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 {
  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
  62         // Unique Identification Number for the Notification.
  63         // We use it on Notification start, and to cancel it.
  64         private int NOTIFICATION = R.string.telemetry_service_label;
  65         //private NotificationManager mNM;
  66
  67         ArrayList<Messenger> clients = new ArrayList<Messenger>(); // Keeps track of all current registered clients.
  68         final Handler   handler   = new IncomingHandler(this);
  69         final Messenger messenger = new Messenger(handler); // Target we publish for clients to send messages to IncomingHandler.
  70
  71         // Name of the connected device
  72         DeviceAddress address;
  73         private AltosDroidLink  altos_link  = null;
  74         private TelemetryReader telemetry_reader = null;
  75         private TelemetryLogger telemetry_logger = null;
  76
  77         // Local Bluetooth adapter
  78         private BluetoothAdapter bluetooth_adapter = null;
  79
  80         // Last data seen; send to UI when it starts
  81         private TelemetryState  telemetry_state;
  82
  83         // Handler of incoming messages from clients.
  84         static class IncomingHandler extends Handler {
  85                 private final WeakReference<TelemetryService> service;
  86                 IncomingHandler(TelemetryService s) { service = new WeakReference<TelemetryService>(s); }
  87
  88                 @Override
  89                 public void handleMessage(Message msg) {
  90                         DeviceAddress address;
  91
  92                         TelemetryService s = service.get();
  93                         AltosDroidLink bt = null;
  94                         if (s == null)
  95                                 return;
  96                         switch (msg.what) {
  97
  98                                 /* Messages from application */
  99                         case MSG_REGISTER_CLIENT:
 100                                 s.add_client(msg.replyTo);
 101                                 break;
 102                         case MSG_UNREGISTER_CLIENT:
 103                                 s.remove_client(msg.replyTo);
 104                                 break;
 105                         case MSG_CONNECT:
 106                                 AltosDebug.debug("Connect command received");
 107                                 address = (DeviceAddress) msg.obj;
 108                                 AltosDroidPreferences.set_active_device(address);
 109                                 s.start_altos_bluetooth(address, false);
 110                                 break;
 111                         case MSG_OPEN_USB:
 112                                 AltosDebug.debug("Open USB command received");
 113                                 UsbDevice device = (UsbDevice) msg.obj;
 114                                 s.start_usb(device);
 115                                 break;
 116                         case MSG_DISCONNECT:
 117                                 AltosDebug.debug("Disconnect command received");
 118                                 s.address = null;
 119                                 s.disconnect(true);
 120                                 break;
 121                         case MSG_DELETE_SERIAL:
 122                                 AltosDebug.debug("Delete Serial command received");
 123                                 s.delete_serial((Integer) msg.obj);
 124                                 break;
 125                         case MSG_SETFREQUENCY:
 126                                 AltosDebug.debug("MSG_SETFREQUENCY");
 127                                 s.telemetry_state.frequency = (Double) msg.obj;
 128                                 if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
 129                                         try {
 130                                                 s.altos_link.set_radio_frequency(s.telemetry_state.frequency);
 131                                                 s.altos_link.save_frequency();
 132                                         } catch (InterruptedException e) {
 133                                         } catch (TimeoutException e) {
 134                                         }
 135                                 }
 136                                 s.send_to_clients();
 137                                 break;
 138                         case MSG_SETBAUD:
 139                                 AltosDebug.debug("MSG_SETBAUD");
 140                                 s.telemetry_state.telemetry_rate = (Integer) msg.obj;
 141                                 if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
 142                                         s.altos_link.set_telemetry_rate(s.telemetry_state.telemetry_rate);
 143                                         s.altos_link.save_telemetry_rate();
 144                                 }
 145                                 s.send_to_clients();
 146                                 break;
 147
 148                                 /*
 149                                  *Messages from AltosBluetooth
 150                                  */
 151                         case MSG_CONNECTED:
 152                                 AltosDebug.debug("MSG_CONNECTED");
 153                                 bt = (AltosDroidLink) msg.obj;
 154
 155                                 if (bt != s.altos_link) {
 156                                         AltosDebug.debug("Stale message");
 157                                         break;
 158                                 }
 159                                 AltosDebug.debug("Connected to device");
 160                                 try {
 161                                         s.connected();
 162                                 } catch (InterruptedException ie) {
 163                                 }
 164                                 break;
