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.Criteria;
  42
  43 import org.altusmetrum.altoslib_10.*;
  44
  45 public class TelemetryService extends Service implements AltosIdleMonitorListener {
  46
  47         static final int MSG_REGISTER_CLIENT   = 1;
  48         static final int MSG_UNREGISTER_CLIENT = 2;
  49         static final int MSG_CONNECT           = 3;
  50         static final int MSG_OPEN_USB          = 4;
  51         static final int MSG_CONNECTED         = 5;
  52         static final int MSG_CONNECT_FAILED    = 6;
  53         static final int MSG_DISCONNECTED      = 7;
  54         static final int MSG_TELEMETRY         = 8;
  55         static final int MSG_SETFREQUENCY      = 9;
  56         static final int MSG_CRC_ERROR         = 10;
  57         static final int MSG_SETBAUD           = 11;
  58         static final int MSG_DISCONNECT        = 12;
  59         static final int MSG_DELETE_SERIAL     = 13;
  60         static final int MSG_BLUETOOTH_ENABLED = 14;
  61         static final int MSG_MONITOR_IDLE_START= 15;
  62         static final int MSG_MONITOR_IDLE_STOP = 16;
  63         static final int MSG_REBOOT            = 17;
  64         static final int MSG_IGNITER_QUERY     = 18;
  65         static final int MSG_IGNITER_FIRE      = 19;
  66
  67         // Unique Identification Number for the Notification.
  68         // We use it on Notification start, and to cancel it.
  69         private int NOTIFICATION = R.string.telemetry_service_label;
  70         //private NotificationManager mNM;
  71
  72         ArrayList<Messenger> clients = new ArrayList<Messenger>(); // Keeps track of all current registered clients.
  73         final Handler   handler   = new IncomingHandler(this);
  74         final Messenger messenger = new Messenger(handler); // Target we publish for clients to send messages to IncomingHandler.
  75
  76         // Name of the connected device
  77         DeviceAddress address;
  78         private AltosDroidLink  altos_link  = null;
  79         private TelemetryReader telemetry_reader = null;
  80         private TelemetryLogger telemetry_logger = null;
  81
  82         // Local Bluetooth adapter
  83         private BluetoothAdapter bluetooth_adapter = null;
  84
  85         // Last data seen; send to UI when it starts
  86         private TelemetryState  telemetry_state;
  87
  88         // Idle monitor if active
  89         AltosIdleMonitor idle_monitor = null;
  90
  91         // Igniter bits
  92         AltosIgnite ignite = null;
  93         boolean ignite_running;
  94
  95         // Handler of incoming messages from clients.
  96         static class IncomingHandler extends Handler {
  97                 private final WeakReference<TelemetryService> service;
  98                 IncomingHandler(TelemetryService s) { service = new WeakReference<TelemetryService>(s); }
  99
 100                 @Override
 101                 public void handleMessage(Message msg) {
 102                         DeviceAddress address;
 103
 104                         TelemetryService s = service.get();
 105                         AltosDroidLink bt = null;
 106                         if (s == null)
 107                                 return;
 108
 109                         switch (msg.what) {
 110
 111                                 /* Messages from application */
 112                         case MSG_REGISTER_CLIENT:
 113                                 s.add_client(msg.replyTo);
 114                                 break;
 115                         case MSG_UNREGISTER_CLIENT:
 116                                 s.remove_client(msg.replyTo);
 117                                 break;
 118                         case MSG_CONNECT:
 119                                 AltosDebug.debug("Connect command received");
 120                                 address = (DeviceAddress) msg.obj;
 121                                 AltosDroidPreferences.set_active_device(address);
 122                                 s.start_altos_bluetooth(address, false);
 123                                 break;
 124                         case MSG_OPEN_USB:
 125                                 AltosDebug.debug("Open USB command received");
 126                                 UsbDevice device = (UsbDevice) msg.obj;
 127                                 s.start_usb(device);
 128                                 break;
 129                         case MSG_DISCONNECT:
 130                                 AltosDebug.debug("Disconnect command received");
 131                                 s.address = null;
 132                                 s.disconnect(true);
 133                                 break;
 134                         case MSG_DELETE_SERIAL:
 135                                 AltosDebug.debug("Delete Serial command received");
 136                                 s.delete_serial((Integer) msg.obj);
 137                                 break;
 138                         case MSG_SETFREQUENCY:
 139                                 AltosDebug.debug("MSG_SETFREQUENCY");
