X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosdroid%2Fapp%2Fsrc%2Fmain%2Fjava%2Forg%2Faltusmetrum%2FAltosDroid%2FAltosDroid.java;fp=altosdroid%2Fapp%2Fsrc%2Fmain%2Fjava%2Forg%2Faltusmetrum%2FAltosDroid%2FAltosDroid.java;h=1bcb67ef72e849c56f682a803bc815e1d26dcf90;hp=0000000000000000000000000000000000000000;hb=8b53f860eb3171cd43e4bd0e440f2889bd810662;hpb=4a257455b2dc57069c41e1845daf66239c5cbe1d

diff --git a/altosdroid/app/src/main/java/org/altusmetrum/AltosDroid/AltosDroid.java b/altosdroid/app/src/main/java/org/altusmetrum/AltosDroid/AltosDroid.java
new file mode 100644
index 00000000..1bcb67ef
--- /dev/null
+++ b/altosdroid/app/src/main/java/org/altusmetrum/AltosDroid/AltosDroid.java
@@ -0,0 +1,1224 @@
+/*
+ * Copyright © 2012-2013 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
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosDroid;
+
+import java.lang.ref.WeakReference;
+import java.text.*;
+import java.util.*;
+import java.io.*;
+
+import android.app.Activity;
+import android.app.PendingIntent;
+import android.bluetooth.BluetoothAdapter;
+import android.bluetooth.BluetoothDevice;
+import android.content.Intent;
+import android.content.Context;
+import android.content.ComponentName;
+import android.content.ServiceConnection;
+import android.content.DialogInterface;
+import android.os.IBinder;
+import android.os.Bundle;
+import android.os.Handler;
+import android.os.Message;
+import android.os.Messenger;
+import android.os.RemoteException;
+import android.content.res.Resources;
+import android.support.v4.app.FragmentActivity;
+import android.support.v4.app.FragmentManager;
+import android.util.DisplayMetrics;
+import android.view.*;
+import android.widget.*;
+import android.app.AlertDialog;
+import android.location.Location;
+import android.location.LocationManager;
+import android.location.LocationListener;
+import android.hardware.usb.*;
+import android.graphics.*;
+import android.graphics.drawable.*;
+
+import org.altusmetrum.altoslib_13.*;
+
+class SavedState {
+	long	received_time;
+	int	state;
+	boolean	locked;
+	String	callsign;
+	int	serial;
+	int	flight;
+	int	rssi;
+
+	SavedState(AltosState state) {
+		received_time = state.received_time;
+		this.state = state.state();
+		if (state.gps != null)
+			locked = state.gps.locked;
+		else
+			locked = false;
+		callsign = state.cal_data().callsign;
+		serial = state.cal_data().serial;
+		flight = state.cal_data().flight;
+		rssi = state.rssi;
+	}
+}
+
+class Tracker implements CharSequence, Comparable {
+	int	serial;
+	String	call;
+	double	frequency;
+
+	String	display;
+
+	public Tracker(int serial, String call, double frequency) {
+		if (call == null)
+			call = "none";
+
+		this.serial = serial;
+		this.call = call;
+		this.frequency = frequency;
+		if (frequency == 0.0)
+			display = "Auto";
+		else if (frequency == AltosLib.MISSING) {
+			display = String.format("%-8.8s  %6d", call, serial);
+		} else {
+			display = String.format("%-8.8s %7.3f %6d", call, frequency, serial);
+		}
+	}
+
+	public Tracker(AltosState s) {
+		this(s == null ? 0 : s.cal_data().serial,
+		     s == null ? null : s.cal_data().callsign,
+		     s == null ? 0.0 : s.frequency);
+	}
+
+	/* CharSequence */
+	public char charAt(int index) {
+		return display.charAt(index);
+	}
+
+	public int length() {
+		return display.length();
+	}
+
+	public CharSequence subSequence(int start, int end) throws IndexOutOfBoundsException {
+		return display.subSequence(start, end);
+	}
+
+	public String toString() {
+		return display.toString();
+	}
+
+	/* Comparable */
+	public int compareTo (Object other) {
+		Tracker	o = (Tracker) other;
+		if (frequency == 0.0) {
+			if (o.frequency == 0.0)
+				return 0;
+			return -1;
+		}
+		if (o.frequency == 0.0)
+			return 1;
+
+		int	a = serial - o.serial;
+		int	b = call.compareTo(o.call);
+		int	c = (int) Math.signum(frequency - o.frequency);
+
+		if (b != 0)
+			return b;
+		if (c != 0)
+			return c;
+		return a;
+	}
+}
+
+public class AltosDroid extends FragmentActivity implements AltosUnitsListener, LocationListener {
+
+	// Actions sent to the telemetry server at startup time
+
+	public static final String ACTION_BLUETOOTH = "org.altusmetrum.AltosDroid.BLUETOOTH";
+	public static final String ACTION_USB = "org.altusmetrum.AltosDroid.USB";
+
+	// Message types received by our Handler
+
+	public static final int MSG_STATE           = 1;
+	public static final int MSG_UPDATE_AGE      = 2;
+	public static final int	MSG_IDLE_MODE	    = 3;
