X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosdroid%2Fsrc%2Forg%2Faltusmetrum%2FAltosDroid%2FTelemetryService.java;h=f976e05cdba5ba871eb5b6183b81af54c989bc9a;hp=82c546c52377a302ad5f493909e9b94365d5cb50;hb=a61217f0a6d0ef48b6471f632c4600255867e831;hpb=cb23b992be8ba40c97d8988c134a814a13ccd58c diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java index 82c546c5..f976e05c 100644 --- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java +++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java @@ -3,7 +3,8 @@ * * 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 - * the Free Software Foundation; version 2 of the License. + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of @@ -18,10 +19,8 @@ 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 java.util.*; import android.app.Notification; //import android.app.NotificationManager; @@ -39,20 +38,12 @@ 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_7.*; +import org.altusmetrum.altoslib_12.*; - -public class TelemetryService extends Service implements LocationListener { - - private static final String TAG = "TelemetryService"; - private static final boolean D = true; +public class TelemetryService extends Service implements AltosIdleMonitorListener { static final int MSG_REGISTER_CLIENT = 1; static final int MSG_UNREGISTER_CLIENT = 2; @@ -66,6 +57,13 @@ public class TelemetryService extends Service implements LocationListener { static final int MSG_CRC_ERROR = 10; static final int MSG_SETBAUD = 11; static final int MSG_DISCONNECT = 12; + static final int MSG_DELETE_SERIAL = 13; + static final int MSG_BLUETOOTH_ENABLED = 14; + static final int MSG_MONITOR_IDLE_START= 15; + static final int MSG_MONITOR_IDLE_STOP = 16; + static final int MSG_REBOOT = 17; + static final int MSG_IGNITER_QUERY = 18; + static final int MSG_IGNITER_FIRE = 19; // Unique Identification Number for the Notification. // We use it on Notification start, and to cancel it. @@ -88,6 +86,13 @@ public class TelemetryService extends Service implements LocationListener { // Last data seen; send to UI when it starts private TelemetryState telemetry_state; + // Idle monitor if active + AltosIdleMonitor idle_monitor = null; + + // Igniter bits + AltosIgnite ignite = null; + boolean ignite_running; + // Handler of incoming messages from clients. static class IncomingHandler extends Handler { private final WeakReference service; @@ -95,10 +100,13 @@ public class TelemetryService extends Service implements LocationListener { @Override public void handleMessage(Message msg) { + DeviceAddress address; + TelemetryService s = service.get(); AltosDroidLink bt = null; if (s == null) return; + switch (msg.what) { /* Messages from application */ @@ -109,23 +117,29 @@ public class TelemetryService extends Service implements LocationListener { s.remove_client(msg.replyTo); break; case MSG_CONNECT: - if (D) Log.d(TAG, "Connect command received"); - DeviceAddress address = (DeviceAddress) msg.obj; + AltosDebug.debug("Connect command received"); + 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"); + AltosDebug.debug("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"); + AltosDebug.debug("Disconnect command received"); s.address = null; + if (!(Boolean) msg.obj) + AltosDroidPreferences.set_active_device(null); s.disconnect(true); break; + case MSG_DELETE_SERIAL: + AltosDebug.debug("Delete Serial command received"); + s.delete_serial((Integer) msg.obj); + break; case MSG_SETFREQUENCY: - if (D) Log.d(TAG, "MSG_SETFREQUENCY"); + AltosDebug.debug("MSG_SETFREQUENCY"); s.telemetry_state.frequency = (Double) msg.obj; if (s.telemetry_state.connect == TelemetryState.CONNECT_CONNECTED) { try { @@ -138,7 +152,7 @@ public class TelemetryService extends Service implements LocationListener { s.send_to_clients(); break; case MSG_SETBAUD: - if (D) Log.d(TAG, "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); @@ -151,29 +165,29 @@ public class TelemetryService extends Service implements LocationListener { *Messages from AltosBluetooth */ case MSG_CONNECTED: - Log.d(TAG, "MSG_CONNECTED"); + AltosDebug.debug("MSG_CONNECTED"); bt = (AltosDroidLink) msg.obj; if (bt != s.altos_link) { - if (D) Log.d(TAG, "Stale message"); + AltosDebug.debug("Stale message"); break; } - if (D) Log.d(TAG, "Connected to device"); + AltosDebug.debug("Connected to device"); try { s.connected(); } catch (InterruptedException ie) { } break; case MSG_CONNECT_FAILED: - Log.d(TAG, "MSG_CONNECT_FAILED"); + AltosDebug.debug("MSG_CONNECT_FAILED"); bt = (AltosDroidLink) msg.obj; if (bt != s.altos_link) { - if (D) Log.d(TAG, "Stale message"); + AltosDebug.debug("Stale message"); break; } if (s.address != null) { - if (D) Log.d(TAG, "Connection failed... retrying"); + AltosDebug.debug("Connection