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.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.util.Log;
  41 import android.widget.Toast;
  42 import android.location.Location;
  43 import android.location.LocationManager;
  44 import android.location.LocationListener;
  45 import android.location.Criteria;
  46
  47 import org.altusmetrum.altoslib_5.*;
  48
  49
  50 public class TelemetryService extends Service implements LocationListener {
  51
  52         private static final String TAG = "TelemetryService";
  53         private static final boolean D = true;
  54
  55         static final int MSG_REGISTER_CLIENT   = 1;
  56         static final int MSG_UNREGISTER_CLIENT = 2;
  57         static final int MSG_CONNECT           = 3;
  58         static final int MSG_CONNECTED         = 4;
  59         static final int MSG_CONNECT_FAILED    = 5;
  60         static final int MSG_DISCONNECTED      = 6;
  61         static final int MSG_TELEMETRY         = 7;
  62         static final int MSG_SETFREQUENCY      = 8;
  63         static final int MSG_CRC_ERROR         = 9;
  64         static final int MSG_SETBAUD           = 10;
  65
  66         public static final int STATE_NONE       = 0;
  67         public static final int STATE_READY      = 1;
  68         public static final int STATE_CONNECTING = 2;
  69         public static final int STATE_CONNECTED  = 3;
  70
  71         // Unique Identification Number for the Notification.
  72         // We use it on Notification start, and to cancel it.
  73         private int NOTIFICATION = R.string.telemetry_service_label;
  74         //private NotificationManager mNM;
  75
  76         // Timer - we wake up every now and then to decide if the service should stop
  77         private Timer timer = new Timer();
  78
  79         ArrayList<Messenger> mClients = new ArrayList<Messenger>(); // Keeps track of all current registered clients.
  80         final Handler   mHandler   = new IncomingHandler(this);
  81         final Messenger mMessenger = new Messenger(mHandler); // Target we publish for clients to send messages to IncomingHandler.
  82
  83         // Name of the connected device
  84         private BluetoothDevice device           = null;
  85         private AltosBluetooth  mAltosBluetooth  = null;
  86         private AltosConfigData mConfigData      = null;
  87         private TelemetryReader mTelemetryReader = null;
  88         private TelemetryLogger mTelemetryLogger = null;
  89
  90         // internally track state of bluetooth connection
  91         private int state = STATE_NONE;
  92
  93         // Last data seen; send to UI when it starts
  94
  95         private AltosState last_state;
  96         private Location last_location;
  97         private int last_crc_errors;
  98
  99         // Handler of incoming messages from clients.
 100         static class IncomingHandler extends Handler {
 101                 private final WeakReference<TelemetryService> service;
 102                 IncomingHandler(TelemetryService s) { service = new WeakReference<TelemetryService>(s); }
 103
 104                 @Override
 105                 public void handleMessage(Message msg) {
 106                         TelemetryService s = service.get();
 107                         switch (msg.what) {
 108                         case MSG_REGISTER_CLIENT:
 109                                 s.mClients.add(msg.replyTo);
 110                                 try {
 111                                         // Now we try to send the freshly connected UI any relavant information about what
 112                                         // we're talking to - Basically state and Config Data.
 113                                         msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_STATE_CHANGE, s.state, -1, s.mConfigData));
 114                                         // We also send any recent telemetry or location data that's cached
 115                                         if (s.last_state      != null) msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_TELEMETRY, s.last_state     ));
 116                                         if (s.last_location   != null) msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_LOCATION , s.last_location  ));
 117                                         if (s.last_crc_errors != 0   ) msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_CRC_ERROR, s.last_crc_errors));
 118                                         if (s.state == STATE_CONNECTED) {
 119                                                 msg.replyTo.send(s.frequency_message());
 120                                                 msg.replyTo.send(s.telemetry_rate_message());
 121                                         }
 122                                 } catch (RemoteException e) {
 123                                         s.mClients.remove(msg.replyTo);
 124                                 }
 125                                 if (D) Log.d(TAG, "Client bound to service");
 126                                 break;
 127                         case MSG_UNREGISTER_CLIENT:
 128                                 s.mClients.remove(msg.replyTo);
 129                                 if (D) Log.d(TAG, "Client unbound from service");
 130                                 break;
 131                         case MSG_CONNECT:
 132                                 if (D) Log.d(TAG, "Connect command received");
 133                                 s.device = (BluetoothDevice) msg.obj;
 134                                 s.startAltosBluetooth();
 135                                 break;
 136                         case MSG_CONNECTED:
 137                                 if (D) Log.d(TAG, "Connected to device");
 138                                 try {
 139                                         s.connected();
 140                                 } catch (InterruptedException ie) {
 141                                 }
 142                                 break;
 143                         case MSG_CONNECT_FAILED:
 144                                 if (D) Log.d(TAG, "Connection failed... retrying");
 145                                 s.startAltosBluetooth();
 146                                 break;
 147                         case MSG_DISCONNECTED:
 148                                 Log.d(TAG, "MSG_DISCONNECTED");
 149                                 // Only do the following if we haven't been shutdown elsewhere..