+	public static final int MSG_IGNITER_STATUS  = 4;
+
+	// Intent request codes
+	public static final int REQUEST_CONNECT_DEVICE = 1;
+	public static final int REQUEST_ENABLE_BT      = 2;
+	public static final int REQUEST_PRELOAD_MAPS   = 3;
+	public static final int REQUEST_IDLE_MODE      = 5;
+	public static final int REQUEST_IGNITERS       = 6;
+	public static final int REQUEST_SETUP	       = 7;
+
+	public static final String EXTRA_IDLE_MODE = "idle_mode";
+	public static final String EXTRA_IDLE_RESULT = "idle_result";
+	public static final String EXTRA_TELEMETRY_SERVICE = "telemetry_service";
+
+	// Setup result bits
+	public static final int SETUP_BAUD = 1;
+	public static final int SETUP_UNITS = 2;
+	public static final int SETUP_MAP_SOURCE = 4;
+	public static final int SETUP_MAP_TYPE = 8;
+
+	public static FragmentManager	fm;
+
+	private BluetoothAdapter mBluetoothAdapter = null;
+
+	// Flight state values
+	private TextView mCallsignView;
+	private TextView mRSSIView;
+	private TextView mSerialView;
+	private TextView mFlightView;
+	private RelativeLayout mStateLayout;
+	private TextView mStateView;
+	private TextView mAgeView;
+	private boolean  mAgeViewOld;
+	private int mAgeNewColor;
+	private int mAgeOldColor;
+
+	public static final String	tab_pad_name = "pad";
+	public static final String	tab_flight_name = "flight";
+	public static final String	tab_recover_name = "recover";
+	public static final String	tab_map_name = "map";
+
+	// field to display the version at the bottom of the screen
+	private TextView mVersion;
+
+	private boolean idle_mode = false;
+
+	public Location location = null;
+
+	private AltosState	state;
+	private SavedState	saved_state;
+
+	// Tabs
+	TabHost         mTabHost;
+	AltosViewPager  mViewPager;
+	TabsAdapter     mTabsAdapter;
+	ArrayList<AltosDroidTab> mTabs = new ArrayList<AltosDroidTab>();
+	int             tabHeight;
+
+	// Timer and Saved flight state for Age calculation
+	private Timer timer;
+
+	TelemetryState	telemetry_state;
+	Tracker[]	trackers;
+
+
+	UsbDevice	pending_usb_device;
+	boolean		start_with_usb;
+
+	// Service
+	private boolean mIsBound   = false;
+	private Messenger mService = null;
+	final Messenger mMessenger = new Messenger(new IncomingHandler(this));
+
+	// Text to Speech
+	private AltosVoice mAltosVoice = null;
+
+	// The Handler that gets information back from the Telemetry Service
+	static class IncomingHandler extends Handler {
+		private final WeakReference<AltosDroid> mAltosDroid;
+		IncomingHandler(AltosDroid ad) { mAltosDroid = new WeakReference<AltosDroid>(ad); }
+
+		@Override
+		public void handleMessage(Message msg) {
+			AltosDroid ad = mAltosDroid.get();
+
+			switch (msg.what) {
+			case MSG_STATE:
+				if (msg.obj == null) {
+					AltosDebug.debug("telemetry_state null!");
+					return;
+				}
+				ad.update_state((TelemetryState) msg.obj);
+				break;
+			case MSG_UPDATE_AGE:
+				ad.update_age();
+				break;
+			case MSG_IDLE_MODE:
+				ad.idle_mode = (Boolean) msg.obj;
+				ad.update_state(null);
+				break;
+			}
+		}
+	};
+
+
+	private ServiceConnection mConnection = new ServiceConnection() {
+		public void onServiceConnected(ComponentName className, IBinder service) {
+			mService = new Messenger(service);
+			try {
+				Message msg = Message.obtain(null, TelemetryService.MSG_REGISTER_CLIENT);
+				msg.replyTo = mMessenger;
+				mService.send(msg);
+			} catch (RemoteException e) {
+				// In this case the service has crashed before we could even do anything with it
+			}
+			if (pending_usb_device != null) {
+				try {
+					mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, pending_usb_device));
+					pending_usb_device = null;
+				} catch (RemoteException e) {
+				}
+			}
+		}
+
+		public void onServiceDisconnected(ComponentName className) {
+			// This is called when the connection with the service has been unexpectedly disconnected - process crashed.
+			mService = null;
+		}
+	};
+
+	void doBindService() {
+		bindService(new Intent(this, TelemetryService.class), mConnection, Context.BIND_AUTO_CREATE);
+		mIsBound = true;
+	}
+
+	void doUnbindService() {
+		if (mIsBound) {
+			// If we have received the service, and hence registered with it, then now is the time to unregister.
+			if (mService != null) {
+				try {
+					Message msg = Message.obtain(null, TelemetryService.MSG_UNREGISTER_CLIENT);
+					msg.replyTo = mMessenger;
+					mService.send(msg);
+				} catch (RemoteException e) {
+					// There is nothing special we need to do if the service has crashed.
