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Added logic to request usb permission if it's not already available t…
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…o 3DR Services.

Added notification to notify the user of the ongoing connection.
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@m4gr3d
m4gr3d committed Feb 9, 2015
1 parent 51430d9 commit edae505
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Showing 18 changed files with 268 additions and 117 deletions.
15 changes: 14 additions & 1 deletion AidlLib/src/com/o3dr/services/android/lib/drone/mission/item/command/SetServo.java
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Expand Up @@ -6,7 +6,7 @@
import com.o3dr.services.android.lib.drone.mission.MissionItemType;

/**
* Created by fhuya on 11/6/14.
* Mission command used to move a servo to a particular pwm value.
*/
public class SetServo extends MissionItem implements MissionItem.Command, android.os.Parcelable {

Expand All @@ -23,18 +23,31 @@ public SetServo(SetServo copy){
channel = copy.channel;
}

/**
* @return PWM value to output to the servo
*/
public int getPwm() {
return pwm;
}

/**
* Set PWM value to output to the servo
* @param pwm value to output to the servo
*/
public void setPwm(int pwm) {
this.pwm = pwm;
}

/**
* @return the output channel the servo is attached to
*/
public int getChannel() {
return channel;
}

/**
* @param channel the output channel the servo is attached to
*/
public void setChannel(int channel) {
this.channel = channel;
}
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3 changes: 1 addition & 2 deletions ServiceApp/src/org/droidplanner/services/android/api/DroidPlannerService.java
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Expand Up @@ -128,6 +128,7 @@ void connectMAVConnection(ConnectionParameter connParams, String listenerTag,
mavConnections.put(connParams, conn);
}

conn.addMavLinkConnectionListener(listenerTag, listener);
if (conn.getConnectionStatus() == MavLinkConnection.MAVLINK_DISCONNECTED) {
conn.connect();

Expand All @@ -137,8 +138,6 @@ void connectMAVConnection(ConnectionParameter connParams, String listenerTag,
.setAction("MavLink connect")
.setLabel(connParams.toString()));
}

conn.addMavLinkConnectionListener(listenerTag, listener);
}

void disconnectMAVConnection(ConnectionParameter connParams, String listenerTag) {
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11 changes: 10 additions & 1 deletion ServiceApp/src/org/droidplanner/services/android/api/DroneApi.java
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Expand Up @@ -1329,7 +1329,16 @@ public void onDroneEvent(DroneInterfaces.DroneEventsType event, Drone drone) {
case CONNECTING:
extrasBundle = new Bundle(2);
extrasBundle.putInt(AttributeEventExtra.EXTRA_AUTOPILOT_FAILSAFE_MESSAGE_LEVEL, Log.INFO);
extrasBundle.putString(AttributeEventExtra.EXTRA_AUTOPILOT_FAILSAFE_MESSAGE, "Connecting...");
extrasBundle.putString(AttributeEventExtra.EXTRA_AUTOPILOT_FAILSAFE_MESSAGE,
"Connecting...");
droneEvent = AttributeEvent.AUTOPILOT_FAILSAFE;
break;

case CHECKING_VEHICLE_LINK:
extrasBundle = new Bundle(2);
extrasBundle.putInt(AttributeEventExtra.EXTRA_AUTOPILOT_FAILSAFE_MESSAGE_LEVEL, Log.INFO);
extrasBundle.putString(AttributeEventExtra.EXTRA_AUTOPILOT_FAILSAFE_MESSAGE,
"Checking vehicle link...");
droneEvent = AttributeEvent.AUTOPILOT_FAILSAFE;
break;

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10 changes: 10 additions & 0 deletions .../src/org/droidplanner/services/android/communication/connection/AndroidTcpConnection.java
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Expand Up @@ -35,6 +35,16 @@ protected String loadServerIP() {
protected Logger initLogger() {
return AndroidTcpConnection.this.initLogger();
}

@Override
protected void onConnectionOpened(){
AndroidTcpConnection.this.onConnectionOpened();
}

@Override
protected void onConnectionFailed(String errMsg){
AndroidTcpConnection.this.onConnectionFailed(errMsg);
}
};
}

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10 changes: 10 additions & 0 deletions .../src/org/droidplanner/services/android/communication/connection/AndroidUdpConnection.java
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Expand Up @@ -28,6 +28,16 @@ protected Logger initLogger() {
return AndroidUdpConnection.this.initLogger();
}

@Override
protected void onConnectionOpened(){
AndroidUdpConnection.this.onConnectionOpened();
}

