..
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 #                                                           #
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:breadcrumbs: <a href="../../index.html">Home</a> / <a href="../../index.html#software-mathematica">Software</a> / Mathematica - GPS Bricklet

.. |device_identifier_constant| replace:: There is also a :ref:`constant <gps_bricklet_mathematica_constants>` for the device identifier of this Bricklet.

.. _gps_bricklet_mathematica:

Mathematica - GPS Bricklet
==========================

This is the description of the :ref:`Mathematica API bindings <api_bindings_mathematica>` for the :ref:`GPS Bricklet <gps_bricklet>`. General information and technical
specifications for the GPS Bricklet are summarized in its :ref:`hardware description
<gps_bricklet_description>`.

An :ref:`installation guide <api_bindings_mathematica_install>` for the Mathematica API
bindings is part of their general description.

.. _gps_bricklet_mathematica_examples:


Examples
--------

The example code below is `Public Domain (CC0 1.0)
<http://creativecommons.org/publicdomain/zero/1.0/>`__.

Simple
^^^^^^

`Download (ExampleSimple.nb) <https://github.com/Tinkerforge/gps-bricklet/raw/master/software/examples/mathematica/ExampleSimple.nb>`__

.. literalinclude:: GPS_Bricklet_Mathematica_ExampleSimple.nb.txt
 :language: mathematica
 :linenos:
 :tab-width: 4

Callback
^^^^^^^^

`Download (ExampleCallback.nb) <https://github.com/Tinkerforge/gps-bricklet/raw/master/software/examples/mathematica/ExampleCallback.nb>`__

.. literalinclude:: GPS_Bricklet_Mathematica_ExampleCallback.nb.txt
 :language: mathematica
 :linenos:
 :tab-width: 4

.. _gps_bricklet_mathematica_api:

API
---

Generally, every method of the Mathematica bindings that returns a value can
throw a ``Tinkerforge.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 plugs the
device out). However, if a wireless connection is used, timeouts will occur
if the distance to the device gets too big.

Since .NET/Link does not support multiple return values directly, we use the
``out`` keyword to return multiple values from a method. For further
information about the ``out`` keyword in .NET/Link see the corresponding
Mathematica `.NET/Link documentation
<http://reference.wolfram.com/language/NETLink/tutorial/CallingNETFromTheWolframLanguage.html#15993>`__.

The namespace for all Brick/Bricklet bindings and the IPConnection is
``Tinkerforge.*``.




Basic Functions
^^^^^^^^^^^^^^^


.. mathematica:function:: BrickletGPS[uid, ipcon] -> gps

 :param uid: String
 :param ipcon: NETObject[IPConnection]
 :ret gps: NETObject[BrickletGPS]

 Creates an object with the unique device ID ``uid``:

 .. code-block:: mathematica

    gps=NETNew["Tinkerforge.BrickletGPS","YOUR_DEVICE_UID",ipcon]

 This object can then be used after the IP Connection is connected
 (see examples :ref:`above <gps_bricklet_mathematica_examples>`).

 The .NET runtime has built-in garbage collection that frees objects that are
 no longer in use by a program. But because Mathematica can not automatically
 tell when a Mathematica "program" doesn't use a .NET object anymore, this has
 to be done by the program. For this the `ReleaseNETObject[]
 <http://reference.wolfram.com/language/NETLink/ref/ReleaseNETObject.html>`__
 function is used in the examples.

 For further information about object management in .NET/Link see the
 corresponding Mathematica `.NET/Link documentation
 <http://reference.wolfram.com/language/NETLink/tutorial/CallingNETFromTheWolframLanguage.html#14400>`__.


.. mathematica:function:: BrickletGPS@GetCoordinates[out latitude, out ns, out longitude, out ew, out pdop, out hdop, out vdop, out epe] -> Null

 :param latitude: Integer
 :param ns: Integer
 :param longitude: Integer
 :param ew: Integer
 :param pdop: Integer
 :param hdop: Integer
 :param vdop: Integer
 :param epe: Integer

 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 <http://en.wikipedia.org/wiki/Dilution_of_precision_(GPS)>`__
 for more information. The values are give in hundredths.
 
 EPE is the "Estimated Position Error". The EPE is given in cm. This is not the
 absolute maximum error, it is the error with a specific confidence. See
 `here <http://www.nps.gov/gis/gps/WhatisEPE.html>`__ for more information.
 
 This data is only valid if there is currently a fix as indicated by
 :mathematica:func:`GetStatus[] <BrickletGPS@GetStatus>`.
 
