Java - GPS Bricklet 2.0

This is the description of the Java API bindings for the GPS Bricklet 2.0. General information and technical specifications for the GPS Bricklet 2.0 are summarized in its hardware description.

An installation guide for the Java API bindings is part of their general description.

Examples

The example code below is Public Domain (CC0 1.0).

Simple

Download (ExampleSimple.java)

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import com.tinkerforge.IPConnection;
import com.tinkerforge.BrickletGPSV2;
import com.tinkerforge.BrickletGPSV2.Coordinates;

public class ExampleSimple {
    private static final String HOST = "localhost";
    private static final int PORT = 4223;

    // Change XYZ to the UID of your GPS Bricklet 2.0
    private static final String UID = "XYZ";

    // Note: To make the example code cleaner we do not handle exceptions. Exceptions
    //       you might normally want to catch are described in the documentation
    public static void main(String args[]) throws Exception {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletGPSV2 gps = new BrickletGPSV2(UID, ipcon); // Create device object

        ipcon.connect(HOST, PORT); // Connect to brickd
        // Don't use device before ipcon is connected

        // Get current coordinates
        Coordinates coordinates = gps.getCoordinates(); // Can throw com.tinkerforge.TimeoutException

        System.out.println("Latitude: " + coordinates.latitude/1000000.0 + " °");
        System.out.println("N/S: " + coordinates.ns);
        System.out.println("Longitude: " + coordinates.longitude/1000000.0 + " °");
        System.out.println("E/W: " + coordinates.ew);

        System.out.println("Press key to exit"); System.in.read();
        ipcon.disconnect();
    }
}

Callback

Download (ExampleCallback.java)

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import com.tinkerforge.IPConnection;
import com.tinkerforge.BrickletGPSV2;

public class ExampleCallback {
    private static final String HOST = "localhost";
    private static final int PORT = 4223;

    // Change XYZ to the UID of your GPS Bricklet 2.0
    private static final String UID = "XYZ";

    // Note: To make the example code cleaner we do not handle exceptions. Exceptions
    //       you might normally want to catch are described in the documentation
    public static void main(String args[]) throws Exception {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletGPSV2 gps = new BrickletGPSV2(UID, ipcon); // Create device object

        ipcon.connect(HOST, PORT); // Connect to brickd
        // Don't use device before ipcon is connected

        // Add coordinates listener
        gps.addCoordinatesListener(new BrickletGPSV2.CoordinatesListener() {
            public void coordinates(long latitude, char ns, long longitude, char ew) {
                System.out.println("Latitude: " + latitude/1000000.0 + " °");
                System.out.println("N/S: " + ns);
                System.out.println("Longitude: " + longitude/1000000.0 + " °");
                System.out.println("E/W: " + ew);
                System.out.println("");
            }
        });

        // Set period for coordinates callback to 1s (1000ms)
        // Note: The coordinates callback is only called every second
        //       if the coordinates has changed since the last call!
        gps.setCoordinatesCallbackPeriod(1000);

        System.out.println("Press key to exit"); System.in.read();
        ipcon.disconnect();
    }
}

API

Generally, every method of the Java bindings that returns a value can throw a TimeoutException. This exception gets thrown if the device did not respond. If a cable based connection is used, it is unlikely that this exception gets thrown (assuming nobody unplugs the device). However, if a wireless connection is used, timeouts will occur if the distance to the device gets too big.

Beside the TimeoutException there is also a NotConnectedException that is thrown if a method needs to communicate with the device while the IP Connection is not connected.

Since Java does not support multiple return values and return by reference is not possible for primitive types, we use small classes that only consist of member variables. The member variables of the returned objects are described in the corresponding method descriptions.

The package for all Brick/Bricklet bindings and the IP Connection is com.tinkerforge.*

All methods listed below are thread-safe.

