git.gag.com Git - fw/altos/blob - altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java

   1 /*
   2  * Copyright © 2012-2013 Mike Beattie <mike@ethernal.org>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 package org.altusmetrum.AltosDroid;
  19
  20 import java.lang.ref.WeakReference;
  21 import java.text.*;
  22 import java.util.*;
  23 import java.io.*;
  24
  25 import android.app.Activity;
  26 import android.app.PendingIntent;
  27 import android.bluetooth.BluetoothAdapter;
  28 import android.bluetooth.BluetoothDevice;
  29 import android.content.Intent;
  30 import android.content.Context;
  31 import android.content.ComponentName;
  32 import android.content.ServiceConnection;
  33 import android.content.DialogInterface;
  34 import android.os.IBinder;
  35 import android.os.Bundle;
  36 import android.os.Handler;
  37 import android.os.Message;
  38 import android.os.Messenger;
  39 import android.os.RemoteException;
  40 import android.content.res.Resources;
  41 import android.support.v4.app.FragmentActivity;
  42 import android.support.v4.app.FragmentManager;
  43 import android.util.DisplayMetrics;
  44 import android.view.*;
  45 import android.widget.*;
  46 import android.app.AlertDialog;
  47 import android.location.Location;
  48 import android.location.LocationManager;
  49 import android.location.LocationListener;
  50 import android.hardware.usb.*;
  51 import android.graphics.*;
  52 import android.graphics.drawable.*;
  53
  54 import org.altusmetrum.altoslib_10.*;
  55
  56 public class AltosDroid extends FragmentActivity implements AltosUnitsListener, LocationListener {
  57
  58         // Actions sent to the telemetry server at startup time
  59
  60         public static final String ACTION_BLUETOOTH = "org.altusmetrum.AltosDroid.BLUETOOTH";
  61         public static final String ACTION_USB = "org.altusmetrum.AltosDroid.USB";
  62
  63         // Message types received by our Handler
  64
  65         public static final int MSG_STATE           = 1;
  66         public static final int MSG_UPDATE_AGE      = 2;
  67
  68         // Intent request codes
  69         public static final int REQUEST_CONNECT_DEVICE = 1;
  70         public static final int REQUEST_ENABLE_BT      = 2;
  71         public static final int REQUEST_PRELOAD_MAPS   = 3;
  72         public static final int REQUEST_MAP_TYPE       = 4;
  73
  74         public int map_type = AltosMap.maptype_hybrid;
  75
  76         public static FragmentManager   fm;
  77
  78         private BluetoothAdapter mBluetoothAdapter = null;
  79
  80         // Flight state values
  81         private TextView mCallsignView;
  82         private TextView mRSSIView;
  83         private TextView mSerialView;
  84         private TextView mFlightView;
  85         private RelativeLayout mStateLayout;
  86         private TextView mStateView;
  87         private TextView mAgeView;
  88         private boolean  mAgeViewOld;
  89         private int mAgeNewColor;
  90         private int mAgeOldColor;
  91
  92         public static final String      tab_pad_name = "pad";
  93         public static final String      tab_flight_name = "flight";
  94         public static final String      tab_recover_name = "recover";
  95         public static final String      tab_map_name = "map";
  96
  97         // field to display the version at the bottom of the screen
  98         private TextView mVersion;
  99
 100         private double frequency;
 101         private int telemetry_rate;
 102
 103         public Location location = null;
 104
 105         // Tabs
 106         TabHost         mTabHost;
 107         AltosViewPager  mViewPager;
 108         TabsAdapter     mTabsAdapter;
 109         ArrayList<AltosDroidTab> mTabs = new ArrayList<AltosDroidTab>();
 110         int             tabHeight;
 111
 112         // Timer and Saved flight state for Age calculation
 113         private Timer timer;
 114         AltosState saved_state;
 115         TelemetryState  telemetry_state;
 116         Integer[]       serials;
 117
 118         UsbDevice       pending_usb_device;
 119         boolean         start_with_usb;
 120
 121         // Service
 122         private boolean mIsBound   = false;
 123         private Messenger mService = null;
 124         final Messenger mMessenger = new Messenger(new IncomingHandler(this));
 125
 126         // Text to Speech
 127         private AltosVoice mAltosVoice = null;
 128
 129         // The Handler that gets information back from the Telemetry Service
 130         static class IncomingHandler extends Handler {
 131                 private final WeakReference<AltosDroid> mAltosDroid;
 132                 IncomingHandler(AltosDroid ad) { mAltosDroid = new WeakReference<AltosDroid>(ad); }
 133
 134                 @Override
 135                 public void handleMessage(Message msg) {
 136                         AltosDroid ad = mAltosDroid.get();
 137
 138                         switch (msg.what) {
 139                         case MSG_STATE:
 140                                 if (msg.obj == null) {
 141                                         AltosDebug.debug("telemetry_state null!");
 142                                         return;
 143                                 }
 144                                 ad.update_state((TelemetryState) msg.obj);
 145                                 break;
 146                         case MSG_UPDATE_AGE:
 147                                 ad.update_age();
 148                                 break;
 149                         }
 150                 }
 151         };
 152
 153
 154         private ServiceConnection mConnection = new ServiceConnection() {
 155                 public void onServiceConnected(ComponentName className, IBinder service) {
 156                         mService = new Messenger(service);
 157                         try {
 158                                 Message msg = Message.obtain(null, TelemetryService.MSG_REGISTER_CLIENT);
