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.content.Intent;
  33 import android.content.Context;
  34 import android.os.Bundle;
  35 import android.os.IBinder;
  36 import android.os.Handler;
  37 import android.os.Message;
  38 import android.os.Messenger;
  39 import android.os.RemoteException;
  40 import android.os.Looper;
  41 import android.util.Log;
  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_5.*;
  49
  50
  51 public class TelemetryService extends Service implements LocationListener {
  52
  53         private static final String TAG = "TelemetryService";
  54         private static final boolean D = true;
  55
  56         static final int MSG_REGISTER_CLIENT   = 1;
  57         static final int MSG_UNREGISTER_CLIENT = 2;
  58         static final int MSG_CONNECT           = 3;
  59         static final int MSG_CONNECTED         = 4;
  60         static final int MSG_CONNECT_FAILED    = 5;
  61         static final int MSG_DISCONNECTED      = 6;
  62         static final int MSG_TELEMETRY         = 7;
  63         static final int MSG_SETFREQUENCY      = 8;
  64         static final int MSG_CRC_ERROR         = 9;
  65         static final int MSG_SETBAUD           = 10;
  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         // Timer - we wake up every now and then to decide if the service should stop
  73         private Timer timer = new Timer();
  74
  75         ArrayList<Messenger> mClients = new ArrayList<Messenger>(); // Keeps track of all current registered clients.
  76         final Handler   mHandler   = new IncomingHandler(this);
  77         final Messenger mMessenger = new Messenger(mHandler); // Target we publish for clients to send messages to IncomingHandler.
  78
  79         // Name of the connected device
  80         String address;
  81         private AltosBluetooth  mAltosBluetooth  = null;
  82         private TelemetryReader mTelemetryReader = null;
  83         private TelemetryLogger mTelemetryLogger = null;
  84         // Local Bluetooth adapter
  85         private BluetoothAdapter mBluetoothAdapter = null;
  86
  87         private TelemetryState  telemetry_state;
  88
  89         // Last data seen; send to UI when it starts
  90
  91         // Handler of incoming messages from clients.
  92         static class IncomingHandler extends Handler {
  93                 private final WeakReference<TelemetryService> service;
  94                 IncomingHandler(TelemetryService s) { service = new WeakReference<TelemetryService>(s); }
  95
  96                 @Override
  97                 public void handleMessage(Message msg) {
  98                         TelemetryService s = service.get();
  99                         if (s == null)
 100                                 return;
 101                         switch (msg.what) {
 102                         case MSG_REGISTER_CLIENT:
 103                                 s.mClients.add(msg.replyTo);
 104                                 try {
 105                                         // Now we try to send the freshly connected UI any relavant information about what
 106                                         // we're talking to
 107                                         msg.replyTo.send(s.message());
 108                                 } catch (RemoteException e) {
 109                                         s.mClients.remove(msg.replyTo);
 110                                 }
 111                                 if (D) Log.d(TAG, "Client bound to service");
 112                                 break;
 113                         case MSG_UNREGISTER_CLIENT:
 114                                 s.mClients.remove(msg.replyTo);
 115                                 if (D) Log.d(TAG, "Client unbound from service");
 116                                 break;
 117                         case MSG_CONNECT:
 118                                 if (D) Log.d(TAG, "Connect command received");
 119                                 String address = (String) msg.obj;
 120                                 AltosDroidPreferences.set_active_device(address);
 121                                 s.startAltosBluetooth(address);
 122                                 break;
 123                         case MSG_CONNECTED:
 124                                 if (D) Log.d(TAG, "Connected to device");
 125                                 try {
 126                                         s.connected();
 127                                 } catch (InterruptedException ie) {
 128                                 }
 129                                 break;
 130                         case MSG_CONNECT_FAILED:
 131                                 if (D) Log.d(TAG, "Connection failed... retrying");
 132                                 if (s.address != null)
 133                                         s.startAltosBluetooth(s.address);
 134                                 break;
 135                         case MSG_DISCONNECTED:
 136                                 Log.d(TAG, "MSG_DISCONNECTED");
 137                                 s.stopAltosBluetooth();
 138                                 break;
 139                         case MSG_TELEMETRY:
 140                                 // forward telemetry messages
 141                                 s.telemetry_state.state = (AltosState) msg.obj;
 142                                 if (s.telemetry_state.state != null) {
 143                                         if (D) Log.d(TAG, "Save state");
 144                                         AltosPreferences.set_state(0, s.telemetry_state.state, null);
 145                                 }
 146                                 if (D) Log.d(TAG, "MSG_TELEMETRY");
 147                                 s.sendMessageToClients();
 148                                 break;
 149                         case MSG_CRC_ERROR:
 150                                 // forward crc error messages
 151                                 s.telemetry_state.crc_errors = (Integer) msg.obj;
 152                                 if (D) Log.d(TAG, "MSG_CRC_ERROR");
 153                                 s.sendMessageToClients();
 154                                 break;
 155                         case MSG_SETFREQUENCY:
 156                                 if (D) Log.d(TAG, "MSG_SETFREQUENCY");