Basic Functions

class BrickletGPSV2(String uid, IPConnection ipcon)
Parameters:
  • uid – Type: String
  • ipcon – Type: IPConnection
Returns:
  • gpsV2 – Type: BrickletGPSV2

Creates an object with the unique device ID uid:

BrickletGPSV2 gpsV2 = new BrickletGPSV2("YOUR_DEVICE_UID", ipcon);

This object can then be used after the IP Connection is connected (see examples above).

BrickletGPSV2.Coordinates BrickletGPSV2.getCoordinates()
Return Object:
  • latitude – Type: long, Unit: 1/1000000 °, Range: [0 to 90000000]
  • ns – Type: char, Range: ['N', 'S']
  • longitude – Type: long, Unit: 1/1000000 °, Range: [0 to 180000000]
  • ew – Type: char, Range: ['E', 'W']

Returns the GPS coordinates. Latitude and longitude are given in the DD.dddddd° format, the value 57123468 means 57.123468°. The parameter ns and ew are the cardinal directions for latitude and longitude. Possible values for ns and ew are 'N', 'S', 'E' and 'W' (north, south, east and west).

This data is only valid if there is currently a fix as indicated by getStatus().

BrickletGPSV2.Status BrickletGPSV2.getStatus()
Return Object:
  • hasFix – Type: boolean
  • satellitesView – Type: int, Range: [0 to 255]

Returns if a fix is currently available as well as the, the number of satellites that are in view.

There is also a green LED on the Bricklet that indicates the fix status.

BrickletGPSV2.Altitude BrickletGPSV2.getAltitude()
Return Object:
  • altitude – Type: int, Unit: 1 cm, Range: [-231 to 231 - 1]
  • geoidalSeparation – Type: int, Unit: 1 cm, Range: [-231 to 231 - 1]

Returns the current altitude and corresponding geoidal separation.

This data is only valid if there is currently a fix as indicated by getStatus().

BrickletGPSV2.Motion BrickletGPSV2.getMotion()
Return Object:
  • course – Type: long, Unit: 1/100 °, Range: [0 to 36000]
  • speed – Type: long, Unit: 1/100 km/h, Range: [0 to 232 - 1]

Returns the current course and speed. A course of 0° means the Bricklet is traveling north bound and 90° means it is traveling east bound.

Please note that this only returns useful values if an actual movement is present.

This data is only valid if there is currently a fix as indicated by getStatus().

BrickletGPSV2.DateTime BrickletGPSV2.getDateTime()
Return Object:
  • date – Type: long, Range: [10100 to 311299]
  • time – Type: long, Range: [0 to 235959999]

Returns the current date and time. The date is given in the format ddmmyy and the time is given in the format hhmmss.sss. For example, 140713 means 14.07.13 as date and 195923568 means 19:59:23.568 as time.

BrickletGPSV2.SatelliteSystemStatus BrickletGPSV2.getSatelliteSystemStatus(int satelliteSystem)
Parameters:
  • satelliteSystem – Type: int, Range: See constants
Return Object:
  • satelliteNumbers – Type: int[], Length: variable, Range: [0 to 255]
  • fix – Type: int, Range: See constants
  • pdop – Type: int, Unit: 1/100, Range: [0 to 216 - 1]
  • hdop – Type: int, Unit: 1/100, Range: [0 to 216 - 1]
  • vdop – Type: int, Unit: 1/100, Range: [0 to 216 - 1]

Returns the

  • satellite numbers list (up to 12 items)
  • fix value,
  • PDOP value,
  • HDOP value and
  • VDOP value

for a given satellite system. Currently GPS and GLONASS are supported, Galileo is not yet supported.

The GPS and GLONASS satellites have unique numbers and the satellite list gives the numbers of the satellites that are currently utilized. The number 0 is not a valid satellite number and can be ignored in the list.

