Get rid of lots of warnings

androidgcs/src/org/openpilot/androidgcs/OPTelemetryService.java

@@ -2,6 +2,7 @@ package org.openpilot.androidgcs;
 
 import org.openpilot.uavtalk.Telemetry;
 import org.openpilot.uavtalk.TelemetryMonitor;
+import org.openpilot.uavtalk.UAVDataObject;
 import org.openpilot.uavtalk.UAVObjectManager;
 import org.openpilot.uavtalk.UAVTalk;
 import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
@@ -13,69 +14,192 @@ import android.app.Service;
 import android.content.Context;
 import android.content.Intent;
 import android.net.Uri;
+import android.os.Binder;
 import android.os.Handler;
+import android.os.HandlerThread;
 import android.os.IBinder;
 import android.os.Looper;
+import android.os.Message;
+import android.os.Process;
 import android.util.Log;
+import android.widget.Toast;
 
 public class OPTelemetryService extends Service {
+
+	// Logging settings
 	private final String TAG = "OPTElemetryService";
 	public static int LOGLEVEL = 2;
 	public static boolean WARN = LOGLEVEL > 1;
 	public static boolean DEBUG = LOGLEVEL > 0;
 
-	final int DISCONNECT_MESSAGE = 0;
+	// Intent category
-	final int CONNECT_MESSAGE = 1;
+	public final static String INTENT_CATEGORY_GCS        = "org.openpilot.intent.category.GCS";
-	final int CONNECT_FAILED_MESSAGE = 2;
-	
-	private UAVObjectManager objMngr;
-	private UAVTalk uavTalk;
-	private Telemetry tel;
-	private TelemetryMonitor mon;
-	
-	private Handler handler;
 
-	@Override
+	// Intent actions
-	public IBinder onBind(Intent arg0) {
+	public final static String INTENT_ACTION_CONNECTED    = "org.openpilot.intent.action.CONNECTED";
-		return null;
+	public final static String INTENT_ACTION_DISCONNECTED = "org.openpilot.intent.action.DISCONNECTED";
-	}
+
+	// Variables for local message handler thread
+	private Looper mServiceLooper;
+	private ServiceHandler mServiceHandler;
+
+	// Message ids
+	final int MSG_START = 0;
+	final int MSG_CONNECT_BT = 1;
+	final int MSG_CONNECT_FAKE = 2;
+	final int MSG_TOAST = 100;
+
+	private Thread activeTelem;
+
+	private final IBinder mBinder = new LocalBinder();
+
+	private final class ServiceHandler extends Handler {
+		public ServiceHandler(Looper looper) {
+			super(looper);
+		}
+		@Override
+		public void handleMessage(Message msg) {
+			switch(msg.arg1) {
+			case MSG_START:
+				Toast.makeText(OPTelemetryService.this, "HERE", Toast.LENGTH_SHORT);
+				System.out.println("HERE");
+				stopSelf(msg.arg2);
+			case MSG_CONNECT_BT:
+				activeTelem = new BTTelemetryThread();
+				activeTelem.start();
+				break;
+			case MSG_CONNECT_FAKE:
+				activeTelem = new FakeTelemetryThread();
+				activeTelem.start();
+				break;
+			case MSG_TOAST:
+				Toast.makeText(OPTelemetryService.this, (String) msg.obj, Toast.LENGTH_SHORT);
+				break;
+			default:
+				System.out.println(msg.toString());
+				throw new Error("Invalid message");
+			}
+		}
+	};
 
 	@Override
 	public void onCreate() {
-		super.onCreate();
+		// Low priority thread for message handling with service
-		
+		HandlerThread thread = new HandlerThread("TelemetryServiceHandler",
-		if (DEBUG) Log.d(TAG, "Telemetry Service started");
+				Process.THREAD_PRIORITY_BACKGROUND);
+		thread.start();
 
