Upgrade ANT support libraries

Rework AntSensorManager (and subclasses) to use asynchronous ANT interfaces
Encapsulate message byte arrays with per-message classes
Add tests

MyTracks/src/com/dsi/ant/AntDefine.java

@@ -28,14 +28,6 @@ package com.dsi.ant;
  */
 public class AntDefine {
 	
-    //////////////////////////////////////////////
-    // Library Version Information
-    //////////////////////////////////////////////
-    public static final int    ANT_LIBRARY_VERSION_CODE = 5;
-    public static final int    ANT_LIBRARY_VERSION_MAJOR = 1;
-    public static final int    ANT_LIBRARY_VERSION_MINOR = 4;
-    public static final String ANT_LIBRARY_VERSION_NAME = String.valueOf(ANT_LIBRARY_VERSION_MAJOR) + "." + String.valueOf(ANT_LIBRARY_VERSION_MINOR);
-
     //////////////////////////////////////////////
     // Valid Configuration Values
     //////////////////////////////////////////////

MyTracks/src/com/dsi/ant/AntInterfaceIntent.java

@@ -22,13 +22,16 @@ package com.dsi.ant;
  */
 public interface AntInterfaceIntent {
 	
-	public static final String STATUS      = "com.dsi.ant.rx.intent.STATUS";	
-	public static final String ANT_MESSAGE = "com.dsi.ant.intent.ANT_MESSAGE";
+	public static final String STATUS                    = "com.dsi.ant.rx.intent.STATUS";	
+	public static final String ANT_MESSAGE               = "com.dsi.ant.intent.ANT_MESSAGE";
+	public static final String ANT_INTERFACE_CLAIMED_PID = "com.dsi.ant.intent.ANT_INTERFACE_CLAIMED_PID";
 
 	public static final String ANT_ENABLED_ACTION    = "com.dsi.ant.intent.action.ANT_ENABLED";
 	public static final String ANT_DISABLED_ACTION   = "com.dsi.ant.intent.action.ANT_DISABLED";
 	public static final String ANT_RESET_ACTION      = "com.dsi.ant.intent.action.ANT_RESET";
 	
+	public static final String ANT_INTERFACE_CLAIMED_ACTION = "com.dsi.ant.intent.action.ANT_INTERFACE_CLAIMED_ACTION";
+	
 	public static final String ANT_RX_MESSAGE_ACTION = "com.dsi.ant.intent.action.ANT_RX_MESSAGE_ACTION";
 
 }

MyTracks/src/com/dsi/ant/IAnt_6.aidl

@@ -0,0 +1,77 @@
+/*
+ * Copyright 2011 Dynastream Innovations Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+package com.dsi.ant;
+
+/**
+ * The Android Ant API is not finalized, and *will* be updated and expanded.
+ * This is the base level ANT messaging API and gives any application full
+ * control over the ANT radio HW.  Caution should be exercised when using
+ * this interface.
+ *
+ * Public API for controlling the Ant Service.
+ *
+ * {@hide}
+ */
+interface IAnt_6 {
+// Since version 1 (1.0):
+    boolean enable();
+    boolean disable();
+    boolean isEnabled();    
+
+    boolean ANTTxMessage(in byte[] message);
+
+    boolean ANTResetSystem();
+    boolean ANTUnassignChannel(byte channelNumber);
+    boolean ANTAssignChannel(byte channelNumber, byte channelType, byte networkNumber);
+    boolean ANTSetChannelId(byte channelNumber, int deviceNumber, byte deviceType, byte txType); 
+    boolean ANTSetChannelPeriod(byte channelNumber, int channelPeriod);
+    boolean ANTSetChannelRFFreq(byte channelNumber, byte radioFrequency);
+    boolean ANTSetChannelSearchTimeout(byte channelNumber, byte searchTimeout);
+    boolean ANTSetLowPriorityChannelSearchTimeout(byte channelNumber, byte searchTimeout); 
+    boolean ANTSetProximitySearch(byte channelNumber, byte searchThreshold);
+    boolean ANTSetChannelTxPower(byte channelNumber, byte txPower);
+    boolean ANTAddChannelId(byte channelNumber, int deviceNumber, byte deviceType, byte txType, byte listIndex); 
+    boolean ANTConfigList(byte channelNumber, byte listSize, byte exclude);
+    
+    boolean ANTOpenChannel(byte channelNumber);
+    boolean ANTCloseChannel(byte channelNumber);
+    
+    boolean ANTRequestMessage(byte channelNumber, byte messageID);
+    boolean ANTSendBroadcastData(byte channelNumber, in byte[] txBuffer);
+    boolean ANTSendAcknowledgedData(byte channelNumber, in byte[] txBuffer); 
+
+    boolean ANTSendBurstTransferPacket(byte control, in byte[] txBuffer);
+
+    int ANTSendBurstTransfer(byte channelNumber, in byte[] txBuffer);
+    int ANTTransmitBurst(byte channelNumber, in byte[] txBuffer, int initialPacket, boolean containsEndOfBurst);
+
+// Since version 4 (1.3):
+    boolean ANTConfigEventBuffering(int screenOnFlushTimerInterval, int screenOnFlushBufferThreshold, int screenOffFlushTimerInterval, int screenOffFlushBufferThreshold);
+    
+// Since version 2 (1.1):
+    boolean ANTDisableEventBuffering();
+    
+// Since version 3 (1.2):
+    int getServiceLibraryVersionCode();
+    String getServiceLibraryVersionName();
+    
+// Since version 6 (1.5):
+    boolean claimInterface();
+    boolean requestForceClaimInterface(String appName);
+    boolean stopRequestForceClaimInterface();
+    boolean releaseInterface();
+    boolean hasClaimedInterface();
+}

MyTracks/src/com/dsi/ant/Version.java

@@ -0,0 +1,35 @@
+/*
+ * Copyright 2011 Dynastream Innovations Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+package com.dsi.ant;
+
+
+
+/**
+ * Defines version numbers
+ * 
+ * @hide
+ */
+public class Version {
+	
+    //////////////////////////////////////////////
+    // Library Version Information
+    //////////////////////////////////////////////
+    public static final int    ANT_LIBRARY_VERSION_CODE = 6;
+    public static final int    ANT_LIBRARY_VERSION_MAJOR = 2;
+    public static final int    ANT_LIBRARY_VERSION_MINOR = 0;
+    public static final String ANT_LIBRARY_VERSION_NAME = String.valueOf(ANT_LIBRARY_VERSION_MAJOR) + "." + String.valueOf(ANT_LIBRARY_VERSION_MINOR);
+	
+}