 165                         case MSG_CONNECT_FAILED:
 166                                 AltosDebug.debug("MSG_CONNECT_FAILED");
 167                                 bt = (AltosDroidLink) msg.obj;
 168
 169                                 if (bt != s.altos_link) {
 170                                         AltosDebug.debug("Stale message");
 171                                         break;
 172                                 }
 173                                 if (s.address != null) {
 174                                         AltosDebug.debug("Connection failed... retrying");
 175                                         s.start_altos_bluetooth(s.address, true);
 176                                 } else {
 177                                         s.disconnect(true);
 178                                 }
 179                                 break;
 180                         case MSG_DISCONNECTED:
 181
 182                                 /* This can be sent by either AltosDroidLink or TelemetryReader */
 183                                 AltosDebug.debug("MSG_DISCONNECTED");
 184                                 bt = (AltosDroidLink) msg.obj;
 185
 186                                 if (bt != s.altos_link) {
 187                                         AltosDebug.debug("Stale message");
 188                                         break;
 189                                 }
 190                                 if (s.address != null) {
 191                                         AltosDebug.debug("Connection lost... retrying");
 192                                         s.start_altos_bluetooth(s.address, true);
 193                                 } else {
 194                                         s.disconnect(true);
 195                                 }
 196                                 break;
 197
 198                                 /*
 199                                  * Messages from TelemetryReader
 200                                  */
 201                         case MSG_TELEMETRY:
 202                                 s.telemetry((AltosTelemetry) msg.obj);
 203                                 break;
 204                         case MSG_CRC_ERROR:
 205                                 // forward crc error messages
 206                                 s.telemetry_state.crc_errors = (Integer) msg.obj;
 207                                 s.send_to_clients();
 208                                 break;
 209                         case MSG_BLUETOOTH_ENABLED:
 210                                 AltosDebug.debug("TelemetryService notes that BT is now enabled");
 211                                 address = AltosDroidPreferences.active_device();
 212                                 if (address != null && !address.address.startsWith("USB"))
 213                                         s.start_altos_bluetooth(address, false);
 214                                 break;
 215                         default:
 216                                 super.handleMessage(msg);
 217                         }
 218                 }
 219         }
 220
 221         /* Handle telemetry packet
 222          */
 223         private void telemetry(AltosTelemetry telem) {
 224                 AltosState      state;
 225
 226                 if (telemetry_state.states.containsKey(telem.serial))
 227                         state = telemetry_state.states.get(telem.serial).clone();
 228                 else
 229                         state = new AltosState();
 230                 telem.update_state(state);
 231                 telemetry_state.states.put(telem.serial, state);
 232                 if (state != null) {
 233                         AltosPreferences.set_state(telem.serial, state, null);
 234                 }
 235                 send_to_clients();
 236         }
 237
 238         /* Construct the message to deliver to clients
 239          */
 240         private Message message() {
 241                 if (telemetry_state == null)
 242                         AltosDebug.debug("telemetry_state null!");
 243                 if (telemetry_state.states == null)
 244                         AltosDebug.debug("telemetry_state.states null!");
 245                 return Message.obtain(null, AltosDroid.MSG_STATE, telemetry_state);
 246         }
 247
 248         /* A new friend has connected
 249          */
 250         private void add_client(Messenger client) {
 251
 252                 clients.add(client);
 253                 AltosDebug.debug("Client bound to service");
 254
 255                 /* On connect, send the current state to the new client
 256                  */
 257                 send_to_client(client);
 258
 259                 /* If we've got an address from a previous session, then
 260                  * go ahead and try to reconnect to the device
 261                  */
 262                 if (address != null && telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED) {
 263                         AltosDebug.debug("Reconnecting now...");
 264                         start_altos_bluetooth(address, false);
 265                 }
 266         }
 267
 268         /* A client has disconnected, clean up
 269          */
 270         private void remove_client(Messenger client) {
 271                 clients.remove(client);
 272                 AltosDebug.debug("Client unbound from service");
 273
 274                 /* When the list of clients is empty, stop the service if
 275                  * we have no current telemetry source
 276                  */
 277
 278                  if (clients.isEmpty() && telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED) {
 279                          AltosDebug.debug("No clients, no connection. Stopping\n");
 280                          stopSelf();
 281                  }
 282         }
 283
 284         private void send_to_client(Messenger client) {
 285                 Message m = message();
 286                 try {
 287                         client.send(m);