 140                                 s.telemetry_state.frequency = (Double) msg.obj;
 141                                 if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
 142                                         try {
 143                                                 s.altos_link.set_radio_frequency(s.telemetry_state.frequency);
 144                                                 s.altos_link.save_frequency();
 145                                         } catch (InterruptedException e) {
 146                                         } catch (TimeoutException e) {
 147                                         }
 148                                 }
 149                                 s.send_to_clients();
 150                                 break;
 151                         case MSG_SETBAUD:
 152                                 AltosDebug.debug("MSG_SETBAUD");
 153                                 s.telemetry_state.telemetry_rate = (Integer) msg.obj;
 154                                 if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
 155                                         s.altos_link.set_telemetry_rate(s.telemetry_state.telemetry_rate);
 156                                         s.altos_link.save_telemetry_rate();
 157                                 }
 158                                 s.send_to_clients();
 159                                 break;
 160
 161                                 /*
 162                                  *Messages from AltosBluetooth
 163                                  */
 164                         case MSG_CONNECTED:
 165                                 AltosDebug.debug("MSG_CONNECTED");
 166                                 bt = (AltosDroidLink) msg.obj;
 167
 168                                 if (bt != s.altos_link) {
 169                                         AltosDebug.debug("Stale message");
 170                                         break;
 171                                 }
 172                                 AltosDebug.debug("Connected to device");
 173                                 try {
 174                                         s.connected();
 175                                 } catch (InterruptedException ie) {
 176                                 }
 177                                 break;
 178                         case MSG_CONNECT_FAILED:
 179                                 AltosDebug.debug("MSG_CONNECT_FAILED");
 180                                 bt = (AltosDroidLink) msg.obj;
 181
 182                                 if (bt != s.altos_link) {
 183                                         AltosDebug.debug("Stale message");
 184                                         break;
 185                                 }
 186                                 if (s.address != null) {
 187                                         AltosDebug.debug("Connection failed... retrying");
 188                                         s.start_altos_bluetooth(s.address, true);
 189                                 } else {
 190                                         s.disconnect(true);
 191                                 }
 192                                 break;
 193                         case MSG_DISCONNECTED:
 194
 195                                 /* This can be sent by either AltosDroidLink or TelemetryReader */
 196                                 AltosDebug.debug("MSG_DISCONNECTED");
 197                                 bt = (AltosDroidLink) msg.obj;
 198
 199                                 if (bt != s.altos_link) {
 200                                         AltosDebug.debug("Stale message");
 201                                         break;
 202                                 }
 203                                 if (s.address != null) {
 204                                         AltosDebug.debug("Connection lost... retrying");
 205                                         s.start_altos_bluetooth(s.address, true);
 206                                 } else {
 207                                         s.disconnect(true);
 208                                 }
 209                                 break;
 210
 211                                 /*
 212                                  * Messages from TelemetryReader
 213                                  */
 214                         case MSG_TELEMETRY:
 215                                 s.telemetry((AltosTelemetry) msg.obj);
 216                                 break;
 217                         case MSG_CRC_ERROR:
 218                                 // forward crc error messages
 219                                 s.telemetry_state.crc_errors = (Integer) msg.obj;
 220                                 s.send_to_clients();
 221                                 break;
 222                         case MSG_BLUETOOTH_ENABLED:
 223                                 AltosDebug.debug("TelemetryService notes that BT is now enabled");
 224                                 address = AltosDroidPreferences.active_device();
 225                                 if (address != null && !address.address.startsWith("USB"))
