X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=altoslib%2FAltosIMU.java;h=df6c4ed36fbc08c7d2d77cdbe56f06886cdc7eeb;hb=2a4d741872449b5332f28e018fa3acc53ed7d891;hp=46df35bf12c1428cfa7ac23f065dc0e4017ae052;hpb=04d7d0f829ba953ffeca8ad9887a4b6b2b5d5087;p=fw%2Faltos

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 46df35bf..df6c4ed3 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -15,27 +15,135 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_11;
 
-public class AltosIMU implements Cloneable {
-	public int		accel_x;
-	public int		accel_y;
-	public int		accel_z;
+import java.util.concurrent.*;
+import java.io.*;
 
-	public int		gyro_x;
-	public int		gyro_y;
-	public int		gyro_z;
+public class AltosIMU implements Cloneable, AltosHashable {
+	public int		accel_along;
+	public int		accel_across;
+	public int		accel_through;
+
+	public int		gyro_roll;
+	public int		gyro_pitch;
+	public int		gyro_yaw;
+
+	public static final double	counts_per_g = 2048.0;
+
+	public static double convert_accel(double counts) {
+		return counts / counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
+	}
+
+	public static final double	counts_per_degsec = 16.4;
+
+	public static double convert_gyro(double counts) {
+		return counts / counts_per_degsec;
+	}
+
+	public boolean parse_string(String line) {
+		if (!line.startsWith("Accel:"))
+			return false;
+
+		String[] items = line.split("\\s+");
+
+		if (items.length >= 8) {
+			accel_along = Integer.parseInt(items[1]);
+			accel_across = Integer.parseInt(items[2]);
+			accel_through = Integer.parseInt(items[3]);
+			gyro_roll = Integer.parseInt(items[5]);
+			gyro_pitch = Integer.parseInt(items[6]);
+			gyro_yaw = Integer.parseInt(items[7]);
+		}
+		return true;
+	}
 
 	public AltosIMU clone() {
 		AltosIMU	n = new AltosIMU();
 
-		n.accel_x = accel_x;
-		n.accel_y = accel_y;
-		n.accel_z = accel_z;
+		n.accel_along = accel_along;
+		n.accel_across = accel_across;
+		n.accel_through = accel_through;
 
-		n.gyro_x = gyro_x;
-		n.gyro_y = gyro_y;
-		n.gyro_z = gyro_z;
+		n.gyro_roll = gyro_roll;
+		n.gyro_pitch = gyro_pitch;
+		n.gyro_yaw = gyro_yaw;
 		return n;
+	}
+
+	static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
+		try {
+			AltosIMU	imu = new AltosIMU(link);
+
+			if (imu != null)
+				state.set_imu(imu);
+		} catch (TimeoutException te) {
+		}
+	}
+
+	public AltosIMU() {
+		accel_along = AltosLib.MISSING;
+		accel_across = AltosLib.MISSING;
+		accel_through = AltosLib.MISSING;
+
+		gyro_roll = AltosLib.MISSING;
+		gyro_pitch = AltosLib.MISSING;
+		gyro_yaw = AltosLib.MISSING;
+	}
+
+	public AltosIMU(int accel_along, int accel_across, int accel_through,
+			int gyro_roll, int gyro_pitch, int gyro_yaw) {
+
+		this.accel_along = accel_along;
+		this.accel_across = accel_across;
+		this.accel_through = accel_through;
+
+		this.gyro_roll = gyro_roll;
+		this.gyro_pitch = gyro_pitch;
+		this.gyro_yaw = gyro_yaw;
+	}
+
+	public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
+		this();
+		link.printf("I\n");
+		for (;;) {
+			String line = link.get_reply_no_dialog(5000);
+			if (line == null) {
+				throw new TimeoutException();
+			}
+			if (parse_string(line))
+				break;
+		}
+	}
+
+	public AltosIMU (AltosHashSet h) {
+		this();
+
+		accel_along = h.getInt("accel_along", accel_along);
+		accel_across = h.getInt("accel_across", accel_across);
+		accel_through = h.getInt("accel_through", accel_through);
+
+		gyro_roll = h.getInt("gyro_roll", gyro_roll);
+		gyro_pitch = h.getInt("gyro_pitch", gyro_pitch);
+		gyro_yaw = h.getInt("gyro_yaw", gyro_yaw);
+	}
+
+	static public AltosIMU fromHashSet(AltosHashSet h, AltosIMU def) {
+		if (h == null)
+			return def;
+		return new AltosIMU(h);
+	}
+
+	public AltosHashSet hashSet() {
+		AltosHashSet	h = new AltosHashSet();
+
+		h.putInt("accel_along", accel_along);
+		h.putInt("accel_across", accel_across);
+		h.putInt("accel_through", accel_through);
+
+		h.putInt("gyro_roll", gyro_roll);
+		h.putInt("gyro_pitch", gyro_pitch);
+		h.putInt("gyro_yaw", gyro_yaw);
+		return h;
+	}
 }
-	
\ No newline at end of file