Class: Tinkerforge::BrickletGPS

Inherits:
Device
  • Object
show all
Defined in:
lib/tinkerforge/bricklet_gps.rb

Overview

Determine position, velocity and altitude using GPS

Constant Summary collapse

DEVICE_IDENTIFIER =

:nodoc:

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DEVICE_DISPLAY_NAME =

:nodoc:

'GPS Bricklet'
CALLBACK_COORDINATES =

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

CALLBACK_COORDINATES is only triggered if the coordinates changed since the last triggering and if there is currently a fix as indicated by BrickletGPS#get_status.

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CALLBACK_STATUS =

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

CALLBACK_STATUS is only triggered if the status changed since the last triggering.

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CALLBACK_ALTITUDE =

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

CALLBACK_ALTITUDE is only triggered if the altitude changed since the last triggering and if there is currently a fix as indicated by BrickletGPS#get_status.

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CALLBACK_MOTION =

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

CALLBACK_MOTION is only triggered if the motion changed since the last triggering and if there is currently a fix as indicated by BrickletGPS#get_status.

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CALLBACK_DATE_TIME =

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

CALLBACK_DATE_TIME is only triggered if the date or time changed since the last triggering.

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FUNCTION_GET_COORDINATES =

:nodoc:

1
FUNCTION_GET_STATUS =

:nodoc:

2
FUNCTION_GET_ALTITUDE =

:nodoc:

3
FUNCTION_GET_MOTION =

:nodoc:

4
FUNCTION_GET_DATE_TIME =

:nodoc:

5
FUNCTION_RESTART =

:nodoc:

6
FUNCTION_SET_COORDINATES_CALLBACK_PERIOD =

:nodoc:

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FUNCTION_GET_COORDINATES_CALLBACK_PERIOD =

:nodoc:

8
FUNCTION_SET_STATUS_CALLBACK_PERIOD =

:nodoc:

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FUNCTION_GET_STATUS_CALLBACK_PERIOD =

:nodoc:

10
FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD =

:nodoc:

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FUNCTION_GET_ALTITUDE_CALLBACK_PERIOD =

:nodoc:

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FUNCTION_SET_MOTION_CALLBACK_PERIOD =

:nodoc:

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FUNCTION_GET_MOTION_CALLBACK_PERIOD =

:nodoc:

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FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD =

:nodoc:

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FUNCTION_GET_DATE_TIME_CALLBACK_PERIOD =

:nodoc:

16
FUNCTION_GET_IDENTITY =

:nodoc:

255
FIX_NO_FIX =

:nodoc:

1
FIX_2D_FIX =

:nodoc:

2
FIX_3D_FIX =

:nodoc:

3
RESTART_TYPE_HOT_START =

:nodoc:

0
RESTART_TYPE_WARM_START =

:nodoc:

1
RESTART_TYPE_COLD_START =

:nodoc:

2
RESTART_TYPE_FACTORY_RESET =

:nodoc:

3

Constants inherited from Device

Device::RESPONSE_EXPECTED_ALWAYS_FALSE, Device::RESPONSE_EXPECTED_ALWAYS_TRUE, Device::RESPONSE_EXPECTED_FALSE, Device::RESPONSE_EXPECTED_INVALID_FUNCTION_ID, Device::RESPONSE_EXPECTED_TRUE

Instance Attribute Summary

Attributes inherited from Device

#callback_formats, #expected_response_function_id, #expected_response_sequence_number, #registered_callbacks, #uid

Instance Method Summary collapse

Methods inherited from Device

#dequeue_response, #enqueue_response, #get_api_version, #get_response_expected, #send_request, #set_response_expected, #set_response_expected_all

Constructor Details

#initialize(uid, ipcon) ⇒ BrickletGPS

Creates an object with the unique device ID uid and adds it to the IP Connection ipcon.



