X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosdroid%2Fsrc%2Forg%2Faltusmetrum%2FAltosDroid%2FTelemetryService.java;h=627f5957df95aa4a24da0607889c3b6b5809a65b;hp=e029c75c9cabfcc11d782cc39ea8a000c4d1c3f4;hb=2509b664df6a13e6ae9e6753dc9fa0d696a4f6c7;hpb=7339d2379713b5b7e4c4fe6bad89ed93f9d39e82 diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java index e029c75c..627f5957 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java @@ -29,6 +29,7 @@ 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; @@ -38,55 +39,50 @@ 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_5.*; +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; // 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 - String address; - private AltosBluetooth mAltosBluetooth = null; - private TelemetryReader mTelemetryReader = null; - private TelemetryLogger mTelemetryLogger = null; - // Local Bluetooth adapter - private BluetoothAdapter mBluetoothAdapter = null; + DeviceAddress address; + private AltosDroidLink altos_link = null; + private TelemetryReader telemetry_reader = null; + private TelemetryLogger telemetry_logger = null; - private TelemetryState telemetry_state; + // Local Bluetooth adapter + private BluetoothAdapter bluetooth_adapter = null; // Last data seen; send to UI when it starts + private TelemetryState telemetry_state; // Handler of incoming messages from clients. static class IncomingHandler extends Handler { @@ -96,83 +92,124 @@ 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 - msg.replyTo.send(s.message()); - } 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"); - String address = (String) msg.obj; + AltosDebug.debug("Connect command received"); + DeviceAddress address = (DeviceAddress) msg.obj; AltosDroidPreferences.set_active_device(address); - s.startAltosBluetooth(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: - 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 (D) Log.d(TAG, "Connection failed... retrying"); - if (s.address != null) - s.startAltosBluetooth(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.disconnect(true); + } break; case MSG_DISCONNECTED: - Log.d(TAG, "MSG_DISCONNECTED"); - 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.telemetry_state.state = (AltosState) msg.obj; if (s.telemetry_state.state != null) { - if (D) Log.d(TAG, "Save state"); + AltosDebug.debug("Save state"); AltosPreferences.set_state(0, s.telemetry_state.state, null); } - if (D) Log.d(TAG, "MSG_TELEMETRY"); - s.sendMessageToClients(); + AltosDebug.debug("MSG_TELEMETRY"); + s.send_to_clients(); 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(); + AltosDebug.debug("MSG_CRC_ERROR"); + s.send_to_clients(); break; default: super.handleMessage(msg); @@ -180,125 +217,182 @@ public class TelemetryService extends Service implements LocationListener { } } + /* Construct the message to deliver to clients + */ private Message message() { if (telemetry_state == null) - Log.d(TAG, "telemetry_state null!"); + AltosDebug.debug("telemetry_state null!"); if (telemetry_state.state == null) - Log.d(TAG, "telemetry_state.state null!"); + AltosDebug.debug("telemetry_state.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); - } + /* 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 stopAltosBluetooth() { - 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(); + 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 { - 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 (D) Log.d(TAG, "stopAltosBluetooth(): send message to clients"); - sendMessageToClients(); + 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 startAltosBluetooth(String address) { + private void start_altos_bluetooth(DeviceAddress address, boolean pause) { // Get the BLuetoothDevice object - BluetoothDevice device = mBluetoothAdapter.getRemoteDevice(address); + AltosDebug.check_ui("start_altos_bluetooth\n"); + BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address); + disconnect(false); this.address = address; - if (mAltosBluetooth == null) { - if (D) Log.d(TAG, String.format("startAltosBluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress())); - mAltosBluetooth = new AltosBluetooth(device, mHandler); - 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(); - } + 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 { - if (D) Log.d(TAG, "connected top"); + AltosDebug.debug("connected top"); + AltosDebug.check_ui("connected\n"); try { - if (mAltosBluetooth == null) + if (altos_link == 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); + 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; } - if (D) Log.d(TAG, "connected bluetooth configured"); + AltosDebug.debug("connected bluetooth configured"); telemetry_state.connect = TelemetryState.CONNECT_CONNECTED; + telemetry_state.address = address; - mTelemetryReader = new TelemetryReader(mAltosBluetooth, mHandler, telemetry_state.state); - mTelemetryReader.start(); + telemetry_reader = new TelemetryReader(altos_link, handler, telemetry_state.state); + telemetry_reader.start(); - if (D) Log.d(TAG, "connected TelemetryReader started"); + AltosDebug.debug("connected TelemetryReader started"); - mTelemetryLogger = new TelemetryLogger(this, mAltosBluetooth); + telemetry_logger = new TelemetryLogger(this, altos_link); - if (D) Log.d(TAG, "Notify UI of connection"); + AltosDebug.debug("Notify UI of connection"); - sendMessageToClients(); - } - - 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); - } + send_to_clients(); } @Override public void onCreate() { // Get local Bluetooth adapter - mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter(); + bluetooth_adapter = BluetoothAdapter.getDefaultAdapter(); // If the adapter is null, then Bluetooth is not supported - if (mBluetoothAdapter == null) { + if (bluetooth_adapter == null) { Toast.makeText(this, "Bluetooth is not available", Toast.LENGTH_LONG).show(); } @@ -310,31 +404,25 @@ public class TelemetryService extends Service implements LocationListener { // 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_READY; + telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED; + telemetry_state.address = null; AltosSavedState saved_state = AltosPreferences.state(0); if (saved_state != null) { - if (D) Log.d(TAG, String.format("recovered old state flight %d\n", saved_state.state.flight)); + AltosDebug.debug("recovered old state flight %d\n", saved_state.state.flight); telemetry_state.state = saved_state.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); - // 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 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); @@ -354,6 +442,16 @@ 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; @@ -366,28 +464,25 @@ 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) { telemetry_state.location = location; - if (D) Log.d(TAG, "location changed"); - sendMessageToClients(); + AltosDebug.debug("location changed"); + send_to_clients(); } public void onStatusChanged(String provider, int status, Bundle extras) {