MyTracks/src/com/dsi/ant/exception/AntInterfaceException.java

@@ -0,0 +1,20 @@
+package com.dsi.ant.exception;
+
+public class AntInterfaceException extends Exception 
+{
+
+    /**
+     * 
+     */
+    private static final long serialVersionUID = -7278855366167722274L;
+
+    public AntInterfaceException()
+    {
+        this("Unknown ANT Interface error");
+    }
+
+    public AntInterfaceException(String string)
+    {
+        super(string);
+    }
+}

MyTracks/src/com/dsi/ant/exception/AntRemoteException.java

@@ -0,0 +1,23 @@
+package com.dsi.ant.exception;
+
+import android.os.RemoteException;
+
+public class AntRemoteException extends AntInterfaceException 
+{
+    /**
+     * 
+     */
+    private static final long serialVersionUID = 8950974759973459561L;
+
+    public AntRemoteException(RemoteException e)
+    {
+        this("ANT Interface error, ANT Radio Service remote error: "+e.toString(), e);
+    }
+    
+    public AntRemoteException(String string, RemoteException e)
+    {
+        super(string);
+        
+        this.initCause(e);
+    }
+}

MyTracks/src/com/dsi/ant/exception/AntServiceNotConnectedException.java

@@ -0,0 +1,19 @@
+package com.dsi.ant.exception;
+
+public class AntServiceNotConnectedException extends AntInterfaceException 
+{
+    /**
+     * 
+     */
+    private static final long serialVersionUID = -2085081032170129309L;
+
+    public AntServiceNotConnectedException()
+    {
+        this("ANT Interface error, ANT Radio Service not connected.");
+    }
+    
+    public AntServiceNotConnectedException(String string)
+    {
+        super(string);
+    }
+}

MyTracks/src/com/google/android/apps/mytracks/services/sensors/AntDirectSensorManager.java

@@ -1,12 +1,12 @@
 /*
  * Copyright 2009 Google Inc.
- * 
+ *
  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
  * use this file except in compliance with the License. You may obtain a copy of
  * the License at
- * 
+ *
  * http://www.apache.org/licenses/LICENSE-2.0
- * 
+ *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
  * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
@@ -18,10 +18,14 @@ package com.google.android.apps.mytracks.services.sensors;
 import static com.google.android.apps.mytracks.MyTracksConstants.TAG;
 import com.google.android.apps.mytracks.MyTracksSettings;
 import com.google.android.apps.mytracks.content.Sensor;
+import com.google.android.apps.mytracks.services.sensors.ant.AntChannelIdMessage;
+import com.google.android.apps.mytracks.services.sensors.ant.AntChannelResponseMessage;
 import com.google.android.maps.mytracks.R;
 
 import com.dsi.ant.AntDefine;
 import com.dsi.ant.AntMesg;
+import com.dsi.ant.exception.AntInterfaceException;
+
 import android.content.Context;
 import android.content.SharedPreferences;
 import android.util.Log;
@@ -49,62 +53,70 @@ public class AntDirectSensorManager extends AntSensorManager {
 
   public AntDirectSensorManager(Context context) {
     super(context);
-    
+
     deviceNumberHRM = WILDCARD;
 
     // First read the the device id that we will be pairing with.
     SharedPreferences prefs = context.getSharedPreferences(
         MyTracksSettings.SETTINGS_NAME, 0);
     if (prefs != null) {
-      deviceNumberHRM = 
+      deviceNumberHRM =
         (short) prefs.getInt(context.getString(R.string.ant_heart_rate_sensor_id_key), 0);
     }
-    Log.i(TAG, "Pairing with heart rate monitor: " + deviceNumberHRM);
+    Log.i(TAG, "Will pair with heart rate monitor: " + deviceNumberHRM);
   }
 
   @Override
-  public void handleMessage(byte[] antMessage) {
-    int channel =
-      antMessage[AntMesg.MESG_DATA_OFFSET] & AntDefine.CHANNEL_NUMBER_MASK;
+  protected boolean handleMessage(byte messageId, byte[] messageData) {
+    if (super.handleMessage(messageId, messageData)) {
+      return true;
+    }
+
+    int channel = messageData[0] & AntDefine.CHANNEL_NUMBER_MASK;
     switch (channel) {
       case HRM_CHANNEL:
-        antDecodeHRM(antMessage);
+        antDecodeHRM(messageId, messageData);
         break;
       default:
         Log.d(TAG, "Unhandled message: " + channel);
     }
+
+    return true;
   }
 
   /**
    * Decode an ant heart rate monitor message.
-   * @param antMessage The byte array received from the heart rate monitor.
+   * @param messageData The byte array received from the heart rate monitor.
    */
-  private void antDecodeHRM(byte[] antMessage) {
-    // message ID == broadcast
-    switch (antMessage[AntMesg.MESG_ID_OFFSET]) {
+  private void antDecodeHRM(int messageId, byte[] messageData) {
+    switch (messageId) {
       case AntMesg.MESG_BROADCAST_DATA_ID:
-        handleBroadcastData(antMessage);
+        handleBroadcastData(messageData);
         break;
       case AntMesg.MESG_RESPONSE_EVENT_ID:
-        handleMessageResponse(antMessage);
+        handleMessageResponse(messageData);
         break;
       case AntMesg.MESG_CHANNEL_ID_ID:
-        handleChannelId(antMessage);
+        handleChannelId(messageData);
         break;
       default:
-        Log.e(TAG, "Unexpected message id: " + antMessage[3]);
+        Log.e(TAG, "Unexpected message id: " + messageId);
     }
   }
 
   private void handleBroadcastData(byte[] antMessage) {
     if (deviceNumberHRM == WILDCARD) {
-      getAntReceiver().ANTRequestMessage(HRM_CHANNEL,
-          AntMesg.MESG_CHANNEL_ID_ID);
+      try {
+        getAntReceiver().ANTRequestMessage(HRM_CHANNEL,
+            AntMesg.MESG_CHANNEL_ID_ID);
+      } catch (AntInterfaceException e) {
+        Log.e(TAG, "ANT error handling broadcast data", e);
+      }
       Log.d(TAG, "Requesting channel id id.");
     }
 
     setSensorState(Sensor.SensorState.CONNECTED);
-    int bpm = (int) antMessage[10] & 0xFF;
+    int bpm = (int) antMessage[8] & 0xFF;
     Sensor.SensorData.Builder b = Sensor.SensorData.newBuilder()
       .setValue(bpm)
       .setState(Sensor.SensorState.SENDING);
@@ -115,11 +127,9 @@ public class AntDirectSensorManager extends AntSensorManager {
       .build();
   }
 
