X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosdroid%2Fsrc%2Forg%2Faltusmetrum%2FAltosDroid%2FTelemetryService.java;h=30d94409a917a339aeeed88b4de31ca560a843b5;hp=a1b1915a9fefd4b08d9cf248238ecc7e166fd28c;hb=08bbb1c3de73c9aaf920b11247eae544df6eac0c;hpb=ed653a1e6dc8884cb171af1406fd0999ef125a4d diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java index a1b1915a..30d94409 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java @@ -1,5 +1,5 @@ /* - * Copyright © 2012 Mike Beattie + * 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 @@ -19,26 +19,36 @@ package org.altusmetrum.AltosDroid; import java.lang.ref.WeakReference; import java.util.ArrayList; -import java.util.concurrent.LinkedBlockingQueue; +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.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_5.*; -public class TelemetryService extends Service { + +public class TelemetryService extends Service implements LocationListener { private static final String TAG = "TelemetryService"; private static final boolean D = true; @@ -49,26 +59,34 @@ public class TelemetryService extends Service { static final int MSG_CONNECTED = 4; static final int MSG_CONNECT_FAILED = 5; static final int MSG_DISCONNECTED = 6; - - 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_TELEMETRY = 7; + static final int MSG_SETFREQUENCY = 8; + static final int MSG_CRC_ERROR = 9; + static final int MSG_SETBAUD = 10; // 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; + // Timer - we wake up every now and then to decide if the service should stop + private Timer timer = new Timer(); + ArrayList mClients = new ArrayList(); // 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. // Name of the connected device - private BluetoothDevice device = null; - private AltosBluetooth mAltosBluetooth = null; - private int state = STATE_NONE; - LinkedBlockingQueue telem; + String address; + private AltosBluetooth mAltosBluetooth = null; + private TelemetryReader mTelemetryReader = null; + private TelemetryLogger mTelemetryLogger = null; + // Local Bluetooth adapter + private BluetoothAdapter mBluetoothAdapter = null; + + private TelemetryState telemetry_state; + + // Last data seen; send to UI when it starts // Handler of incoming messages from clients. static class IncomingHandler extends Handler { @@ -78,12 +96,15 @@ public class TelemetryService extends Service { @Override public void handleMessage(Message msg) { TelemetryService s = service.get(); + if (s == null) + return; switch (msg.what) { 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)); + // Now we try to send the freshly connected UI any relavant information about what + // we're talking to + msg.replyTo.send(s.message()); } catch (RemoteException e) { s.mClients.remove(msg.replyTo); } @@ -95,31 +116,78 @@ public class TelemetryService extends Service { break; case MSG_CONNECT: if (D) Log.d(TAG, "Connect command received"); - s.device = (BluetoothDevice) msg.obj; - s.startAltosBluetooth(); + String address = (String) msg.obj; + AltosDroidPreferences.set_active_device(address); + s.startAltosBluetooth(address); break; case MSG_CONNECTED: if (D) Log.d(TAG, "Connected to device"); - s.connected(); - s.mAltosBluetooth.add_monitor(s.telem); + try { + s.connected(); + } catch (InterruptedException ie) { + } break; case MSG_CONNECT_FAILED: if (D) Log.d(TAG, "Connection failed... retrying"); - s.startAltosBluetooth(); + if (s.address != null) + s.startAltosBluetooth(s.address); break; case MSG_DISCONNECTED: - if (D) Log.d(TAG, "Disconnected from " + s.device.getName()); + Log.d(TAG, "MSG_DISCONNECTED"); s.stopAltosBluetooth(); break; + case MSG_TELEMETRY: + // forward telemetry messages + s.telemetry_state.state = (AltosState) msg.obj; + if (D) Log.d(TAG, "MSG_TELEMETRY"); + s.sendMessageToClients(); + 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.sendMessageToClients(); + 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.mAltosBluetooth.set_radio_frequency(s.telemetry_state.frequency); + s.mAltosBluetooth.save_frequency(); + } catch (InterruptedException e) { + } catch (TimeoutException e) { + } + } + s.sendMessageToClients(); + 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.mAltosBluetooth.set_telemetry_rate(s.telemetry_state.telemetry_rate); + s.mAltosBluetooth.save_telemetry_rate(); + } + s.sendMessageToClients(); + break; default: super.handleMessage(msg); } } } - private void sendMessageToClients(Message m) { + private Message message() { + if (telemetry_state == null) + Log.d(TAG, "telemetry_state null!"); + return Message.obtain(null, AltosDroid.MSG_STATE, telemetry_state); + } + + private void sendMessageToClients() { + Message m = message(); + if (D) Log.d(TAG, String.format("Send message to %d clients", mClients.size())); for (int i=mClients.size()-1; i>=0; i--) { try { + if (D) Log.d(TAG, String.format("Send message to client %d", i)); mClients.get(i).send(m); } catch (RemoteException e) { mClients.remove(i); @@ -128,48 +196,127 @@ public class TelemetryService extends Service { } private void stopAltosBluetooth() { - if (D) Log.i(TAG, "Stopping BT"); - setState(STATE_READY); + if (D) Log.d(TAG, "stopAltosBluetooth(): begin"); + telemetry_state.connect = TelemetryState.CONNECT_READY; + if (mTelemetryReader != null) { + if (D) Log.d(TAG, "stopAltosBluetooth(): stopping