 159                                 msg.replyTo = mMessenger;
 160                                 mService.send(msg);
 161                         } catch (RemoteException e) {
 162                                 // In this case the service has crashed before we could even do anything with it
 163                         }
 164                         if (pending_usb_device != null) {
 165                                 try {
 166                                         mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, pending_usb_device));
 167                                         pending_usb_device = null;
 168                                 } catch (RemoteException e) {
 169                                 }
 170                         }
 171                 }
 172
 173                 public void onServiceDisconnected(ComponentName className) {
 174                         // This is called when the connection with the service has been unexpectedly disconnected - process crashed.
 175                         mService = null;
 176                 }
 177         };
 178
 179         void doBindService() {
 180                 bindService(new Intent(this, TelemetryService.class), mConnection, Context.BIND_AUTO_CREATE);
 181                 mIsBound = true;
 182         }
 183
 184         void doUnbindService() {
 185                 if (mIsBound) {
 186                         // If we have received the service, and hence registered with it, then now is the time to unregister.
 187                         if (mService != null) {
 188                                 try {
 189                                         Message msg = Message.obtain(null, TelemetryService.MSG_UNREGISTER_CLIENT);
 190                                         msg.replyTo = mMessenger;
 191                                         mService.send(msg);
 192                                 } catch (RemoteException e) {
 193                                         // There is nothing special we need to do if the service has crashed.
 194                                 }
 195                         }
 196                         // Detach our existing connection.
 197                         unbindService(mConnection);
 198                         mIsBound = false;
 199                 }
 200         }
 201
 202         public void registerTab(AltosDroidTab mTab) {
 203                 mTabs.add(mTab);
 204         }
 205
 206         public void unregisterTab(AltosDroidTab mTab) {
 207                 mTabs.remove(mTab);
 208         }
 209
 210         public void units_changed(boolean imperial_units) {
 211                 for (AltosDroidTab mTab : mTabs)
 212                         mTab.units_changed(imperial_units);
 213         }
 214
 215         void update_title(TelemetryState telemetry_state) {
 216                 switch (telemetry_state.connect) {
 217                 case TelemetryState.CONNECT_CONNECTED:
 218                         if (telemetry_state.config != null) {
 219                                 String str = String.format("S/N %d %6.3f MHz", telemetry_state.config.serial,
 220                                                            telemetry_state.frequency);
 221                                 if (telemetry_state.telemetry_rate != AltosLib.ao_telemetry_rate_38400)
 222                                         str = str.concat(String.format(" %d bps",
 223                                                                        AltosLib.ao_telemetry_rate_values[telemetry_state.telemetry_rate]));
 224                                 setTitle(str);
 225                         } else {
 226                                 setTitle(R.string.title_connected_to);
 227                         }
 228                         break;
 229                 case TelemetryState.CONNECT_CONNECTING:
 230                         if (telemetry_state.address != null)
 231                                 setTitle(String.format("Connecting to %s...", telemetry_state.address.name));
 232                         else
 233                                 setTitle("Connecting to something...");
 234                         break;
 235                 case TelemetryState.CONNECT_DISCONNECTED:
 236                 case TelemetryState.CONNECT_NONE:
 237                         setTitle(R.string.title_not_connected);
 238                         break;
 239                 }
 240         }
 241
 242         void start_timer() {
 243                 if (timer == null) {
 244                         timer = new Timer();
 245                         timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 1000L, 1000L);
 246                 }
 247         }
 248
 249         void stop_timer() {
 250                 if (timer != null) {
 251                         timer.cancel();
 252                         timer.purge();
 253                         timer = null;
 254                 }
 255         }
 256
 257         int     selected_serial = 0;
 258         int     current_serial;
 259         long    switch_time;
 260
 261         void set_switch_time() {
 262                 switch_time = System.currentTimeMillis();
 263                 selected_serial = 0;
 264         }
 265
 266         boolean registered_units_listener;
 267
 268         void update_state(TelemetryState new_telemetry_state) {
 269
 270                 if (new_telemetry_state != null)
 271                         telemetry_state = new_telemetry_state;
 272
 273                 if (selected_serial != 0)
 274                         current_serial = selected_serial;
 275
 276                 if (current_serial == 0)
 277                         current_serial = telemetry_state.latest_serial;
 278
 279                 if (!registered_units_listener) {
 280                         registered_units_listener = true;
 281                         AltosPreferences.register_units_listener(this);
 282                 }
 283
