altosdroid: Compute course from android device to rocket, display it

Signed-off-by: Keith Packard <keithp@keithp.com>

9 files changed, 73 insertions, 37 deletions

diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java
index c9ce46a0..b1d080db 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroid.java
@@ -47,6 +47,7 @@ import android.widget.TabHost;
 import android.widget.TextView;
 import android.widget.Toast;
 import android.app.AlertDialog;
+import android.location.Location;
 
 import org.altusmetrum.altoslib_1.*;
 
@@ -59,6 +60,8 @@ public class AltosDroid extends FragmentActivity {
 	public static final int MSG_STATE_CHANGE    = 1;
 	public static final int MSG_TELEMETRY       = 2;
 	public static final int MSG_UPDATE_AGE      = 3;
+	public static final int MSG_LOCATION	    = 4;
+	public static final int MSG_CRC_ERROR	    = 5;
 
 	// Intent request codes
 	private static final int REQUEST_CONNECT_DEVICE = 1;
@@ -87,6 +90,7 @@ public class AltosDroid extends FragmentActivity {
 	// Timer and Saved flight state for Age calculation
 	private Timer timer = new Timer();
 	AltosState saved_state;
+	Location saved_location;
 
 	// Service
 	private boolean mIsBound   = false;
@@ -137,6 +141,10 @@ public class AltosDroid extends FragmentActivity {
 			case MSG_TELEMETRY:
 				ad.update_ui((AltosState) msg.obj);
 				break;
+			case MSG_LOCATION:
+				ad.set_location((Location) msg.obj);
+				break;
+			case MSG_CRC_ERROR:
 			case MSG_UPDATE_AGE:
 				if (ad.saved_state != null) {
 					ad.mAgeView.setText(String.format("%d", (System.currentTimeMillis() - ad.saved_state.report_time + 500) / 1000));
@@ -196,6 +204,13 @@ public class AltosDroid extends FragmentActivity {
 		mTabs.remove(mTab);
 	}
 
+	void set_location(Location location) {
+		saved_location = location;
+		if (saved_state != null) {
+			update_ui(saved_state);
+		}
+	}
+
 	void update_ui(AltosState state) {
 		if (saved_state != null) {
 			if (saved_state.state != state.state) {
@@ -215,6 +230,17 @@ public class AltosDroid extends FragmentActivity {
 		}
 		saved_state = state;
 
+		AltosGreatCircle from_receiver = null;
+
+		if (saved_location != null && state.gps != null && state.gps.locked) {
+			from_receiver = new AltosGreatCircle(saved_location.getLatitude(),
+							     saved_location.getLongitude(),
+							     saved_location.getAltitude(),
+							     state.gps.lat,
+							     state.gps.lon,
+							     state.gps.alt);
+		}
+
 		mCallsignView.setText(state.data.callsign);
 		mSerialView.setText(String.format("%d", state.data.serial));
 		mFlightView.setText(String.format("%d", state.data.flight));
@@ -222,7 +248,7 @@ public class AltosDroid extends FragmentActivity {
 		mRSSIView.setText(String.format("%d", state.data.rssi));
 
 		for (AltosDroidTab mTab : mTabs)
-			mTab.update_ui(state);
+			mTab.update_ui(state, from_receiver);
 
 		mAltosVoice.tell(state);
 	}
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidTab.java b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidTab.java
index 68bbe593..2b5cdae7 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidTab.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/AltosDroidTab.java
@@ -17,8 +17,8 @@
 
 package org.altusmetrum.AltosDroid;
 
-import org.altusmetrum.altoslib_1.AltosState;
+import org.altusmetrum.altoslib_1.*;
 
 public interface AltosDroidTab {
-	public void update_ui(AltosState state);
+	public void update_ui(AltosState state, AltosGreatCircle from_receiver);
 }
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabAscent.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabAscent.java
index bda6b1fd..ce677c57 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TabAscent.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabAscent.java
@@ -17,7 +17,7 @@
 
 package org.altusmetrum.AltosDroid;
 
-import org.altusmetrum.altoslib_1.AltosState;
+import org.altusmetrum.altoslib_1.*;
 
 import android.app.Activity;
 import android.os.Bundle;
@@ -84,7 +84,7 @@ public class TabAscent extends Fragment implements AltosDroidTab {
 		mAltosDroid = null;
 	}
 
-	public void update_ui(AltosState state) {
+	public void update_ui(AltosState state, AltosGreatCircle from_receiver) {
 		mHeightView.setText(String.format("%6.0f m", state.height));
 		mMaxHeightView.setText(String.format("%6.0f m", state.max_height));
 		mSpeedView.setText(String.format("%6.0f m/s", state.speed()));
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabDescent.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabDescent.java
index 3805b7e7..b0c6539c 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TabDescent.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabDescent.java
@@ -17,8 +17,7 @@
 
 package org.altusmetrum.AltosDroid;
 
