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   1 /*
   2  * Copyright © 2012-2013 Mike Beattie <mike@ethernal.org>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 package org.altusmetrum.AltosDroid;
  19
  20 import java.lang.ref.WeakReference;
  21 import java.text.*;
  22 import java.util.*;
  23 import java.io.*;
  24
  25 import android.app.Activity;
  26 import android.app.PendingIntent;
  27 import android.bluetooth.BluetoothAdapter;
  28 import android.bluetooth.BluetoothDevice;
  29 import android.content.Intent;
  30 import android.content.Context;
  31 import android.content.ComponentName;
  32 import android.content.ServiceConnection;
  33 import android.content.DialogInterface;
  34 import android.os.IBinder;
  35 import android.os.Bundle;
  36 import android.os.Handler;
  37 import android.os.Message;
  38 import android.os.Messenger;
  39 import android.os.RemoteException;
  40 import android.content.res.Resources;
  41 import android.support.v4.app.FragmentActivity;
  42 import android.support.v4.app.FragmentManager;
  43 import android.util.DisplayMetrics;
  44 import android.view.*;
  45 import android.widget.*;
  46 import android.app.AlertDialog;
  47 import android.location.Location;
  48 import android.location.LocationManager;
  49 import android.location.LocationListener;
  50 import android.hardware.usb.*;
  51 import android.graphics.*;
  52 import android.graphics.drawable.*;
  53
  54 import org.altusmetrum.altoslib_11.*;
  55
  56 public class AltosDroid extends FragmentActivity implements AltosUnitsListener, LocationListener {
  57
  58         // Actions sent to the telemetry server at startup time
  59
  60         public static final String ACTION_BLUETOOTH = "org.altusmetrum.AltosDroid.BLUETOOTH";
  61         public static final String ACTION_USB = "org.altusmetrum.AltosDroid.USB";
  62
  63         // Message types received by our Handler
  64
  65         public static final int MSG_STATE           = 1;
  66         public static final int MSG_UPDATE_AGE      = 2;
  67         public static final int MSG_IDLE_MODE       = 3;
  68         public static final int MSG_IGNITER_STATUS  = 4;
  69
  70         // Intent request codes
  71         public static final int REQUEST_CONNECT_DEVICE = 1;
  72         public static final int REQUEST_ENABLE_BT      = 2;
  73         public static final int REQUEST_PRELOAD_MAPS   = 3;
  74         public static final int REQUEST_IDLE_MODE      = 5;
  75         public static final int REQUEST_IGNITERS       = 6;
  76         public static final int REQUEST_SETUP          = 7;
  77
  78         public static final String EXTRA_IDLE_MODE = "idle_mode";
  79         public static final String EXTRA_IDLE_RESULT = "idle_result";
  80         public static final String EXTRA_TELEMETRY_SERVICE = "telemetry_service";
  81
  82         // Setup result bits
  83         public static final int SETUP_BAUD = 1;
  84         public static final int SETUP_UNITS = 2;
  85         public static final int SETUP_MAP_SOURCE = 4;
  86         public static final int SETUP_MAP_TYPE = 8;
  87
  88         public static FragmentManager   fm;
  89
  90         private BluetoothAdapter mBluetoothAdapter = null;
  91
  92         // Flight state values
  93         private TextView mCallsignView;
  94         private TextView mRSSIView;
  95         private TextView mSerialView;
  96         private TextView mFlightView;
  97         private RelativeLayout mStateLayout;
  98         private TextView mStateView;
  99         private TextView mAgeView;
 100         private boolean  mAgeViewOld;
 101         private int mAgeNewColor;
 102         private int mAgeOldColor;
 103
 104         public static final String      tab_pad_name = "pad";
 105         public static final String      tab_flight_name = "flight";
 106         public static final String      tab_recover_name = "recover";
 107         public static final String      tab_map_name = "map";
 108
 109         // field to display the version at the bottom of the screen
 110         private TextView mVersion;
 111
 112         private boolean idle_mode = false;
 113
 114         public Location location = null;
 115
 116         // Tabs
 117         TabHost         mTabHost;
 118         AltosViewPager  mViewPager;
 119         TabsAdapter     mTabsAdapter;
 120         ArrayList<AltosDroidTab> mTabs = new ArrayList<AltosDroidTab>();
 121         int             tabHeight;
 122
 123         // Timer and Saved flight state for Age calculation
 124         private Timer timer;
 125         AltosState saved_state;
 126         TelemetryState  telemetry_state;
 127         Integer[]       serials;
 128
 129         UsbDevice       pending_usb_device;
 130         boolean         start_with_usb;
 131
 132         // Service
 133         private boolean mIsBound   = false;
 134         private Messenger mService = null;
 135         final Messenger mMessenger = new Messenger(new IncomingHandler(this));
 136
 137         // Text to Speech
 138         private AltosVoice mAltosVoice = null;
 139
 140         // The Handler that gets information back from the Telemetry Service
 141         static class IncomingHandler extends Handler {
 142                 private final WeakReference<AltosDroid> mAltosDroid;
 143                 IncomingHandler(AltosDroid ad) { mAltosDroid = new WeakReference<AltosDroid>(ad); }
 144
 145                 @Override
 146                 public void handleMessage(Message msg) {
 147                         AltosDroid ad = mAltosDroid.get();
 148
 149                         switch (msg.what) {
 150                         case MSG_STATE:
 151                                 if (msg.obj == null) {
 152                                         AltosDebug.debug("telemetry_state null!");
 153                                         return;
 154                                 }
 155                                 ad.update_state((TelemetryState) msg.obj);
 156                                 break;
 157                         case MSG_UPDATE_AGE:
 158                                 ad.update_age();
 159                                 break;
