2 * Copyright © 2012 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
18 package org.altusmetrum.altoslib_2;
20 import java.util.concurrent.*;
22 public class AltosIMU implements Cloneable {
31 public boolean parse_string(String line) {
32 if (!line.startsWith("Accel:"))
35 String[] items = line.split("\\s+");
37 if (items.length >= 8) {
38 accel_x = Integer.parseInt(items[1]);
39 accel_y = Integer.parseInt(items[2]);
40 accel_z = Integer.parseInt(items[3]);
41 gyro_x = Integer.parseInt(items[5]);
42 gyro_y = Integer.parseInt(items[6]);
43 gyro_z = Integer.parseInt(items[7]);
48 public AltosIMU clone() {
49 AltosIMU n = new AltosIMU();
61 static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) {
63 AltosIMU imu = new AltosIMU(link);
67 } catch (TimeoutException te) {
68 } catch (InterruptedException ie) {
73 accel_x = AltosLib.MISSING;
74 accel_y = AltosLib.MISSING;
75 accel_z = AltosLib.MISSING;
77 gyro_x = AltosLib.MISSING;
78 gyro_y = AltosLib.MISSING;
79 gyro_z = AltosLib.MISSING;
82 public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
86 String line = link.get_reply_no_dialog(5000);
88 throw new TimeoutException();
90 if (parse_string(line))