package org.altusmetrum.AltosDroid;
import java.lang.ref.WeakReference;
-import java.util.ArrayList;
import java.util.concurrent.TimeoutException;
-import java.util.Timer;
-import java.util.TimerTask;
+import java.util.*;
import android.app.Notification;
//import android.app.NotificationManager;
import android.app.Service;
import android.bluetooth.BluetoothDevice;
import android.bluetooth.BluetoothAdapter;
+import android.hardware.usb.*;
import android.content.Intent;
import android.content.Context;
import android.os.Bundle;
import android.os.Messenger;
import android.os.RemoteException;
import android.os.Looper;
-import android.util.Log;
import android.widget.Toast;
import android.location.Location;
import android.location.LocationManager;
import android.location.LocationListener;
import android.location.Criteria;
-import org.altusmetrum.altoslib_5.*;
-
+import org.altusmetrum.altoslib_7.*;
public class TelemetryService extends Service implements LocationListener {
- private static final String TAG = "TelemetryService";
- private static final boolean D = true;
-
static final int MSG_REGISTER_CLIENT = 1;
static final int MSG_UNREGISTER_CLIENT = 2;
static final int MSG_CONNECT = 3;
- static final int MSG_CONNECTED = 4;
- static final int MSG_CONNECT_FAILED = 5;
- static final int MSG_DISCONNECTED = 6;
- static final int MSG_TELEMETRY = 7;
- static final int MSG_SETFREQUENCY = 8;
- static final int MSG_CRC_ERROR = 9;
- static final int MSG_SETBAUD = 10;
+ static final int MSG_OPEN_USB = 4;
+ static final int MSG_CONNECTED = 5;
+ static final int MSG_CONNECT_FAILED = 6;
+ static final int MSG_DISCONNECTED = 7;
+ static final int MSG_TELEMETRY = 8;
+ static final int MSG_SETFREQUENCY = 9;
+ static final int MSG_CRC_ERROR = 10;
+ static final int MSG_SETBAUD = 11;
+ static final int MSG_DISCONNECT = 12;
+ static final int MSG_DELETE_SERIAL = 13;
// Unique Identification Number for the Notification.
// We use it on Notification start, and to cancel it.
private int NOTIFICATION = R.string.telemetry_service_label;
//private NotificationManager mNM;
- // Timer - we wake up every now and then to decide if the service should stop
- private Timer timer = new Timer();
-
- ArrayList<Messenger> mClients = new ArrayList<Messenger>(); // Keeps track of all current registered clients.
- final Handler mHandler = new IncomingHandler(this);
- final Messenger mMessenger = new Messenger(mHandler); // Target we publish for clients to send messages to IncomingHandler.
+ ArrayList<Messenger> clients = new ArrayList<Messenger>(); // Keeps track of all current registered clients.
+ final Handler handler = new IncomingHandler(this);
+ final Messenger messenger = new Messenger(handler); // Target we publish for clients to send messages to IncomingHandler.
// Name of the connected device
- String address;
- private AltosBluetooth mAltosBluetooth = null;
- private TelemetryReader mTelemetryReader = null;
- private TelemetryLogger mTelemetryLogger = null;
- // Local Bluetooth adapter
- private BluetoothAdapter mBluetoothAdapter = null;
+ DeviceAddress address;
+ private AltosDroidLink altos_link = null;
+ private TelemetryReader telemetry_reader = null;
+ private TelemetryLogger telemetry_logger = null;
- private TelemetryState telemetry_state;
+ // Local Bluetooth adapter
+ private BluetoothAdapter bluetooth_adapter = null;
// Last data seen; send to UI when it starts
+ private TelemetryState telemetry_state;
// Handler of incoming messages from clients.