.. mathematica:function:: BrickletGPS@GetStatus[out fix, out satellitesView, out satellitesUsed] -> Null

 :param fix: Integer
 :param satellitesView: Integer
 :param satellitesUsed: Integer

 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:
 
 .. csv-table::
  :header: "Value", "Description"
  :widths: 10, 100
 
  "1", "No Fix, :mathematica:func:`GetCoordinates[] <BrickletGPS@GetCoordinates>` and :mathematica:func:`GetAltitude[] <BrickletGPS@GetAltitude>` return invalid data"
  "2", "2D Fix, only :mathematica:func:`GetCoordinates[] <BrickletGPS@GetCoordinates>` returns valid data"
  "3", "3D Fix, :mathematica:func:`GetCoordinates[] <BrickletGPS@GetCoordinates>` and :mathematica:func:`GetAltitude[] <BrickletGPS@GetAltitude>` return valid data"
 
 There is also a :ref:`blue LED <gps_bricklet_fix_led>` on the Bricklet that
 indicates the fix status.
 
 The following constants are available for this function:
 
 * BrickletGPS`FIXUNOUFIX = 1
 * BrickletGPS`FIXU2DUFIX = 2
 * BrickletGPS`FIXU3DUFIX = 3
 
.. mathematica:function:: BrickletGPS@GetAltitude[out altitude, out geoidalSeparation] -> Null

 :param altitude: Integer
 :param geoidalSeparation: Integer

 Returns the current altitude and corresponding geoidal separation.
 
 Both values are given in cm.
 
 This data is only valid if there is currently a fix as indicated by
 :mathematica:func:`GetStatus[] <BrickletGPS@GetStatus>`.
 
.. mathematica:function:: BrickletGPS@GetMotion[out course, out speed] -> Null

 :param course: Integer
 :param speed: Integer

 Returns the current course and speed. Course is given in hundredths degree
 and speed is given in hundredths km/h. 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
 :mathematica:func:`GetStatus[] <BrickletGPS@GetStatus>`.
 
.. mathematica:function:: BrickletGPS@GetDateTime[out date, out time] -> Null

 :param date: Integer
 :param time: Integer

 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
 14.05.13 as date and 195923568 means 19:59:23.568 as time.
 


Advanced Functions
^^^^^^^^^^^^^^^^^^

.. mathematica:function:: BrickletGPS@Restart[restartType] -> Null

 :param restartType: Integer

 Restarts the GPS Bricklet, the following restart types are available:
 
 .. csv-table::
  :header: "Value", "Description"
  :widths: 10, 100
 
  "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:
 
 * BrickletGPS`RESTARTUTYPEUHOTUSTART = 0
 * BrickletGPS`RESTARTUTYPEUWARMUSTART = 1
 * BrickletGPS`RESTARTUTYPEUCOLDUSTART = 2
 * BrickletGPS`RESTARTUTYPEUFACTORYURESET = 3
 
.. mathematica:function:: BrickletGPS@GetAPIVersion[] -> {apiVersion1, apiVersion2, apiVersion3}

 :ret apiVersioni: Integer

 Returns the version of the API definition (major, minor, revision) 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.
 
.. mathematica:function:: BrickletGPS@GetResponseExpected[functionId] -> responseExpected

 :param functionId: Integer
 :ret responseExpected: True/False

 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
 :mathematica:func:`SetResponseExpected[] <BrickletGPS@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.
 
 See :mathematica:func:`SetResponseExpected[] <BrickletGPS@SetResponseExpected>`
 for the list of function ID constants available for this function.
 
.. mathematica:function:: BrickletGPS@SetResponseExpected[functionId, responseExpected] -> Null

 :param functionId: Integer
 :param responseExpected: True/False

 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 and callbacks it is always disabled.
 
 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 function ID constants are available for this function:
 
 * BrickletGPS`FUNCTIONURESTART = 6
 * BrickletGPS`FUNCTIONUSETUCOORDINATESUCALLBACKUPERIOD = 7
 * BrickletGPS`FUNCTIONUSETUSTATUSUCALLBACKUPERIOD = 9
 * BrickletGPS`FUNCTIONUSETUALTITUDEUCALLBACKUPERIOD = 11
 * BrickletGPS`FUNCTIONUSETUMOTIONUCALLBACKUPERIOD = 13
 * BrickletGPS`FUNCTIONUSETUDATEUTIMEUCALLBACKUPERIOD = 15
 
.. mathematica:function:: BrickletGPS@SetResponseExpectedAll[responseExpected] -> Null

 :param responseExpected: True/False

 Changes the response expected flag for all setter and callback configuration
 functions of this device at once.
 
