X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=altosdroid%2Fsrc%2Forg%2Faltusmetrum%2FAltosDroid%2FTelemetryService.java;h=f976e05cdba5ba871eb5b6183b81af54c989bc9a;hp=f1304a95298f3d645e10eb13419e90ba9d993a07;hb=a61217f0a6d0ef48b6471f632c4600255867e831;hpb=6592a5be127a9c95d3b2e7d5aa6ffba71c6748b9

diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java
index f1304a95..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
@@ -18,16 +19,16 @@
 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;
 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;
@@ -36,87 +37,61 @@ import android.os.Handler;
 import android.os.Message;
 import android.os.Messenger;
 import android.os.RemoteException;
-import android.util.Log;
+import android.os.Looper;
 import android.widget.Toast;
-import android.location.Location;
-import android.location.LocationManager;
-import android.location.LocationListener;
+import android.location.Criteria;
 
-import org.altusmetrum.altoslib_1.*;
+import org.altusmetrum.altoslib_12.*;
 
-class AltosLocationListener implements LocationListener {
-	Handler handler;
-
-	public void onLocationChanged(Location location) {
-		handler.obtainMessage(TelemetryService.MSG_LOCATION, location).sendToTarget();
-	}
-
-	public void onStatusChanged(String provider, int status, Bundle extras) {
-	}
-
-	public void onProviderEnabled(String provider) {
-	}
-
-	public void onProviderDisabled(String provider) {
-	}
-
-	public AltosLocationListener(Handler handler) {
-		this.handler = handler;
-	}
-}
-
-public class TelemetryService extends Service {
-
-	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;
 	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_LOCATION	       = 9;
+	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;
-
-	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_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.
 	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<Messenger> mClients = new ArrayList<Messenger>(); // 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<Messenger> clients = new ArrayList<Messenger>(); // 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 AltosConfigData mConfigData      = null;
-	private TelemetryReader mTelemetryReader = null;
-	private TelemetryLogger mTelemetryLogger = null;
-
-	// internally track state of bluetooth connection
-	private int state = STATE_NONE;
+	DeviceAddress address;
+	private AltosDroidLink  altos_link  = null;
+	private TelemetryReader telemetry_reader = null;
+	private TelemetryLogger telemetry_logger = null;
 
-	// location listeners
+	// Local Bluetooth adapter
+	private BluetoothAdapter bluetooth_adapter = null;
 
-	private AltosLocationListener locationListener;
-	
 	// Last data seen; send to UI when it starts
+	private TelemetryState	telemetry_state;
 
-	private AltosState last_state;
-	private Location last_location;
-	private int last_crc_errors;
+	// 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 {
@@ -125,72 +100,153 @@ public class TelemetryService extends Service {
 
 		@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 */
 			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 - Basically state and Config Data.
-					msg.replyTo.send(Message.obtain(null, AltosDroid.MSG_STATE_CHANGE, s.state, -1, s.mConfigData));
-				} catch (RemoteException e) {
-					s.mClients.remove(msg.replyTo);
-				}
-				if (D) Log.d(TAG, "Client bound to service");
-				if (s.last_state != null)
-					s.sendTelemetry(s.last_state);
-				if (s.last_location != null)
-					s.sendLocation(s.last_location);
-				if (s.last_crc_errors != 0)
-					s.sendCrcErrors(s.last_crc_errors);
+				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();
+				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:
+				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;
+				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:
+				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");
-				s.connected();
+				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");
-				s.startAltosBluetooth();
+				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:
-				// Only do the following if we haven't been shutdown elsewhere..
-				if (s.device != null) {
-					if (D) Log.d(TAG, "Disconnected from " + s.device.getName());
-					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.last_state = (AltosState) msg.obj;
-				s.sendMessageToClients(Message.obtain(null, AltosDroid.MSG_TELEMETRY, msg.obj));
-				break;
-			case MSG_LOCATION:
-				// forward location messages
-				s.last_location = (Location) msg.obj;
-				s.sendMessageToClients(Message.obtain(null, AltosDroid.MSG_LOCATION, msg.obj));
+				s.telemetry((AltosTelemetry) msg.obj);
 				break;
 			case MSG_CRC_ERROR:
 				// forward crc error messages
-				s.last_crc_errors = (Integer) msg.obj;
-				s.sendMessageToClients(Message.obtain(null, AltosDroid.MSG_CRC_ERROR, msg.obj));
+				s.telemetry_state.crc_errors = (Integer) msg.obj;
+				s.send_to_clients();
 				break;
-			case MSG_SETFREQUENCY:
-				if (s.state == STATE_CONNECTED) {
-					try {
-						s.mAltosBluetooth.set_radio_frequency((Double) msg.obj);
-					} catch (InterruptedException e) {
-					} catch (TimeoutException e) {
-					}
-				}
+			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);
@@ -198,139 +254,396 @@ public class TelemetryService extends Service {
 		}
 	}
 
