X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosdroid%2Fsrc%2Forg%2Faltusmetrum%2FAltosDroid%2FTelemetryService.java;h=58bf8804513dbf787b0f3514fa3746099b7fa880;hp=0236b537a2271d41028e9ad7d6ab48238a49853a;hb=06908e377b7b932bfe3f6dfc840a0a13340f32ce;hpb=49caac78786014d443d9c05f47b5eb3070ec9bd3 diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java index 0236b537..58bf8804 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java @@ -18,16 +18,16 @@ 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.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; @@ -36,62 +36,51 @@ import android.os.Handler; import android.os.Message; import android.os.Messenger; import android.os.RemoteException; -import android.util.Log; +import android.os.Looper; import android.widget.Toast; import android.location.Location; import android.location.LocationManager; import android.location.LocationListener; +import android.location.Criteria; -import org.altusmetrum.altoslib_1.*; - +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; - - 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; + static final int MSG_DELETE_SERIAL = 13; // 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. + 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 - private BluetoothDevice device = null; - private AltosBluetooth mAltosBluetooth = null; - private AltosConfigData mConfigData = null; - private TelemetryReader mTelemetryReader = null; - private TelemetryLogger mTelemetryLogger = null; + DeviceAddress address; + private AltosDroidLink altos_link = null; + private TelemetryReader telemetry_reader = null; + private TelemetryLogger telemetry_logger = null; - // internally track state of bluetooth connection - private int state = STATE_NONE; + // Local Bluetooth adapter + private BluetoothAdapter bluetooth_adapter = null; // Last data seen; send to UI when it starts - - private AltosState last_state; - private Location last_location; - private int last_crc_errors; + private TelemetryState telemetry_state; // Handler of incoming messages from clients. static class IncomingHandler extends Handler { @@ -101,64 +90,123 @@ public class TelemetryService extends Service implements LocationListener { @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 { - // Now we try to send the freshly connected UI any relavant information about what - // we're talking to - Basically state and Config Data. - msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_STATE_CHANGE, s.state, -1, s.mConfigData)); - // We also send any recent telemetry or location data that's cached - if (s.last_state != null) msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_TELEMETRY, s.last_state )); - if (s.last_location != null) msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_LOCATION , s.last_location )); - if (s.last_crc_errors != 0 ) msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_CRC_ERROR, s.last_crc_errors)); - } 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(); + AltosDebug.debug("Connect command received"); + DeviceAddress 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; + 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: - if (D) Log.d(TAG, "Connected to device"); - s.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: - if (D) Log.d(TAG, "Connection failed... retrying"); - s.startAltosBluetooth(); + 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: - // 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 */ + 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: - // forward telemetry messages - s.last_state = (AltosState) msg.obj; - s.sendMessageToClients(Message.obtain(null, AltosDroid.MSG_TELEMETRY, msg.obj)); + AltosDebug.debug("MSG_TELEMETRY"); + s.telemetry((AltosTelemetry) msg.obj); break; case MSG_CRC_ERROR: // forward crc error messages - s.last_crc_errors = (Integer) msg.obj; - s.sendMessageToClients(Message.obtain(null, AltosDroid.MSG_CRC_ERROR, msg.obj)); - break; - case MSG_SETFREQUENCY: - if (s.state == STATE_CONNECTED) { - try { - s.mAltosBluetooth.set_radio_frequency((Double) msg.obj); - } catch (InterruptedException e) { - } catch (TimeoutException e) { - } - } + s.telemetry_state.crc_errors = (Integer) msg.obj; + AltosDebug.debug("MSG_CRC_ERROR"); + s.send_to_clients(); break; default: super.handleMessage(msg); @@ -166,127 +214,292 @@ public class TelemetryService extends Service implements LocationListener { } } - 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); - } + /* 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) { + AltosDebug.debug("Save state %d", telem.serial); + AltosPreferences.set_state(telem.serial, state, null); } + 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); } - 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(); + /* 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, 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) { + 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) { + try { + AltosDebug.debug("Send message to client %s", client.toString()); + client.send(m); + } catch (RemoteException e) { + AltosDebug.error("Client %s disappeared", client.toString()); + remove_client(client); + } + } + + private