.. mathematica:function:: BrickletGPS@GetIdentity[out uid, out connectedUid, out position, out {hardwareVersion1, hardwareVersion2, hardwareVersion3}, out {firmwareVersion1, firmwareVersion2, firmwareVersion3}, out deviceIdentifier] -> Null

 :param uid: String
 :param connectedUid: String
 :param position: Integer
 :param hardwareVersioni: Integer
 :param firmwareVersioni: Integer
 :param deviceIdentifier: Integer

 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' or 'd'.
 
 The device identifier numbers can be found :ref:`here <device_identifier>`.
 |device_identifier_constant|
 


Callback Configuration Functions
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^



.. mathematica:function:: BrickletGPS@SetCoordinatesCallbackPeriod[period] -> Null

 :param period: Integer

 Sets the period in ms with which the :mathematica:func:`Coordinates <BrickletGPS@Coordinates>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
 :mathematica:func:`Coordinates <BrickletGPS@Coordinates>` is only triggered if the coordinates changed since the
 last triggering.
 
 The default value is 0.
 
.. mathematica:function:: BrickletGPS@GetCoordinatesCallbackPeriod[] -> period

 :ret period: Integer

 Returns the period as set by :mathematica:func:`SetCoordinatesCallbackPeriod[] <BrickletGPS@SetCoordinatesCallbackPeriod>`.
 
.. mathematica:function:: BrickletGPS@SetStatusCallbackPeriod[period] -> Null

 :param period: Integer

 Sets the period in ms with which the :mathematica:func:`Status <BrickletGPS@Status>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
 :mathematica:func:`Status <BrickletGPS@Status>` is only triggered if the status changed since the
 last triggering.
 
 The default value is 0.
 
.. mathematica:function:: BrickletGPS@GetStatusCallbackPeriod[] -> period

 :ret period: Integer

 Returns the period as set by :mathematica:func:`SetStatusCallbackPeriod[] <BrickletGPS@SetStatusCallbackPeriod>`.
 
.. mathematica:function:: BrickletGPS@SetAltitudeCallbackPeriod[period] -> Null

 :param period: Integer

 Sets the period in ms with which the :mathematica:func:`Altitude <BrickletGPS@Altitude>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
 :mathematica:func:`Altitude <BrickletGPS@Altitude>` is only triggered if the altitude changed since the
 last triggering.
 
 The default value is 0.
 
.. mathematica:function:: BrickletGPS@GetAltitudeCallbackPeriod[] -> period

 :ret period: Integer

 Returns the period as set by :mathematica:func:`SetAltitudeCallbackPeriod[] <BrickletGPS@SetAltitudeCallbackPeriod>`.
 
.. mathematica:function:: BrickletGPS@SetMotionCallbackPeriod[period] -> Null

 :param period: Integer

 Sets the period in ms with which the :mathematica:func:`Motion <BrickletGPS@Motion>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
 :mathematica:func:`Motion <BrickletGPS@Motion>` is only triggered if the motion changed since the
 last triggering.
 
 The default value is 0.
 
.. mathematica:function:: BrickletGPS@GetMotionCallbackPeriod[] -> period

 :ret period: Integer

 Returns the period as set by :mathematica:func:`SetMotionCallbackPeriod[] <BrickletGPS@SetMotionCallbackPeriod>`.
 
.. mathematica:function:: BrickletGPS@SetDateTimeCallbackPeriod[period] -> Null

 :param period: Integer

 Sets the period in ms with which the :mathematica:func:`DateTime <BrickletGPS@DateTime>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
 :mathematica:func:`DateTime <BrickletGPS@DateTime>` is only triggered if the date or time changed since the
 last triggering.
 
 The default value is 0.
 
.. mathematica:function:: BrickletGPS@GetDateTimeCallbackPeriod[] -> period

 :ret period: Integer

 Returns the period as set by :mathematica:func:`SetDateTimeCallbackPeriod[] <BrickletGPS@SetDateTimeCallbackPeriod>`.
 


.. _gps_bricklet_mathematica_callbacks:

Callbacks
^^^^^^^^^

Callbacks can be registered to receive time critical or recurring data from
the device. The registration is done by assigning a function to a callback
property of the device object:

 .. code-block:: mathematica

    Callback[sender_,value_]:=Print["Value: "<>ToString[value]]

    AddEventHandler[gps@Example,Callback]

For further information about event handling using .NET/Link see the
corresponding Mathematica `.NET/Link documentation
<http://reference.wolfram.com/language/NETLink/tutorial/CallingNETFromTheWolframLanguage.html#17034>`__.

