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   1 /*
   2  * Copyright © 2012-2013 Mike Beattie <mike@ethernal.org>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 package org.altusmetrum.AltosDroid;
  19
  20 import java.lang.ref.WeakReference;
  21 import java.text.*;
  22 import java.util.*;
  23 import java.io.*;
  24
  25 import android.app.Activity;
  26 import android.app.PendingIntent;
  27 import android.bluetooth.BluetoothAdapter;
  28 import android.bluetooth.BluetoothDevice;
  29 import android.content.Intent;
  30 import android.content.Context;
  31 import android.content.ComponentName;
  32 import android.content.ServiceConnection;
  33 import android.content.DialogInterface;
  34 import android.os.IBinder;
  35 import android.os.Bundle;
  36 import android.os.Handler;
  37 import android.os.Message;
  38 import android.os.Messenger;
  39 import android.os.RemoteException;
  40 import android.content.res.Resources;
  41 import android.support.v4.app.FragmentActivity;
  42 import android.support.v4.app.FragmentManager;
  43 import android.util.DisplayMetrics;
  44 import android.view.*;
  45 import android.widget.*;
  46 import android.app.AlertDialog;
  47 import android.location.Location;
  48 import android.hardware.usb.*;
  49 import android.graphics.*;
  50 import android.graphics.drawable.*;
  51
  52 import org.altusmetrum.altoslib_7.*;
  53
  54 public class AltosDroid extends FragmentActivity implements AltosUnitsListener {
  55
  56         // Actions sent to the telemetry server at startup time
  57
  58         public static final String ACTION_BLUETOOTH = "org.altusmetrum.AltosDroid.BLUETOOTH";
  59         public static final String ACTION_USB = "org.altusmetrum.AltosDroid.USB";
  60
  61         // Message types received by our Handler
  62
  63         public static final int MSG_STATE           = 1;
  64         public static final int MSG_UPDATE_AGE      = 2;
  65
  66         // Intent request codes
  67         public static final int REQUEST_CONNECT_DEVICE = 1;
  68         public static final int REQUEST_ENABLE_BT      = 2;
  69         public static final int REQUEST_PRELOAD_MAPS   = 3;
  70         public static final int REQUEST_MAP_TYPE       = 4;
  71
  72         public int map_type = AltosMap.maptype_hybrid;
  73
  74         public static FragmentManager   fm;
  75
  76         private BluetoothAdapter mBluetoothAdapter = null;
  77
  78         // Flight state values
  79         private TextView mCallsignView;
  80         private TextView mRSSIView;
  81         private TextView mSerialView;
  82         private TextView mFlightView;
  83         private RelativeLayout mStateLayout;
  84         private TextView mStateView;
  85         private TextView mAgeView;
  86         private boolean  mAgeViewOld;
  87         private int mAgeNewColor;
  88         private int mAgeOldColor;
  89
  90         // field to display the version at the bottom of the screen
  91         private TextView mVersion;
  92
  93         private double frequency;
  94         private int telemetry_rate;
  95
  96         // Tabs
  97         TabHost         mTabHost;
  98         AltosViewPager  mViewPager;
  99         TabsAdapter     mTabsAdapter;
 100         ArrayList<AltosDroidTab> mTabs = new ArrayList<AltosDroidTab>();
 101         int             tabHeight;
 102
 103         // Timer and Saved flight state for Age calculation
 104         private Timer timer;
 105         AltosState saved_state;
 106         TelemetryState  telemetry_state;
 107         Integer[]       serials;
 108
 109         UsbDevice       pending_usb_device;
 110         boolean         start_with_usb;
 111
 112         // Service
 113         private boolean mIsBound   = false;
 114         private Messenger mService = null;
 115         final Messenger mMessenger = new Messenger(new IncomingHandler(this));
 116
 117         // Text to Speech
 118         private AltosVoice mAltosVoice = null;
 119
 120         // The Handler that gets information back from the Telemetry Service
 121         static class IncomingHandler extends Handler {
 122                 private final WeakReference<AltosDroid> mAltosDroid;
 123                 IncomingHandler(AltosDroid ad) { mAltosDroid = new WeakReference<AltosDroid>(ad); }
 124
 125                 @Override
 126                 public void handleMessage(Message msg) {
 127                         AltosDroid ad = mAltosDroid.get();
 128
 129                         switch (msg.what) {
 130                         case MSG_STATE:
 131                                 AltosDebug.debug("MSG_STATE");
 132                                 if (msg.obj == null) {
 133                                         AltosDebug.debug("telemetry_state null!");
 134                                         return;
 135                                 }
 136                                 ad.update_state((TelemetryState) msg.obj);
 137                                 break;
 138                         case MSG_UPDATE_AGE:
 139                                 AltosDebug.debug("MSG_UPDATE_AGE");
 140                                 ad.update_age();
 141                                 break;
 142                         }
 143                 }
 144         };
 145
 146
 147         private ServiceConnection mConnection = new ServiceConnection() {
 148                 public void onServiceConnected(ComponentName className, IBinder service) {
 149                         mService = new Messenger(service);
 150                         try {
 151                                 Message msg = Message.obtain(null, TelemetryService.MSG_REGISTER_CLIENT);
 152                                 msg.replyTo = mMessenger;
 153                                 mService.send(msg);
 154                         } catch (RemoteException e) {
 155                                 // In this case the service has crashed before we could even do anything with it
 156                         }
 157                         if (pending_usb_device != null) {
 158                                 try {
 159                                         mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, pending_usb_device));
 160                                         pending_usb_device = null;
 161                                 } catch (RemoteException e) {
 162                                 }
 163                         }
 164                 }
 165
 166                 public void onServiceDisconnected(ComponentName className) {
 167                         // This is called when the connection with the service has been unexpectedly disconnected - process crashed.
