mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-18 03:52:11 +01:00
Remove old OPTelemetryService
This commit is contained in:
James Cotton
parent
1c60d4b856
commit
fcff84007e
@ -1,456 +0,0 @@
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package org.openpilot.androidgcs;
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import java.io.IOException;
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import java.lang.ref.WeakReference;
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import java.util.Observable;
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import java.util.Observer;
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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.UAVDataObject;
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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.content.SharedPreferences;
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import android.os.Binder;
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import android.os.Handler;
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import android.os.HandlerThread;
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import android.os.IBinder;
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import android.os.Looper;
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import android.os.Message;
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import android.os.Process;
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import android.preference.PreferenceManager;
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import android.util.Log;
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import android.widget.Toast;
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public class OPTelemetryService extends Service {
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// Logging settings
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private final String TAG = "OPTelemetryService";
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public static int LOGLEVEL = 0;
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public static boolean WARN = LOGLEVEL > 1;
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public static boolean DEBUG = LOGLEVEL > 0;
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// Intent category
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public final static String INTENT_CATEGORY_GCS = "org.openpilot.intent.category.GCS";
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// Intent actions
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public final static String INTENT_ACTION_CONNECTED = "org.openpilot.intent.action.CONNECTED";
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public final static String INTENT_ACTION_DISCONNECTED = "org.openpilot.intent.action.DISCONNECTED";
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// Variables for local message handler thread
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private Looper mServiceLooper;
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private ServiceHandler mServiceHandler;
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private static HandlerThread thread;
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// Message ids
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static final int MSG_START = 0;
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static final int MSG_CONNECT = 1;
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static final int MSG_DISCONNECT = 3;
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static final int MSG_TOAST = 100;
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private boolean terminate = false;
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private Thread activeTelem;
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private final IBinder mBinder = new LocalBinder();
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static class ServiceHandler extends Handler {
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private final WeakReference<OPTelemetryService> mService;
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ServiceHandler(OPTelemetryService service, Looper looper) {
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super(looper);
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mService = new WeakReference<OPTelemetryService>(service);
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}
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@Override
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public void handleMessage(Message msg)
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{
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OPTelemetryService service = mService.get();
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if (service != null) {
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service.handleMessage(msg);
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}
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}
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}
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void handleMessage(Message msg) {
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switch(msg.arg1) {
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case MSG_START:
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stopSelf(msg.arg2);
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break;
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case MSG_CONNECT:
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terminate = false;
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int connection_type;
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SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
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try {
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connection_type = Integer.decode(prefs.getString("connection_type", ""));
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} catch (NumberFormatException e) {
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connection_type = 0;
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}
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switch(connection_type) {
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case 0: // No connection
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return;
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case 1:
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Toast.makeText(getApplicationContext(), "Attempting fake connection", Toast.LENGTH_SHORT).show();
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activeTelem = new FakeTelemetryThread();
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break;
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case 2:
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Toast.makeText(getApplicationContext(), "Attempting BT connection", Toast.LENGTH_SHORT).show();
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activeTelem = new BTTelemetryThread();
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break;
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case 3:
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Toast.makeText(getApplicationContext(), "Attempting TCP connection", Toast.LENGTH_SHORT).show();
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activeTelem = new TcpTelemetryThread();
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break;
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default:
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throw new Error("Unsupported");
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}
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activeTelem.start();
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break;
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case MSG_DISCONNECT:
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Toast.makeText(getApplicationContext(), "Disconnect requested", Toast.LENGTH_SHORT).show();
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terminate = true;
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activeTelem.interrupt();
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try {
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activeTelem.join();
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} catch (InterruptedException e) {
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e.printStackTrace();
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}
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activeTelem = null;
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Intent intent = new Intent();
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intent.setAction(INTENT_ACTION_DISCONNECTED);
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sendBroadcast(intent,null);
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stopSelf();
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break;
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case MSG_TOAST:
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Toast.makeText(this, (String) msg.obj, Toast.LENGTH_SHORT).show();
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break;
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default:
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System.out.println(msg.toString());
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throw new Error("Invalid message");
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}
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}
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/**
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* Called when the service starts. It creates a thread to handle messages (e.g. connect and disconnect)
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* and based on the stored preference will send itself a connect signal if needed.
