/*
- * 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
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.PendingIntent;
import android.app.Service;
import android.bluetooth.BluetoothDevice;
+import android.bluetooth.BluetoothAdapter;
+import android.hardware.usb.*;
import android.content.Intent;
-//import android.os.Bundle;
+import android.content.Context;
+import android.os.Bundle;
import android.os.IBinder;
import android.os.Handler;
import android.os.Message;
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.*;
+import org.altusmetrum.altoslib_7.*;
-public class TelemetryService extends Service {
+
+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;
-
- public static final int STATE_NONE = 0;
- public static final int STATE_READY = 1;
- public static final int STATE_CONNECTING = 2;
- public static final int STATE_CONNECTED = 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> 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
- private BluetoothDevice device = null;
- private AltosBluetooth mAltosBluetooth = null;
- private TelemetryReader mTelemetryReader = null;
+ 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;
- // internally track state of bluetooth connection
- private int state = STATE_NONE;
+ // 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 {
- msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_DEVNAME, s.device.getName()));
- msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_STATE_CHANGE, s.state, -1));
- } 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");
- s.device = (BluetoothDevice) msg.obj;
- s.startAltosBluetooth();
+ DeviceAddress address = (DeviceAddress) msg.obj;
+ AltosDroidPreferences.set_active_device(address);
+ s.start_altos_bluetooth(address, false);
break;
+ case MSG_OPEN_USB:
+ if (D) Log.d(TAG, "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");
+ s.address = null;
+ s.disconnect(true);
+ break;
+ case MSG_SETFREQUENCY:
+ if (D) Log.d(TAG, "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:
+ if (D) Log.d(TAG, "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:
+ Log.d(TAG, "MSG_CONNECTED");
+ bt = (AltosDroidLink) msg.obj;
+
+ if (bt != s.altos_link) {
+ if (D) Log.d(TAG, "Stale message");
+ break;
+ }
if (D) Log.d(TAG, "Connected to device");
- s.connected();
+ try {
+ s.connected();
+ } catch (InterruptedException ie) {
+ }
break;
case MSG_CONNECT_FAILED:
- if (D) Log.d(TAG, "Connection failed... retrying");
- s.startAltosBluetooth();
+ Log.d(TAG, "MSG_CONNECT_FAILED");
+ bt = (AltosDroidLink) msg.obj;
+
+ if (bt != s.altos_link) {
+ if (D) Log.d(TAG, "Stale message");
+ break;
+ }
+ if (s.address != null) {
+ if (D) Log.d(TAG, "Connection failed... retrying");
+ s.start_altos_bluetooth(s.address, true);
+ } else {
+ s.disconnect(true);
+ }
break;
case MSG_DISCONNECTED:
- // Only do the following if we haven't been shutdown elsewhere..
- if (s.device != null) {
- if (D) Log.d(TAG, "Disconnected from " + s.device.getName());
- s.stopAltosBluetooth();
+
+ /* This can be sent by either AltosDroidLink or TelemetryReader */
+ Log.d(TAG, "MSG_DISCONNECTED");
+ bt = (AltosDroidLink) msg.obj;
+
+ if (bt != s.altos_link) {
+ if (D) Log.d(TAG, "Stale message");
+ break;
+ }
+ if (s.address != null) {
+ if (D) Log.d(TAG, "Connection lost... retrying");
+ s.start_altos_bluetooth(s.address, true);
+ } else {
+ s.disconnect(true);
}
break;
+
+ /*
+ * Messages from TelemetryReader
+ */
case MSG_TELEMETRY:
- s.sendMessageToClients(Message.obtain(null, AltosDroid.MSG_TELEMETRY, msg.obj));
+ 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();
+ 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:
super.handleMessage(msg);
}
}
- private void sendMessageToClients(Message m) {
- for (int i=mClients.size()-1; i>=0; i--) {
- try {
- mClients.get(i).send(m);
- } catch (RemoteException e) {
- mClients.remove(i);
- }
+ /* 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!");
+ return Message.obtain(null, AltosDroid.MSG_STATE, telemetry_state);
+ }
+
+ /* A new friend has connected
+ */
+ private void add_client(Messenger client) {
+
+ clients.add(client);
+ if (D) Log.d(TAG, "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) {
+ if (D) Log.d(TAG, "Reconnecting now...");
+ start_altos_bluetooth(address, false);
+ }
+ }
+
+ /* A client has disconnected, clean up
+ */
+ private void remove_client(Messenger client) {
+ clients.remove(client);
+ if (D) Log.d(TAG, "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");
+ 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()));
