Merge remote-tracking branch 'mjb/master'

4 files changed, 352 insertions, 148 deletions

diff --git a/altosdroid/res/layout/altosdroid.xml b/altosdroid/res/layout/altosdroid.xml
index 33d89d52..f185ea9f 100644
--- a/altosdroid/res/layout/altosdroid.xml
+++ b/altosdroid/res/layout/altosdroid.xml
@@ -51,11 +51,77 @@
         </RelativeLayout>
 
         <RelativeLayout
-            android:id="@+id/state_container"
+            android:id="@+id/rssi_container"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:layout_alignParentRight="true"
-            android:layout_toRightOf="@+id/strut" >
+            android:layout_toRightOf="@id/strut"
+            android:layout_alignParentRight="true" >
+
+            <TextView
+                android:id="@+id/rssi_label"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="@string/rssi_label" />
+
+            <TextView
+                android:id="@+id/rssi_value"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_alignParentRight="true"
+                android:layout_below="@+id/rssi_label"
+                android:textAppearance="?android:attr/textAppearanceLarge" />
+        </RelativeLayout>
+
+        <RelativeLayout
+            android:id="@+id/serial_container"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_below="@+id/callsign_container"
+            android:layout_toLeftOf="@+id/strut" >
+
+            <TextView
+                android:id="@+id/serial_label"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="@string/serial_label" />
+
+            <TextView
+                android:id="@+id/serial_value"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_alignParentRight="true"
+                android:layout_below="@+id/serial_label"
+                android:textAppearance="?android:attr/textAppearanceLarge" />
+        </RelativeLayout>
+
+        <RelativeLayout
+            android:id="@+id/flight_container"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_below="@+id/callsign_container"
+            android:layout_toRightOf="@+id/strut"
+            android:layout_alignParentRight="true" >
+
+            <TextView
+                android:id="@+id/flight_label"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="@string/flight_label" />
+
+            <TextView
+                android:id="@+id/flight_value"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_alignParentRight="true"
+                android:layout_below="@+id/flight_label"
+                android:textAppearance="?android:attr/textAppearanceLarge" />
+        </RelativeLayout>
+
+        <RelativeLayout
+            android:id="@+id/state_container"
+            android:layout_width="fill_parent"
+            android:layout_height="wrap_content"
+            android:layout_below="@+id/serial_container" >
 
             <TextView
                 android:id="@+id/state_label"
@@ -67,10 +133,10 @@
                 android:id="@+id/state_value"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:layout_alignParentRight="true"
                 android:layout_below="@+id/state_label"
-                android:text=""
-                android:textAppearance="?android:attr/textAppearanceLarge" />
+                android:layout_centerInParent="true"
+                android:textAppearance="?android:attr/textAppearanceLarge"
+                android:textSize="50dip" />
 
         </RelativeLayout>
 
@@ -79,7 +145,7 @@
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
             android:layout_alignParentLeft="true"
-            android:layout_below="@+id/callsign_container"
+            android:layout_below="@+id/state_container"
             android:layout_toLeftOf="@+id/strut" >
 
             <TextView
@@ -92,23 +158,11 @@
                 android:id="@+id/speed_value"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
+                android:layout_alignParentRight="true"
                 android:layout_below="@id/speed_label"
-                android:layout_toLeftOf="@+id/speed_units"
                 android:text=""
                 android:textAppearance="?android:attr/textAppearanceLarge" />
 
-            <TextView
-                android:id="@+id/speed_units"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:layout_alignBaseline="@id/speed_value"
-                android:layout_alignParentRight="true"
-                android:layout_below="@id/speed_label"
-                android:gravity="right"
-                android:paddingLeft="10dip"
-                android:text="@string/speed_units"
-                android:textAppearance="?android:attr/textAppearanceMedium" />
-
         </RelativeLayout>
 
         <RelativeLayout
@@ -129,22 +183,11 @@
                 android:id="@+id/accel_value"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
+                android:layout_alignParentRight="true"
                 android:layout_below="@+id/accel_label"
-                android:layout_toLeftOf="@+id/accel_units"
                 android:text=""
                 android:textAppearance="?android:attr/textAppearanceLarge" />
 