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*/
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public void startup() {
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Toast.makeText(getApplicationContext(), "Telemetry service starting", Toast.LENGTH_SHORT).show();
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thread = new HandlerThread("TelemetryServiceHandler", Process.THREAD_PRIORITY_BACKGROUND);
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thread.start();
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// Get the HandlerThread's Looper and use it for our Handler
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mServiceLooper = thread.getLooper();
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mServiceHandler = new ServiceHandler(this, mServiceLooper);
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SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(OPTelemetryService.this);
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if(prefs.getBoolean("autoconnect", false)) {
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Message msg = mServiceHandler.obtainMessage();
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msg.arg1 = MSG_CONNECT;
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msg.arg2 = 0;
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mServiceHandler.sendMessage(msg);
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}
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}
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@Override
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public void onCreate() {
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startup();
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}
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@Override
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public int onStartCommand(Intent intent, int flags, int startId) {
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// Currently only using as bound service
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// If we get killed, after returning from here, restart
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return START_STICKY;
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}
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@Override
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public IBinder onBind(Intent intent) {
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return mBinder;
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}
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@Override
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public void onDestroy() {
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Toast.makeText(this, "Telemetry service done", Toast.LENGTH_SHORT).show();
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}
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public class LocalBinder extends Binder {
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public TelemTask getTelemTask(int id) {
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return (TelemTask) activeTelem;
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}
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public void openConnection() {
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Toast.makeText(getApplicationContext(), "Requested open connection", Toast.LENGTH_SHORT).show();
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Message msg = mServiceHandler.obtainMessage();
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msg.arg1 = MSG_CONNECT;
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mServiceHandler.sendMessage(msg);
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}
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public void stopConnection() {
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Message msg = mServiceHandler.obtainMessage();
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msg.arg1 = MSG_DISCONNECT;
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mServiceHandler.sendMessage(msg);
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}
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public boolean isConnected() {
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return activeTelem != null;
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}
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};
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public void toastMessage(String msgText) {
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Message msg = mServiceHandler.obtainMessage();
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msg.arg1 = MSG_TOAST;
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msg.obj = msgText;
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mServiceHandler.sendMessage(msg);
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}
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/**
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* This is used by other processes to get a handle to the object manager
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*/
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public interface TelemTask {
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public UAVObjectManager getObjectManager();
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};
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// Fake class for testing, simply emits periodic updates on
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private class FakeTelemetryThread extends Thread implements TelemTask {
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private final UAVObjectManager objMngr;
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@Override
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public UAVObjectManager getObjectManager() { return objMngr; };
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FakeTelemetryThread() {
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objMngr = new UAVObjectManager();
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UAVObjectsInitialize.register(objMngr);
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}
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@Override
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public void run() {
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System.out.println("Running fake thread");
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Intent intent = new Intent();
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intent.setAction(INTENT_ACTION_CONNECTED);
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sendBroadcast(intent,null);
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//toastMessage("Started fake telemetry thread");
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UAVDataObject systemStats = (UAVDataObject) objMngr.getObject("SystemStats");
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UAVDataObject attitudeActual = (UAVDataObject) objMngr.getObject("AttitudeActual");
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UAVDataObject homeLocation = (UAVDataObject) objMngr.getObject("HomeLocation");
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UAVDataObject positionActual = (UAVDataObject) objMngr.getObject("PositionActual");
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UAVDataObject systemAlarms = (UAVDataObject) objMngr.getObject("SystemAlarms");
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systemAlarms.getField("Alarm").setValue("Warning",0);
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systemAlarms.getField("Alarm").setValue("OK",1);
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systemAlarms.getField("Alarm").setValue("Critical",2);
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systemAlarms.getField("Alarm").setValue("Error",3);
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systemAlarms.updated();
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homeLocation.getField("Latitude").setDouble(379420315);
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homeLocation.getField("Longitude").setDouble(-88330078);
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homeLocation.getField("Be").setDouble(26702.78710938,0);
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homeLocation.getField("Be").setDouble(-1468.33605957,1);
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homeLocation.getField("Be").setDouble(34181.78515625,2);
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double roll = 0;
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double pitch = 0;
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double yaw = 0;
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double north = 0;
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double east = 0;
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while( !terminate ) {
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attitudeActual.getField("Roll").setDouble(roll);
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attitudeActual.getField("Pitch").setDouble(pitch);
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attitudeActual.getField("Yaw").setDouble(yaw);
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positionActual.getField("North").setDouble(north += 100);
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positionActual.getField("East").setDouble(east += 100);
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roll = (roll + 10) % 180;
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pitch = (pitch + 10) % 180;
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yaw = (yaw + 10) % 360;
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systemStats.updated();
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attitudeActual.updated();
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positionActual.updated();
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try {
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Thread.sleep(1000);
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} catch (InterruptedException e) {
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break;