+				}
+			}
+			// Detach our existing connection.
+			unbindService(mConnection);
+			mIsBound = false;
+		}
+	}
+
+	public void registerTab(AltosDroidTab mTab) {
+		mTabs.add(mTab);
+	}
+
+	public void unregisterTab(AltosDroidTab mTab) {
+		mTabs.remove(mTab);
+	}
+
+	public void units_changed(boolean imperial_units) {
+		for (AltosDroidTab mTab : mTabs)
+			mTab.units_changed(imperial_units);
+	}
+
+	void update_title(TelemetryState telemetry_state) {
+		switch (telemetry_state.connect) {
+		case TelemetryState.CONNECT_CONNECTED:
+			if (telemetry_state.config != null) {
+				String str = String.format("S/N %d %6.3f MHz%s", telemetry_state.config.serial,
+							   telemetry_state.frequency, idle_mode ? " (idle)" : "");
+				if (telemetry_state.telemetry_rate != AltosLib.ao_telemetry_rate_38400)
+					str = str.concat(String.format(" %d bps",
+								       AltosLib.ao_telemetry_rate_values[telemetry_state.telemetry_rate]));
+				setTitle(str);
+			} else {
+				setTitle(R.string.title_connected_to);
+			}
+			break;
+		case TelemetryState.CONNECT_CONNECTING:
+			if (telemetry_state.address != null)
+				setTitle(String.format("Connecting to %s...", telemetry_state.address.name));
+			else
+				setTitle("Connecting to something...");
+			break;
+		case TelemetryState.CONNECT_DISCONNECTED:
+		case TelemetryState.CONNECT_NONE:
+			setTitle(R.string.title_not_connected);
+			break;
+		}
+	}
+
+	void start_timer() {
+		if (timer == null) {
+			timer = new Timer();
+			timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 1000L, 1000L);
+		}
+	}
+
+	void stop_timer() {
+		if (timer != null) {
+			timer.cancel();
+			timer.purge();
+			timer = null;
+		}
+	}
+
+	int	selected_serial = 0;
+	int	current_serial;
+	long	switch_time;
+
+	void set_switch_time() {
+		switch_time = System.currentTimeMillis();
+		selected_serial = 0;
+	}
+
+	boolean	registered_units_listener;
+
+	void update_state(TelemetryState new_telemetry_state) {
+
+		if (new_telemetry_state != null)
+			telemetry_state = new_telemetry_state;
+
+		if (selected_serial != 0)
+			current_serial = selected_serial;
+
+		if (current_serial == 0)
+			current_serial = telemetry_state.latest_serial;
+
+		if (!registered_units_listener) {
+			registered_units_listener = true;
+			AltosPreferences.register_units_listener(this);
+		}
+
+		int	num_trackers = 0;
+		for (AltosState s : telemetry_state.states.values()) {
+			num_trackers++;
+		}
+
+		trackers = new Tracker[num_trackers + 1];
+
+		int n = 0;
+		trackers[n++] = new Tracker(0, "auto", 0.0);
+
+		for (AltosState s : telemetry_state.states.values())
+			trackers[n++] = new Tracker(s);
+
+		Arrays.sort(trackers);
+
+		update_title(telemetry_state);
+
+		AltosState	state = null;
+		boolean		aged = true;
+
+		if (telemetry_state.states.containsKey(current_serial)) {
+			state = telemetry_state.states.get(current_serial);
+			int age = state_age(state.received_time);
+			if (age < 20)
+				aged = false;
+			if (current_serial == selected_serial)
+				aged = false;
+			else if (switch_time != 0 && (switch_time - state.received_time) > 0)
+				aged = true;
+		}
+
+		if (aged) {
+			AltosState	newest_state = null;
+			int		newest_age = 0;
+
+			for (int serial : telemetry_state.states.keySet()) {
+				AltosState	existing = telemetry_state.states.get(serial);
+				int		existing_age = state_age(existing.received_time);
+
+				if (newest_state == null || existing_age < newest_age) {
+					newest_state = existing;
+					newest_age = existing_age;
+				}
+			}
+
+			if (newest_state != null)
+				state = newest_state;
+		}
+
+		update_ui(telemetry_state, state, telemetry_state.quiet);
+
+		start_timer();
+	}
+
+	boolean same_string(String a, String b) {
+		if (a == null) {
+			if (b == null)
+				return true;
+			return false;
+		} else {
+			if (b == null)
+				return false;
+			return a.equals(b);
+		}
+	}
+
+
+	private int blend_component(int a, int b, double r, int shift, int mask) {
+		return ((int) (((a >> shift) & mask) * r + ((b >> shift) & mask) * (1 - r)) & mask) << shift;
+	}
+	private int blend_color(int a, int b, double r) {
+		return (blend_component(a, b, r, 0, 0xff) |
+			blend_component(a, b, r, 8, 0xff) |
+			blend_component(a, b, r, 16, 0xff) |
+			blend_component(a, b, r, 24, 0xff));
+	}
+
+	int state_age(long received_time) {
+		return (int) ((System.currentTimeMillis() - received_time + 500) / 1000);
+	}
+
+	void set_screen_on(int age) {
+		if (age < 60)
+			getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
+		else
+			getWindow().clearFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
+	}
+
+	void update_age() {