-  void handleChannelId(byte[] antMessage) {
-    // Store the device id.
-    deviceNumberHRM =
-        (short) (((int) antMessage[3] & 0xFF  |
-                  ((int) (antMessage[4] & 0xFF) << 8)) & 0xFFFF);
+  void handleChannelId(byte[] rawMessage) {
+    AntChannelIdMessage message = new AntChannelIdMessage(rawMessage);
+    deviceNumberHRM = message.getDeviceNumber();
     Log.i(TAG, "Found device id: " + deviceNumberHRM);
 
     SharedPreferences prefs = context.getSharedPreferences(
@@ -129,26 +139,31 @@ public class AntDirectSensorManager extends AntSensorManager {
     editor.commit();
   }
 
-  private void handleMessageResponse(byte[] antMessage) {
-    if (antMessage[3] == AntMesg.MESG_EVENT_ID &&
-        antMessage[4] == AntDefine.EVENT_RX_SEARCH_TIMEOUT) {
-      // Search timeout
-      Log.w(TAG, "Search timed out. Unassigning channel.");
-      getAntReceiver().ANTUnassignChannel((byte) 0);
-      setSensorState(Sensor.SensorState.DISCONNECTED);
-    } else if (antMessage[3] == AntMesg.MESG_UNASSIGN_CHANNEL_ID) {
-      setSensorState(Sensor.SensorState.DISCONNECTED);
-      Log.i(TAG, "Disconnected from the sensor: " + getSensorState());
+  private void handleMessageResponse(byte[] rawMessage) {
+    AntChannelResponseMessage message = new AntChannelResponseMessage(rawMessage);
+    switch (message.getMessageId()) {
+      case AntMesg.MESG_EVENT_ID:
+        if (message.getMessageCode() == AntDefine.EVENT_RX_SEARCH_TIMEOUT) {
+          // Search timeout
+          Log.w(TAG, "Search timed out. Unassigning channel.");
+          try {
+            getAntReceiver().ANTUnassignChannel((byte) 0);
+          } catch (AntInterfaceException e) {
+            Log.e(TAG, "ANT error unassigning channel", e);
+          }
+          setSensorState(Sensor.SensorState.DISCONNECTED);
+        }
+        break;
+
+      case AntMesg.MESG_UNASSIGN_CHANNEL_ID:
+        setSensorState(Sensor.SensorState.DISCONNECTED);
+        Log.i(TAG, "Disconnected from the sensor: " + getSensorState());
+        break;
     }
   }
 
-  /**
-   * Open a channel to the SRM head unit.
-   */
-  @Override
-  public void setupChannel() {
-    super.setupChannel();
-    antChannelSetup(NETWORK_NUMBER,
+  @Override protected void setupAntSensorChannels() {
+    setupAntSensorChannel(NETWORK_NUMBER,
         HRM_CHANNEL,
         deviceNumberHRM,
         HEART_RATE_DEVICE_TYPE,
@@ -156,7 +171,6 @@ public class AntDirectSensorManager extends AntSensorManager {
         CHANNEL_PERIOD,
         RF_FREQUENCY,
         (byte) 0);
-    setSensorState(Sensor.SensorState.CONNECTING);
   }
 
   public short getDeviceNumberHRM() {

MyTracks/src/com/google/android/apps/mytracks/services/sensors/AntSRMSensorManager.java

@@ -1,12 +1,12 @@
 /*
  * Copyright 2009 Google Inc.
- * 
+ *
  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
  * use this file except in compliance with the License. You may obtain a copy of
  * the License at
- * 
+ *
  * http://www.apache.org/licenses/LICENSE-2.0
- * 
+ *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
  * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
@@ -22,6 +22,8 @@ import com.google.android.maps.mytracks.R;
 
 import com.dsi.ant.AntDefine;
 import com.dsi.ant.AntMesg;
+import com.dsi.ant.exception.AntInterfaceException;
+
 import android.content.Context;
 import android.content.SharedPreferences;
 import android.util.Log;
@@ -104,8 +106,12 @@ public class AntSRMSensorManager extends AntSensorManager {
 
   private void handleBroadcastData(byte[] antMessage) {
     if (deviceId == WILDCARD) {
-       getAntReceiver().ANTRequestMessage(channel, AntMesg.MESG_CHANNEL_ID_ID);
-      Log.d(MyTracksConstants.TAG, "Requesting channel id id.");
+      try {
+        Log.d(MyTracksConstants.TAG, "Requesting channel id id.");
+        getAntReceiver().ANTRequestMessage(channel, AntMesg.MESG_CHANNEL_ID_ID);
+      } catch (AntInterfaceException e) {
+        Log.e(MyTracksConstants.TAG, "Failed to request channel id id", e);
+      }
     }
     setSensorState(Sensor.SensorState.CONNECTED);
     switch(antMessage[MESSAGE_TYPE_INDEX]) {
@@ -138,7 +144,11 @@ public class AntSRMSensorManager extends AntSensorManager {
         && antMessage[4] == AntDefine.EVENT_RX_SEARCH_TIMEOUT) {
       // Search timeout
       Log.w(MyTracksConstants.TAG, "Search timed out. Unassigning channel.");
-      getAntReceiver().ANTUnassignChannel(channel);
+      try {
+        getAntReceiver().ANTUnassignChannel(channel);
+      } catch (AntInterfaceException e) {
+        Log.e(MyTracksConstants.TAG, "Failed to unassign ANT channel", e);
+      }
       setSensorState(Sensor.SensorState.DISCONNECTED);
     } else if (antMessage[3] == AntMesg.MESG_UNASSIGN_CHANNEL_ID) {
       setSensorState(Sensor.SensorState.DISCONNECTED);
@@ -207,12 +217,10 @@ public class AntSRMSensorManager extends AntSensorManager {
     sensorData = builder.build();
   }
 
-  /**
-   * Open a channel to the SRM head unit.
-   */
   @Override
-  public void setupChannel() {
-    antChannelSetup(NETWORK_NUMBER,
+  protected void setupAntSensorChannels() {
+    lastMessageId = 0;
+    setupAntSensorChannel(NETWORK_NUMBER,
         channel,
         deviceId,
         DEVICE_TYPE,
@@ -220,7 +228,5 @@ public class AntSRMSensorManager extends AntSensorManager {
         CHANNEL_PERIOD,
         RF_FREQUENCY,
         (byte) 0);
-    lastMessageId = 0;
-    setSensorState(Sensor.SensorState.CONNECTING);
   }
 }

