java: Bump java library versions for next release

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 8f6731faa5a9bebbbbf1712d0502a4bf4d471042..89d7def4a3bb2066b5ff1adbdd364107dd575ad3 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -15,15 +15,103 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_5;
 
-public class AltosIMU {
-       public int              accel_x;
-       public int              accel_y;
-       public int              accel_z;
+import java.util.concurrent.*;
 
-       public int              gyro_x;
-       public int              gyro_y;
-       public int              gyro_z;
+public class AltosIMU implements Cloneable {
+       public double           accel_x;
+       public double           accel_y;
+       public double           accel_z;
+
+       public double           gyro_x;
+       public double           gyro_y;
+       public double           gyro_z;
+
+/*
+ * XXX use ground measurements to adjust values
+
+       public double           ground_accel_x;
+       public double           ground_accel_y;
+       public double           ground_accel_z;
+
+       public double           ground_gyro_x;
+       public double           ground_gyro_y;
+       public double           ground_gyro_z;
+*/
+
+       public static int       counts_per_g = 2048;
+
+       public static double convert_accel(int counts) {
+               return (double) counts / (double) counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
+       }
+
+       public static double    counts_per_degsec = 16.4;
+
+       public static double convert_gyro(int counts) {
+               return (double) 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_x = convert_accel(Integer.parseInt(items[1]));
+                       accel_y = convert_accel(Integer.parseInt(items[2]));
+                       accel_z = convert_accel(Integer.parseInt(items[3]));
+                       gyro_x = convert_gyro(Integer.parseInt(items[5]));
+                       gyro_y = convert_gyro(Integer.parseInt(items[6]));
+                       gyro_z = convert_gyro(Integer.parseInt(items[7]));
+               }
+               return true;
+       }
+
+       public AltosIMU clone() {
+               AltosIMU        n = new AltosIMU();
+
+               n.accel_x = accel_x;
+               n.accel_y = accel_y;
+               n.accel_z = accel_z;
+
+               n.gyro_x = gyro_x;
+               n.gyro_y = gyro_y;
+               n.gyro_z = gyro_z;
+               return n;
+       }
+
+       static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
+               try {
+                       AltosIMU        imu = new AltosIMU(link);
+
+                       if (imu != null)
+                               state.set_imu(imu);
+               } catch (TimeoutException te) {
+               }
+       }
+
+       public AltosIMU() {
+               accel_x = AltosLib.MISSING;
+               accel_y = AltosLib.MISSING;
+               accel_z = AltosLib.MISSING;
+
+               gyro_x = AltosLib.MISSING;
+               gyro_y = AltosLib.MISSING;
+               gyro_z = AltosLib.MISSING;
+       }
+
+       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