+		if (saved_state != null) {
+			int age = state_age(saved_state.received_time);
+
+			double age_scale = age / 100.0;
+
+			if (age_scale > 1.0)
+				age_scale = 1.0;
+
+			mAgeView.setTextColor(blend_color(mAgeOldColor, mAgeNewColor, age_scale));
+
+			set_screen_on(age);
+
+			String	text;
+			if (age < 60)
+				text = String.format("%ds", age);
+			else if (age < 60 * 60)
+				text = String.format("%dm", age / 60);
+			else if (age < 60 * 60 * 24)
+				text = String.format("%dh", age / (60 * 60));
+			else
+				text = String.format("%dd", age / (24 * 60 * 60));
+			mAgeView.setText(text);
+		}
+	}
+
+	void update_ui(TelemetryState telem_state, AltosState state, boolean quiet) {
+
+		this.state = state;
+
+		int prev_state = AltosLib.ao_flight_invalid;
+
+		AltosGreatCircle from_receiver = null;
+
+		if (saved_state != null)
+			prev_state = saved_state.state;
+
+		if (state != null) {
+			set_screen_on(state_age(state.received_time));
+
+			if (state.state() == AltosLib.ao_flight_stateless) {
+				boolean	prev_locked = false;
+				boolean locked = false;
+
+				if(state.gps != null)
+					locked = state.gps.locked;
+				if (saved_state != null)
+					prev_locked = saved_state.locked;
+				if (prev_locked != locked) {
+					String currentTab = mTabHost.getCurrentTabTag();
+					if (locked) {
+						if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
+					} else {
+						if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_pad_name);
+					}
+				}
+			} else {
+				if (prev_state != state.state()) {
+					String currentTab = mTabHost.getCurrentTabTag();
+					switch (state.state()) {
+					case AltosLib.ao_flight_boost:
+						if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
+						break;
+					case AltosLib.ao_flight_landed:
+						if (currentTab.equals(tab_flight_name)) mTabHost.setCurrentTabByTag(tab_recover_name);
+						break;
+					case AltosLib.ao_flight_stateless:
+						if (currentTab.equals(tab_pad_name)) mTabHost.setCurrentTabByTag(tab_flight_name);
+						break;
+					}
+				}
+			}
+
+			if (location != null && state.gps != null && state.gps.locked) {
+				double altitude = 0;
+				if (location.hasAltitude())
+					altitude = location.getAltitude();
+				from_receiver = new AltosGreatCircle(location.getLatitude(),
+								     location.getLongitude(),
+								     altitude,
+								     state.gps.lat,
+								     state.gps.lon,
+								     state.gps.alt);
+			}
+
+			if (saved_state == null || !same_string(saved_state.callsign, state.cal_data().callsign)) {
+				mCallsignView.setText(state.cal_data().callsign);
+			}
+			if (saved_state == null || state.cal_data().serial != saved_state.serial) {
+				if (state.cal_data().serial == AltosLib.MISSING)
+					mSerialView.setText("");
+				else
+					mSerialView.setText(String.format("%d", state.cal_data().serial));
+			}
+			if (saved_state == null || state.cal_data().flight != saved_state.flight) {
+				if (state.cal_data().flight == AltosLib.MISSING)
+					mFlightView.setText("");
+				else
+					mFlightView.setText(String.format("%d", state.cal_data().flight));
+			}
+			if (saved_state == null || state.state() != saved_state.state) {
+				if (state.state() == AltosLib.ao_flight_stateless) {
+					mStateLayout.setVisibility(View.GONE);
+				} else {
+					mStateView.setText(state.state_name());
+					mStateLayout.setVisibility(View.VISIBLE);
+				}
+			}
+			if (saved_state == null || state.rssi != saved_state.rssi) {
+				if (state.rssi == AltosLib.MISSING)
+					mRSSIView.setText("");
+				else
+					mRSSIView.setText(String.format("%d", state.rssi));
+			}
+			saved_state = new SavedState(state);
+		}
+
+		for (AltosDroidTab mTab : mTabs)
+			mTab.update_ui(telem_state, state, from_receiver, location, mTab == mTabsAdapter.currentItem());
+
+		AltosDebug.debug("quiet %b\n", quiet);
+		if (mAltosVoice != null)
+			mAltosVoice.tell(telem_state, state, from_receiver, location, (AltosDroidTab) mTabsAdapter.currentItem(), quiet);
+
+	}
+
+	private void onTimerTick() {
+		try {
+			mMessenger.send(Message.obtain(null, MSG_UPDATE_AGE));
+		} catch (RemoteException e) {
+		}
+	}
+
+	static String pos(double p, String pos, String neg) {
+		String	h = pos;
+		if (p == AltosLib.MISSING)
+			return "";
+		if (p < 0) {
+			h = neg;
+			p = -p;
+		}
+		int deg = (int) Math.floor(p);
+		double min = (p - Math.floor(p)) * 60.0;
+		return String.format("%d°%9.4f\" %s", deg, min, h);
+	}
+
+	static String number(String format, double value) {
+		if (value == AltosLib.MISSING)
+			return "";
+		return String.format(format, value);
+	}
+
+	static String integer(String format, int value) {
