altoslib: Improve AltosState save/restore debugging

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 7a4a705d9df238271b34614fd190b9dbcdc6ff87..672c611172929115724b0382a977beeba5b1a4d6 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -15,12 +15,12 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_8;
+package org.altusmetrum.altoslib_11;
 
 import java.util.concurrent.*;
 import java.io.*;
 
-public class AltosIMU implements Cloneable, Serializable {
+public class AltosIMU implements Cloneable, AltosJsonable {
        public int              accel_along;
        public int              accel_across;
        public int              accel_through;
@@ -29,13 +29,13 @@ public class AltosIMU implements Cloneable, Serializable {
        public int              gyro_pitch;
        public int              gyro_yaw;
 
-       public static double    counts_per_g = 2048.0;
+       public static final double      counts_per_g = 2048.0;
 
        public static double convert_accel(double counts) {
                return counts / counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
        }
 
-       public static double    counts_per_degsec = 16.4;
+       public static final double      counts_per_degsec = 16.4;
 
        public static double convert_gyro(double counts) {
                return counts / counts_per_degsec;
@@ -115,4 +115,35 @@ public class AltosIMU implements Cloneable, Serializable {
                                break;
                }
        }
+
+       public AltosIMU (AltosJson j) {
+               this();
+
+               accel_along = j.get_int("accel_along", accel_along);
+               accel_across = j.get_int("accel_across", accel_across);
+               accel_through = j.get_int("accel_through", accel_through);
+
+               gyro_roll = j.get_int("gyro_roll", gyro_roll);
+               gyro_pitch = j.get_int("gyro_pitch", gyro_pitch);
+               gyro_yaw = j.get_int("gyro_yaw", gyro_yaw);
+       }
+
+       static public AltosIMU fromJson(AltosJson j, AltosIMU def) {
+               if (j == null)
+                       return def;
+               return new AltosIMU(j);
+       }
+
+       public AltosJson json() {
+               AltosJson       j = new AltosJson();
+
+               j.put("accel_along", accel_along);
+               j.put("accel_across", accel_across);
+               j.put("accel_through", accel_through);
+
+               j.put("gyro_roll", gyro_roll);
+               j.put("gyro_pitch", gyro_pitch);
+               j.put("gyro_yaw", gyro_yaw);
+               return j;
+       }
 }