MyTracks/src/com/google/android/apps/mytracks/services/sensors/AntSensorManager.java

@@ -1,12 +1,12 @@
 /*
  * Copyright 2009 Google Inc.
- * 
+ *
  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
  * use this file except in compliance with the License. You may obtain a copy of
  * the License at
- * 
+ *
  * http://www.apache.org/licenses/LICENSE-2.0
- * 
+ *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
  * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
@@ -16,37 +16,56 @@
 package com.google.android.apps.mytracks.services.sensors;
 
 import com.google.android.apps.mytracks.MyTracksConstants;
+import com.google.android.apps.mytracks.content.Sensor;
 import com.google.android.apps.mytracks.content.Sensor.SensorDataSet;
+import com.google.android.apps.mytracks.services.sensors.ant.AntStartupMessage;
 
 import com.dsi.ant.AntDefine;
 import com.dsi.ant.AntInterface;
 import com.dsi.ant.AntInterfaceIntent;
+import com.dsi.ant.AntMesg;
+import com.dsi.ant.exception.AntInterfaceException;
+
 import android.content.BroadcastReceiver;
 import android.content.Context;
 import android.content.Intent;
 import android.content.IntentFilter;
-import android.os.Handler;
-import android.os.Message;
 import android.util.Log;
 
 /**
- * An abstract class for ANT+ based sensors.
+ * This is the common superclass for ANT-based sensors.  It handles tasks which
+ * apply to the ANT framework as a whole, such as framework initialization and
+ * destruction.  Subclasses are expected to handle the initialization and
+ * management of individual sensors.
+ *
+ * Implementation:
+ *
+ * The initialization process is somewhat complicated.  This is due in part to
+ * the asynchronous nature of ANT Radio Service initialization, and in part due
+ * to an apparent bug in that service.  The following is an overview of the
+ * initialization process.
+ *
+ * Initialization begins in {@link #setupChannel}, which is invoked by the
+ * {@link SensorManager} when track recording begins.  {@link #setupChannel}
+ * asks the ANT Radio Service (via {@link AntInterface}) to start, using a
+ * {@link AntInterface.ServiceListener} to indicate when the service has
+ * connected.  {@link #serviceConnected} claims and enables the Radio Service,
+ * and then resets it to a known state for our use.  Completion of reset is
+ * indicated by receipt of a startup message (see {@link AntStartupMessage}).
+ * Once we've received that message, the ANT service is ready for use, and we
+ * can start sensor-specific initialization using
+ * {@link #setupAntSensorChannels}.  The initialization of each sensor will
+ * usually result in a call to {@link #setupAntSensorChannel}.
  *
  * @author Sandor Dornbush
  */
 public abstract class AntSensorManager extends SensorManager {
 
-  // ANT Service
-  public static final int EVENT_ANT_ENABLED = 1;
-  public static final int EVENT_ANT_DISABLED = 2;
-
   // Pairing
   protected static final short WILDCARD = 0;
 
   private AntInterface antReceiver;
 
-  private boolean status;
-
   // Flag to know if the ANT App was interrupted
   // TODO: This code path is not used but probably should be.
   private boolean antInterrupted;
@@ -57,40 +76,29 @@ public abstract class AntSensorManager extends SensorManager {
   protected SensorDataSet sensorData;
 
   protected Context context;
-  
+
   private static final boolean DEBUGGING = false;
 
-  /**
-   * Receives all of the ANT intents and dispatches to the proper handler.
-   */
-  private final BroadcastReceiver receiver = new BroadcastReceiver() {
+  /** Receives and logs all status ANT intents. */
+  private final BroadcastReceiver statusReceiver = new BroadcastReceiver() {
     @Override
     public void onReceive(Context context, Intent intent) {
       String antAction = intent.getAction();
+      Log.i(MyTracksConstants.TAG, "enter status onReceive" + antAction);
+    }
+  };
 
-      Log.i(MyTracksConstants.TAG, "enter onReceive" + antAction);
-      if (antAction.equals(AntInterfaceIntent.ANT_ENABLED_ACTION)) {
-        Log.i(MyTracksConstants.TAG, "enter onReceive ANT_ENABLED_ACTION "
-            + antAction);
-        handler.sendMessage(handler.obtainMessage(EVENT_ANT_ENABLED, 0));
-      }
-      if (antAction.equals(AntInterfaceIntent.ANT_DISABLED_ACTION)) {
-        Log.i(MyTracksConstants.TAG, "enter onReceive ANT_DISABLED_ACTION "
-            + antAction);
-        handler.sendMessage(handler.obtainMessage(EVENT_ANT_DISABLED, 0));
-      }
+  /** Receives all data ANT intents. */
+  private final BroadcastReceiver dataReceiver = new BroadcastReceiver() {
+    @Override
+    public void onReceive(Context context, Intent intent) {
+      String antAction = intent.getAction();
+      Log.i(MyTracksConstants.TAG, "enter data onReceive" + antAction);
 
       if (antAction.equals(AntInterfaceIntent.ANT_RX_MESSAGE_ACTION)) {
-        byte[] antMessage =
-            intent.getByteArrayExtra(AntInterfaceIntent.ANT_MESSAGE);
+        byte[] antMessage = intent.getByteArrayExtra(AntInterfaceIntent.ANT_MESSAGE);
         if (DEBUGGING) {
-          StringBuilder sb = 
-              new StringBuilder("ANT_RX_MESSAGE_ACTION Rx:");
-  
-          for (int i = 0; i < antMessage.length; i++)
-            sb.append(String.format("[%X]]", (antMessage[i] & 0xFF)));
-  
-          Log.d(MyTracksConstants.TAG, sb.toString());
+          Log.d(MyTracksConstants.TAG, "Received RX message " + messageToString(antMessage));
         }
 
         handleMessage(antMessage);
@@ -99,60 +107,39 @@ public abstract class AntSensorManager extends SensorManager {
   };
 