 168                         mService = null;
 169                 }
 170         };
 171
 172         void doBindService() {
 173                 bindService(new Intent(this, TelemetryService.class), mConnection, Context.BIND_AUTO_CREATE);
 174                 mIsBound = true;
 175         }
 176
 177         void doUnbindService() {
 178                 if (mIsBound) {
 179                         // If we have received the service, and hence registered with it, then now is the time to unregister.
 180                         if (mService != null) {
 181                                 try {
 182                                         Message msg = Message.obtain(null, TelemetryService.MSG_UNREGISTER_CLIENT);
 183                                         msg.replyTo = mMessenger;
 184                                         mService.send(msg);
 185                                 } catch (RemoteException e) {
 186                                         // There is nothing special we need to do if the service has crashed.
 187                                 }
 188                         }
 189                         // Detach our existing connection.
 190                         unbindService(mConnection);
 191                         mIsBound = false;
 192                 }
 193         }
 194
 195         public void registerTab(AltosDroidTab mTab) {
 196                 mTabs.add(mTab);
 197         }
 198
 199         public void unregisterTab(AltosDroidTab mTab) {
 200                 mTabs.remove(mTab);
 201         }
 202
 203         public void units_changed(boolean imperial_units) {
 204                 for (AltosDroidTab mTab : mTabs)
 205                         mTab.units_changed(imperial_units);
 206         }
 207
 208         void update_title(TelemetryState telemetry_state) {
 209                 switch (telemetry_state.connect) {
 210                 case TelemetryState.CONNECT_CONNECTED:
 211                         if (telemetry_state.config != null) {
 212                                 String str = String.format("S/N %d %6.3f MHz", telemetry_state.config.serial,
 213                                                            telemetry_state.frequency);
 214                                 if (telemetry_state.telemetry_rate != AltosLib.ao_telemetry_rate_38400)
 215                                         str = str.concat(String.format(" %d bps",
 216                                                                        AltosLib.ao_telemetry_rate_values[telemetry_state.telemetry_rate]));
 217                                 setTitle(str);
 218                         } else {
 219                                 setTitle(R.string.title_connected_to);
 220                         }
 221                         break;
 222                 case TelemetryState.CONNECT_CONNECTING:
 223                         if (telemetry_state.address != null)
 224                                 setTitle(String.format("Connecting to %s...", telemetry_state.address.name));
 225                         else
 226                                 setTitle("Connecting to something...");
 227                         break;
 228                 case TelemetryState.CONNECT_DISCONNECTED:
 229                 case TelemetryState.CONNECT_NONE:
 230                         setTitle(R.string.title_not_connected);
 231                         break;
 232                 }
 233         }
 234
 235         void start_timer() {
 236                 if (timer == null) {
 237                         timer = new Timer();
 238                         timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 1000L, 1000L);
 239                 }
 240         }
 241
 242         void stop_timer() {
 243                 if (timer != null) {
 244                         timer.cancel();
 245                         timer.purge();
 246                         timer = null;
 247                 }
 248         }
 249
 250         int     selected_serial = 0;
 251         int     current_serial;
 252         long    switch_time;
 253
 254         void set_switch_time() {
 255                 switch_time = System.currentTimeMillis();
 256                 selected_serial = 0;
 257         }
 258
 259         boolean registered_units_listener;
 260
 261         void update_state(TelemetryState new_telemetry_state) {
 262
 263                 if (new_telemetry_state != null)
 264                         telemetry_state = new_telemetry_state;
 265
 266                 if (selected_serial != 0)
 267                         current_serial = selected_serial;
 268
 269                 if (current_serial == 0)
 270                         current_serial = telemetry_state.latest_serial;
 271
 272                 if (!registered_units_listener) {
 273                         registered_units_listener = true;
 274                         AltosPreferences.register_units_listener(this);
 275                 }
 276
 277                 serials = telemetry_state.states.keySet().toArray(new Integer[0]);
 278                 Arrays.sort(serials);
 279
 280                 update_title(telemetry_state);
 281
 282                 AltosState      state = null;
 283                 boolean         aged = true;
 284
 285                 if (telemetry_state.states.containsKey(current_serial)) {
 286                         state = telemetry_state.states.get(current_serial);
 287                         int age = state_age(state);
 288                         if (age < 20)
 289                                 aged = false;
 290                         if (current_serial == selected_serial)
 291                                 aged = false;
 292                         else if (switch_time != 0 && (switch_time - state.received_time) > 0)
