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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.*;
import java.io.*;
public class AltosMag implements Cloneable {
public int along = AltosLib.MISSING;
public int across = AltosLib.MISSING;
public int through = AltosLib.MISSING;
public static final int model_hmc5883 = 0;
public static final int model_mmc5983 = 1;
public int mag_model = AltosLib.MISSING;
public static final double counts_per_gauss_hmc5883 = 1090;
public static final double counts_per_gauss_mmc5983 = 4096;
public static double counts_per_gauss(int imu_type, int mag_model) {
switch(mag_model) {
case AltosLib.model_hmc5883:
return counts_per_gauss_hmc5883;
case AltosLib.model_mmc5983:
return counts_per_gauss_mmc5983;
}
switch (imu_type) {
case AltosIMU.imu_type_telemega_v1_v2:
case AltosIMU.imu_type_easymega_v1:
return counts_per_gauss_hmc5883;
case AltosIMU.imu_type_easytimer_v2:
return counts_per_gauss_mmc5983;
}
return AltosIMU.counts_per_gauss(imu_type, mag_model);
}
public static double convert_gauss(double counts, int imu_type, int mag_model) {
double cpg = counts_per_gauss(imu_type, mag_model);
if (cpg == AltosLib.MISSING)
return AltosLib.MISSING;
return counts / cpg;
}
public boolean parse_string(String line) {
if (line.startsWith("X:")) {
String[] items = line.split("\\s+");
mag_model = model_hmc5883;
if (items.length >= 6) {
across = Integer.parseInt(items[1]);
through = Integer.parseInt(items[3]);
along = Integer.parseInt(items[5]);
}
return true;
}
if (line.startsWith("MMC5983:")) {
String[] items = line.split("\\s+");
mag_model = model_mmc5983;
if (items.length >= 4) {
along = Integer.parseInt(items[1]);
across = Integer.parseInt(items[2]);
through = Integer.parseInt(items[3]);
}
return true;
}
return false;
}
public AltosMag clone() {
AltosMag n = new AltosMag();
n.along = along;
n.across = across;
n.through = through;
return n;
}
public AltosMag() {
}
static public void provide_data(AltosDataListener listener, AltosLink link) throws InterruptedException {
try {
AltosMag mag = new AltosMag(link);
AltosCalData cal_data = listener.cal_data();
if (mag != null) {
if (mag.mag_model != AltosLib.MISSING)
cal_data.set_mag_model(mag.mag_model);
listener.set_mag(cal_data.mag_along(mag.along),
cal_data.mag_across(mag.across),
cal_data.mag_through(mag.through));
}
} catch (TimeoutException te) {
}
}
public AltosMag(AltosLink link) throws InterruptedException, TimeoutException {
this();
link.printf("M\n");
for (;;) {
String line = link.get_reply_no_dialog(5000);
if (line == null) {
throw new TimeoutException();
}
if (parse_string(line))
break;
}
}
}
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