X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosdroid%2Fsrc%2Forg%2Faltusmetrum%2FAltosDroid%2FTelemetryService.java;h=627f5957df95aa4a24da0607889c3b6b5809a65b;hp=1c0e94b3855ab2e7172dbb623e5272bff935c6b9;hb=2509b664df6a13e6ae9e6753dc9fa0d696a4f6c7;hpb=54baecc208a40606e3242b2cbd5e66567053646f diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java index 1c0e94b3..627f5957 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 @@ -19,54 +19,70 @@ 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.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.util.Log; +import android.os.RemoteException; +import android.os.Looper; import android.widget.Toast; +import android.location.Location; +import android.location.LocationManager; +import android.location.LocationListener; +import android.location.Criteria; -// Need the following import to get access to the app resources, since this -// class is in a sub-package. -//import org.altusmetrum.AltosDroid.R; +import org.altusmetrum.altoslib_7.*; -import org.altusmetrum.AltosLib.*; -public class TelemetryService extends Service { - - private static final String TAG = "TelemetryService"; - private static final boolean D = true; +public class TelemetryService extends Service implements LocationListener { static final int MSG_REGISTER_CLIENT = 1; static final int MSG_UNREGISTER_CLIENT = 2; - static final int MSG_CONNECT_TELEBT = 3; - - 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_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; // 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; + //private NotificationManager mNM; - ArrayList mClients = new ArrayList(); // Keeps track of all current registered clients. - final Messenger mMessenger = new Messenger(new IncomingHandler()); // 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 String mConnectedDeviceName = null; - private AltosBluetooth mAltosBluetooth = null; + 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; - LinkedBlockingQueue telem; + // Last data seen; send to UI when it starts + private TelemetryState telemetry_state; // Handler of incoming messages from clients. static class IncomingHandler extends Handler { @@ -76,18 +92,124 @@ public class TelemetryService extends Service { @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); - 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: + 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_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_state.state = (AltosState) msg.obj; + if (s.telemetry_state.state != null) { + AltosDebug.debug("Save state"); + AltosPreferences.set_state(0, s.telemetry_state.state, null); + } + AltosDebug.debug("MSG_TELEMETRY"); + s.send_to_clients(); break; - case MSG_CONNECT_TELEBT: - if (D) Log.d(TAG, "Connect command received"); - s.startAltosBluetooth((BluetoothDevice) msg.obj); + case MSG_CRC_ERROR: + // forward crc error messages + s.telemetry_state.crc_errors = (Integer) msg.obj; + AltosDebug.debug("MSG_CRC_ERROR"); + s.send_to_clients(); break; default: super.handleMessage(msg); @@ -95,28 +217,212 @@ public class TelemetryService extends Service { } } - private void stopAltosBluetooth() { - if (mAltosBluetooth != null) { - mAltosBluetooth.close(); - mAltosBluetooth = null; + /* Construct the message to deliver to clients + */ + private Message message() { + if (telemetry_state == null) + AltosDebug.debug("telemetry_state null!"); + if (telemetry_state.state == null) + AltosDebug.debug("telemetry_state.state 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, 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(); + + if (telemetry_reader != null) { + AltosDebug.debug("disconnect(): stopping TelemetryReader"); + telemetry_reader.interrupt(); + try { + telemetry_reader.join(); + } catch (InterruptedException e) { + } + telemetry_reader = null; + } + 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; + } + 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) { + } } - telem.clear(); } - private void startAltosBluetooth(BluetoothDevice d) { - mAltosBluetooth = new AltosBluetooth(d); - mAltosBluetooth.add_monitor(telem); + private void start_altos_bluetooth(DeviceAddress address, boolean pause) { + // Get the BLuetoothDevice object + AltosDebug.check_ui("start_altos_bluetooth\n"); + 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(); + } + + 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_reader = new TelemetryReader(altos_link, handler, telemetry_state.state); + telemetry_reader.start(); + + AltosDebug.debug("connected TelemetryReader started"); + + telemetry_logger = new TelemetryLogger(this, altos_link); + + AltosDebug.debug("Notify UI of connection"); + + send_to_clients(); } + @Override public void onCreate() { + // 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(); + } + + // 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); + //mNM = (NotificationManager)getSystemService(NOTIFICATION_SERVICE); + + telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED; + telemetry_state.address = null; + + AltosSavedState saved_state = AltosPreferences.state(0); + + if (saved_state != null) { + AltosDebug.debug("recovered old state flight %d\n", saved_state.state.flight); + telemetry_state.state = 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); } @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); @@ -136,6 +442,16 @@ public class TelemetryService extends Service { // 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; @@ -144,8 +460,11 @@ 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(); + disconnect(true); // Demote us from the foreground, and cancel the persistent notification. stopForeground(true); @@ -156,8 +475,23 @@ public class TelemetryService extends Service { @Override public IBinder onBind(Intent intent) { - return mMessenger.getBinder(); + return messenger.getBinder(); + } + + + public void onLocationChanged(Location location) { + telemetry_state.location = location; + AltosDebug.debug("location changed"); + send_to_clients(); } + public void onStatusChanged(String provider, int status, Bundle extras) { + } + + public void onProviderEnabled(String provider) { + } + + public void onProviderDisabled(String provider) { + } }