altoslib: Set time in state for KML output correctly

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index cf37eba1fff577285e8636c16f615ac7066f5d93..dee28a92319eb8532d5d2556180ae51fa827509d 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
@@ -15,9 +16,12 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib;
+package org.altusmetrum.altoslib_12;
 
-public class AltosIMU {
+import java.util.concurrent.*;
+import java.io.*;
+
+public class AltosIMU implements Cloneable {
        public int              accel_x;
        public int              accel_y;
        public int              accel_z;
@@ -25,5 +29,88 @@ public class AltosIMU {
        public int              gyro_x;
        public int              gyro_y;
        public int              gyro_z;
+
+       public static final double      counts_per_g = 2048.0;
+
+       public static double convert_accel(double counts) {
+               return counts / counts_per_g * AltosConvert.gravity;
+       }
+
+       /* In radians */
+       public static final double      GYRO_FULLSCALE_DEGREES = 2000.0;
+       public static final double      GYRO_COUNTS = 32767.0;
+
+       public static double gyro_degrees_per_second(double counts, double cal) {
+               return (counts - cal) * GYRO_FULLSCALE_DEGREES / GYRO_COUNTS;
+       }
+
+       public boolean parse_string(String line) {
+               if (!line.startsWith("Accel:"))
+                       return false;
+
+               String[] items = line.split("\\s+");
+
+               if (items.length >= 8) {
+                       accel_x = Integer.parseInt(items[1]);
+                       accel_y = Integer.parseInt(items[2]);
+                       accel_z = Integer.parseInt(items[3]);
+                       gyro_x = Integer.parseInt(items[5]);
+                       gyro_y = Integer.parseInt(items[6]);
+                       gyro_z = 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 provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException {
+               try {
+                       AltosIMU        imu = new AltosIMU(link);
+                       AltosCalData    cal_data = listener.cal_data();
+
+                       if (imu != null) {
+                               listener.set_gyro(cal_data.gyro_roll(imu.gyro_y),
+                                                 cal_data.gyro_pitch(imu.gyro_x),
+                                                 cal_data.gyro_yaw(imu.gyro_z));
+                               listener.set_accel_ground(cal_data.accel_along(imu.accel_y),
+                                                         cal_data.accel_across(imu.accel_x),
+                                                         cal_data.accel_through(imu.accel_z));
+                       }
+               } 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