X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosdroid%2Fsrc%2Forg%2Faltusmetrum%2FAltosDroid%2FTelemetryService.java;h=65eabf1166a394f5fdeb4a584dddbd765594b385;hp=30d94409a917a339aeeed88b4de31ca560a843b5;hb=cdd7ad469728fde178c69b9c99d70d6e0ab3f12d;hpb=8c212cd5bfa03f71a31d84bd0051314e77d88461 diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java index 30d94409..65eabf11 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java @@ -45,7 +45,7 @@ import android.location.LocationManager; import android.location.LocationListener; import android.location.Criteria; -import org.altusmetrum.altoslib_5.*; +import org.altusmetrum.altoslib_6.*; public class TelemetryService extends Service implements LocationListener { @@ -63,30 +63,28 @@ public class TelemetryService extends Service implements LocationListener { static final int MSG_SETFREQUENCY = 8; static final int MSG_CRC_ERROR = 9; static final int MSG_SETBAUD = 10; + static final int MSG_DISCONNECT = 11; // 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 AltosBluetooth altos_bluetooth = 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 { @@ -96,31 +94,63 @@ public class TelemetryService extends Service implements LocationListener { @Override public void handleMessage(Message msg) { TelemetryService s = service.get(); + AltosBluetooth 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; + DeviceAddress address = (DeviceAddress) msg.obj; AltosDroidPreferences.set_active_device(address); - s.startAltosBluetooth(address); + s.start_altos_bluetooth(address, false); + break; + case MSG_DISCONNECT: + if (D) Log.d(TAG, "Disconnect command received"); + s.address = null; + s.stop_altos_bluetooth(true); 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.altos_bluetooth.set_radio_frequency(s.telemetry_state.frequency); + s.altos_bluetooth.save_frequency(); + } catch (InterruptedException e) { + } catch (TimeoutException e) { + } + } + s.send_to_clients(); + 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.altos_bluetooth.set_telemetry_rate(s.telemetry_state.telemetry_rate); + s.altos_bluetooth.save_telemetry_rate(); + } + s.send_to_clients(); + break; + + /* + *Messages from AltosBluetooth + */ case MSG_CONNECTED: + Log.d(TAG, "MSG_CONNECTED"); + bt = (AltosBluetooth) msg.obj; + + if (bt != s.altos_bluetooth) { + if (D) Log.d(TAG, "Stale message"); + break; + } if (D) Log.d(TAG, "Connected to device"); try { s.connected(); @@ -128,47 +158,53 @@ public class TelemetryService extends Service implements LocationListener { } break; case MSG_CONNECT_FAILED: - if (D) Log.d(TAG, "Connection failed... retrying"); - if (s.address != null) - s.startAltosBluetooth(s.address); + Log.d(TAG, "MSG_CONNECT_FAILED"); + bt = (AltosBluetooth) msg.obj; + + if (bt != s.altos_bluetooth) { + if (D) Log.d(TAG, "Stale message"); + break; + } + if (s.address != null) { + if (D) Log.d(TAG, "Connection failed... retrying"); + s.start_altos_bluetooth(s.address, true); + } else { + s.stop_altos_bluetooth(true); + } break; case MSG_DISCONNECTED: Log.d(TAG, "MSG_DISCONNECTED"); - s.stopAltosBluetooth(); + bt = (AltosBluetooth) msg.obj; + + if (bt != s.altos_bluetooth) { + if (D) Log.d(TAG, "Stale message"); + break; + } + if (s.address != null) { + if (D) Log.d(TAG, "Connection lost... retrying"); + s.start_altos_bluetooth(s.address, true); + } else { + s.stop_altos_bluetooth(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"); + AltosPreferences.set_state(0, s.telemetry_state.state, null); + } if (D) Log.d(TAG, "MSG_TELEMETRY"); - s.sendMessageToClients(); + 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(); + s.send_to_clients(); break; default: super.handleMessage(msg); @@ -176,123 +212,172 @@ 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!"); + if (telemetry_state.state == null) + Log.d(TAG, "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); + if (D) Log.d(TAG, "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) { + if (D) Log.d(TAG, "Reconnecting now..."); + start_altos_bluetooth(address, false); } } - 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(); + /* A client