@Override
protected void onConnectionFailed(String errMsg){
AndroidUdpConnection.this.onConnectionFailed(errMsg);
}

};
}

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2 changes: 2 additions & 0 deletions ...p/src/org/droidplanner/services/android/communication/connection/BluetoothConnection.java
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Expand Up @@ -72,6 +72,8 @@ protected void openConnection() throws IOException {
Log.d(BLUE, "## BT Connected ##");
out = bluetoothSocket.getOutputStream();
in = bluetoothSocket.getInputStream();

onConnectionOpened();
}

@SuppressLint("NewApi")
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213 changes: 119 additions & 94 deletions .../src/org/droidplanner/services/android/communication/connection/usb/UsbCDCConnection.java
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@@ -1,8 +1,5 @@
package org.droidplanner.services.android.communication.connection.usb;

import java.io.IOException;
import java.util.List;

import android.app.PendingIntent;
import android.content.BroadcastReceiver;
import android.content.Context;
Expand All @@ -15,81 +12,108 @@
import com.hoho.android.usbserial.driver.UsbSerialDriver;
import com.hoho.android.usbserial.driver.UsbSerialProber;

import java.io.IOException;
import java.util.List;
import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.TimeUnit;

class UsbCDCConnection extends UsbConnection.UsbConnectionImpl {
private static final String TAG = UsbCDCConnection.class.getSimpleName();
private static final String TAG = UsbCDCConnection.class.getSimpleName();
private static final String ACTION_USB_PERMISSION = "com.android.example.USB_PERMISSION";

private static final IntentFilter intentFilter = new IntentFilter(ACTION_USB_PERMISSION);

private static UsbSerialDriver sDriver = null;
private static UsbSerialDriver sDriver = null;

private final PendingIntent usbPermissionIntent;

private final BroadcastReceiver broadcastReceiver = new BroadcastReceiver() {
@Override
public void onReceive(Context context, Intent intent) {
final String action = intent.getAction();
if(ACTION_USB_PERMISSION.equals(action)){
synchronized(this){
UsbDevice device = intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);

if (intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, false)) {
if(device != null){
//call method to set up device communication
try {
openUsbDevice(device);
} catch (IOException e) {
Log.e(TAG, e.getMessage(), e);
}
if (ACTION_USB_PERMISSION.equals(action)) {
removeWatchdog();
UsbDevice device = intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);

if (intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, false)) {
if (device != null) {
//call method to set up device communication
try {
openUsbDevice(device);
} catch (IOException e) {
Log.e(TAG, e.getMessage(), e);
}
} else {
onUsbConnectionFailed("Unable to access usb device.");
}
else {
Log.d(TAG, "permission denied for device " + device);
}
} else {
Log.d(TAG, "permission denied for device " + device);
onUsbConnectionFailed("USB Permission denied.");
}
}
}
};

protected UsbCDCConnection(Context context, int baudRate) {
super(context, baudRate);
this.usbPermissionIntent = PendingIntent.getBroadcast(context, 0,
new Intent(ACTION_USB_PERMISSION), 0);
}
private final Runnable permissionWatchdog = new Runnable() {
@Override
public void run() {
Log.d(TAG, "Permission request timeout.");
onUsbConnectionFailed("Unable to get usb access.");

removeWatchdog();
}
};

private void registerUsbPermissionBroadcastReceiver(){
// mContext.registerReceiver(broadcastReceiver, intentFilter);
private ScheduledExecutorService scheduler;

protected UsbCDCConnection(Context context, UsbConnection parentConn, int baudRate) {
super(context, parentConn, baudRate);
this.usbPermissionIntent = PendingIntent.getBroadcast(context, 0, new Intent(ACTION_USB_PERMISSION), 0);
}

private void registerUsbPermissionBroadcastReceiver() {
mContext.registerReceiver(broadcastReceiver, intentFilter);
}

private void unregisterUsbPermissionBroadcastReceiver() {
mContext.unregisterReceiver(broadcastReceiver);
}

private void unregisterUsbPermissionBroadcastReceiver(){
// mContext.unregisterReceiver(broadcastReceiver);
private void removeWatchdog() {
if (scheduler != null) {
scheduler.shutdown();
scheduler = null;
}
}

@Override
protected void openUsbConnection() throws IOException {
@Override
protected void openUsbConnection() throws IOException {
registerUsbPermissionBroadcastReceiver();

// Get UsbManager from Android.
UsbManager manager = (UsbManager) mContext.getSystemService(Context.USB_SERVICE);
// Get UsbManager from Android.
UsbManager manager = (UsbManager) mContext.getSystemService(Context.USB_SERVICE);