 157                                 s.telemetry_state.frequency = (Double) msg.obj;
 158                                 if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
 159                                         try {
 160                                                 s.mAltosBluetooth.set_radio_frequency(s.telemetry_state.frequency);
 161                                                 s.mAltosBluetooth.save_frequency();
 162                                         } catch (InterruptedException e) {
 163                                         } catch (TimeoutException e) {
 164                                         }
 165                                 }
 166                                 s.sendMessageToClients();
 167                                 break;
 168                         case MSG_SETBAUD:
 169                                 if (D) Log.d(TAG, "MSG_SETBAUD");
 170                                 s.telemetry_state.telemetry_rate = (Integer) msg.obj;
 171                                 if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
 172                                         s.mAltosBluetooth.set_telemetry_rate(s.telemetry_state.telemetry_rate);
 173                                         s.mAltosBluetooth.save_telemetry_rate();
 174                                 }
 175                                 s.sendMessageToClients();
 176                                 break;
 177                         default:
 178                                 super.handleMessage(msg);
 179                         }
 180                 }
 181         }
 182
 183         private Message message() {
 184                 if (telemetry_state == null)
 185                         Log.d(TAG, "telemetry_state null!");
 186                 if (telemetry_state.state == null)
 187                         Log.d(TAG, "telemetry_state.state null!");
 188                 return Message.obtain(null, AltosDroid.MSG_STATE, telemetry_state);
 189         }
 190
 191         private void sendMessageToClients() {
 192                 Message m = message();
 193                 if (D) Log.d(TAG, String.format("Send message to %d clients", mClients.size()));
 194                 for (int i=mClients.size()-1; i>=0; i--) {
 195                         try {
 196                                 if (D) Log.d(TAG, String.format("Send message to client %d", i));
 197                                 mClients.get(i).send(m);
 198                         } catch (RemoteException e) {
 199                                 mClients.remove(i);
 200                         }
 201                 }
 202         }
 203
 204         private void stopAltosBluetooth() {
 205                 if (D) Log.d(TAG, "stopAltosBluetooth(): begin");
 206                 telemetry_state.connect = TelemetryState.CONNECT_READY;
 207                 if (mTelemetryReader != null) {
 208                         if (D) Log.d(TAG, "stopAltosBluetooth(): stopping TelemetryReader");
 209                         mTelemetryReader.interrupt();
 210                         try {
 211                                 mTelemetryReader.join();
 212                         } catch (InterruptedException e) {
 213                         }
 214                         mTelemetryReader = null;
 215                 }
 216                 if (mTelemetryLogger != null) {
 217                         if (D) Log.d(TAG, "stopAltosBluetooth(): stopping TelemetryLogger");
 218                         mTelemetryLogger.stop();
 219                         mTelemetryLogger = null;
 220                 }
 221                 if (mAltosBluetooth != null) {
 222                         if (D) Log.d(TAG, "stopAltosBluetooth(): stopping AltosBluetooth");
 223                         mAltosBluetooth.close();
 224                         mAltosBluetooth = null;
 225                 }
 226                 telemetry_state.config = null;
 227                 if (D) Log.d(TAG, "stopAltosBluetooth(): send message to clients");
 228                 sendMessageToClients();
 229         }
 230
 231         private void startAltosBluetooth(String address) {
 232                 // Get the BLuetoothDevice object
 233                 BluetoothDevice device = mBluetoothAdapter.getRemoteDevice(address);
 234
 235                 this.address = address;
 236                 if (mAltosBluetooth == null) {
 237                         if (D) Log.d(TAG, String.format("startAltosBluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress()));
 238                         mAltosBluetooth = new AltosBluetooth(device, mHandler);
 239                         telemetry_state.connect = TelemetryState.CONNECT_CONNECTING;
 240                         sendMessageToClients();
 241                 } else {
 242                         // This is a bit of a hack - if it appears we're still connected, we treat this as a restart.
 243                         // So, to give a suitable delay to teardown/bringup, we just schedule a resend of a message
 244                         // to ourselves in a few seconds time that will ultimately call this method again.
 245                         // ... then we tear down the existing connection.
 246                         // We do it this way around so that we don't lose a reference to the device when this method
 247                         // is called on reception of MSG_CONNECT_FAILED in the handler above.
 248                         mHandler.sendMessageDelayed(Message.obtain(null, MSG_CONNECT, address), 3000);
 249                         stopAltosBluetooth();
 250                 }
 251         }
 252
 253         private void connected() throws InterruptedException {
 254                 if (D) Log.d(TAG, "connected top");
 255                 try {
 256                         if (mAltosBluetooth == null)
 257                                 throw new InterruptedException("no bluetooth");
 258                         telemetry_state.config = mAltosBluetooth.config_data();
 259                         mAltosBluetooth.set_radio_frequency(telemetry_state.frequency);
 260                         mAltosBluetooth.set_telemetry_rate(telemetry_state.telemetry_rate);
 261                 } catch (TimeoutException e) {
 262                         // If this timed out, then we really want to retry it, but
 263                         // probably safer to just retry the connection from scratch.
