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.util.Log;
  43 import android.widget.Toast;
  44 import android.location.Location;
  45 import android.location.LocationManager;
  46 import android.location.LocationListener;
  47 import android.location.Criteria;
  48
  49 import org.altusmetrum.altoslib_7.*;
  50
  51
  52 public class TelemetryService extends Service implements LocationListener {
  53
  54         private static final String TAG = "TelemetryService";
  55         private static final boolean D = true;
  56
  57         static final int MSG_REGISTER_CLIENT   = 1;
  58         static final int MSG_UNREGISTER_CLIENT = 2;
  59         static final int MSG_CONNECT           = 3;
  60         static final int MSG_OPEN_USB          = 4;
  61         static final int MSG_CONNECTED         = 5;
  62         static final int MSG_CONNECT_FAILED    = 6;
  63         static final int MSG_DISCONNECTED      = 7;
  64         static final int MSG_TELEMETRY         = 8;
  65         static final int MSG_SETFREQUENCY      = 9;
  66         static final int MSG_CRC_ERROR         = 10;
  67         static final int MSG_SETBAUD           = 11;
  68         static final int MSG_DISCONNECT        = 12;
  69
  70         // Unique Identification Number for the Notification.
  71         // We use it on Notification start, and to cancel it.
  72         private int NOTIFICATION = R.string.telemetry_service_label;
  73         //private NotificationManager mNM;
  74
  75         ArrayList<Messenger> clients = new ArrayList<Messenger>(); // Keeps track of all current registered clients.
  76         final Handler   handler   = new IncomingHandler(this);
  77         final Messenger messenger = new Messenger(handler); // Target we publish for clients to send messages to IncomingHandler.
  78
  79         // Name of the connected device
  80         DeviceAddress address;
  81         private AltosDroidLink  altos_link  = null;
  82         private TelemetryReader telemetry_reader = null;
  83         private TelemetryLogger telemetry_logger = null;
  84
  85         // Local Bluetooth adapter
  86         private BluetoothAdapter bluetooth_adapter = null;
  87
  88         // Last data seen; send to UI when it starts
  89         private TelemetryState  telemetry_state;
  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                         AltosDroidLink bt = null;
 100                         if (s == null)
 101                                 return;
 102                         switch (msg.what) {
 103
 104                                 /* Messages from application */
 105                         case MSG_REGISTER_CLIENT:
 106                                 s.add_client(msg.replyTo);
 107                                 break;
 108                         case MSG_UNREGISTER_CLIENT:
 109                                 s.remove_client(msg.replyTo);
 110                                 break;
 111                         case MSG_CONNECT:
 112                                 if (D) Log.d(TAG, "Connect command received");
 113                                 DeviceAddress address = (DeviceAddress) msg.obj;
 114                                 AltosDroidPreferences.set_active_device(address);
 115                                 s.start_altos_bluetooth(address, false);
 116                                 break;
 117                         case MSG_OPEN_USB:
 118                                 if (D) Log.d(TAG, "Open USB command received");
 119                                 UsbDevice device = (UsbDevice) msg.obj;
 120                                 s.start_usb(device);
 121                                 break;
 122                         case MSG_DISCONNECT:
 123                                 if (D) Log.d(TAG, "Disconnect command received");
 124                                 s.address = null;
 125                                 s.disconnect(true);
 126                                 break;
 127                         case MSG_SETFREQUENCY:
 128                                 if (D) Log.d(TAG, "MSG_SETFREQUENCY");
 129                                 s.telemetry_state.frequency = (Double) msg.obj;
 130                                 if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
 131                                         try {
 132                                                 s.altos_link.set_radio_frequency(s.telemetry_state.frequency);
 133                                                 s.altos_link.save_frequency();
 134                                         } catch (InterruptedException e) {
 135                                         } catch (TimeoutException e) {
 136                                         }
 137                                 }
 138                                 s.send_to_clients();
 139                                 break;
 140                         case MSG_SETBAUD:
 141                                 if (D) Log.d(TAG, "MSG_SETBAUD");
 142                                 s.telemetry_state.telemetry_rate = (Integer) msg.obj;
 143                                 if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
 144                                         s.altos_link.set_telemetry_rate(s.telemetry_state.telemetry_rate);
 145                                         s.altos_link.save_telemetry_rate();
 146                                 }
 147                                 s.send_to_clients();
 148                                 break;