//Get the list of available devices
List<UsbDevice> availableDevices = UsbSerialProber.getAvailableSupportedDevices(manager);
if(availableDevices.isEmpty()){
if (availableDevices.isEmpty()) {
Log.d("USB", "No Devices found");
throw new IOException("No Devices found");
}

//Pick the first device
UsbDevice device = availableDevices.get(0);
if(manager.hasPermission(device)){
if (manager.hasPermission(device)) {
openUsbDevice(device);
} else {
removeWatchdog();

scheduler = Executors.newSingleThreadScheduledExecutor();
scheduler.schedule(permissionWatchdog, 15, TimeUnit.SECONDS);
Log.d(TAG, "Requesting permission to access usb device " + device.getDeviceName());
manager.requestPermission(device, usbPermissionIntent);
}
else{
//TODO: complete implementation
// manager.requestPermission(device, usbPermissionIntent);
throw new IOException("No permission to access usb device " + device.getDeviceName());
}
}
}

private void openUsbDevice(UsbDevice device) throws IOException {
// Get UsbManager from Android.
Expand All @@ -105,8 +129,9 @@ private void openUsbDevice(UsbDevice device) throws IOException {
Log.d("USB", "Opening using Baud rate " + mBaudRate);
try {
sDriver.open();
sDriver.setParameters(mBaudRate, 8, UsbSerialDriver.STOPBITS_1,
UsbSerialDriver.PARITY_NONE);
sDriver.setParameters(mBaudRate, 8, UsbSerialDriver.STOPBITS_1, UsbSerialDriver.PARITY_NONE);

onUsbConnectionOpened();
} catch (IOException e) {
Log.e("USB", "Error setting up device: " + e.getMessage(), e);
try {
Expand All @@ -119,57 +144,57 @@ private void openUsbDevice(UsbDevice device) throws IOException {
}
}

@Override
protected int readDataBlock(byte[] readData) throws IOException {
// Read data from driver. This call will return upto readData.length
// bytes.
// If no data is received it will timeout after 200ms (as set by
// parameter 2)
int iavailable = 0;
try {
iavailable = sDriver.read(readData, 200);
} catch (NullPointerException e) {
final String errorMsg = "Error Reading: " + e.getMessage()
+ "\nAssuming inaccessible USB device. Closing connection.";
Log.e(TAG, errorMsg, e);
throw new IOException(errorMsg, e);
}

if (iavailable == 0)
iavailable = -1;
return iavailable;
}

@Override
protected void sendBuffer(byte[] buffer) {
// Write data to driver. This call should write buffer.length bytes
// if data cant be sent , then it will timeout in 500ms (as set by
// parameter 2)
if (sDriver != null) {
try {
sDriver.write(buffer, 500);
} catch (IOException e) {
Log.e("USB", "Error Sending: " + e.getMessage(), e);
}
}
}

@Override
protected void closeUsbConnection() throws IOException {
@Override
protected int readDataBlock(byte[] readData) throws IOException {
// Read data from driver. This call will return upto readData.length
// bytes.
// If no data is received it will timeout after 200ms (as set by
// parameter 2)
int iavailable = 0;
try {
iavailable = sDriver.read(readData, 200);
} catch (NullPointerException e) {
final String errorMsg = "Error Reading: " + e.getMessage()
+ "\nAssuming inaccessible USB device. Closing connection.";
Log.e(TAG, errorMsg, e);
throw new IOException(errorMsg, e);
}

if (iavailable == 0)
iavailable = -1;
return iavailable;
}

@Override
protected void sendBuffer(byte[] buffer) {
// Write data to driver. This call should write buffer.length bytes
// if data cant be sent , then it will timeout in 500ms (as set by
// parameter 2)
if (sDriver != null) {
try {
sDriver.write(buffer, 500);
} catch (IOException e) {
Log.e("USB", "Error Sending: " + e.getMessage(), e);
}
}
}

@Override
protected void closeUsbConnection() throws IOException {
unregisterUsbPermissionBroadcastReceiver();

if (sDriver != null) {
try {
sDriver.close();
} catch (IOException e) {
// Ignore.
}
sDriver = null;
}
}

@Override
public String toString() {
return TAG;
}
if (sDriver != null) {
try {
sDriver.close();
} catch (IOException e) {
// Ignore.
}
sDriver = null;
}
}

@Override
public String toString() {
return TAG;
}
}
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