 293                                 aged = true;
 294                 }
 295
 296                 if (aged) {
 297                         AltosState      newest_state = null;
 298                         int             newest_age = 0;
 299
 300                         for (int serial : telemetry_state.states.keySet()) {
 301                                 AltosState      existing = telemetry_state.states.get(serial);
 302                                 int             existing_age = state_age(existing);
 303
 304                                 if (newest_state == null || existing_age < newest_age) {
 305                                         newest_state = existing;
 306                                         newest_age = existing_age;
 307                                 }
 308                         }
 309
 310                         if (newest_state != null)
 311                                 state = newest_state;
 312                 }
 313
 314                 update_ui(telemetry_state, state, telemetry_state.location);
 315
 316                 start_timer();
 317         }
 318
 319         boolean same_string(String a, String b) {
 320                 if (a == null) {
 321                         if (b == null)
 322                                 return true;
 323                         return false;
 324                 } else {
 325                         if (b == null)
 326                                 return false;
 327                         return a.equals(b);
 328                 }
 329         }
 330
 331
 332         private int blend_component(int a, int b, double r, int shift, int mask) {
 333                 return ((int) (((a >> shift) & mask) * r + ((b >> shift) & mask) * (1 - r)) & mask) << shift;
 334         }
 335         private int blend_color(int a, int b, double r) {
 336                 return (blend_component(a, b, r, 0, 0xff) |
 337                         blend_component(a, b, r, 8, 0xff) |
 338                         blend_component(a, b, r, 16, 0xff) |
 339                         blend_component(a, b, r, 24, 0xff));
 340         }
 341
 342         int state_age(AltosState state) {
 343                 return (int) ((System.currentTimeMillis() - state.received_time + 500) / 1000);
 344         }
 345
 346         void set_screen_on(int age) {
 347                 if (age < 60)
 348                         getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 349                 else
 350                         getWindow().clearFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 351         }
 352
 353         void update_age() {
 354                 if (saved_state != null) {
 355                         int age = state_age(saved_state);
 356
 357                         double age_scale = age / 100.0;
 358
 359                         if (age_scale > 1.0)
 360                                 age_scale = 1.0;
 361
 362                         mAgeView.setTextColor(blend_color(mAgeOldColor, mAgeNewColor, age_scale));
 363
 364                         set_screen_on(age);
 365
 366                         String  text;
 367                         if (age < 60)
 368                                 text = String.format("%ds", age);
 369                         else if (age < 60 * 60)
 370                                 text = String.format("%dm", age / 60);
 371                         else if (age < 60 * 60 * 24)
 372                                 text = String.format("%dh", age / (60 * 60));
 373                         else
 374                                 text = String.format("%dd", age / (24 * 60 * 60));
 375                         mAgeView.setText(text);
 376                 }
 377         }
 378
 379         void update_ui(TelemetryState telem_state, AltosState state, Location location) {
 380
 381                 int prev_state = AltosLib.ao_flight_invalid;
 382
 383                 AltosGreatCircle from_receiver = null;
 384
 385                 if (saved_state != null)
 386                         prev_state = saved_state.state;
 387
 388                 if (state != null) {
 389                         set_screen_on(state_age(state));
 390
 391                         if (state.state == AltosLib.ao_flight_stateless) {
 392                                 boolean prev_locked = false;
 393                                 boolean locked = false;
 394
 395                                 if(state.gps != null)
 396                                         locked = state.gps.locked;
 397                                 if (saved_state != null && saved_state.gps != null)
 398                                         prev_locked = saved_state.gps.locked;
 399                                 if (prev_locked != locked) {
 400                                         String currentTab = mTabHost.getCurrentTabTag();
 401                                         if (locked) {
 402                                                 if (currentTab.equals("pad")) mTabHost.setCurrentTabByTag("flight");
 403                                         } else {
 404                                                 if (currentTab.equals("flight")) mTabHost.setCurrentTabByTag("pad");
 405                                         }
 406                                 }
 407                         } else {
 408                                 if (prev_state != state.state) {
 409                                         String currentTab = mTabHost.getCurrentTabTag();
 410                                         switch (state.state) {
 411                                         case AltosLib.ao_flight_boost:
 412                                                 if (currentTab.equals("pad")) mTabHost.setCurrentTabByTag("flight");
 413                                                 break;