static class IncomingHandler extends Handler {
@Override
public void handleMessage(Message msg) {
TelemetryService s = service.get();
+ AltosDroidLink bt = null;
+ if (s == null)
+ return;
switch (msg.what) {
+
+ /* Messages from application */
case MSG_REGISTER_CLIENT:
- s.mClients.add(msg.replyTo);
- try {
- // Now we try to send the freshly connected UI any relavant information about what
- // we're talking to
- msg.replyTo.send(s.message());
- } catch (RemoteException e) {
- s.mClients.remove(msg.replyTo);
- }
- if (D) Log.d(TAG, "Client bound to service");
+ s.add_client(msg.replyTo);
break;
case MSG_UNREGISTER_CLIENT:
- s.mClients.remove(msg.replyTo);
- if (D) Log.d(TAG, "Client unbound from service");
+ s.remove_client(msg.replyTo);
break;
case MSG_CONNECT:
- if (D) Log.d(TAG, "Connect command received");
- String address = (String) msg.obj;
+ AltosDebug.debug("Connect command received");
+ DeviceAddress address = (DeviceAddress) msg.obj;
AltosDroidPreferences.set_active_device(address);
- s.startAltosBluetooth(address);
+ s.start_altos_bluetooth(address, false);
break;
- case MSG_CONNECTED:
- if (D) Log.d(TAG, "Connected to device");
- try {
- s.connected();
- } catch (InterruptedException ie) {
- }
+ case MSG_OPEN_USB:
+ AltosDebug.debug("Open USB command received");
+ UsbDevice device = (UsbDevice) msg.obj;
+ s.start_usb(device);
break;
- case MSG_CONNECT_FAILED:
- if (D) Log.d(TAG, "Connection failed... retrying");
- if (s.address != null)
- s.startAltosBluetooth(s.address);
- break;
- case MSG_DISCONNECTED:
- Log.d(TAG, "MSG_DISCONNECTED");
- s.stopAltosBluetooth();
+ case MSG_DISCONNECT:
+ AltosDebug.debug("Disconnect command received");
+ s.address = null;
+ s.disconnect(true);
break;
- case MSG_TELEMETRY:
- // forward telemetry messages
- s.telemetry_state.state = (AltosState) msg.obj;
- if (D) Log.d(TAG, "MSG_TELEMETRY");
- s.sendMessageToClients();
- break;
- case MSG_CRC_ERROR:
- // forward crc error messages
- s.telemetry_state.crc_errors = (Integer) msg.obj;
- if (D) Log.d(TAG, "MSG_CRC_ERROR");
- s.sendMessageToClients();
+ case MSG_DELETE_SERIAL:
+ AltosDebug.debug("Delete Serial command received");
+ s.delete_serial((Integer) msg.obj);
break;
case MSG_SETFREQUENCY:
- if (D) Log.d(TAG, "MSG_SETFREQUENCY");
+ AltosDebug.debug("MSG_SETFREQUENCY");
s.telemetry_state.frequency = (Double) msg.obj;
if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
try {
- s.mAltosBluetooth.set_radio_frequency(s.telemetry_state.frequency);
- s.mAltosBluetooth.save_frequency();
+ s.altos_link.set_radio_frequency(s.telemetry_state.frequency);
+ s.altos_link.save_frequency();
} catch (InterruptedException e) {
} catch (TimeoutException e) {
}
}
- s.sendMessageToClients();
+ s.send_to_clients();
break;
case MSG_SETBAUD:
- if (D) Log.d(TAG, "MSG_SETBAUD");
+ AltosDebug.debug("MSG_SETBAUD");
s.telemetry_state.telemetry_rate = (Integer) msg.obj;
if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
- s.mAltosBluetooth.set_telemetry_rate(s.telemetry_state.telemetry_rate);
- s.mAltosBluetooth.save_telemetry_rate();
+ s.altos_link.set_telemetry_rate(s.telemetry_state.telemetry_rate);
+ s.altos_link.save_telemetry_rate();
}
- s.sendMessageToClients();
+ s.send_to_clients();
+ break;
+
+ /*
+ *Messages from AltosBluetooth
+ */
+ case MSG_CONNECTED:
+ AltosDebug.debug("MSG_CONNECTED");
+ bt = (AltosDroidLink) msg.obj;
+
+ if (bt != s.altos_link) {
+ AltosDebug.debug("Stale message");