 284                 serials = telemetry_state.states.keySet().toArray(new Integer[0]);
 285                 Arrays.sort(serials);
 286
 287                 update_title(telemetry_state);
 288
 289                 AltosState      state = null;
 290                 boolean         aged = true;
 291
 292                 if (telemetry_state.states.containsKey(current_serial)) {
 293                         state = telemetry_state.states.get(current_serial);
 294                         int age = state_age(state);
 295                         if (age < 20)
 296                                 aged = false;
 297                         if (current_serial == selected_serial)
 298                                 aged = false;
 299                         else if (switch_time != 0 && (switch_time - state.received_time) > 0)
 300                                 aged = true;
 301                 }
 302
 303                 if (aged) {
 304                         AltosState      newest_state = null;
 305                         int             newest_age = 0;
 306
 307                         for (int serial : telemetry_state.states.keySet()) {
 308                                 AltosState      existing = telemetry_state.states.get(serial);
 309                                 int             existing_age = state_age(existing);
 310
 311                                 if (newest_state == null || existing_age < newest_age) {
 312                                         newest_state = existing;
 313                                         newest_age = existing_age;
 314                                 }
 315                         }
 316
 317                         if (newest_state != null)
 318                                 state = newest_state;
 319                 }
 320
 321                 update_ui(telemetry_state, state);
 322
 323                 start_timer();
 324         }
 325
 326         boolean same_string(String a, String b) {
 327                 if (a == null) {
 328                         if (b == null)
 329                                 return true;
 330                         return false;
 331                 } else {
 332                         if (b == null)
 333                                 return false;
 334                         return a.equals(b);
 335                 }
 336         }
 337
 338
 339         private int blend_component(int a, int b, double r, int shift, int mask) {
 340                 return ((int) (((a >> shift) & mask) * r + ((b >> shift) & mask) * (1 - r)) & mask) << shift;
 341         }
 342         private int blend_color(int a, int b, double r) {
 343                 return (blend_component(a, b, r, 0, 0xff) |
 344                         blend_component(a, b, r, 8, 0xff) |
 345                         blend_component(a, b, r, 16, 0xff) |
 346                         blend_component(a, b, r, 24, 0xff));
 347         }
 348
 349         int state_age(AltosState state) {
 350                 return (int) ((System.currentTimeMillis() - state.received_time + 500) / 1000);
 351         }
 352
 353         void set_screen_on(int age) {
 354                 if (age < 60)
 355                         getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 356                 else
 357                         getWindow().clearFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 358         }
 359
 360         void update_age() {
 361                 if (saved_state != null) {
 362                         int age = state_age(saved_state);
 363
 364                         double age_scale = age / 100.0;
 365
 366                         if (age_scale > 1.0)
 367                                 age_scale = 1.0;
 368
 369                         mAgeView.setTextColor(blend_color(mAgeOldColor, mAgeNewColor, age_scale));
 370
 371                         set_screen_on(age);
 372
 373                         String  text;
 374                         if (age < 60)
 375                                 text = String.format("%ds", age);
 376                         else if (age < 60 * 60)
 377                                 text = String.format("%dm", age / 60);
 378                         else if (age < 60 * 60 * 24)
 379                                 text = String.format("%dh", age / (60 * 60));
 380                         else
 381                                 text = String.format("%dd", age / (24 * 60 * 60));
 382                         mAgeView.setText(text);
 383                 }
 384         }
 385
 386         void update_ui(TelemetryState telem_state, AltosState state) {
 387
 388                 int prev_state = AltosLib.ao_flight_invalid;
 389
 390                 AltosGreatCircle from_receiver = null;
 391
 392                 if (saved_state != null)
 393                         prev_state = saved_state.state();
 394
 395                 if (state != null) {
 396                         set_screen_on(state_age(state));
 397
 398                         if (state.state() == AltosLib.ao_flight_stateless) {
 399                                 boolean prev_locked = false;
 400                                 boolean locked = false;
 401
 402                                 if(state.gps != null)
 403                                         locked = state.gps.locked;
 404                                 if (saved_state != null && saved_state.gps != null)
 405                                         prev_locked = saved_state.gps.locked;
 406                                 if (prev_locked != locked) {
 407                                         String currentTab = mTabHost.getCurrentTabTag();
 408                                         if (locked) {
 409                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 410                                         } else {
 411                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_pad_name);
 412                                         }
 413                                 }
 414                         } else {
