mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-18 03:52:11 +01:00
Create a UAVTalk service that is called from the object browser
This commit is contained in:
James Cotton
parent
cdac9d7f9e
commit
d3f9c97961
@ -18,5 +18,6 @@
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</intent-filter>
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</activity>
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<service android:name=".OPTelemetryService"></service>
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</application>
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</manifest>
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146
androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java
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146
androidgcs/src/org/openpilot/androidgcs/BluetoothUAVTalk.java
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@ -0,0 +1,146 @@
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package org.openpilot.androidgcs;
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import java.io.IOException;
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import java.util.Set;
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import java.util.UUID;
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import org.openpilot.uavtalk.UAVObjectManager;
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import org.openpilot.uavtalk.UAVTalk;
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import android.app.Activity;
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import android.bluetooth.BluetoothAdapter;
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import android.bluetooth.BluetoothDevice;
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import android.bluetooth.BluetoothSocket;
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import android.content.BroadcastReceiver;
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import android.content.Context;
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import android.content.Intent;
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import android.util.Log;
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public class BluetoothUAVTalk {
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private final String TAG = "BluetoothUAVTalk";
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public static int LOGLEVEL = 2;
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public static boolean WARN = LOGLEVEL > 1;
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public static boolean DEBUG = LOGLEVEL > 0;
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// Temporarily define fixed device name
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public final static String DEVICE_NAME = "RN42-222D";
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private final static UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");
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private BluetoothAdapter mBluetoothAdapter;
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private BluetoothSocket socket;
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private BluetoothDevice device;
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private UAVTalk uavTalk;
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private boolean connected;
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public BluetoothUAVTalk(Context caller, String deviceName) {
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if (DEBUG) Log.d(TAG, "Trying to open UAVTalk with " + deviceName);
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connected = false;
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device = null;
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mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
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if (mBluetoothAdapter == null) {
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// Device does not support Bluetooth
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Log.e(TAG, "Device does not support Bluetooth");
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return;
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}
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if (!mBluetoothAdapter.isEnabled()) {
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// Enable bluetooth if it isn't already
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Intent enableBtIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
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caller.sendOrderedBroadcast(enableBtIntent, "android.permission.BLUETOOTH_ADMIN", new BroadcastReceiver() {
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@Override
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public void onReceive(Context context, Intent intent) {
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Log.e(TAG,"Received " + context + intent);
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//TODO: some logic here to see if it worked
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queryDevices();
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}
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}, null, Activity.RESULT_OK, null, null);
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} else {
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queryDevices();
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}
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}
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public boolean connect(UAVObjectManager objMngr) {
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if( getConnected() )
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return true;
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if( !getFoundDevice() )
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return false;
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if( !openTelemetryBluetooth(objMngr) )
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return false;
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return true;
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}
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public boolean getConnected() {
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return connected;
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}
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public boolean getFoundDevice() {
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return (device != null);
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}
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public UAVTalk getUavtalk() {
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return uavTalk;
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}
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private void queryDevices() {
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Log.d(TAG, "Searching for devices");
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Set<BluetoothDevice> pairedDevices = mBluetoothAdapter.getBondedDevices();
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// If there are paired devices
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if (pairedDevices.size() > 0) {
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// Loop through paired devices
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for (BluetoothDevice device : pairedDevices) {
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// Add the name and address to an array adapter to show in a ListView
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//mArrayAdapter.add(device.getName() + "\n" + device.getAddress());
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Log.d(TAG, "Paired device: " + device.getName());
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if(device.getName().compareTo(DEVICE_NAME) == 0) {
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this.device = device;
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return;
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}
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}
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}
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}
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private boolean openTelemetryBluetooth(UAVObjectManager objMngr) {
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Log.d(TAG, "Opening conncetion to " + device.getName());
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socket = null;
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connected = false;
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try {
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socket = device.createInsecureRfcommSocketToServiceRecord(MY_UUID);
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} catch (IOException e) {
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Log.e(TAG,"Unable to create Rfcomm socket");
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return false;
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//e.printStackTrace();
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}
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mBluetoothAdapter.cancelDiscovery();
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try {
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socket.connect();
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}
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catch (IOException e) {
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Log.e(TAG,"Unable to connect to requested device", e);
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try {
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socket.close();
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} catch (IOException e2) {
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Log.e(TAG, "unable to close() socket during connection failure", e2);
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}
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return false;
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}
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connected = true;
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try {
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uavTalk = new UAVTalk(socket.getInputStream(), socket.getOutputStream(), objMngr);
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} catch (IOException e) {
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Log.e(TAG,"Error starting UAVTalk");
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// TODO Auto-generated catch block
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//e.printStackTrace();
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return false;
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}
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return true;
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}
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}
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@ -0,0 +1,88 @@
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package org.openpilot.androidgcs;
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import org.openpilot.uavtalk.Telemetry;
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import org.openpilot.uavtalk.TelemetryMonitor;
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import org.openpilot.uavtalk.UAVObjectManager;
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import org.openpilot.uavtalk.UAVTalk;
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import org.openpilot.uavtalk.uavobjects.UAVObjectsInitialize;
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import android.app.Service;
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import android.content.Intent;
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import android.os.IBinder;
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import android.os.Looper;
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import android.util.Log;
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public class OPTelemetryService extends Service {
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private final String TAG = "OPTElemetryService";
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public static int LOGLEVEL = 2;
