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

   1 /*
   2  * Copyright © 2012 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.util.concurrent.TimeoutException;
  22 import java.util.*;
  23
  24 import android.app.Notification;
  25 //import android.app.NotificationManager;
  26 import android.app.PendingIntent;
  27 import android.app.Service;
  28 import android.bluetooth.BluetoothDevice;
  29 import android.bluetooth.BluetoothAdapter;
  30 import android.hardware.usb.*;
  31 import android.content.Intent;
  32 import android.content.Context;
  33 import android.os.Bundle;
  34 import android.os.IBinder;
  35 import android.os.Handler;
  36 import android.os.Message;
  37 import android.os.Messenger;
  38 import android.os.RemoteException;
  39 import android.os.Looper;
  40 import android.widget.Toast;
  41 import android.location.Location;
  42 import android.location.LocationManager;
  43 import android.location.LocationListener;
  44 import android.location.Criteria;
  45
  46 import org.altusmetrum.altoslib_7.*;
  47
  48 public class TelemetryService extends Service implements LocationListener {
  49
  50         static final int MSG_REGISTER_CLIENT   = 1;
  51         static final int MSG_UNREGISTER_CLIENT = 2;
  52         static final int MSG_CONNECT           = 3;
  53         static final int MSG_OPEN_USB          = 4;
  54         static final int MSG_CONNECTED         = 5;
  55         static final int MSG_CONNECT_FAILED    = 6;
  56         static final int MSG_DISCONNECTED      = 7;
  57         static final int MSG_TELEMETRY         = 8;
  58         static final int MSG_SETFREQUENCY      = 9;
  59         static final int MSG_CRC_ERROR         = 10;
  60         static final int MSG_SETBAUD           = 11;
  61         static final int MSG_DISCONNECT        = 12;
  62         static final int MSG_DELETE_SERIAL     = 13;
  63
  64         // Unique Identification Number for the Notification.
  65         // We use it on Notification start, and to cancel it.
  66         private int NOTIFICATION = R.string.telemetry_service_label;
  67         //private NotificationManager mNM;
  68
  69         ArrayList<Messenger> clients = new ArrayList<Messenger>(); // Keeps track of all current registered clients.
  70         final Handler   handler   = new IncomingHandler(this);
  71         final Messenger messenger = new Messenger(handler); // Target we publish for clients to send messages to IncomingHandler.
  72
  73         // Name of the connected device
  74         DeviceAddress address;
  75         private AltosDroidLink  altos_link  = null;
  76         private TelemetryReader telemetry_reader = null;
  77         private TelemetryLogger telemetry_logger = null;
  78
  79         // Local Bluetooth adapter
  80         private BluetoothAdapter bluetooth_adapter = null;
  81
  82         // Last data seen; send to UI when it starts
  83         private TelemetryState  telemetry_state;
  84
  85         // Handler of incoming messages from clients.
  86         static class IncomingHandler extends Handler {
  87                 private final WeakReference<TelemetryService> service;
  88                 IncomingHandler(TelemetryService s) { service = new WeakReference<TelemetryService>(s); }
  89
  90                 @Override
  91                 public void handleMessage(Message msg) {
  92                         TelemetryService s = service.get();
  93                         AltosDroidLink bt = null;
  94                         if (s == null)
  95                                 return;
  96                         switch (msg.what) {
  97
  98                                 /* Messages from application */
  99                         case MSG_REGISTER_CLIENT:
 100                                 s.add_client(msg.replyTo);
 101                                 break;
 102                         case MSG_UNREGISTER_CLIENT:
 103                                 s.remove_client(msg.replyTo);
 104                                 break;
 105                         case MSG_CONNECT:
 106                                 AltosDebug.debug("Connect command received");
 107                                 DeviceAddress address = (DeviceAddress) msg.obj;
 108                                 AltosDroidPreferences.set_active_device(address);
 109                                 s.start_altos_bluetooth(address, false);
 110                                 break;
 111                         case MSG_OPEN_USB:
 112                                 AltosDebug.debug("Open USB command received");
 113                                 UsbDevice device = (UsbDevice) msg.obj;
 114                                 s.start_usb(device);
 115                                 break;
 116                         case MSG_DISCONNECT:
 117                                 AltosDebug.debug("Disconnect command received");
 118                                 s.address = null;
 119                                 s.disconnect(true);
 120                                 break;
 121                         case MSG_DELETE_SERIAL:
 122                                 AltosDebug.debug("Delete Serial command received");
 123                                 s.delete_serial((Integer) msg.obj);
 124                                 break;
 125                         case MSG_SETFREQUENCY:
 126                                 AltosDebug.debug("MSG_SETFREQUENCY");