 415                                 if (prev_state != state.state()) {
 416                                         String currentTab = mTabHost.getCurrentTabTag();
 417                                         switch (state.state()) {
 418                                         case AltosLib.ao_flight_boost:
 419                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 420                                                 break;
 421                                         case AltosLib.ao_flight_landed:
 422                                                 if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_recover_name);
 423                                                 break;
 424                                         case AltosLib.ao_flight_stateless:
 425                                                 if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
 426                                                 break;
 427                                         }
 428                                 }
 429                         }
 430
 431                         if (location != null && state.gps != null && state.gps.locked) {
 432                                 double altitude = 0;
 433                                 if (location.hasAltitude())
 434                                         altitude = location.getAltitude();
 435                                 from_receiver = new AltosGreatCircle(location.getLatitude(),
 436                                                                      location.getLongitude(),
 437                                                                      altitude,
 438                                                                      state.gps.lat,
 439                                                                      state.gps.lon,
 440                                                                      state.gps.alt);
 441                         }
 442
 443                         if (saved_state == null || !same_string(saved_state.callsign, state.callsign)) {
 444                                 mCallsignView.setText(state.callsign);
 445                         }
 446                         if (saved_state == null || state.serial != saved_state.serial) {
 447                                 mSerialView.setText(String.format("%d", state.serial));
 448                         }
 449                         if (saved_state == null || state.flight != saved_state.flight) {
 450                                 if (state.flight == AltosLib.MISSING)
 451                                         mFlightView.setText("");
 452                                 else
 453                                         mFlightView.setText(String.format("%d", state.flight));
 454                         }
 455                         if (saved_state == null || state.state() != saved_state.state()) {
 456                                 if (state.state() == AltosLib.ao_flight_stateless) {
 457                                         mStateLayout.setVisibility(View.GONE);
 458                                 } else {
 459                                         mStateView.setText(state.state_name());
 460                                         mStateLayout.setVisibility(View.VISIBLE);
 461                                 }
 462                         }
 463                         if (saved_state == null || state.rssi != saved_state.rssi) {
 464                                 mRSSIView.setText(String.format("%d", state.rssi));
 465                         }
 466                 }
 467
 468                 for (AltosDroidTab mTab : mTabs)
 469                         mTab.update_ui(telem_state, state, from_receiver, location, mTab == mTabsAdapter.currentItem());
 470
 471                 if (mAltosVoice != null)
 472                         mAltosVoice.tell(telem_state, state, from_receiver, location, (AltosDroidTab) mTabsAdapter.currentItem());
 473
 474                 saved_state = state;
 475         }
 476
 477         private void onTimerTick() {
 478                 try {
 479                         mMessenger.send(Message.obtain(null, MSG_UPDATE_AGE));
 480                 } catch (RemoteException e) {
 481                 }
 482         }
 483
 484         static String pos(double p, String pos, String neg) {
 485                 String  h = pos;
 486                 if (p == AltosLib.MISSING)
 487                         return "";
 488                 if (p < 0) {
 489                         h = neg;
 490                         p = -p;
 491                 }
 492                 int deg = (int) Math.floor(p);
 493                 double min = (p - Math.floor(p)) * 60.0;
 494                 return String.format("%d°%9.4f\" %s", deg, min, h);
 495         }
 496
 497         static String number(String format, double value) {
 498                 if (value == AltosLib.MISSING)
 499                         return "";
 500                 return String.format(format, value);
 501         }
 502
 503         static String integer(String format, int value) {
 504                 if (value == AltosLib.MISSING)
 505                         return "";
 506                 return String.format(format, value);
 507         }
 508
 509         private View create_tab_view(String label) {
 510                 LayoutInflater inflater = (LayoutInflater) this.getLayoutInflater();
 511                 View tab_view = inflater.inflate(R.layout.tab_layout, null);
 512                 TextView text_view = (TextView) tab_view.findViewById (R.id.tabLabel);
 513                 text_view.setText(label);
 514                 return tab_view;
 515         }
 516
 517         public void set_map_source(int source) {
 518                 for (AltosDroidTab mTab : mTabs)
 519                         mTab.set_map_source(source);
 520         }
 521
 522         @Override
 523         public void onCreate(Bundle savedInstanceState) {
 524                 super.onCreate(savedInstanceState);