-		Thread telemetryThread = new Thread(telemetryRunnable);
+		// Get the HandlerThread's Looper and use it for our Handler 
-		telemetryThread.start();
+		mServiceLooper = thread.getLooper();
- 	}
+		mServiceHandler = new ServiceHandler(mServiceLooper);
+	}
+
+	@Override
+	public int onStartCommand(Intent intent, int flags, int startId) {
+		Toast.makeText(this, "Telemetry service starting", Toast.LENGTH_SHORT).show();
+
+		System.out.println("Start");
+		// For each start request, send a message to start a job and deliver the
+		// start ID so we know which request we're stopping when we finish the job
+		Message msg = mServiceHandler.obtainMessage();
+		msg.arg1 = MSG_START;
+		msg.arg2 = startId;
+		mServiceHandler.sendMessage(msg);
+
+		// If we get killed, after returning from here, restart
+		return START_STICKY;
+	}
+
+	@Override
+	public IBinder onBind(Intent intent) {		
+		return mBinder;
+	}
 
 	@Override
 	public void onDestroy() {
-		super.onDestroy();
+		Toast.makeText(this, "Telemetry service done", Toast.LENGTH_SHORT).show(); 
 	}
+
+	public class LocalBinder extends Binder {
+		public TelemTask getTelemTask(int id) {
+			return (TelemTask) activeTelem;
+		}
+		public void openFakeConnection() {
+			Message msg = mServiceHandler.obtainMessage();
+			msg.arg1 = MSG_CONNECT_FAKE;
+			mServiceHandler.sendMessage(msg);
+		}
+	};
 	
-	private final Runnable telemetryRunnable = new Runnable() {
+	public void toastMessage(String msgText) {
+		Message msg = mServiceHandler.obtainMessage();
+		msg.arg1 = MSG_TOAST;
+		msg.obj = msgText;
+		mServiceHandler.sendMessage(msg);
+	}
+
+	public interface TelemTask {
+		public UAVObjectManager getObjectManager();
+	};
+
+	// Fake class for testing, simply emits periodic updates on 
+	private class FakeTelemetryThread extends Thread implements TelemTask  {
+		private UAVObjectManager objMngr;
+		public UAVObjectManager getObjectManager() { return objMngr; };
+
+		FakeTelemetryThread() {
+			objMngr = new UAVObjectManager();
+			UAVObjectsInitialize.register(objMngr);
+		}
+		
+		public void run() {
+			System.out.println("Runnin fake thread");
+
+			Intent intent = new Intent();
+			intent.setAction(INTENT_ACTION_CONNECTED);
+			sendBroadcast(intent,null);
+			
+			//toastMessage("Started fake telemetry thread");
+			UAVDataObject systemStats = (UAVDataObject) objMngr.getObject("SystemStats");
+			while(true) {
+				systemStats.updated();
+				try {
+					Thread.sleep(1000);
+				} catch (InterruptedException e) {
+					break;
+				}
+			}
+		}
+	}
+	private class BTTelemetryThread extends Thread implements TelemTask { 
+
+		private UAVObjectManager objMngr;
+		private UAVTalk uavTalk;
+		private Telemetry tel;
+		//private TelemetryMonitor mon;
+
+		public UAVObjectManager getObjectManager() { return objMngr; };
+
+		BTTelemetryThread() {
+			objMngr = new UAVObjectManager();
+			UAVObjectsInitialize.register(objMngr);
+		}
 
 		public void run() {			
 			if (DEBUG) Log.d(TAG, "Telemetry Thread started");
 