 160                         case MSG_IDLE_MODE:
 161                                 ad.idle_mode = (Boolean) msg.obj;
 162                                 ad.update_state(null);
 163                                 break;
 164                         }
 165                 }
 166         };
 167
 168
 169         private ServiceConnection mConnection = new ServiceConnection() {
 170                 public void onServiceConnected(ComponentName className, IBinder service) {
 171                         mService = new Messenger(service);
 172                         try {
 173                                 Message msg = Message.obtain(null, TelemetryService.MSG_REGISTER_CLIENT);
 174                                 msg.replyTo = mMessenger;
 175                                 mService.send(msg);
 176                         } catch (RemoteException e) {
 177                                 // In this case the service has crashed before we could even do anything with it
 178                         }
 179                         if (pending_usb_device != null) {
 180                                 try {
 181                                         mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, pending_usb_device));
 182                                         pending_usb_device = null;
 183                                 } catch (RemoteException e) {
 184                                 }
 185                         }
 186                 }
 187
 188                 public void onServiceDisconnected(ComponentName className) {
 189                         // This is called when the connection with the service has been unexpectedly disconnected - process crashed.
 190                         mService = null;
 191                 }
 192         };
 193
 194         void doBindService() {
 195                 bindService(new Intent(this, TelemetryService.class), mConnection, Context.BIND_AUTO_CREATE);
 196                 mIsBound = true;
 197         }
 198
 199         void doUnbindService() {
 200                 if (mIsBound) {
 201                         // If we have received the service, and hence registered with it, then now is the time to unregister.
 202                         if (mService != null) {
 203                                 try {
 204                                         Message msg = Message.obtain(null, TelemetryService.MSG_UNREGISTER_CLIENT);
 205                                         msg.replyTo = mMessenger;
 206                                         mService.send(msg);
 207                                 } catch (RemoteException e) {
 208                                         // There is nothing special we need to do if the service has crashed.
 209                                 }
 210                         }
 211                         // Detach our existing connection.
 212                         unbindService(mConnection);
 213                         mIsBound = false;
 214                 }
 215         }
 216
 217         public void registerTab(AltosDroidTab mTab) {
 218                 mTabs.add(mTab);
 219         }
 220
 221         public void unregisterTab(AltosDroidTab mTab) {
 222                 mTabs.remove(mTab);
 223         }
 224
 225         public void units_changed(boolean imperial_units) {
 226                 for (AltosDroidTab mTab : mTabs)
 227                         mTab.units_changed(imperial_units);
 228         }
 229
 230         void update_title(TelemetryState telemetry_state) {
 231                 switch (telemetry_state.connect) {
 232                 case TelemetryState.CONNECT_CONNECTED:
 233                         if (telemetry_state.config != null) {
 234                                 String str = String.format("S/N %d %6.3f MHz%s", telemetry_state.config.serial,
 235                                                            telemetry_state.frequency, idle_mode ? " (idle)" : "");
 236                                 if (telemetry_state.telemetry_rate != AltosLib.ao_telemetry_rate_38400)
 237                                         str = str.concat(String.format(" %d bps",
 238                                                                        AltosLib.ao_telemetry_rate_values[telemetry_state.telemetry_rate]));
 239                                 setTitle(str);
 240                         } else {
 241                                 setTitle(R.string.title_connected_to);
 242                         }
 243                         break;
 244                 case TelemetryState.CONNECT_CONNECTING:
 245                         if (telemetry_state.address != null)
 246                                 setTitle(String.format("Connecting to %s...", telemetry_state.address.name));
 247                         else
 248                                 setTitle("Connecting to something...");
 249                         break;
 250                 case TelemetryState.CONNECT_DISCONNECTED:
 251                 case TelemetryState.CONNECT_NONE:
 252                         setTitle(R.string.title_not_connected);
 253                         break;
 254                 }
 255         }
 256
 257         void start_timer() {
 258                 if (timer == null) {
 259                         timer = new Timer();
 260                         timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 1000L, 1000L);
 261                 }
 262         }
 263
 264         void stop_timer() {
 265                 if (timer != null) {
 266                         timer.cancel();
 267                         timer.purge();
 268                         timer = null;
 269                 }
 270         }
 271
 272         int     selected_serial = 0;
 273         int     current_serial;
 274         long    switch_time;
 275
 276         void set_switch_time() {
 277                 switch_time = System.currentTimeMillis();
 278                 selected_serial = 0;
 279         }
 280
 281         boolean registered_units_listener;
 282
 283         void update_state(TelemetryState new_telemetry_state) {
 284
 285                 if (new_telemetry_state != null)
 286                         telemetry_state = new_telemetry_state;