+ break;
+ }
+ AltosDebug.debug("Connected to device");
+ try {
+ s.connected();
+ } catch (InterruptedException ie) {
+ }
+ break;
+ case MSG_CONNECT_FAILED:
+ AltosDebug.debug("MSG_CONNECT_FAILED");
+ bt = (AltosDroidLink) msg.obj;
+
+ if (bt != s.altos_link) {
+ AltosDebug.debug("Stale message");
+ break;
+ }
+ if (s.address != null) {
+ AltosDebug.debug("Connection failed... retrying");
+ s.start_altos_bluetooth(s.address, true);
+ } else {
+ s.disconnect(true);
+ }
+ break;
+ case MSG_DISCONNECTED:
+
+ /* This can be sent by either AltosDroidLink or TelemetryReader */
+ AltosDebug.debug("MSG_DISCONNECTED");
+ bt = (AltosDroidLink) msg.obj;
+
+ if (bt != s.altos_link) {
+ AltosDebug.debug("Stale message");
+ break;
+ }
+ if (s.address != null) {
+ AltosDebug.debug("Connection lost... retrying");
+ s.start_altos_bluetooth(s.address, true);
+ } else {
+ s.disconnect(true);
+ }
+ break;
+
+ /*
+ * Messages from TelemetryReader
+ */
+ case MSG_TELEMETRY:
+ AltosDebug.debug("MSG_TELEMETRY");
+ s.telemetry((AltosTelemetry) msg.obj);
+ break;
+ case MSG_CRC_ERROR:
+ // forward crc error messages
+ s.telemetry_state.crc_errors = (Integer) msg.obj;
+ AltosDebug.debug("MSG_CRC_ERROR");
+ s.send_to_clients();
break;
default:
super.handleMessage(msg);
}
}
+ /* Handle telemetry packet
+ */
+ private void telemetry(AltosTelemetry telem) {
+ AltosState state;
+
+ if (telemetry_state.states.containsKey(telem.serial))
+ state = telemetry_state.states.get(telem.serial).clone();
+ else
+ state = new AltosState();
+ telem.update_state(state);
+ telemetry_state.states.put(telem.serial, state);
+ if (state != null) {
+ AltosDebug.debug("Save state %d", telem.serial);
+ AltosPreferences.set_state(telem.serial, state, null);
+ }
+ send_to_clients();
+ }
+
+ /* Construct the message to deliver to clients
+ */
private Message message() {
if (telemetry_state == null)
- Log.d(TAG, "telemetry_state null!");
+ AltosDebug.debug("telemetry_state null!");
+ if (telemetry_state.states == null)
+ AltosDebug.debug("telemetry_state.states null!");
return Message.obtain(null, AltosDroid.MSG_STATE, telemetry_state);
}
- private void sendMessageToClients() {
- Message m = message();
- if (D) Log.d(TAG, String.format("Send message to %d clients", mClients.size()));
- for (int i=mClients.size()-1; i>=0; i--) {
- try {
- if (D) Log.d(TAG, String.format("Send message to client %d", i));
- mClients.get(i).send(m);
- } catch (RemoteException e) {
- mClients.remove(i);
- }
+ /* A new friend has connected
+ */
+ private void add_client(Messenger client) {
+
+ clients.add(client);
+ AltosDebug.debug("Client bound to service");
+
+ /* On connect, send the current state to the new client
+ */
+ send_to_client(client, message());
+
+ /* If we've got an address from a previous session, then
+ * go ahead and try to reconnect to the device
+ */
+ if (address != null && telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED) {
+ AltosDebug.debug("Reconnecting now...");
+ start_altos_bluetooth(address, false);
+ }
+ }
+
+ /* A client has disconnected, clean up
+ */
+ private void remove_client(Messenger client) {
+ clients.remove(client);
+ AltosDebug.debug("Client unbound from service");
+
+ /* When the list of clients is empty, stop the service if
+ * we have no current telemetry source
+ */
+
+ if (clients.isEmpty() && telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED) {
+ AltosDebug.debug("No clients, no connection. Stopping\n");