 525                 AltosDebug.init(this);
 526                 AltosDebug.debug("+++ ON CREATE +++");
 527
 528                 // Initialise preferences
 529                 AltosDroidPreferences.init(this);
 530
 531                 fm = getSupportFragmentManager();
 532
 533                 // Set up the window layout
 534                 setContentView(R.layout.altosdroid);
 535
 536                 // Create the Tabs and ViewPager
 537                 mTabHost = (TabHost)findViewById(android.R.id.tabhost);
 538                 mTabHost.setup();
 539
 540                 mViewPager = (AltosViewPager)findViewById(R.id.pager);
 541                 mViewPager.setOffscreenPageLimit(4);
 542
 543                 mTabsAdapter = new TabsAdapter(this, mTabHost, mViewPager);
 544
 545                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_pad_name).setIndicator(create_tab_view("Pad")), TabPad.class, null);
 546                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_flight_name).setIndicator(create_tab_view("Flight")), TabFlight.class, null);
 547                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_recover_name).setIndicator(create_tab_view("Recover")), TabRecover.class, null);
 548                 mTabsAdapter.addTab(mTabHost.newTabSpec(tab_map_name).setIndicator(create_tab_view("Map")), TabMap.class, null);
 549
 550                 // Display the Version
 551                 mVersion = (TextView) findViewById(R.id.version);
 552                 mVersion.setText("Version: " + BuildInfo.version +
 553                                  "  Built: " + BuildInfo.builddate + " " + BuildInfo.buildtime + " " + BuildInfo.buildtz +
 554                                  "  (" + BuildInfo.branch + "-" + BuildInfo.commitnum + "-" + BuildInfo.commithash + ")");
 555
 556                 mCallsignView  = (TextView) findViewById(R.id.callsign_value);
 557                 mRSSIView      = (TextView) findViewById(R.id.rssi_value);
 558                 mSerialView    = (TextView) findViewById(R.id.serial_value);
 559                 mFlightView    = (TextView) findViewById(R.id.flight_value);
 560                 mStateLayout   = (RelativeLayout) findViewById(R.id.state_container);
 561                 mStateView     = (TextView) findViewById(R.id.state_value);
 562                 mAgeView       = (TextView) findViewById(R.id.age_value);
 563                 mAgeNewColor   = mAgeView.getTextColors().getDefaultColor();
 564                 mAgeOldColor   = getResources().getColor(R.color.old_color);
 565         }
 566
 567         private void ensureBluetooth() {
 568                 // Get local Bluetooth adapter
 569                 mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
 570
 571                 /* if there is a BT adapter and it isn't turned on, then turn it on */
 572                 if (mBluetoothAdapter != null && !mBluetoothAdapter.isEnabled()) {
 573                         Intent enableIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
 574                         startActivityForResult(enableIntent, AltosDroid.REQUEST_ENABLE_BT);
 575                 }
 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                         ensureBluetooth();
 642                 }
 643         }
 644
 645         @Override
 646         public void onStart() {
 647                 super.onStart();
 648                 AltosDebug.debug("++ ON START ++");
 649
 650                 set_switch_time();
 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                 // Listen for GPS and Network position updates
 679                 LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
 680                 locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this);
 681
 682                 location = locationManager.getLastKnownLocation(LocationManager.GPS_PROVIDER);
 683
 684                 AltosDebug.debug("Resume, location is %f,%f\n",
 685                                  location.getLatitude(),
 686                                  location.getLongitude());
 687
 688                 update_ui(telemetry_state, saved_state);
 689         }
 690
 691         @Override
 692         public void onPause() {
 693                 super.onPause();
 694                 AltosDebug.debug("- ON PAUSE -");
 695                 // Stop listening for location updates
 696                 ((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this);
 697         }
 698
 699         @Override
 700         public void onStop() {
 701                 super.onStop();
 702                 AltosDebug.debug("-- ON STOP --");
 703         }
 704
 705         @Override
 706         public void onDestroy() {
 707                 super.onDestroy();
 708                 AltosDebug.debug("--- ON DESTROY ---");
 709
 710                 doUnbindService();
 711                 if (mAltosVoice != null) {
 712                         mAltosVoice.stop();
 713                         mAltosVoice = null;
 714                 }
 715                 stop_timer();
 716         }
 717
 718         protected void onActivityResult(int requestCode, int resultCode, Intent data) {
 719                 AltosDebug.debug("onActivityResult " + resultCode);
 720                 switch (requestCode) {
 721                 case REQUEST_CONNECT_DEVICE:
 722                         // When DeviceListActivity returns with a device to connect to
 723                         if (resultCode == Activity.RESULT_OK) {
 724                                 connectDevice(data);
 725                         }
 726                         break;
 727                 case REQUEST_ENABLE_BT:
 728                         // When the request to enable Bluetooth returns
 729                         if (resultCode == Activity.RESULT_OK) {
 730                                 // Bluetooth is now enabled, so set up a chat session
 731                                 //setupChat();
 732                                 AltosDebug.debug("BT enabled");
