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

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

.. _gps_bricklet_java:

Java - GPS Bricklet
===================

This is the description of the :ref:`Java API bindings <api_bindings_java>` 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_java_install>` for the Java API
bindings is part of their general description.

.. _gps_bricklet_java_examples:


Examples
--------

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

Simple
^^^^^^

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

.. literalinclude:: GPS_Bricklet_Java_ExampleSimple.java
 :language: java
 :linenos:
 :tab-width: 4

Callback
^^^^^^^^

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

.. literalinclude:: GPS_Bricklet_Java_ExampleCallback.java
 :language: java
 :linenos:
 :tab-width: 4

.. _gps_bricklet_java_api:

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
^^^^^^^^^^^^^^^


.. java:function:: class BrickletGPS(String uid, IPConnection ipcon)

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

 .. code-block:: java

  BrickletGPS gps = new BrickletGPS("YOUR_DEVICE_UID", ipcon);

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


.. java:function:: public BrickletGPS.Coordinates BrickletGPS::getCoordinates()

 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
 :java:func:`getStatus() <BrickletGPS::getStatus>`.
 
 The returned object has the public member variables ``long latitude``, ``char ns``, ``long longitude``, ``char ew``, ``int pdop``, ``int hdop``, ``int vdop`` and ``int epe``.

.. java:function:: public BrickletGPS.Status BrickletGPS::getStatus()

 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, :java:func:`getCoordinates() <BrickletGPS::getCoordinates>` and :java:func:`getAltitude() <BrickletGPS::getAltitude>` return invalid data"
  "2", "2D Fix, only :java:func:`getCoordinates() <BrickletGPS::getCoordinates>` returns valid data"
  "3", "3D Fix, :java:func:`getCoordinates() <BrickletGPS::getCoordinates>` and :java: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.FIX_NO_FIX = 1
 * BrickletGPS.FIX_2D_FIX = 2
 * BrickletGPS.FIX_3D_FIX = 3
 
 The returned object has the public member variables ``short fix``, ``short satellitesView`` and ``short satellitesUsed``.

.. java:function:: public BrickletGPS.Altitude BrickletGPS::getAltitude()

 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
 :java:func:`getStatus() <BrickletGPS::getStatus>`.
 
 The returned object has the public member variables ``long altitude`` and ``long geoidalSeparation``.

.. java:function:: public BrickletGPS.Motion BrickletGPS::getMotion()

 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
 :java:func:`getStatus() <BrickletGPS::getStatus>`.
 
 The returned object has the public member variables ``long course`` and ``long speed``.

.. java:function:: public BrickletGPS.DateTime BrickletGPS::getDateTime()

 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.
 
 The returned object has the public member variables ``long date`` and ``long time``.



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

.. java:function:: public void BrickletGPS::restart(short restartType)

 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.RESTART_TYPE_HOT_START = 0
 * BrickletGPS.RESTART_TYPE_WARM_START = 1
 * BrickletGPS.RESTART_TYPE_COLD_START = 2
 * BrickletGPS.RESTART_TYPE_FACTORY_RESET = 3
 
.. java:function:: public short[] BrickletGPS::getAPIVersion()

 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.
 
.. java:function:: public boolean BrickletGPS::getResponseExpected(short functionId)

 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
 :java: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 :java:func:`setResponseExpected() <BrickletGPS::setResponseExpected>`
 for the list of function ID constants available for this function.
 
.. java:function:: public void BrickletGPS::setResponseExpected(short functionId, boolean responseExpected)

 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 and listeners 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.FUNCTION_RESTART = 6
 * BrickletGPS.FUNCTION_SET_COORDINATES_CALLBACK_PERIOD = 7
 * BrickletGPS.FUNCTION_SET_STATUS_CALLBACK_PERIOD = 9
 * BrickletGPS.FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD = 11
 * BrickletGPS.FUNCTION_SET_MOTION_CALLBACK_PERIOD = 13
 * BrickletGPS.FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD = 15
 
.. java:function:: public void BrickletGPS::setResponseExpectedAll(boolean responseExpected)

 Changes the response expected flag for all setter and listener configuration
 functions of this device at once.
 