-            <TextView
-                android:id="@+id/accel_units"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:layout_alignBaseline="@+id/accel_value"
-                android:layout_alignParentRight="true"
-                android:layout_below="@+id/accel_label"
-                android:gravity="right"
-                android:paddingLeft="10dip"
-                android:text="@string/accel_units"
-                android:textAppearance="?android:attr/textAppearanceMedium" />
         </RelativeLayout>
 
         <RelativeLayout
@@ -165,63 +208,39 @@
                 android:id="@+id/range_value"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
+                android:layout_alignParentRight="true"
                 android:layout_below="@+id/range_label"
-                android:layout_toLeftOf="@+id/range_units"
                 android:text=""
                 android:textAppearance="?android:attr/textAppearanceLarge" />
 
-            <TextView
-                android:id="@+id/range_units"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:layout_alignBaseline="@+id/range_value"
-                android:layout_alignParentRight="true"
-                android:layout_below="@+id/range_label"
-                android:gravity="right"
-                android:paddingLeft="10dip"
-                android:text="@string/range_units"
-                android:textAppearance="?android:attr/textAppearanceMedium" />
-
         </RelativeLayout>
 
         <RelativeLayout
-            android:id="@+id/altitude_container"
+            android:id="@+id/height_container"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
             android:layout_alignParentRight="true"
-            android:layout_below="@id/accel_container"
+            android:layout_below="@id/speed_container"
             android:layout_toRightOf="@id/strut" >
 
             <TextView
-                android:id="@+id/altitude_label"
+                android:id="@+id/height_label"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:text="@string/altitude_label" />
+                android:text="@string/height_label" />
 
             <TextView
-                android:id="@+id/altitude_value"
+                android:id="@+id/height_value"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:layout_below="@+id/altitude_label"
-                android:layout_toLeftOf="@+id/altitude_units"
+                android:layout_alignParentRight="true"
+                android:layout_below="@+id/height_label"
                 android:text=""
                 android:textAppearance="?android:attr/textAppearanceLarge" />
-
-            <TextView
-                android:id="@+id/altitude_units"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:layout_alignBaseline="@+id/altitude_value"
-                android:layout_alignParentRight="true"
-                android:layout_below="@+id/altitude_label"
-                android:gravity="right"
-                android:paddingLeft="10dip"
-                android:text="@string/altitude_units"
-                android:textAppearance="?android:attr/textAppearanceMedium" />
         </RelativeLayout>
 
         <RelativeLayout
-            android:id="@+id/azimuth_container"
+            android:id="@+id/elevation_container"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
             android:layout_alignParentLeft="true"
@@ -229,30 +248,19 @@
             android:layout_toLeftOf="@id/strut" >
 
             <TextView
-                android:id="@+id/azimuth_label"
+                android:id="@+id/elevation_label"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:text="@string/azimuth_label" />
+                android:text="@string/elevation_label" />
 
             <TextView
-                android:id="@+id/azimuth_value"
+                android:id="@+id/elevation_value"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:layout_below="@+id/azimuth_label"
-                android:layout_toLeftOf="@+id/azimuth_units"
+                android:layout_alignParentRight="true"
+                android:layout_below="@+id/elevation_label"
                 android:text=""
                 android:textAppearance="?android:attr/textAppearanceLarge" />
-
-            <TextView
-                android:id="@+id/azimuth_units"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:layout_alignParentRight="true"
-                android:layout_below="@+id/azimuth_label"
-                android:gravity="right"
-                android:paddingLeft="10dip"
-                android:text="@string/azimuth_units"
-                android:textAppearance="?android:attr/textAppearanceMedium" />
         </RelativeLayout>
 
         <RelativeLayout
@@ -260,7 +268,7 @@
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
             android:layout_alignParentRight="true"
-            android:layout_below="@+id/altitude_container"
+            android:layout_below="@+id/range_container"
             android:layout_toRightOf="@+id/strut" >
 
             <TextView
@@ -273,28 +281,18 @@
                 android:id="@+id/bearing_value"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
+                android:layout_alignParentRight="true"
                 android:layout_below="@+id/bearing_label"
-                android:layout_toLeftOf="@+id/bearing_units"
                 android:text=""
                 android:textAppearance="?android:attr/textAppearanceLarge" />
 