 414                                         case AltosLib.ao_flight_landed:
 415                                                 if (currentTab.equals("flight")) mTabHost.setCurrentTabByTag("recover");
 416                                                 break;
 417                                         case AltosLib.ao_flight_stateless:
 418                                                 if (currentTab.equals("pad")) mTabHost.setCurrentTabByTag("flight");
 419                                                 break;
 420                                         }
 421                                 }
 422                         }
 423
 424                         if (location != null && state.gps != null && state.gps.locked) {
 425                                 double altitude = 0;
 426                                 if (location.hasAltitude())
 427                                         altitude = location.getAltitude();
 428                                 from_receiver = new AltosGreatCircle(location.getLatitude(),
 429                                                                      location.getLongitude(),
 430                                                                      altitude,
 431                                                                      state.gps.lat,
 432                                                                      state.gps.lon,
 433                                                                      state.gps.alt);
 434                         }
 435
 436                         if (saved_state == null || !same_string(saved_state.callsign, state.callsign)) {
 437                                 mCallsignView.setText(state.callsign);
 438                         }
 439                         if (saved_state == null || state.serial != saved_state.serial) {
 440                                 mSerialView.setText(String.format("%d", state.serial));
 441                         }
 442                         if (saved_state == null || state.flight != saved_state.flight) {
 443                                 if (state.flight == AltosLib.MISSING)
 444                                         mFlightView.setText("");
 445                                 else
 446                                         mFlightView.setText(String.format("%d", state.flight));
 447                         }
 448                         if (saved_state == null || state.state != saved_state.state) {
 449                                 if (state.state == AltosLib.ao_flight_stateless) {
 450                                         mStateLayout.setVisibility(View.GONE);
 451                                 } else {
 452                                         mStateView.setText(state.state_name());
 453                                         mStateLayout.setVisibility(View.VISIBLE);
 454                                 }
 455                         }
 456                         if (saved_state == null || state.rssi != saved_state.rssi) {
 457                                 mRSSIView.setText(String.format("%d", state.rssi));
 458                         }
 459                 }
 460
 461                 for (AltosDroidTab mTab : mTabs)
 462                         mTab.update_ui(telem_state, state, from_receiver, location, mTab == mTabsAdapter.currentItem());
 463
 464                 if (state != null && mAltosVoice != null)
 465                         mAltosVoice.tell(state, from_receiver);
 466
 467                 saved_state = state;
 468         }
 469
 470         private void onTimerTick() {
 471                 try {
 472                         mMessenger.send(Message.obtain(null, MSG_UPDATE_AGE));
 473                 } catch (RemoteException e) {
 474                 }
 475         }
 476
 477         static String pos(double p, String pos, String neg) {
 478                 String  h = pos;
 479                 if (p == AltosLib.MISSING)
 480                         return "";
 481                 if (p < 0) {
 482                         h = neg;
 483                         p = -p;
 484                 }
 485                 int deg = (int) Math.floor(p);
 486                 double min = (p - Math.floor(p)) * 60.0;
 487                 return String.format("%d°%9.4f\" %s", deg, min, h);
 488         }
 489
 490         static String number(String format, double value) {
 491                 if (value == AltosLib.MISSING)
 492                         return "";
 493                 return String.format(format, value);
 494         }
 495
 496         static String integer(String format, int value) {
 497                 if (value == AltosLib.MISSING)
 498                         return "";
 499                 return String.format(format, value);
 500         }
 501
 502         private View create_tab_view(String label) {
 503                 LayoutInflater inflater = (LayoutInflater) this.getLayoutInflater();
 504                 View tab_view = inflater.inflate(R.layout.tab_layout, null);
 505                 TextView text_view = (TextView) tab_view.findViewById (R.id.tabLabel);
 506                 text_view.setText(label);
 507                 return tab_view;
 508         }
 509
 510         public void set_map_source(int source) {
 511                 for (AltosDroidTab mTab : mTabs)
 512                         mTab.set_map_source(source);
 513         }
 514
 515         @Override
 516         public void onCreate(Bundle savedInstanceState) {
 517                 super.onCreate(savedInstanceState);
 518                 AltosDebug.init(this);
 519                 AltosDebug.debug("+++ ON CREATE +++");
 520
 521                 // Initialise preferences
 522                 AltosDroidPreferences.init(this);
 523
 524                 fm = getSupportFragmentManager();
