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