 			Looper.prepare();						
-			
+
-	        objMngr = new UAVObjectManager();
-			UAVObjectsInitialize.register(objMngr);
-			
-			postNotification(CONNECT_FAILED_MESSAGE, "Connecting");
 			BluetoothUAVTalk bt = new BluetoothUAVTalk(OPTelemetryService.this, BluetoothUAVTalk.DEVICE_NAME);
 			for( int i = 0; i < 10; i++ ) {
 				if (DEBUG) Log.d(TAG, "Attempting Bluetooth Connection");
-					
+
 				bt.connect(objMngr);
-				
+
 				if (DEBUG) Log.d(TAG, "Done attempting connection");
 				if( bt.getConnected() )
 					break;
-				
+
 				try {
 					Thread.sleep(1000);
 				} catch (InterruptedException e) {
@@ -85,17 +209,15 @@ public class OPTelemetryService extends Service {
 				}
 			}
 			if( ! bt.getConnected() ) {
-				postNotification(CONNECT_FAILED_MESSAGE, "Could not connect to UAV");
 				return;
 			}
-			
+
-			postNotification(CONNECT_MESSAGE, "Connected to UAV port");
+
-			
 			if (DEBUG) Log.d(TAG, "Connected via bluetooth");
-			
+
 			uavTalk = bt.getUavtalk();
 			tel = new Telemetry(uavTalk, objMngr);
-			mon = new TelemetryMonitor(objMngr,tel);
+			new TelemetryMonitor(objMngr,tel);
 
 			if (DEBUG) Log.d(TAG, "Entering UAVTalk processing loop");
 			while(true) {
@@ -103,30 +225,23 @@ public class OPTelemetryService extends Service {
 					break;
 			}
 			if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
-			postNotification(DISCONNECT_MESSAGE,"UAVTalk stream disconnected");
 		}
-	
+
 	};
-	
+
 	void postNotification(int id, String message) {
 		String ns = Context.NOTIFICATION_SERVICE;
 		NotificationManager mNManager = (NotificationManager) getSystemService(ns);
 		final Notification msg = new Notification(R.drawable.icon, message, System.currentTimeMillis());
-		
+
 		Context context = getApplicationContext(); 
 		CharSequence contentTitle = "OpenPilot";
 		CharSequence contentText = message; 
 		Intent msgIntent = new Intent(Intent.ACTION_VIEW, Uri.parse("http://forums.openpilot.org"));
 		PendingIntent intent = PendingIntent.getActivity(this, 0, msgIntent, Intent.FLAG_ACTIVITY_NEW_TASK);		
-		
+
 		msg.setLatestEventInfo(context, contentTitle, contentText, intent);
-		
+
 		mNManager.notify(id, msg);
 	}
-	
-	public UAVObjectManager getObjMngr() { return objMngr; };
-	public UAVTalk getUavTalk() { return uavTalk; };
-	public Telemetry getTelemetry() { return tel; };
-	public TelemetryMonitor getTelemetryMonitor() { return mon; };
-
 }

androidgcs/src/org/openpilot/androidgcs/ObjectBrowser.java

@@ -1,42 +1,21 @@
 package org.openpilot.androidgcs;
 
-import java.io.IOException;
 import java.util.Observable;
 import java.util.Observer;
-import java.util.Set;
-import java.util.UUID;
 
-import android.app.Activity;
-import android.bluetooth.BluetoothAdapter;
-import android.bluetooth.BluetoothDevice;
-import android.bluetooth.BluetoothSocket;
-import android.content.Intent;
 import android.os.Bundle;
 import android.os.Handler;
 import android.util.Log;
 import android.widget.TextView;
 import android.widget.ToggleButton;
 
-import org.openpilot.androidgcs.*;
-import org.openpilot.uavtalk.Telemetry;
-import org.openpilot.uavtalk.TelemetryMonitor;
 import org.openpilot.uavtalk.UAVObject;
-import org.openpilot.uavtalk.UAVObjectManager;
-import org.openpilot.uavtalk.UAVTalk;
-import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
 