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# File 'lib/tinkerforge/bricklet_gps.rb', line 89

def initialize(uid, ipcon)
  super uid, ipcon

  @api_version = [2, 0, 1]

  @response_expected[FUNCTION_GET_COORDINATES] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_STATUS] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_ALTITUDE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_MOTION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_DATE_TIME] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_RESTART] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_SET_COORDINATES_CALLBACK_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_COORDINATES_CALLBACK_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_STATUS_CALLBACK_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_STATUS_CALLBACK_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_ALTITUDE_CALLBACK_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_MOTION_CALLBACK_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_MOTION_CALLBACK_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_DATE_TIME_CALLBACK_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[CALLBACK_COORDINATES] = RESPONSE_EXPECTED_ALWAYS_FALSE
  @response_expected[CALLBACK_STATUS] = RESPONSE_EXPECTED_ALWAYS_FALSE
  @response_expected[CALLBACK_ALTITUDE] = RESPONSE_EXPECTED_ALWAYS_FALSE
  @response_expected[CALLBACK_MOTION] = RESPONSE_EXPECTED_ALWAYS_FALSE
  @response_expected[CALLBACK_DATE_TIME] = RESPONSE_EXPECTED_ALWAYS_FALSE
  @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE

  @callback_formats[CALLBACK_COORDINATES] = 'L k L k S S S S'
  @callback_formats[CALLBACK_STATUS] = 'C C C'
  @callback_formats[CALLBACK_ALTITUDE] = 'l l'
  @callback_formats[CALLBACK_MOTION] = 'L L'
  @callback_formats[CALLBACK_DATE_TIME] = 'L L'
end

Instance Method Details

#get_altitude ⇒ Object

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 BrickletGPS#get_status.



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# File 'lib/tinkerforge/bricklet_gps.rb', line 169

def get_altitude
  send_request(FUNCTION_GET_ALTITUDE, [], '', 8, 'l l')
end

#get_altitude_callback_period ⇒ Object

Returns the period as set by BrickletGPS#set_altitude_callback_period.



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# File 'lib/tinkerforge/bricklet_gps.rb', line 250

def get_altitude_callback_period
  send_request(FUNCTION_GET_ALTITUDE_CALLBACK_PERIOD, [], '', 4, 'L')
end

#get_coordinates ⇒ Object

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 <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 <www.nps.gov/gis/gps/WhatisEPE.html>`__ for more information.

This data is only valid if there is currently a fix as indicated by BrickletGPS#get_status.



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# File 'lib/tinkerforge/bricklet_gps.rb', line 142

def get_coordinates
  send_request(FUNCTION_GET_COORDINATES, [], '', 18, 'L k L k S S S S')
end

#get_coordinates_callback_period ⇒ Object

Returns the period as set by BrickletGPS#set_coordinates_callback_period.



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# File 'lib/tinkerforge/bricklet_gps.rb', line 218

def get_coordinates_callback_period
  send_request(FUNCTION_GET_COORDINATES_CALLBACK_PERIOD, [], '', 4, 'L')
end

#get_date_time ⇒ Object

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.



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# File 'lib/tinkerforge/bricklet_gps.rb', line 190

def get_date_time
  send_request(FUNCTION_GET_DATE_TIME, [], '', 8, 'L L')
end

#get_date_time_callback_period ⇒ Object

Returns the period as set by BrickletGPS#set_date_time_callback_period.



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# File 'lib/tinkerforge/bricklet_gps.rb', line 282

def get_date_time_callback_period
  send_request(FUNCTION_GET_DATE_TIME_CALLBACK_PERIOD, [], '', 4, 'L')
end

#get_identity ⇒ Object

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|



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# File 'lib/tinkerforge/bricklet_gps.rb', line 294

def get_identity
  send_request(FUNCTION_GET_IDENTITY, [], '', 25, 'Z8 Z8 k C3 C3 S')
end

#get_motion ⇒ Object

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 BrickletGPS#get_status.



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# File 'lib/tinkerforge/bricklet_gps.rb', line 182

def get_motion
  send_request(FUNCTION_GET_MOTION, [], '', 8, 'L L')
end

#get_motion_callback_period ⇒ Object

Returns the period as set by BrickletGPS#set_motion_callback_period.