 150                                 if (s.device != null) {
 151                                         if (D) Log.d(TAG, "Disconnected from " + s.device.getName());
 152                                         s.stopAltosBluetooth();
 153                                 }
 154                                 break;
 155                         case MSG_TELEMETRY:
 156                                 // forward telemetry messages
 157                                 s.last_state = (AltosState) msg.obj;
 158                                 s.sendMessageToClients(Message.obtain(null, AltosDroid.MSG_TELEMETRY, msg.obj));
 159                                 break;
 160                         case MSG_CRC_ERROR:
 161                                 // forward crc error messages
 162                                 s.last_crc_errors = (Integer) msg.obj;
 163                                 s.sendMessageToClients(Message.obtain(null, AltosDroid.MSG_CRC_ERROR, msg.obj));
 164                                 break;
 165                         case MSG_SETFREQUENCY:
 166                                 if (s.state == STATE_CONNECTED) {
 167                                         try {
 168                                                 s.mAltosBluetooth.set_radio_frequency((Double) msg.obj);
 169                                                 s.mAltosBluetooth.save_frequency();
 170                                                 s.sendMessageToClients(s.frequency_message());
 171                                         } catch (InterruptedException e) {
 172                                         } catch (TimeoutException e) {
 173                                         }
 174                                 }
 175                                 break;
 176                         case MSG_SETBAUD:
 177                                 if (s.state == STATE_CONNECTED) {
 178                                         s.mAltosBluetooth.set_telemetry_rate((Integer) msg.obj);
 179                                         s.mAltosBluetooth.save_telemetry_rate();
 180                                         s.sendMessageToClients(s.telemetry_rate_message());
 181                                 }
 182                                 break;
 183                         default:
 184                                 super.handleMessage(msg);
 185                         }
 186                 }
 187         }
 188
 189         private void sendMessageToClients(Message m) {
 190                 for (int i=mClients.size()-1; i>=0; i--) {
 191                         try {
 192                                 mClients.get(i).send(m);
 193                         } catch (RemoteException e) {
 194                                 mClients.remove(i);
 195                         }
 196                 }
 197         }
 198
 199         private Message frequency_message() {
 200                 if (D) Log.d(TAG, String.format("frequency_message %f\n", mAltosBluetooth.frequency()));
 201                 return Message.obtain(null, AltosDroid.MSG_FREQUENCY, mAltosBluetooth.frequency());
 202         }
 203
 204         private Message telemetry_rate_message() {
 205                 if (D) Log.d(TAG, String.format("telemetry_rate_message %d\n", mAltosBluetooth.telemetry_rate()));
 206                 return Message.obtain(null, AltosDroid.MSG_TELEMETRY_RATE, mAltosBluetooth.telemetry_rate());
 207         }
 208
 209         private void stopAltosBluetooth() {
 210                 if (D) Log.d(TAG, "stopAltosBluetooth(): begin");
 211                 setState(STATE_READY);
 212                 if (mTelemetryReader != null) {
 213                         if (D) Log.d(TAG, "stopAltosBluetooth(): stopping TelemetryReader");
 214                         mTelemetryReader.interrupt();
 215                         try {
 216                                 mTelemetryReader.join();
 217                         } catch (InterruptedException e) {
 218                         }
 219                         mTelemetryReader = null;
 220                 }
 221                 if (mTelemetryLogger != null) {
 222                         if (D) Log.d(TAG, "stopAltosBluetooth(): stopping TelemetryLogger");
 223                         mTelemetryLogger.stop();
 224                         mTelemetryLogger = null;
 225                 }
 226                 if (mAltosBluetooth != null) {
 227                         if (D) Log.d(TAG, "stopAltosBluetooth(): stopping AltosBluetooth");
 228                         mAltosBluetooth.close();
 229                         mAltosBluetooth = null;
 230                 }
 231                 device = null;
 232                 mConfigData = null;
 233         }
 234
 235         private void startAltosBluetooth() {
 236                 if (device == null) {
 237                         return;
 238                 }
 239                 if (mAltosBluetooth == null) {
 240                         if (D) Log.d(TAG, String.format("startAltosBluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress()));
 241                         mAltosBluetooth = new AltosBluetooth(device, mHandler);
 242                         setState(STATE_CONNECTING);
 243                 } else {
 244                         // This is a bit of a hack - if it appears we're still connected, we treat this as a restart.
 245                         // So, to give a suitable delay to teardown/bringup, we just schedule a resend of a message
 246                         // to ourselves in a few seconds time that will ultimately call this method again.
 247                         // ... then we tear down the existing connection.
 248                         // We do it this way around so that we don't lose a reference to the device when this method
 249                         // is called on reception of MSG_CONNECT_FAILED in the handler above.
