1 files changed, 67 insertions, 3 deletions
diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 8f6731fa..6d88ccae 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -15,9 +15,11 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_1;
+package org.altusmetrum.altoslib_2;
 
-public class AltosIMU {
+import java.util.concurrent.*;
+
+public class AltosIMU implements Cloneable {
 	public int		accel_x;
 	public int		accel_y;
 	public int		accel_z;
@@ -25,5 +27,67 @@ public class AltosIMU {
 	public int		gyro_x;
 	public int		gyro_y;
 	public int		gyro_z;
+
+	public boolean parse_string(String line) {
+		if (!line.startsWith("Accel:"))
+			return false;
+
+		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]);
+		}
+		return true;
+	}
+
+	public AltosIMU clone() {
+		AltosIMU	n = new AltosIMU();
+
+		n.accel_x = accel_x;
+		n.accel_y = accel_y;
+		n.accel_z = accel_z;
+
+		n.gyro_x = gyro_x;
+		n.gyro_y = gyro_y;
+		n.gyro_z = gyro_z;
+		return n;
+	}
+
+	static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
+		try {
+			AltosIMU	imu = new AltosIMU(link);
+
+			if (imu != null)
+				state.set_imu(imu);
+		} catch (TimeoutException te) {
+		}
+	}
+
+	public AltosIMU() {
+		accel_x = AltosLib.MISSING;
+		accel_y = AltosLib.MISSING;
+		accel_z = AltosLib.MISSING;
+
+		gyro_x = AltosLib.MISSING;
+		gyro_y = AltosLib.MISSING;
+		gyro_z = AltosLib.MISSING;
+	}
+
+	public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
+		this();
+		link.printf("I\n");
+		for (;;) {
+			String line = link.get_reply_no_dialog(5000);
+			if (line == null) {
+				throw new TimeoutException();
+			}
+			if (parse_string(line))
+				break;
+		}
+	}
 }
-	
-\ No newline at end of file