 127                                 s.telemetry_state.frequency = (Double) msg.obj;
 128                                 if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
 129                                         try {
 130                                                 s.altos_link.set_radio_frequency(s.telemetry_state.frequency);
 131                                                 s.altos_link.save_frequency();
 132                                         } catch (InterruptedException e) {
 133                                         } catch (TimeoutException e) {
 134                                         }
 135                                 }
 136                                 s.send_to_clients();
 137                                 break;
 138                         case MSG_SETBAUD:
 139                                 AltosDebug.debug("MSG_SETBAUD");
 140                                 s.telemetry_state.telemetry_rate = (Integer) msg.obj;
 141                                 if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
 142                                         s.altos_link.set_telemetry_rate(s.telemetry_state.telemetry_rate);
 143                                         s.altos_link.save_telemetry_rate();
 144                                 }
 145                                 s.send_to_clients();
 146                                 break;
 147
 148                                 /*
 149                                  *Messages from AltosBluetooth
 150                                  */
 151                         case MSG_CONNECTED:
 152                                 AltosDebug.debug("MSG_CONNECTED");
 153                                 bt = (AltosDroidLink) msg.obj;
 154
 155                                 if (bt != s.altos_link) {
 156                                         AltosDebug.debug("Stale message");
 157                                         break;
 158                                 }
 159                                 AltosDebug.debug("Connected to device");
 160                                 try {
 161                                         s.connected();
 162                                 } catch (InterruptedException ie) {
 163                                 }
 164                                 break;
 165                         case MSG_CONNECT_FAILED:
 166                                 AltosDebug.debug("MSG_CONNECT_FAILED");
 167                                 bt = (AltosDroidLink) msg.obj;
 168
 169                                 if (bt != s.altos_link) {
 170                                         AltosDebug.debug("Stale message");
 171                                         break;
 172                                 }
 173                                 if (s.address != null) {
 174                                         AltosDebug.debug("Connection failed... retrying");
 175                                         s.start_altos_bluetooth(s.address, true);
 176                                 } else {
 177                                         s.disconnect(true);
 178                                 }
 179                                 break;
 180                         case MSG_DISCONNECTED:
 181
 182                                 /* This can be sent by either AltosDroidLink or TelemetryReader */
 183                                 AltosDebug.debug("MSG_DISCONNECTED");
 184                                 bt = (AltosDroidLink) msg.obj;
 185
 186                                 if (bt != s.altos_link) {
 187                                         AltosDebug.debug("Stale message");
 188                                         break;
 189                                 }
 190                                 if (s.address != null) {
 191                                         AltosDebug.debug("Connection lost... retrying");
 192                                         s.start_altos_bluetooth(s.address, true);
 193                                 } else {
 194                                         s.disconnect(true);
 195                                 }
 196                                 break;
 197
 198                                 /*
 199                                  * Messages from TelemetryReader
 200                                  */
 201                         case MSG_TELEMETRY:
 202                                 AltosDebug.debug("MSG_TELEMETRY");
 203                                 s.telemetry((AltosTelemetry) msg.obj);
 204                                 break;
 205                         case MSG_CRC_ERROR:
 206                                 // forward crc error messages
 207                                 s.telemetry_state.crc_errors = (Integer) msg.obj;
 208                                 AltosDebug.debug("MSG_CRC_ERROR");
 209                                 s.send_to_clients();
 210                                 break;
 211                         default:
 212                                 super.handleMessage(msg);
 213                         }
 214                 }
 215         }
 216
 217         /* Handle telemetry packet
 218          */
 219         private void telemetry(AltosTelemetry telem) {
 220                 AltosState      state;
 221
 222                 if (telemetry_state.states.containsKey(telem.serial))
 223                         state = telemetry_state.states.get(telem.serial).clone();
 224                 else
 225                         state = new AltosState();
