Merge remote-tracking branch 'mjb/altoslib_mjb'

1 files changed, 46 insertions, 0 deletions

diff --git a/altoslib/AltosIMUQuery.java b/altoslib/AltosIMUQuery.java
new file mode 100644
index 00000000..0965fa39
--- /dev/null
+++ b/altoslib/AltosIMUQuery.java
@@ -0,0 +1,46 @@
+/*
+ * 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; version 2 of the License.
+ *
+ * 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;
+
+import java.util.concurrent.TimeoutException;
+
+class AltosIMUQuery extends AltosIMU {
+
+	public AltosIMUQuery (AltosLink link) throws InterruptedException, TimeoutException {
+		link.printf("I\n");
+		for (;;) {
+			String line = link.get_reply_no_dialog(5000);
+			if (line == null) {
+				throw new TimeoutException();
+			}
+			if (!line.startsWith("Accel:"))
+				continue;
+			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]);
+			}
+			break;
+		}
+	}
+}
+