   /**
-   * Handler for all the ANT related events. The events will be handled only
-   * when we are in the ANT application main menu
-   **/
-  private Handler handler = new Handler() {
+   * ANT uses this listener to tell us when it has bound to the ANT Radio
+   * Service.  We can't start sending ANT commands until we've been notified
+   * (via this listener) that the Radio Service has connected.
+   */
+  private AntInterface.ServiceListener antServiceListener = new AntInterface.ServiceListener() {
     @Override
-    public void handleMessage(Message msg) {
-      switch (msg.what) {
-        case EVENT_ANT_ENABLED:
-          Log.i(MyTracksConstants.TAG,
-              "enter handleMessage ----EVENT_ANT_ENABLED");
-          break;
-        case EVENT_ANT_DISABLED:
-          Log.i(MyTracksConstants.TAG,
-              "enter handleMessage ----EVENT_ANT_DISABLED");
-          break;
-      }
+    public void onServiceConnected() {
+      serviceConnected();
+    }
+
+    @Override
+    public void onServiceDisconnected() {
+      Log.d(MyTracksConstants.TAG, "ANT interface reports disconnection");
     }
   };
 
   public AntSensorManager(Context context) {
     this.context = context;
-
-    // Need to enable the ANT if it is not enabled earlier
-    antReceiver = AntInterface.getInstance(context, null);
-    if (antReceiver == null) {
-      return;
-    }
-
-    status = antReceiver.isEnabled();
-    if (!status) {
-      // Make sure not to call AntInterface.enable() again, if it has been
-      // already called before
-      if (antInterrupted == false) {
-        status = antReceiver.enable();
-        if (!status) {
-          Log.e(MyTracksConstants.TAG, "Can not enable ANT interface");
-        } else {
-          Log.i(MyTracksConstants.TAG, "Powering on Radio");
-        }
-      } else {
-        Log.i(MyTracksConstants.TAG, "Radio already enabled");
-      }
-    }
   }
 
   @Override
-  public void setupChannel() {
-    Log.i(MyTracksConstants.TAG, "Registering for ant intents.");
-    // Register for ANT intent broadcasts.
-    IntentFilter intentFilter = new IntentFilter();
-    intentFilter.addAction(AntInterfaceIntent.ANT_ENABLED_ACTION);
-    intentFilter.addAction(AntInterfaceIntent.ANT_DISABLED_ACTION);
-    intentFilter.addAction(AntInterfaceIntent.ANT_RX_MESSAGE_ACTION);
-    context.registerReceiver(receiver, intentFilter);
+  public void onDestroy() {
+    Log.i(MyTracksConstants.TAG, "destroying AntSensorManager");
+    context.unregisterReceiver(statusReceiver);
+    context.unregisterReceiver(dataReceiver);
+
+    try {
+      antReceiver.releaseInterface();
+    } catch (AntInterfaceException e) {
+      Log.e(MyTracksConstants.TAG, "failed to release ANT interface", e);
+    }
+
+    antReceiver.destroy();
   }
 
   @Override
@@ -165,64 +152,184 @@ public abstract class AntSensorManager extends SensorManager {
     return true;
   }
 