 226                 telem.update_state(state);
 227                 telemetry_state.states.put(telem.serial, state);
 228                 if (state != null) {
 229                         AltosDebug.debug("Save state %d", telem.serial);
 230                         AltosPreferences.set_state(telem.serial, state, null);
 231                 }
 232                 send_to_clients();
 233         }
 234
 235         /* Construct the message to deliver to clients
 236          */
 237         private Message message() {
 238                 if (telemetry_state == null)
 239                         AltosDebug.debug("telemetry_state null!");
 240                 if (telemetry_state.states == null)
 241                         AltosDebug.debug("telemetry_state.states null!");
 242                 return Message.obtain(null, AltosDroid.MSG_STATE, telemetry_state);
 243         }
 244
 245         /* A new friend has connected
 246          */
 247         private void add_client(Messenger client) {
 248
 249                 clients.add(client);
 250                 AltosDebug.debug("Client bound to service");
 251
 252                 /* On connect, send the current state to the new client
 253                  */
 254                 send_to_client(client, message());
 255
 256                 /* If we've got an address from a previous session, then
 257                  * go ahead and try to reconnect to the device
 258                  */
 259                 if (address != null && telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED) {
 260                         AltosDebug.debug("Reconnecting now...");
 261                         start_altos_bluetooth(address, false);
 262                 }
 263         }
 264
 265         /* A client has disconnected, clean up
 266          */
 267         private void remove_client(Messenger client) {
 268                 clients.remove(client);
 269                 AltosDebug.debug("Client unbound from service");
 270
 271                 /* When the list of clients is empty, stop the service if
 272                  * we have no current telemetry source
 273                  */
 274
 275                  if (clients.isEmpty() && telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED) {
 276                          AltosDebug.debug("No clients, no connection. Stopping\n");
 277                          stopSelf();
 278                  }
 279         }
 280
 281         private void send_to_client(Messenger client, Message m) {
 282                 try {
 283                         AltosDebug.debug("Send message to client %s", client.toString());
 284                         client.send(m);
 285                 } catch (RemoteException e) {
 286                         AltosDebug.error("Client %s disappeared", client.toString());
 287                         remove_client(client);
 288                 }
 289         }
 290
 291         private void send_to_clients() {
 292                 Message m = message();
 293                 AltosDebug.debug("Send message to %d clients", clients.size());
 294                 for (Messenger client : clients)
 295                         send_to_client(client, m);
 296         }
 297
 298         private void disconnect(boolean notify) {
 299                 AltosDebug.debug("disconnect(): begin");
 300
 301                 telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
 302                 telemetry_state.address = null;
 303
 304                 if (altos_link != null)
 305                         altos_link.closing();
 306
 307                 stop_receiver_voltage_timer();
 308
 309                 if (telemetry_reader != null) {
 310                         AltosDebug.debug("disconnect(): stopping TelemetryReader");
 311                         telemetry_reader.interrupt();
 312                         try {
 313                                 telemetry_reader.join();
 314                         } catch (InterruptedException e) {
 315                         }
 316                         telemetry_reader = null;
 317                 }
 318                 if (telemetry_logger != null) {
 319                         AltosDebug.debug("disconnect(): stopping TelemetryLogger");
 320                         telemetry_logger.stop();
 321                         telemetry_logger = null;
 322                 }
 323                 if (altos_link != null) {
 324                         AltosDebug.debug("disconnect(): stopping AltosDroidLink");
 325                         altos_link.close();
 326                         altos_link = null;
 327                 }
 328                 telemetry_state.config = null;
 329                 if (notify) {
 330                         AltosDebug.debug("disconnect(): send message to clients");
 331                         send_to_clients();
 332                         if (clients.isEmpty()) {
 333                                 AltosDebug.debug("disconnect(): no clients, terminating");
 334                                 stopSelf();
 335                         }
 336                 }
 337         }
 338
 339         private void start_usb(UsbDevice device) {
 340                 AltosUsb        d = new AltosUsb(this, device, handler);
 341
 342                 if (d != null) {
 343                         disconnect(false);
 344                         altos_link = d;
 345                         try {
