);
 636
 637                 AltosDebug.debug("intent %s device %s granted %s", intent, device, granted);
 638
 639                 if (!granted)
 640                         device = null;
 641
 642                 if (device != null) {
 643                         AltosDebug.debug("intent has usb device " + device.toString());
 644                         connectUsb(device);
 645                 } else {
 646
 647                         /* 'granted' is only false if this intent came
 648                          * from the request_permission call and
 649                          * permission was denied. In which case, we
 650                          * don't want to loop forever...
 651                          */
 652                         if (granted) {
 653                                 AltosDebug.debug("check for a USB device at startup");
 654                                 if (check_usb())
 655                                         return;
 656                         }
 657                         AltosDebug.debug("Starting by looking for bluetooth devices");
 658                         ensureBluetooth();
 659                 }
 660         }
 661
 662         @Override
 663         public void onStart() {
 664                 super.onStart();
 665                 AltosDebug.debug("++ ON START ++");
 666
 667                 set_switch_time();
 668
 669                 noticeIntent(getIntent());
 670
 671                 // Start Telemetry Service
 672                 String  action = start_with_usb ? ACTION_USB : ACTION_BLUETOOTH;
 673
 674                 startService(new Intent(action, null, AltosDroid.this, TelemetryService.class));
 675
 676                 doBindService();
 677
 678                 if (mAltosVoice == null)
 679                         mAltosVoice = new AltosVoice(this);
 680
 681         }
 682
 683         @Override
 684         public void onNewIntent(Intent intent) {
 685                 super.onNewIntent(intent);
 686                 AltosDebug.debug("onNewIntent");
 687                 noticeIntent(intent);
 688         }
 689
 690         @Override
 691         public void onResume() {
 692                 super.onResume();
 693                 AltosDebug.debug("+ ON RESUME +");
 694
 695                 // Listen for GPS and Network position updates
 696                 LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
 697                 locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this);
 698
 699                 location = locationManager.getLastKnownLocation(LocationManager.GPS_PROVIDER);
 700
 701                 if (location != null)
 702                         AltosDebug.debug("Resume, location is %f,%f\n",
 703                                          location.getLatitude(),
 704                                          location.getLongitude());
 705
 706                 update_ui(telemetry_state, saved_state);
 707         }
 708
 709         @Override
 710         public void onPause() {
 711                 super.onPause();
 712                 AltosDebug.debug("- ON PAUSE -");
 713                 // Stop listening for location updates
 714                 ((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this);
 715         }
 716
 717         @Override
 718         public void onStop() {
 719                 super.onStop();
 720                 AltosDebug.debug("-- ON STOP --");
 721         }
 722
 723         @Override
 724         public void onDestroy() {
 725                 super.onDestroy();
 726                 AltosDebug.debug("--- ON DESTROY ---");
 727
 728                 doUnbindService();
 729                 if (mAltosVoice != null) {
 730                         mAltosVoice.stop();
 731                         mAltosVoice = null;
 732                 }
 733                 stop_timer();
 734         }
 735
 736         protected void onActivityResult(int requestCode, int resultCode, Intent data) {
 737                 AltosDebug.debug("onActivityResult " + resultCode);
 738                 switch (requestCode) {
 739                 case REQUEST_CONNECT_DEVICE:
 740                         // When DeviceListActivity returns with a device to connect to
 741                         if (resultCode == Activity.RESULT_OK) {
 742                                 connectDevice(data);
 743                         }
 744                         break;
 745                 case REQUEST_ENABLE_BT:
 746                         // When the request to enable Bluetooth returns
 747                         if (resultCode == Activity.RESULT_OK) {
 748                                 // Bluetooth is now enabled, so set up a chat session
 749                                 //setupChat();
 750                                 AltosDebug.debug("BT enabled");
 751                                 bluetoothEnabled(data);
 752                         } else {
 753                                 // User did not enable Bluetooth or an error occured
 754                                 AltosDebug.debug("BT not enabled");
 755                         }
 756                         break;
 757                 case REQUEST_IDLE_MODE:
 758                         if (resultCode == Activity.RESULT_OK)
 759                                 idle_mode(data);
 760                         break;
 761                 case REQUEST_IGNITERS:
 762                         break;
 763                 case REQUEST_SETUP:
 764                         if (resultCode == Activity.RESULT_OK)
 765                                 note_setup_changes(data);
 766                         break;
 767                 }
 768         }
 769
 770         private void note_setup_changes(Intent data) {
 771                 int changes = data.getIntExtra(SetupActivity.EXTRA_SETUP_CHANGES, 0);