 525
 526                 // Set up the window layout
 527                 setContentView(R.layout.altosdroid);
 528
 529                 // Create the Tabs and ViewPager
 530                 mTabHost = (TabHost)findViewById(android.R.id.tabhost);
 531                 mTabHost.setup();
 532
 533                 mViewPager = (AltosViewPager)findViewById(R.id.pager);
 534                 mViewPager.setOffscreenPageLimit(4);
 535
 536                 mTabsAdapter = new TabsAdapter(this, mTabHost, mViewPager);
 537
 538                 mTabsAdapter.addTab(mTabHost.newTabSpec("pad").setIndicator(create_tab_view("Pad")), TabPad.class, null);
 539                 mTabsAdapter.addTab(mTabHost.newTabSpec("flight").setIndicator(create_tab_view("Flight")), TabFlight.class, null);
 540                 mTabsAdapter.addTab(mTabHost.newTabSpec("recover").setIndicator(create_tab_view("Recover")), TabRecover.class, null);
 541                 mTabsAdapter.addTab(mTabHost.newTabSpec("map").setIndicator(create_tab_view("Map")), TabMap.class, null);
 542
 543                 // Display the Version
 544                 mVersion = (TextView) findViewById(R.id.version);
 545                 mVersion.setText("Version: " + BuildInfo.version +
 546                                  "  Built: " + BuildInfo.builddate + " " + BuildInfo.buildtime + " " + BuildInfo.buildtz +
 547                                  "  (" + BuildInfo.branch + "-" + BuildInfo.commitnum + "-" + BuildInfo.commithash + ")");
 548
 549                 mCallsignView  = (TextView) findViewById(R.id.callsign_value);
 550                 mRSSIView      = (TextView) findViewById(R.id.rssi_value);
 551                 mSerialView    = (TextView) findViewById(R.id.serial_value);
 552                 mFlightView    = (TextView) findViewById(R.id.flight_value);
 553                 mStateLayout   = (RelativeLayout) findViewById(R.id.state_container);
 554                 mStateView     = (TextView) findViewById(R.id.state_value);
 555                 mAgeView       = (TextView) findViewById(R.id.age_value);
 556                 mAgeNewColor   = mAgeView.getTextColors().getDefaultColor();
 557                 mAgeOldColor   = getResources().getColor(R.color.old_color);
 558         }
 559
 560         private boolean ensureBluetooth() {
 561                 // Get local Bluetooth adapter
 562                 mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
 563
 564                 // If the adapter is null, then Bluetooth is not supported
 565                 if (mBluetoothAdapter == null) {
 566                         Toast.makeText(this, "Bluetooth is not available", Toast.LENGTH_LONG).show();
 567                         return false;
 568                 }
 569
 570                 if (!mBluetoothAdapter.isEnabled()) {
 571                         Intent enableIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
 572                         startActivityForResult(enableIntent, AltosDroid.REQUEST_ENABLE_BT);
 573                 }
 574
 575                 return true;
 576         }
 577
 578         private boolean check_usb() {
 579                 UsbDevice       device = AltosUsb.find_device(this, AltosLib.product_basestation);
 580
 581                 if (device != null) {
 582                         Intent          i = new Intent(this, AltosDroid.class);
 583                         PendingIntent   pi = PendingIntent.getActivity(this, 0, new Intent("hello world", null, this, AltosDroid.class), 0);
 584
 585                         if (AltosUsb.request_permission(this, device, pi)) {
 586                                 connectUsb(device);
 587                         }
 588                         start_with_usb = true;
 589                         return true;
 590                 }
 591
 592                 start_with_usb = false;
 593
 594                 return false;
 595         }
 596
 597         private void noticeIntent(Intent intent) {
 598
 599                 /* Ok, this is pretty convenient.
 600                  *
 601                  * When a USB device is plugged in, and our 'hotplug'
 602                  * intent registration fires, we get an Intent with
 603                  * EXTRA_DEVICE set.
 604                  *
 605                  * When we start up and see a usb device and request
 606                  * permission to access it, that queues a
 607                  * PendingIntent, which has the EXTRA_DEVICE added in,
 608                  * along with the EXTRA_PERMISSION_GRANTED field as
 609                  * well.
 610                  *
 611                  * So, in both cases, we get the device name using the
 612                  * same call. We check to see if access was granted,
 613                  * in which case we ignore the device field and do our
 614                  * usual startup thing.
 615                  */
 616
 617                 UsbDevice device = (UsbDevice) intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
 618                 boolean granted = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, true);
 619
 620                 AltosDebug.debug("intent %s device %s granted %s", intent, device, granted);
 621
 622                 if (!granted)
 623                         device = null;
 624
 625                 if (device != null) {
 626                         AltosDebug.debug("intent has usb device " + device.toString());
 627                         connectUsb(device);
 628                 } else {
 629
 630                         /* 'granted' is only false if this intent came
 631                          * from the request_permission call and
 632                          * permission was denied. In which case, we
 633                          * don't want to loop forever...