 346                                 connected();
 347                         } catch (InterruptedException ie) {
 348                         }
 349                 }
 350         }
 351
 352         private void delete_serial(int serial) {
 353                 telemetry_state.states.remove((Integer) serial);
 354                 AltosPreferences.remove_state(serial);
 355                 send_to_clients();
 356         }
 357
 358         private void start_altos_bluetooth(DeviceAddress address, boolean pause) {
 359                 // Get the BLuetoothDevice object
 360                 BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address);
 361
 362                 disconnect(false);
 363                 this.address = address;
 364                 AltosDebug.debug("start_altos_bluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress());
 365                 altos_link = new AltosBluetooth(device, handler, pause);
 366                 telemetry_state.connect = TelemetryState.CONNECT_CONNECTING;
 367                 telemetry_state.address = address;
 368                 send_to_clients();
 369         }
 370
 371         // Timer for receiver battery voltage monitoring
 372         Timer receiver_voltage_timer;
 373
 374         private void update_receiver_voltage() {
 375                 if (altos_link != null) {
 376                         try {
 377                                 double  voltage = altos_link.monitor_battery();
 378                                 AltosDebug.debug("update receiver voltage %g\n", voltage);
 379                                 telemetry_state.receiver_battery = voltage;
 380                         } catch (InterruptedException ie) {
 381                         }
 382                 }
 383         }
 384
 385         private void stop_receiver_voltage_timer() {
 386                 if (receiver_voltage_timer != null) {
 387                         receiver_voltage_timer.cancel();
 388                         receiver_voltage_timer.purge();
 389                         receiver_voltage_timer = null;
 390                 }
 391         }
 392
 393         private void start_receiver_voltage_timer() {
 394                 if (receiver_voltage_timer == null && altos_link.has_monitor_battery()) {
 395                         receiver_voltage_timer = new Timer();
 396                         receiver_voltage_timer.scheduleAtFixedRate(new TimerTask() { public void run() {update_receiver_voltage();}}, 1000L, 10000L);
 397                 }
 398         }
 399
 400         private void connected() throws InterruptedException {
 401                 AltosDebug.debug("connected top");
 402                 AltosDebug.check_ui("connected\n");
 403                 try {
 404                         if (altos_link == null)
 405                                 throw new InterruptedException("no bluetooth");
 406                         telemetry_state.config = altos_link.config_data();
 407                         altos_link.set_radio_frequency(telemetry_state.frequency);
 408                         altos_link.set_telemetry_rate(telemetry_state.telemetry_rate);
 409                 } catch (TimeoutException e) {
 410                         // If this timed out, then we really want to retry it, but
 411                         // probably safer to just retry the connection from scratch.
 412                         AltosDebug.debug("connected timeout");
 413                         if (address != null) {
 414                                 AltosDebug.debug("connected timeout, retrying");
 415                                 start_altos_bluetooth(address, true);
 416                         } else {
 417                                 handler.obtainMessage(MSG_CONNECT_FAILED).sendToTarget();
 418                                 disconnect(true);
 419                         }
 420                         return;
 421                 }
 422
 423                 AltosDebug.debug("connected bluetooth configured");
 424                 telemetry_state.connect = TelemetryState.CONNECT_CONNECTED;
 425                 telemetry_state.address = address;
 426
 427                 telemetry_reader = new TelemetryReader(altos_link, handler);
 428                 telemetry_reader.start();
 429
 430                 AltosDebug.debug("connected TelemetryReader started");
 431
 432                 telemetry_logger = new TelemetryLogger(this, altos_link);
 433
 434                 start_receiver_voltage_timer();
 435
 436                 AltosDebug.debug("Notify UI of connection");
 437
 438                 send_to_clients();
 439         }
 440
 441
 442         @Override
 443         public void onCreate() {
 444
 445                 AltosDebug.init(this);
 446
 447                 // Initialise preferences
 448                 AltosDroidPreferences.init(this);
 449
 450                 // Get local Bluetooth adapter
 451                 bluetooth_adapter = BluetoothAdapter.getDefaultAdapter();
 452
 453                 // If the adapter is null, then Bluetooth is not supported
 454                 if (bluetooth_adapter == null) {
 455                         Toast.makeText(this, "Bluetooth is not available", Toast.LENGTH_LONG).show();
 456                 }
 457
 458                 telemetry_state = new TelemetryState();
 459
 460                 // Create a reference to the NotificationManager so that we can update our notifcation text later
