X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosdroid%2Fapp%2Fsrc%2Fmain%2Fjava%2Forg%2Faltusmetrum%2FAltosDroid%2FTelemetryService.java;fp=altosdroid%2Fapp%2Fsrc%2Fmain%2Fjava%2Forg%2Faltusmetrum%2FAltosDroid%2FTelemetryService.java;h=22a2bbd75bd4724a781df8fa6dd1e54fb25410f5;hp=0000000000000000000000000000000000000000;hb=8b53f860eb3171cd43e4bd0e440f2889bd810662;hpb=4a257455b2dc57069c41e1845daf66239c5cbe1d diff --git a/altosdroid/app/src/main/java/org/altusmetrum/AltosDroid/TelemetryService.java b/altosdroid/app/src/main/java/org/altusmetrum/AltosDroid/TelemetryService.java new file mode 100644 index 00000000..22a2bbd7 --- /dev/null +++ b/altosdroid/app/src/main/java/org/altusmetrum/AltosDroid/TelemetryService.java @@ -0,0 +1,716 @@ +/* + * Copyright © 2012 Mike Beattie + * + * 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.util.concurrent.TimeoutException; +import java.util.*; + +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.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.widget.Toast; +import android.location.Criteria; + +import org.altusmetrum.altoslib_13.*; + +public class TelemetryService extends Service implements AltosIdleMonitorListener { + + 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; + static final int MSG_DELETE_SERIAL = 13; + static final int MSG_BLUETOOTH_ENABLED = 14; + static final int MSG_MONITOR_IDLE_START= 15; + static final int MSG_MONITOR_IDLE_STOP = 16; + static final int MSG_REBOOT = 17; + static final int MSG_IGNITER_QUERY = 18; + static final int MSG_IGNITER_FIRE = 19; + + // 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 clients = new ArrayList(); // 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; + + // Idle monitor if active + AltosIdleMonitor idle_monitor = null; + + // Igniter bits + AltosIgnite ignite = null; + boolean ignite_running; + + // Handler of incoming messages from clients. + static class IncomingHandler extends Handler { + private final WeakReference service; + IncomingHandler(TelemetryService s) { service = new WeakReference(s); } + + @Override + public void handleMessage(Message msg) { + DeviceAddress address; + + 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"); + 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; + if (!(Boolean) msg.obj) + AltosDroidPreferences.set_active_device(null); + s.disconnect(true); + break; + case MSG_DELETE_SERIAL: + AltosDebug.debug("Delete Serial command received"); + s.delete_serial((Integer) msg.obj); + 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((AltosTelemetry) msg.obj); + break; + case MSG_CRC_ERROR: + // forward crc error messages + s.telemetry_state.crc_errors = (Integer) msg.obj; + s.send_to_clients(); + break; + case MSG_BLUETOOTH_ENABLED: + AltosDebug.debug("TelemetryService notes that BT is now enabled"); + address = AltosDroidPreferences.active_device(); + if (address != null && !address.address.startsWith("USB")) + s.start_altos_bluetooth(address, false); + break; + case MSG_MONITOR_IDLE_START: + AltosDebug.debug("start monitor idle"); + s.start_idle_monitor(); + break; + case MSG_MONITOR_IDLE_STOP: + AltosDebug.debug("stop monitor idle"); + s.stop_idle_monitor(); + break; + case MSG_REBOOT: + AltosDebug.debug("reboot"); + s.reboot_remote(); + break; + case MSG_IGNITER_QUERY: + AltosDebug.debug("igniter query"); + s.igniter_query(msg.replyTo); + break; + case MSG_IGNITER_FIRE: + AltosDebug.debug("igniter fire"); + s.igniter_fire((String) msg.obj); + 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()); + else + state = new AltosState(new AltosCalData()); + telem.provide_data(state); + telemetry_state.states.put(telem.serial(), state); + telemetry_state.quiet = false; + if (state != null) { + AltosPreferences.set_state(state,telem.serial()); + } + send_to_clients(); + } + + /* Construct the message to deliver to clients + */ + private Message message() { + if (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); + } + + /* 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); + send_idle_mode_to_client(client); + + /* 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 = message(); + try { + client.send(m); + } catch (RemoteException e) { + AltosDebug.error("Client %s disappeared", client.toString()); + remove_client(client); + } + } + + private void send_to_clients() { + for (Messenger client : clients) + send_to_client(client); + } + + private void send_idle_mode_to_client(Messenger client) { + Message m = Message.obtain(null, AltosDroid.MSG_IDLE_MODE, idle_monitor != null); + try { + client.send(m); + } catch (RemoteException e) { + AltosDebug.error("Client %s disappeared", client.toString()); + remove_client(client); + } + } + + private void send_idle_mode_to_clients() { + for (Messenger client : clients) + send_idle_mode_to_client(client); + } + + private void telemetry_start() { + if (telemetry_reader == null && idle_monitor == null && !ignite_running) { + telemetry_reader = new TelemetryReader(altos_link, handler); + telemetry_reader.start(); + } + } + + private void telemetry_stop() { + if (telemetry_reader != null) { + AltosDebug.debug("disconnect(): stopping TelemetryReader"); + telemetry_reader.interrupt(); + try { + telemetry_reader.join(); + } catch (InterruptedException e) { + } + telemetry_reader = null; + } + } + + private void disconnect(boolean notify) { + AltosDebug.debug("disconnect(): begin"); + + telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED; + telemetry_state.address = null; + + if (idle_monitor != null) + stop_idle_monitor(); + + if (altos_link != null) + altos_link.closing(); + + stop_receiver_voltage_timer(); + + telemetry_stop(); + 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; + ignite = 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 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) { + if (bluetooth_adapter == null || !bluetooth_adapter.isEnabled()) + return; + + disconnect(false); + + // Get the BluetoothDevice object + BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address); + + 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 start_idle_monitor() { + if (altos_link != null && idle_monitor == null) { + telemetry_stop(); + idle_monitor = new AltosIdleMonitor(this, altos_link, true, false); + idle_monitor.set_callsign(AltosPreferences.callsign()); + idle_monitor.start(); + send_idle_mode_to_clients(); + } + } + + private void stop_idle_monitor() { + if (idle_monitor != null) { + try { + idle_monitor.abort(); + } catch (InterruptedException ie) { + } + idle_monitor = null; + telemetry_start(); + send_idle_mode_to_clients(); + } + } + + private void reboot_remote() { + if (altos_link != null) { + stop_idle_monitor(); + try { + altos_link.start_remote(); + altos_link.printf("r eboot\n"); + altos_link.flush_output(); + } catch (TimeoutException te) { + } catch (InterruptedException ie) { + } finally { + try { + altos_link.stop_remote(); + } catch (InterruptedException ie) { + } + } + } + } + + private void ensure_ignite() { + if (ignite == null) + ignite = new AltosIgnite(altos_link, true, false); + } + + private synchronized void igniter_query(Messenger client) { + ensure_ignite(); + HashMap status_map = null; + ignite_running = true; + try { + stop_idle_monitor(); + try { + status_map = ignite.status(); + } catch (InterruptedException ie) { + AltosDebug.debug("ignite.status interrupted"); + } catch (TimeoutException te) { + AltosDebug.debug("ignite.status timeout"); + } + } finally { + ignite_running = false; + } + Message m = Message.obtain(null, AltosDroid.MSG_IGNITER_STATUS, status_map); + try { + client.send(m); + } catch (RemoteException e) { + } + } + + private synchronized void igniter_fire(String igniter) { + ensure_ignite(); + ignite_running = true; + stop_idle_monitor(); + try { + ignite.fire(igniter); + } catch (InterruptedException ie) { + } finally { + ignite_running = false; + } + } + + // Timer for receiver battery voltage monitoring + Timer receiver_voltage_timer; + + private void update_receiver_voltage() { + if (altos_link != null && idle_monitor == null && !ignite_running) { + try { + double voltage = altos_link.monitor_battery(); + telemetry_state.receiver_battery = voltage; + send_to_clients(); + } 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 { + 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_start(); + + AltosDebug.debug("connected TelemetryReader started"); + + telemetry_logger = new TelemetryLogger(this, altos_link); + + 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(); + + 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; + + /* Pull the saved state information out of the preferences database + */ + ArrayList serials = AltosPreferences.list_states(); + + telemetry_state.latest_serial = AltosPreferences.latest_state(); + + telemetry_state.quiet = true; + + AltosDebug.debug("latest serial %d\n", telemetry_state.latest_serial); + + for (int serial : serials) { + AltosState saved_state = AltosPreferences.state(serial); + if (saved_state != null) { + if (telemetry_state.latest_serial == 0) + telemetry_state.latest_serial = serial; + + AltosDebug.debug("recovered old state serial %d flight %d", + serial, + saved_state.cal_data().flight); + if (saved_state.gps != null) + AltosDebug.debug("\tposition %f,%f", + saved_state.gps.lat, + saved_state.gps.lon); + telemetry_state.states.put(serial, saved_state); + } else { + AltosDebug.debug("Failed to recover state for %d", serial); + AltosPreferences.remove_state(serial); + } + } + } + + @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); + + // 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); + + // Set the notification to be in the "Ongoing" section. + notification.flags |= Notification.FLAG_ONGOING_EVENT; + + // 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; + } + + @Override + public void onDestroy() { + + // Stop the bluetooth Comms threads + disconnect(true); + + // Demote us from the foreground, and cancel the persistent notification. + stopForeground(true); + + // Tell the user we stopped. + Toast.makeText(this, R.string.telemetry_service_stopped, Toast.LENGTH_SHORT).show(); + } + + @Override + public IBinder onBind(Intent intent) { + return messenger.getBinder(); + } + + /* AltosIdleMonitorListener */ + public void update(AltosState state, AltosListenerState listener_state) { + telemetry_state.states.put(state.cal_data().serial, state); + telemetry_state.receiver_battery = listener_state.battery; + send_to_clients(); + } + + public void failed() { + } + + public void error(String reason) { + stop_idle_monitor(); + } +}