 287
 288                 if (selected_serial != 0)
 289                         current_serial = selected_serial;
 290
 291                 if (current_serial == 0)
 292                         current_serial = telemetry_state.latest_serial;
 293
 294                 if (!registered_units_listener) {
 295                         registered_units_listener = true;
 296                         AltosPreferences.register_units_listener(this);
 297                 }
 298
 299                 serials = telemetry_state.states.keySet().toArray(new Integer[0]);
 300                 Arrays.sort(serials);
 301
 302                 update_title(telemetry_state);
 303
 304                 AltosState      state = null;
 305                 boolean         aged = true;
 306
 307                 if (telemetry_state.states.containsKey(current_serial)) {
 308                         state = telemetry_state.states.get(current_serial);
 309                         int age = state_age(state);
 310                         if (age < 20)
 311                                 aged = false;
 312                         if (current_serial == selected_serial)
 313                                 aged = false;
 314                         else if (switch_time != 0 && (switch_time - state.received_time) > 0)
 315                                 aged = true;
 316                 }
 317
 318                 if (aged) {
 319                         AltosState      newest_state = null;
 320                         int             newest_age = 0;
 321
 322                         for (int serial : telemetry_state.states.keySet()) {
 323                                 AltosState      existing = telemetry_state.states.get(serial);
 324                                 int             existing_age = state_age(existing);
 325
 326                                 if (newest_state == null || existing_age < newest_age) {
 327                                         newest_state = existing;
 328                                         newest_age = existing_age;
 329                                 }
 330                         }
 331
 332                         if (newest_state != null)
 333                                 state = newest_state;
 334                 }
 335
 336                 update_ui(telemetry_state, state);
 337
 338                 start_timer();
 339         }
 340
 341         boolean same_string(String a, String b) {
 342                 if (a == null) {
 343                         if (b == null)
 344                                 return true;
 345                         return false;
 346                 } else {
 347                         if (b == null)
 348                                 return false;
 349                         return a.equals(b);
 350                 }
 351         }
 352
 353
 354         private int blend_component(int a, int b, double r, int shift, int mask) {
 355                 return ((int) (((a >> shift) & mask) * r + ((b >> shift) & mask) * (1 - r)) & mask) << shift;
 356         }
 357         private int blend_color(int a, int b, double r) {
 358                 return (blend_component(a, b, r, 0, 0xff) |
 359                         blend_component(a, b, r, 8, 0xff) |
 360                         blend_component(a, b, r, 16, 0xff) |
 361                         blend_component(a, b, r, 24, 0xff));
 362         }
 363
 364         int state_age(AltosState state) {
 365                 return (int) ((System.currentTimeMillis() - state.received_time + 500) / 1000);
 366         }
 367
 368         void set_screen_on(int age) {
 369                 if (age < 60)
 370                         getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 371                 else
 372                         getWindow().clearFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 373         }
 374
 375         void update_age() {
 376                 if (saved_state != null) {
 377                         int age = state_age(saved_state);
 378
 379                         double age_scale = age / 100.0;
 380
 381                         if (age_scale > 1.0)
 382                                 age_scale = 1.0;
 383
 384                         mAgeView.setTextColor(blend_color(mAgeOldColor, mAgeNewColor, age_scale));
 385
 386                         set_screen_on(age);
 387
 388                         String  text;
 389                         if (age < 60)
 390                                 text = String.format("%ds", age);
 391                         else if (age < 60 * 60)
 392                                 text = String.format("%dm", age / 60);
 393                         else if (age < 60 * 60 * 24)
 394                                 text = String.format("%dh", age / (60 * 60));
 395                         else
 396                                 text = String.format("%dd", age / (24 * 60 * 60));
 397                         mAgeView.setText(text);
 398                 }
 399         }
 400
 401         void update_ui(TelemetryState telem_state, AltosState state) {
 402
 403                 int prev_state = AltosLib.ao_flight_invalid;
 404
 405                 AltosGreatCircle from_receiver = null;
 406
 407                 if (saved_state != null)
 408                         prev_state = saved_state.state();
 409
 410                 if (state != null) {
 411                         set_screen_on(state_age(state));
 412
 413                         if (state.state() == AltosLib.ao_flight_stateless) {
 414                                 boolean prev_locked = false;
 415                                 boolean locked = false;
 416
 417                                 if(state.gps != null)
 418                                         locked = state.gps.locked;
 419                                 if (saved_state != null && saved_state.gps != null)
 420                                         prev_locked = saved_state.gps.locked;
 421                                 if (prev_locked != locked) {
 422                                         String currentTab = mTabHost.getCurrentTabTag();
 423                                         if (locked) {