-  public abstract void handleMessage(byte[] antMessage);
-
-  @Override
-  public void onDestroy() {
-    Log.i(MyTracksConstants.TAG, "Unregistering for ant intents.");
-    context.unregisterReceiver(receiver);
-  }
-
-  /**
-   * Set up an ANT+ channel.
-   * 
-   * @return True on success.
-   */
-  protected boolean antChannelSetup(byte networkNumber, byte channelNumber,
-      short deviceNumber, byte deviceType, byte txType, short channelPeriod,
-      byte radioFreq, byte proxSearch) {
-
-    // Assign as slave channel on selected network (0 = public, 1 = ANT+, 2 =
-    // ANTFS)
-    if (!antReceiver.ANTAssignChannel(channelNumber,
-        AntDefine.PARAMETER_RX_NOT_TX, networkNumber)) {
-      return false;
-    }
-
-    if (!antReceiver.ANTSetChannelId(channelNumber, deviceNumber, deviceType,
-        txType)) {
-      return false;
-    }
-
-    if (!antReceiver.ANTSetChannelPeriod(channelNumber, channelPeriod)) {
-      return false;
-    }
-
-    if (!antReceiver.ANTSetChannelRFFreq(channelNumber, radioFreq)) {
-      return false;
-    }
-
-    // Disable high priority search
-    if (!antReceiver.ANTSetChannelSearchTimeout(channelNumber, (byte) 0)) {
-      return false;
-    }
-
-    // Set search timeout to 30 seconds (low priority search))
-    if (!antReceiver.ANTSetLowPriorityChannelSearchTimeout(channelNumber, (byte) 12)) {
-      return false;
-    }
-
-    if (deviceNumber == WILDCARD) {
-      // Configure proximity search, if using wild card search
-      if (!antReceiver.ANTSetProximitySearch(channelNumber, proxSearch)) {
-        return false;
-      }
-    }
-
-    return !antReceiver.ANTOpenChannel(channelNumber);
-  }
-
   public AntInterface getAntReceiver() {
     return antReceiver;
   }
+
+  /**
+   * This is the interface used by the {@link SensorManager} to tell this
+   * class when to start.  It handles initialization of the ANT framework,
+   * eventually resulting in sensor-specific initialization via
+   * {@link #setupAntSensorChannels}.
+   */
+  @Override
+  protected final void setupChannel() {
+    // We handle this unpleasantly because the UI should've checked for ANT
+    // support before it even instantiated this class.
+    if (!AntInterface.hasAntSupport(context)) {
+      throw new IllegalStateException("device does not have ANT support");
+    }
+
+    // We register for ANT intents early because we want to have a record of
+    // the status intents in the log as we start up.
+    registerForAntIntents();
+
+    antReceiver = AntInterface.getInstance(context, antServiceListener);
+
+    if (antReceiver == null) {
+      Log.e(MyTracksConstants.TAG, "Failed to get ANT Receiver");
+      return;
+    }
+
+    setSensorState(Sensor.SensorState.CONNECTING);
+  }
+
+  /**
+   * This method is invoked via the ServiceListener when we're connected to
+   * the ANT service.  If we're just starting up, this is our first opportunity
+   * to initiate any ANT commands.
+   */
+  private synchronized void serviceConnected() {
+    Log.d(MyTracksConstants.TAG, "ANT service connected");
+
+    try {
+      if (!antReceiver.claimInterface()) {
+        Log.e(MyTracksConstants.TAG, "failed to claim ANT interface");
+        return;
+      }
+
+      if (!antReceiver.isEnabled()) {
+        // Make sure not to call AntInterface.enable() again, if it has been
+        // already called before
+        if (antInterrupted == false) {
+          Log.i(MyTracksConstants.TAG, "Powering on Radio");
+          antReceiver.enable();
+        }
+      } else {
+        Log.i(MyTracksConstants.TAG, "Radio already enabled");
+      }
+    } catch (AntInterfaceException e) {
+      Log.e(MyTracksConstants.TAG, "failed to enable ANT", e);
+    }
+
+    try {
+      // We expect this call to throw an exception due to a bug in the ANT
+      // Radio Service.  It won't actually fail, though, as we'll get the
+      // startup message (see {@link AntStartupMessage}) one normally expects
+      // after a reset.  Channel initialization can proceed once we receive
+      // that message.
+      antReceiver.ANTResetSystem();
+    } catch (AntInterfaceException e) {
+      Log.e(MyTracksConstants.TAG, "failed to reset ANT (expected exception)", e);
+    }
+  }
+
+  /**
+   * Process a raw ANT message.
+   * @param antMessage the ANT message, including the size and message ID bytes
+   * @deprecated Use {@link #handleMessage(int, byte[])} instead.
+   */
+  protected void handleMessage(byte[] antMessage) {
+    int len = antMessage[0];
+    if (len != antMessage.length - 2 || antMessage.length <= 2) {
+      Log.e(MyTracksConstants.TAG, "Invalid message: " + messageToString(antMessage));
+      return;
+    }
+
+    byte messageId = antMessage[1];
+    // Arrays#copyOfRange doesn't exist??
+    byte[] messageData = new byte[antMessage.length - 2];
+    System.arraycopy(antMessage, 2, messageData, 0, antMessage.length - 2);
+    handleMessage(messageId, messageData);
+  }
+
+  /**
+   * Process a raw ANT message.
+   * @param messageId the message ID.  See the ANT Message Protocol and Usage
+   *     guide, section 9.3.
+   * @param messageData the ANT message, without the size and message ID bytes.
+   * @return true if this method has taken responsibility for the passed
+   *     message; false otherwise.
+   */
+  protected boolean handleMessage(byte messageId, byte[] messageData) {
+    if (messageId == AntMesg.MESG_STARTUP_MESG_ID) {
+      Log.d(MyTracksConstants.TAG, String.format(
+          "Received startup message (reason %02x); initializing channel",
+          new AntStartupMessage(messageData).getMessage()));
+      setupAntSensorChannels();
+      return true;
+    }
+
+    return false;
+  }
+
+  /**
+   * Subclasses define this method to perform sensor-specific initialization.
+   * When this method is called, the ANT framework has been enabled, and is
+   * ready for use.
+   */
+  protected abstract void setupAntSensorChannels();
+
+  /**
+   * Used by subclasses to set up an ANT channel for a single sensor.  A given
+   * subclass may invoke this method multiple times if the subclass is
+   * responsible for more than one sensor.
+   *
+   * @return true on success
+   */
+  protected boolean setupAntSensorChannel(byte networkNumber, byte channelNumber,
+      short deviceNumber, byte deviceType, byte txType, short channelPeriod,
+      byte radioFreq, byte proxSearch) {
+
+    try {
+      // Assign as slave channel on selected network (0 = public, 1 = ANT+, 2 =
+      // ANTFS)
+      antReceiver.ANTAssignChannel(channelNumber, AntDefine.PARAMETER_RX_NOT_TX, networkNumber);
+
+      antReceiver.ANTSetChannelId(channelNumber, deviceNumber, deviceType, txType);
+      antReceiver.ANTSetChannelPeriod(channelNumber, channelPeriod);
+      antReceiver.ANTSetChannelRFFreq(channelNumber, radioFreq);
+
+      // Disable high priority search
+      antReceiver.ANTSetChannelSearchTimeout(channelNumber, (byte) 0);
+
+      // Set search timeout to 30 seconds (low priority search))
+      antReceiver.ANTSetLowPriorityChannelSearchTimeout(channelNumber, (byte) 12);
+
+      if (deviceNumber == WILDCARD) {
+        // Configure proximity search, if using wild card search
+        antReceiver.ANTSetProximitySearch(channelNumber, proxSearch);
+      }
+
+      antReceiver.ANTOpenChannel(channelNumber);
+      return true;
+
+    } catch (AntInterfaceException e) {
+      Log.e(MyTracksConstants.TAG, "failed to setup ANT channel", e);
+      return false;
+    }
+  }
+
+  private void registerForAntIntents() {
+    Log.i(MyTracksConstants.TAG, "Registering for ant intents.");
+    // Register for ANT intent broadcasts.
+    IntentFilter statusIntentFilter = new IntentFilter();
+    statusIntentFilter.addAction(AntInterfaceIntent.ANT_ENABLED_ACTION);
+    statusIntentFilter.addAction(AntInterfaceIntent.ANT_DISABLED_ACTION);
+    statusIntentFilter.addAction(AntInterfaceIntent.ANT_INTERFACE_CLAIMED_ACTION);
+    statusIntentFilter.addAction(AntInterfaceIntent.ANT_RESET_ACTION);
+    context.registerReceiver(statusReceiver, statusIntentFilter);
+
+    IntentFilter dataIntentFilter = new IntentFilter();
+    dataIntentFilter.addAction(AntInterfaceIntent.ANT_RX_MESSAGE_ACTION);
+    context.registerReceiver(dataReceiver, dataIntentFilter);
+  }
+
+  private String messageToString(byte[] message) {
+    StringBuilder out = new StringBuilder();
+    for (byte b : message) {
+      out.append(String.format("%s%02x", (out.length() == 0 ? "" : " "), b));
+    }
+    return out.toString();
+  }
 }

MyTracks/src/com/google/android/apps/mytracks/services/sensors/SensorManager.java

@@ -41,7 +41,7 @@ public abstract class SensorManager {
   public static final int RETRY_PERIOD = 30000;
 
   private Sensor.SensorState sensorState = Sensor.SensorState.NONE;
-  
+
   private long sensorStateTimestamp = 0;
 
   /**
@@ -89,7 +89,11 @@ public abstract class SensorManager {
     timer.schedule(checkSensorManager, RETRY_PERIOD, RETRY_PERIOD);
   }
 
-  public abstract void setupChannel();
+  /**
+   * This method is used to set up any necessary connections to underlying
+   * sensor hardware.
+   */
+  protected abstract void setupChannel();
 
   public void shutdown() {
     timer.cancel();

MyTracks/src/com/google/android/apps/mytracks/services/sensors/ant/AntChannelIdMessage.java