-            <TextView
-                android:id="@+id/bearing_units"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:layout_alignParentRight="true"
-                android:layout_below="@+id/bearing_label"
-                android:gravity="right"
-                android:paddingLeft="10dip"
-                android:text="@string/bearing_units"
-                android:textAppearance="?android:attr/textAppearanceMedium" />
         </RelativeLayout>
 
         <RelativeLayout
             android:id="@+id/latitude_container"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:layout_below="@+id/azimuth_container" >
+            android:layout_below="@+id/elevation_container" >
 
             <TextView
                 android:id="@+id/latitude_label"
@@ -335,13 +333,14 @@
                 android:textAppearance="?android:attr/textAppearanceLarge" />
 
         </RelativeLayout>
-        
-	    <TextView
+
+
+        <TextView
 	        android:id="@+id/text"
 	        android:layout_width="fill_parent"
 	        android:layout_height="0dip"
 	        android:layout_alignParentBottom="true"
-	        android:layout_below="@id/longitude_container"
+	        android:layout_below="@+id/longitude_container"
 	        android:gravity="bottom"
 	        android:scrollbars="vertical"
 	        android:textSize="7dp"
diff --git a/altosdroid/res/values/strings.xml b/altosdroid/res/values/strings.xml
index 59f4f827..f8038406 100644
--- a/altosdroid/res/values/strings.xml
+++ b/altosdroid/res/values/strings.xml
@@ -43,21 +43,17 @@
 
 	<!-- UI fields -->
     <string name="callsign_label">Callsign</string>
+    <string name="serial_label">Serial no.</string>
+    <string name="flight_label">Flight no.</string>
+    <string name="rssi_label">RSSI</string>
     <string name="state_label">State</string>
     <string name="speed_label">Speed</string>
-    <string name="speed_units">m/s</string>
     <string name="accel_label">Acceleration</string>
-    <string name="accel_units">m/s²</string>
     <string name="range_label">Range</string>
-    <string name="range_units">m</string>
-    <string name="altitude_label">Altitude</string>
-    <string name="altitude_units">m</string>
-    <string name="azimuth_label">Azimuth</string>
-    <string name="azimuth_units">°</string>
+    <string name="height_label">Height</string>
+    <string name="elevation_label">Elevation</string>
     <string name="bearing_label">Bearing</string>
-    <string name="bearing_units">°</string>
     <string name="latitude_label">Latitude</string>
     <string name="longitude_label">Longitude</string>
 
-
 </resources>
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java
index ba424e79..20904d2b 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java
@@ -32,8 +32,6 @@ import android.os.Handler;
 import android.os.Message;
 import android.os.Messenger;
 import android.os.RemoteException;
-import android.speech.tts.TextToSpeech;
-import android.speech.tts.TextToSpeech.OnInitListener;
 import android.text.method.ScrollingMovementMethod;
 import android.util.Log;
 import android.view.Menu;
@@ -63,18 +61,25 @@ public class AltosDroid extends Activity {
 
 	// Layout Views
 	private TextView mTitle;
-	private TextView mSerialView;
+
+	// Flight state values
 	private TextView mCallsignView;
+	private TextView mRSSIView;
+	private TextView mSerialView;
+	private TextView mFlightView;
 	private TextView mStateView;
 	private TextView mSpeedView;
 	private TextView mAccelView;
 	private TextView mRangeView;
-	private TextView mAltitudeView;
-	private TextView mAzimuthView;
+	private TextView mHeightView;
+	private TextView mElevationView;
 	private TextView mBearingView;
 	private TextView mLatitudeView;
 	private TextView mLongitudeView;
 
+	// Generic field for extras at the bottom
+	private TextView mTextView;
+
 	// Service
 	private boolean mIsBound   = false;
 	private Messenger mService = null;
@@ -86,8 +91,7 @@ public class AltosDroid extends Activity {
 	private BluetoothAdapter mBluetoothAdapter = null;
 
 	// Text to Speech
-	private TextToSpeech tts    = null;
-	private boolean tts_enabled = false;
+	private AltosVoice mAltosVoice = null;
 