 424                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 425                                         } else {
 426                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_pad_name);
 427                                         }
 428                                 }
 429                         } else {
 430                                 if (prev_state != state.state()) {
 431                                         String currentTab = mTabHost.getCurrentTabTag();
 432                                         switch (state.state()) {
 433                                         case AltosLib.ao_flight_boost:
 434                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 435                                                 break;
 436                                         case AltosLib.ao_flight_landed:
 437                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_recover_name);
 438                                                 break;
 439                                         case AltosLib.ao_flight_stateless:
 440                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 441                                                 break;
 442                                         }
 443                                 }
 444                         }
 445
 446                         if (location != null && state.gps != null && state.gps.locked) {
 447                                 double altitude = 0;
 448                                 if (location.hasAltitude())
 449                                         altitude = location.getAltitude();
 450                                 from_receiver = new AltosGreatCircle(location.getLatitude(),
 451                                                                      location.getLongitude(),
 452                                                                      altitude,
 453                                                                      state.gps.lat,
 454                                                                      state.gps.lon,
 455                                                                      state.gps.alt);
 456                         }
 457
 458                         if (saved_state == null || !same_string(saved_state.callsign, state.callsign)) {
 459                                 mCallsignView.setText(state.callsign);
 460                         }
 461                         if (saved_state == null || state.serial != saved_state.serial) {
 462                                 if (state.serial == AltosLib.MISSING)
 463                                         mSerialView.setText("");
 464                                 else
 465                                         mSerialView.setText(String.format("%d", state.serial));
 466                         }
 467                         if (saved_state == null || state.flight != saved_state.flight) {
 468                                 if (state.flight == AltosLib.MISSING)
 469                                         mFlightView.setText("");
 470                                 else
 471                                         mFlightView.setText(String.format("%d", state.flight));
 472                         }
 473                         if (saved_state == null || state.state() != saved_state.state()) {
 474                                 if (state.state() == AltosLib.ao_flight_stateless) {
 475                                         mStateLayout.setVisibility(View.GONE);
 476                                 } else {
 477                                         mStateView.setText(state.state_name());
 478                                         mStateLayout.setVisibility(View.VISIBLE);
 479                                 }
 480                         }
 481                         if (saved_state == null || state.rssi != saved_state.rssi) {
 482                                 if (state.rssi == AltosLib.MISSING)
 483                                         mRSSIView.setText("");
 484                                 else
 485                                         mRSSIView.setText(String.format("%d", state.rssi));
 486                         }
 487                 }
 488
 489                 for (AltosDroidTab mTab : mTabs)
 490                         mTab.update_ui(telem_state, state, from_receiver, location, mTab == mTabsAdapter.currentItem());
 491
 492                 if (mAltosVoice != null)
 493                         mAltosVoice.tell(telem_state, state, from_receiver, location, (AltosDroidTab) mTabsAdapter.currentItem());
 494
 495                 saved_state = state;
 496         }
 497
 498         private void onTimerTick() {
 499                 try {
 500                         mMessenger.send(Message.obtain(null, MSG_UPDATE_AGE));
 501                 } catch (RemoteException e) {
 502                 }
 503         }
 504
 505         static String pos(double p, String pos, String neg) {
 506                 String  h = pos;
 507                 if (p == AltosLib.MISSING)
 508                         return "";
 509                 if (p < 0) {
 510                         h = neg;
 511                         p = -p;
 512                 }
 513                 int deg = (int) Math.floor(p);
 514                 double min = (p - Math.floor(p)) * 60.0;
 515                 return String.format("%d°%9.4f\" %s", deg, min, h);
 516         }
 517
 518         static String number(String format, double value) {
 519                 if (value == AltosLib.MISSING)
 520                         return "";
 521                 return String.format(format, value);
 522         }
 523
 524         static String integer(String format, int value) {
 525                 if (value == AltosLib.MISSING)
 526                         return "";
 527                 return String.format(format, value);
 528         }
 529
 530         private View create_tab_view(String label) {
 531                 LayoutInflater inflater = (LayoutInflater) this.getLayoutInflater();
 532                 View tab_view = inflater.inflate(R.layout.tab_layout, null);
 533                 TextView text_view = (TextView) tab_view.findViewById (R.id.tabLabel);
