/*
- * Copyright © 2012 Mike Beattie <mike@ethernal.org>
+ * Copyright © 2012 Mike Beattie <mike@ethernal.org>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
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 android.app.Notification;
-import android.app.NotificationManager;
+//import android.app.NotificationManager;
import android.app.PendingIntent;
import android.app.Service;
+import android.bluetooth.BluetoothDevice;
+import android.bluetooth.BluetoothAdapter;
+import android.hardware.usb.*;
import android.content.Intent;
-import android.os.Binder;
+import android.content.Context;
+import android.os.Bundle;
import android.os.IBinder;
-import android.util.Log;
+import android.os.Handler;
+import android.os.Message;
+import android.os.Messenger;
+import android.os.RemoteException;
+import android.os.Looper;
import android.widget.Toast;
+import android.location.Location;
+import android.location.LocationManager;
+import android.location.LocationListener;
+import android.location.Criteria;
+
+import org.altusmetrum.altoslib_7.*;
+
+
+public class TelemetryService extends Service implements LocationListener {
+
+ static final int MSG_REGISTER_CLIENT = 1;
+ static final int MSG_UNREGISTER_CLIENT = 2;
+ static final int MSG_CONNECT = 3;
+ 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;
+
+ // 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;
+
+ 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
+ DeviceAddress address;
+ private AltosDroidLink altos_link = null;
+ private TelemetryReader telemetry_reader = null;
+ private TelemetryLogger telemetry_logger = null;
+
+ // 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 {
+ private final WeakReference<TelemetryService> service;
+ IncomingHandler(TelemetryService s) { service = new WeakReference<TelemetryService>(s); }
+
+ @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.add_client(msg.replyTo);
+ break;
+ case MSG_UNREGISTER_CLIENT:
+ s.remove_client(msg.replyTo);
+ break;
+ case MSG_CONNECT:
+ AltosDebug.debug("Connect command received");
+ DeviceAddress address = (DeviceAddress) msg.obj;
+ AltosDroidPreferences.set_active_device(address);
+ s.start_altos_bluetooth(address, false);
+ break;
+ case MSG_OPEN_USB:
+ AltosDebug.debug("Open USB command received");
+ UsbDevice device = (UsbDevice) msg.obj;
+ s.start_usb(device);
+ break;
+ case MSG_DISCONNECT:
+ AltosDebug.debug("Disconnect command received");
+ s.address = null;
+ s.disconnect(true);
+ break;
+ case MSG_SETFREQUENCY:
+ AltosDebug.debug("MSG_SETFREQUENCY");
+ s.telemetry_state.frequency = (Double) msg.obj;
+ if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
+ try {
+ s.altos_link.set_radio_frequency(s.telemetry_state.frequency);
+ s.altos_link.save_frequency();
+ } catch (InterruptedException e) {
+ } catch (TimeoutException e) {
+ }
+ }
+ s.send_to_clients();
+ break;
+ case MSG_SETBAUD:
+ AltosDebug.debug("MSG_SETBAUD");
+ s.telemetry_state.telemetry_rate = (Integer) msg.obj;
+ if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) {
+ s.altos_link.set_telemetry_rate(s.telemetry_state.telemetry_rate);
+ s.altos_link.save_telemetry_rate();
+ }
+ 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:
+ s.telemetry_state.state = (AltosState) msg.obj;
+ if (s.telemetry_state.state != null) {
+ AltosDebug.debug("Save state");
+ AltosPreferences.set_state(0, s.telemetry_state.state, null);
+ }
+ AltosDebug.debug("MSG_TELEMETRY");
+ s.send_to_clients();
+ 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);
+ }
+ }
+ }
+
+ /* Construct the message to deliver to clients
+ */
+ private Message message() {
+ if (telemetry_state == null)
+ AltosDebug.debug("telemetry_state null!");
+ if (telemetry_state.state == null)
+ AltosDebug.debug("telemetry_state.state null!");
+ return Message.obtain(null, AltosDroid.MSG_STATE, telemetry_state);
+ }
+
+ /* 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 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();
+
+ if (telemetry_reader != null) {
+ AltosDebug.debug("disconnect(): stopping TelemetryReader");
+ telemetry_reader.interrupt();
+ try {
+ telemetry_reader.join();
+ } catch (InterruptedException e) {
+ }
+ telemetry_reader = null;
+ }
+ if (telemetry_logger != null) {
+ AltosDebug.debug("disconnect(): stopping TelemetryLogger");
+ telemetry_logger.stop();
+ telemetry_logger = null;
+ }
+ if (altos_link != null) {
+ AltosDebug.debug("disconnect(): stopping AltosDroidLink");
+ altos_link.close();
+ altos_link = null;
+ }
+ telemetry_state.config = null;
+ 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 start_altos_bluetooth(DeviceAddress address, boolean pause) {
+ // Get the BLuetoothDevice object
+ AltosDebug.check_ui("start_altos_bluetooth\n");
+ BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address);
+
+ disconnect(false);
+ this.address = address;
+ 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();
+ }
+
+ private void connected() throws InterruptedException {
+ AltosDebug.debug("connected top");
+ AltosDebug.check_ui("connected\n");
+ try {
+ if (altos_link == null)
+ throw new InterruptedException("no bluetooth");
+ 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.