The following constants are available for this function:

For satelliteSystem:

  • BrickletGPSV2.SATELLITE_SYSTEM_GPS = 0
  • BrickletGPSV2.SATELLITE_SYSTEM_GLONASS = 1
  • BrickletGPSV2.SATELLITE_SYSTEM_GALILEO = 2

For fix:

  • BrickletGPSV2.FIX_NO_FIX = 1
  • BrickletGPSV2.FIX_2D_FIX = 2
  • BrickletGPSV2.FIX_3D_FIX = 3
BrickletGPSV2.SatelliteStatus BrickletGPSV2.getSatelliteStatus(int satelliteSystem, int satelliteNumber)
Parameters:
  • satelliteSystem – Type: int, Range: See constants
  • satelliteNumber – Type: int, Range: [1 to 32]
Return Object:
  • elevation – Type: int, Unit: 1 °, Range: [0 to 90]
  • azimuth – Type: int, Unit: 1 °, Range: [0 to 359]
  • snr – Type: int, Unit: 1 dB, Range: [0 to 99]

Returns the current elevation, azimuth and SNR for a given satellite and satellite system.

The satellite number here always goes from 1 to 32. For GLONASS it corresponds to the satellites 65-96.

Galileo is not yet supported.

The following constants are available for this function:

For satelliteSystem:

  • BrickletGPSV2.SATELLITE_SYSTEM_GPS = 0
  • BrickletGPSV2.SATELLITE_SYSTEM_GLONASS = 1
  • BrickletGPSV2.SATELLITE_SYSTEM_GALILEO = 2

Advanced Functions

void BrickletGPSV2.restart(int restartType)
Parameters:
  • restartType – Type: int, Range: See constants

Restarts the GPS Bricklet, the following restart types are available:

Value Description
0 Hot start (use all available data in the NV store)
1 Warm start (don't use ephemeris at restart)
2 Cold start (don't use time, position, almanacs and ephemeris at restart)
3 Factory reset (clear all system/user configurations at restart)

The following constants are available for this function:

For restartType:

  • BrickletGPSV2.RESTART_TYPE_HOT_START = 0
  • BrickletGPSV2.RESTART_TYPE_WARM_START = 1
  • BrickletGPSV2.RESTART_TYPE_COLD_START = 2
  • BrickletGPSV2.RESTART_TYPE_FACTORY_RESET = 3
void BrickletGPSV2.setFixLEDConfig(int config)
Parameters:
  • config – Type: int, Range: See constants, Default: 3

Sets the fix LED configuration. By default the LED shows if the Bricklet got a GPS fix yet. If a fix is established the LED turns on. If there is no fix then the LED is turned off.

You can also turn the LED permanently on/off, show a heartbeat or let it blink in sync with the PPS (pulse per second) output of the GPS module.

If the Bricklet is in bootloader mode, the LED is off.

The following constants are available for this function:

For config:

  • BrickletGPSV2.FIX_LED_CONFIG_OFF = 0
  • BrickletGPSV2.FIX_LED_CONFIG_ON = 1
  • BrickletGPSV2.FIX_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletGPSV2.FIX_LED_CONFIG_SHOW_FIX = 3
  • BrickletGPSV2.FIX_LED_CONFIG_SHOW_PPS = 4
int BrickletGPSV2.getFixLEDConfig()
Returns:
  • config – Type: int, Range: See constants, Default: 3

Returns the configuration as set by setFixLEDConfig()

The following constants are available for this function:

For config:

  • BrickletGPSV2.FIX_LED_CONFIG_OFF = 0
  • BrickletGPSV2.FIX_LED_CONFIG_ON = 1
  • BrickletGPSV2.FIX_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletGPSV2.FIX_LED_CONFIG_SHOW_FIX = 3
  • BrickletGPSV2.FIX_LED_CONFIG_SHOW_PPS = 4
void BrickletGPSV2.setSBASConfig(int sbasConfig)
Parameters:
  • sbasConfig – Type: int, Range: See constants, Default: 0

If SBAS is enabled, the position accuracy increases (if SBAS satellites are in view), but the update rate is limited to 5Hz. With SBAS disabled the update rate is increased to 10Hz.