 772
 773                 if ((changes & SETUP_BAUD) != 0) {
 774                         try {
 775                                 mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD,
 776                                                              AltosPreferences.telemetry_rate(1)));
 777                         } catch (RemoteException re) {
 778                         }
 779                 }
 780                 if ((changes & SETUP_UNITS) != 0) {
 781                         /* nothing to do here */
 782                 }
 783                 if ((changes & SETUP_MAP_SOURCE) != 0) {
 784                         /* nothing to do here */
 785                 }
 786                 if ((changes & SETUP_MAP_TYPE) != 0) {
 787                         /* nothing to do here */
 788                 }
 789                 set_switch_time();
 790         }
 791
 792         private void connectUsb(UsbDevice device) {
 793                 if (mService == null)
 794                         pending_usb_device = device;
 795                 else {
 796                         // Attempt to connect to the device
 797                         try {
 798                                 mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, device));
 799                                 AltosDebug.debug("Sent OPEN_USB message");
 800                         } catch (RemoteException e) {
 801                                 AltosDebug.debug("connect device message failed");
 802                         }
 803                 }
 804         }
 805
 806         private void bluetoothEnabled(Intent data) {
 807                 try {
 808                         mService.send(Message.obtain(null, TelemetryService.MSG_BLUETOOTH_ENABLED, null));
 809                 } catch (RemoteException e) {
 810                         AltosDebug.debug("send BT enabled message failed");
 811                 }
 812         }
 813
 814         private void connectDevice(Intent data) {
 815                 // Attempt to connect to the device
 816                 try {
 817                         String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS);
 818                         String name = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_NAME);
 819
 820                         AltosDebug.debug("Connecting to " + address + " " + name);
 821                         DeviceAddress   a = new DeviceAddress(address, name);
 822                         mService.send(Message.obtain(null, TelemetryService.MSG_CONNECT, a));
 823                         AltosDebug.debug("Sent connecting message");
 824                 } catch (RemoteException e) {
 825                         AltosDebug.debug("connect device message failed");
 826                 }
 827         }
 828
 829         private void disconnectDevice(boolean remember) {
 830                 try {
 831                         mService.send(Message.obtain(null, TelemetryService.MSG_DISCONNECT, (Boolean) remember));
 832                 } catch (RemoteException e) {
 833                 }
 834         }
 835
 836         private void idle_mode(Intent data) {
 837                 int type = data.getIntExtra(IdleModeActivity.EXTRA_IDLE_RESULT, -1);
 838                 Message msg;
 839
 840                 AltosDebug.debug("intent idle_mode %d", type);
 841                 switch (type) {
 842                 case IdleModeActivity.IDLE_MODE_CONNECT:
 843                         msg = Message.obtain(null, TelemetryService.MSG_MONITOR_IDLE_START);
 844                         try {
 845                                 mService.send(msg);
 846                         } catch (RemoteException re) {
 847                         }
 848                         break;
 849                 case IdleModeActivity.IDLE_MODE_DISCONNECT:
 850                         msg = Message.obtain(null, TelemetryService.MSG_MONITOR_IDLE_STOP);
 851                         try {
 852                                 mService.send(msg);
 853                         } catch (RemoteException re) {
 854                         }
 855                         break;
 856                 case IdleModeActivity.IDLE_MODE_REBOOT:
 857                         msg = Message.obtain(null, TelemetryService.MSG_REBOOT);
 858                         try {
 859                                 mService.send(msg);
 860                         } catch (RemoteException re) {
 861                         }
 862                         break;
 863                 case IdleModeActivity.IDLE_MODE_IGNITERS:
 864                         Intent serverIntent = new Intent(this, IgniterActivity.class);
 865                         startActivityForResult(serverIntent, REQUEST_IGNITERS);
 866                         break;
 867                 }
 868         }
 869
 870         @Override
 871         public boolean onCreateOptionsMenu(Menu menu) {
 872                 MenuInflater inflater = getMenuInflater();
 873                 inflater.inflate(R.menu.option_menu, menu);
 874                 return true;
 875         }
 876
 877         void setFrequency(double freq) {
 878                 try {
 879                         mService.send(Message.obtain(null, TelemetryService.MSG_SETFREQUENCY, freq));
 880                         set_switch_time();
 881                 } catch (RemoteException e) {
 882                 }
 883         }
 884
 885         void setFrequency(AltosFrequency frequency) {
 886                 setFrequency (frequency.frequency);
 887         }
 888
 889         void setBaud(int baud) {
 890                 try {
 891                         mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD, baud));
 892                         set_switch_time();
 893                 } catch (RemoteException e) {