 534                 text_view.setText(label);
 535                 return tab_view;
 536         }
 537
 538         @Override
 539         public void onCreate(Bundle savedInstanceState) {
 540                 super.onCreate(savedInstanceState);
 541                 AltosDebug.init(this);
 542                 AltosDebug.debug("+++ ON CREATE +++");
 543
 544                 // Initialise preferences
 545                 AltosDroidPreferences.init(this);
 546
 547                 fm = getSupportFragmentManager();
 548
 549                 // Set up the window layout
 550                 setContentView(R.layout.altosdroid);
 551
 552                 // Create the Tabs and ViewPager
 553                 mTabHost = (TabHost)findViewById(android.R.id.tabhost);
 554                 mTabHost.setup();
 555
 556                 mViewPager = (AltosViewPager)findViewById(R.id.pager);
 557                 mViewPager.setOffscreenPageLimit(4);
 558
 559                 mTabsAdapter = new TabsAdapter(this, mTabHost, mViewPager);
 560
 561                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_pad_name).setIndicator(create_tab_view("Pad")), TabPad.class, null);
 562                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_flight_name).setIndicator(create_tab_view("Flight")), TabFlight.class, null);
 563                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_recover_name).setIndicator(create_tab_view("Recover")), TabRecover.class, null);
 564                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_map_name).setIndicator(create_tab_view("Map")), TabMap.class, null);
 565
 566                 // Display the Version
 567                 mVersion = (TextView) findViewById(R.id.version);
 568                 mVersion.setText("Version: " + BuildInfo.version +
 569                                  "  Built: " + BuildInfo.builddate + " " + BuildInfo.buildtime + " " + BuildInfo.buildtz +
 570                                  "  (" + BuildInfo.branch + "-" + BuildInfo.commitnum + "-" + BuildInfo.commithash + ")");
 571
 572                 mCallsignView  = (TextView) findViewById(R.id.callsign_value);
 573                 mRSSIView      = (TextView) findViewById(R.id.rssi_value);
 574                 mSerialView    = (TextView) findViewById(R.id.serial_value);
 575                 mFlightView    = (TextView) findViewById(R.id.flight_value);
 576                 mStateLayout   = (RelativeLayout) findViewById(R.id.state_container);
 577                 mStateView     = (TextView) findViewById(R.id.state_value);
 578                 mAgeView       = (TextView) findViewById(R.id.age_value);
 579                 mAgeNewColor   = mAgeView.getTextColors().getDefaultColor();
 580                 mAgeOldColor   = getResources().getColor(R.color.old_color);
 581         }
 582
 583         private void ensureBluetooth() {
 584                 // Get local Bluetooth adapter
 585                 mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
 586
 587                 /* if there is a BT adapter and it isn't turned on, then turn it on */
 588                 if (mBluetoothAdapter != null && !mBluetoothAdapter.isEnabled()) {
 589                         Intent enableIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
 590                         startActivityForResult(enableIntent, AltosDroid.REQUEST_ENABLE_BT);
 591                 }
 592         }
 593
 594         private boolean check_usb() {
 595                 UsbDevice       device = AltosUsb.find_device(this, AltosLib.product_basestation);
 596
 597                 if (device != null) {
 598                         Intent          i = new Intent(this, AltosDroid.class);
 599                         PendingIntent   pi = PendingIntent.getActivity(this, 0, new Intent("hello world", null, this, AltosDroid.class), 0);
 600
 601                         if (AltosUsb.request_permission(this, device, pi)) {
 602                                 connectUsb(device);
 603                         }
 604                         start_with_usb = true;
 605                         return true;
 606                 }
 607
 608                 start_with_usb = false;
 609
 610                 return false;
 611         }
 612
 613         private void noticeIntent(Intent intent) {
 614
 615                 /* Ok, this is pretty convenient.
 616                  *
 617                  * When a USB device is plugged in, and our 'hotplug'
 618                  * intent registration fires, we get an Intent with
 619                  * EXTRA_DEVICE set.
 620                  *
 621                  * When we start up and see a usb device and request
 622                  * permission to access it, that queues a
 623                  * PendingIntent, which has the EXTRA_DEVICE added in,
 624                  * along with the EXTRA_PERMISSION_GRANTED field as
 625                  * well.
 626                  *
 627                  * So, in both cases, we get the device name using the
 628                  * same call. We check to see if access was granted,
 629                  * in which case we ignore the device field and do our
 630                  * usual startup thing.
 631                  */
 632
 633                 UsbDevice device = (UsbDevice) intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
 634                 boolean granted = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, true);
 635
 636                 AltosDebug.debug("intent %s device %s granted %s", intent, device, granted);
 637
 638                 if (!granted)
 639                         device = null;
 640
 641                 if (device != null) {
 642                         AltosDebug.debug("intent has usb device " + device.toString());
 643                         connectUsb(device);
 644                 } else {
 645
 646                         /* 'granted' is only false if this intent came
 647                          * from the request_permission call and
 648                          * permission was denied. In which case, we
 649                          * don't want to loop forever...