 733                                 bluetoothEnabled(data);
 734                         } else {
 735                                 // User did not enable Bluetooth or an error occured
 736                                 AltosDebug.debug("BT not enabled");
 737                         }
 738                         break;
 739                 case REQUEST_MAP_TYPE:
 740                         if (resultCode == Activity.RESULT_OK)
 741                                 set_map_type(data);
 742                         break;
 743                 }
 744         }
 745
 746         private void connectUsb(UsbDevice device) {
 747                 if (mService == null)
 748                         pending_usb_device = device;
 749                 else {
 750                         // Attempt to connect to the device
 751                         try {
 752                                 mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, device));
 753                                 AltosDebug.debug("Sent OPEN_USB message");
 754                         } catch (RemoteException e) {
 755                                 AltosDebug.debug("connect device message failed");
 756                         }
 757                 }
 758         }
 759
 760         private void bluetoothEnabled(Intent data) {
 761                 try {
 762                         mService.send(Message.obtain(null, TelemetryService.MSG_BLUETOOTH_ENABLED, null));
 763                 } catch (RemoteException e) {
 764                         AltosDebug.debug("send BT enabled message failed");
 765                 }
 766         }
 767
 768         private void connectDevice(Intent data) {
 769                 // Attempt to connect to the device
 770                 try {
 771                         String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS);
 772                         String name = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_NAME);
 773
 774                         AltosDebug.debug("Connecting to " + address + " " + name);
 775                         DeviceAddress   a = new DeviceAddress(address, name);
 776                         mService.send(Message.obtain(null, TelemetryService.MSG_CONNECT, a));
 777                         AltosDebug.debug("Sent connecting message");
 778                 } catch (RemoteException e) {
 779                         AltosDebug.debug("connect device message failed");
 780                 }
 781         }
 782
 783         private void disconnectDevice() {
 784                 try {
 785                         mService.send(Message.obtain(null, TelemetryService.MSG_DISCONNECT, null));
 786                 } catch (RemoteException e) {
 787                 }
 788         }
 789
 790         private void set_map_type(Intent data) {
 791                 int type = data.getIntExtra(MapTypeActivity.EXTRA_MAP_TYPE, -1);
 792
 793                 AltosDebug.debug("intent set_map_type %d\n", type);
 794                 if (type != -1) {
 795                         map_type = type;
 796                         for (AltosDroidTab mTab : mTabs)
 797                                 mTab.set_map_type(map_type);
 798                 }
 799         }
 800
 801         @Override
 802         public boolean onCreateOptionsMenu(Menu menu) {
 803                 MenuInflater inflater = getMenuInflater();
 804                 inflater.inflate(R.menu.option_menu, menu);
 805                 return true;
 806         }
 807
 808         void setFrequency(double freq) {
 809                 try {
 810                         mService.send(Message.obtain(null, TelemetryService.MSG_SETFREQUENCY, freq));
 811                         set_switch_time();
 812                 } catch (RemoteException e) {
 813                 }
 814         }
 815
 816         void setFrequency(String freq) {
 817                 try {
 818                         setFrequency (AltosParse.parse_double_net(freq.substring(11, 17)));
 819                 } catch (ParseException e) {
 820                 }
 821         }
 822
 823         void setBaud(int baud) {
 824                 try {
 825                         mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD, baud));
 826                         set_switch_time();
 827                 } catch (RemoteException e) {
 828                 }
 829         }
 830
 831         void setBaud(String baud) {
 832                 try {
 833                         int     value = Integer.parseInt(baud);
 834                         int     rate = AltosLib.ao_telemetry_rate_38400;
 835                         switch (value) {
 836                         case 2400:
 837                                 rate = AltosLib.ao_telemetry_rate_2400;
 838                                 break;
 839                         case 9600:
 840                                 rate = AltosLib.ao_telemetry_rate_9600;
 841                                 break;
 842                         case 38400:
 843                                 rate = AltosLib.ao_telemetry_rate_38400;
 844                                 break;
 845                         }
 846                         setBaud(rate);
 847                 } catch (NumberFormatException e) {
 848                 }
 849         }
 850
 851         void select_tracker(int serial) {
 852                 int i;
 853
 854                 AltosDebug.debug("select tracker %d\n", serial);
 855
 856                 if (serial == selected_serial) {
 857                         AltosDebug.debug("%d already selected\n", serial);
 858                         return;
 859                 }
 860
 861                 if (serial != 0) {
 862                         for (i = 0; i < serials.length; i++)
 863                                 if (serials[i] == serial)
 864                                         break;
 865
 866                         if (i == serials.length) {
 867                                 AltosDebug.debug("attempt to select unknown tracker %d\n", serial);