has disconnected, clean up + */ + private void remove_client(Messenger client) { + clients.remove(client); + if (D) Log.d(TAG, "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"); + 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())); + client.send(m); + } catch (RemoteException e) { + if (D) Log.e(TAG, String.format("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())); + 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"); + telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED; + telemetry_state.address = null; + + if (altos_bluetooth != null) + altos_bluetooth.closing(); + + if (telemetry_reader != null) { + if (D) Log.d(TAG, "stop_altos_bluetooth(): 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) { + if (D) Log.d(TAG, "stop_altos_bluetooth(): 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_bluetooth != null) { + if (D) Log.d(TAG, "stop_altos_bluetooth(): stopping AltosBluetooth"); + altos_bluetooth.close(); + altos_bluetooth = null; } telemetry_state.config = null; - if (D) Log.d(TAG, "stopAltosBluetooth(): send message to clients"); - sendMessageToClients(); + if (notify) { + if (D) Log.d(TAG, "stop_altos_bluetooth(): send message to clients"); + send_to_clients(); + if (clients.isEmpty()) { + if (D) Log.d(TAG, "stop_altos_bluetooth(): no clients, terminating"); + stopSelf(); + } + } } - private void startAltosBluetooth(String address) { + private void start_altos_bluetooth(DeviceAddress address, boolean pause) { // Get the BLuetoothDevice object - BluetoothDevice device = mBluetoothAdapter.getRemoteDevice(address); + BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address); - 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(); + stop_altos_bluetooth(false); + if (pause) { + try { + Thread.sleep(4000); + } catch (InterruptedException e) { + } } + 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); + 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"); try { - if (mAltosBluetooth == null) + if (altos_bluetooth == 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_bluetooth.config_data(); + altos_bluetooth.set_radio_frequency(telemetry_state.frequency); + altos_bluetooth.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(); + if (D) Log.d(TAG, "connected timeout"); + if (address != null) { + if (D) Log.d(TAG, "connected timeout, retrying"); + start_altos_bluetooth(address, true); + } else { + handler.obtainMessage(MSG_CONNECT_FAILED).sendToTarget(); + stop_altos_bluetooth(true); + } return; } if (D) Log.d(TAG, "connected bluetooth configured"); telemetry_state.connect = TelemetryState.CONNECT_CONNECTED; + telemetry_state.address = address; - mTelemetryReader = new TelemetryReader(mAltosBluetooth, mHandler); - mTelemetryReader.start(); + telemetry_reader = new TelemetryReader(altos_bluetooth, handler, telemetry_state.state); + telemetry_reader.start(); if (D) Log.d(TAG, "connected TelemetryReader started"); - mTelemetryLogger = new TelemetryLogger(this, mAltosBluetooth); + telemetry_logger = new TelemetryLogger(this, altos_bluetooth); if (D) Log.d(TAG, "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(); } @@ -304,19 +389,24 @@ 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; - // Start our timer - first event in 10 seconds, then every 10 seconds after that. - timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 10000L, 10000L); + 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)); + 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); - String address = AltosDroidPreferences.active_device(); + DeviceAddress address = AltosDroidPreferences.active_device(); if (address != null) - startAltosBluetooth(address); + start_altos_bluetooth(address, false); } @Override @@ -353,28 +443,25 @@ public class TelemetryService extends Service implements LocationListener { ((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this); // Stop the bluetooth Comms threads - stopAltosBluetooth(); + stop_altos_bluetooth(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(); + send_to_clients(); } public void onStatusChanged(String provider, int status, Bundle extras) {