.. java:function:: public BrickletGPS.Identity BrickletGPS::getIdentity()

 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|
 
 The returned object has the public member variables ``String uid``, ``String connectedUid``, ``char position``, ``short[] hardwareVersion``, ``short[] firmwareVersion`` and ``int deviceIdentifier``.



Listener Configuration Functions
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. java:function:: public void BrickletGPS::setCoordinatesCallbackPeriod(long period)

 Sets the period in ms with which the :java:func:`CoordinatesListener <BrickletGPS.CoordinatesListener>` listener is triggered
 periodically. A value of 0 turns the listener off.
 
 :java:func:`CoordinatesListener <BrickletGPS.CoordinatesListener>` is only triggered if the coordinates changed since the
 last triggering.
 
 The default value is 0.
 
.. java:function:: public long BrickletGPS::getCoordinatesCallbackPeriod()

 Returns the period as set by :java:func:`setCoordinatesCallbackPeriod() <BrickletGPS::setCoordinatesCallbackPeriod>`.
 
.. java:function:: public void BrickletGPS::setStatusCallbackPeriod(long period)

 Sets the period in ms with which the :java:func:`StatusListener <BrickletGPS.StatusListener>` listener is triggered
 periodically. A value of 0 turns the listener off.
 
 :java:func:`StatusListener <BrickletGPS.StatusListener>` is only triggered if the status changed since the
 last triggering.
 
 The default value is 0.
 
.. java:function:: public long BrickletGPS::getStatusCallbackPeriod()

 Returns the period as set by :java:func:`setStatusCallbackPeriod() <BrickletGPS::setStatusCallbackPeriod>`.
 
.. java:function:: public void BrickletGPS::setAltitudeCallbackPeriod(long period)

 Sets the period in ms with which the :java:func:`AltitudeListener <BrickletGPS.AltitudeListener>` listener is triggered
 periodically. A value of 0 turns the listener off.
 
 :java:func:`AltitudeListener <BrickletGPS.AltitudeListener>` is only triggered if the altitude changed since the
 last triggering.
 
 The default value is 0.
 
.. java:function:: public long BrickletGPS::getAltitudeCallbackPeriod()

 Returns the period as set by :java:func:`setAltitudeCallbackPeriod() <BrickletGPS::setAltitudeCallbackPeriod>`.
 
.. java:function:: public void BrickletGPS::setMotionCallbackPeriod(long period)

 Sets the period in ms with which the :java:func:`MotionListener <BrickletGPS.MotionListener>` listener is triggered
 periodically. A value of 0 turns the listener off.
 
 :java:func:`MotionListener <BrickletGPS.MotionListener>` is only triggered if the motion changed since the
 last triggering.
 
 The default value is 0.
 
.. java:function:: public long BrickletGPS::getMotionCallbackPeriod()

 Returns the period as set by :java:func:`setMotionCallbackPeriod() <BrickletGPS::setMotionCallbackPeriod>`.
 
.. java:function:: public void BrickletGPS::setDateTimeCallbackPeriod(long period)

 Sets the period in ms with which the :java:func:`DateTimeListener <BrickletGPS.DateTimeListener>` listener is triggered
 periodically. A value of 0 turns the listener off.
 
 :java:func:`DateTimeListener <BrickletGPS.DateTimeListener>` is only triggered if the date or time changed since the
 last triggering.
 
 The default value is 0.
 
.. java:function:: public long BrickletGPS::getDateTimeCallbackPeriod()

 Returns the period as set by :java:func:`setDateTimeCallbackPeriod() <BrickletGPS::setDateTimeCallbackPeriod>`.
 


.. _gps_bricklet_java_callbacks:

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:

.. code-block:: java

    device.addExampleListener(new BrickletGPS.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.