 149
 150                                 /*
 151                                  *Messages from AltosBluetooth
 152                                  */
 153                         case MSG_CONNECTED:
 154                                 Log.d(TAG, "MSG_CONNECTED");
 155                                 bt = (AltosDroidLink) msg.obj;
 156
 157                                 if (bt != s.altos_link) {
 158                                         if (D) Log.d(TAG, "Stale message");
 159                                         break;
 160                                 }
 161                                 if (D) Log.d(TAG, "Connected to device");
 162                                 try {
 163                                         s.connected();
 164                                 } catch (InterruptedException ie) {
 165                                 }
 166                                 break;
 167                         case MSG_CONNECT_FAILED:
 168                                 Log.d(TAG, "MSG_CONNECT_FAILED");
 169                                 bt = (AltosDroidLink) msg.obj;
 170
 171                                 if (bt != s.altos_link) {
 172                                         if (D) Log.d(TAG, "Stale message");
 173                                         break;
 174                                 }
 175                                 if (s.address != null) {
 176                                         if (D) Log.d(TAG, "Connection failed... retrying");
 177                                         s.start_altos_bluetooth(s.address, true);
 178                                 } else {
 179                                         s.disconnect(true);
 180                                 }
 181                                 break;
 182                         case MSG_DISCONNECTED:
 183
 184                                 /* This can be sent by either AltosDroidLink or TelemetryReader */
 185                                 Log.d(TAG, "MSG_DISCONNECTED");
 186                                 bt = (AltosDroidLink) msg.obj;
 187
 188                                 if (bt != s.altos_link) {
 189                                         if (D) Log.d(TAG, "Stale message");
 190                                         break;
 191                                 }
 192                                 if (s.address != null) {
 193                                         if (D) Log.d(TAG, "Connection lost... retrying");
 194                                         s.start_altos_bluetooth(s.address, true);
 195                                 } else {
 196                                         s.disconnect(true);
 197                                 }
 198                                 break;
 199
 200                                 /*
 201                                  * Messages from TelemetryReader
 202                                  */
 203                         case MSG_TELEMETRY:
 204                                 s.telemetry_state.state = (AltosState) msg.obj;
 205                                 if (s.telemetry_state.state != null) {
 206                                         if (D) Log.d(TAG, "Save state");
 207                                         AltosPreferences.set_state(0, s.telemetry_state.state, null);
 208                                 }
 209                                 if (D) Log.d(TAG, "MSG_TELEMETRY");
 210                                 s.send_to_clients();
 211                                 break;
 212                         case MSG_CRC_ERROR:
 213                                 // forward crc error messages
 214                                 s.telemetry_state.crc_errors = (Integer) msg.obj;
 215                                 if (D) Log.d(TAG, "MSG_CRC_ERROR");
 216                                 s.send_to_clients();
 217                                 break;
 218                         default:
 219                                 super.handleMessage(msg);
 220                         }
 221                 }
 222         }
 223
 224         /* Construct the message to deliver to clients
 225          */
 226         private Message message() {
 227                 if (telemetry_state == null)
 228                         Log.d(TAG, "telemetry_state null!");
 229                 if (telemetry_state.state == null)
 230                         Log.d(TAG, "telemetry_state.state null!");
 231                 return Message.obtain(null, AltosDroid.MSG_STATE, telemetry_state);
 232         }
 233
 234         /* A new friend has connected
 235          */
 236         private void add_client(Messenger client) {
 237
 238                 clients.add(client);
 239                 if (D) Log.d(TAG, "Client bound to service");
 240
 241                 /* On connect, send the current state to the new client
 242                  */
 243                 send_to_client(client, message());
 244
 245                 /* If we've got an address from a previous session, then
 246                  * go ahead and try to reconnect to the device
 247                  */
 248                 if (address != null && telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED) {
 249                         if (D) Log.d(TAG, "Reconnecting now...");
 250                         start_altos_bluetooth(address, false);
 251                 }
 252         }
 253
 254         /* A client has disconnected, clean up
 255          */
 256         private void remove_client(Messenger client) {