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public static boolean WARN = LOGLEVEL > 1;
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public static boolean DEBUG = LOGLEVEL > 0;
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private UAVObjectManager objMngr;
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private UAVTalk uavTalk;
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private Telemetry tel;
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private TelemetryMonitor mon;
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@Override
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public IBinder onBind(Intent arg0) {
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return null;
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}
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@Override
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public void onCreate() {
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super.onCreate();
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if (DEBUG) Log.d(TAG, "Telemetry Service started");
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Thread telemetryThread = new Thread(telemetryRunnable);
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telemetryThread.start();
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}
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@Override
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public void onDestroy() {
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super.onDestroy();
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}
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private final Runnable telemetryRunnable = new Runnable() {
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public void run() {
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Looper.prepare();
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if (DEBUG) Log.d(TAG, "Telemetry Thread started");
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objMngr = new UAVObjectManager();
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UAVObjectsInitialize.register(objMngr);
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BluetoothUAVTalk bt = new BluetoothUAVTalk(OPTelemetryService.this, BluetoothUAVTalk.DEVICE_NAME);
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while(true) {
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if (DEBUG) Log.d(TAG, "Attempting Bluetooth Connection");
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if(! bt.getConnected() )
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bt.connect(objMngr);
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else
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break;
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Looper.loop();
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}
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if (DEBUG) Log.d(TAG, "Connected via bluetooth");
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uavTalk = bt.getUavtalk();
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tel = new Telemetry(uavTalk, objMngr);
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mon = new TelemetryMonitor(objMngr,tel);
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if (DEBUG) Log.d(TAG, "Entering UAVTalk processing loop");
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while(true) {
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if( !uavTalk.processInputStream() )
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break;
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Looper.loop();
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}
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if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
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}
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};
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public UAVObjectManager getObjMngr() { return objMngr; };
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public UAVTalk getUavTalk() { return uavTalk; };
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public Telemetry getTelemetry() { return tel; };
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public TelemetryMonitor getTelemetryMonitor() { return mon; };
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}
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@ -69,26 +69,12 @@ public class ObjectBrowser extends Activity {
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Log.d(TAG, "Launching Object Browser");
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connected = false;
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Log.d(TAG, "Start OP Telemetry Service");
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startService( new Intent( this, OPTelemetryService.class ) );
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objMngr = new UAVObjectManager();
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UAVObjectsInitialize.register(objMngr);
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mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
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if (mBluetoothAdapter == null) {
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// Device does not support Bluetooth
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Log.e(TAG, "Device does not support Bluetooth");
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return;
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}
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if (!mBluetoothAdapter.isEnabled()) {
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Intent enableBtIntent = new Intent(BluetoothAdapter.ACTION_REQUEST_ENABLE);
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startActivityForResult(enableBtIntent, REQUEST_ENABLE_BT);
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} else {
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queryDevices();
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}
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UAVObject obj = objMngr.getObject("SystemStats");
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if(obj != null)
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obj.addUpdatedObserver(new Observer() {
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@ -116,84 +102,7 @@ public class ObjectBrowser extends Activity {
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public void update(Observable observable, Object data) {
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uavobjHandler.post(updateText);
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}
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});
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});
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}
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@Override
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public void onActivityResult(int requestCode, int resultCode, Intent data) {
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if(requestCode == REQUEST_ENABLE_BT && resultCode == RESULT_OK) {
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//Log.d(TAG, "Bluetooth started succesfully");
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queryDevices();
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}
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if(requestCode == REQUEST_ENABLE_BT && resultCode != RESULT_OK) {
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//Log.d(TAG, "Bluetooth could not be started");
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}
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}
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public void queryDevices() {
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Log.d(TAG, "Searching for devices");
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Set<BluetoothDevice> pairedDevices = mBluetoothAdapter.getBondedDevices();
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// If there are paired devices
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if (pairedDevices.size() > 0) {
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// Loop through paired devices
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for (BluetoothDevice device : pairedDevices) {
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// Add the name and address to an array adapter to show in a ListView
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//mArrayAdapter.add(device.getName() + "\n" + device.getAddress());
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Log.d(TAG, "Paired device: " + device.getName());
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if(device.getName().compareTo(DEVICE_NAME) == 0) {
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openTelmetryBluetooth(device);
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openTelmetryBluetooth(device);
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}
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}
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}
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}
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private void openTelmetryBluetooth(BluetoothDevice device) {
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Log.d(TAG, "Opening conncetion to " + device.getName());
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socket = null;
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connected = false;
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try {
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socket = device.createInsecureRfcommSocketToServiceRecord(MY_UUID);
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} catch (IOException e) {
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Log.e(TAG,"Unable to create Rfcomm socket");
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//e.printStackTrace();
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}
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mBluetoothAdapter.cancelDiscovery();
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try {
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socket.connect();
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}
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catch (IOException e) {
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Log.e(TAG,"Unable to connect to requested device", e);
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try {
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socket.close();
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} catch (IOException e2) {
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//Log.e(TAG, "unable to close() socket during connection failure", e2);
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}
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return;
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}
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connected = true;
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try {
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uavTalk = new UAVTalk(socket.getInputStream(), socket.getOutputStream(), objMngr);
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} catch (IOException e) {
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Log.e(TAG,"Error starting UAVTalk");
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// TODO Auto-generated catch block
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//e.printStackTrace();
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return;
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}
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Thread inputStream = uavTalk.getInputProcessThread();
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inputStream.start();
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Telemetry tel = new Telemetry(uavTalk, objMngr);
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TelemetryMonitor mon = new TelemetryMonitor(objMngr,tel);
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}
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}
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