@@ -0,0 +1,56 @@
+/*
+ * Copyright 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+package com.google.android.apps.mytracks.services.sensors.ant;
+
+/**
+ * This class decodes and encapsulates an ANT Channel ID message.
+ * (ANT Message ID 0x51, Protocol & Usage guide v4.2 section 9.5.7.2)
+ *
+ * @author Matthew Simmons
+ */
+public class AntChannelIdMessage extends AntMessage {
+  private byte channelNumber;
+  private short deviceNumber;
+  private byte deviceTypeId;
+  private byte transmissionType;
+
+  public AntChannelIdMessage(byte[] messageData) {
+    channelNumber = messageData[0];
+    deviceNumber = decodeShort(messageData[1], messageData[2]);
+    deviceTypeId = messageData[3];
+    transmissionType = messageData[4];
+  }
+
+  /** Returns the channel number */
+  public byte getChannelNumber() {
+    return channelNumber;
+  }
+
+  /** Returns the device number */
+  public short getDeviceNumber() {
+    return deviceNumber;
+  }
+
+  /** Returns the device type */
+  public byte getDeviceTypeId() {
+    return deviceTypeId;
+  }
+
+  /** Returns the transmission type */
+  public byte getTransmissionType() {
+    return transmissionType;
+  }
+}

MyTracks/src/com/google/android/apps/mytracks/services/sensors/ant/AntChannelResponseMessage.java

@@ -0,0 +1,49 @@
+/*
+ * Copyright 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+package com.google.android.apps.mytracks.services.sensors.ant;
+
+/**
+ * This class decodes and encapsulates an ANT Channel Response / Event message.
+ * (ANT Message ID 0x40, Protocol & Usage guide v4.2 section 9.5.6.1)
+ *
+ * @author Matthew Simmons
+ */
+public class AntChannelResponseMessage extends AntMessage {
+  private byte channelNumber;
+  private byte messageId;
+  private byte messageCode;
+
+  public AntChannelResponseMessage(byte[] messageData) {
+    channelNumber = messageData[0];
+    messageId = messageData[1];
+    messageCode = messageData[2];
+  }
+
+  /** Returns the channel number */
+  public byte getChannelNumber() {
+    return channelNumber;
+  }
+
+  /** Returns the ID of the message being responded to */
+  public byte getMessageId() {
+    return messageId;
+  }
+
+  /** Returns the code for a specific response or event */
+  public byte getMessageCode() {
+    return messageCode;
+  }
+}

MyTracks/src/com/google/android/apps/mytracks/services/sensors/ant/AntMessage.java

@@ -0,0 +1,32 @@
+/*
+ * Copyright 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+package com.google.android.apps.mytracks.services.sensors.ant;
+
+/**
+ * This is a common superclass for ANT message subclasses.
+ *
+ * @author Matthew Simmons
+ */
+public class AntMessage {
+  protected AntMessage() {}
+
+  /** Build a short value from its constituent bytes */
+  protected static short decodeShort(byte b0, byte b1) {
+    short value = b0;
+    value |= ((short) b1) << 8;
+    return value;
+  }
+}

MyTracks/src/com/google/android/apps/mytracks/services/sensors/ant/AntStartupMessage.java

@@ -0,0 +1,35 @@
+/*
+ * Copyright 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+package com.google.android.apps.mytracks.services.sensors.ant;
+
+/**
+ * This class decodes and encapsulates an ANT Startup message.
+ * (ANT Message ID 0x6f, Protocol & Usage guide v4.2 section 9.5.3.1)
+ *
+ * @author Matthew Simmons
+ */
+public class AntStartupMessage extends AntMessage {
+  private byte message;
+
+  public AntStartupMessage(byte[] messageData) {
+    message = messageData[0];
+  }
+
+  /** Returns the cause of the startup */
+  public byte getMessage() {
+    return message;
+  }
+}

MyTracksTest/src/com/google/android/apps/mytracks/services/sensors/AntDirectSensorManagerTest.java

@@ -1,12 +1,12 @@
 /*
  * Copyright 2009 Google Inc.
- * 
+ *
  * Licensed under the Apache License, Version 2.0 (the "License"); you may not
  * use this file except in compliance with the License. You may obtain a copy of
  * the License at
- * 
+ *
  * http://www.apache.org/licenses/LICENSE-2.0
- * 
+ *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
  * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
@@ -28,7 +28,7 @@ public class AntDirectSensorManagerTest extends AndroidTestCase {
 
   private SharedPreferences sharedPreferences;
   private AntDirectSensorManager manager;
-  
+
   public void setUp() {
     sharedPreferences = getContext().getSharedPreferences(
         MyTracksSettings.SETTINGS_NAME, 0);
@@ -36,14 +36,16 @@ public class AntDirectSensorManagerTest extends AndroidTestCase {
     sharedPreferences.edit().clear().commit();
     manager = new AntDirectSensorManager(getContext());
   }
-  
+
+  @SuppressWarnings("deprecation")
   @SmallTest
   public void testBroadcastData() {
     manager.setDeviceNumberHRM((short) 42);
     byte[] buff = new byte[11];
+    buff[0] = 9;
     buff[1] = AntMesg.MESG_BROADCAST_DATA_ID;
     buff[2] = 0;  // HRM CHANNEL
-    buff[10] = (byte) 220; 
+    buff[10] = (byte) 220;
     manager.handleMessage(buff);
 
     Sensor.SensorDataSet sds = manager.getSensorDataSet();
@@ -52,24 +54,16 @@ public class AntDirectSensorManagerTest extends AndroidTestCase {
     assertEquals(Sensor.SensorState.SENDING,
         sds.getHeartRate().getState());
     assertEquals(220, sds.getHeartRate().getValue());
-    
+
     assertFalse(sds.hasCadence());
     assertFalse(sds.hasPower());
   }
 
-  @SmallTest
-  public void testHandleChannelId() {
-    assertEquals(0, manager.getDeviceNumberHRM());
-    short id = 42;
-    byte[] buff = new byte[5];
-    buff[3] = 42;
-    manager.handleChannelId(buff);
-    assertEquals(id, manager.getDeviceNumberHRM());
-  }
-
+  @SuppressWarnings("deprecation")
   @SmallTest
   public void testChannelId() {
     byte[] buff = new byte[11];
+    buff[0] = 9;
     buff[1] = AntMesg.MESG_CHANNEL_ID_ID;
     buff[3] = 42;
     manager.handleMessage(buff);
@@ -81,17 +75,21 @@ public class AntDirectSensorManagerTest extends AndroidTestCase {
     assertNull(manager.getSensorDataSet());
   }
 