The following constants are available for this function:

For sbasConfig:

  • BrickletGPSV2.SBAS_ENABLED = 0
  • BrickletGPSV2.SBAS_DISABLED = 1

New in version 2.0.2 (Plugin).

int BrickletGPSV2.getSBASConfig()
Returns:
  • sbasConfig – Type: int, Range: See constants, Default: 0

Returns the SBAS configuration as set by setSBASConfig()

The following constants are available for this function:

For sbasConfig:

  • BrickletGPSV2.SBAS_ENABLED = 0
  • BrickletGPSV2.SBAS_DISABLED = 1

New in version 2.0.2 (Plugin).

BrickletGPSV2.SPITFPErrorCount BrickletGPSV2.getSPITFPErrorCount()
Return Object:
  • errorCountAckChecksum – Type: long, Range: [0 to 232 - 1]
  • errorCountMessageChecksum – Type: long, Range: [0 to 232 - 1]
  • errorCountFrame – Type: long, Range: [0 to 232 - 1]
  • errorCountOverflow – Type: long, Range: [0 to 232 - 1]

Returns the error count for the communication between Brick and Bricklet.

The errors are divided into

  • ACK checksum errors,
  • message checksum errors,
  • framing errors and
  • overflow errors.

The errors counts are for errors that occur on the Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.

int BrickletGPSV2.setBootloaderMode(int mode)
Parameters:
  • mode – Type: int, Range: See constants
Returns:
  • status – Type: int, Range: See constants

Sets the bootloader mode and returns the status after the requested mode change was instigated.

You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

The following constants are available for this function:

For mode:

  • BrickletGPSV2.BOOTLOADER_MODE_BOOTLOADER = 0
  • BrickletGPSV2.BOOTLOADER_MODE_FIRMWARE = 1
  • BrickletGPSV2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BrickletGPSV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BrickletGPSV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

  • BrickletGPSV2.BOOTLOADER_STATUS_OK = 0
  • BrickletGPSV2.BOOTLOADER_STATUS_INVALID_MODE = 1
  • BrickletGPSV2.BOOTLOADER_STATUS_NO_CHANGE = 2
  • BrickletGPSV2.BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
  • BrickletGPSV2.BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
  • BrickletGPSV2.BOOTLOADER_STATUS_CRC_MISMATCH = 5
int BrickletGPSV2.getBootloaderMode()
Returns:
  • mode – Type: int, Range: See constants

Returns the current bootloader mode, see setBootloaderMode().

The following constants are available for this function:

For mode:

  • BrickletGPSV2.BOOTLOADER_MODE_BOOTLOADER = 0
  • BrickletGPSV2.BOOTLOADER_MODE_FIRMWARE = 1
  • BrickletGPSV2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BrickletGPSV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BrickletGPSV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
void BrickletGPSV2.setWriteFirmwarePointer(long pointer)
Parameters:
  • pointer – Type: long, Unit: 1 B, Range: [0 to 232 - 1]

Sets the firmware pointer for writeFirmware(). The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256).

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

int BrickletGPSV2.writeFirmware(int[] data)
Parameters:
  • data – Type: int[], Length: 64, Range: [0 to 255]
Returns:
  • status – Type: int, Range: [0 to 255]

Writes 64 Bytes of firmware at the position as written by setWriteFirmwarePointer() before. The firmware is written to flash every 4 chunks.

You can only write firmware in bootloader mode.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

void BrickletGPSV2.setStatusLEDConfig(int config)
Parameters:
  • config – Type: int, Range: See constants, Default: 3

Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets.

You can also turn the LED permanently on/off or show a heartbeat.

If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.

