X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosdroid%2Fsrc%2Forg%2Faltusmetrum%2FAltosDroid%2FTelemetryService.java;h=58bf8804513dbf787b0f3514fa3746099b7fa880;hp=5e34d610fa394404977d4a188ca9cc3b65d52991;hb=06908e377b7b932bfe3f6dfc840a0a13340f32ce;hpb=c51d39c7ea1153cd2d0dc02c47824a9f35b22fb9 diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java index 5e34d610..58bf8804 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java @@ -18,10 +18,8 @@ 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; @@ -29,6 +27,7 @@ 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; @@ -38,31 +37,29 @@ 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_6.*; - +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; - static final int MSG_SETBAUD = 10; + 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. @@ -75,7 +72,7 @@ public class TelemetryService extends Service implements LocationListener { // Name of the connected device DeviceAddress address; - private AltosBluetooth altos_bluetooth = null; + private AltosDroidLink altos_link = null; private TelemetryReader telemetry_reader = null; private TelemetryLogger telemetry_logger = null; @@ -93,6 +90,7 @@ 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) { @@ -105,18 +103,32 @@ public class TelemetryService extends Service implements LocationListener { s.remove_client(msg.replyTo); break; case MSG_CONNECT: - if (D) Log.d(TAG, "Connect command received"); + AltosDebug.debug("Connect command received"); DeviceAddress address = (DeviceAddress) msg.obj; AltosDroidPreferences.set_active_device(address); - s.start_altos_bluetooth(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: - if (D) Log.d(TAG, "MSG_SETFREQUENCY"); + AltosDebug.debug("MSG_SETFREQUENCY"); s.telemetry_state.frequency = (Double) msg.obj; if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) { try { - s.altos_bluetooth.set_radio_frequency(s.telemetry_state.frequency); - s.altos_bluetooth.save_frequency(); + s.altos_link.set_radio_frequency(s.telemetry_state.frequency); + s.altos_link.save_frequency(); } catch (InterruptedException e) { } catch (TimeoutException e) { } @@ -124,11 +136,11 @@ public class TelemetryService extends Service implements LocationListener { s.send_to_clients(); break; case MSG_SETBAUD: - if (D) Log.d(TAG, "MSG_SETBAUD"); + AltosDebug.debug("MSG_SETBAUD"); s.telemetry_state.telemetry_rate = (Integer) msg.obj; if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) { - s.altos_bluetooth.set_telemetry_rate(s.telemetry_state.telemetry_rate); - s.altos_bluetooth.save_telemetry_rate(); + s.altos_link.set_telemetry_rate(s.telemetry_state.telemetry_rate); + s.altos_link.save_telemetry_rate(); } s.send_to_clients(); break; @@ -137,27 +149,49 @@ public class TelemetryService extends Service implements LocationListener { *Messages from AltosBluetooth */ case MSG_CONNECTED: - if (D) Log.d(TAG, "Connected to device"); + 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 (s.address != null && !s.clients.isEmpty()) { - if (D) Log.d(TAG, "Connection failed... retrying"); - s.start_altos_bluetooth(s.address); + 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.stop_altos_bluetooth(true); + s.disconnect(true); } break; case MSG_DISCONNECTED: - Log.d(TAG, "MSG_DISCONNECTED"); - if (s.address != null && !s.clients.isEmpty()) { - if (D) Log.d(TAG, "Connection lost... retrying"); - s.start_altos_bluetooth(s.address); + + /* 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.stop_altos_bluetooth(true); + s.disconnect(true); } break; @@ -165,18 +199,13 @@ public class TelemetryService extends Service implements LocationListener { * Messages from TelemetryReader */ case MSG_TELEMETRY: - s.telemetry_state.state = (AltosState) msg.obj; - if (s.telemetry_state.state != null) { - if (D) Log.d(TAG, "Save state"); - AltosPreferences.set_state(0, s.telemetry_state.state, null); - } - if (D) Log.d(TAG, "MSG_TELEMETRY"); - s.send_to_clients(); + AltosDebug.debug("MSG_TELEMETRY"); + s.telemetry((AltosTelemetry) msg.obj); 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"); + AltosDebug.debug("MSG_CRC_ERROR"); s.send_to_clients(); break; default: @@ -185,13 +214,31 @@ public class TelemetryService extends Service implements LocationListener { } } + /* 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) - Log.d(TAG, "telemetry_state null!"); - if (telemetry_state.state == null) - Log.d(TAG, "telemetry_state.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); } @@ -200,7 +247,7 @@ public class TelemetryService extends Service implements LocationListener { private void add_client(Messenger client) { clients.add(client); - if (D) Log.d(TAG, "Client bound to service"); + AltosDebug.debug("Client bound to service"); /* On connect, send the current state to the new client */ @@ -210,8 +257,8 @@ public class TelemetryService extends Service implements LocationListener { * go ahead and try to reconnect to the device */ if (address != null && telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED) { - if (D) Log.d(TAG, "Reconnecting now..."); - start_altos_bluetooth(address); + AltosDebug.debug("Reconnecting now..."); + start_altos_bluetooth(address, false); } } @@ -219,45 +266,48 @@ public class TelemetryService extends Service implements LocationListener { */ private void remove_client(Messenger client) { clients.remove(client); - if (D) Log.d(TAG, "Client unbound from service"); + 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) { - if (!D) Log.d(TAG, "No clients, no connection. Stopping\n"); + AltosDebug.debug("No clients, no connection. Stopping\n"); stopSelf(); } } private void send_to_client(Messenger client, Message m) { try { - if (D) Log.d(TAG, String.format("Send message to client %s", client.toString())); + AltosDebug.debug("Send message to client %s", client.toString()); client.send(m); } catch (RemoteException e) { - if (D) Log.e(TAG, String.format("Client %s disappeared", client.toString())); + AltosDebug.error("Client %s