 250                         mHandler.sendMessageDelayed(Message.obtain(null, MSG_CONNECT, device), 3000);
 251                         stopAltosBluetooth();
 252                 }
 253         }
 254
 255         private synchronized void setState(int s) {
 256                 if (D) Log.d(TAG, "setState(): " + state + " -> " + s);
 257                 state = s;
 258
 259                 // This shouldn't be required - mConfigData should be null for any non-connected
 260                 // state, but to be safe and to reduce message size
 261                 AltosConfigData acd = (state == STATE_CONNECTED) ? mConfigData : null;
 262
 263                 sendMessageToClients(Message.obtain(null, AltosDroid.MSG_STATE_CHANGE, state, -1, acd));
 264         }
 265
 266         private void connected() throws InterruptedException {
 267                 try {
 268                         if (mAltosBluetooth == null)
 269                                 throw new InterruptedException("no bluetooth");
 270                         mConfigData = mAltosBluetooth.config_data();
 271                         if (D) Log.d(TAG, "send frequency/rate messages\n");
 272                         sendMessageToClients(frequency_message());
 273                         sendMessageToClients(telemetry_rate_message());
 274                 } catch (TimeoutException e) {
 275                         // If this timed out, then we really want to retry it, but
 276                         // probably safer to just retry the connection from scratch.
 277                         mHandler.obtainMessage(MSG_CONNECT_FAILED).sendToTarget();
 278                         return;
 279                 }
 280
 281                 setState(STATE_CONNECTED);
 282
 283                 mTelemetryReader = new TelemetryReader(mAltosBluetooth, mHandler);
 284                 mTelemetryReader.start();
 285
 286                 mTelemetryLogger = new TelemetryLogger(this, mAltosBluetooth);
 287
 288                 sendMessageToClients(frequency_message());
 289                 sendMessageToClients(telemetry_rate_message());
 290         }
 291
 292         private void onTimerTick() {
 293                 if (D) Log.d(TAG, "Timer wakeup");
 294                 try {
 295                         if (mClients.size() <= 0 && state != STATE_CONNECTED) {
 296                                 stopSelf();
 297                         }
 298                 } catch (Throwable t) {
 299                         Log.e(TAG, "Timer failed: ", t);
 300                 }
 301         }
 302
 303
 304         @Override
 305         public void onCreate() {
 306                 // Create a reference to the NotificationManager so that we can update our notifcation text later
 307                 //mNM = (NotificationManager)getSystemService(NOTIFICATION_SERVICE);
 308
 309                 setState(STATE_READY);
 310
 311                 // Start our timer - first event in 10 seconds, then every 10 seconds after that.
 312                 timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 10000L, 10000L);
 313
 314                 // Listen for GPS and Network position updates
 315                 LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
 316
 317                 locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this);
 318 //              locationManager.requestLocationUpdates(LocationManager.NETWORK_PROVIDER, 0, 0, this);
 319         }
 320
 321         @Override
 322         public int onStartCommand(Intent intent, int flags, int startId) {
 323                 Log.i("TelemetryService", "Received start id " + startId + ": " + intent);
 324
 325                 CharSequence text = getText(R.string.telemetry_service_started);
 326
 327                 // Create notification to be displayed while the service runs
 328                 Notification notification = new Notification(R.drawable.am_status_c, text, 0);
 329
 330                 // The PendingIntent to launch our activity if the user selects this notification
 331                 PendingIntent contentIntent = PendingIntent.getActivity(this, 0,
 332                                 new Intent(this, AltosDroid.class), 0);
 333
 334                 // Set the info for the views that show in the notification panel.
 335                 notification.setLatestEventInfo(this, getText(R.string.telemetry_service_label), text, contentIntent);
 336
 337                 // Set the notification to be in the "Ongoing" section.
 338                 notification.flags |= Notification.FLAG_ONGOING_EVENT;
 339
 340                 // Move us into the foreground.
 341                 startForeground(NOTIFICATION, notification);
 342
 343                 // We want this service to continue running until it is explicitly
 344                 // stopped, so return sticky.
 345                 return START_STICKY;
 346         }
 347
 348         @Override
 349         public void onDestroy() {
 350
 351                 // Stop listening for location updates
 352                 ((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this);
 353
 354                 // Stop the bluetooth Comms threads
 355                 stopAltosBluetooth();
 356
 357                 // Demote us from the foreground, and cancel the persistent notification.
 358                 stopForeground(true);
 359
 360                 // Stop our timer
 361                 if (timer != null) {timer.cancel();}
 362
 363                 // Tell the user we stopped.
 364                 Toast.makeText(this, R.string.telemetry_service_stopped, Toast.LENGTH_SHORT).show();
 365         }
 366
 367         @Override
 368         public IBinder onBind(Intent intent) {
 369                 return mMessenger.getBinder();
 370         }
 371
 372
 373         public void onLocationChanged(Location location) {
 374                 last_location = location;
 375                 sendMessageToClients(Message.obtain(null, AltosDroid.MSG_LOCATION, location));
 376         }
 377
 378         public void onStatusChanged(String provider, int status, Bundle extras) {
 379         }
 380
 381         public void onProviderEnabled(String provider) {
 382         }
 383
 384         public void onProviderDisabled(String provider) {
 385         }
 386
 387 }