 650                          */
 651                         if (granted) {
 652                                 AltosDebug.debug("check for a USB device at startup");
 653                                 if (check_usb())
 654                                         return;
 655                         }
 656                         AltosDebug.debug("Starting by looking for bluetooth devices");
 657                         ensureBluetooth();
 658                 }
 659         }
 660
 661         @Override
 662         public void onStart() {
 663                 super.onStart();
 664                 AltosDebug.debug("++ ON START ++");
 665
 666                 set_switch_time();
 667
 668                 noticeIntent(getIntent());
 669
 670                 // Start Telemetry Service
 671                 String  action = start_with_usb ? ACTION_USB : ACTION_BLUETOOTH;
 672
 673                 startService(new Intent(action, null, AltosDroid.this, TelemetryService.class));
 674
 675                 doBindService();
 676
 677                 if (mAltosVoice == null)
 678                         mAltosVoice = new AltosVoice(this);
 679
 680         }
 681
 682         @Override
 683         public void onNewIntent(Intent intent) {
 684                 super.onNewIntent(intent);
 685                 AltosDebug.debug("onNewIntent");
 686                 noticeIntent(intent);
 687         }
 688
 689         @Override
 690         public void onResume() {
 691                 super.onResume();
 692                 AltosDebug.debug("+ ON RESUME +");
 693
 694                 // Listen for GPS and Network position updates
 695                 LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
 696                 locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this);
 697
 698                 location = locationManager.getLastKnownLocation(LocationManager.GPS_PROVIDER);
 699
 700                 if (location != null)
 701                         AltosDebug.debug("Resume, location is %f,%f\n",
 702                                          location.getLatitude(),
 703                                          location.getLongitude());
 704
 705                 update_ui(telemetry_state, saved_state);
 706         }
 707
 708         @Override
 709         public void onPause() {
 710                 super.onPause();
 711                 AltosDebug.debug("- ON PAUSE -");
 712                 // Stop listening for location updates
 713                 ((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this);
 714         }
 715
 716         @Override
 717         public void onStop() {
 718                 super.onStop();
 719                 AltosDebug.debug("-- ON STOP --");
 720         }
 721
 722         @Override
 723         public void onDestroy() {
 724                 super.onDestroy();
 725                 AltosDebug.debug("--- ON DESTROY ---");
 726
 727                 doUnbindService();
 728                 if (mAltosVoice != null) {
 729                         mAltosVoice.stop();
 730                         mAltosVoice = null;
 731                 }
 732                 stop_timer();
 733         }
 734
 735         protected void onActivityResult(int requestCode, int resultCode, Intent data) {
 736                 AltosDebug.debug("onActivityResult " + resultCode);
 737                 switch (requestCode) {
 738                 case REQUEST_CONNECT_DEVICE:
 739                         // When DeviceListActivity returns with a device to connect to
 740                         if (resultCode == Activity.RESULT_OK) {
 741                                 connectDevice(data);
 742                         }
 743                         break;
 744                 case REQUEST_ENABLE_BT:
 745                         // When the request to enable Bluetooth returns
 746                         if (resultCode == Activity.RESULT_OK) {
 747                                 // Bluetooth is now enabled, so set up a chat session
 748                                 //setupChat();
 749                                 AltosDebug.debug("BT enabled");
 750                                 bluetoothEnabled(data);
 751                         } else {
 752                                 // User did not enable Bluetooth or an error occured
 753                                 AltosDebug.debug("BT not enabled");
 754                         }
 755                         break;
 756                 case REQUEST_IDLE_MODE:
 757                         if (resultCode == Activity.RESULT_OK)
 758                                 idle_mode(data);
 759                         break;
 760                 case REQUEST_IGNITERS:
 761                         break;
 762                 case REQUEST_SETUP:
 763                         if (resultCode == Activity.RESULT_OK)
 764                                 note_setup_changes(data);
 765                         break;
 766                 }
 767         }
 768
 769         private void note_setup_changes(Intent data) {
 770                 int changes = data.getIntExtra(SetupActivity.EXTRA_SETUP_CHANGES, 0);
 771
 772                 if ((changes & SETUP_BAUD) != 0) {
 773                         try {
 774                                 mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD,
 775                                                              AltosPreferences.telemetry_rate(1)));
 776                         } catch (RemoteException re) {
 777                         }
 778                 }
 779                 if ((changes & SETUP_UNITS) != 0) {
 780                         /* nothing to do here */
 781                 }
 782                 if ((changes & SETUP_MAP_SOURCE) != 0) {
 783                         /* nothing to do here */
 784                 }
 785                 if ((changes & SETUP_MAP_TYPE) != 0) {
 786                         /* nothing to do here */
 787                 }
 788                 set_switch_time();
 789         }
 790
 791         private void connectUsb(UsbDevice device) {
 792                 if (mService == null)
 793                         pending_usb_device = device;
 794                 else {
 795                         // Attempt to connect to the device
 796                         try {
 797                                 mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, device));
 798                                 AltosDebug.debug("Sent OPEN_USB message");
 799                         } catch (RemoteException e) {
 800                                 AltosDebug.debug("connect device message failed");
 801                         }
 802                 }
 803         }
 804
 805         private void bluetoothEnabled(Intent data) {
 806                 try {
 807                         mService.send(Message.obtain(null, TelemetryService.MSG_BLUETOOTH_ENABLED, null));
 808                 } catch (RemoteException e) {
 809                         AltosDebug.debug("send BT enabled message failed");
 810                 }
 811         }
 812
 813         private void connectDevice(Intent data) {
 814                 // Attempt to connect to the device
 815                 try {
 816                         String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS);
 817                         String name = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_NAME);
 818
 819                         AltosDebug.debug("Connecting to " + address + " " + name);