+ stopSelf();
+ }
+ }
+
+ private void send_to_client(Messenger client, Message m) {
+ try {
+ AltosDebug.debug("Send message to client %s", client.toString());
+ client.send(m);
+ } catch (RemoteException e) {
+ AltosDebug.error("Client %s disappeared", client.toString());
+ remove_client(client);
}
}
- private void stopAltosBluetooth() {
- if (D) Log.d(TAG, "stopAltosBluetooth(): begin");
- telemetry_state.connect = TelemetryState.CONNECT_READY;
- if (mTelemetryReader != null) {
- if (D) Log.d(TAG, "stopAltosBluetooth(): stopping TelemetryReader");
- mTelemetryReader.interrupt();
+ private void send_to_clients() {
+ Message m = message();
+ AltosDebug.debug("Send message to %d clients", clients.size());
+ for (Messenger client : clients)
+ send_to_client(client, m);
+ }
+
+ private void disconnect(boolean notify) {
+ AltosDebug.debug("disconnect(): begin");
+
+ telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
+ telemetry_state.address = null;
+
+ if (altos_link != null)
+ altos_link.closing();
+
+ stop_receiver_voltage_timer();
+
+ if (telemetry_reader != null) {
+ AltosDebug.debug("disconnect(): stopping TelemetryReader");
+ telemetry_reader.interrupt();
try {
- mTelemetryReader.join();
+ telemetry_reader.join();
} catch (InterruptedException e) {
}
- mTelemetryReader = null;
+ telemetry_reader = null;
}
- if (mTelemetryLogger != null) {
- if (D) Log.d(TAG, "stopAltosBluetooth(): stopping TelemetryLogger");
- mTelemetryLogger.stop();
- mTelemetryLogger = null;
+ if (telemetry_logger != null) {
+ AltosDebug.debug("disconnect(): stopping TelemetryLogger");
+ telemetry_logger.stop();
+ telemetry_logger = null;
}
- if (mAltosBluetooth != null) {
- if (D) Log.d(TAG, "stopAltosBluetooth(): stopping AltosBluetooth");
- mAltosBluetooth.close();
- mAltosBluetooth = null;
+ if (altos_link != null) {
+ AltosDebug.debug("disconnect(): stopping AltosDroidLink");
+ altos_link.close();
+ altos_link = null;
}
telemetry_state.config = null;
- if (D) Log.d(TAG, "stopAltosBluetooth(): send message to clients");
- sendMessageToClients();
+ if (notify) {
+ AltosDebug.debug("disconnect(): send message to clients");
+ send_to_clients();
+ if (clients.isEmpty()) {
+ AltosDebug.debug("disconnect(): no clients, terminating");
+ stopSelf();
+ }
+ }
+ }
+
+ private void start_usb(UsbDevice device) {
+ AltosUsb d = new AltosUsb(this, device, handler);
+
+ if (d != null) {
+ disconnect(false);
+ altos_link = d;
+ try {
+ connected();
+ } catch (InterruptedException ie) {
+ }
+ }
+ }
+
+ private void delete_serial(int serial) {
+ telemetry_state.states.remove((Integer) serial);
+ AltosPreferences.remove_state(serial);
+ send_to_clients();
}
- private void startAltosBluetooth(String address) {
+ private void start_altos_bluetooth(DeviceAddress address, boolean pause) {
// Get the BLuetoothDevice object
- BluetoothDevice device = mBluetoothAdapter.getRemoteDevice(address);
+ BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address);
+ disconnect(false);
this.address = address;
- if (mAltosBluetooth == null) {
- if (D) Log.d(TAG, String.format("startAltosBluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress()));
- mAltosBluetooth = new AltosBluetooth(device, mHandler);
- telemetry_state.connect = TelemetryState.CONNECT_CONNECTING;
- sendMessageToClients();
- } else {
- // This is a bit of a hack - if it appears we're still connected, we treat this as a restart.