void send_to_clients() { + Message m = message(); + AltosDebug.debug("Send message to %d clients", clients.size()); + for (Messenger client : clients) + send_to_client(client, m); + } + + private void disconnect(boolean notify) { + AltosDebug.debug("disconnect(): begin"); + + telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED; + telemetry_state.address = null; + + if (altos_link != null) + altos_link.closing(); + + stop_receiver_voltage_timer(); + + if (telemetry_reader != null) { + AltosDebug.debug("disconnect(): stopping TelemetryReader"); + telemetry_reader.interrupt(); try { - mTelemetryReader.join(); + telemetry_reader.join(); } catch (InterruptedException e) { } - mTelemetryReader = null; + telemetry_reader = null; } - if (mTelemetryLogger != null) { - if (D) Log.d(TAG, "stopAltosBluetooth(): stopping TelemetryLogger"); - mTelemetryLogger.stop(); - mTelemetryLogger = null; + if (telemetry_logger != null) { + AltosDebug.debug("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) { + AltosDebug.debug("disconnect(): stopping AltosDroidLink"); + altos_link.close(); + altos_link = 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(); + } } - device = null; - mConfigData = null; } - private void startAltosBluetooth() { - if (device == null) { - return; - } - 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 { - // 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, device), 3000); - stopAltosBluetooth(); + 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; + 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); + + disconnect(false); + 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(); + } - // This shouldn't be required - mConfigData should be null for any non-connected - // state, but to be safe and to reduce message size - AltosConfigData acd = (state == STATE_CONNECTED) ? mConfigData : null; + // Timer for receiver battery voltage monitoring + Timer receiver_voltage_timer; - sendMessageToClients(Message.obtain(null, AltosDroid.MSG_STATE_CHANGE, state, -1, acd)); + private void update_receiver_voltage() { + if (altos_link != null) { + try { + double voltage = altos_link.monitor_battery(); + AltosDebug.debug("update receiver voltage %g\n", voltage); + 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() { + private void connected() throws InterruptedException { + AltosDebug.debug("connected top"); + AltosDebug.check_ui("connected\n"); try { - if (mAltosBluetooth == null) + if (altos_link == null) throw new InterruptedException("no bluetooth"); - mConfigData = mAltosBluetooth.config_data(); - } catch (InterruptedException e) { + 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. - mHandler.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; } - setState(STATE_CONNECTED); + AltosDebug.debug("connected bluetooth configured"); + telemetry_state.connect = TelemetryState.CONNECT_CONNECTED; + telemetry_state.address = address; - mTelemetryReader = new TelemetryReader(mAltosBluetooth, mHandler); - mTelemetryReader.start(); - - mTelemetryLogger = new TelemetryLogger(this, mAltosBluetooth); - } + telemetry_reader = new TelemetryReader(altos_link, handler); + telemetry_reader.start(); + AltosDebug.debug("connected TelemetryReader started"); - private void onTimerTick() { - if (D) Log.d(TAG, "Timer wakeup"); - try { - if (mClients.size() <= 0 && state != STATE_CONNECTED) { - stopSelf(); - } - } catch (Throwable t) { - Log.e(TAG, "Timer failed: ", t); - } + 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(); + + // 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(); + } + + 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; + + /* Pull the saved state information out of the preferences database + */ + ArrayList serials = AltosPreferences.list_states(); + + telemetry_state.latest_serial = AltosPreferences.latest_state(); - // Start our timer - first event in 10 seconds, then every 10 seconds after that. - timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 10000L, 10000L); + 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, 0, 0, this); - locationManager.requestLocationUpdates(LocationManager.NETWORK_PROVIDER, 0, 0, this); + + locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this); } @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); @@ -306,6 +519,16 @@ public class TelemetryService extends Service implements LocationListener { // 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; @@ -318,27 +541,25 @@ public class TelemetryService extends Service implements LocationListener { ((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); - // 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(); } @Override public IBinder onBind(Intent intent) { - return mMessenger.getBinder(); + return messenger.getBinder(); } public void onLocationChanged(Location location) { - last_location = location; - sendMessageToClients(Message.obtain(null, AltosDroid.MSG_LOCATION, location)); + telemetry_state.location = location; + AltosDebug.debug("location changed"); + send_to_clients(); } public void onStatusChanged(String provider, int status, Bundle extras) {