 257                 clients.remove(client);
 258                 if (D) Log.d(TAG, "Client unbound from service");
 259
 260                 /* When the list of clients is empty, stop the service if
 261                  * we have no current telemetry source
 262                  */
 263
 264                  if (clients.isEmpty() && telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED) {
 265                          if (!D) Log.d(TAG, "No clients, no connection. Stopping\n");
 266                          stopSelf();
 267                  }
 268         }
 269
 270         private void send_to_client(Messenger client, Message m) {
 271                 try {
 272                         if (D) Log.d(TAG, String.format("Send message to client %s", client.toString()));
 273                         client.send(m);
 274                 } catch (RemoteException e) {
 275                         if (D) Log.e(TAG, String.format("Client %s disappeared", client.toString()));
 276                         remove_client(client);
 277                 }
 278         }
 279
 280         private void send_to_clients() {
 281                 Message m = message();
 282                 if (D) Log.d(TAG, String.format("Send message to %d clients", clients.size()));
 283                 for (Messenger client : clients)
 284                         send_to_client(client, m);
 285         }
 286
 287         private void disconnect(boolean notify) {
 288                 if (D) Log.d(TAG, "disconnect(): begin");
 289
 290                 telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
 291                 telemetry_state.address = null;
 292
 293                 if (altos_link != null)
 294                         altos_link.closing();
 295
 296                 if (telemetry_reader != null) {
 297                         if (D) Log.d(TAG, "disconnect(): stopping TelemetryReader");
 298                         telemetry_reader.interrupt();
 299                         try {
 300                                 telemetry_reader.join();
 301                         } catch (InterruptedException e) {
 302                         }
 303                         telemetry_reader = null;
 304                 }
 305                 if (telemetry_logger != null) {
 306                         if (D) Log.d(TAG, "disconnect(): stopping TelemetryLogger");
 307                         telemetry_logger.stop();
 308                         telemetry_logger = null;
 309                 }
 310                 if (altos_link != null) {
 311                         if (D) Log.d(TAG, "disconnect(): stopping AltosDroidLink");
 312                         altos_link.close();
 313                         altos_link = null;
 314                 }
 315                 telemetry_state.config = null;
 316                 if (notify) {
 317                         if (D) Log.d(TAG, "disconnect(): send message to clients");
 318                         send_to_clients();
 319                         if (clients.isEmpty()) {
 320                                 if (D) Log.d(TAG, "disconnect(): no clients, terminating");
 321                                 stopSelf();
 322                         }
 323                 }
 324         }
 325
 326         private void start_usb(UsbDevice device) {
 327                 AltosUsb        d = new AltosUsb(this, device, handler);
 328
 329                 if (d != null) {
 330                         disconnect(false);
 331                         altos_link = d;
 332                         try {
 333                                 connected();
 334                         } catch (InterruptedException ie) {
 335                         }
 336                 }
 337         }
 338
 339         private void start_altos_bluetooth(DeviceAddress address, boolean pause) {
 340                 // Get the BLuetoothDevice object
 341                 BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address);
 342
 343                 disconnect(false);
 344                 if (pause) {
 345                         try {
 346                                 Thread.sleep(4000);
 347                         } catch (InterruptedException e) {
 348                         }
 349                 }
 350                 this.address = address;
 351                 if (D) Log.d(TAG, String.format("start_altos_bluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress()));
 352                 altos_link = new AltosBluetooth(device, handler);
 353                 telemetry_state.connect = TelemetryState.CONNECT_CONNECTING;
 354                 telemetry_state.address = address;
 355                 send_to_clients();
 356         }
 357
 358         private void connected() throws InterruptedException {
 359                 if (D) Log.d(TAG, "connected top");
 360                 try {
 361                         if (altos_link == null)
 362                                 throw new InterruptedException("no bluetooth");
 363                         telemetry_state.config = altos_link.config_data();
 364                         altos_link.set_radio_frequency(telemetry_state.frequency);
 365                         altos_link.set_telemetry_rate(telemetry_state.telemetry_rate);
 366                 } catch (TimeoutException e) {
 367                         // If this timed out, then we really want to retry it, but
 368                         // probably safer to just retry the connection from scratch.
