Razor 9DOF IMU/Clojure

(ns razor.core
  (:import (java.awt Color Dimension Font BasicStroke)
	   (java.awt.event WindowListener)
	   (javax.swing JFrame JPanel)
	   (java.text DecimalFormat)
	   (org.jfree.chart ChartPanel JFreeChart)
	   (org.jfree.chart.plot  CompassPlot)
	   (org.jfree.data.general DefaultValueDataset)
	   (org.jfree.chart.plot.dial DialPlot StandardDialFrame
				      StandardDialScale DialPointer$Pointer
				      DialValueIndicator DialBackground DialCap)
	   (java.io BufferedReader InputStreamReader)
	   (gnu.io SerialPort CommPortIdentifier
		   SerialPortEventListener SerialPortEvent)))

(defn razor [dev]
  (let [state (atom [0 0 0])
	id (first
	    (filter #(= dev (.getName %))
		    (enumeration-seq (CommPortIdentifier/getPortIdentifiers))))
	port (doto (.open id "clojure" 1)
	       (.setSerialPortParams 57600
				     SerialPort/DATABITS_8
				     SerialPort/STOPBITS_1
				     SerialPort/PARITY_NONE))
	stream (.getInputStream port)
	reader (BufferedReader. (InputStreamReader. stream))
	parser (fn [_ line]
		 (map read-string (.split (.replaceAll line "!ANG:" "") ",")))
	listener (proxy [SerialPortEventListener] [] 
		   (serialEvent 
		     [event]
		     (if (= (.getEventType event) SerialPortEvent/DATA_AVAILABLE)
		       (while (pos? (.available stream))
			 (swap! state parser (.readLine reader))))))]
    (.addEventListener port listener)
    (.notifyOnDataAvailable port true)
    [port state]))

(defn dial [name dataset min max]
  (let [dial-frame (doto (StandardDialFrame.)
		     (.setBackgroundPaint Color/LIGHT_GRAY)
		     (.setStroke (BasicStroke. 2)))

	scale (doto (StandardDialScale. min max 300 300 30 4)
		(.setMajorTickPaint Color/WHITE)
		(.setMinorTickPaint Color/WHITE)
		(.setTickLabelPaint Color/WHITE)
		(.setTickLabelFont (Font. nil Font/BOLD 15))
		(.setTickLabelFormatter (DecimalFormat. "# °"))
		(.setTickRadius 0.9)
		(.setTickLabelOffset 0.2))

	pointer (doto (DialPointer$Pointer. 0)
		  (.setFillPaint Color/GRAY)
		  (.setOutlinePaint (Color. 0 true)))

	indicator (doto (DialValueIndicator. 0)
		    (.setFont (Font. nil Font/BOLD 14))
		    (.setNumberFormat (DecimalFormat. "#.# °"))
		    (.setRadius 0.85)
		    (.setPaint Color/WHITE)
		    (.setOutlinePaint (Color. 0 true))
		    (.setBackgroundPaint (Color. 0 true)))

	plot (doto (DialPlot. dataset)
	       (.setBackground (DialBackground. Color/DARK_GRAY))
	       (.setDialFrame dial-frame)
	       (.setCap (DialCap.))
	       (.addScale 0 scale)
	       (.mapDatasetToScale 0 0)
	       (.addPointer pointer)
	       (.addLayer indicator))]
    (doto (ChartPanel.
	   (doto (JFreeChart. name JFreeChart/DEFAULT_TITLE_FONT plot false)
	     (.setBackgroundPaint (Color. 0x999999))))
      (.setPreferredSize (Dimension. 300 300)))))

(defn compass [name dataset]
  (let [plot (CompassPlot. dataset)]
    (doto plot
      (.setSeriesNeedle 0 5)
      (.setSeriesPaint 0 Color/GRAY)
      (.setSeriesOutlinePaint 0 Color/GRAY)
      (.setRosePaint Color/DARK_GRAY)
      (.setRoseCenterPaint Color/DARK_GRAY)
      (.setRoseHighlightPaint Color/WHITE))
    (doto (ChartPanel.
	   (doto (JFreeChart. name JFreeChart/DEFAULT_TITLE_FONT plot false)
	     (.setBackgroundPaint (Color. 0x999999))))
      (.setPreferredSize (Dimension. 300 300)))))

(defn frame [dev]
  (let [[port state] (razor dev)
	pitch (DefaultValueDataset. 0.0)
	yaw (DefaultValueDataset. 0.0)
	roll (DefaultValueDataset. 0.0)]
    (add-watch state "update-dials"
	       (fn [k r o n]
		 (let [[rl ph yw] n]
		   (.setValue roll (int rl))
		   (.setValue pitch (int ph))
		   (.setValue yaw yw))))
    (doto (JFrame.)
      (.add (doto (JPanel.)
	      (.setBackground (Color. 0x999999))
	      (.add (compass "Yaw" yaw))
	      (.add (dial "Roll" roll -180 180))
	      (.add (dial "Pitch" pitch -90 90))))
      (.addWindowListener (proxy [WindowListener] []
			    (windowActivated [e])
			    (windowClosing [e]
			      (.close port))
			    (windowDeactivated [e])
			    (windowDeiconified [e])
			    (windowIconified [e])
			    (windowOpened [e])
			    (windowClosed [e])))
      (.setTitle "Razor IMU")
      (.pack)
      (.setVisible true))))

(frame "/dev/tty.usbserial-A600e1hM")