The following constants are available for this function:

For config:

  • BrickletGPSV2.STATUS_LED_CONFIG_OFF = 0
  • BrickletGPSV2.STATUS_LED_CONFIG_ON = 1
  • BrickletGPSV2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletGPSV2.STATUS_LED_CONFIG_SHOW_STATUS = 3
int BrickletGPSV2.getStatusLEDConfig()
Returns:
  • config – Type: int, Range: See constants, Default: 3

Returns the configuration as set by setStatusLEDConfig()

The following constants are available for this function:

For config:

  • BrickletGPSV2.STATUS_LED_CONFIG_OFF = 0
  • BrickletGPSV2.STATUS_LED_CONFIG_ON = 1
  • BrickletGPSV2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletGPSV2.STATUS_LED_CONFIG_SHOW_STATUS = 3
int BrickletGPSV2.getChipTemperature()
Returns:
  • temperature – Type: int, Unit: 1 °C, Range: [-215 to 215 - 1]

Returns the temperature as measured inside the microcontroller. The value returned is not the ambient temperature!

The temperature is only proportional to the real temperature and it has bad accuracy. Practically it is only useful as an indicator for temperature changes.

void BrickletGPSV2.reset()

Calling this function will reset the Bricklet. All configurations will be lost.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

void BrickletGPSV2.writeUID(long uid)
Parameters:
  • uid – Type: long, Range: [0 to 232 - 1]

Writes a new UID into flash. If you want to set a new UID you have to decode the Base58 encoded UID string into an integer first.

We recommend that you use Brick Viewer to change the UID.

long BrickletGPSV2.readUID()
Returns:
  • uid – Type: long, Range: [0 to 232 - 1]

Returns the current UID as an integer. Encode as Base58 to get the usual string version.

BrickletGPSV2.Identity BrickletGPSV2.getIdentity()
Return Object:
  • uid – Type: String, Length: up to 8
  • connectedUid – Type: String, Length: up to 8
  • position – Type: char, Range: ['a' to 'h', 'i', 'z']
  • hardwareVersion – Type: int[], Length: 3
    • 0: major – Type: int, Range: [0 to 255]
    • 1: minor – Type: int, Range: [0 to 255]
    • 2: revision – Type: int, Range: [0 to 255]
  • firmwareVersion – Type: int[], Length: 3
    • 0: major – Type: int, Range: [0 to 255]
    • 1: minor – Type: int, Range: [0 to 255]
    • 2: revision – Type: int, Range: [0 to 255]
  • deviceIdentifier – Type: int, Range: [0 to 216 - 1]

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). The Raspberry Pi HAT (Zero) Brick is always at position 'i' and the Bricklet connected to an Isolator Bricklet is always as position 'z'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Listener Configuration Functions

void BrickletGPSV2.setCoordinatesCallbackPeriod(long period)
Parameters:
  • period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Sets the period with which the CoordinatesListener listener is triggered periodically. A value of 0 turns the listener off.

The CoordinatesListener listener is only triggered if the coordinates changed since the last triggering.

long BrickletGPSV2.getCoordinatesCallbackPeriod()
Returns:
  • period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by setCoordinatesCallbackPeriod().

void BrickletGPSV2.setStatusCallbackPeriod(long period)
Parameters:
  • period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Sets the period with which the StatusListener listener is triggered periodically. A value of 0 turns the listener off.

The StatusListener listener is only triggered if the status changed since the last triggering.

long BrickletGPSV2.getStatusCallbackPeriod()
Returns:
  • period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by setStatusCallbackPeriod().

void BrickletGPSV2.setAltitudeCallbackPeriod(long period)
Parameters:
  • period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Sets the period with which the AltitudeListener listener is triggered periodically. A value of 0 turns the listener off.

The AltitudeListener listener is only triggered if the altitude changed since the last triggering.

long BrickletGPSV2.getAltitudeCallbackPeriod()
Returns:
  • period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by setAltitudeCallbackPeriod().

void BrickletGPSV2.setMotionCallbackPeriod(long period)
Parameters:
  • period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Sets the period with which the MotionListener listener is triggered periodically. A value of 0 turns the listener off.