 820                         DeviceAddress   a = new DeviceAddress(address, name);
 821                         mService.send(Message.obtain(null, TelemetryService.MSG_CONNECT, a));
 822                         AltosDebug.debug("Sent connecting message");
 823                 } catch (RemoteException e) {
 824                         AltosDebug.debug("connect device message failed");
 825                 }
 826         }
 827
 828         private void disconnectDevice(boolean remember) {
 829                 try {
 830                         mService.send(Message.obtain(null, TelemetryService.MSG_DISCONNECT, (Boolean) remember));
 831                 } catch (RemoteException e) {
 832                 }
 833         }
 834
 835         private void idle_mode(Intent data) {
 836                 int type = data.getIntExtra(IdleModeActivity.EXTRA_IDLE_RESULT, -1);
 837                 Message msg;
 838
 839                 AltosDebug.debug("intent idle_mode %d", type);
 840                 switch (type) {
 841                 case IdleModeActivity.IDLE_MODE_CONNECT:
 842                         msg = Message.obtain(null, TelemetryService.MSG_MONITOR_IDLE_START);
 843                         try {
 844                                 mService.send(msg);
 845                         } catch (RemoteException re) {
 846                         }
 847                         break;
 848                 case IdleModeActivity.IDLE_MODE_DISCONNECT:
 849                         msg = Message.obtain(null, TelemetryService.MSG_MONITOR_IDLE_STOP);
 850                         try {
 851                                 mService.send(msg);
 852                         } catch (RemoteException re) {
 853                         }
 854                         break;
 855                 case IdleModeActivity.IDLE_MODE_REBOOT:
 856                         msg = Message.obtain(null, TelemetryService.MSG_REBOOT);
 857                         try {
 858                                 mService.send(msg);
 859                         } catch (RemoteException re) {
 860                         }
 861                         break;
 862                 case IdleModeActivity.IDLE_MODE_IGNITERS:
 863                         Intent serverIntent = new Intent(this, IgniterActivity.class);
 864                         startActivityForResult(serverIntent, REQUEST_IGNITERS);
 865                         break;
 866                 }
 867         }
 868
 869         @Override
 870         public boolean onCreateOptionsMenu(Menu menu) {
 871                 MenuInflater inflater = getMenuInflater();
 872                 inflater.inflate(R.menu.option_menu, menu);
 873                 return true;
 874         }
 875
 876         void setFrequency(double freq) {
 877                 try {
 878                         mService.send(Message.obtain(null, TelemetryService.MSG_SETFREQUENCY, freq));
 879                         set_switch_time();
 880                 } catch (RemoteException e) {
 881                 }
 882         }
 883
 884         void setFrequency(AltosFrequency frequency) {
 885                 setFrequency (frequency.frequency);
 886         }
 887
 888         void setBaud(int baud) {
 889                 try {
 890                         mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD, baud));
 891                         set_switch_time();
 892                 } catch (RemoteException e) {
 893                 }
 894         }
 895
 896         void setBaud(String baud) {
 897                 try {
 898                         int     value = Integer.parseInt(baud);
 899                         int     rate = AltosLib.ao_telemetry_rate_38400;
 900                         switch (value) {
 901                         case 2400:
 902                                 rate = AltosLib.ao_telemetry_rate_2400;
 903                                 break;
 904                         case 9600:
 905                                 rate = AltosLib.ao_telemetry_rate_9600;
 906                                 break;
 907                         case 38400:
 908                                 rate = AltosLib.ao_telemetry_rate_38400;
 909                                 break;
 910                         }
 911                         setBaud(rate);
 912                 } catch (NumberFormatException e) {
 913                 }
 914         }
 915
 916         void select_tracker(int serial) {
 917                 int i;
 918
 919                 AltosDebug.debug("select tracker %d\n", serial);
 920
 921                 if (serial == selected_serial) {
 922                         AltosDebug.debug("%d already selected\n", serial);
 923                         return;
 924                 }
 925
 926                 if (serial != 0) {
 927                         for (i = 0; i < serials.length; i++)
 928                                 if (serials[i] == serial)
 929                                         break;
 930
 931                         if (i == serials.length) {
 932                                 AltosDebug.debug("attempt to select unknown tracker %d\n", serial);
 933                                 return;
 934                         }
 935                 }
 936
 937                 current_serial = selected_serial = serial;
 938                 update_state(null);
 939         }
 940
 941         void touch_trackers(Integer[] serials) {
 942                 AlertDialog.Builder builder_tracker = new AlertDialog.Builder(this);
 943                 builder_tracker.setTitle("Select Tracker");
 944                 final String[] trackers = new String[serials.length + 1];
 945                 trackers[0] = "Auto";
 946                 for (int i = 0; i < serials.length; i++)
 947                         trackers[i+1] = String.format("%d", serials[i]);
 948                 builder_tracker.setItems(trackers,
 949                                          new DialogInterface.OnClickListener() {
 950                                                  public void onClick(DialogInterface dialog, int item) {
 951                                                          if (item == 0)
 952                                                                  select_tracker(0);
 953                                                          else
 954                                                                  select_tracker(Integer.parseInt(trackers[item]));
 955                                                  }
 956                                          });
 957                 AlertDialog alert_tracker = builder_tracker.create();
 958                 alert_tracker.show();
 959         }
 960
 961         void delete_track(int serial) {
 962                 try {
 963                         mService.send(Message.obtain(null, TelemetryService.MSG_DELETE_SERIAL, (Integer) serial));
 964                 } catch (Exception ex) {
 965                 }
 966         }
 967
 968         @Override
 969         public boolean onOptionsItemSelected(MenuItem item) {
 970                 Intent serverIntent = null;
 971                 switch (item.getItemId()) {
 972                 case R.id.connect_scan:
 973                         ensureBluetooth();
 974                         // Launch the DeviceListActivity to see devices and do scan
 975                         serverIntent = new Intent(this, DeviceListActivity.class);
 976                         startActivityForResult(serverIntent, REQUEST_CONNECT_DEVICE);