 894                 }
 895         }
 896
 897         void setBaud(String baud) {
 898                 try {
 899                         int     value = Integer.parseInt(baud);
 900                         int     rate = AltosLib.ao_telemetry_rate_38400;
 901                         switch (value) {
 902                         case 2400:
 903                                 rate = AltosLib.ao_telemetry_rate_2400;
 904                                 break;
 905                         case 9600:
 906                                 rate = AltosLib.ao_telemetry_rate_9600;
 907                                 break;
 908                         case 38400:
 909                                 rate = AltosLib.ao_telemetry_rate_38400;
 910                                 break;
 911                         }
 912                         setBaud(rate);
 913                 } catch (NumberFormatException e) {
 914                 }
 915         }
 916
 917         void select_tracker(int serial) {
 918                 int i;
 919
 920                 AltosDebug.debug("select tracker %d\n", serial);
 921
 922                 if (serial == selected_serial) {
 923                         AltosDebug.debug("%d already selected\n", serial);
 924                         return;
 925                 }
 926
 927                 if (serial != 0) {
 928                         for (i = 0; i < serials.length; i++)
 929                                 if (serials[i] == serial)
 930                                         break;
 931
 932                         if (i == serials.length) {
 933                                 AltosDebug.debug("attempt to select unknown tracker %d\n", serial);
 934                                 return;
 935                         }
 936                 }
 937
 938                 current_serial = selected_serial = serial;
 939                 update_state(null);
 940         }
 941
 942         void touch_trackers(Integer[] serials) {
 943                 AlertDialog.Builder builder_tracker = new AlertDialog.Builder(this);
 944                 builder_tracker.setTitle("Select Tracker");
 945                 final String[] trackers = new String[serials.length + 1];
 946                 trackers[0] = "Auto";
 947                 for (int i = 0; i < serials.length; i++)
 948                         trackers[i+1] = String.format("%d", serials[i]);
 949                 builder_tracker.setItems(trackers,
 950                                          new DialogInterface.OnClickListener() {
 951                                                  public void onClick(DialogInterface dialog, int item) {
 952                                                          if (item == 0)
 953                                                                  select_tracker(0);
 954                                                          else
 955                                                                  select_tracker(Integer.parseInt(trackers[item]));
 956                                                  }
 957                                          });
 958                 AlertDialog alert_tracker = builder_tracker.create();
 959                 alert_tracker.show();
 960         }
 961
 962         void delete_track(int serial) {
 963                 try {
 964                         mService.send(Message.obtain(null, TelemetryService.MSG_DELETE_SERIAL, (Integer) serial));
 965                 } catch (Exception ex) {
 966                 }
 967         }
 968
 969         @Override
 970         public boolean onOptionsItemSelected(MenuItem item) {
 971                 Intent serverIntent = null;
 972                 switch (item.getItemId()) {
 973                 case R.id.connect_scan:
 974                         ensureBluetooth();
 975                         // Launch the DeviceListActivity to see devices and do scan
 976                         serverIntent = new Intent(this, DeviceListActivity.class);
 977                         startActivityForResult(serverIntent, REQUEST_CONNECT_DEVICE);
 978                         return true;
 979                 case R.id.disconnect:
 980                         /* Disconnect the device
 981                          */
 982                         disconnectDevice(false);
 983                         return true;
 984                 case R.id.quit:
 985                         AltosDebug.debug("R.id.quit");
 986                         disconnectDevice(true);
 987                         finish();
 988                         return true;
 989                 case R.id.setup:
 990                         serverIntent = new Intent(this, SetupActivity.class);
 991                         startActivityForResult(serverIntent, REQUEST_SETUP);
 992                         return true;
 993                 case R.id.select_freq:
 994                         // Set the TBT radio frequency
 995
 996                         final AltosFrequency[] frequencies = AltosPreferences.common_frequencies();
 997                         String[] frequency_strings = new String[frequencies.length];
 998                         for (int i = 0; i < frequencies.length; i++)
 999                                 frequency_strings[i] = frequencies[i].toString();
1000
1001                         AlertDialog.Builder builder_freq = new AlertDialog.Builder(this);
1002                         builder_freq.setTitle("Pick a frequency");
1003                         builder_freq.setItems(frequency_strings,
1004                                          new DialogInterface.OnClickListener() {
1005                                                  public void onClick(DialogInterface dialog, int item) {
1006                                                          setFrequency(frequencies[item]);