 226                                         s.start_altos_bluetooth(address, false);
 227                                 break;
 228                         case MSG_MONITOR_IDLE_START:
 229                                 AltosDebug.debug("start monitor idle");
 230                                 s.start_idle_monitor();
 231                                 break;
 232                         case MSG_MONITOR_IDLE_STOP:
 233                                 AltosDebug.debug("stop monitor idle");
 234                                 s.stop_idle_monitor();
 235                                 break;
 236                         case MSG_REBOOT:
 237                                 AltosDebug.debug("reboot");
 238                                 s.reboot_remote();
 239                                 break;
 240                         case MSG_IGNITER_QUERY:
 241                                 AltosDebug.debug("igniter query");
 242                                 s.igniter_query(msg.replyTo);
 243                                 break;
 244                         case MSG_IGNITER_FIRE:
 245                                 AltosDebug.debug("igniter fire");
 246                                 s.igniter_fire((String) msg.obj);
 247                                 break;
 248                         default:
 249                                 super.handleMessage(msg);
 250                         }
 251                 }
 252         }
 253
 254         /* Handle telemetry packet
 255          */
 256         private void telemetry(AltosTelemetry telem) {
 257                 AltosState      state;
 258
 259                 if (telemetry_state.states.containsKey(telem.serial))
 260                         state = telemetry_state.states.get(telem.serial).clone();
 261                 else
 262                         state = new AltosState();
 263                 telem.update_state(state);
 264                 telemetry_state.states.put(telem.serial, state);
 265                 if (state != null) {
 266                         AltosPreferences.set_state(state);
 267                 }
 268                 send_to_clients();
 269         }
 270
 271         /* Construct the message to deliver to clients
 272          */
 273         private Message message() {
 274                 if (telemetry_state == null)
 275                         AltosDebug.debug("telemetry_state null!");
 276                 if (telemetry_state.states == null)
 277                         AltosDebug.debug("telemetry_state.states null!");
 278                 return Message.obtain(null, AltosDroid.MSG_STATE, telemetry_state);
 279         }
 280
 281         /* A new friend has connected
 282          */
 283         private void add_client(Messenger client) {
 284
 285                 clients.add(client);
 286                 AltosDebug.debug("Client bound to service");
 287
 288                 /* On connect, send the current state to the new client
 289                  */
 290                 send_to_client(client);
 291                 send_idle_mode_to_client(client);
 292
 293                 /* If we've got an address from a previous session, then
 294                  * go ahead and try to reconnect to the device
 295                  */
 296                 if (address != null && telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED) {
 297                         AltosDebug.debug("Reconnecting now...");
 298                         start_altos_bluetooth(address, false);
 299                 }
 300         }
 301
 302         /* A client has disconnected, clean up
 303          */
 304         private void remove_client(Messenger client) {
 305                 clients.remove(client);
 306                 AltosDebug.debug("Client unbound from service");
 307
 308                 /* When the list of clients is empty, stop the service if
 309                  * we have no current telemetry source
 310                  */
 311
 312                  if (clients.isEmpty() && telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED) {
 313                          AltosDebug.debug("No clients, no connection. Stopping\n");
 314                          stopSelf();
 315                  }
 316         }
 317
 318         private void send_to_client(Messenger client) {
 319                 Message m = message();
 320                 try {
 321                         client.send(m);
 322                 } catch (RemoteException e) {
 323                         AltosDebug.error("Client %s disappeared", client.toString());
 324                         remove_client(client);
 325                 }
 326         }
 327
 328         private void send_to_clients() {
 329                 for (Messenger client : clients)
 330                         send_to_client(client);
 331         }
 332
 333         private void send_idle_mode_to_client(Messenger client) {
 334                 Message m = Message.obtain(null, AltosDroid.MSG_IDLE_MODE, idle_monitor != null);
 335                 try {
 336                         client.send(m);
 337                 } catch (RemoteException e) {
