altoslib: Store saved state in version-independent format

[fw/altos] / altoslib / AltosIMU.java

diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index e6e70401eabbbd53a701ef3e9424a66ab3b3c0fe..df6c4ed36fbc08c7d2d77cdbe56f06886cdc7eeb 100644 (file)
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -15,29 +15,30 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_2;
+package org.altusmetrum.altoslib_11;
 
 import java.util.concurrent.*;
+import java.io.*;
 
-public class AltosIMU implements Cloneable {
-       public double           accel_x;
-       public double           accel_y;
-       public double           accel_z;
+public class AltosIMU implements Cloneable, AltosHashable {
+       public int              accel_along;
+       public int              accel_across;
+       public int              accel_through;
 
-       public double           gyro_x;
-       public double           gyro_y;
-       public double           gyro_z;
+       public int              gyro_roll;
+       public int              gyro_pitch;
+       public int              gyro_yaw;
 
-       public static int       counts_per_g = 2048;
+       public static final double      counts_per_g = 2048.0;
 
-       public static double convert_accel(int counts) {
-               return (double) counts / (double) counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
+       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(int counts) {
-               return (double) counts / counts_per_degsec;
+       public static double convert_gyro(double counts) {
+               return counts / counts_per_degsec;
        }
 
        public boolean parse_string(String line) {
@@ -47,12 +48,12 @@ public class AltosIMU implements Cloneable {
                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]));
+                       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;
        }
@@ -60,13 +61,13 @@ public class AltosIMU implements Cloneable {
        public AltosIMU clone() {
                AltosIMU        n = new AltosIMU();
 
-               n.accel_x = accel_x;
-               n.accel_y = accel_y;
-               n.accel_z = accel_z;
+               n.accel_along = accel_along;
+               n.accel_across = accel_across;
+               n.accel_through = accel_through;
 
-               n.gyro_x = gyro_x;
-               n.gyro_y = gyro_y;
-               n.gyro_z = gyro_z;
+               n.gyro_roll = gyro_roll;
+               n.gyro_pitch = gyro_pitch;
+               n.gyro_yaw = gyro_yaw;
                return n;
        }
 
@@ -81,13 +82,25 @@ public class AltosIMU implements Cloneable {
        }
 
        public AltosIMU() {
-               accel_x = AltosLib.MISSING;
-               accel_y = AltosLib.MISSING;
-               accel_z = AltosLib.MISSING;
+               accel_along = AltosLib.MISSING;
+               accel_across = AltosLib.MISSING;
+               accel_through = AltosLib.MISSING;
 
-               gyro_x = AltosLib.MISSING;
-               gyro_y = AltosLib.MISSING;
-               gyro_z = 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 {
@@ -102,4 +115,35 @@ public class AltosIMU implements Cloneable {
                                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;
+       }
 }