 868                                 return;
 869                         }
 870                 }
 871
 872                 current_serial = selected_serial = serial;
 873                 update_state(null);
 874         }
 875
 876         void touch_trackers(Integer[] serials) {
 877                 AlertDialog.Builder builder_tracker = new AlertDialog.Builder(this);
 878                 builder_tracker.setTitle("Select Tracker");
 879                 final String[] trackers = new String[serials.length + 1];
 880                 trackers[0] = "Auto";
 881                 for (int i = 0; i < serials.length; i++)
 882                         trackers[i+1] = String.format("%d", serials[i]);
 883                 builder_tracker.setItems(trackers,
 884                                          new DialogInterface.OnClickListener() {
 885                                                  public void onClick(DialogInterface dialog, int item) {
 886                                                          if (item == 0)
 887                                                                  select_tracker(0);
 888                                                          else
 889                                                                  select_tracker(Integer.parseInt(trackers[item]));
 890                                                  }
 891                                          });
 892                 AlertDialog alert_tracker = builder_tracker.create();
 893                 alert_tracker.show();
 894         }
 895
 896         void delete_track(int serial) {
 897                 try {
 898                         mService.send(Message.obtain(null, TelemetryService.MSG_DELETE_SERIAL, (Integer) serial));
 899                 } catch (Exception ex) {
 900                 }
 901         }
 902
 903         @Override
 904         public boolean onOptionsItemSelected(MenuItem item) {
 905                 Intent serverIntent = null;
 906                 switch (item.getItemId()) {
 907                 case R.id.connect_scan:
 908                         ensureBluetooth();
 909                         // Launch the DeviceListActivity to see devices and do scan
 910                         serverIntent = new Intent(this, DeviceListActivity.class);
 911                         startActivityForResult(serverIntent, REQUEST_CONNECT_DEVICE);
 912                         return true;
 913                 case R.id.disconnect:
 914                         /* Disconnect the device
 915                          */
 916                         disconnectDevice();
 917                         return true;
 918                 case R.id.quit:
 919                         AltosDebug.debug("R.id.quit");
 920                         disconnectDevice();
 921                         finish();
 922                         return true;
 923                 case R.id.select_freq:
 924                         // Set the TBT radio frequency
 925
 926                         final String[] frequencies = {
 927                                 "Channel 0 (434.550MHz)",
 928                                 "Channel 1 (434.650MHz)",
 929                                 "Channel 2 (434.750MHz)",
 930                                 "Channel 3 (434.850MHz)",
 931                                 "Channel 4 (434.950MHz)",
 932                                 "Channel 5 (435.050MHz)",
 933                                 "Channel 6 (435.150MHz)",
 934                                 "Channel 7 (435.250MHz)",
 935                                 "Channel 8 (435.350MHz)",
 936                                 "Channel 9 (435.450MHz)"
 937                         };
 938
 939                         AlertDialog.Builder builder_freq = new AlertDialog.Builder(this);
 940                         builder_freq.setTitle("Pick a frequency");
 941                         builder_freq.setItems(frequencies,
 942                                          new DialogInterface.OnClickListener() {
 943                                                  public void onClick(DialogInterface dialog, int item) {
 944                                                          setFrequency(frequencies[item]);
 945                                                  }
 946                                          });
 947                         AlertDialog alert_freq = builder_freq.create();
 948                         alert_freq.show();
 949                         return true;
 950                 case R.id.select_rate:
 951                         // Set the TBT baud rate
 952
 953                         final String[] rates = {
 954                                 "38400",
 955                                 "9600",
 956                                 "2400",
 957                         };
 958
 959                         AlertDialog.Builder builder_rate = new AlertDialog.Builder(this);
 960                         builder_rate.setTitle("Pick a baud rate");
 961                         builder_rate.setItems(rates,
 962                                          new DialogInterface.OnClickListener() {
 963                                                  public void onClick(DialogInterface dialog, int item) {
 964                                                          setBaud(rates[item]);
 965                                                  }
 966                                          });
 967                         AlertDialog alert_rate = builder_rate.create();
 968                         alert_rate.show();
 969                         return true;
 970                 case R.id.change_units:
 971                         boolean imperial = AltosPreferences.imperial_units();
 972                         AltosPreferences.set_imperial_units(!imperial);
 973                         return true;
 974                 case R.id.preload_maps:
 975                         serverIntent = new Intent(this, PreloadMapActivity.class);