 634                          */
 635                         if (granted) {
 636                                 AltosDebug.debug("check for a USB device at startup");
 637                                 if (check_usb())
 638                                         return;
 639                         }
 640                         AltosDebug.debug("Starting by looking for bluetooth devices");
 641                         if (ensureBluetooth())
 642                                 return;
 643                         finish();
 644                 }
 645         }
 646
 647         @Override
 648         public void onStart() {
 649                 super.onStart();
 650                 AltosDebug.debug("++ ON START ++");
 651
 652                 noticeIntent(getIntent());
 653
 654                 // Start Telemetry Service
 655                 String  action = start_with_usb ? ACTION_USB : ACTION_BLUETOOTH;
 656
 657                 startService(new Intent(action, null, AltosDroid.this, TelemetryService.class));
 658
 659                 doBindService();
 660
 661                 if (mAltosVoice == null)
 662                         mAltosVoice = new AltosVoice(this);
 663
 664         }
 665
 666         @Override
 667         public void onNewIntent(Intent intent) {
 668                 super.onNewIntent(intent);
 669                 AltosDebug.debug("onNewIntent");
 670                 noticeIntent(intent);
 671         }
 672
 673         @Override
 674         public void onResume() {
 675                 super.onResume();
 676                 AltosDebug.debug("+ ON RESUME +");
 677         }
 678
 679         @Override
 680         public void onPause() {
 681                 super.onPause();
 682                 AltosDebug.debug("- ON PAUSE -");
 683         }
 684
 685         @Override
 686         public void onStop() {
 687                 super.onStop();
 688                 AltosDebug.debug("-- ON STOP --");
 689
 690                 doUnbindService();
 691                 if (mAltosVoice != null) {
 692                         mAltosVoice.stop();
 693                         mAltosVoice = null;
 694                 }
 695         }
 696
 697         @Override
 698         public void onDestroy() {
 699                 super.onDestroy();
 700                 AltosDebug.debug("--- ON DESTROY ---");
 701
 702                 if (mAltosVoice != null) mAltosVoice.stop();
 703                 stop_timer();
 704         }
 705
 706         protected void onActivityResult(int requestCode, int resultCode, Intent data) {
 707                 AltosDebug.debug("onActivityResult " + resultCode);
 708                 switch (requestCode) {
 709                 case REQUEST_CONNECT_DEVICE:
 710                         // When DeviceListActivity returns with a device to connect to
 711                         if (resultCode == Activity.RESULT_OK) {
 712                                 connectDevice(data);
 713                         }
 714                         break;
 715                 case REQUEST_ENABLE_BT:
 716                         // When the request to enable Bluetooth returns
 717                         if (resultCode == Activity.RESULT_OK) {
 718                                 // Bluetooth is now enabled, so set up a chat session
 719                                 //setupChat();
 720                         } else {
 721                                 // User did not enable Bluetooth or an error occured
 722                                 AltosDebug.error("BT not enabled");
 723                                 stopService(new Intent(AltosDroid.this, TelemetryService.class));
 724                                 Toast.makeText(this, R.string.bt_not_enabled, Toast.LENGTH_SHORT).show();
 725                                 finish();
 726                         }
 727                         break;
 728                 case REQUEST_MAP_TYPE:
 729                         if (resultCode == Activity.RESULT_OK)
 730                                 set_map_type(data);
 731                         break;
 732                 }
 733         }
 734
 735         private void connectUsb(UsbDevice device) {
 736                 if (mService == null)
 737                         pending_usb_device = device;
 738                 else {
 739                         // Attempt to connect to the device
 740                         try {
 741                                 mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, device));
 742                                 AltosDebug.debug("Sent OPEN_USB message");
 743                         } catch (RemoteException e) {
 744                                 AltosDebug.debug("connect device message failed");
 745                         }
 746                 }
 747         }
 748
 749         private void connectDevice(Intent data) {
 750                 // Attempt to connect to the device
 751                 try {
 752                         String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS);
 753                         String name = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_NAME);
 754
 755                         AltosDebug.debug("Connecting to " + address + " " + name);
 756                         DeviceAddress   a = new DeviceAddress(address, name);
 757                         mService.send(Message.obtain(null, TelemetryService.MSG_CONNECT, a));
 758                         AltosDebug.debug("Sent connecting message");
 759                 } catch (RemoteException e) {
 760                         AltosDebug.debug("connect device message failed");
 761                 }
 762         }
 763
 764         private void disconnectDevice() {
 765                 try {
 766                         mService.send(Message.obtain(null, TelemetryService.MSG_DISCONNECT, null));
 767                 } catch (RemoteException e) {
 768                 }
 769         }
 770
 771         private void set_map_type(Intent data) {
 772                 int type = data.getIntExtra(MapTypeActivity.EXTRA_MAP_TYPE, -1);
 773
 774                 AltosDebug.debug("intent set_map_type %d\n", type);
 775                 if (type != -1) {
 776                         map_type = type;
 777                         for (AltosDroidTab mTab : mTabs)