+		if (value == AltosLib.MISSING)
+			return "";
+		return String.format(format, value);
+	}
+
+	private View create_tab_view(String label) {
+		LayoutInflater inflater = (LayoutInflater) this.getLayoutInflater();
+		View tab_view = inflater.inflate(R.layout.tab_layout, null);
+		TextView text_view = (TextView) tab_view.findViewById (R.id.tabLabel);
+		text_view.setText(label);
+		return tab_view;
+	}
+
+	@Override
+	public void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		AltosDebug.init(this);
+		AltosDebug.debug("+++ ON CREATE +++");
+
+		// Initialise preferences
+		AltosDroidPreferences.init(this);
+
+		fm = getSupportFragmentManager();
+
+		// Set up the window layout
+		setContentView(R.layout.altosdroid);
+
+		// Create the Tabs and ViewPager
+		mTabHost = (TabHost)findViewById(android.R.id.tabhost);
+		mTabHost.setup();
+
+		mViewPager = (AltosViewPager)findViewById(R.id.pager);
+		mViewPager.setOffscreenPageLimit(4);
+
+		mTabsAdapter = new TabsAdapter(this, mTabHost, mViewPager);
+
+		mTabsAdapter.addTab(mTabHost.newTabSpec(tab_pad_name).setIndicator(create_tab_view("Pad")), TabPad.class, null);
+		mTabsAdapter.addTab(mTabHost.newTabSpec(tab_flight_name).setIndicator(create_tab_view("Flight")), TabFlight.class, null);
+		mTabsAdapter.addTab(mTabHost.newTabSpec(tab_recover_name).setIndicator(create_tab_view("Recover")), TabRecover.class, null);
+		mTabsAdapter.addTab(mTabHost.newTabSpec(tab_map_name).setIndicator(create_tab_view("Map")), TabMap.class, null);
+
+		// Display the Version
+		mVersion = (TextView) findViewById(R.id.version);
+		mVersion.setText("Version: " + BuildInfo.version +
+		                 " Built: " + BuildInfo.builddate + " " + BuildInfo.buildtime + " " + BuildInfo.buildtz +
+		                 " (" + BuildInfo.branch + "-" + BuildInfo.commitnum + "-" + BuildInfo.commithash + ")");
+
+		mCallsignView  = (TextView) findViewById(R.id.callsign_value);
+		mRSSIView      = (TextView) findViewById(R.id.rssi_value);
+		mSerialView    = (TextView) findViewById(R.id.serial_value);
+		mFlightView    = (TextView) findViewById(R.id.flight_value);
+		mStateLayout   = (RelativeLayout) findViewById(R.id.state_container);
+		mStateView     = (TextView) findViewById(R.id.state_value);
+		mAgeView       = (TextView) findViewById(R.id.age_value);
+		mAgeNewColor   = mAgeView.getTextColors().getDefaultColor();
+		mAgeOldColor   = getResources().getColor(R.color.old_color);
+	}
+
+	private void ensureBluetooth() {
+		// Get local Bluetooth adapter
+		mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
+
+		/* if there is a BT adapter and it isn't turned on, then turn it on */
+		if (mBluetoothAdapter != null && !mBluetoothAdapter.isEnabled()) {
+			Intent enableIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
+			startActivityForResult(enableIntent, AltosDroid.REQUEST_ENABLE_BT);
+		}
+	}
+
+	private boolean check_usb() {
+		UsbDevice	device = AltosUsb.find_device(this, AltosLib.product_basestation);
+
+		if (device != null) {
+			Intent		i = new Intent(this, AltosDroid.class);
+			PendingIntent	pi = PendingIntent.getActivity(this, 0, new Intent("hello world", null, this, AltosDroid.class), 0);
+
+			if (AltosUsb.request_permission(this, device, pi)) {
+				connectUsb(device);
+			}
+			start_with_usb = true;
+			return true;
+		}
+
+		start_with_usb = false;
+
+		return false;
+	}
+
+	private void noticeIntent(Intent intent) {
+
+		/* Ok, this is pretty convenient.
+		 *
+		 * When a USB device is plugged in, and our 'hotplug'
+		 * intent registration fires, we get an Intent with
+		 * EXTRA_DEVICE set.
+		 *
+		 * When we start up and see a usb device and request
+		 * permission to access it, that queues a
+		 * PendingIntent, which has the EXTRA_DEVICE added in,
+		 * along with the EXTRA_PERMISSION_GRANTED field as
+		 * well.
+		 *
+		 * So, in both cases, we get the device name using the
+		 * same call. We check to see if access was granted,
+		 * in which case we ignore the device field and do our
+		 * usual startup thing.
+		 */
+
+		UsbDevice device = (UsbDevice) intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
+		boolean granted = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, true);
+
+		AltosDebug.debug("intent %s device %s granted %s", intent, device, granted);
+
+		if (!granted)
+			device = null;
+
+		if (device != null) {
+			AltosDebug.debug("intent has usb device " + device.toString());
+			connectUsb(device);
+		} else {
+
+			/* 'granted' is only false if this intent came
+			 * from the request_permission call and
+			 * permission was denied. In which case, we
+			 * don't want to loop forever...
