Rust - GPS Bricklet

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

An installation guide for the Rust API bindings is part of their general description. Additional documentation can be found on docs.rs.

Examples

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

Simple

Download (example_simple.rs)

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
use std::{error::Error, io};

use tinkerforge::{gps_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your GPS Bricklet.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let gps = GpsBricklet::new(UID, &ipcon); // Create device object.

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

    // Get current coordinates.
    let coordinates = gps.get_coordinates().recv()?;

    println!("Latitude: {} °", coordinates.latitude as f32 / 1000000.0);
    println!("N/S: {}", coordinates.ns);
    println!("Longitude: {} °", coordinates.longitude as f32 / 1000000.0);
    println!("E/W: {}", coordinates.ew);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

Callback

Download (example_callback.rs)

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
use std::{error::Error, io, thread};
use tinkerforge::{gps_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your GPS Bricklet.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let gps = GpsBricklet::new(UID, &ipcon); // Create device object.

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

    let coordinates_receiver = gps.get_coordinates_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `gps` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for coordinates in coordinates_receiver {
            println!("Latitude: {} °", coordinates.latitude as f32 / 1000000.0);
            println!("N/S: {}", coordinates.ns);
            println!("Longitude: {} °", coordinates.longitude as f32 / 1000000.0);
            println!("E/W: {}", coordinates.ew);
            println!();
        }
    });

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

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

API

To allow non-blocking usage, nearly every function of the Rust bindings returns a wrapper around a mpsc::Receiver. To block until the function has finished and get your result, call one of the receiver's recv variants. Those return either the result sent by the device, or any error occurred.

Functions returning a result directly will block until the device has finished processing the request.

All functions listed below are thread-safe, those which return a receiver are lock-free.

Basic Functions

pub fn GpsBricklet::new(uid: &str, ip_connection: &IpConnection) → GpsBricklet
Parameters:
  • uid – Type: &str
  • ip_connection – Type: &IPConnection
Returns:
  • gps – Type: GpsBricklet

Creates a new GpsBricklet object with the unique device ID uid and adds it to the IPConnection ip_connection:

let gps = GpsBricklet::new("YOUR_DEVICE_UID", &ip_connection);

This device object can be used after the IP connection has been connected.

pub fn GpsBricklet::get_coordinates(&self) → ConvertingReceiver<Coordinates>
Return Object:
  • latitude – Type: u32, Unit: 1/1000000 °, Range: [0 to 90000000]
  • ns – Type: char, Range: ['N', 'S']
  • longitude – Type: u32, Unit: 1/1000000 °, Range: [0 to 180000000]
  • ew – Type: char, Range: ['E', 'W']
  • pdop – Type: u16, Unit: 1/100, Range: [0 to 216 - 1]
  • hdop – Type: u16, Unit: 1/100, Range: [0 to 216 - 1]
  • vdop – Type: u16, Unit: 1/100, Range: [0 to 216 - 1]
  • epe – Type: u16, Unit: 1 cm, Range: [0 to 216 - 1]

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).

PDOP, HDOP and VDOP are the dilution of precision (DOP) values. They specify the additional multiplicative effect of GPS satellite geometry on GPS precision. See here for more information.

EPE is the "Estimated Position Error". This is not the absolute maximum error, it is the error with a specific confidence. See here for more information.

This data is only valid if there is currently a fix as indicated by GpsBricklet::get_status.

pub fn GpsBricklet::get_status(&self) → ConvertingReceiver<Status>
Return Object:
  • fix – Type: u8, Range: See constants
  • satellites_view – Type: u8, Range: [0 to 255]
  • satellites_used – Type: u8, Range: [0 to 255]

Returns the current fix status, the number of satellites that are in view and the number of satellites that are currently used.

Possible fix status values can be:

Value Description
1 No Fix, GpsBricklet::get_coordinates, GpsBricklet::get_altitude and GpsBricklet::get_motion return invalid data
2 2D Fix, only GpsBricklet::get_coordinates and GpsBricklet::get_motion return valid data
3 3D Fix, GpsBricklet::get_coordinates, GpsBricklet::get_altitude and GpsBricklet::get_motion return valid data

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

The following constants are available for this function:

For fix:

  • GPS_BRICKLET_FIX_NO_FIX = 1
  • GPS_BRICKLET_FIX_2D_FIX = 2
  • GPS_BRICKLET_FIX_3D_FIX = 3
pub fn GpsBricklet::get_altitude(&self) → ConvertingReceiver<Altitude>
Return Object:
  • altitude – Type: i32, Unit: 1 cm, Range: [-231 to 231 - 1]
  • geoidal_separation – Type: i32, 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 GpsBricklet::get_status.

pub fn GpsBricklet::get_motion(&self) → ConvertingReceiver<Motion>
Return Object:
  • course – Type: u32, Unit: 1/100 °, Range: [0 to 36000]
  • speed – Type: u32, 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 GpsBricklet::get_status.

pub fn GpsBricklet::get_date_time(&self) → ConvertingReceiver<DateTime>
Return Object:
  • date – Type: u32, Range: [10100 to 311299]
  • time – Type: u32, 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.

