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_6.*;
-
+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_DISCONNECT = 11;
+ 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.
// Name of the connected device
DeviceAddress address;
- private AltosBluetooth altos_bluetooth = null;
+ private AltosDroidLink altos_link = null;
private TelemetryReader telemetry_reader = null;
private TelemetryLogger telemetry_logger = null;
@Override
public void handleMessage(Message msg) {
TelemetryService s = service.get();
+ AltosDroidLink bt = null;
if (s == null)
return;
switch (msg.what) {
s.remove_client(msg.replyTo);
break;
case MSG_CONNECT:
- if (D) Log.d(TAG, "Connect command received");
+ AltosDebug.debug("Connect command received");
DeviceAddress address = (DeviceAddress) msg.obj;
AltosDroidPreferences.set_active_device(address);
- s.start_altos_bluetooth(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:
- if (D) Log.d(TAG, "Disconnect command received");
+ AltosDebug.debug("Disconnect command received");
s.address = null;
- s.stop_altos_bluetooth(true);
+ s.disconnect(true);
+ break;
+ 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.altos_bluetooth.set_radio_frequency(s.telemetry_state.frequency);
- s.altos_bluetooth.save_frequency();
+ 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:
- 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.altos_bluetooth.set_telemetry_rate(s.telemetry_state.telemetry_rate);
- s.altos_bluetooth.save_telemetry_rate();
+ 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:
- if (D) Log.d(TAG, "Connected to device");
+ 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) {
- if (D) Log.d(TAG, "Connection failed... retrying");
- s.start_altos_bluetooth(s.address);
+ AltosDebug.debug("Connection failed... retrying");
+ s.start_altos_bluetooth(s.address, true);
} else {
- s.stop_altos_bluetooth(true);
+ s.disconnect(true);
}
break;
case MSG_DISCONNECTED:
- Log.d(TAG, "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) {
- if (D) Log.d(TAG, "Connection lost... retrying");
- s.start_altos_bluetooth(s.address);
+ AltosDebug.debug("Connection lost... retrying");
+ s.start_altos_bluetooth(s.address, true);
} else {
- s.stop_altos_bluetooth(true);
+ s.disconnect(true);
}
break;
* Messages from TelemetryReader
*/
case MSG_TELEMETRY:
- s.telemetry_state.state = (AltosState) msg.obj;
- if (s.telemetry_state.state != null) {
- if (D) Log.d(TAG, "Save state");
- AltosPreferences.set_state(0, s.telemetry_state.state, null);
- }
- if (D) Log.d(TAG, "MSG_TELEMETRY");
- s.send_to_clients();
+ s.telemetry((AltosTelemetry) msg.obj);
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.send_to_clients();
break;
default:
}
}
+ /* 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) {
+ 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!");
- if (telemetry_state.state == null)
- Log.d(TAG, "telemetry_state.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 add_client(Messenger client) {
clients.add(client);
- if (D) Log.d(TAG, "Client bound to service");
+ AltosDebug.debug("Client bound to service");
/* On connect, send the current state to the new client
*/
* go ahead and try to reconnect to the device
*/
if (address != null && telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED) {
- if (D) Log.d(TAG, "Reconnecting now...");
- start_altos_bluetooth(address);
+ AltosDebug.debug("Reconnecting now...");
+ start_altos_bluetooth(address, false);
}
}
*/
private void remove_client(Messenger client) {
clients.remove(client);
- if (D) Log.d(TAG, "Client unbound from service");
+ 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) {
- if (!D) Log.d(TAG, "No clients, no connection. Stopping\n");
+ AltosDebug.debug("No clients, no connection. Stopping\n");
stopSelf();
}
}
private void send_to_client(Messenger client, Message m) {
try {
- if (D) Log.d(TAG, String.format("Send message to client %s", client.toString()));
client.send(m);
} catch (RemoteException e) {
- if (D) Log.e(TAG, String.format("Client %s disappeared", client.toString()));
+ AltosDebug.error("Client %s disappeared", client.toString());
remove_client(client);
}
}
private void send_to_clients() {
Message m = message();
- if (D) Log.d(TAG, String.format("Send message to %d clients", clients.size()));
for (Messenger client : clients)
send_to_client(client, m);
}
- private void stop_altos_bluetooth(boolean notify) {
- if (D) Log.d(TAG, "stop_altos_bluetooth(): begin");
+ private void disconnect(boolean notify) {
+ AltosDebug.debug("disconnect(): begin");
+
telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
telemetry_state.address = null;
- if (altos_bluetooth != null)
- altos_bluetooth.closing();
+ if (altos_link != null)
+ altos_link.closing();
+
+ stop_receiver_voltage_timer();
if (telemetry_reader != null) {
- if (D) Log.d(TAG, "stop_altos_bluetooth(): stopping TelemetryReader");
+ AltosDebug.debug("disconnect(): stopping TelemetryReader");
telemetry_reader.interrupt();
try {
telemetry_reader.join();
telemetry_reader = null;
}
if (telemetry_logger != null) {
- if (D) Log.d(TAG, "stop_altos_bluetooth(): stopping TelemetryLogger");
+ AltosDebug.debug("disconnect(): stopping TelemetryLogger");
telemetry_logger.stop();
telemetry_logger = null;
}
- if (altos_bluetooth != null) {
- if (D) Log.d(TAG, "stop_altos_bluetooth(): stopping AltosBluetooth");
- altos_bluetooth.close();
- altos_bluetooth = null;
+ if (altos_link != null) {
+ AltosDebug.debug("disconnect(): stopping AltosDroidLink");
+ altos_link.close();
+ altos_link = null;
}
telemetry_state.config = null;
if (notify) {
- if (D) Log.d(TAG, "stop_altos_bluetooth(): send message to clients");
+ AltosDebug.debug("disconnect(): send message to clients");
send_to_clients();
if (clients.isEmpty()) {
- if (D) Log.d(TAG, "stop_altos_bluetooth(): no clients, terminating");
+ AltosDebug.debug("disconnect(): no clients, terminating");
stopSelf();
}
}
}
- private void start_altos_bluetooth(DeviceAddress address) {
+ 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 start_altos_bluetooth(DeviceAddress address, boolean pause) {
// Get the BLuetoothDevice object
BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address);
- stop_altos_bluetooth(false);
+ disconnect(false);
this.address = address;
- if (D) Log.d(TAG, String.format("start_altos_bluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress()));
- altos_bluetooth = new AltosBluetooth(device, handler);
+ 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();
+ 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 (altos_bluetooth == null)
+ if (altos_link == null)
throw new InterruptedException("no bluetooth");
- telemetry_state.config = altos_bluetooth.config_data();
- altos_bluetooth.set_radio_frequency(telemetry_state.frequency);
- altos_bluetooth.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.
- handler.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;
- telemetry_reader = new TelemetryReader(altos_bluetooth, handler, telemetry_state.state);
+ telemetry_reader = new TelemetryReader(altos_link, handler);
telemetry_reader.start();
- if (D) Log.d(TAG, "connected TelemetryReader started");
+ AltosDebug.debug("connected TelemetryReader started");
- telemetry_logger = new TelemetryLogger(this, altos_bluetooth);
+ telemetry_logger = new TelemetryLogger(this, altos_link);
- if (D) Log.d(TAG, "Notify UI of connection");
+ start_receiver_voltage_timer();
+
+ AltosDebug.debug("Notify UI of connection");
send_to_clients();
}
@Override
public void onCreate() {
+
+ AltosDebug.init(this);
+
+ // Initialise preferences
+ AltosDroidPreferences.init(this);
+
// Get local Bluetooth adapter
bluetooth_adapter = BluetoothAdapter.getDefaultAdapter();
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
telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
telemetry_state.address = null;
- AltosSavedState saved_state = AltosPreferences.state(0);
+ /* Pull the saved state information out of the preferences database
+ */
+ ArrayList<Integer> serials = AltosPreferences.list_states();
+
+ telemetry_state.latest_serial = AltosPreferences.latest_state();
- if (saved_state != null) {
- if (D) Log.d(TAG, String.format("recovered old state flight %d\n", saved_state.state.flight));
- telemetry_state.state = saved_state.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);
-
- DeviceAddress address = AltosDroidPreferences.active_device();
- if (address != null)
- start_altos_bluetooth(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);
+ /* Start bluetooth if we don't have a connection already */
+ if (intent != null &&
+ (telemetry_state.connect == TelemetryState.CONNECT_NONE ||
+ telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED))
+ {
+ 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
- stop_altos_bluetooth(true);
+ disconnect(true);
// Demote us from the foreground, and cancel the persistent notification.
stopForeground(true);
public void onLocationChanged(Location location) {
telemetry_state.location = location;
- if (D) Log.d(TAG, "location changed");
+ AltosDebug.debug("location changed");
send_to_clients();
}
projects / fw / altos / blobdiff