+			 */
+			if (granted) {
+				AltosDebug.debug("check for a USB device at startup");
+				if (check_usb())
+					return;
+			}
+			AltosDebug.debug("Starting by looking for bluetooth devices");
+			ensureBluetooth();
+		}
+	}
+
+	@Override
+	public void onStart() {
+		super.onStart();
+		AltosDebug.debug("++ ON START ++");
+
+		set_switch_time();
+
+		noticeIntent(getIntent());
+
+		// Start Telemetry Service
+		String	action = start_with_usb ? ACTION_USB : ACTION_BLUETOOTH;
+
+		startService(new Intent(action, null, AltosDroid.this, TelemetryService.class));
+
+		doBindService();
+
+		if (mAltosVoice == null)
+			mAltosVoice = new AltosVoice(this);
+
+	}
+
+	@Override
+	public void onNewIntent(Intent intent) {
+		super.onNewIntent(intent);
+		AltosDebug.debug("onNewIntent");
+		noticeIntent(intent);
+	}
+
+	@Override
+	public void onResume() {
+		super.onResume();
+		AltosDebug.debug("+ ON RESUME +");
+
+		// Listen for GPS and Network position updates
+		LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
+		locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this);
+
+		location = locationManager.getLastKnownLocation(LocationManager.GPS_PROVIDER);
+
+		if (location != null)
+			AltosDebug.debug("Resume, location is %f,%f\n",
+					 location.getLatitude(),
+					 location.getLongitude());
+
+		update_ui(telemetry_state, state, true);
+	}
+
+	@Override
+	public void onPause() {
+		super.onPause();
+		AltosDebug.debug("- ON PAUSE -");
+		// Stop listening for location updates
+		((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this);
+	}
+
+	@Override
+	public void onStop() {
+		super.onStop();
+		AltosDebug.debug("-- ON STOP --");
+	}
+
+	@Override
+	public void onDestroy() {
+		super.onDestroy();
+		AltosDebug.debug("--- ON DESTROY ---");
+
+		doUnbindService();
+		if (mAltosVoice != null) {
+			mAltosVoice.stop();
+			mAltosVoice = null;
+		}
+		stop_timer();
+	}
+
+	protected void onActivityResult(int requestCode, int resultCode, Intent data) {
+		AltosDebug.debug("onActivityResult " + resultCode);
+		switch (requestCode) {
+		case REQUEST_CONNECT_DEVICE:
+			// When DeviceListActivity returns with a device to connect to
+			if (resultCode == Activity.RESULT_OK) {
+				connectDevice(data);
+			}
+			break;
+		case REQUEST_ENABLE_BT:
+			// When the request to enable Bluetooth returns
+			if (resultCode == Activity.RESULT_OK) {
+				// Bluetooth is now enabled, so set up a chat session
+				//setupChat();
+				AltosDebug.debug("BT enabled");
+				bluetoothEnabled(data);
+			} else {
+				// User did not enable Bluetooth or an error occured
+				AltosDebug.debug("BT not enabled");
+			}
+			break;
+		case REQUEST_IDLE_MODE:
+			if (resultCode == Activity.RESULT_OK)
+				idle_mode(data);
+			break;
+		case REQUEST_IGNITERS:
+			break;
+		case REQUEST_SETUP:
+			if (resultCode == Activity.RESULT_OK)
+				note_setup_changes(data);
+			break;
+		}
+	}
+
+	private void note_setup_changes(Intent data) {
+		int changes = data.getIntExtra(SetupActivity.EXTRA_SETUP_CHANGES, 0);
+
+		if ((changes & SETUP_BAUD) != 0) {
+			try {
+				mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD,
+							     AltosPreferences.telemetry_rate(1)));
+			} catch (RemoteException re) {
+			}
+		}
+		if ((changes & SETUP_UNITS) != 0) {
+			/* nothing to do here */
+		}
+		if ((changes & SETUP_MAP_SOURCE) != 0) {
+			/* nothing to do here */
+		}
+		if ((changes & SETUP_MAP_TYPE) != 0) {
+			/* nothing to do here */
+		}
+		set_switch_time();
+	}
+
+	private void connectUsb(UsbDevice device) {
+		if (mService == null)
+			pending_usb_device = device;
+		else {
+			// Attempt to connect to the device
+			try {
+				mService.send(Message.obtain(null, TelemetryService.MSG_OPEN_USB, device));
+				AltosDebug.debug("Sent OPEN_USB message");
+			} catch (RemoteException e) {
+				AltosDebug.debug("connect device message failed");
+			}
+		}
+	}
+
+	private void bluetoothEnabled(Intent data) {
+		try {
+			mService.send(Message.obtain(null, TelemetryService.MSG_BLUETOOTH_ENABLED, null));
+		} catch (RemoteException e) {
+			AltosDebug.debug("send BT enabled message failed");
+		}
+	}
+
+	private void connectDevice(Intent data) {
+		// Attempt to connect to the device
+		try {
+			String address = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_ADDRESS);