 461                 //mNM = (NotificationManager)getSystemService(NOTIFICATION_SERVICE);
 462
 463                 telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
 464                 telemetry_state.address = null;
 465
 466                 /* Pull the saved state information out of the preferences database
 467                  */
 468                 ArrayList<Integer> serials = AltosPreferences.list_states();
 469
 470                 telemetry_state.latest_serial = AltosPreferences.latest_state();
 471
 472                 for (int serial : serials) {
 473                         AltosSavedState saved_state = AltosPreferences.state(serial);
 474                         if (saved_state != null) {
 475                                 if (serial == 0) {
 476                                         serial = saved_state.state.serial;
 477                                         AltosPreferences.set_state(serial, saved_state.state, saved_state.listener_state);
 478                                         AltosPreferences.remove_state(0);
 479                                 }
 480                                 if (telemetry_state.latest_serial == 0)
 481                                         telemetry_state.latest_serial = serial;
 482
 483                                 AltosDebug.debug("recovered old state serial %d flight %d\n",
 484                                                  serial,
 485                                                  saved_state.state.flight);
 486                                 if (saved_state.state.gps != null)
 487                                         AltosDebug.debug("\tposition %f,%f\n",
 488                                                          saved_state.state.gps.lat,
 489                                                          saved_state.state.gps.lon);
 490                                 telemetry_state.states.put(serial, saved_state.state);
 491                         }
 492                 }
 493
 494                 // Listen for GPS and Network position updates
 495                 LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
 496
 497                 locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this);
 498         }
 499
 500         @Override
 501         public int onStartCommand(Intent intent, int flags, int startId) {
 502                 AltosDebug.debug("Received start id %d: %s", startId, intent);
 503
 504                 CharSequence text = getText(R.string.telemetry_service_started);
 505
 506                 // Create notification to be displayed while the service runs
 507                 Notification notification = new Notification(R.drawable.am_status_c, text, 0);
 508
 509                 // The PendingIntent to launch our activity if the user selects this notification
 510                 PendingIntent contentIntent = PendingIntent.getActivity(this, 0,
 511                                 new Intent(this, AltosDroid.class), 0);
 512
 513                 // Set the info for the views that show in the notification panel.
 514                 notification.setLatestEventInfo(this, getText(R.string.telemetry_service_label), text, contentIntent);
 515
 516                 // Set the notification to be in the "Ongoing" section.
 517                 notification.flags |= Notification.FLAG_ONGOING_EVENT;
 518
 519                 // Move us into the foreground.
 520                 startForeground(NOTIFICATION, notification);
 521
 522                 if (intent != null) {
 523                         String  action = intent.getAction();
 524
 525                         if (action.equals(AltosDroid.ACTION_BLUETOOTH)) {
 526                                 DeviceAddress address = AltosDroidPreferences.active_device();
 527                                 if (address != null && !address.address.startsWith("USB"))
 528                                         start_altos_bluetooth(address, false);
 529                         }
 530                 }
 531
 532                 // We want this service to continue running until it is explicitly
 533                 // stopped, so return sticky.
 534                 return START_STICKY;
 535         }
 536
 537         @Override
 538         public void onDestroy() {
 539
 540                 // Stop listening for location updates
 541                 ((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this);
 542
 543                 // Stop the bluetooth Comms threads
 544                 disconnect(true);
 545
 546                 // Demote us from the foreground, and cancel the persistent notification.
 547                 stopForeground(true);
 548
 549                 // Tell the user we stopped.
 550                 Toast.makeText(this, R.string.telemetry_service_stopped, Toast.LENGTH_SHORT).show();
 551         }
 552
 553         @Override
 554         public IBinder onBind(Intent intent) {
 555                 return messenger.getBinder();
 556         }
 557
 558
 559         public void onLocationChanged(Location location) {
 560                 telemetry_state.location = location;
 561                 AltosDebug.debug("location changed");
 562                 send_to_clients();
 563         }
 564
 565         public void onStatusChanged(String provider, int status, Bundle extras) {
 566         }
 567
 568         public void onProviderEnabled(String provider) {
 569         }
 570
 571         public void onProviderDisabled(String provider) {
 572         }
 573
 574 }