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   1 /*
   2  * Copyright © 2012 Keith Packard <keithp@keithp.com>
   3  *
   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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 package org.altusmetrum.altoslib_11;
  20
  21 import java.util.concurrent.*;
  22 import java.io.*;
  23
  24 public class AltosIMU implements Cloneable {
  25         public int              accel_along;
  26         public int              accel_across;
  27         public int              accel_through;
  28
  29         public int              gyro_roll;
  30         public int              gyro_pitch;
  31         public int              gyro_yaw;
  32
  33         public static final double      counts_per_g = 2048.0;
  34
  35         public static double convert_accel(double counts) {
  36                 return counts / counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
  37         }
  38
  39         public static final double      counts_per_degsec = 16.4;
  40
  41         public static double convert_gyro(double counts) {
  42                 return counts / counts_per_degsec;
  43         }
  44
  45         public boolean parse_string(String line) {
  46                 if (!line.startsWith("Accel:"))
  47                         return false;
  48
  49                 String[] items = line.split("\\s+");
  50
  51                 if (items.length >= 8) {
  52                         accel_along = Integer.parseInt(items[1]);
  53                         accel_across = Integer.parseInt(items[2]);
  54                         accel_through = Integer.parseInt(items[3]);
  55                         gyro_roll = Integer.parseInt(items[5]);
  56                         gyro_pitch = Integer.parseInt(items[6]);
  57                         gyro_yaw = Integer.parseInt(items[7]);
  58                 }
  59                 return true;
  60         }
  61
  62         public AltosIMU clone() {
  63                 AltosIMU        n = new AltosIMU();
  64
  65                 n.accel_along = accel_along;
  66                 n.accel_across = accel_across;
  67                 n.accel_through = accel_through;
  68
  69                 n.gyro_roll = gyro_roll;
  70                 n.gyro_pitch = gyro_pitch;
  71                 n.gyro_yaw = gyro_yaw;
  72                 return n;
  73         }
  74
  75         static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
  76                 try {
  77                         AltosIMU        imu = new AltosIMU(link);
  78
  79                         if (imu != null)
  80                                 state.set_imu(imu);
  81                 } catch (TimeoutException te) {
  82                 }
  83         }
  84
  85         public AltosIMU() {
  86                 accel_along = AltosLib.MISSING;
  87                 accel_across = AltosLib.MISSING;
  88                 accel_through = AltosLib.MISSING;
  89
  90                 gyro_roll = AltosLib.MISSING;
  91                 gyro_pitch = AltosLib.MISSING;
  92                 gyro_yaw = AltosLib.MISSING;
  93         }
  94
  95         public AltosIMU(int accel_along, int accel_across, int accel_through,
  96                         int gyro_roll, int gyro_pitch, int gyro_yaw) {
  97
  98                 this.accel_along = accel_along;
  99                 this.accel_across = accel_across;
 100                 this.accel_through = accel_through;
 101
 102                 this.gyro_roll = gyro_roll;
 103                 this.gyro_pitch = gyro_pitch;
 104                 this.gyro_yaw = gyro_yaw;
 105         }
 106
 107         public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
 108                 this();
 109                 link.printf("I\n");
 110                 for (;;) {
 111                         String line = link.get_reply_no_dialog(5000);
 112                         if (line == null) {
 113                                 throw new TimeoutException();
 114                         }
 115                         if (parse_string(line))
 116                                 break;
 117                 }
 118         }
 119 }