failed... retrying"); s.start_altos_bluetooth(s.address, true); } else { s.disconnect(true); @@ -182,15 +196,15 @@ public class TelemetryService extends Service implements LocationListener { case MSG_DISCONNECTED: /* This can be sent by either AltosDroidLink or TelemetryReader */ - Log.d(TAG, "MSG_DISCONNECTED"); + AltosDebug.debug("MSG_DISCONNECTED"); bt = (AltosDroidLink) msg.obj; if (bt != s.altos_link) { - if (D) Log.d(TAG, "Stale message"); + AltosDebug.debug("Stale message"); break; } if (s.address != null) { - if (D) Log.d(TAG, "Connection lost... retrying"); + AltosDebug.debug("Connection lost... retrying"); s.start_altos_bluetooth(s.address, true); } else { s.disconnect(true); @@ -201,33 +215,70 @@ public class TelemetryService extends Service implements LocationListener { * 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(); + s.telemetry((AltosTelemetry) msg.obj); 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; + case MSG_BLUETOOTH_ENABLED: + AltosDebug.debug("TelemetryService notes that BT is now enabled"); + address = AltosDroidPreferences.active_device(); + if (address != null && !address.address.startsWith("USB")) + s.start_altos_bluetooth(address, false); + break; + case MSG_MONITOR_IDLE_START: + AltosDebug.debug("start monitor idle"); + s.start_idle_monitor(); + break; + case MSG_MONITOR_IDLE_STOP: + AltosDebug.debug("stop monitor idle"); + s.stop_idle_monitor(); + break; + case MSG_REBOOT: + AltosDebug.debug("reboot"); + s.reboot_remote(); + break; + case MSG_IGNITER_QUERY: + AltosDebug.debug("igniter query"); + s.igniter_query(msg.replyTo); + break; + case MSG_IGNITER_FIRE: + AltosDebug.debug("igniter fire"); + s.igniter_fire((String) msg.obj); + break; default: super.handleMessage(msg); } } } + /* Handle telemetry packet + */ + private void telemetry(AltosTelemetry telem) { + AltosState state; + + if (telemetry_state.states.containsKey(telem.serial())) + state = telemetry_state.states.get(telem.serial()); + else + state = new AltosState(new AltosCalData()); + telem.provide_data(state, state.cal_data); + telemetry_state.states.put(telem.serial(), state); + telemetry_state.quiet = false; + if (state != null) { + AltosPreferences.set_state(state,telem.serial()); + } + send_to_clients(); + } + /* 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!"); + AltosDebug.debug("telemetry_state null!"); + if (telemetry_state.states == null) + AltosDebug.debug("telemetry_state.states null!"); return Message.obtain(null, AltosDroid.MSG_STATE, telemetry_state); } @@ -236,17 +287,18 @@ public class TelemetryService extends Service implements LocationListener { private void add_client(Messenger client) { clients.add(client); - if (D) Log.d(TAG, "Client bound to service"); + AltosDebug.debug("Client bound to service"); /* On connect, send the current state to the new client */ - send_to_client(client, message()); + send_to_client(client); + send_idle_mode_to_client(client); /* 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..."); + AltosDebug.debug("Reconnecting now..."); start_altos_bluetooth(address, false); } } @@ -255,46 +307,58 @@ public class TelemetryService extends Service implements LocationListener { */ private void remove_client(Messenger client) { clients.remove(client); - if (D) Log.d(TAG, "Client unbound from service"); + 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) { - if (!D) Log.d(TAG, "No clients, no connection. Stopping\n"); + AltosDebug.debug("No clients, no connection. Stopping\n"); stopSelf(); } } - private void send_to_client(Messenger client, Message m) { + private void send_to_client(Messenger client) { + Message m = message(); 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())); + AltosDebug.error("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); + send_to_client(client); } - private void disconnect(boolean notify) { - if (D) Log.d(TAG, "disconnect(): begin"); + private void send_idle_mode_to_client(Messenger client) { + Message m = Message.obtain(null, AltosDroid.MSG_IDLE_MODE, idle_monitor != null); + try { + client.send(m); + } catch (RemoteException e) { + AltosDebug.error("Client %s disappeared", client.toString()); + remove_client(client); + } + } - telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED; - telemetry_state.address = null; + private void send_idle_mode_to_clients() { + for (Messenger client : clients) + send_idle_mode_to_client(client); + } - if (altos_link != null) - altos_link.closing(); + private void telemetry_start() { + if (telemetry_reader == null && idle_monitor == null && !ignite_running) { + telemetry_reader = new TelemetryReader(altos_link, handler); + telemetry_reader.start(); + } + } + private void telemetry_stop() { if (telemetry_reader != null) { - if (D) Log.d(TAG, "disconnect(): stopping TelemetryReader"); + AltosDebug.debug("disconnect(): stopping