The MotionListener listener is only triggered if the motion changed since the last triggering.

long BrickletGPSV2.getMotionCallbackPeriod()
Returns:
  • period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by setMotionCallbackPeriod().

void BrickletGPSV2.setDateTimeCallbackPeriod(long period)
Parameters:
  • period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Sets the period with which the DateTimeListener listener is triggered periodically. A value of 0 turns the listener off.

The DateTimeListener listener is only triggered if the date or time changed since the last triggering.

long BrickletGPSV2.getDateTimeCallbackPeriod()
Returns:
  • period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by setDateTimeCallbackPeriod().

Listeners

Listeners can be registered to receive time critical or recurring data from the device. The registration is done with add*Listener() functions of the device object.

The parameter is a listener class object, for example:

device.addExampleListener(new BrickletGPSV2.ExampleListener() {
    public void property(int value) {
        System.out.println("Value: " + value);
    }
});

The available listener classes with inherent methods to be overwritten are described below. It is possible to add several listeners and to remove them with the corresponding remove*Listener() function.

Note

Using listeners for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.

class BrickletGPSV2.PulsePerSecondListener()

This listener can be added with the addPulsePerSecondListener() function. An added listener can be removed with the removePulsePerSecondListener() function.

void pulsePerSecond()

This listener is triggered precisely once per second, see PPS.

The precision of two subsequent pulses will be skewed because of the latency in the USB/RS485/Ethernet connection. But in the long run this will be very precise. For example a count of 3600 pulses will take exactly 1 hour.

class BrickletGPSV2.CoordinatesListener()

This listener can be added with the addCoordinatesListener() function. An added listener can be removed with the removeCoordinatesListener() function.

void coordinates(long latitude, char ns, long longitude, char ew)
Parameters:
  • latitude – Type: long, Unit: 1/1000000 °, Range: [0 to 90000000]
  • ns – Type: char, Range: ['N', 'S']
  • longitude – Type: long, Unit: 1/1000000 °, Range: [0 to 180000000]
  • ew – Type: char, Range: ['E', 'W']

This listener is triggered periodically with the period that is set by setCoordinatesCallbackPeriod(). The parameters are the same as for getCoordinates().

The CoordinatesListener listener is only triggered if the coordinates changed since the last triggering and if there is currently a fix as indicated by getStatus().

class BrickletGPSV2.StatusListener()

This listener can be added with the addStatusListener() function. An added listener can be removed with the removeStatusListener() function.

void status(boolean hasFix, int satellitesView)
Parameters:
  • hasFix – Type: boolean
  • satellitesView – Type: int, Range: [0 to 255]

This listener is triggered periodically with the period that is set by setStatusCallbackPeriod(). The parameters are the same as for getStatus().

The StatusListener listener is only triggered if the status changed since the last triggering.

class BrickletGPSV2.AltitudeListener()

This listener can be added with the addAltitudeListener() function. An added listener can be removed with the removeAltitudeListener() function.

void altitude(int altitude, int geoidalSeparation)
Parameters:
  • altitude – Type: int, Unit: 1 cm, Range: [-231 to 231 - 1]
  • geoidalSeparation – Type: int, Unit: 1 cm, Range: [-231 to 231 - 1]

This listener is triggered periodically with the period that is set by setAltitudeCallbackPeriod(). The parameters are the same as for getAltitude().

The AltitudeListener listener is only triggered if the altitude changed since the last triggering and if there is currently a fix as indicated by getStatus().

class BrickletGPSV2.MotionListener()

This listener can be added with the addMotionListener() function. An added listener can be removed with the removeMotionListener() function.

void motion(long course, long speed)
Parameters:
  • course – Type: long, Unit: 1/100 °, Range: [0 to 36000]
  • speed – Type: long, Unit: 1/100 km/h, Range: [0 to 232 - 1]

This listener is triggered periodically with the period that is set by setMotionCallbackPeriod(). The parameters are the same as for getMotion().

