X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosdroid%2Fsrc%2Forg%2Faltusmetrum%2FAltosDroid%2FTelemetryService.java;h=65eabf1166a394f5fdeb4a584dddbd765594b385;hp=95b655c2f7d9bfaeca1ea59ef4d551659fe4b1a3;hb=cdd7ad469728fde178c69b9c99d70d6e0ab3f12d;hpb=372840b4ebfd3da3cd713b6bc6a8ffc8cd6b6b8c diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java index 95b655c2..65eabf11 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 @@ -17,43 +17,396 @@ 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 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.content.Intent; -import android.os.Binder; +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.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.*; -// Need the following import to get access to the app resources, since this -// class is in a sub-package. -import org.altusmetrum.AltosDroid.R; +public class TelemetryService extends Service implements LocationListener { + private static final String TAG = "TelemetryService"; + private static final boolean D = true; -public class TelemetryService extends Service { + 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_DISCONNECT = 11; - /** - * Class for clients to access. Because we know this service always - * runs in the same process as its clients, we don't need to deal with - * IPC. - */ - public class TelemetryBinder extends Binder { - TelemetryService getService() { - return TelemetryService.this; - } - } // 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 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 + DeviceAddress address; + private AltosBluetooth altos_bluetooth = null; + private TelemetryReader telemetry_reader = null; + private TelemetryLogger telemetry_logger = null; + + // 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 { + private final WeakReference service; + IncomingHandler(TelemetryService s) { service = new WeakReference(s); } + + @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.add_client(msg.replyTo); + break; + case MSG_UNREGISTER_CLIENT: + s.remove_client(msg.replyTo); + break; + case MSG_CONNECT: + if (D) Log.d(TAG, "Connect command received"); + DeviceAddress address = (DeviceAddress) msg.obj; + AltosDroidPreferences.set_active_device(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(); + } catch (InterruptedException ie) { + } + break; + case MSG_CONNECT_FAILED: + 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"); + 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: + 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(); + 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.send_to_clients(); + break; + default: + super.handleMessage(msg); + } + } + } + + /* 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); + } + + /* 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); + } + } + + /* 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 { + telemetry_reader.join(); + } catch (InterruptedException e) { + } + telemetry_reader = null; + } + if (telemetry_logger != null) { + if (D) Log.d(TAG, "stop_altos_bluetooth(): 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; + } + telemetry_state.config = null; + 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 start_altos_bluetooth(DeviceAddress address, boolean pause) { + // Get the BLuetoothDevice object + BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address); + + 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 (altos_bluetooth == 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); + } catch (TimeoutException e) { + // If this timed out, then we really want to retry it, but + // probably safer to just retry the connection from scratch. + 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; + + telemetry_reader = new TelemetryReader(altos_bluetooth, handler, telemetry_state.state); + telemetry_reader.start(); + + if (D) Log.d(TAG, "connected TelemetryReader started"); + + telemetry_logger = new TelemetryLogger(this, altos_bluetooth); + + if (D) Log.d(TAG, "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) { + 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); + + DeviceAddress address = AltosDroidPreferences.active_device(); + if (address != null) + start_altos_bluetooth(address, false); } @Override @@ -86,6 +439,11 @@ 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 + stop_altos_bluetooth(true); // Demote us from the foreground, and cancel the persistent notification. stopForeground(true); @@ -96,11 +454,23 @@ public class TelemetryService extends Service { @Override public IBinder onBind(Intent intent) { - return mBinder; + return messenger.getBinder(); } - // This is the object that receives interactions from clients. See - // RemoteService for a more complete example. - private final IBinder mBinder = new TelemetryBinder(); + + public void onLocationChanged(Location location) { + telemetry_state.location = location; + if (D) Log.d(TAG, "location changed"); + send_to_clients(); + } + + public void onStatusChanged(String provider, int status, Bundle extras) { + } + + public void onProviderEnabled(String provider) { + } + + public void onProviderDisabled(String provider) { + } }