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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; version 2 of the License.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 package org.altusmetrum.altoslib_5;
  19
  20 import java.util.concurrent.*;
  21 import java.io.*;
  22
  23 public class AltosIMU implements Cloneable, Serializable {
  24         public int              accel_along;
  25         public int              accel_across;
  26         public int              accel_through;
  27
  28         public int              gyro_roll;
  29         public int              gyro_pitch;
  30         public int              gyro_yaw;
  31
  32         public static double    counts_per_g = 2048.0;
  33
  34         public static double convert_accel(double counts) {
  35                 return counts / counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
  36         }
  37
  38         public static double    counts_per_degsec = 16.4;
  39
  40         public static double convert_gyro(double counts) {
  41                 return counts / counts_per_degsec;
  42         }
  43
  44         public boolean parse_string(String line) {
  45                 if (!line.startsWith("Accel:"))
  46                         return false;
  47
  48                 String[] items = line.split("\\s+");
  49
  50                 if (items.length >= 8) {
  51                         accel_along = Integer.parseInt(items[1]);
  52                         accel_across = Integer.parseInt(items[2]);
  53                         accel_through = Integer.parseInt(items[3]);
  54                         gyro_roll = Integer.parseInt(items[5]);
  55                         gyro_pitch = Integer.parseInt(items[6]);
  56                         gyro_yaw = Integer.parseInt(items[7]);
  57                 }
  58                 return true;
  59         }
  60
  61         public AltosIMU clone() {
  62                 AltosIMU        n = new AltosIMU();
  63
  64                 n.accel_along = accel_along;
  65                 n.accel_across = accel_across;
  66                 n.accel_through = accel_through;
  67
  68                 n.gyro_roll = gyro_roll;
  69                 n.gyro_pitch = gyro_pitch;
  70                 n.gyro_yaw = gyro_yaw;
  71                 return n;
  72         }
  73
  74         static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
  75                 try {
  76                         AltosIMU        imu = new AltosIMU(link);
  77
  78                         if (imu != null)
  79                                 state.set_imu(imu);
  80                 } catch (TimeoutException te) {
  81                 }
  82         }
  83
  84         public AltosIMU() {
  85                 accel_along = AltosLib.MISSING;
  86                 accel_across = AltosLib.MISSING;
  87                 accel_through = AltosLib.MISSING;
  88
  89                 gyro_roll = AltosLib.MISSING;
  90                 gyro_pitch = AltosLib.MISSING;
  91                 gyro_yaw = AltosLib.MISSING;
  92         }
  93
  94         public AltosIMU(int accel_along, int accel_across, int accel_through,
  95                         int gyro_roll, int gyro_pitch, int gyro_yaw) {
  96
  97                 this.accel_along = accel_along;
  98                 this.accel_across = accel_across;
  99                 this.accel_through = accel_through;
 100
 101                 this.gyro_roll = gyro_roll;
 102                 this.gyro_pitch = gyro_pitch;
 103                 this.gyro_yaw = gyro_yaw;
 104         }
 105
 106         public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
 107                 this();
 108                 link.printf("I\n");
 109                 for (;;) {
 110                         String line = link.get_reply_no_dialog(5000);
 111                         if (line == null) {
 112                                 throw new TimeoutException();
 113                         }
 114                         if (parse_string(line))
 115                                 break;
 116                 }
 117         }
 118 }