TelemetryReader"); + mTelemetryReader.interrupt(); + try { + mTelemetryReader.join(); + } catch (InterruptedException e) { + } + mTelemetryReader = null; + } + if (mTelemetryLogger != null) { + if (D) Log.d(TAG, "stopAltosBluetooth(): stopping TelemetryLogger"); + mTelemetryLogger.stop(); + mTelemetryLogger = null; + } if (mAltosBluetooth != null) { - if (D) Log.i(TAG, "Closing AltosBluetooth"); + if (D) Log.d(TAG, "stopAltosBluetooth(): stopping AltosBluetooth"); mAltosBluetooth.close(); mAltosBluetooth = null; } - device = null; - telem.clear(); + telemetry_state.config = null; + if (D) Log.d(TAG, "stopAltosBluetooth(): send message to clients"); + sendMessageToClients(); } - private void startAltosBluetooth() { + private void startAltosBluetooth(String address) { + // Get the BLuetoothDevice object + BluetoothDevice device = mBluetoothAdapter.getRemoteDevice(address); + + this.address = address; if (mAltosBluetooth == null) { - if (D) Log.i(TAG, "Connecting to " + device.getName()); + if (D) Log.d(TAG, String.format("startAltosBluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress())); mAltosBluetooth = new AltosBluetooth(device, mHandler); - setState(STATE_CONNECTING); + telemetry_state.connect = TelemetryState.CONNECT_CONNECTING; + sendMessageToClients(); } else { + // This is a bit of a hack - if it appears we're still connected, we treat this as a restart. + // So, to give a suitable delay to teardown/bringup, we just schedule a resend of a message + // to ourselves in a few seconds time that will ultimately call this method again. + // ... then we tear down the existing connection. + // We do it this way around so that we don't lose a reference to the device when this method + // is called on reception of MSG_CONNECT_FAILED in the handler above. + mHandler.sendMessageDelayed(Message.obtain(null, MSG_CONNECT, address), 3000); stopAltosBluetooth(); - mHandler.sendMessageDelayed(Message.obtain(null, MSG_CONNECT, device), 1000); } } - private synchronized void setState(int s) { - if (D) Log.d(TAG, "setState() " + state + " -> " + s); - state = s; + private void connected() throws InterruptedException { + if (D) Log.d(TAG, "connected top"); + try { + if (mAltosBluetooth == null) + throw new InterruptedException("no bluetooth"); + telemetry_state.config = mAltosBluetooth.config_data(); + mAltosBluetooth.set_radio_frequency(telemetry_state.frequency); + mAltosBluetooth.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. + mHandler.obtainMessage(MSG_CONNECT_FAILED).sendToTarget(); + return; + } + + if (D) Log.d(TAG, "connected bluetooth configured"); + telemetry_state.connect = TelemetryState.CONNECT_CONNECTED; + + mTelemetryReader = new TelemetryReader(mAltosBluetooth, mHandler); + mTelemetryReader.start(); + + if (D) Log.d(TAG, "connected TelemetryReader started"); - sendMessageToClients(Message.obtain(null, AltosDroid.MSG_STATE_CHANGE, state, -1)); + mTelemetryLogger = new TelemetryLogger(this, mAltosBluetooth); + + if (D) Log.d(TAG, "Notify UI of connection"); + + sendMessageToClients(); } - private void connected() { - sendMessageToClients(Message.obtain(null, AltosDroid.MSG_DEVNAME, device.getName())); - setState(STATE_CONNECTED); + private void onTimerTick() { + if (D) Log.d(TAG, "Timer wakeup"); + try { + if (mClients.size() <= 0 && telemetry_state.connect != TelemetryState.CONNECT_CONNECTED) { + stopSelf(); + } + } catch (Throwable t) { + Log.e(TAG, "Timer failed: ", t); + } } @Override public void onCreate() { + // Get local Bluetooth adapter + mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter(); + + // If the adapter is null, then Bluetooth is not supported + if (mBluetoothAdapter == 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); - telem = new LinkedBlockingQueue(); - setState(STATE_READY); + telemetry_state.connect = TelemetryState.CONNECT_READY; + + // Start our timer - first event in 10 seconds, then every 10 seconds after that. + timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 10000L, 10000L); + + // Listen for GPS and Network position updates + LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE); + + locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this); + + String address = AltosDroidPreferences.active_device(); + if (address != null) + startAltosBluetooth(address); } @Override @@ -202,12 +349,18 @@ public class TelemetryService extends Service { @Override public void onDestroy() { + // Stop listening for location updates + ((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this); + // Stop the bluetooth Comms threads stopAltosBluetooth(); // Demote us from the foreground, and cancel the persistent notification. stopForeground(true); + // Stop our timer + if (timer != null) {timer.cancel();} + // Tell the user we stopped. Toast.makeText(this, R.string.telemetry_service_stopped, Toast.LENGTH_SHORT).show(); } @@ -218,4 +371,19 @@ public class TelemetryService extends Service { } + public void onLocationChanged(Location location) { + telemetry_state.location = location; + if (D) Log.d(TAG, "location changed"); + sendMessageToClients(); + } + + public void onStatusChanged(String provider, int status, Bundle extras) { + } + + public void onProviderEnabled(String provider) { + } + + public void onProviderDisabled(String provider) { + } + }