 778                                 mTab.set_map_type(map_type);
 779                 }
 780         }
 781
 782         @Override
 783         public boolean onCreateOptionsMenu(Menu menu) {
 784                 MenuInflater inflater = getMenuInflater();
 785                 inflater.inflate(R.menu.option_menu, menu);
 786                 return true;
 787         }
 788
 789         void setFrequency(double freq) {
 790                 try {
 791                         mService.send(Message.obtain(null, TelemetryService.MSG_SETFREQUENCY, freq));
 792                         set_switch_time();
 793                 } catch (RemoteException e) {
 794                 }
 795         }
 796
 797         void setFrequency(String freq) {
 798                 try {
 799                         setFrequency (AltosParse.parse_double_net(freq.substring(11, 17)));
 800                 } catch (ParseException e) {
 801                 }
 802         }
 803
 804         void setBaud(int baud) {
 805                 try {
 806                         mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD, baud));
 807                         set_switch_time();
 808                 } catch (RemoteException e) {
 809                 }
 810         }
 811
 812         void setBaud(String baud) {
 813                 try {
 814                         int     value = Integer.parseInt(baud);
 815                         int     rate = AltosLib.ao_telemetry_rate_38400;
 816                         switch (value) {
 817                         case 2400:
 818                                 rate = AltosLib.ao_telemetry_rate_2400;
 819                                 break;
 820                         case 9600:
 821                                 rate = AltosLib.ao_telemetry_rate_9600;
 822                                 break;
 823                         case 38400:
 824                                 rate = AltosLib.ao_telemetry_rate_38400;
 825                                 break;
 826                         }
 827                         setBaud(rate);
 828                 } catch (NumberFormatException e) {
 829                 }
 830         }
 831
 832         void select_tracker(int serial) {
 833                 int i;
 834
 835                 AltosDebug.debug("select tracker %d\n", serial);
 836
 837                 if (serial == selected_serial) {
 838                         AltosDebug.debug("%d already selected\n", serial);
 839                         return;
 840                 }
 841
 842                 if (serial != 0) {
 843                         for (i = 0; i < serials.length; i++)
 844                                 if (serials[i] == serial)
 845                                         break;
 846
 847                         if (i == serials.length) {
 848                                 AltosDebug.debug("attempt to select unknown tracker %d\n", serial);
 849                                 return;
 850                         }
 851                 }
 852
 853                 current_serial = selected_serial = serial;
 854                 update_state(null);
 855         }
 856
 857         void delete_track(int serial) {
 858                 try {
 859                         mService.send(Message.obtain(null, TelemetryService.MSG_DELETE_SERIAL, (Integer) serial));
 860                 } catch (Exception ex) {
 861                 }
 862         }
 863
 864         @Override
 865         public boolean onOptionsItemSelected(MenuItem item) {
 866                 Intent serverIntent = null;
 867                 switch (item.getItemId()) {
 868                 case R.id.connect_scan:
 869                         if (ensureBluetooth()) {
 870                                 // Launch the DeviceListActivity to see devices and do scan
 871                                 serverIntent = new Intent(this, DeviceListActivity.class);
 872                                 startActivityForResult(serverIntent, REQUEST_CONNECT_DEVICE);
 873                         }
 874                         return true;
 875                 case R.id.disconnect:
 876                         /* Disconnect the device
 877                          */
 878                         disconnectDevice();
 879                         return true;
 880                 case R.id.quit:
 881                         AltosDebug.debug("R.id.quit");
 882                         disconnectDevice();
 883                         finish();
 884                         return true;
 885                 case R.id.select_freq:
 886                         // Set the TBT radio frequency
 887
 888                         final String[] frequencies = {
 889                                 "Channel 0 (434.550MHz)",
 890                                 "Channel 1 (434.650MHz)",
 891                                 "Channel 2 (434.750MHz)",
 892                                 "Channel 3 (434.850MHz)",
 893                                 "Channel 4 (434.950MHz)",
 894                                 "Channel 5 (435.050MHz)",
 895                                 "Channel 6 (435.150MHz)",
 896                                 "Channel 7 (435.250MHz)",
 897                                 "Channel 8 (435.350MHz)",
 898                                 "Channel 9 (435.450MHz)"
 899                         };
 900
 901                         AlertDialog.Builder builder_freq = new AlertDialog.Builder(this);
 902                         builder_freq.setTitle("Pick a frequency");
 903                         builder_freq.setItems(frequencies,
 904                                          new DialogInterface.OnClickListener() {
 905                                                  public void onClick(DialogInterface dialog, int item) {
 906                                                          setFrequency(frequencies[item]);
 907                                                  }
 908                                          });
 909                         AlertDialog alert_freq = builder_freq.create();
 910                         alert_freq.show();
 911                         return true;
 912                 case R.id.select_rate:
 913                         // Set the TBT baud rate
 914
 915                         final String[] rates = {
