altoslib: Store saved state in version-independent format

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 26d115919da55be14aa460aec56904f23b220a35..df6c4ed36fbc08c7d2d77cdbe56f06886cdc7eeb 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -20,7 +20,7 @@ package org.altusmetrum.altoslib_11;
 import java.util.concurrent.*;
 import java.io.*;
 
-public class AltosIMU implements Cloneable, Serializable {
+public class AltosIMU implements Cloneable, AltosHashable {
        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 (AltosHashSet h) {
+               this();
+
+               accel_along = h.getInt("accel_along", accel_along);
+               accel_across = h.getInt("accel_across", accel_across);
+               accel_through = h.getInt("accel_through", accel_through);
+
+               gyro_roll = h.getInt("gyro_roll", gyro_roll);
+               gyro_pitch = h.getInt("gyro_pitch", gyro_pitch);
+               gyro_yaw = h.getInt("gyro_yaw", gyro_yaw);
+       }
+
+       static public AltosIMU fromHashSet(AltosHashSet h, AltosIMU def) {
+               if (h == null)
+                       return def;
+               return new AltosIMU(h);
+       }
+
+       public AltosHashSet hashSet() {
+               AltosHashSet    h = new AltosHashSet();
+
+               h.putInt("accel_along", accel_along);
+               h.putInt("accel_across", accel_across);
+               h.putInt("accel_through", accel_through);
+
+               h.putInt("gyro_roll", gyro_roll);
+               h.putInt("gyro_pitch", gyro_pitch);
+               h.putInt("gyro_yaw", gyro_yaw);
+               return h;
+       }
 }