- // So, to give a suitable delay to teardown/bringup, we just schedule a resend of a message
- // to ourselves in a few seconds time that will ultimately call this method again.
- // ... then we tear down the existing connection.
- // We do it this way around so that we don't lose a reference to the device when this method
- // is called on reception of MSG_CONNECT_FAILED in the handler above.
- mHandler.sendMessageDelayed(Message.obtain(null, MSG_CONNECT, address), 3000);
- stopAltosBluetooth();
+ AltosDebug.debug("start_altos_bluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress());
+ altos_link = new AltosBluetooth(device, handler, pause);
+ telemetry_state.connect = TelemetryState.CONNECT_CONNECTING;
+ telemetry_state.address = address;
+ send_to_clients();
+ }
+
+ // Timer for receiver battery voltage monitoring
+ Timer receiver_voltage_timer;
+
+ private void update_receiver_voltage() {
+ if (altos_link != null) {
+ try {
+ double voltage = altos_link.monitor_battery();
+ AltosDebug.debug("update receiver voltage %g\n", voltage);
+ telemetry_state.receiver_battery = voltage;
+ } catch (InterruptedException ie) {
+ }
+ }
+ }
+
+ private void stop_receiver_voltage_timer() {
+ if (receiver_voltage_timer != null) {
+ receiver_voltage_timer.cancel();
+ receiver_voltage_timer.purge();
+ receiver_voltage_timer = null;
+ }
+ }
+
+ private void start_receiver_voltage_timer() {
+ if (receiver_voltage_timer == null && altos_link.has_monitor_battery()) {
+ receiver_voltage_timer = new Timer();
+ receiver_voltage_timer.scheduleAtFixedRate(new TimerTask() { public void run() {update_receiver_voltage();}}, 1000L, 10000L);
}
}
private void connected() throws InterruptedException {
- if (D) Log.d(TAG, "connected top");
+ AltosDebug.debug("connected top");
+ AltosDebug.check_ui("connected\n");
try {
- if (mAltosBluetooth == null)
+ if (altos_link == null)
throw new InterruptedException("no bluetooth");
- telemetry_state.config = mAltosBluetooth.config_data();
- mAltosBluetooth.set_radio_frequency(telemetry_state.frequency);
- mAltosBluetooth.set_telemetry_rate(telemetry_state.telemetry_rate);
+ telemetry_state.config = altos_link.config_data();
+ altos_link.set_radio_frequency(telemetry_state.frequency);
+ altos_link.set_telemetry_rate(telemetry_state.telemetry_rate);
} catch (TimeoutException e) {
// If this timed out, then we really want to retry it, but
// probably safer to just retry the connection from scratch.
- mHandler.obtainMessage(MSG_CONNECT_FAILED).sendToTarget();
+ AltosDebug.debug("connected timeout");
+ if (address != null) {
+ AltosDebug.debug("connected timeout, retrying");
+ start_altos_bluetooth(address, true);
+ } else {
+ handler.obtainMessage(MSG_CONNECT_FAILED).sendToTarget();
+ disconnect(true);
+ }
return;
}
- if (D) Log.d(TAG, "connected bluetooth configured");
+ AltosDebug.debug("connected bluetooth configured");
telemetry_state.connect = TelemetryState.CONNECT_CONNECTED;
+ telemetry_state.address = address;
- mTelemetryReader = new TelemetryReader(mAltosBluetooth, mHandler);
- mTelemetryReader.start();
+ telemetry_reader = new TelemetryReader(altos_link, handler);
+ telemetry_reader.start();
- if (D) Log.d(TAG, "connected TelemetryReader started");
+ AltosDebug.debug("connected TelemetryReader started");
- mTelemetryLogger = new TelemetryLogger(this, mAltosBluetooth);
+ telemetry_logger = new TelemetryLogger(this, altos_link);
- if (D) Log.d(TAG, "Notify UI of connection");
+ start_receiver_voltage_timer();
- sendMessageToClients();
- }
+ AltosDebug.debug("Notify UI of connection");
- private void onTimerTick() {
- if (D) Log.d(TAG, "Timer wakeup");
- try {
- if (mClients.size() <= 0 && telemetry_state.connect != TelemetryState.CONNECT_CONNECTED) {