The MotionListener listener is only triggered if the motion changed since the last triggering and if there is currently a fix as indicated by getStatus().

class BrickletGPSV2.DateTimeListener()

This listener can be added with the addDateTimeListener() function. An added listener can be removed with the removeDateTimeListener() function.

void dateTime(long date, long time)
Parameters:
  • date – Type: long, Range: [10100 to 311299]
  • time – Type: long, Range: [0 to 235959999]

This listener is triggered periodically with the period that is set by setDateTimeCallbackPeriod(). The parameters are the same as for getDateTime().

The DateTimeListener listener is only triggered if the date or time changed since the last triggering.

Virtual Functions

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

int[] BrickletGPSV2.getAPIVersion()
Return Object:
  • apiVersion – Type: int[], Length: 3
    • 0: major – Type: int, Range: [0 to 255]
    • 1: minor – Type: int, Range: [0 to 255]
    • 2: revision – Type: int, Range: [0 to 255]

Returns the version of the API definition implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

boolean BrickletGPSV2.getResponseExpected(int functionId)
Parameters:
  • functionId – Type: int, Range: See constants
Returns:
  • responseExpected – Type: boolean

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For listener configuration functions it is enabled by default too, but can be disabled by setResponseExpected(). For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

  • BrickletGPSV2.FUNCTION_RESTART = 6
  • BrickletGPSV2.FUNCTION_SET_FIX_LED_CONFIG = 9
  • BrickletGPSV2.FUNCTION_SET_COORDINATES_CALLBACK_PERIOD = 11
  • BrickletGPSV2.FUNCTION_SET_STATUS_CALLBACK_PERIOD = 13
  • BrickletGPSV2.FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD = 15
  • BrickletGPSV2.FUNCTION_SET_MOTION_CALLBACK_PERIOD = 17
  • BrickletGPSV2.FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD = 19
  • BrickletGPSV2.FUNCTION_SET_SBAS_CONFIG = 27
  • BrickletGPSV2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • BrickletGPSV2.FUNCTION_SET_STATUS_LED_CONFIG = 239
  • BrickletGPSV2.FUNCTION_RESET = 243
  • BrickletGPSV2.FUNCTION_WRITE_UID = 248
void BrickletGPSV2.setResponseExpected(int functionId, boolean responseExpected)
Parameters:
  • functionId – Type: int, Range: See constants
  • responseExpected – Type: boolean

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and listener configuration functions (default value: true). For getter functions it is always enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is send and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

  • BrickletGPSV2.FUNCTION_RESTART = 6
  • BrickletGPSV2.FUNCTION_SET_FIX_LED_CONFIG = 9
  • BrickletGPSV2.FUNCTION_SET_COORDINATES_CALLBACK_PERIOD = 11
  • BrickletGPSV2.FUNCTION_SET_STATUS_CALLBACK_PERIOD = 13
  • BrickletGPSV2.FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD = 15
  • BrickletGPSV2.FUNCTION_SET_MOTION_CALLBACK_PERIOD = 17
  • BrickletGPSV2.FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD = 19
  • BrickletGPSV2.FUNCTION_SET_SBAS_CONFIG = 27
  • BrickletGPSV2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • BrickletGPSV2.FUNCTION_SET_STATUS_LED_CONFIG = 239
  • BrickletGPSV2.FUNCTION_RESET = 243
  • BrickletGPSV2.FUNCTION_WRITE_UID = 248
void BrickletGPSV2.setResponseExpectedAll(boolean responseExpected)
Parameters:
  • responseExpected – Type: boolean

Changes the response expected flag for all setter and listener configuration functions of this device at once.

Constants

int BrickletGPSV2.DEVICE_IDENTIFIER

This constant is used to identify a GPS Bricklet 2.0.

The getIdentity() function and the IPConnection.EnumerateListener listener of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

String BrickletGPSV2.DEVICE_DISPLAY_NAME

This constant represents the human readable name of a GPS Bricklet 2.0.