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/*
* Copyright © 2012 Keith Packard <keithp@keithp.com>
*
* 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; 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
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
package org.altusmetrum.altoslib_14;
import java.util.concurrent.*;
public class AltosAdxl375 implements Cloneable {
private int[] accels = new int[3];
private int axis;
public static final int X_AXIS = 0;
public static final int Y_AXIS = 1;
public static final int Z_AXIS = 2;
public boolean parse_line(String line) throws NumberFormatException {
if (line.startsWith("ADXL375 value")) {
String[] items = line.split("\\s+");
if (axis == AltosLib.MISSING)
throw new NumberFormatException("No ADXL375 axis specified");
if (items.length >= 3) {
for (int i = 0; i < 3; i++)
accels[i] = Integer.parseInt(items[2+i]);
return true;
}
}
return false;
}
public AltosAdxl375 clone() {
AltosAdxl375 n = new AltosAdxl375(axis);
for (int i = 0; i < 3; i++)
n.accels[i] = accels[i];
return n;
}
private int accel_along() {
return accels[axis];
}
private int accel_across() {
if (axis == X_AXIS)
return accels[Y_AXIS];
else
return accels[X_AXIS];
}
private int accel_through() {
return accels[Z_AXIS];
}
static public void provide_data(AltosDataListener listener, AltosLink link, boolean three_axis, int imu_type) throws InterruptedException, AltosUnknownProduct {
try {
AltosCalData cal_data = listener.cal_data();
AltosAdxl375 adxl375 = new AltosAdxl375(link, cal_data.adxl375_axis);
if (adxl375 != null) {
int accel = adxl375.accel_along();
if (!cal_data.adxl375_inverted)
accel = -accel;
if (cal_data.pad_orientation == 1)
accel = -accel;
listener.set_acceleration(cal_data.acceleration(accel));
if (three_axis) {
cal_data.set_imu_type(imu_type);
double accel_along = cal_data.accel_along(-accel);
double accel_across = cal_data.accel_across(adxl375.accel_across());
double accel_through = cal_data.accel_through(adxl375.accel_through());
listener.set_accel_ground(accel_along,
accel_across,
accel_through);
listener.set_accel(accel_along,
accel_across,
accel_through);
}
}
} catch (TimeoutException te) {
} catch (NumberFormatException ne) {
}
}
public AltosAdxl375() {
for (int i = 0; i < 3; i++)
accels[i] = AltosLib.MISSING;
axis = AltosLib.MISSING;
}
public AltosAdxl375(int axis) {
this();
this.axis = axis;
}
public AltosAdxl375(AltosLink link, int axis) throws InterruptedException, TimeoutException, NumberFormatException {
this(axis);
link.printf("A\n");
for (;;) {
String line = link.get_reply_no_dialog(5000);
if (line == null)
throw new TimeoutException();
if (parse_line(line))
break;
}
}
}
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