+ 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;
+ }
+
+ AltosDebug.debug("connected bluetooth configured");
+ telemetry_state.connect = TelemetryState.CONNECT_CONNECTED;
+ telemetry_state.address = address;
+
+ telemetry_reader = new TelemetryReader(altos_link, handler, telemetry_state.state);
+ telemetry_reader.start();
+
+ AltosDebug.debug("connected TelemetryReader started");
+
+ telemetry_logger = new TelemetryLogger(this, altos_link);
+
+ AltosDebug.debug("Notify UI of connection");
+
+ send_to_clients();
+ }
+
+
+ @Override
+ public void onCreate() {
+ // Get local Bluetooth adapter
+ bluetooth_adapter = BluetoothAdapter.getDefaultAdapter();
+
+ // If the adapter is null, then Bluetooth is not supported
+ if (bluetooth_adapter == null) {
+ Toast.makeText(this, "Bluetooth is not available", Toast.LENGTH_LONG).show();
+ }
+
+ // Initialise preferences
+ AltosDroidPreferences.init(this);
+
+ telemetry_state = new TelemetryState();
+
+ // 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_DISCONNECTED;
+ telemetry_state.address = null;
+
+ AltosSavedState saved_state = AltosPreferences.state(0);
+
+ if (saved_state != null) {
+ AltosDebug.debug("recovered old state flight %d\n", saved_state.state.flight);
+ telemetry_state.state = 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);
+ }
+
+ @Override
+ public int onStartCommand(Intent intent, int flags, int startId) {
+ AltosDebug.debug("Received start id %d: %s", startId, intent);
+
+ CharSequence text = getText(R.string.telemetry_service_started);
-// Need the following import to get access to the app resources, since this
-// class is in a sub-package.
-import org.altusmetrum.AltosDroid.R;
+ // Create notification to be displayed while the service runs
+ Notification notification = new Notification(R.drawable.am_status_c, text, 0);
+ // The PendingIntent to launch our activity if the user selects this notification
+ PendingIntent contentIntent = PendingIntent.getActivity(this, 0,
+ new Intent(this, AltosDroid.class), 0);
+ // Set the info for the views that show in the notification panel.
+ notification.setLatestEventInfo(this, getText(R.string.telemetry_service_label), text, contentIntent);
-public class TelemetryService extends Service {
- private NotificationManager mNM;
+ // Set the notification to be in the "Ongoing" section.
+ notification.flags |= Notification.FLAG_ONGOING_EVENT;
- // Unique Identification Number for the Notification.
- // We use it on Notification start, and to cancel it.
- private int NOTIFICATION = R.string.telemetry_service_label;
+ // Move us into the foreground.
+ startForeground(NOTIFICATION, notification);
- /**
- * Class for clients to access. Because we know this service always
- * runs in the same process as its clients, we don't need to deal with
- * IPC.
- */
- public class TelemetryBinder extends Binder {
- TelemetryService getService() {
- return TelemetryService.this;
- }
- }
+ if (intent != null) {
+ String action = intent.getAction();
- @Override
- public void onCreate() {
- // Create a reference to the NotificationManager so that we can update our notifcation text later
- mNM = (NotificationManager)getSystemService(NOTIFICATION_SERVICE);
- }
+ if (action.equals(AltosDroid.ACTION_BLUETOOTH)) {
+ DeviceAddress address = AltosDroidPreferences.active_device();
+ if (address != null && !address.address.startsWith("USB"))
+ start_altos_bluetooth(address, false);
+ }
+ }
- @Override
- public int onStartCommand(Intent intent, int flags, int startId) {
- Log.i("TelemetryService", "Received start id " + startId + ": " + intent);
+ // We want this service to continue running until it is explicitly
+ // stopped, so return sticky.
+ return START_STICKY;
+ }
- CharSequence text = getText(R.string.telemetry_service_started);
+ @Override
+ public void onDestroy() {
- // Create notification to be displayed while the service runs
- Notification notification = new Notification(R.drawable.am_status_c, text, 0);
+ // Stop listening for location updates
+ ((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this);
- // The PendingIntent to launch our activity if the user selects this notification
- PendingIntent contentIntent = PendingIntent.getActivity(this, 0,
- new Intent(this, TelemetryServiceActivities.Controller.class), 0);
+ // Stop the bluetooth Comms threads
+ disconnect(true);
- // Set the info for the views that show in the notification panel.
- notification.setLatestEventInfo(this, getText(R.string.telemetry_service_label), text, contentIntent);
+ // Demote us from the foreground, and cancel the persistent notification.
+ stopForeground(true);
- // Set the notification to be in the "Ongoing" section.
- notification.flags |= Notification.FLAG_ONGOING_EVENT;
+ // Tell the user we stopped.
+ Toast.makeText(this, R.string.telemetry_service_stopped, Toast.LENGTH_SHORT).show();
+ }
- // Move us into the foreground.
- startForeground(NOTIFICATION, notification);
+ @Override
+ public IBinder onBind(Intent intent) {
+ return messenger.getBinder();
+ }
- // We want this service to continue running until it is explicitly
- // stopped, so return sticky.
- return START_STICKY;
- }
- @Override
- public void onDestroy() {
- // Demote us from the foreground, and cancel the persistent notification.
- stopForeground(true);
+ public void onLocationChanged(Location location) {
+ telemetry_state.location = location;
+ AltosDebug.debug("location changed");
+ send_to_clients();
+ }
- // Tell the user we stopped.
- Toast.makeText(this, R.string.telemetry_service_stopped, Toast.LENGTH_SHORT).show();
- }
+ public void onStatusChanged(String provider, int status, Bundle extras) {
+ }
- @Override
- public IBinder onBind(Intent intent) {
- return mBinder;
- }
+ public void onProviderEnabled(String provider) {
+ }
- // This is the object that receives interactions from clients. See
- // RemoteService for a more complete example.
- private final IBinder mBinder = new TelemetryBinder();
+ public void onProviderDisabled(String provider) {
+ }
}
projects / fw / altos / blobdiff