-	public void sendTelemetry(AltosState state) {
+	/* 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();
 	}
 
-	public void sendLocation(Location location) {
-		mHandler.obtainMessage(MSG_LOCATION, location).sendToTarget();
+	/* Construct the message to deliver to clients
+	 */
+	private Message message() {
+		if (telemetry_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);
 	}
 
-	public void sendCrcErrors(int crc_errors) {
+	/* 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);
+		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) {
+			AltosDebug.debug("Reconnecting now...");
+			start_altos_bluetooth(address, false);
+		}
 	}
 
-	private void sendMessageToClients(Message m) {
-		for (int i=mClients.size()-1; i>=0; i--) {
-			try {
-				mClients.get(i).send(m);
-			} catch (RemoteException e) {
-				mClients.remove(i);
-			}
+	/* 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 = message();
+		try {
+			client.send(m);
+		} catch (RemoteException e) {
+			AltosDebug.error("Client %s disappeared", client.toString());
+			remove_client(client);
+		}
+	}
+
+	private void send_to_clients() {
+		for (Messenger client : clients)
+			send_to_client(client);
+	}
+
+	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);
+		}
+	}
+
+	private void send_idle_mode_to_clients() {
+		for (Messenger client : clients)
+			send_idle_mode_to_client(client);
+	}
+
+	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 stopAltosBluetooth() {
-		if (D) Log.d(TAG, "stopAltosBluetooth(): begin");
-		setState(STATE_READY);
-		if (mTelemetryReader != null) {
-			if (D) Log.d(TAG, "stopAltosBluetooth(): stopping TelemetryReader");
-			mTelemetryReader.interrupt();
+	private void telemetry_stop() {
+		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;
+	}
+
+	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) {
+			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;
+			ignite = null;
+		}
+		telemetry_state.config = null;
+		if (notify) {
+			AltosDebug.debug("disconnect(): send message to clients");
+			send_to_clients();
+			if (clients.isEmpty()) {
+				AltosDebug.debug("disconnect(): no clients, terminating");
+				stopSelf();
+			}
 		}
-		device = null;
-		mConfigData = null;
 	}
 
-	private void startAltosBluetooth() {
-		if (device == null) {
+	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 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) {
+		if (bluetooth_adapter == null || !bluetooth_adapter.isEnabled())
 			return;
+
+		disconnect(false);
+
+		// Get the BluetoothDevice object
+		BluetoothDevice device = bluetooth_adapter.getRemoteDevice(address.address);
+
+		this.address = address;
+		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<String,Integer> 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;
 		}
-		if (mAltosBluetooth == null) {
-			if (D) Log.d(TAG, String.format("startAltosBluetooth(): Connecting to %s (%s)", device.getName(), device.getAddress()));
-			mAltosBluetooth = new AltosBluetooth(device, mHandler);
-			setState(STATE_CONNECTING);
-		} 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, device), 3000);
-			stopAltosBluetooth();
+		Message m = Message.obtain(null, AltosDroid.MSG_IGNITER_STATUS, status_map);
+		try {
+			client.send(m);
+		} catch (RemoteException e) {
 		}
 	}
 