 977                         return true;
 978                 case R.id.disconnect:
 979                         /* Disconnect the device
 980                          */
 981                         disconnectDevice(false);
 982                         return true;
 983                 case R.id.quit:
 984                         AltosDebug.debug("R.id.quit");
 985                         disconnectDevice(true);
 986                         finish();
 987                         return true;
 988                 case R.id.setup:
 989                         serverIntent = new Intent(this, SetupActivity.class);
 990                         startActivityForResult(serverIntent, REQUEST_SETUP);
 991                         return true;
 992                 case R.id.select_freq:
 993                         // Set the TBT radio frequency
 994
 995                         final AltosFrequency[] frequencies = AltosPreferences.common_frequencies();
 996                         String[] frequency_strings = new String[frequencies.length];
 997                         for (int i = 0; i < frequencies.length; i++)
 998                                 frequency_strings[i] = frequencies[i].toString();
 999
1000                         AlertDialog.Builder builder_freq = new AlertDialog.Builder(this);
1001                         builder_freq.setTitle("Pick a frequency");
1002                         builder_freq.setItems(frequency_strings,
1003                                          new DialogInterface.OnClickListener() {
1004                                                  public void onClick(DialogInterface dialog, int item) {
1005                                                          setFrequency(frequencies[item]);
1006                                                  }
1007                                          });
1008                         AlertDialog alert_freq = builder_freq.create();
1009                         alert_freq.show();
1010                         return true;
1011                 case R.id.select_tracker:
1012                         if (serials != null) {
1013                                 String[] trackers = new String[serials.length+1];
1014                                 trackers[0] = "Auto";
1015                                 for (int i = 0; i < serials.length; i++)
1016                                         trackers[i+1] = String.format("%d", serials[i]);
1017                                 AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
1018                                 builder_serial.setTitle("Select a tracker");
1019                                 builder_serial.setItems(trackers,
1020                                                         new DialogInterface.OnClickListener() {
1021                                                                 public void onClick(DialogInterface dialog, int item) {
1022                                                                         if (item == 0)
1023                                                                                 select_tracker(0);
1024                                                                         else
1025                                                                                 select_tracker(serials[item-1]);
1026                                                                 }
1027                                                         });
1028                                 AlertDialog alert_serial = builder_serial.create();
1029                                 alert_serial.show();
1030
1031                         }
1032                         return true;
1033                 case R.id.delete_track:
1034                         if (serials != null) {
1035                                 String[] trackers = new String[serials.length];
1036                                 for (int i = 0; i < serials.length; i++)
1037                                         trackers[i] = String.format("%d", serials[i]);
1038                                 AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
1039                                 builder_serial.setTitle("Delete a track");
1040                                 builder_serial.setItems(trackers,
1041                                                         new DialogInterface.OnClickListener() {
1042                                                                 public void onClick(DialogInterface dialog, int item) {
1043                                                                         delete_track(serials[item]);
1044                                                                 }
1045                                                         });
1046                                 AlertDialog alert_serial = builder_serial.create();
1047                                 alert_serial.show();
1048
1049                         }
1050                         return true;
1051                 case R.id.idle_mode:
1052                         serverIntent = new Intent(this, IdleModeActivity.class);
1053                         serverIntent.putExtra(EXTRA_IDLE_MODE, idle_mode);
1054                         startActivityForResult(serverIntent, REQUEST_IDLE_MODE);
1055                         return true;
1056                 }
1057                 return false;
1058         }
1059
1060         static String direction(AltosGreatCircle from_receiver,
1061                                 Location receiver) {
1062                 if (from_receiver == null)
1063                         return null;
1064
1065                 if (receiver == null)
1066                         return null;
1067
1068                 if (!receiver.hasBearing())
1069                         return null;
1070
1071                 float   bearing = receiver.getBearing();
1072                 float   heading = (float) from_receiver.bearing - bearing;
1073
1074                 while (heading <= -180.0f)
1075                         heading += 360.0f;
1076                 while (heading > 180.0f)
1077                         heading -= 360.0f;
1078
1079                 int iheading = (int) (heading + 0.5f);
1080
1081                 if (-1 < iheading && iheading < 1)
1082                         return "ahead";
1083                 else if (iheading < -179 || 179 < iheading)
1084                         return "backwards";
1085                 else if (iheading < 0)
1086                         return String.format("left %d°", -iheading);
1087                 else
1088                         return String.format("right %d°", iheading);
1089         }
1090
1091         public void onLocationChanged(Location location) {
1092                 this.location = location;
1093                 AltosDebug.debug("Location changed to %f,%f",
1094                                  location.getLatitude(),
1095                                  location.getLongitude());
1096                 update_ui(telemetry_state, saved_state);
1097         }
1098
1099         public void onStatusChanged(String provider, int status, Bundle extras) {
1100                 AltosDebug.debug("Location status now %d\n", status);
1101         }
1102
1103         public void onProviderEnabled(String provider) {
1104                 AltosDebug.debug("Location provider enabled %s\n", provider);
1105         }
1106
1107         public void onProviderDisabled(String provider) {
1108                 AltosDebug.debug("Location provider disabled %s\n", provider);
1109         }
1110 }