 338                         AltosDebug.error("Client %s disappeared", client.toString());
 339                         remove_client(client);
 340                 }
 341         }
 342
 343         private void send_idle_mode_to_clients() {
 344                 for (Messenger client : clients)
 345                         send_idle_mode_to_client(client);
 346         }
 347
 348         private void telemetry_start() {
 349                 if (telemetry_reader == null && idle_monitor == null && !ignite_running) {
 350                         telemetry_reader = new TelemetryReader(altos_link, handler);
 351                         telemetry_reader.start();
 352                 }
 353         }
 354
 355         private void telemetry_stop() {
 356                 if (telemetry_reader != null) {
 357                         AltosDebug.debug("disconnect(): stopping TelemetryReader");
 358                         telemetry_reader.interrupt();
 359                         try {
 360                                 telemetry_reader.join();
 361                         } catch (InterruptedException e) {
 362                         }
 363                         telemetry_reader = null;
 364                 }
 365         }
 366
 367         private void disconnect(boolean notify) {
 368                 AltosDebug.debug("disconnect(): begin");
 369
 370                 telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
 371                 telemetry_state.address = null;
 372
 373                 if (idle_monitor != null)
 374                         stop_idle_monitor();
 375
 376                 if (altos_link != null)
 377                         altos_link.closing();
 378
 379                 stop_receiver_voltage_timer();
 380
 381                 telemetry_stop();
 382                 if (telemetry_logger != null) {
 383                         AltosDebug.debug("disconnect(): stopping TelemetryLogger");
 384                         telemetry_logger.stop();
 385                         telemetry_logger = null;
 386                 }
 387                 if (altos_link != null) {
 388                         AltosDebug.debug("disconnect(): stopping AltosDroidLink");
 389                         altos_link.close();
 390                         altos_link = null;
 391                         ignite = null;
 392                 }
 393                 telemetry_state.config = null;
 394                 if (notify) {
 395                         AltosDebug.debug("disconnect(): send message to clients");
 396                         send_to_clients();
 397                         if (clients.isEmpty()) {
 398                                 AltosDebug.debug("disconnect(): no clients, terminating");
 399                                 stopSelf();
 400                         }
 401                 }
 402         }
 403
 404         private void start_usb(UsbDevice device) {
 405                 AltosUsb        d = new AltosUsb(this, device, handler);
 406
 407                 if (d != null) {
 408                         disconnect(false);
 409                         altos_link = d;
 410                         try {
 411                                 connected();
 412                         } catch (InterruptedException ie) {
 413                         }
 414                 }
 415         }
 416
 417         private void delete_serial(int serial) {
 418                 telemetry_state.states.remove((Integer) serial);
 419                 AltosPreferences.remove_state(serial);
 420                 send_to_clients();
 421         }
 422
 423         private void start_altos_bluetooth(DeviceAddress address, boolean pause) {
 424                 if (bluetooth_adapter == null || !bluetooth_adapter.isEnabled())
 425                         return;
 426
 427                 disconnect(false);
 428
 429                 // Get the BluetoothDevice object
 430                 BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address);
 431
 432                 this.address = address;
 433                 AltosDebug.debug("start_altos_bluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress());
 434                 altos_link = new AltosBluetooth(device, handler, pause);
 435                 telemetry_state.connect = TelemetryState.CONNECT_CONNECTING;
 436                 telemetry_state.address = address;
 437                 send_to_clients();
 438         }
 439
 440         private void start_idle_monitor() {
 441                 if (altos_link != null && idle_monitor == null) {
 442                         telemetry_stop();
 443                         idle_monitor = new AltosIdleMonitor(this, altos_link, true, false);
 444                         idle_monitor.set_callsign(AltosPreferences.callsign());
 445                         idle_monitor.start();
 446                         send_idle_mode_to_clients();
 447                 }
 448         }
 449
 450         private void stop_idle_monitor() {
 451                 if (idle_monitor != null) {
 452                         try {
 453                                 idle_monitor.abort();