 976                         startActivityForResult(serverIntent, REQUEST_PRELOAD_MAPS);
 977                         return true;
 978                 case R.id.map_type:
 979                         serverIntent = new Intent(this, MapTypeActivity.class);
 980                         startActivityForResult(serverIntent, REQUEST_MAP_TYPE);
 981                         return true;
 982                 case R.id.map_source:
 983                         int source = AltosDroidPreferences.map_source();
 984                         int new_source = source == AltosDroidPreferences.MAP_SOURCE_ONLINE ? AltosDroidPreferences.MAP_SOURCE_OFFLINE : AltosDroidPreferences.MAP_SOURCE_ONLINE;
 985                         AltosDroidPreferences.set_map_source(new_source);
 986                         set_map_source(new_source);
 987                         return true;
 988                 case R.id.select_tracker:
 989                         if (serials != null) {
 990                                 String[] trackers = new String[serials.length+1];
 991                                 trackers[0] = "Auto";
 992                                 for (int i = 0; i < serials.length; i++)
 993                                         trackers[i+1] = String.format("%d", serials[i]);
 994                                 AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
 995                                 builder_serial.setTitle("Select a tracker");
 996                                 builder_serial.setItems(trackers,
 997                                                         new DialogInterface.OnClickListener() {
 998                                                                 public void onClick(DialogInterface dialog, int item) {
 999                                                                         if (item == 0)
1000                                                                                 select_tracker(0);
1001                                                                         else
1002                                                                                 select_tracker(serials[item-1]);
1003                                                                 }
1004                                                         });
1005                                 AlertDialog alert_serial = builder_serial.create();
1006                                 alert_serial.show();
1007
1008                         }
1009                         return true;
1010                 case R.id.delete_track:
1011                         if (serials != null) {
1012                                 String[] trackers = new String[serials.length];
1013                                 for (int i = 0; i < serials.length; i++)
1014                                         trackers[i] = String.format("%d", serials[i]);
1015                                 AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
1016                                 builder_serial.setTitle("Delete a track");
1017                                 builder_serial.setItems(trackers,
1018                                                         new DialogInterface.OnClickListener() {
1019                                                                 public void onClick(DialogInterface dialog, int item) {
1020                                                                         delete_track(serials[item]);
1021                                                                 }
1022                                                         });
1023                                 AlertDialog alert_serial = builder_serial.create();
1024                                 alert_serial.show();
1025
1026                         }
1027                         return true;
1028                 }
1029                 return false;
1030         }
1031
1032         static String direction(AltosGreatCircle from_receiver,
1033                                 Location receiver) {
1034                 if (from_receiver == null)
1035                         return null;
1036
1037                 if (receiver == null)
1038                         return null;
1039
1040                 if (!receiver.hasBearing())
1041                         return null;
1042
1043                 float   bearing = receiver.getBearing();
1044                 float   heading = (float) from_receiver.bearing - bearing;
1045
1046                 while (heading <= -180.0f)
1047                         heading += 360.0f;
1048                 while (heading > 180.0f)
1049                         heading -= 360.0f;
1050
1051                 int iheading = (int) (heading + 0.5f);
1052
1053                 if (-1 < iheading && iheading < 1)
1054                         return "ahead";
1055                 else if (iheading < -179 || 179 < iheading)
1056                         return "backwards";
1057                 else if (iheading < 0)
1058                         return String.format("left %d°", -iheading);
1059                 else
1060                         return String.format("right %d°", iheading);
1061         }
1062
1063         public void onLocationChanged(Location location) {
1064                 this.location = location;
1065                 AltosDebug.debug("Location changed to %f,%f",
1066                                  location.getLatitude(),
1067                                  location.getLongitude());
1068                 update_ui(telemetry_state, saved_state);
1069         }
1070
1071         public void onStatusChanged(String provider, int status, Bundle extras) {
1072                 AltosDebug.debug("Location status now %d\n", status);
1073         }
1074
1075         public void onProviderEnabled(String provider) {
1076                 AltosDebug.debug("Location provider enabled %s\n", provider);
1077         }
1078
1079         public void onProviderDisabled(String provider) {
1080                 AltosDebug.debug("Location provider disabled %s\n", provider);
1081         }
1082 }