 	// The Handler that gets information back from the Telemetry Service
 	static class IncomingHandler extends Handler {
@@ -107,8 +111,9 @@ public class AltosDroid extends Activity {
 					ad.mTitle.setText(R.string.title_connected_to);
 					ad.mTitle.append(str);
 					Toast.makeText(ad.getApplicationContext(), "Connected to " + str, Toast.LENGTH_SHORT).show();
+					ad.mAltosVoice.speak("Connected");
 					//TEST!
-					ad.mSerialView.setText(Dumper.dump(ad.mConfigData));
+					ad.mTextView.setText(Dumper.dump(ad.mConfigData));
 					break;
 				case TelemetryService.STATE_CONNECTING:
 					ad.mTitle.setText(R.string.title_connecting);
@@ -117,14 +122,14 @@ public class AltosDroid extends Activity {
 				case TelemetryService.STATE_NONE:
 					ad.mConfigData = null;
 					ad.mTitle.setText(R.string.title_not_connected);
-					ad.mSerialView.setText("");
+					ad.mTextView.setText("");
 					break;
 				}
 				break;
 			case MSG_TELEMETRY:
 				ad.update_ui((AltosState) msg.obj);
 				// TEST!
-				ad.mSerialView.setText(Dumper.dump(msg.obj));
+				ad.mTextView.setText(Dumper.dump(msg.obj));
 				break;
 			}
 		}
@@ -175,19 +180,24 @@ public class AltosDroid extends Activity {
 
 	void update_ui(AltosState state) {
 		mCallsignView.setText(state.data.callsign);
+		mRSSIView.setText(String.format("%d", state.data.rssi));
+		mSerialView.setText(String.format("%d", state.data.serial));
+		mFlightView.setText(String.format("%d", state.data.flight));
 		mStateView.setText(state.data.state());
 		double speed = state.speed;
 		if (!state.ascent)
 			speed = state.baro_speed;
-		mSpeedView.setText(String.format("%6.0f", speed));
-		mAccelView.setText(String.format("%6.0f", state.acceleration));
-		mRangeView.setText(String.format("%6.0f", state.range));
-		mAltitudeView.setText(String.format("%6.0f", state.height));
-		mAzimuthView.setText(String.format("%3.0f", state.elevation));
+		mSpeedView.setText(String.format("%6.0f m/s", speed));
+		mAccelView.setText(String.format("%6.0f m/s²", state.acceleration));
+		mRangeView.setText(String.format("%6.0f m", state.range));
+		mHeightView.setText(String.format("%6.0f m", state.height));
+		mElevationView.setText(String.format("%3.0f°", state.elevation));
 		if (state.from_pad != null)
-			mBearingView.setText(String.format("%3.0f", state.from_pad.bearing));
+			mBearingView.setText(String.format("%3.0f°", state.from_pad.bearing));
 		mLatitudeView.setText(pos(state.gps.lat, "N", "S"));
 		mLongitudeView.setText(pos(state.gps.lon, "W", "E"));
+
+		mAltosVoice.tell(state);
 	}
 
 	String pos(double p, String pos, String neg) {
@@ -198,7 +208,7 @@ public class AltosDroid extends Activity {
 		}
 		int deg = (int) Math.floor(p);
 		double min = (p - Math.floor(p)) * 60.0;
-		return String.format("%s %d° %9.6f", h, deg, min);
+		return String.format("%d° %9.6f\" %s", deg, min, h);
 	}
 
 	@Override
@@ -206,6 +216,16 @@ public class AltosDroid extends Activity {
 		super.onCreate(savedInstanceState);
 		if(D) Log.e(TAG, "+++ ON CREATE +++");
 
+		// Get local Bluetooth adapter
+		mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
+
+		// If the adapter is null, then Bluetooth is not supported
+		if (mBluetoothAdapter == null) {
+			Toast.makeText(this, "Bluetooth is not available", Toast.LENGTH_LONG).show();
+			finish();
+			return;
+		}
+
 		// Set up the window layout
 		requestWindowFeature(Window.FEATURE_CUSTOM_TITLE);
 		//setContentView(R.layout.main);
@@ -218,40 +238,26 @@ public class AltosDroid extends Activity {
 		mTitle = (TextView) findViewById(R.id.title_right_text);
 