 454                         } catch (InterruptedException ie) {
 455                         }
 456                         idle_monitor = null;
 457                         telemetry_start();
 458                         send_idle_mode_to_clients();
 459                 }
 460         }
 461
 462         private void reboot_remote() {
 463                 if (altos_link != null) {
 464                         stop_idle_monitor();
 465                         try {
 466                                 altos_link.start_remote();
 467                                 altos_link.printf("r eboot\n");
 468                                 altos_link.flush_output();
 469                         } catch (TimeoutException te) {
 470                         } catch (InterruptedException ie) {
 471                         } finally {
 472                                 try {
 473                                         altos_link.stop_remote();
 474                                 } catch (InterruptedException ie) {
 475                                 }
 476                         }
 477                 }
 478         }
 479
 480         private void ensure_ignite() {
 481                 if (ignite == null)
 482                         ignite = new AltosIgnite(altos_link, true, false);
 483         }
 484
 485         private synchronized void igniter_query(Messenger client) {
 486                 ensure_ignite();
 487                 HashMap<String,Integer> status_map = null;
 488                 ignite_running = true;
 489                 try {
 490                         stop_idle_monitor();
 491                         try {
 492                                 status_map = ignite.status();
 493                         } catch (InterruptedException ie) {
 494                                 AltosDebug.debug("ignite.status interrupted");
 495                         } catch (TimeoutException te) {
 496                                 AltosDebug.debug("ignite.status timeout");
 497                         }
 498                 } finally {
 499                         ignite_running = false;
 500                 }
 501                 Message m = Message.obtain(null, AltosDroid.MSG_IGNITER_STATUS, status_map);
 502                 try {
 503                         client.send(m);
 504                 } catch (RemoteException e) {
 505                 }
 506         }
 507
 508         private synchronized void igniter_fire(String igniter) {
 509                 ensure_ignite();
 510                 ignite_running = true;
 511                 stop_idle_monitor();
 512                 try {
 513                         ignite.fire(igniter);
 514                 } catch (InterruptedException ie) {
 515                 } finally {
 516                         ignite_running = false;
 517                 }
 518         }
 519
 520         // Timer for receiver battery voltage monitoring
 521         Timer receiver_voltage_timer;
 522
 523         private void update_receiver_voltage() {
 524                 if (altos_link != null && idle_monitor == null && !ignite_running) {
 525                         try {
 526                                 double  voltage = altos_link.monitor_battery();
 527                                 telemetry_state.receiver_battery = voltage;
 528                                 send_to_clients();
 529                         } catch (InterruptedException ie) {
 530                         }
 531                 }
 532         }
 533
 534         private void stop_receiver_voltage_timer() {
 535                 if (receiver_voltage_timer != null) {
 536                         receiver_voltage_timer.cancel();
 537                         receiver_voltage_timer.purge();
 538                         receiver_voltage_timer = null;
 539                 }
 540         }
 541
 542         private void start_receiver_voltage_timer() {
 543                 if (receiver_voltage_timer == null && altos_link.has_monitor_battery()) {
 544                         receiver_voltage_timer = new Timer();
 545                         receiver_voltage_timer.scheduleAtFixedRate(new TimerTask() { public void run() {update_receiver_voltage();}}, 1000L, 10000L);
 546                 }
 547         }
 548
 549         private void connected() throws InterruptedException {
 550                 AltosDebug.debug("connected top");
 551                 AltosDebug.check_ui("connected\n");
 552                 try {
 553                         if (altos_link == null)
 554                                 throw new InterruptedException("no bluetooth");
 555                         telemetry_state.config = altos_link.config_data();
 556                         altos_link.set_radio_frequency(telemetry_state.frequency);
 557                         altos_link.set_telemetry_rate(telemetry_state.telemetry_rate);
 558                 } catch (TimeoutException e) {
 559                         // If this timed out, then we really want to retry it, but
 560                         // probably safer to just retry the connection from scratch.