Advanced Functions

pub fn GpsBricklet::restart(&self, restart_type: u8) → ConvertingReceiver<()>
Parameters:
  • restart_type – Type: u8, 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 restart_type:

  • GPS_BRICKLET_RESTART_TYPE_HOT_START = 0
  • GPS_BRICKLET_RESTART_TYPE_WARM_START = 1
  • GPS_BRICKLET_RESTART_TYPE_COLD_START = 2
  • GPS_BRICKLET_RESTART_TYPE_FACTORY_RESET = 3
pub fn GpsBricklet::get_identity(&self) → ConvertingReceiver<Identity>
Return Object:
  • uid – Type: String, Length: up to 8
  • connected_uid – Type: String, Length: up to 8
  • position – Type: char, Range: ['a' to 'h', 'i', 'z']
  • hardware_version – Type: [u8; 3]
    • 0: major – Type: u8, Range: [0 to 255]
    • 1: minor – Type: u8, Range: [0 to 255]
    • 2: revision – Type: u8, Range: [0 to 255]
  • firmware_version – Type: [u8; 3]
    • 0: major – Type: u8, Range: [0 to 255]
    • 1: minor – Type: u8, Range: [0 to 255]
    • 2: revision – Type: u8, Range: [0 to 255]
  • device_identifier – Type: u16, 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.

Callback Configuration Functions

pub fn GpsBricklet::set_coordinates_callback_period(&self, period: u32) → ConvertingReceiver<()>
Parameters:
  • period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Sets the period with which the GpsBricklet::get_coordinates_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

The GpsBricklet::get_coordinates_callback_receiver callback is only triggered if the coordinates changed since the last triggering.

pub fn GpsBricklet::get_coordinates_callback_period(&self) → ConvertingReceiver<u32>
Returns:
  • period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by GpsBricklet::set_coordinates_callback_period.

pub fn GpsBricklet::set_status_callback_period(&self, period: u32) → ConvertingReceiver<()>
Parameters:
  • period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Sets the period with which the GpsBricklet::get_status_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

The GpsBricklet::get_status_callback_receiver callback is only triggered if the status changed since the last triggering.

pub fn GpsBricklet::get_status_callback_period(&self) → ConvertingReceiver<u32>
Returns:
  • period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by GpsBricklet::set_status_callback_period.

pub fn GpsBricklet::set_altitude_callback_period(&self, period: u32) → ConvertingReceiver<()>
Parameters:
  • period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Sets the period with which the GpsBricklet::get_altitude_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

The GpsBricklet::get_altitude_callback_receiver callback is only triggered if the altitude changed since the last triggering.

pub fn GpsBricklet::get_altitude_callback_period(&self) → ConvertingReceiver<u32>
Returns:
  • period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by GpsBricklet::set_altitude_callback_period.

pub fn GpsBricklet::set_motion_callback_period(&self, period: u32) → ConvertingReceiver<()>
Parameters:
  • period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Sets the period with which the GpsBricklet::get_motion_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

The GpsBricklet::get_motion_callback_receiver callback is only triggered if the motion changed since the last triggering.

pub fn GpsBricklet::get_motion_callback_period(&self) → ConvertingReceiver<u32>
Returns:
  • period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by GpsBricklet::set_motion_callback_period.

pub fn GpsBricklet::set_date_time_callback_period(&self, period: u32) → ConvertingReceiver<()>
Parameters:
  • period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Sets the period with which the GpsBricklet::get_date_time_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

The GpsBricklet::get_date_time_callback_receiver callback is only triggered if the date or time changed since the last triggering.

pub fn GpsBricklet::get_date_time_callback_period(&self) → ConvertingReceiver<u32>
Returns:
  • period – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by GpsBricklet::set_date_time_callback_period.

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the corresponding get_*_callback_receiver function, which returns a receiver for callback events.

Note

Using callbacks 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.

pub fn GpsBricklet::get_coordinates_callback_receiver(&self) → ConvertingCallbackReceiver<CoordinatesEvent>
Event Object:
  • latitude – Type: u32, Unit: 1/1000000 °, Range: [0 to 90000000]
  • ns – Type: char, Range: ['N', 'S']
  • longitude – Type: u32, Unit: 1/1000000 °, Range: [0 to 180000000]
  • ew – Type: char, Range: ['E', 'W']
  • pdop – Type: u16, Unit: 1/100, Range: [0 to 216 - 1]
  • hdop – Type: u16, Unit: 1/100, Range: [0 to 216 - 1]
  • vdop – Type: u16, Unit: 1/100, Range: [0 to 216 - 1]
  • epe – Type: u16, Unit: 1 cm, Range: [0 to 216 - 1]

Receivers created with this function receive Coordinates events.

This callback is triggered periodically with the period that is set by GpsBricklet::set_coordinates_callback_period. The parameters are the same as for GpsBricklet::get_coordinates.