 369                         if (D) Log.d(TAG, "connected timeout");
 370                         if (address != null) {
 371                                 if (D) Log.d(TAG, "connected timeout, retrying");
 372                                 start_altos_bluetooth(address, true);
 373                         } else {
 374                                 handler.obtainMessage(MSG_CONNECT_FAILED).sendToTarget();
 375                                 disconnect(true);
 376                         }
 377                         return;
 378                 }
 379
 380                 if (D) Log.d(TAG, "connected bluetooth configured");
 381                 telemetry_state.connect = TelemetryState.CONNECT_CONNECTED;
 382                 telemetry_state.address = address;
 383
 384                 telemetry_reader = new TelemetryReader(altos_link, handler, telemetry_state.state);
 385                 telemetry_reader.start();
 386
 387                 if (D) Log.d(TAG, "connected TelemetryReader started");
 388
 389                 telemetry_logger = new TelemetryLogger(this, altos_link);
 390
 391                 if (D) Log.d(TAG, "Notify UI of connection");
 392
 393                 send_to_clients();
 394         }
 395
 396
 397         @Override
 398         public void onCreate() {
 399                 // Get local Bluetooth adapter
 400                 bluetooth_adapter = BluetoothAdapter.getDefaultAdapter();
 401
 402                 // If the adapter is null, then Bluetooth is not supported
 403                 if (bluetooth_adapter == null) {
 404                         Toast.makeText(this, "Bluetooth is not available", Toast.LENGTH_LONG).show();
 405                 }
 406
 407                 // Initialise preferences
 408                 AltosDroidPreferences.init(this);
 409
 410                 telemetry_state = new TelemetryState();
 411
 412                 // Create a reference to the NotificationManager so that we can update our notifcation text later
 413                 //mNM = (NotificationManager)getSystemService(NOTIFICATION_SERVICE);
 414
 415                 telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
 416                 telemetry_state.address = null;
 417
 418                 AltosSavedState saved_state = AltosPreferences.state(0);
 419
 420                 if (saved_state != null) {
 421                         if (D) Log.d(TAG, String.format("recovered old state flight %d\n", saved_state.state.flight));
 422                         telemetry_state.state = saved_state.state;
 423                 }
 424
 425                 // Listen for GPS and Network position updates
 426                 LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
 427
 428                 locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this);
 429         }
 430
 431         @Override
 432         public int onStartCommand(Intent intent, int flags, int startId) {
 433                 Log.i("TelemetryService", "Received start id " + startId + ": " + intent);
 434
 435                 CharSequence text = getText(R.string.telemetry_service_started);
 436
 437                 // Create notification to be displayed while the service runs
 438                 Notification notification = new Notification(R.drawable.am_status_c, text, 0);
 439
 440                 // The PendingIntent to launch our activity if the user selects this notification
 441                 PendingIntent contentIntent = PendingIntent.getActivity(this, 0,
 442                                 new Intent(this, AltosDroid.class), 0);
 443
 444                 // Set the info for the views that show in the notification panel.
 445                 notification.setLatestEventInfo(this, getText(R.string.telemetry_service_label), text, contentIntent);
 446
 447                 // Set the notification to be in the "Ongoing" section.
 448                 notification.flags |= Notification.FLAG_ONGOING_EVENT;
 449
 450                 // Move us into the foreground.
 451                 startForeground(NOTIFICATION, notification);
 452
 453                 String  action = intent.getAction();
 454
 455                 if (action.equals(AltosDroid.ACTION_BLUETOOTH)) {
 456                         DeviceAddress address = AltosDroidPreferences.active_device();
 457                         if (address != null && !address.address.startsWith("USB"))
 458                                 start_altos_bluetooth(address, false);
 459                 }
 460
 461                 // We want this service to continue running until it is explicitly
 462                 // stopped, so return sticky.
 463                 return START_STICKY;
 464         }
 465
 466         @Override
 467         public void onDestroy() {
 468
 469                 // Stop listening for location updates
 470                 ((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this);
 471
 472                 // Stop the bluetooth Comms threads
 473                 disconnect(true);
 474
 475                 // Demote us from the foreground, and cancel the persistent notification.
 476                 stopForeground(true);
 477
 478                 // Tell the user we stopped.
 479                 Toast.makeText(this, R.string.telemetry_service_stopped, Toast.LENGTH_SHORT).show();
 480         }
 481
 482         @Override
 483         public IBinder onBind(Intent intent) {
 484                 return messenger.getBinder();
 485         }
 486
 487
 488         public void onLocationChanged(Location location) {
 489                 telemetry_state.location = location;
 490                 if (D) Log.d(TAG, "location changed");
 491                 send_to_clients();
 492         }
 493
 494         public void onStatusChanged(String provider, int status, Bundle extras) {
 495         }
 496
 497         public void onProviderEnabled(String provider) {
 498         }
 499
 500         public void onProviderDisabled(String provider) {
 501         }
 502
 503 }