 561                         AltosDebug.debug("connected timeout");
 562                         if (address != null) {
 563                                 AltosDebug.debug("connected timeout, retrying");
 564                                 start_altos_bluetooth(address, true);
 565                         } else {
 566                                 handler.obtainMessage(MSG_CONNECT_FAILED).sendToTarget();
 567                                 disconnect(true);
 568                         }
 569                         return;
 570                 }
 571
 572                 AltosDebug.debug("connected bluetooth configured");
 573                 telemetry_state.connect = TelemetryState.CONNECT_CONNECTED;
 574                 telemetry_state.address = address;
 575
 576                 telemetry_start();
 577
 578                 AltosDebug.debug("connected TelemetryReader started");
 579
 580                 telemetry_logger = new TelemetryLogger(this, altos_link);
 581
 582                 start_receiver_voltage_timer();
 583
 584                 AltosDebug.debug("Notify UI of connection");
 585
 586                 send_to_clients();
 587         }
 588
 589
 590         @Override
 591         public void onCreate() {
 592
 593                 AltosDebug.init(this);
 594
 595                 // Initialise preferences
 596                 AltosDroidPreferences.init(this);
 597
 598                 // Get local Bluetooth adapter
 599                 bluetooth_adapter = BluetoothAdapter.getDefaultAdapter();
 600
 601                 telemetry_state = new TelemetryState();
 602
 603                 // Create a reference to the NotificationManager so that we can update our notifcation text later
 604                 //mNM = (NotificationManager)getSystemService(NOTIFICATION_SERVICE);
 605
 606                 telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
 607                 telemetry_state.address = null;
 608
 609                 /* Pull the saved state information out of the preferences database
 610                  */
 611                 ArrayList<Integer> serials = AltosPreferences.list_states();
 612
 613                 telemetry_state.latest_serial = AltosPreferences.latest_state();
 614
 615                 for (int serial : serials) {
 616                         AltosState saved_state = AltosPreferences.state(serial);
 617                         if (saved_state != null) {
 618                                 if (telemetry_state.latest_serial == 0)
 619                                         telemetry_state.latest_serial = serial;
 620
 621                                 AltosDebug.debug("recovered old state serial %d flight %d",
 622                                                  serial,
 623                                                  saved_state.flight);
 624                                 if (saved_state.gps != null)
 625                                         AltosDebug.debug("\tposition %f,%f",
 626                                                          saved_state.gps.lat,
 627                                                          saved_state.gps.lon);
 628                                 telemetry_state.states.put(serial, saved_state);
 629                         } else {
 630                                 AltosDebug.debug("Failed to recover state for %d", serial);
 631                         }
 632                 }
 633         }
 634
 635         @Override
 636         public int onStartCommand(Intent intent, int flags, int startId) {
 637                 AltosDebug.debug("Received start id %d: %s", startId, intent);
 638
 639                 CharSequence text = getText(R.string.telemetry_service_started);
 640
 641                 // Create notification to be displayed while the service runs
 642                 Notification notification = new Notification(R.drawable.am_status_c, text, 0);
 643
 644                 // The PendingIntent to launch our activity if the user selects this notification
 645                 PendingIntent contentIntent = PendingIntent.getActivity(this, 0,
 646                                 new Intent(this, AltosDroid.class), 0);
 647
 648                 // Set the info for the views that show in the notification panel.
 649                 notification.setLatestEventInfo(this, getText(R.string.telemetry_service_label), text, contentIntent);
 650
 651                 // Set the notification to be in the "Ongoing" section.
 652                 notification.flags |= Notification.FLAG_ONGOING_EVENT;
 653
 654                 // Move us into the foreground.
 655                 startForeground(NOTIFICATION, notification);
 656
 657                 /* Start bluetooth if we don't have a connection already */
 658                 if (intent != null &&
 659                     (telemetry_state.connect == TelemetryState.CONNECT_NONE ||
 660                      telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED))
 661                 {
 662                         String  action = intent.getAction();
 663
 664                         if (action.equals(AltosDroid.ACTION_BLUETOOTH)) {
 665                                 DeviceAddress address = AltosDroidPreferences.active_device();
 666                                 if (address != null && !address.address.startsWith("USB"))
 667                                         start_altos_bluetooth(address, false);
 668                         }
 669                 }
 670
 671                 // We want this service to continue running until it is explicitly
 672                 // stopped, so return sticky.
 673                 return START_STICKY;
 674         }
 675
 676         @Override
 677         public void onDestroy() {
 678
 679                 // Stop the bluetooth Comms threads
 680                 disconnect(true);
 681
 682                 // Demote us from the foreground, and cancel the persistent notification.
 683                 stopForeground(true);
 684
 685                 // Tell the user we stopped.
 686                 Toast.makeText(this, R.string.telemetry_service_stopped, Toast.LENGTH_SHORT).show();
 687         }
 688
 689         @Override
 690         public IBinder onBind(Intent intent) {
 691                 return messenger.getBinder();
 692         }
 693
 694         /* AltosIdleMonitorListener */
 695         public void update(AltosState state, AltosListenerState listener_state) {
 696                 telemetry_state.states.put(state.serial, state);
 697                 telemetry_state.receiver_battery = listener_state.battery;
 698                 send_to_clients();
 699         }
 700
 701         public void failed() {
 702         }
 703 }