+			String name = data.getExtras().getString(DeviceListActivity.EXTRA_DEVICE_NAME);
+
+			AltosDebug.debug("Connecting to " + address + " " + name);
+			DeviceAddress	a = new DeviceAddress(address, name);
+			mService.send(Message.obtain(null, TelemetryService.MSG_CONNECT, a));
+			AltosDebug.debug("Sent connecting message");
+		} catch (RemoteException e) {
+			AltosDebug.debug("connect device message failed");
+		}
+	}
+
+	private void disconnectDevice(boolean remember) {
+		try {
+			mService.send(Message.obtain(null, TelemetryService.MSG_DISCONNECT, (Boolean) remember));
+		} catch (RemoteException e) {
+		}
+	}
+
+	private void idle_mode(Intent data) {
+		int type = data.getIntExtra(IdleModeActivity.EXTRA_IDLE_RESULT, -1);
+		Message msg;
+
+		AltosDebug.debug("intent idle_mode %d", type);
+		switch (type) {
+		case IdleModeActivity.IDLE_MODE_CONNECT:
+			msg = Message.obtain(null, TelemetryService.MSG_MONITOR_IDLE_START);
+			try {
+				mService.send(msg);
+			} catch (RemoteException re) {
+			}
+			break;
+		case IdleModeActivity.IDLE_MODE_DISCONNECT:
+			msg = Message.obtain(null, TelemetryService.MSG_MONITOR_IDLE_STOP);
+			try {
+				mService.send(msg);
+			} catch (RemoteException re) {
+			}
+			break;
+		case IdleModeActivity.IDLE_MODE_REBOOT:
+			msg = Message.obtain(null, TelemetryService.MSG_REBOOT);
+			try {
+				mService.send(msg);
+			} catch (RemoteException re) {
+			}
+			break;
+		case IdleModeActivity.IDLE_MODE_IGNITERS:
+			Intent serverIntent = new Intent(this, IgniterActivity.class);
+			startActivityForResult(serverIntent, REQUEST_IGNITERS);
+			break;
+		}
+	}
+
+	@Override
+	public boolean onCreateOptionsMenu(Menu menu) {
+		MenuInflater inflater = getMenuInflater();
+		inflater.inflate(R.menu.option_menu, menu);
+		return true;
+	}
+
+	void setFrequency(double freq) {
+		try {
+			mService.send(Message.obtain(null, TelemetryService.MSG_SETFREQUENCY, freq));
+			set_switch_time();
+		} catch (RemoteException e) {
+		}
+	}
+
+	void setFrequency(AltosFrequency frequency) {
+		setFrequency (frequency.frequency);
+	}
+
+	void setBaud(int baud) {
+		try {
+			mService.send(Message.obtain(null, TelemetryService.MSG_SETBAUD, baud));
+			set_switch_time();
+		} catch (RemoteException e) {
+		}
+	}
+
+	void setBaud(String baud) {
+		try {
+			int	value = Integer.parseInt(baud);
+			int	rate = AltosLib.ao_telemetry_rate_38400;
+			switch (value) {
+			case 2400:
+				rate = AltosLib.ao_telemetry_rate_2400;
+				break;
+			case 9600:
+				rate = AltosLib.ao_telemetry_rate_9600;
+				break;
+			case 38400:
+				rate = AltosLib.ao_telemetry_rate_38400;
+				break;
+			}
+			setBaud(rate);
+		} catch (NumberFormatException e) {
+		}
+	}
+
+	void select_tracker(int serial) {
+		int i;
+
+		AltosDebug.debug("select tracker %d\n", serial);
+
+		if (serial == selected_serial) {
+			AltosDebug.debug("%d already selected\n", serial);
+			return;
+		}
+
+		if (serial != 0) {
+			for (i = 0; i < trackers.length; i++)
+				if (trackers[i].serial == serial)
+					break;
+
+			if (i == trackers.length) {
+				AltosDebug.debug("attempt to select unknown tracker %d\n", serial);
+				return;
+			}
+		}
+
+		current_serial = selected_serial = serial;
+		update_state(null);
+	}
+
+	void touch_trackers(Integer[] serials) {
+		AlertDialog.Builder builder_tracker = new AlertDialog.Builder(this);
+		builder_tracker.setTitle("Select Tracker");
+
+		final Tracker[] my_trackers = new Tracker[serials.length + 1];
+
+		my_trackers[0] = new Tracker(null);
+
+		for (int i = 0; i < serials.length; i++) {
+			AltosState	s = telemetry_state.states.get(serials[i]);
+			my_trackers[i+1] = new Tracker(s);
+		}
+		builder_tracker.setItems(my_trackers,
+					 new DialogInterface.OnClickListener() {
+						 public void onClick(DialogInterface dialog, int item) {
+							 if (item == 0)
+								 select_tracker(0);
+							 else
+								 select_tracker(my_trackers[item].serial);
+						 }
+					 });
+		AlertDialog alert_tracker = builder_tracker.create();
+		alert_tracker.show();
+	}
+
+	void delete_track(int serial) {
+		try {
+			mService.send(Message.obtain(null, TelemetryService.MSG_DELETE_SERIAL, (Integer) serial));
+		} catch (Exception ex) {
+		}
+	}
+
+	@Override
+	public boolean onOptionsItemSelected(MenuItem item) {
+		Intent serverIntent = null;
+		switch (item.getItemId()) {