TelemetryReader"); telemetry_reader.interrupt(); try { telemetry_reader.join(); @@ -302,22 +366,40 @@ public class TelemetryService extends Service implements LocationListener { } telemetry_reader = null; } + } + + private void disconnect(boolean notify) { + AltosDebug.debug("disconnect(): begin"); + + telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED; + telemetry_state.address = null; + + if (idle_monitor != null) + stop_idle_monitor(); + + if (altos_link != null) + altos_link.closing(); + + stop_receiver_voltage_timer(); + + telemetry_stop(); if (telemetry_logger != null) { - if (D) Log.d(TAG, "disconnect(): stopping TelemetryLogger"); + AltosDebug.debug("disconnect(): stopping TelemetryLogger"); telemetry_logger.stop(); telemetry_logger = null; } if (altos_link != null) { - if (D) Log.d(TAG, "disconnect(): stopping AltosDroidLink"); + AltosDebug.debug("disconnect(): stopping AltosDroidLink"); altos_link.close(); altos_link = null; + ignite = null; } telemetry_state.config = null; if (notify) { - if (D) Log.d(TAG, "disconnect(): send message to clients"); + AltosDebug.debug("disconnect(): send message to clients"); send_to_clients(); if (clients.isEmpty()) { - if (D) Log.d(TAG, "disconnect(): no clients, terminating"); + AltosDebug.debug("disconnect(): no clients, terminating"); stopSelf(); } } @@ -336,27 +418,141 @@ public class TelemetryService extends Service implements LocationListener { } } + private void delete_serial(int serial) { + telemetry_state.states.remove((Integer) serial); + AltosPreferences.remove_state(serial); + send_to_clients(); + } + private void start_altos_bluetooth(DeviceAddress address, boolean pause) { - // Get the BLuetoothDevice object - BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address); + if (bluetooth_adapter == null || !bluetooth_adapter.isEnabled()) + return; disconnect(false); - if (pause) { - try { - Thread.sleep(4000); - } catch (InterruptedException e) { - } - } + + // Get the BluetoothDevice object + BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address); + 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); + 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 start_idle_monitor() { + if (altos_link != null && idle_monitor == null) { + telemetry_stop(); + idle_monitor = new AltosIdleMonitor(this, altos_link, true, false); + idle_monitor.set_callsign(AltosPreferences.callsign()); + idle_monitor.start(); + send_idle_mode_to_clients(); + } + } + + private void stop_idle_monitor() { + if (idle_monitor != null) { + try { + idle_monitor.abort(); + } catch (InterruptedException ie) { + } + idle_monitor = null; + telemetry_start(); + send_idle_mode_to_clients(); + } + } + + private void reboot_remote() { + if (altos_link != null) { + stop_idle_monitor(); + try { + altos_link.start_remote(); + altos_link.printf("r eboot\n"); + altos_link.flush_output(); + } catch (TimeoutException te) { + } catch (InterruptedException ie) { + } finally { + try { + altos_link.stop_remote(); + } catch (InterruptedException ie) { + } + } + } + } + + private void ensure_ignite() { + if (ignite == null) + ignite = new AltosIgnite(altos_link, true, false); + } + + private synchronized void igniter_query(Messenger client) { + ensure_ignite(); + HashMap status_map = null; + ignite_running = true; + try { + stop_idle_monitor(); + try { + status_map = ignite.status(); + } catch (InterruptedException ie) { + AltosDebug.debug("ignite.status interrupted"); + } catch (TimeoutException te) { + AltosDebug.debug("ignite.status timeout"); + } + } finally { + ignite_running = false; + } + Message m = Message.obtain(null, AltosDroid.MSG_IGNITER_STATUS, status_map); + try { + client.send(m); + } catch (RemoteException e) { + } + } + + private synchronized void igniter_fire(String igniter) { + ensure_ignite(); + ignite_running = true; + stop_idle_monitor(); + try { + ignite.fire(igniter); + } catch (InterruptedException ie) { + } finally { + ignite_running = false; + } + } + + // Timer for receiver battery voltage monitoring + Timer receiver_voltage_timer; + + private void update_receiver_voltage() { + if (altos_link != null && idle_monitor == null && !ignite_running) { + try { + double voltage = altos_link.monitor_battery(); + telemetry_state.receiver_battery = voltage; + send_to_clients(); + } catch (InterruptedException ie) { + } + } + } + + private void stop_receiver_voltage_timer() { + if (receiver_voltage_timer != null) { + receiver_voltage_timer.cancel(); + receiver_voltage_timer.purge(); + receiver_voltage_timer = null; + } + } + + private void start_receiver_voltage_timer() { + if (receiver_voltage_timer == null && altos_link.has_monitor_battery()) { + receiver_voltage_timer = new Timer(); + receiver_voltage_timer.scheduleAtFixedRate(new