disappeared", client.toString()); remove_client(client); } } private void send_to_clients() { Message m = message(); - if (D) Log.d(TAG, String.format("Send message to %d clients", clients.size())); + AltosDebug.debug("Send message to %d clients", clients.size()); for (Messenger client : clients) send_to_client(client, m); } - private void stop_altos_bluetooth(boolean notify) { - if (D) Log.d(TAG, "stop_altos_bluetooth(): begin"); + private void disconnect(boolean notify) { + AltosDebug.debug("disconnect(): begin"); + telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED; telemetry_state.address = null; - if (altos_bluetooth != null) - altos_bluetooth.closing(); + if (altos_link != null) + altos_link.closing(); + + stop_receiver_voltage_timer(); if (telemetry_reader != null) { - if (D) Log.d(TAG, "stop_altos_bluetooth(): stopping TelemetryReader"); + AltosDebug.debug("disconnect(): stopping TelemetryReader"); telemetry_reader.interrupt(); try { telemetry_reader.join(); @@ -266,66 +316,124 @@ public class TelemetryService extends Service implements LocationListener { telemetry_reader = null; } if (telemetry_logger != null) { - if (D) Log.d(TAG, "stop_altos_bluetooth(): stopping TelemetryLogger"); + AltosDebug.debug("disconnect(): stopping TelemetryLogger"); telemetry_logger.stop(); telemetry_logger = null; } - if (altos_bluetooth != null) { - if (D) Log.d(TAG, "stop_altos_bluetooth(): stopping AltosBluetooth"); - altos_bluetooth.close(); - altos_bluetooth = null; + if (altos_link != null) { + AltosDebug.debug("disconnect(): stopping AltosDroidLink"); + altos_link.close(); + altos_link = null; } telemetry_state.config = null; if (notify) { - if (D) Log.d(TAG, "stop_altos_bluetooth(): send message to clients"); + AltosDebug.debug("disconnect(): send message to clients"); send_to_clients(); if (clients.isEmpty()) { - if (D) Log.d(TAG, "stop_altos_bluetooth(): no clients, terminating"); + AltosDebug.debug("disconnect(): no clients, terminating"); stopSelf(); } } } - private void start_altos_bluetooth(DeviceAddress address) { + 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) { // Get the BLuetoothDevice object BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address); - stop_altos_bluetooth(false); + disconnect(false); this.address = address; - if (D) Log.d(TAG, String.format("start_altos_bluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress())); - altos_bluetooth = new AltosBluetooth(device, handler); + 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(); } + // Timer for receiver battery voltage monitoring + Timer receiver_voltage_timer; + + 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() throws InterruptedException { - if (D) Log.d(TAG, "connected top"); + AltosDebug.debug("connected top"); + AltosDebug.check_ui("connected\n"); try { - if (altos_bluetooth == null) + if (altos_link == null) throw new InterruptedException("no bluetooth"); - telemetry_state.config = altos_bluetooth.config_data(); - altos_bluetooth.set_radio_frequency(telemetry_state.frequency); - altos_bluetooth.set_telemetry_rate(telemetry_state.telemetry_rate); + 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. - handler.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; } - if (D) Log.d(TAG, "connected bluetooth configured"); + AltosDebug.debug("connected bluetooth configured"); telemetry_state.connect = TelemetryState.CONNECT_CONNECTED; telemetry_state.address = address; - telemetry_reader = new TelemetryReader(altos_bluetooth, handler, telemetry_state.state); + telemetry_reader = new TelemetryReader(altos_link, handler); telemetry_reader.start(); - if (D) Log.d(TAG, "connected TelemetryReader started"); + AltosDebug.debug("connected TelemetryReader started"); - telemetry_logger = new TelemetryLogger(this, altos_bluetooth); + telemetry_logger = new TelemetryLogger(this, altos_link); - if (D) Log.d(TAG, "Notify UI of connection"); + start_receiver_voltage_timer(); + + AltosDebug.debug("Notify UI of connection"); send_to_clients(); } @@ -333,6 +441,12 @@ public class TelemetryService extends Service implements LocationListener { @Override public void onCreate() { + + AltosDebug.init(this); + + // Initialise preferences + AltosDroidPreferences.init(this); + // Get local Bluetooth adapter bluetooth_adapter = BluetoothAdapter.getDefaultAdapter(); @@ -341,9 +455,6 @@ public class TelemetryService extends Service implements LocationListener { 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 @@ -352,26 +463,43 @@ public class TelemetryService extends Service implements LocationListener { telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED; telemetry_state.address = null; - AltosSavedState saved_state = AltosPreferences.state(0); + /* Pull the saved state information out of the preferences database + */ + ArrayList serials = AltosPreferences.list_states(); + + telemetry_state.latest_serial = AltosPreferences.latest_state(); - if (saved_state != null) { - if (D) Log.d(TAG, String.format("recovered old state flight %d\n", saved_state.state.flight)); - telemetry_state.state = saved_state.state; + 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, 1000, 1, this); - - DeviceAddress address = AltosDroidPreferences.active_device(); - if (address != null) - start_altos_bluetooth(address); } @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); @@ -391,6 +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; @@ -403,7 +541,7 @@ public class TelemetryService extends Service implements LocationListener { ((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this); // Stop the bluetooth Comms threads - stop_altos_bluetooth(true); + disconnect(true); // Demote us from the foreground, and cancel the persistent notification. stopForeground(true); @@ -420,7 +558,7 @@ public class TelemetryService extends Service implements LocationListener { public void onLocationChanged(Location location) { telemetry_state.location = location; - if (D) Log.d(TAG, "location changed"); + AltosDebug.debug("location changed"); send_to_clients(); }