 288                 } catch (RemoteException e) {
 289                         AltosDebug.error("Client %s disappeared", client.toString());
 290                         remove_client(client);
 291                 }
 292         }
 293
 294         private void send_to_clients() {
 295                 for (Messenger client : clients)
 296                         send_to_client(client);
 297         }
 298
 299         private void disconnect(boolean notify) {
 300                 AltosDebug.debug("disconnect(): begin");
 301
 302                 telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
 303                 telemetry_state.address = null;
 304
 305                 if (altos_link != null)
 306                         altos_link.closing();
 307
 308                 stop_receiver_voltage_timer();
 309
 310                 if (telemetry_reader != null) {
 311                         AltosDebug.debug("disconnect(): stopping TelemetryReader");
 312                         telemetry_reader.interrupt();
 313                         try {
 314                                 telemetry_reader.join();
 315                         } catch (InterruptedException e) {
 316                         }
 317                         telemetry_reader = null;
 318                 }
 319                 if (telemetry_logger != null) {
 320                         AltosDebug.debug("disconnect(): stopping TelemetryLogger");
 321                         telemetry_logger.stop();
 322                         telemetry_logger = null;
 323                 }
 324                 if (altos_link != null) {
 325                         AltosDebug.debug("disconnect(): stopping AltosDroidLink");
 326                         altos_link.close();
 327                         altos_link = null;
 328                 }
 329                 telemetry_state.config = null;
 330                 if (notify) {
 331                         AltosDebug.debug("disconnect(): send message to clients");
 332                         send_to_clients();
 333                         if (clients.isEmpty()) {
 334                                 AltosDebug.debug("disconnect(): no clients, terminating");
 335                                 stopSelf();
 336                         }
 337                 }
 338         }
 339
 340         private void start_usb(UsbDevice device) {
 341                 AltosUsb        d = new AltosUsb(this, device, handler);
 342
 343                 if (d != null) {
 344                         disconnect(false);
 345                         altos_link = d;
 346                         try {
 347                                 connected();
 348                         } catch (InterruptedException ie) {
 349                         }
 350                 }
 351         }
 352
 353         private void delete_serial(int serial) {
 354                 telemetry_state.states.remove((Integer) serial);
 355                 AltosPreferences.remove_state(serial);
 356                 send_to_clients();
 357         }
 358
 359         private void start_altos_bluetooth(DeviceAddress address, boolean pause) {
 360                 if (bluetooth_adapter == null || !bluetooth_adapter.isEnabled())
 361                         return;
 362
 363                 disconnect(false);
 364
 365                 // Get the BluetoothDevice object
 366                 BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address);
 367
 368                 this.address = address;
 369                 AltosDebug.debug("start_altos_bluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress());
 370                 altos_link = new AltosBluetooth(device, handler, pause);
 371                 telemetry_state.connect = TelemetryState.CONNECT_CONNECTING;
 372                 telemetry_state.address = address;
 373                 send_to_clients();
 374         }
 375
 376         // Timer for receiver battery voltage monitoring
 377         Timer receiver_voltage_timer;
 378
 379         private void update_receiver_voltage() {
 380                 if (altos_link != null) {
 381                         try {
 382                                 double  voltage = altos_link.monitor_battery();
 383                                 telemetry_state.receiver_battery = voltage;
 384                         } catch (InterruptedException ie) {
 385                         }
 386                 }
 387         }
 388
 389         private void stop_receiver_voltage_timer() {
 390                 if (receiver_voltage_timer != null) {
 391                         receiver_voltage_timer.cancel();
 392                         receiver_voltage_timer.purge();
 393                         receiver_voltage_timer = null;
 394                 }
 395         }
 396
 397         private void start_receiver_voltage_timer() {
 398                 if (receiver_voltage_timer == null && altos_link.has_monitor_battery()) {
 399                         receiver_voltage_timer = new Timer();
 400                         receiver_voltage_timer.scheduleAtFixedRate(new TimerTask() { public void run() {update_receiver_voltage();}}, 1000L, 10000L);
 401                 }
 402         }
 403
 404         private void connected() throws InterruptedException {
 405                 AltosDebug.debug("connected top");
 406                 AltosDebug.check_ui("connected\n");
 407                 try {
 408                         if (altos_link == null)
 409                                 throw new InterruptedException("no bluetooth");
 410                         telemetry_state.config = altos_link.config_data();
 411                         altos_link.set_radio_frequency(telemetry_state.frequency);
 412                         altos_link.set_telemetry_rate(telemetry_state.telemetry_rate);
 413                 } catch (TimeoutException e) {
 414                         // If this timed out, then we really want to retry it, but
 415                         // probably safer to just retry the connection from scratch.
