git.gag.com Git - fw/altos/blob - altoslib/AltosIMU.java

   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_2;
  19
  20 import java.util.concurrent.*;
  21
  22 public class AltosIMU implements Cloneable {
  23         public int              accel_x;
  24         public int              accel_y;
  25         public int              accel_z;
  26
  27         public int              gyro_x;
  28         public int              gyro_y;
  29         public int              gyro_z;
  30
  31         public boolean parse_string(String line) {
  32                 if (!line.startsWith("Accel:"))
  33                         return false;
  34
  35                 String[] items = line.split("\\s+");
  36
  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]);
  44                 }
  45                 return true;
  46         }
  47
  48         public AltosIMU clone() {
  49                 AltosIMU        n = new AltosIMU();
  50
  51                 n.accel_x = accel_x;
  52                 n.accel_y = accel_y;
  53                 n.accel_z = accel_z;
  54
  55                 n.gyro_x = gyro_x;
  56                 n.gyro_y = gyro_y;
  57                 n.gyro_z = gyro_z;
  58                 return n;
  59         }
  60
  61         static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
  62                 try {
  63                         AltosIMU        imu = new AltosIMU(link);
  64
  65                         if (imu != null)
  66                                 state.set_imu(imu);
  67                 } catch (TimeoutException te) {
  68                 }
  69         }
  70
  71         public AltosIMU() {
  72                 accel_x = AltosLib.MISSING;
  73                 accel_y = AltosLib.MISSING;
  74                 accel_z = AltosLib.MISSING;
  75
  76                 gyro_x = AltosLib.MISSING;
  77                 gyro_y = AltosLib.MISSING;
  78                 gyro_z = AltosLib.MISSING;
  79         }
  80
  81         public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
  82                 this();
  83                 link.printf("I\n");
  84                 for (;;) {
  85                         String line = link.get_reply_no_dialog(5000);
  86                         if (line == null) {
  87                                 throw new TimeoutException();
  88                         }
  89                         if (parse_string(line))
  90                                 break;
  91                 }
  92         }
  93 }