altoslib: Reset transient AltosCalData values before processing data

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 88e36544e63afc75acb59ccfac6b933d27842c8d..20a2a413da4f9499a7f1ce052dd52f882440b0c9 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -15,15 +16,110 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package altoslib;
+package org.altusmetrum.altoslib_11;
 
-public class AltosIMU {
-       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 {
+       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.gravity;
+       }
+
+       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_along = accel_along;
+               n.accel_across = accel_across;
+               n.accel_through = accel_through;
+
+               n.gyro_roll = gyro_roll;
+               n.gyro_pitch = gyro_pitch;
+               n.gyro_yaw = gyro_yaw;
+               return n;
+       }
+
+       static public void provide_data(AltosDataListener listener, AltosLink link, AltosCalData cal_data) throws InterruptedException {
+               try {
+                       AltosIMU        imu = new AltosIMU(link);
+
+                       if (imu != null) {
+                               listener.set_accel(cal_data.accel_along(imu.accel_along),
+                                                  cal_data.accel_across(imu.accel_across),
+                                                  cal_data.accel_through(imu.accel_through));
+                               listener.set_gyro(cal_data.gyro_roll(imu.gyro_roll),
+                                                 cal_data.gyro_pitch(imu.gyro_pitch),
+                                                 cal_data.gyro_yaw(imu.gyro_yaw));
+                       }
+               } 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;
+               }
+       }
 }
-       
\ No newline at end of file