+  @SuppressWarnings("deprecation")
   @SmallTest
   public void testResponseEvent() {
     assertEquals(Sensor.SensorState.NONE, manager.getSensorState());
-    byte[] buff = new byte[11];
+    byte[] buff = new byte[5];
+    buff[0] = 3;  // length
     buff[1] = AntMesg.MESG_RESPONSE_EVENT_ID;
+    buff[2] = 0;  // channel
     buff[3] = AntMesg.MESG_UNASSIGN_CHANNEL_ID;
+    buff[4] = 0;  // code
     manager.handleMessage(buff);
 
     assertEquals(Sensor.SensorState.DISCONNECTED, manager.getSensorState());
     assertNull(manager.getSensorDataSet());
   }
-  
+
   // TODO: Test timeout too.
 }

MyTracksTest/src/com/google/android/apps/mytracks/services/sensors/AntSensorManagerTest.java

@@ -0,0 +1,85 @@
+/*
+ * Copyright 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+package com.google.android.apps.mytracks.services.sensors;
+
+import android.test.AndroidTestCase;
+import android.test.MoreAsserts;
+
+public class AntSensorManagerTest extends AndroidTestCase {
+  private class TestAntSensorManager extends AntSensorManager {
+    public byte messageId;
+    public byte[] messageData;
+
+    public TestAntSensorManager() {
+      super(null);
+    }
+
+    @Override
+    protected void setupAntSensorChannels() {}
+
+    @SuppressWarnings("deprecation")
+    @Override
+    public void handleMessage(byte[] rawMessage) {
+      super.handleMessage(rawMessage);
+    }
+
+    @Override
+    public boolean handleMessage(byte messageId, byte[] messageData) {
+      this.messageId = messageId;
+      this.messageData = messageData;
+      return true;
+    }
+  }
+
+  private final TestAntSensorManager sensorManager = new TestAntSensorManager();
+
+  public void testSimple() {
+    byte[] rawMessage = {
+        0x03,              // length
+        0x12,              // message id
+        0x11, 0x22, 0x33,  // body
+    };
+
+    byte[] expectedBody = { 0x11, 0x22, 0x33 };
+
+    sensorManager.handleMessage(rawMessage);
+    assertEquals((byte) 0x12, sensorManager.messageId);
+    MoreAsserts.assertEquals(expectedBody, sensorManager.messageData);
+  }
+
+  public void testTooShort() {
+    byte[] rawMessage = {
+        0x53,  // length
+        0x12   // message id
+    };
+
+    sensorManager.handleMessage(rawMessage);
+    assertEquals(0, sensorManager.messageId);
+    assertNull(sensorManager.messageData);
+  }
+
+  public void testLengthWrong() {
+    byte[] rawMessage = {
+        0x53,  // length
+        0x12,  // message id
+        0x34,  // body
+    };
+
+    sensorManager.handleMessage(rawMessage);
+    assertEquals(0, sensorManager.messageId);
+    assertNull(sensorManager.messageData);
+  }
+}

MyTracksTest/src/com/google/android/apps/mytracks/services/sensors/ant/AntChannelIdMessageTest.java

@@ -0,0 +1,35 @@
+/*
+ * Copyright 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+package com.google.android.apps.mytracks.services.sensors.ant;
+
+import android.test.AndroidTestCase;
+
+public class AntChannelIdMessageTest extends AndroidTestCase {
+  public void testParse() {
+    byte[] rawMessage = {
+        0,  // channel number
+        0x34, 0x12,  // device number
+        (byte) 0xaa,  // device type id
+        (byte) 0xbb,  // transmission type
+    };
+
+    AntChannelIdMessage message = new AntChannelIdMessage(rawMessage);
+    assertEquals(0, message.getChannelNumber());
+    assertEquals(0x1234, message.getDeviceNumber());
+    assertEquals((byte) 0xaa, message.getDeviceTypeId());
+    assertEquals((byte) 0xbb, message.getTransmissionType());
+  }
+}

MyTracksTest/src/com/google/android/apps/mytracks/services/sensors/ant/AntChannelResponseMessageTest.java

@@ -0,0 +1,36 @@
+/*
+ * Copyright 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+package com.google.android.apps.mytracks.services.sensors.ant;
+
+import com.dsi.ant.AntDefine;
+import com.dsi.ant.AntMesg;
+
+import android.test.AndroidTestCase;
+
+public class AntChannelResponseMessageTest extends AndroidTestCase {
+  public void testParse() {
+    byte[] rawMessage = {
+        0,
+        AntMesg.MESG_EVENT_ID,
+        AntDefine.EVENT_RX_SEARCH_TIMEOUT
+    };
+    AntChannelResponseMessage message = new AntChannelResponseMessage(rawMessage);
+
+    assertEquals(0, message.getChannelNumber());
+    assertEquals(AntMesg.MESG_EVENT_ID, message.getMessageId());
+    assertEquals(AntDefine.EVENT_RX_SEARCH_TIMEOUT, message.getMessageCode());
+  }
+}

MyTracksTest/src/com/google/android/apps/mytracks/services/sensors/ant/AntMessageTest.java

@@ -0,0 +1,30 @@
+/*
+ * Copyright 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+package com.google.android.apps.mytracks.services.sensors.ant;
+
+import android.test.AndroidTestCase;
+
+public class AntMessageTest extends AndroidTestCase {
+  private static class TestAntMessage extends AntMessage {
+    public static short decodeShort(byte low, byte high) {
+      return AntMessage.decodeShort(low, high);
+    }
+  }
+
+  public void testDecode() {
+    assertEquals(0x1234, TestAntMessage.decodeShort((byte) 0x34, (byte) 0x12));
+  }
+}

MyTracksTest/src/com/google/android/apps/mytracks/services/sensors/ant/AntStartupMessageTest.java

@@ -0,0 +1,29 @@
+/*
+ * Copyright 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+package com.google.android.apps.mytracks.services.sensors.ant;
+
+import android.test.AndroidTestCase;
+
+public class AntStartupMessageTest extends AndroidTestCase {
+  public void testParse() {
+    byte[] rawMessage = {
+        0x12,
+    };
+
+    AntStartupMessage message = new AntStartupMessage(rawMessage);
+    assertEquals(0x12, message.getMessage());
+  }
+}