1007                                                  }
1008                                          });
1009                         AlertDialog alert_freq = builder_freq.create();
1010                         alert_freq.show();
1011                         return true;
1012                 case R.id.select_tracker:
1013                         if (serials != null) {
1014                                 String[] trackers = new String[serials.length+1];
1015                                 trackers[0] = "Auto";
1016                                 for (int i = 0; i < serials.length; i++)
1017                                         trackers[i+1] = String.format("%d", serials[i]);
1018                                 AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
1019                                 builder_serial.setTitle("Select a tracker");
1020                                 builder_serial.setItems(trackers,
1021                                                         new DialogInterface.OnClickListener() {
1022                                                                 public void onClick(DialogInterface dialog, int item) {
1023                                                                         if (item == 0)
1024                                                                                 select_tracker(0);
1025                                                                         else
1026                                                                                 select_tracker(serials[item-1]);
1027                                                                 }
1028                                                         });
1029                                 AlertDialog alert_serial = builder_serial.create();
1030                                 alert_serial.show();
1031
1032                         }
1033                         return true;
1034                 case R.id.delete_track:
1035                         if (serials != null) {
1036                                 String[] trackers = new String[serials.length];
1037                                 for (int i = 0; i < serials.length; i++)
1038                                         trackers[i] = String.format("%d", serials[i]);
1039                                 AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
1040                                 builder_serial.setTitle("Delete a track");
1041                                 builder_serial.setItems(trackers,
1042                                                         new DialogInterface.OnClickListener() {
1043                                                                 public void onClick(DialogInterface dialog, int item) {
1044                                                                         delete_track(serials[item]);
1045                                                                 }
1046                                                         });
1047                                 AlertDialog alert_serial = builder_serial.create();
1048                                 alert_serial.show();
1049
1050                         }
1051                         return true;
1052                 case R.id.idle_mode:
1053                         serverIntent = new Intent(this, IdleModeActivity.class);
1054                         serverIntent.putExtra(EXTRA_IDLE_MODE, idle_mode);
1055                         startActivityForResult(serverIntent, REQUEST_IDLE_MODE);
1056                         return true;
1057                 }
1058                 return false;
1059         }
1060
1061         static String direction(AltosGreatCircle from_receiver,
1062                                 Location receiver) {
1063                 if (from_receiver == null)
1064                         return null;
1065
1066                 if (receiver == null)
1067                         return null;
1068
1069                 if (!receiver.hasBearing())
1070                         return null;
1071
1072                 float   bearing = receiver.getBearing();
1073                 float   heading = (float) from_receiver.bearing - bearing;
1074
1075                 while (heading <= -180.0f)
1076                         heading += 360.0f;
1077                 while (heading > 180.0f)
1078                         heading -= 360.0f;
1079
1080                 int iheading = (int) (heading + 0.5f);
1081
1082                 if (-1 < iheading && iheading < 1)
1083                         return "ahead";
1084                 else if (iheading < -179 || 179 < iheading)
1085                         return "backwards";
1086                 else if (iheading < 0)
1087                         return String.format("left %d°", -iheading);
1088                 else
1089                         return String.format("right %d°", iheading);
1090         }
1091
1092         public void onLocationChanged(Location location) {
1093                 this.location = location;
1094                 AltosDebug.debug("Location changed to %f,%f",
1095                                  location.getLatitude(),
1096                                  location.getLongitude());
1097                 update_ui(telemetry_state, saved_state);
1098         }
1099
1100         public void onStatusChanged(String provider, int status, Bundle extras) {
1101                 AltosDebug.debug("Location status now %d\n", status);
1102         }
1103
1104         public void onProviderEnabled(String provider) {
1105                 AltosDebug.debug("Location provider enabled %s\n", provider);
1106         }
1107
1108         public void onProviderDisabled(String provider) {
1109                 AltosDebug.debug("Location provider disabled %s\n", provider);
1110         }
1111 }