X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosdroid%2Fsrc%2Forg%2Faltusmetrum%2FAltosDroid%2FTelemetryService.java;h=e7f958b9e4c08f173a3116b59019ec1720099203;hp=a1b1915a9fefd4b08d9cf248238ecc7e166fd28c;hb=7bfa8841b65707d629b425b306ec4cc3acfc156c;hpb=ed653a1e6dc8884cb171af1406fd0999ef125a4d diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java index a1b1915a..e7f958b9 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 @@ -19,26 +19,37 @@ 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.PendingIntent; import android.app.Service; import android.bluetooth.BluetoothDevice; +import android.bluetooth.BluetoothAdapter; +import android.hardware.usb.*; import android.content.Intent; -//import android.os.Bundle; +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.*; +import org.altusmetrum.altoslib_6.*; -public class TelemetryService extends Service { + +public class TelemetryService extends Service implements LocationListener { private static final String TAG = "TelemetryService"; private static final boolean D = true; @@ -46,29 +57,36 @@ 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; - - 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_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; - 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 - private BluetoothDevice device = null; - private AltosBluetooth mAltosBluetooth = null; - private int state = STATE_NONE; - LinkedBlockingQueue telem; + 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; + + // Last data seen; send to UI when it starts + private TelemetryState telemetry_state; // Handler of incoming messages from clients. static class IncomingHandler extends Handler { @@ -78,38 +96,124 @@ 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); - try { - msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_DEVNAME, s.device.getName())); - msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_STATE_CHANGE, s.state, -1)); - } 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"); - s.device = (BluetoothDevice) msg.obj; - s.startAltosBluetooth(); + DeviceAddress address = (DeviceAddress) msg.obj; + AltosDroidPreferences.set_active_device(address); + s.start_altos_bluetooth(address, false); + break; + case MSG_OPEN_USB: + if (D) Log.d(TAG, "Open USB command received"); + UsbDevice device = (UsbDevice) msg.obj; + s.start_usb(device); + break; + case MSG_DISCONNECT: + if (D) Log.d(TAG, "Disconnect command received"); + s.address = null; + s.disconnect(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_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: + 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_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: + Log.d(TAG, "MSG_CONNECTED"); + bt = (AltosDroidLink) msg.obj; + + if (bt != s.altos_link) { + if (D) Log.d(TAG, "Stale message"); + break; + } if (D) Log.d(TAG, "Connected to device"); - s.connected(); - s.mAltosBluetooth.add_monitor(s.telem); + try { + s.connected(); + } catch (InterruptedException ie) { + } break; case MSG_CONNECT_FAILED: - if (D) Log.d(TAG, "Connection failed... retrying"); - s.startAltosBluetooth(); + Log.d(TAG, "MSG_CONNECT_FAILED"); + bt = (AltosDroidLink) msg.obj; + + if (bt != s.altos_link) { + 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.disconnect(true); + } break; case MSG_DISCONNECTED: - if (D) Log.d(TAG, "Disconnected from " + s.device.getName()); - s.stopAltosBluetooth(); + + /* This can be sent by either AltosDroidLink or TelemetryReader */ + Log.d(TAG, "MSG_DISCONNECTED"); + bt = (AltosDroidLink) msg.obj; + + if (bt != s.altos_link) { + 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.disconnect(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); @@ -117,59 +221,211 @@ public class TelemetryService extends Service { } } - private void sendMessageToClients(Message m) { - for (int i=mClients.size()-1; i>=0; i--) { + /* 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 disconnect(boolean notify) { + if (D) Log.d(TAG, "disconnect(): begin"); + + telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED; + telemetry_state.address = null; + + if (altos_link != null) + altos_link.closing(); + + if (telemetry_reader != null) { + if (D) Log.d(TAG, "disconnect(): stopping TelemetryReader"); + telemetry_reader.interrupt(); try { - mClients.get(i).send(m); - } catch (RemoteException e) { - mClients.remove(i); + telemetry_reader.join(); + } catch (InterruptedException e) { + } + telemetry_reader = null; + } + if (telemetry_logger != null) { + if (D) Log.d(TAG, "disconnect(): stopping TelemetryLogger"); + telemetry_logger.stop(); + telemetry_logger = null; + } + if (altos_link != null) { + if (D) Log.d(TAG, "disconnect(): stopping AltosDroidLink"); + altos_link.close(); + altos_link = null; + } + telemetry_state.config = null; + if (notify) { + if (D) Log.d(TAG, "disconnect(): send message to clients"); + send_to_clients(); + if (clients.isEmpty()) { + if (D) Log.d(TAG, "disconnect(): no clients, terminating"); + stopSelf(); } } } - private void stopAltosBluetooth() { - if (D) Log.i(TAG, "Stopping BT"); - setState(STATE_READY); - if (mAltosBluetooth != null) { - if (D) Log.i(TAG, "Closing AltosBluetooth"); - mAltosBluetooth.close(); - mAltosBluetooth = null; - } - device = null; - telem.clear(); - } - - private void startAltosBluetooth() { - if (mAltosBluetooth == null) { - if (D) Log.i(TAG, "Connecting to " + device.getName()); - mAltosBluetooth = new AltosBluetooth(device, mHandler); - setState(STATE_CONNECTING); - } else { - stopAltosBluetooth(); - mHandler.sendMessageDelayed(Message.obtain(null, MSG_CONNECT, device), 1000); + 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 synchronized void setState(int s) { - if (D) Log.d(TAG, "setState() " + state + " -> " + s); - state = s; + private void start_altos_bluetooth(DeviceAddress address, boolean pause) { + // Get the BLuetoothDevice object + BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address); - sendMessageToClients(Message.obtain(null, AltosDroid.MSG_STATE_CHANGE, state, -1)); + disconnect(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_link = new AltosBluetooth(device, handler); + telemetry_state.connect = TelemetryState.CONNECT_CONNECTING; + telemetry_state.address = address; + send_to_clients(); } - private void connected() { - sendMessageToClients(Message.obtain(null, AltosDroid.MSG_DEVNAME, device.getName())); - setState(STATE_CONNECTED); + private void connected() throws InterruptedException { + if (D) Log.d(TAG, "connected top"); + 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. + 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(); + disconnect(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_link, handler, telemetry_state.state); + telemetry_reader.start(); + + if (D) Log.d(TAG, "connected TelemetryReader started"); + + telemetry_logger = new TelemetryLogger(this, altos_link); + + 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); - telem = new LinkedBlockingQueue(); - setState(STATE_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)); + 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 @@ -194,6 +450,14 @@ public class TelemetryService extends Service { // Move us into the foreground. startForeground(NOTIFICATION, notification); + 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; @@ -202,8 +466,11 @@ 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); @@ -214,8 +481,23 @@ 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; + 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) { + } }