-import org.altusmetrum.altoslib_1.AltosGreatCircle;
-import org.altusmetrum.altoslib_1.AltosState;
+import org.altusmetrum.altoslib_1.*;
 
 import android.app.Activity;
 import android.os.Bundle;
@@ -89,16 +88,22 @@ public class TabDescent extends Fragment implements AltosDroidTab {
 		mAltosDroid = null;
 	}
 
-	public void update_ui(AltosState state) {
+	public void update_ui(AltosState state, AltosGreatCircle from_receiver) {
 		mSpeedView.setText(String.format("%6.0f m/s", state.speed()));
 		mHeightView.setText(String.format("%6.0f m", state.height));
-		mElevationView.setText(String.format("%3.0f°", state.elevation));
-		mRangeView.setText(String.format("%6.0f m", state.range));
-		if (state.from_pad != null) {
-			mBearingView.setText(String.format("%3.0f°", state.from_pad.bearing));
-			mCompassView.setText(state.from_pad.bearing_words(AltosGreatCircle.BEARING_LONG));
+		if (from_receiver != null) {
+			mElevationView.setText(String.format("%3.0f°", from_receiver.elevation));
+			mRangeView.setText(String.format("%6.0f m", from_receiver.range));
+			mBearingView.setText(String.format("%3.0f°", from_receiver.bearing));
+			mCompassView.setText(from_receiver.bearing_words(AltosGreatCircle.BEARING_LONG));
+			mDistanceView.setText(String.format("%6.0f m", from_receiver.distance));
+		} else { 
+			mElevationView.setText("<unknown>");
+			mRangeView.setText("<unknown>");
+			mBearingView.setText("<unknown>");
+			mCompassView.setText("<unknown>");
+			mDistanceView.setText("<unknown>");
 		}
-		mDistanceView.setText(String.format("%6.0f m", state.range));
 		mLatitudeView.setText(AltosDroid.pos(state.gps.lat, "N", "S"));
 		mLongitudeView.setText(AltosDroid.pos(state.gps.lon, "W", "E"));
 
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabLanded.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabLanded.java
index a95e9145..93a42334 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TabLanded.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabLanded.java
@@ -17,7 +17,7 @@
 
 package org.altusmetrum.AltosDroid;
 
-import org.altusmetrum.altoslib_1.AltosState;
+import org.altusmetrum.altoslib_1.*;
 
 import android.app.Activity;
 import android.os.Bundle;
@@ -68,10 +68,10 @@ public class TabLanded extends Fragment implements AltosDroidTab {
 		mAltosDroid = null;
 	}
 
-	public void update_ui(AltosState state) {
-		if (state.from_pad != null) {
-			mBearingView.setText(String.format("%3.0f°", state.from_pad.bearing));
-			mDistanceView.setText(String.format("%6.0f m", state.from_pad.distance));
+	public void update_ui(AltosState state, AltosGreatCircle from_receiver) {
+		if (from_receiver != null) {
+			mBearingView.setText(String.format("%3.0f°", from_receiver.bearing));
+			mDistanceView.setText(String.format("%6.0f m", from_receiver.distance));
 		}
 		mLatitudeView.setText(AltosDroid.pos(state.gps.lat, "N", "S"));
 		mLongitudeView.setText(AltosDroid.pos(state.gps.lon, "W", "E"));
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabMap.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabMap.java
index 8fc8f592..607ded46 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TabMap.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabMap.java
@@ -139,7 +139,7 @@ public class TabMap extends Fragment implements AltosDroidTab {
 		}
 	}
 
-	public void update_ui(AltosState state) {
+	public void update_ui(AltosState state, AltosGreatCircle from_receiver) {
 		if (state.from_pad != null) {
 			mDistanceView.setText(String.format("%6.0f m", state.from_pad.distance));
 			mBearingView.setText(String.format("%3.0f°", state.from_pad.bearing));
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TabPad.java b/altosdroid/src/org/altusmetrum/AltosDroid/TabPad.java
index 41776c10..6906324d 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TabPad.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TabPad.java
@@ -100,7 +100,7 @@ public class TabPad extends Fragment implements AltosDroidTab {
 		mAltosDroid = null;
 	}
 
-	public void update_ui(AltosState state) {
+	public void update_ui(AltosState state, AltosGreatCircle from_receiver) {
 		mBatteryVoltageView.setText(String.format("%4.2f V", state.battery));
 		mBatteryLights.set(state.battery > 3.7);
 
diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
index fb07442e..716ec589 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryReader.java
@@ -36,7 +36,6 @@ public class TelemetryReader extends Thread {
 

 	Handler     handler;