.. java:function:: public class BrickletGPS.CoordinatesListener()

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

 .. java:function:: public void coordinates(long latitude, char ns, long longitude, char ew, int pdop, int hdop, int vdop, int epe)
  :noindex:


  This listener is triggered periodically with the period that is set by
  :java:func:`setCoordinatesCallbackPeriod() <BrickletGPS::setCoordinatesCallbackPeriod>`. The parameters are the same
  as for :java:func:`getCoordinates() <BrickletGPS::getCoordinates>`.
  
  :java:func:`CoordinatesListener <BrickletGPS.CoordinatesListener>` is only triggered if the coordinates changed since the
  last triggering and if there is currently a fix as indicated by
  :java:func:`getStatus() <BrickletGPS::getStatus>`.
  

.. java:function:: public class BrickletGPS.StatusListener()

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

 .. java:function:: public void status(short fix, short satellitesView, short satellitesUsed)
  :noindex:


  This listener is triggered periodically with the period that is set by
  :java:func:`setStatusCallbackPeriod() <BrickletGPS::setStatusCallbackPeriod>`. The parameters are the same
  as for :java:func:`getStatus() <BrickletGPS::getStatus>`.
  
  :java:func:`StatusListener <BrickletGPS.StatusListener>` is only triggered if the status changed since the
  last triggering.
  
  The following constants are available for this function:
  
  * BrickletGPS.FIX_NO_FIX = 1
  * BrickletGPS.FIX_2D_FIX = 2
  * BrickletGPS.FIX_3D_FIX = 3
  

.. java:function:: public class BrickletGPS.AltitudeListener()

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

 .. java:function:: public void altitude(long altitude, long geoidalSeparation)
  :noindex:


  This listener is triggered periodically with the period that is set by
  :java:func:`setAltitudeCallbackPeriod() <BrickletGPS::setAltitudeCallbackPeriod>`. The parameters are the same
  as for :java:func:`getAltitude() <BrickletGPS::getAltitude>`.
  
  :java:func:`AltitudeListener <BrickletGPS.AltitudeListener>` is only triggered if the altitude changed since the
  last triggering and if there is currently a fix as indicated by
  :java:func:`getStatus() <BrickletGPS::getStatus>`.
  

.. java:function:: public class BrickletGPS.MotionListener()

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

 .. java:function:: public void motion(long course, long speed)
  :noindex:


  This listener is triggered periodically with the period that is set by
  :java:func:`setMotionCallbackPeriod() <BrickletGPS::setMotionCallbackPeriod>`. The parameters are the same
  as for :java:func:`getMotion() <BrickletGPS::getMotion>`.
  
  :java:func:`MotionListener <BrickletGPS.MotionListener>` is only triggered if the motion changed since the
  last triggering and if there is currently a fix as indicated by
  :java:func:`getStatus() <BrickletGPS::getStatus>`.
  

.. java:function:: public class BrickletGPS.DateTimeListener()

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

 .. java:function:: public void dateTime(long date, long time)
  :noindex:


  This listener is triggered periodically with the period that is set by
  :java:func:`setDateTimeCallbackPeriod() <BrickletGPS::setDateTimeCallbackPeriod>`. The parameters are the same
  as for :java:func:`getDateTime() <BrickletGPS::getDateTime>`.
  
  :java:func:`DateTimeListener <BrickletGPS.DateTimeListener>` is only triggered if the date or time changed since the
  last triggering.
  


.. _gps_bricklet_java_constants:

Constants
^^^^^^^^^

.. java:member:: public static final int BrickletGPS.DEVICE_IDENTIFIER

 This constant is used to identify a GPS Bricklet.

 The :java:func:`getIdentity() <BrickletGPS::getIdentity>` function and the
 :java:func:`EnumerateListener <IPConnection.EnumerateListener>`
 listener of the IP Connection have a ``deviceIdentifier`` parameter to specify
 the Brick's or Bricklet's type.