The GpsBricklet::get_coordinates_callback_receiver callback is only triggered if the coordinates changed since the last triggering and if there is currently a fix as indicated by GpsBricklet::get_status.

pub fn GpsBricklet::get_status_callback_receiver(&self) → ConvertingCallbackReceiver<StatusEvent>
Event Object:
  • fix – Type: u8, Range: See constants
  • satellites_view – Type: u8, Range: [0 to 255]
  • satellites_used – Type: u8, Range: [0 to 255]

Receivers created with this function receive Status events.

This callback is triggered periodically with the period that is set by GpsBricklet::set_status_callback_period. The parameters are the same as for GpsBricklet::get_status.

The GpsBricklet::get_status_callback_receiver callback is only triggered if the status changed since the last triggering.

The following constants are available for this function:

For fix:

  • GPS_BRICKLET_FIX_NO_FIX = 1
  • GPS_BRICKLET_FIX_2D_FIX = 2
  • GPS_BRICKLET_FIX_3D_FIX = 3
pub fn GpsBricklet::get_altitude_callback_receiver(&self) → ConvertingCallbackReceiver<AltitudeEvent>
Event Object:
  • altitude – Type: i32, Unit: 1 cm, Range: [-231 to 231 - 1]
  • geoidal_separation – Type: i32, Unit: 1 cm, Range: [-231 to 231 - 1]

Receivers created with this function receive Altitude events.

This callback is triggered periodically with the period that is set by GpsBricklet::set_altitude_callback_period. The parameters are the same as for GpsBricklet::get_altitude.

The GpsBricklet::get_altitude_callback_receiver callback is only triggered if the altitude changed since the last triggering and if there is currently a fix as indicated by GpsBricklet::get_status.

pub fn GpsBricklet::get_motion_callback_receiver(&self) → ConvertingCallbackReceiver<MotionEvent>
Event Object:
  • course – Type: u32, Unit: 1/100 °, Range: [0 to 36000]
  • speed – Type: u32, Unit: 1/100 km/h, Range: [0 to 232 - 1]

Receivers created with this function receive Motion events.

This callback is triggered periodically with the period that is set by GpsBricklet::set_motion_callback_period. The parameters are the same as for GpsBricklet::get_motion.

The GpsBricklet::get_motion_callback_receiver callback is only triggered if the motion changed since the last triggering and if there is currently a fix as indicated by GpsBricklet::get_status.

pub fn GpsBricklet::get_date_time_callback_receiver(&self) → ConvertingCallbackReceiver<DateTimeEvent>
Event Object:
  • date – Type: u32, Range: [10100 to 311299]
  • time – Type: u32, Range: [0 to 235959999]

Receivers created with this function receive Date Time events.

This callback is triggered periodically with the period that is set by GpsBricklet::set_date_time_callback_period. The parameters are the same as for GpsBricklet::get_date_time.

The GpsBricklet::get_date_time_callback_receiver callback 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.

pub fn GpsBricklet::get_api_version(&self) → [u8; 3]
Return Object:
  • api_version – Type: [u8; 3]
    • 0: major – Type: u8, Range: [0 to 255]
    • 1: minor – Type: u8, Range: [0 to 255]
    • 2: revision – Type: u8, 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.

pub fn GpsBricklet::get_response_expected(&mut self, function_id: u8) → bool
Parameters:
  • function_id – Type: u8, Range: See constants
Returns:
  • response_expected – Type: bool

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 callback configuration functions it is enabled by default too, but can be disabled by GpsBricklet::set_response_expected. 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 sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For function_id:

  • GPS_BRICKLET_FUNCTION_RESTART = 6
  • GPS_BRICKLET_FUNCTION_SET_COORDINATES_CALLBACK_PERIOD = 7
  • GPS_BRICKLET_FUNCTION_SET_STATUS_CALLBACK_PERIOD = 9
  • GPS_BRICKLET_FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD = 11
  • GPS_BRICKLET_FUNCTION_SET_MOTION_CALLBACK_PERIOD = 13
  • GPS_BRICKLET_FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD = 15
pub fn GpsBricklet::set_response_expected(&mut self, function_id: u8, response_expected: bool) → ()
Parameters:
  • function_id – Type: u8, Range: See constants
  • response_expected – Type: bool

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 callback 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 sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For function_id:

  • GPS_BRICKLET_FUNCTION_RESTART = 6
  • GPS_BRICKLET_FUNCTION_SET_COORDINATES_CALLBACK_PERIOD = 7
  • GPS_BRICKLET_FUNCTION_SET_STATUS_CALLBACK_PERIOD = 9
  • GPS_BRICKLET_FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD = 11
  • GPS_BRICKLET_FUNCTION_SET_MOTION_CALLBACK_PERIOD = 13
  • GPS_BRICKLET_FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD = 15
pub fn GpsBricklet::set_response_expected_all(&mut self, response_expected: bool) → ()
Parameters:
  • response_expected – Type: bool

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

Constants

pub const GpsBricklet::DEVICE_IDENTIFIER

This constant is used to identify a GPS Bricklet.

The GpsBricklet::get_identity function and the IpConnection::get_enumerate_callback_receiver callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

pub const GpsBricklet::DEVICE_DISPLAY_NAME

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