 916                                 "38400",
 917                                 "9600",
 918                                 "2400",
 919                         };
 920
 921                         AlertDialog.Builder builder_rate = new AlertDialog.Builder(this);
 922                         builder_rate.setTitle("Pick a baud rate");
 923                         builder_rate.setItems(rates,
 924                                          new DialogInterface.OnClickListener() {
 925                                                  public void onClick(DialogInterface dialog, int item) {
 926                                                          setBaud(rates[item]);
 927                                                  }
 928                                          });
 929                         AlertDialog alert_rate = builder_rate.create();
 930                         alert_rate.show();
 931                         return true;
 932                 case R.id.change_units:
 933                         boolean imperial = AltosPreferences.imperial_units();
 934                         AltosPreferences.set_imperial_units(!imperial);
 935                         return true;
 936                 case R.id.preload_maps:
 937                         serverIntent = new Intent(this, PreloadMapActivity.class);
 938                         startActivityForResult(serverIntent, REQUEST_PRELOAD_MAPS);
 939                         return true;
 940                 case R.id.map_type:
 941                         serverIntent = new Intent(this, MapTypeActivity.class);
 942                         startActivityForResult(serverIntent, REQUEST_MAP_TYPE);
 943                         return true;
 944                 case R.id.map_source:
 945                         int source = AltosDroidPreferences.map_source();
 946                         int new_source = source == AltosDroidPreferences.MAP_SOURCE_ONLINE ? AltosDroidPreferences.MAP_SOURCE_OFFLINE : AltosDroidPreferences.MAP_SOURCE_ONLINE;
 947                         AltosDroidPreferences.set_map_source(new_source);
 948                         set_map_source(new_source);
 949                         return true;
 950                 case R.id.select_tracker:
 951                         if (serials != null) {
 952                                 String[] trackers = new String[serials.length+1];
 953                                 trackers[0] = "Auto";
 954                                 for (int i = 0; i < serials.length; i++)
 955                                         trackers[i+1] = String.format("%d", serials[i]);
 956                                 AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
 957                                 builder_serial.setTitle("Select a tracker");
 958                                 builder_serial.setItems(trackers,
 959                                                         new DialogInterface.OnClickListener() {
 960                                                                 public void onClick(DialogInterface dialog, int item) {
 961                                                                         if (item == 0)
 962                                                                                 select_tracker(0);
 963                                                                         else
 964                                                                                 select_tracker(serials[item-1]);
 965                                                                 }
 966                                                         });
 967                                 AlertDialog alert_serial = builder_serial.create();
 968                                 alert_serial.show();
 969
 970                         }
 971                         return true;
 972                 case R.id.delete_track:
 973                         if (serials != null) {
 974                                 String[] trackers = new String[serials.length];
 975                                 for (int i = 0; i < serials.length; i++)
 976                                         trackers[i] = String.format("%d", serials[i]);
 977                                 AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
 978                                 builder_serial.setTitle("Delete a track");
 979                                 builder_serial.setItems(trackers,
 980                                                         new DialogInterface.OnClickListener() {
 981                                                                 public void onClick(DialogInterface dialog, int item) {
 982                                                                         delete_track(serials[item]);
 983                                                                 }
 984                                                         });
 985                                 AlertDialog alert_serial = builder_serial.create();
 986                                 alert_serial.show();
 987
 988                         }
 989                         return true;
 990                 }
 991                 return false;
 992         }
 993
 994         static String direction(AltosGreatCircle from_receiver,
 995                              Location receiver) {
 996                 if (!receiver.hasBearing())
 997                         return null;
 998
 999                 float   bearing = receiver.getBearing();
1000                 float   heading = (float) from_receiver.bearing - bearing;
1001
1002                 while (heading <= -180.0f)
1003                         heading += 360.0f;
1004                 while (heading > 180.0f)
1005                         heading -= 360.0f;
1006
1007                 int iheading = (int) (heading + 0.5f);
1008
1009                 if (-1 < iheading && iheading < 1)
1010                         return "ahead";
1011                 else if (iheading < -179 || 179 < iheading)
1012                         return "backwards";
1013                 else if (iheading < 0)
1014                         return String.format("left %d", -iheading);
1015                 else
1016                         return String.format("right %d", iheading);
1017         }
1018 }