The available callback property and their type of parameters are described below.

.. 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.


.. mathematica:function:: event BrickletGPS@Coordinates[sender, latitude, ns, longitude, ew, pdop, hdop, vdop, epe]

 :param sender: NETObject[BrickletGPS]
 :param latitude: Integer
 :param ns: Integer
 :param longitude: Integer
 :param ew: Integer
 :param pdop: Integer
 :param hdop: Integer
 :param vdop: Integer
 :param epe: Integer

 This callback is triggered periodically with the period that is set by
 :mathematica:func:`SetCoordinatesCallbackPeriod[] <BrickletGPS@SetCoordinatesCallbackPeriod>`. The parameters are the same
 as for :mathematica:func:`GetCoordinates[] <BrickletGPS@GetCoordinates>`.
 
 :mathematica:func:`Coordinates <BrickletGPS@Coordinates>` is only triggered if the coordinates changed since the
 last triggering and if there is currently a fix as indicated by
 :mathematica:func:`GetStatus[] <BrickletGPS@GetStatus>`.
 

.. mathematica:function:: event BrickletGPS@Status[sender, fix, satellitesView, satellitesUsed]

 :param sender: NETObject[BrickletGPS]
 :param fix: Integer
 :param satellitesView: Integer
 :param satellitesUsed: Integer

 This callback is triggered periodically with the period that is set by
 :mathematica:func:`SetStatusCallbackPeriod[] <BrickletGPS@SetStatusCallbackPeriod>`. The parameters are the same
 as for :mathematica:func:`GetStatus[] <BrickletGPS@GetStatus>`.
 
 :mathematica:func:`Status <BrickletGPS@Status>` is only triggered if the status changed since the
 last triggering.
 
 The following constants are available for this function:
 
 * BrickletGPS`FIXUNOUFIX = 1
 * BrickletGPS`FIXU2DUFIX = 2
 * BrickletGPS`FIXU3DUFIX = 3
 

.. mathematica:function:: event BrickletGPS@Altitude[sender, altitude, geoidalSeparation]

 :param sender: NETObject[BrickletGPS]
 :param altitude: Integer
 :param geoidalSeparation: Integer

 This callback is triggered periodically with the period that is set by
 :mathematica:func:`SetAltitudeCallbackPeriod[] <BrickletGPS@SetAltitudeCallbackPeriod>`. The parameters are the same
 as for :mathematica:func:`GetAltitude[] <BrickletGPS@GetAltitude>`.
 
 :mathematica:func:`Altitude <BrickletGPS@Altitude>` is only triggered if the altitude changed since the
 last triggering and if there is currently a fix as indicated by
 :mathematica:func:`GetStatus[] <BrickletGPS@GetStatus>`.
 

.. mathematica:function:: event BrickletGPS@Motion[sender, course, speed]

 :param sender: NETObject[BrickletGPS]
 :param course: Integer
 :param speed: Integer

 This callback is triggered periodically with the period that is set by
 :mathematica:func:`SetMotionCallbackPeriod[] <BrickletGPS@SetMotionCallbackPeriod>`. The parameters are the same
 as for :mathematica:func:`GetMotion[] <BrickletGPS@GetMotion>`.
 
 :mathematica:func:`Motion <BrickletGPS@Motion>` is only triggered if the motion changed since the
 last triggering and if there is currently a fix as indicated by
 :mathematica:func:`GetStatus[] <BrickletGPS@GetStatus>`.
 

.. mathematica:function:: event BrickletGPS@DateTime[sender, date, time]

 :param sender: NETObject[BrickletGPS]
 :param date: Integer
 :param time: Integer

 This callback is triggered periodically with the period that is set by
 :mathematica:func:`SetDateTimeCallbackPeriod[] <BrickletGPS@SetDateTimeCallbackPeriod>`. The parameters are the same
 as for :mathematica:func:`GetDateTime[] <BrickletGPS@GetDateTime>`.
 
 :mathematica:func:`DateTime <BrickletGPS@DateTime>` is only triggered if the date or time changed since the
 last triggering.
 


.. _gps_bricklet_mathematica_constants:

Constants
^^^^^^^^^

.. mathematica:symbol:: BrickletGPS`DEVICEUIDENTIFIER

 This constant is used to identify a GPS Bricklet.

 The :mathematica:func:`GetIdentity[] <BrickletGPS@GetIdentity>` function and the
 :mathematica:func:`EnumerateCallback <IPConnection@EnumerateCallback>`
 callback of the IP Connection have a ``deviceIdentifier`` parameter to specify
 the Brick's or Bricklet's type.