-	private synchronized void setState(int s) {
-		if (D) Log.d(TAG, "setState(): " + state + " -> " + s);
-		state = s;
+	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;
+		}
+	}
 
-		// This shouldn't be required - mConfigData should be null for any non-connected
-		// state, but to be safe and to reduce message size
-		AltosConfigData acd = (state == STATE_CONNECTED) ? mConfigData : null;
+	// Timer for receiver battery voltage monitoring
+	Timer receiver_voltage_timer;
 
-		sendMessageToClients(Message.obtain(null, AltosDroid.MSG_STATE_CHANGE, state, -1, acd));
+	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 connected() {
+	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 {
+		AltosDebug.debug("connected top");
+		AltosDebug.check_ui("connected\n");
 		try {
-			if (mAltosBluetooth == null)
+			if (altos_link == null)
 				throw new InterruptedException("no bluetooth");
-			mConfigData = mAltosBluetooth.config_data();
-		} catch (InterruptedException e) {
+			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;
 		}
 
-		setState(STATE_CONNECTED);
+		AltosDebug.debug("connected bluetooth configured");
+		telemetry_state.connect = TelemetryState.CONNECT_CONNECTED;
+		telemetry_state.address = address;
 
-		mTelemetryReader = new TelemetryReader(mAltosBluetooth, mHandler);
-		mTelemetryReader.start();
-		
-		mTelemetryLogger = new TelemetryLogger(this, mAltosBluetooth);
-	}
+		telemetry_start();
 
+		AltosDebug.debug("connected TelemetryReader started");
 
-	private void onTimerTick() {
-		if (D) Log.d(TAG, "Timer wakeup");
-		try {
-			if (mClients.size() <= 0 && state != STATE_CONNECTED) {
-				stopSelf();
-			}
-		} catch (Throwable t) {
-			Log.e(TAG, "Timer failed: ", t);
-		}
+		telemetry_logger = new TelemetryLogger(this, altos_link);
+
+		start_receiver_voltage_timer();
+
+		AltosDebug.debug("Notify UI of connection");
+
+		send_to_clients();
 	}
 
 
 	@Override
 	public void onCreate() {
+
+		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
 		//mNM = (NotificationManager)getSystemService(NOTIFICATION_SERVICE);
 
-		setState(STATE_READY);
+		telemetry_state.connect = TelemetryState.CONNECT_DISCONNECTED;
+		telemetry_state.address = null;
+
+		/* Pull the saved state information out of the preferences database
+		 */
+		ArrayList<Integer> serials = AltosPreferences.list_states();
+
+		telemetry_state.latest_serial = AltosPreferences.latest_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);
+		telemetry_state.quiet = true;
 
-		// Listen for GPS and Network position updates
-		locationListener = new AltosLocationListener(mHandler);
+		AltosDebug.debug("latest serial %d\n", telemetry_state.latest_serial);
 
-		LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
-		
-		locationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 0, 0, locationListener);
-		locationManager.requestLocationUpdates(LocationManager.NETWORK_PROVIDER, 0, 0, locationListener);
+		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);
 
@@ -350,6 +663,20 @@ public class TelemetryService extends Service {
 		// Move us into the foreground.
 		startForeground(NOTIFICATION, notification);
 
+		/* 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
 		// stopped, so return sticky.
 		return START_STICKY;
@@ -358,27 +685,32 @@ public class TelemetryService extends Service {
 	@Override
 	public void onDestroy() {
 
-		// Stop listening for location updates
-		LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);
-		locationManager.removeUpdates(locationListener);
-
 		// 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();
 	}
 
+	/* 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 failed() {
+	}
+
+	public void error(String reason) {
+		stop_idle_monitor();
+	}
 }