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}
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}
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}
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}
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private class BTTelemetryThread extends Thread implements TelemTask {
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private final 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 UAVObjectManager getObjectManager() { return objMngr; };
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BTTelemetryThread() {
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objMngr = new UAVObjectManager();
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UAVObjectsInitialize.register(objMngr);
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}
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@Override
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public void run() {
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if (DEBUG) Log.d(TAG, "Telemetry Thread started");
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Looper.prepare();
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BluetoothUAVTalk bt = new BluetoothUAVTalk(OPTelemetryService.this);
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for( int i = 0; i < 10; i++ ) {
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if (DEBUG) Log.d(TAG, "Attempting Bluetooth Connection");
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bt.connect(objMngr);
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if (DEBUG) Log.d(TAG, "Done attempting connection");
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if( bt.getConnected() )
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break;
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try {
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Thread.sleep(1000);
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} catch (InterruptedException e) {
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Log.e(TAG, "Thread interrupted while trying to connect");
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e.printStackTrace();
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return;
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}
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}
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if( ! bt.getConnected() ) {
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toastMessage("BT connection failed");
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return;
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}
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toastMessage("BT Connected");
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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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mon.addObserver(new Observer() {
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@Override
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public void update(Observable arg0, Object arg1) {
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if (DEBUG) Log.d(TAG, "Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
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if(mon.getConnected() /*&& mon.getObjectsUpdated()*/) {
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Intent intent = new Intent();
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intent.setAction(INTENT_ACTION_CONNECTED);
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sendBroadcast(intent,null);
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}
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}
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});
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if (DEBUG) Log.d(TAG, "Entering UAVTalk processing loop");
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while( !terminate ) {
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try {
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if( !uavTalk.processInputStream() )
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break;
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} catch (IOException e) {
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// This occurs when they communication stream fails
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toastMessage("Connection dropped");
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break;
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}
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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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private class TcpTelemetryThread extends Thread implements TelemTask {
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private final 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 UAVObjectManager getObjectManager() { return objMngr; };
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TcpTelemetryThread() {
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objMngr = new UAVObjectManager();
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UAVObjectsInitialize.register(objMngr);
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}
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@Override
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public void run() {
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if (DEBUG) Log.d(TAG, "Telemetry Thread started");
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Looper.prepare();
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TcpUAVTalk tcp = new TcpUAVTalk(OPTelemetryService.this);
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for( int i = 0; i < 10; i++ ) {
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if (DEBUG) Log.d(TAG, "Attempting network Connection");
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tcp.connect(objMngr);
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if( tcp.getConnected() )
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break;
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try {
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Thread.sleep(1000);
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} catch (InterruptedException e) {
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Log.e(TAG, "Thread interrupted while trying to connect");
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e.printStackTrace();
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return;
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}
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}
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if( ! tcp.getConnected() || terminate ) {
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toastMessage("TCP connection failed");
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return;
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}
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toastMessage("TCP Connected");
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if (DEBUG) Log.d(TAG, "Connected via network");
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uavTalk = tcp.getUavtalk();
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tel = new Telemetry(uavTalk, objMngr);
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mon = new TelemetryMonitor(objMngr,tel);
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mon.addObserver(new Observer() {
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@Override
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public void update(Observable arg0, Object arg1) {
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if (DEBUG) Log.d(TAG, "Mon updated. Connected: " + mon.getConnected() + " objects updated: " + mon.getObjectsUpdated());
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if(mon.getConnected()) {
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Intent intent = new Intent();
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intent.setAction(INTENT_ACTION_CONNECTED);
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sendBroadcast(intent,null);
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}
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}
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});
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if (DEBUG) Log.d(TAG, "Entering UAVTalk processing loop");
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while( !terminate ) {
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try {
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if( !uavTalk.processInputStream() )
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break;
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} catch (IOException e) {
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e.printStackTrace();
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toastMessage("TCP Stream interrupted");
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break;
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}
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}
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Looper.myLooper().quit();
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// Shut down all the attached
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mon.stopMonitor();
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mon = null;
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tel.stopTelemetry();
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tel = null;
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// Finally close the stream if it is still open
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tcp.disconnect();
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if (DEBUG) Log.d(TAG, "UAVTalk stream disconnected");
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toastMessage("TCP Thread finished");
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}
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};
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}
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