- stopSelf();
- }
- } catch (Throwable t) {
- Log.e(TAG, "Timer failed: ", t);
- }
+ send_to_clients();
}
@Override
public void onCreate() {
// Get local Bluetooth adapter
- mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
+ bluetooth_adapter = BluetoothAdapter.getDefaultAdapter();
// If the adapter is null, then Bluetooth is not supported
- if (mBluetoothAdapter == null) {
+ if (bluetooth_adapter == null) {
Toast.makeText(this, "Bluetooth is not available", Toast.LENGTH_LONG).show();
}
// Create a reference to the NotificationManager so that we can update our notifcation text later
//mNM = (NotificationManager)getSystemService(NOTIFICATION_SERVICE);
- telemetry_state.connect = TelemetryState.CONNECT_READY;
+ telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
+ telemetry_state.address = null;
+
+ /* Pull the saved state information out of the preferences database
+ */
+ ArrayList<Integer> serials = AltosPreferences.list_states();
- // Start our timer - first event in 10 seconds, then every 10 seconds after that.
- timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 10000L, 10000L);
+ telemetry_state.latest_serial = AltosPreferences.latest_state();
+
+ for (int serial : serials) {
+ AltosSavedState saved_state = AltosPreferences.state(serial);
+ if (saved_state != null) {
+ if (serial == 0) {
+ serial = saved_state.state.serial;
+ AltosPreferences.set_state(serial, saved_state.state, saved_state.listener_state);
+ AltosPreferences.remove_state(0);
+ }
+ if (telemetry_state.latest_serial == 0)
+ telemetry_state.latest_serial = serial;
+
+ AltosDebug.debug("recovered old state serial %d flight %d\n",
+ serial,
+ saved_state.state.flight);
+ if (saved_state.state.gps != null)
+ AltosDebug.debug("\tposition %f,%f\n",
+ saved_state.state.gps.lat,
+ saved_state.state.gps.lon);
+ telemetry_state.states.put(serial, saved_state.state);
+ }
+ }
// Listen for GPS and Network position updates
LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this);
-
- String address = AltosDroidPreferences.active_device();
- if (address != null)
- startAltosBluetooth(address);
}
@Override
public int onStartCommand(Intent intent, int flags, int startId) {
- Log.i("TelemetryService", "Received start id " + startId + ": " + intent);
+ AltosDebug.debug("Received start id %d: %s", startId, intent);
CharSequence text = getText(R.string.telemetry_service_started);
// Move us into the foreground.
startForeground(NOTIFICATION, notification);
+ if (intent != null) {
+ String action = intent.getAction();
+
+ if (action.equals(AltosDroid.ACTION_BLUETOOTH)) {
+ DeviceAddress address = AltosDroidPreferences.active_device();
+ if (address != null && !address.address.startsWith("USB"))
+ start_altos_bluetooth(address, false);
+ }
+ }
+
// We want this service to continue running until it is explicitly
// stopped, so return sticky.
return START_STICKY;
((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this);
// Stop the bluetooth Comms threads
- stopAltosBluetooth();
+ disconnect(true);
// Demote us from the foreground, and cancel the persistent notification.
stopForeground(true);
- // Stop our timer
- if (timer != null) {timer.cancel();}
-
// Tell the user we stopped.
Toast.makeText(this, R.string.telemetry_service_stopped, Toast.LENGTH_SHORT).show();
}
@Override
public IBinder onBind(Intent intent) {
- return mMessenger.getBinder();
+ return messenger.getBinder();
}
public void onLocationChanged(Location location) {
telemetry_state.location = location;
- if (D) Log.d(TAG, "location changed");
- sendMessageToClients();
+ AltosDebug.debug("location changed");
+ send_to_clients();
}
public void onStatusChanged(String provider, int status, Bundle extras) {
projects / fw / altos / blobdiff