-public class ObjectBrowser extends Activity {
+public class ObjectBrowser extends ObjectManagerActivity {
-	
+
 	private final String TAG = "ObjectBrower";
-	private final String DEVICE_NAME = "RN42-222D";
-	private final int REQUEST_ENABLE_BT = 0;
-	private UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
-	BluetoothAdapter mBluetoothAdapter;
-	BluetoothSocket socket;
 	boolean connected;
-	UAVObjectManager objMngr;
+
-	UAVTalk uavTalk;
-	
 	final Handler uavobjHandler = new Handler(); 
 	final Runnable updateText = new Runnable() {
 		public void run() {
@@ -44,9 +23,9 @@ public class ObjectBrowser extends Activity {
 			button.setChecked(!connected);
 
 			Log.d(TAG,"HERE" + connected);
-			
+
 			TextView text = (TextView) findViewById(R.id.textView1);
-			
+
 			UAVObject obj1 = objMngr.getObject("SystemStats");
 			UAVObject obj2 = objMngr.getObject("AttitudeRaw");
 			UAVObject obj3 = objMngr.getObject("AttitudeActual");
@@ -57,52 +36,30 @@ public class ObjectBrowser extends Activity {
 
 			Log.d(TAG,"And here");
 			text.setText(obj1.toString() + "\n" + obj2.toString() + "\n" + obj3.toString() + "\n" + obj4.toString() );
-			
+
 		}
 	};
-	
-    /** Called when the activity is first created. */
-    @Override
-    public void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-        setContentView(R.layout.main);
-        
-        Log.d(TAG, "Launching Object Browser");
 
-        Log.d(TAG, "Start OP Telemetry Service");
+	/** Called when the activity is first created. */
-        startService( new Intent( this, OPTelemetryService.class ) );
+	@Override
-        
+	public void onCreate(Bundle savedInstanceState) {
-        objMngr = new UAVObjectManager();
+		super.onCreate(savedInstanceState);
-		UAVObjectsInitialize.register(objMngr);
+		setContentView(R.layout.main);
+	}
+
+	@Override
+	void onOPConnected() {
+		//		Toast.makeText(this,"Telemetry estabilished",Toast.LENGTH_SHORT);
+		Log.d(TAG, "onOPConnected()");
 
 		UAVObject obj = objMngr.getObject("SystemStats");
+		Log.d(TAG, ((Boolean) (obj == null)).toString());
 		if(obj != null)
 			obj.addUpdatedObserver(new Observer() {
 				public void update(Observable observable, Object data) {
 					uavobjHandler.post(updateText);
 				}				
 			});
-		obj = objMngr.getObject("AttitudeRaw");
+
-		if(obj != null)
+	}
-			obj.addUpdatedObserver(new Observer() {
-				public void update(Observable observable, Object data) {
-					uavobjHandler.post(updateText);
-				}				
-			});
-		obj = objMngr.getObject("AttitudeActual");
-		if(obj != null)
-			obj.addUpdatedObserver(new Observer() {
-				public void update(Observable observable, Object data) {
-					uavobjHandler.post(updateText);
-				}				
-			});
-		obj = objMngr.getObject("SystemAlarms");
-		if(obj != null)
-			obj.addUpdatedObserver(new Observer() {
-				public void update(Observable observable, Object data) {
-					uavobjHandler.post(updateText);
-				}				
-			});		
-    }
-    
 }

androidgcs/src/org/openpilot/androidgcs/TelemetryWidget.java

@@ -3,14 +3,10 @@ package org.openpilot.androidgcs;
 import android.appwidget.AppWidgetManager;
 import android.appwidget.AppWidgetProvider;
 import android.content.Context;
-import android.content.Intent;
-import android.os.Bundle;
 import android.widget.RemoteViews;
 
 public class TelemetryWidget extends AppWidgetProvider {
 	
-	private static boolean connected = false;
-
 	public void onUpdate(Context context, AppWidgetManager appWidgetManager, int[] appWidgetIds) {
         final int N = appWidgetIds.length;
 

androidgcs/src/org/openpilot/uavtalk/Telemetry.java

@@ -630,7 +630,6 @@ public class Telemetry {
 	/**
 	 * Private variables
 	 */
-	private TelemetryStats stats;
     private UAVObjectManager objMngr;
     private UAVTalk utalk;
     private UAVObject gcsStatsObj;

androidgcs/src/org/openpilot/uavtalk/TelemetryMonitor.java

@@ -8,9 +8,6 @@ import java.util.Observer;
 import java.util.Timer;
 import java.util.TimerTask;
 