 416                         AltosDebug.debug("connected timeout");
 417                         if (address != null) {
 418                                 AltosDebug.debug("connected timeout, retrying");
 419                                 start_altos_bluetooth(address, true);
 420                         } else {
 421                                 handler.obtainMessage(MSG_CONNECT_FAILED).sendToTarget();
 422                                 disconnect(true);
 423                         }
 424                         return;
 425                 }
 426
 427                 AltosDebug.debug("connected bluetooth configured");
 428                 telemetry_state.connect = TelemetryState.CONNECT_CONNECTED;
 429                 telemetry_state.address = address;
 430
 431                 telemetry_reader = new TelemetryReader(altos_link, handler);
 432                 telemetry_reader.start();
 433
 434                 AltosDebug.debug("connected TelemetryReader started");
 435
 436                 telemetry_logger = new TelemetryLogger(this, altos_link);
 437
 438                 start_receiver_voltage_timer();
 439
 440                 AltosDebug.debug("Notify UI of connection");
 441
 442                 send_to_clients();
 443         }
 444
 445
 446         @Override
 447         public void onCreate() {
 448
 449                 AltosDebug.init(this);
 450
 451                 // Initialise preferences
 452                 AltosDroidPreferences.init(this);
 453
 454                 // Get local Bluetooth adapter
 455                 bluetooth_adapter = BluetoothAdapter.getDefaultAdapter();
 456
 457                 telemetry_state = new TelemetryState();
 458
 459                 // Create a reference to the NotificationManager so that we can update our notifcation text later
 460                 //mNM = (NotificationManager)getSystemService(NOTIFICATION_SERVICE);
 461
 462                 telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
 463                 telemetry_state.address = null;
 464
 465                 /* Pull the saved state information out of the preferences database
 466                  */
 467                 ArrayList<Integer> serials = AltosPreferences.list_states();
 468
 469                 telemetry_state.latest_serial = AltosPreferences.latest_state();
 470
 471                 for (int serial : serials) {
 472                         AltosSavedState saved_state = AltosPreferences.state(serial);
 473                         if (saved_state != null) {
 474                                 if (serial == 0) {
 475                                         serial = saved_state.state.serial;
 476                                         AltosPreferences.set_state(serial, saved_state.state, saved_state.listener_state);
 477                                         AltosPreferences.remove_state(0);
 478                                 }
 479                                 if (telemetry_state.latest_serial == 0)
 480                                         telemetry_state.latest_serial = serial;
 481
 482                                 AltosDebug.debug("recovered old state serial %d flight %d\n",
 483                                                  serial,
 484                                                  saved_state.state.flight);
 485                                 if (saved_state.state.gps != null)
 486                                         AltosDebug.debug("\tposition %f,%f\n",
 487                                                          saved_state.state.gps.lat,
 488                                                          saved_state.state.gps.lon);
 489                                 telemetry_state.states.put(serial, saved_state.state);
 490                         }
 491                 }
 492         }
 493
 494         @Override
 495         public int onStartCommand(Intent intent, int flags, int startId) {
 496                 AltosDebug.debug("Received start id %d: %s", startId, intent);
 497
 498                 CharSequence text = getText(R.string.telemetry_service_started);
 499
 500                 // Create notification to be displayed while the service runs
 501                 Notification notification = new Notification(R.drawable.am_status_c, text, 0);
 502
 503                 // The PendingIntent to launch our activity if the user selects this notification
 504                 PendingIntent contentIntent = PendingIntent.getActivity(this, 0,
 505                                 new Intent(this, AltosDroid.class), 0);
 506
 507                 // Set the info for the views that show in the notification panel.
 508                 notification.setLatestEventInfo(this, getText(R.string.telemetry_service_label), text, contentIntent);
 509
 510                 // Set the notification to be in the "Ongoing" section.
 511                 notification.flags |= Notification.FLAG_ONGOING_EVENT;
 512
 513                 // Move us into the foreground.
 514                 startForeground(NOTIFICATION, notification);
 515
 516                 /* Start bluetooth if we don't have a connection already */
 517                 if (intent != null &&
 518                     (telemetry_state.connect == TelemetryState.CONNECT_NONE ||
 519                      telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED))
 520                 {
 521                         String  action = intent.getAction();
 522
 523                         if (action.equals(AltosDroid.ACTION_BLUETOOTH)) {
 524                                 DeviceAddress address = AltosDroidPreferences.active_device();
 525                                 if (address != null && !address.address.startsWith("USB"))
 526                                         start_altos_bluetooth(address, false);
 527                         }
 528                 }
 529
 530                 // We want this service to continue running until it is explicitly
 531                 // stopped, so return sticky.
 532                 return START_STICKY;
 533         }
 534
 535         @Override
 536         public void onDestroy() {
 537
 538                 // Stop the bluetooth Comms threads
 539                 disconnect(true);
 540
 541                 // Demote us from the foreground, and cancel the persistent notification.
 542                 stopForeground(true);
 543
 544                 // Tell the user we stopped.
 545                 Toast.makeText(this, R.string.telemetry_service_stopped, Toast.LENGTH_SHORT).show();
 546         }
 547
 548         @Override
 549         public IBinder onBind(Intent intent) {
 550                 return messenger.getBinder();
 551         }
 552 }