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# File 'lib/tinkerforge/bricklet_gps.rb', line 266

def get_motion_callback_period
  send_request(FUNCTION_GET_MOTION_CALLBACK_PERIOD, [], '', 4, 'L')
end

#get_status ⇒ Object

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, BrickletGPS#get_coordinates, BrickletGPS#get_altitude and BrickletGPS#get_motion return invalid data"
"2", "2D Fix, only BrickletGPS#get_coordinates and BrickletGPS#get_motion return valid data"
"3", "3D Fix, BrickletGPS#get_coordinates, BrickletGPS#get_altitude and BrickletGPS#get_motion return valid data"

There is also a :ref:‘blue LED <gps_bricklet_fix_led>` on the Bricklet that indicates the fix status.



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# File 'lib/tinkerforge/bricklet_gps.rb', line 159

def get_status
  send_request(FUNCTION_GET_STATUS, [], '', 3, 'C C C')
end

#get_status_callback_period ⇒ Object

Returns the period as set by BrickletGPS#set_status_callback_period.



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# File 'lib/tinkerforge/bricklet_gps.rb', line 234

def get_status_callback_period
  send_request(FUNCTION_GET_STATUS_CALLBACK_PERIOD, [], '', 4, 'L')
end

#register_callback(id, &block) ⇒ Object

Registers a callback with ID id to the block block.



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# File 'lib/tinkerforge/bricklet_gps.rb', line 299

def register_callback(id, &block)
  callback = block
  @registered_callbacks[id] = callback
end

#restart(restart_type) ⇒ Object

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)"



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# File 'lib/tinkerforge/bricklet_gps.rb', line 202

def restart(restart_type)
  send_request(FUNCTION_RESTART, [restart_type], 'C', 0, '')
end

#set_altitude_callback_period(period) ⇒ Object

Sets the period in ms with which the CALLBACK_ALTITUDE callback is triggered periodically. A value of 0 turns the callback off.

CALLBACK_ALTITUDE is only triggered if the altitude changed since the last triggering.

The default value is 0.



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# File 'lib/tinkerforge/bricklet_gps.rb', line 245

def set_altitude_callback_period(period)
  send_request(FUNCTION_SET_ALTITUDE_CALLBACK_PERIOD, [period], 'L', 0, '')
end

#set_coordinates_callback_period(period) ⇒ Object

Sets the period in ms with which the CALLBACK_COORDINATES callback is triggered periodically. A value of 0 turns the callback off.

CALLBACK_COORDINATES is only triggered if the coordinates changed since the last triggering.

The default value is 0.



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# File 'lib/tinkerforge/bricklet_gps.rb', line 213

def set_coordinates_callback_period(period)
  send_request(FUNCTION_SET_COORDINATES_CALLBACK_PERIOD, [period], 'L', 0, '')
end

#set_date_time_callback_period(period) ⇒ Object

Sets the period in ms with which the CALLBACK_DATE_TIME callback is triggered periodically. A value of 0 turns the callback off.

CALLBACK_DATE_TIME is only triggered if the date or time changed since the last triggering.

The default value is 0.



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# File 'lib/tinkerforge/bricklet_gps.rb', line 277

def set_date_time_callback_period(period)
  send_request(FUNCTION_SET_DATE_TIME_CALLBACK_PERIOD, [period], 'L', 0, '')
end

#set_motion_callback_period(period) ⇒ Object

Sets the period in ms with which the CALLBACK_MOTION callback is triggered periodically. A value of 0 turns the callback off.

CALLBACK_MOTION is only triggered if the motion changed since the last triggering.

The default value is 0.



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# File 'lib/tinkerforge/bricklet_gps.rb', line 261

def set_motion_callback_period(period)
  send_request(FUNCTION_SET_MOTION_CALLBACK_PERIOD, [period], 'L', 0, '')
end

#set_status_callback_period(period) ⇒ Object

Sets the period in ms with which the CALLBACK_STATUS callback is triggered periodically. A value of 0 turns the callback off.

CALLBACK_STATUS is only triggered if the status changed since the last triggering.

The default value is 0.



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# File 'lib/tinkerforge/bricklet_gps.rb', line 229

def set_status_callback_period(period)
  send_request(FUNCTION_SET_STATUS_CALLBACK_PERIOD, [period], 'L', 0, '')
end