git.gag.com Git - fw/altos/blob - altoslib/AltosMag.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_5;
  19
  20 import java.util.concurrent.*;
  21
  22 public class AltosMag implements Cloneable {
  23         public double           x;
  24         public double           y;
  25         public double           z;
  26
  27         public static double counts_per_gauss = 1090;
  28
  29         public static double convert_gauss(int counts) {
  30                 return (double) counts / counts_per_gauss;
  31         }
  32
  33         public boolean parse_string(String line) {
  34 //              if (line.startsWith("Syntax error")) {
  35 //                      x = y = z = 0;
  36 //                      return true;
  37 //              }
  38
  39                 if (!line.startsWith("X:"))
  40                         return false;
  41
  42                 String[] items = line.split("\\s+");
  43
  44                 if (items.length >= 6) {
  45                         x = convert_gauss(Integer.parseInt(items[1]));
  46                         y = convert_gauss(Integer.parseInt(items[3]));
  47                         z = convert_gauss(Integer.parseInt(items[5]));
  48                 }
  49                 return true;
  50         }
  51
  52         public AltosMag clone() {
  53                 AltosMag n = new AltosMag();
  54
  55                 n.x = x;
  56                 n.y = y;
  57                 n.z = z;
  58                 return n;
  59         }
  60
  61         public AltosMag() {
  62                 x = AltosLib.MISSING;
  63                 y = AltosLib.MISSING;
  64                 z = AltosLib.MISSING;
  65         }
  66
  67         static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
  68                 try {
  69                         AltosMag        mag = new AltosMag(link);
  70
  71                         if (mag != null)
  72                                 state.set_mag(mag);
  73                 } catch (TimeoutException te) {
  74                 }
  75         }
  76
  77         public AltosMag(AltosLink link) throws InterruptedException, TimeoutException {
  78                 this();
  79                 link.printf("M\n");
  80                 for (;;) {
  81                         String line = link.get_reply_no_dialog(5000);
  82                         if (line == null) {
  83                                 throw new TimeoutException();
  84                         }
  85                         if (parse_string(line))
  86                                 break;
  87                 }
  88         }
  89 }