TimerTask() { public void run() {update_receiver_voltage();}}, 1000L, 10000L); + } + } + private void connected() throws InterruptedException { - if (D) Log.d(TAG, "connected top"); + AltosDebug.debug("connected top"); + AltosDebug.check_ui("connected\n"); try { if (altos_link == null) throw new InterruptedException("no bluetooth"); @@ -366,9 +562,9 @@ public class TelemetryService extends Service implements LocationListener { } 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"); + AltosDebug.debug("connected timeout"); if (address != null) { - if (D) Log.d(TAG, "connected timeout, retrying"); + AltosDebug.debug("connected timeout, retrying"); start_altos_bluetooth(address, true); } else { handler.obtainMessage(MSG_CONNECT_FAILED).sendToTarget(); @@ -377,18 +573,19 @@ public class TelemetryService extends Service implements LocationListener { return; } - if (D) Log.d(TAG, "connected bluetooth configured"); + 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(); + telemetry_start(); - if (D) Log.d(TAG, "connected TelemetryReader started"); + AltosDebug.debug("connected TelemetryReader started"); telemetry_logger = new TelemetryLogger(this, altos_link); - if (D) Log.d(TAG, "Notify UI of connection"); + start_receiver_voltage_timer(); + + AltosDebug.debug("Notify UI of connection"); send_to_clients(); } @@ -396,17 +593,15 @@ public class TelemetryService extends Service implements LocationListener { @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(); - } + AltosDebug.init(this); // Initialise preferences AltosDroidPreferences.init(this); + // Get local Bluetooth adapter + bluetooth_adapter = BluetoothAdapter.getDefaultAdapter(); + telemetry_state = new TelemetryState(); // Create a reference to the NotificationManager so that we can update our notifcation text later @@ -415,22 +610,40 @@ public class TelemetryService extends Service implements LocationListener { telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED; telemetry_state.address = null; - AltosSavedState saved_state = AltosPreferences.state(0); + /* Pull the saved state information out of the preferences database + */ + ArrayList serials = AltosPreferences.list_states(); - 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; - } + telemetry_state.latest_serial = AltosPreferences.latest_state(); - // Listen for GPS and Network position updates - LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE); + telemetry_state.quiet = true; - locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 1000, 1, this); + AltosDebug.debug("latest serial %d\n", telemetry_state.latest_serial); + + for (int serial : serials) { + AltosState saved_state = AltosPreferences.state(serial); + if (saved_state != null) { + if (telemetry_state.latest_serial == 0) + telemetry_state.latest_serial = serial; + + AltosDebug.debug("recovered old state serial %d flight %d", + serial, + saved_state.cal_data.flight); + if (saved_state.gps != null) + AltosDebug.debug("\tposition %f,%f", + saved_state.gps.lat, + saved_state.gps.lon); + telemetry_state.states.put(serial, saved_state); + } else { + AltosDebug.debug("Failed to recover state for %d", serial); + AltosPreferences.remove_state(serial); + } + } } @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); @@ -450,12 +663,18 @@ public class TelemetryService extends Service implements LocationListener { // 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); + /* Start bluetooth if we don't have a connection already */ + if (intent != null && + (telemetry_state.connect == TelemetryState.CONNECT_NONE || + telemetry_state.connect == TelemetryState.CONNECT_DISCONNECTED)) + { + 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 @@ -466,9 +685,6 @@ public class TelemetryService extends Service implements LocationListener { @Override public void onDestroy() { - // Stop listening for location updates - ((LocationManager) getSystemService(Context.LOCATION_SERVICE)).removeUpdates(this); - // Stop the bluetooth Comms threads disconnect(true); @@ -484,20 +700,17 @@ public class TelemetryService extends Service implements LocationListener { return messenger.getBinder(); } - - public void onLocationChanged(Location location) { - telemetry_state.location = location; - if (D) Log.d(TAG, "location changed"); + /* AltosIdleMonitorListener */ + public void update(AltosState state, AltosListenerState listener_state) { + telemetry_state.states.put(state.cal_data.serial, state); + telemetry_state.receiver_battery = listener_state.battery; send_to_clients(); } - public void onStatusChanged(String provider, int status, Bundle extras) { - } - - public void onProviderEnabled(String provider) { + public void failed() { } - public void onProviderDisabled(String provider) { + public void error(String reason) { + stop_idle_monitor(); } - }