 

-	TelemetryService service;

 	AltosLink   link;

 	AltosRecord previous;

 

@@ -69,12 +68,12 @@ public class TelemetryReader extends Thread {
 					if (record == null)

 						break;

 					state = new AltosState(record, state);

-					service.sendTelemetry(state);

+					handler.obtainMessage(TelemetryService.MSG_TELEMETRY, state).sendToTarget();

 				} catch (ParseException pp) {

 					Log.e(TAG, String.format("Parse error: %d \"%s\"", pp.getErrorOffset(), pp.getMessage()));

 				} catch (AltosCRCException ce) {

 					++crc_errors;

-					service.sendCrcErrors(crc_errors);

+					handler.obtainMessage(TelemetryService.MSG_CRC_ERROR, new Integer(crc_errors)).sendToTarget();

 				}

 			}

 		} catch (InterruptedException ee) {

@@ -84,8 +83,7 @@ public class TelemetryReader extends Thread {
 		}

 	}

 

-	public TelemetryReader (TelemetryService in_service, AltosLink in_link, Handler in_handler) {

-		service = in_service;

+	public TelemetryReader (AltosLink in_link, Handler in_handler) {

 		link    = in_link;

 		handler = in_handler;

 

diff --git a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java
index e6854585..0ddfdfc3 100644
--- a/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java
+++ b/altosdroid/src/org/altusmetrum/AltosDroid/TelemetryService.java
@@ -45,10 +45,10 @@ import android.location.LocationListener;
 import org.altusmetrum.altoslib_1.*;
 
 class AltosLocationListener implements LocationListener {
-	TelemetryService service;
+	Handler handler;
 
 	public void onLocationChanged(Location location) {
-		service.sendLocation(location);
+		handler.obtainMessage(TelemetryService.MSG_LOCATION, location).sendToTarget();
 	}
 
 	public void onStatusChanged(String provider, int status, Bundle extras) {
@@ -60,8 +60,8 @@ class AltosLocationListener implements LocationListener {
 	public void onProviderDisabled(String provider) {
 	}
 
-	public AltosLocationListener(TelemetryService service) {
-		this.service = service;
+	public AltosLocationListener(Handler handler) {
+		this.handler = handler;
 	}
 }
 
@@ -169,8 +169,20 @@ public class TelemetryService extends Service {
 				}
 				break;
 			case MSG_TELEMETRY:
+				// forward telemetry messages
+				s.last_state = (AltosState) msg.obj;
 				s.sendMessageToClients(Message.obtain(null, AltosDroid.MSG_TELEMETRY, msg.obj));
 				break;
+			case MSG_LOCATION:
+				// forward location messages
+				s.last_location = (Location) msg.obj;
+				s.sendMessageToClients(Message.obtain(null, AltosDroid.MSG_LOCATION, msg.obj));
+				break;
+			case MSG_CRC_ERROR:
+				// forward crc error messages
+				s.last_crc_errors = (Integer) msg.obj;
+				s.sendMessageToClients(Message.obtain(null, AltosDroid.MSG_CRC_ERROR, msg.obj));
+				break;
 			case MSG_SETFREQUENCY:
 				if (s.state == STATE_CONNECTED) {
 					try {
@@ -187,18 +199,13 @@ public class TelemetryService extends Service {
 	}
 
 	public void sendTelemetry(AltosState state) {
-		last_state = state;
-		mHandler.obtainMessage(MSG_TELEMETRY, state).sendToTarget();
 	}
 
 	public void sendLocation(Location location) {
-		last_location = location;
 		mHandler.obtainMessage(MSG_LOCATION, location).sendToTarget();
 	}
 
 	public void sendCrcErrors(int crc_errors) {
-		last_crc_errors = crc_errors;
-		mHandler.obtainMessage(MSG_CRC_ERROR, new Integer(crc_errors)).sendToTarget();
 	}
 
 	private void sendMessageToClients(Message m) {
@@ -278,7 +285,7 @@ public class TelemetryService extends Service {
 
 		setState(STATE_CONNECTED);
 
-		mTelemetryReader = new TelemetryReader(this, mAltosBluetooth, mHandler);
+		mTelemetryReader = new TelemetryReader(mAltosBluetooth, mHandler);
 		mTelemetryReader.start();
 		
 		mTelemetryLogger = new TelemetryLogger(this, mAltosBluetooth);
@@ -308,7 +315,7 @@ public class TelemetryService extends Service {
 		timer.scheduleAtFixedRate(new TimerTask(){ public void run() {onTimerTick();}}, 10000L, 10000L);
 
 		// Listen for GPS and Network position updates
-		locationListener = new AltosLocationListener(this);
+		locationListener = new AltosLocationListener(mHandler);
 
 		LocationManager locationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);