 264                         mHandler.obtainMessage(MSG_CONNECT_FAILED).sendToTarget();
 265                         return;
 266                 }
 267
 268                 if (D) Log.d(TAG, "connected bluetooth configured");
 269                 telemetry_state.connect = TelemetryState.CONNECT_CONNECTED;
 270
 271                 mTelemetryReader = new TelemetryReader(mAltosBluetooth, mHandler, telemetry_state.state);
 272                 mTelemetryReader.start();
 273
 274                 if (D) Log.d(TAG, "connected TelemetryReader started");
 275
 276                 mTelemetryLogger = new TelemetryLogger(this, mAltosBluetooth);
 277
 278                 if (D) Log.d(TAG, "Notify UI of connection");
 279
 280                 sendMessageToClients();
 281         }
 282
 283         private void onTimerTick() {
 284                 if (D) Log.d(TAG, "Timer wakeup");
 285                 try {
 286                         if (mClients.size() <= 0 && telemetry_state.connect != TelemetryState.CONNECT_CONNECTED) {
 287                                 stopSelf();
 288                         }
 289                 } catch (Throwable t) {
 290                         Log.e(TAG, "Timer failed: ", t);
 291                 }
 292         }
 293
 294
 295         @Override
 296         public void onCreate() {
 297                 // Get local Bluetooth adapter
 298                 mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
 299
 300                 // If the adapter is null, then Bluetooth is not supported
 301                 if (mBluetoothAdapter == null) {
 302                         Toast.makeText(this, "Bluetooth is not available", Toast.LENGTH_LONG).show();
 303                 }
 304
 305                 // Initialise preferences
 306                 AltosDroidPreferences.init(this);
 307
 308                 telemetry_state = new TelemetryState();
 309
 310                 // Create a reference to the NotificationManager so that we can update our notifcation text later
 311                 //mNM = (NotificationManager)getSystemService(NOTIFICATION_SERVICE);
 312
 313                 telemetry_state.connect = TelemetryState.CONNECT_READY;
 314
 315                 AltosSavedState saved_state = AltosPreferences.state(0);
 316
 317                 if (saved_state != null) {
 318                         if (D) Log.d(TAG, String.format("recovered old state flight %d\n", saved_state.state.flight));
 319                         telemetry_state.state = saved_state.state;
 320                 }
 321
 322                 // Start our timer - first event in 10 seconds, then every 10 seconds after that.
 323                 timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 10000L, 10000L);
 324
 325                 // Listen for GPS and Network position updates
 326                 LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
 327
 328                 locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this);
 329
 330                 String address = AltosDroidPreferences.active_device();
 331                 if (address != null)
 332                         startAltosBluetooth(address);
 333         }
 334
 335         @Override
 336         public int onStartCommand(Intent intent, int flags, int startId) {
 337                 Log.i("TelemetryService", "Received start id " + startId + ": " + intent);
 338
 339                 CharSequence text = getText(R.string.telemetry_service_started);
 340
 341                 // Create notification to be displayed while the service runs
 342                 Notification notification = new Notification(R.drawable.am_status_c, text, 0);
 343
 344                 // The PendingIntent to launch our activity if the user selects this notification
 345                 PendingIntent contentIntent = PendingIntent.getActivity(this, 0,
 346                                 new Intent(this, AltosDroid.class), 0);
 347
 348                 // Set the info for the views that show in the notification panel.
 349                 notification.setLatestEventInfo(this, getText(R.string.telemetry_service_label), text, contentIntent);
 350
 351                 // Set the notification to be in the "Ongoing" section.
 352                 notification.flags |= Notification.FLAG_ONGOING_EVENT;
 353
 354                 // Move us into the foreground.
 355                 startForeground(NOTIFICATION, notification);
 356
 357                 // We want this service to continue running until it is explicitly
 358                 // stopped, so return sticky.
 359                 return START_STICKY;
 360         }
 361
 362         @Override
 363         public void onDestroy() {
 364
 365                 // Stop listening for location updates
 366                 ((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this);
 367
 368                 // Stop the bluetooth Comms threads
 369                 stopAltosBluetooth();
 370
 371                 // Demote us from the foreground, and cancel the persistent notification.
 372                 stopForeground(true);
 373
 374                 // Stop our timer
 375                 if (timer != null) {timer.cancel();}
 376
 377                 // Tell the user we stopped.
 378                 Toast.makeText(this, R.string.telemetry_service_stopped, Toast.LENGTH_SHORT).show();
 379         }
 380
 381         @Override
 382         public IBinder onBind(Intent intent) {
 383                 return mMessenger.getBinder();
 384         }
 385
 386
 387         public void onLocationChanged(Location location) {
 388                 telemetry_state.location = location;
 389                 if (D) Log.d(TAG, "location changed");
 390                 sendMessageToClients();
 391         }
 392
 393         public void onStatusChanged(String provider, int status, Bundle extras) {
 394         }
 395
 396         public void onProviderEnabled(String provider) {
 397         }
 398
 399         public void onProviderDisabled(String provider) {
 400         }
 401
 402 }