 		// Set up the temporary Text View
-		mSerialView = (TextView) findViewById(R.id.text);
-		mSerialView.setMovementMethod(new ScrollingMovementMethod());
-		mSerialView.setClickable(false);
-		mSerialView.setLongClickable(false);
+		mTextView = (TextView) findViewById(R.id.text);
+		mTextView.setMovementMethod(new ScrollingMovementMethod());
+		mTextView.setClickable(false);
+		mTextView.setLongClickable(false);
 
 		mCallsignView  = (TextView) findViewById(R.id.callsign_value);
+		mRSSIView      = (TextView) findViewById(R.id.rssi_value);
+		mSerialView    = (TextView) findViewById(R.id.serial_value);
+		mFlightView    = (TextView) findViewById(R.id.flight_value);
 		mStateView     = (TextView) findViewById(R.id.state_value);
 		mSpeedView     = (TextView) findViewById(R.id.speed_value);
 		mAccelView     = (TextView) findViewById(R.id.accel_value);
 		mRangeView     = (TextView) findViewById(R.id.range_value);
-		mAltitudeView  = (TextView) findViewById(R.id.altitude_value);
-		mAzimuthView   = (TextView) findViewById(R.id.azimuth_value);
+		mHeightView    = (TextView) findViewById(R.id.height_value);
+		mElevationView = (TextView) findViewById(R.id.elevation_value);
 		mBearingView   = (TextView) findViewById(R.id.bearing_value);
 		mLatitudeView  = (TextView) findViewById(R.id.latitude_value);
 		mLongitudeView = (TextView) findViewById(R.id.longitude_value);
 
-		// Get local Bluetooth adapter
-		mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
-
-		// If the adapter is null, then Bluetooth is not supported
-		if (mBluetoothAdapter == null) {
-			Toast.makeText(this, "Bluetooth is not available", Toast.LENGTH_LONG).show();
-			finish();
-			return;
-		}
-
-		// Enable Text to Speech
-		tts = new TextToSpeech(this, new OnInitListener() {
-			public void onInit(int status) {
-				if (status == TextToSpeech.SUCCESS) tts_enabled = true;
-				if (tts_enabled) tts.speak("AltosDroid ready", TextToSpeech.QUEUE_ADD, null );
-			}
-		});
-
+		mAltosVoice = new AltosVoice(this);
 	}
 
 	@Override
@@ -295,7 +301,7 @@ public class AltosDroid extends Activity {
 		super.onDestroy();
 		if(D) Log.e(TAG, "--- ON DESTROY ---");
 
-		if (tts != null) tts.shutdown();
+		mAltosVoice.stop();
 	}
 
 
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosVoice.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosVoice.java
new file mode 100644
index 00000000..3f7c5979
--- /dev/null
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosVoice.java
@@ -0,0 +1,203 @@
+/*

+ * Copyright © 2011 Keith Packard <keithp@keithp.com>

+ * Copyright © 2012 Mike Beattie <mike@ethernal.org>

+ *

+ * 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.

+ *

+ * This program is distributed in the hope that it will be useful, but

+ * WITHOUT ANY WARRANTY; without even the implied warranty of

+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

+ * General Public License for more details.

+ *

+ * You should have received a copy of the GNU General Public License along

+ * with this program; if not, write to the Free Software Foundation, Inc.,

+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.

+ */

+

+package org.altusmetrum.AltosDroid;

+

+import android.speech.tts.TextToSpeech;

+import android.speech.tts.TextToSpeech.OnInitListener;

+

+import org.altusmetrum.AltosLib.*;

+

+public class AltosVoice {

+

+	private TextToSpeech tts         = null;

+	private boolean      tts_enabled = false;

+

+	private IdleThread   idle_thread = null;

+

+	private AltosState   old_state   = null;

+

+	public AltosVoice(AltosDroid a) {

+

+		tts = new TextToSpeech(a, new OnInitListener() {

+			public void onInit(int status) {

+				if (status == TextToSpeech.SUCCESS) tts_enabled = true;

+				if (tts_enabled) {

+					speak("AltosDroid ready");

+					idle_thread = new IdleThread();

+				}

+			}

+		});

+

+	}

+

+	public void speak(String s) {

+		if (!tts_enabled) return;

+		tts.speak(s, TextToSpeech.QUEUE_ADD, null);

+	}

+

+	public void stop() {

+		if (tts != null) tts.shutdown();

+		if (idle_thread != null) {

+			idle_thread.interrupt();

+			idle_thread = null;

+		}

+	}

+

+	public void tell(AltosState state) {

+		if (!tts_enabled) return;

+

+		boolean	spoke = false;

+		if (old_state == null || old_state.state != state.state) {

+			speak(state.data.state());