+		case R.id.connect_scan:
+			ensureBluetooth();
+			// Launch the DeviceListActivity to see devices and do scan
+			serverIntent = new Intent(this, DeviceListActivity.class);
+			startActivityForResult(serverIntent, REQUEST_CONNECT_DEVICE);
+			return true;
+		case R.id.disconnect:
+			/* Disconnect the device
+			 */
+			disconnectDevice(false);
+			return true;
+		case R.id.quit:
+			AltosDebug.debug("R.id.quit");
+			disconnectDevice(true);
+			finish();
+			return true;
+		case R.id.setup:
+			serverIntent = new Intent(this, SetupActivity.class);
+			startActivityForResult(serverIntent, REQUEST_SETUP);
+			return true;
+		case R.id.select_freq:
+			// Set the TBT radio frequency
+
+			final AltosFrequency[] frequencies = AltosPreferences.common_frequencies();
+			String[] frequency_strings = new String[frequencies.length];
+			for (int i = 0; i < frequencies.length; i++)
+				frequency_strings[i] = frequencies[i].toString();
+
+			AlertDialog.Builder builder_freq = new AlertDialog.Builder(this);
+			builder_freq.setTitle("Pick a frequency");
+			builder_freq.setItems(frequency_strings,
+					 new DialogInterface.OnClickListener() {
+						 public void onClick(DialogInterface dialog, int item) {
+							 setFrequency(frequencies[item]);
+						 }
+					 });
+			AlertDialog alert_freq = builder_freq.create();
+			alert_freq.show();
+			return true;
+		case R.id.select_tracker:
+			if (trackers != null) {
+				AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
+				builder_serial.setTitle("Select a tracker");
+				builder_serial.setItems(trackers,
+							new DialogInterface.OnClickListener() {
+								public void onClick(DialogInterface dialog, int item) {
+									System.out.printf("select item %d %s\n", item, trackers[item].display);
+									if (item == 0)
+										select_tracker(0);
+									else
+										select_tracker(trackers[item].serial);
+								}
+							});
+				AlertDialog alert_serial = builder_serial.create();
+				alert_serial.show();
+
+			}
+			return true;
+		case R.id.delete_track:
+			if (trackers != null) {
+				AlertDialog.Builder builder_serial = new AlertDialog.Builder(this);
+				builder_serial.setTitle("Delete a track");
+				final Tracker[] my_trackers = new Tracker[trackers.length - 1];
+				for (int i = 0; i < trackers.length - 1; i++)
+					my_trackers[i] = trackers[i+1];
+				builder_serial.setItems(my_trackers,
+							new DialogInterface.OnClickListener() {
+								public void onClick(DialogInterface dialog, int item) {
+									delete_track(my_trackers[item].serial);
+								}
+							});
+				AlertDialog alert_serial = builder_serial.create();
+				alert_serial.show();
+
+			}
+			return true;
+		case R.id.idle_mode:
+			serverIntent = new Intent(this, IdleModeActivity.class);
+			serverIntent.putExtra(EXTRA_IDLE_MODE, idle_mode);
+			startActivityForResult(serverIntent, REQUEST_IDLE_MODE);
+			return true;
+		}
+		return false;
+	}
+
+	static String direction(AltosGreatCircle from_receiver,
+				Location receiver) {
+		if (from_receiver == null)
+			return null;
+
+		if (receiver == null)
+			return null;
+
+		if (!receiver.hasBearing())
+			return null;
+
+		float	bearing = receiver.getBearing();
+		float	heading = (float) from_receiver.bearing - bearing;
+
+		while (heading <= -180.0f)
+			heading += 360.0f;
+		while (heading > 180.0f)
+			heading -= 360.0f;
+
+		int iheading = (int) (heading + 0.5f);
+
+		if (-1 < iheading && iheading < 1)
+			return "ahead";
+		else if (iheading < -179 || 179 < iheading)
+			return "backwards";
+		else if (iheading < 0)
+			return String.format("left %d°", -iheading);
+		else
+			return String.format("right %d°", iheading);
+	}
+
+	public void onLocationChanged(Location location) {
+		this.location = location;
+		AltosDebug.debug("Location changed to %f,%f",
+				 location.getLatitude(),
+				 location.getLongitude());
+		update_ui(telemetry_state, state, false);
+	}
+
+	public void onStatusChanged(String provider, int status, Bundle extras) {
+		AltosDebug.debug("Location status now %d\n", status);
+	}
+
+	public void onProviderEnabled(String provider) {
+		AltosDebug.debug("Location provider enabled %s\n", provider);
+	}
+
+	public void onProviderDisabled(String provider) {
+		AltosDebug.debug("Location provider disabled %s\n", provider);
+	}
+}