+ remove_client(client);
}
}
- private void stopAltosBluetooth() {
- if (D) Log.d(TAG, "stopAltosBluetooth(): begin");
- setState(STATE_READY);
- if (mTelemetryReader != null) {
- if (D) Log.d(TAG, "stopAltosBluetooth(): stopping TelemetryReader");
- mTelemetryReader.interrupt();
+ 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 disconnect(boolean notify) {
+ if (D) Log.d(TAG, "disconnect(): begin");
+
+ telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
+ telemetry_state.address = null;
+
+ if (altos_link != null)
+ altos_link.closing();
+
+ if (telemetry_reader != null) {
+ if (D) Log.d(TAG, "disconnect(): stopping TelemetryReader");
+ telemetry_reader.interrupt();
try {
- mTelemetryReader.join();
+ telemetry_reader.join();
} catch (InterruptedException e) {
}
- mTelemetryReader = null;
+ telemetry_reader = null;
+ }
+ if (telemetry_logger != null) {
+ if (D) Log.d(TAG, "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) {
+ if (D) Log.d(TAG, "disconnect(): stopping AltosDroidLink");
+ altos_link.close();
+ altos_link = null;
+ }
+ telemetry_state.config = null;
+ if (notify) {
+ if (D) Log.d(TAG, "disconnect(): send message to clients");
+ send_to_clients();
+ if (clients.isEmpty()) {
+ if (D) Log.d(TAG, "disconnect(): no clients, terminating");
+ stopSelf();
+ }
}
- device = null;
}
- private void startAltosBluetooth() {
- if (mAltosBluetooth == null) {
- if (D) Log.d(TAG, String.format("startAltosBluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress()));
- mAltosBluetooth = new AltosBluetooth(device, mHandler);
- setState(STATE_CONNECTING);
- } else {
- stopAltosBluetooth();
- mHandler.sendMessageDelayed(Message.obtain(null, MSG_CONNECT, device), 1000);
+ 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 synchronized void setState(int s) {
- if (D) Log.d(TAG, "setState(): " + state + " -> " + s);
- state = s;
-
- sendMessageToClients(Message.obtain(null, AltosDroid.MSG_STATE_CHANGE, state, -1));
+ private void start_altos_bluetooth(DeviceAddress address, boolean pause) {
+ // Get the BLuetoothDevice object
+ BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address);
+
+ disconnect(false);
+ this.address = address;
+ if (D) Log.d(TAG, String.format("start_altos_bluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress()));
+ altos_link = new AltosBluetooth(device, handler);
+ telemetry_state.connect = TelemetryState.CONNECT_CONNECTING;
+ telemetry_state.address = address;
+ send_to_clients();
}
- private void connected() {
- sendMessageToClients(Message.obtain(null, AltosDroid.MSG_DEVNAME, device.getName()));
- setState(STATE_CONNECTED);
+ private void connected() throws InterruptedException {
+ if (D) Log.d(TAG, "connected top");
try {
- sendMessageToClients(Message.obtain(null, AltosDroid.MSG_DEVCONFIG, mAltosBluetooth.config_data()));
- } catch (InterruptedException e) {
+ 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.
+ if (D) Log.d(TAG, "connected timeout");
+ if (address != null) {
+ if (D) Log.d(TAG, "connected timeout, retrying");
+ start_altos_bluetooth(address, true);
+ } else {
+ handler.obtainMessage(MSG_CONNECT_FAILED).sendToTarget();
+ disconnect(true);
+ }
+ return;
}
- mTelemetryReader = new TelemetryReader(mAltosBluetooth, mHandler);
- mTelemetryReader.start();
+
+ if (D) Log.d(TAG, "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();
+
+ if (D) Log.d(TAG, "connected TelemetryReader started");
+
+ telemetry_logger = new TelemetryLogger(this, altos_link);
+
+ if (D) Log.d(TAG, "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);
- setState(STATE_READY);
+ telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
+ telemetry_state.address = null;
+
+ AltosSavedState saved_state = AltosPreferences.state(0);
+
+ 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;
+ }
+
+ // Listen for GPS and Network position updates
+ LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
+
+ locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this);
}
@Override
// 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;
@Override
public void onDestroy() {
+ // Stop listening for location updates
+ ((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);
@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");
+ send_to_clients();
}
+ public void onStatusChanged(String provider, int status, Bundle extras) {
+ }
+
+ public void onProviderEnabled(String provider) {
+ }
+
+ public void onProviderDisabled(String provider) {
+ }
}
projects / fw / altos / blobdiff