+			if ((old_state == null || old_state.state <= AltosLib.ao_flight_boost) &&

+			    state.state > AltosLib.ao_flight_boost) {

+				speak(String.format("max speed: %d meters per second.", (int) (state.max_speed + 0.5)));

+				spoke = true;

+			} else if ((old_state == null || old_state.state < AltosLib.ao_flight_drogue) &&

+			           state.state >= AltosLib.ao_flight_drogue) {

+				speak(String.format("max height: %d meters.", (int) (state.max_height + 0.5)));

+				spoke = true;

+			}

+		}

+		if (old_state == null || old_state.gps_ready != state.gps_ready) {

+			if (state.gps_ready) {

+				speak("GPS ready");

+				spoke = true;

+			} else if (old_state != null) {

+				speak("GPS lost");

+				spoke = true;

+			}

+		}

+		old_state = state;

+		idle_thread.notice(state, spoke);

+	}

+

+

+	class IdleThread extends Thread {

+		boolean	           started;

+		private AltosState state;

+		int                reported_landing;

+		int                report_interval;

+		long               report_time;

+

+		public synchronized void report(boolean last) {

+			if (state == null)

+				return;

+

+			/* reset the landing count once we hear about a new flight */

+			if (state.state < AltosLib.ao_flight_drogue)

+				reported_landing = 0;

+

+			/* Shut up once the rocket is on the ground */

+			if (reported_landing > 2) {

+				return;

+			}

+

+			/* If the rocket isn't on the pad, then report height */

+			if (AltosLib.ao_flight_drogue <= state.state &&

+			    state.state < AltosLib.ao_flight_landed &&

+			    state.range >= 0)

+			{

+				speak(String.format("Height %d, bearing %s %d, elevation %d, range %d.\n",

+				                    (int) (state.height + 0.5),

+	                                state.from_pad.bearing_words(

+	                                      AltosGreatCircle.BEARING_VOICE),

+				                    (int) (state.from_pad.bearing + 0.5),

+				                    (int) (state.elevation + 0.5),

+				                    (int) (state.range + 0.5)));

+			} else if (state.state > AltosLib.ao_flight_pad) {

+				speak(String.format("%d meters", (int) (state.height + 0.5)));

+			} else {

+				reported_landing = 0;

+			}

+

+			/* If the rocket is coming down, check to see if it has landed;

+			 * either we've got a landed report or we haven't heard from it in

+			 * a long time

+			 */

+			if (state.state >= AltosLib.ao_flight_drogue &&

+			    (last ||

+			     System.currentTimeMillis() - state.report_time >= 15000 ||

+			     state.state == AltosLib.ao_flight_landed))

+			{

+				if (Math.abs(state.baro_speed) < 20 && state.height < 100)

+					speak("rocket landed safely");

+				else

+					speak("rocket may have crashed");

+				if (state.from_pad != null)

+					speak(String.format("Bearing %d degrees, range %d meters.",

+					                    (int) (state.from_pad.bearing + 0.5),

+					                    (int) (state.from_pad.distance + 0.5)));

+				++reported_landing;

+			}

+		}

+

+		long now () {

+			return System.currentTimeMillis();

+		}

+

+		void set_report_time() {

+			report_time = now() + report_interval;

+		}

+

+		public void run () {

+			try {

+				for (;;) {

+					set_report_time();

+					for (;;) {

+						synchronized (this) {

+							long sleep_time = report_time - now();

+							if (sleep_time <= 0)

+								break;

+							wait(sleep_time);

+						}

+					}

+					report(false);

+				}

+			} catch (InterruptedException ie) {

+			}

+		}

+

+		public synchronized void notice(AltosState new_state, boolean spoken) {

+			AltosState old_state = state;

+			state = new_state;

+			if (!started && state.state > AltosLib.ao_flight_pad) {

+				started = true;

+				start();

+			}

+

+			if (state.state < AltosLib.ao_flight_drogue)

+				report_interval = 10000;

+			else

+				report_interval = 20000;

+			if (old_state != null && old_state.state != state.state) {

+				report_time = now();

+				this.notify();

+			} else if (spoken)

+				set_report_time();

+		}

+

+		public IdleThread() {

+			state = null;

+			reported_landing = 0;

+			report_interval = 10000;

+		}

+	}

+

+}