-import org.openpilot.uavtalk.uavobjects.FlightTelemetryStats;
-import org.openpilot.uavtalk.uavobjects.GCSTelemetryStats;
-
 import android.util.Log;
 
 public class TelemetryMonitor {
@@ -26,7 +23,7 @@ public class TelemetryMonitor {
 
 	private UAVObjectManager objMngr;
 	private Telemetry tel;
-	private UAVObject objPending;
+//	private UAVObject objPending;
 	private UAVObject gcsStatsObj;
 	private UAVObject flightStatsObj;
 	private Timer periodicTask;
@@ -38,7 +35,7 @@ public class TelemetryMonitor {
 	{
 	    this.objMngr = objMngr;
 	    this.tel = tel;
-	    this.objPending = null;
+//	    this.objPending = null;
 	    queue = new ArrayList<UAVObject>();
 
 	    // Get stats objects
@@ -142,7 +139,7 @@ public class TelemetryMonitor {
 
 	    // Request update
 	    tel.updateRequested(obj);
-	    objPending = obj;
+//	    objPending = obj;
 	}
 
 	/**
@@ -155,7 +152,7 @@ public class TelemetryMonitor {
 		if (DEBUG) Log.d(TAG,"transactionCompleted.  Status: " + success);
 		// TODO: Need to be able to disconnect signals
 	    //obj->disconnect(this);
-	    objPending = null;
+//	    objPending = null;
 	    
 	    if(!success) {
 	    	Log.e(TAG, "Transaction failed: " + obj.getName() + " sending again.");

androidgcs/src/org/openpilot/uavtalk/UAVObject.java

@@ -64,7 +64,7 @@ public abstract class UAVObject {
 		if(manually)
 			updatedManual();
 	}
-	void updated() { updated(true); };
+	public void updated() { updated(true); };
 	
 	private CallbackListener unpackedListeners = new CallbackListener(this);
 	public void addUnpackedObserver(Observer o) {

androidgcs/src/org/openpilot/uavtalk/UAVObjectField.java

@@ -1,6 +1,5 @@
 package org.openpilot.uavtalk;
 
-import java.io.Serializable;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import java.util.ArrayList;
@@ -91,7 +90,8 @@ public class UAVObjectField {
      * @param dataOut
      * @return the number of bytes added
      **/
-    public synchronized int pack(ByteBuffer dataOut) {
+    @SuppressWarnings("unchecked")
+	public synchronized int pack(ByteBuffer dataOut) {
         // Pack each element in output buffer
     	dataOut.order(ByteOrder.LITTLE_ENDIAN);
         switch (type)
@@ -152,7 +152,8 @@ public class UAVObjectField {
         return getNumBytes();    	
     }
     
-    public synchronized int unpack(ByteBuffer dataIn) {
+    @SuppressWarnings("unchecked")
+	public synchronized int unpack(ByteBuffer dataIn) {
         // Unpack each element from input buffer
     	dataIn.order(ByteOrder.LITTLE_ENDIAN);
         switch (type)
@@ -436,9 +437,9 @@ public class UAVObjectField {
         }    	
     }
     
-    public String toString() {
+	public String toString() {
         String sout = new String();
-        sout += name + ": " + ((List) data).toString() + " (" + units + ")\n";
+        sout += name + ": " + data.toString() + " (" + units + ")\n";
         return sout;    	
     }