C# GNSS API

Collaboration diagram for C# GNSS API:

Modules
	Exceptions thrown by GNSS
	Enumerations
	Events related with Gnss

Classes
class	GnssDeepsyService
	Manager for connecting to GNSS Service More...
class	GnssService
	Service for getting GNSS data and configuring GNSS service More...

Detailed Description

To work with Deepsy Power service it is necessary to use GnssDeepsyService located in GMV.ITS.HAL.DEEPSY.Gnss.Facade

GnssDeepsyService gnssManagerService = new GnssDeepsyService();

GnssDeepsyService has an optional parameter indicating the IP address of remote service. For instance:

GnssDeepsyService gnssManagerService = new GnssDeepsyService("192.168.1.10");

To obtain a GNSS object:

GnssDeepsyService powerManagerService = new PowerManagerDeepsyService("192.168.1.10");
IPowerManager powerService = powerManagerService.GetPower();

GnssDeepsyService is an IDisposable Interface. An object that may hold resources (such as file or socket handles) until it is closed. The Dispose() method of an IDisposable object is called automatically when exiting a try-with-resources block, or using block, for which the object has been declared in the resource specification header. This construction ensures prompt release, avoiding resource exhaustion exceptions and errors that may otherwise occur.

 try
{
    GnssDeepsyService gnssManager = new GnssDeepsyService("192.168.1.10"))
} catch (GnssNotAvailableException e) {
        e.printStackTrace();
} catch (GnssLowLevelException e) {
        e.printStackTrace();
}

Examples

• Get Gnss Position and Dates
  

  using GMV.ITS.HAL.DEEPSY.Gnss.Facade;
  using GMV.ITS.HAL.DEEPSY.Gnss.Interface.Dto;
  using GMV.ITS.HAL.DEEPSY.Gnss.Interface.Facade;
  using System;
  
  namespace GMV.ITS.HAL.DEEPSY.Examples.Gnss
  {
      class GnssPositionDateApp
      {
          static void Main(string[] args)
          {
              GnssDeepsyService gnssDeepsyService = new GnssDeepsyService("172.22.198.103");
              IGnssManager gnss = gnssDeepsyService.GetGnss();
  
              DateTime instant = gnss.GetInstant();
              Console.WriteLine($"Instant: {instant}");
  
              IGnssPosition position = gnss.GetLastPosition();
              Console.WriteLine($"Position Lat: [{position.Latitude}] Lon: [{position.Longitude}]");
          }
      }
  }

  
  

• Get Gnss Status
  

  using GMV.ITS.HAL.DEEPSY.Gnss.Facade;
  using GMV.ITS.HAL.DEEPSY.Gnss.Interface.Dto;
  using GMV.ITS.HAL.DEEPSY.Gnss.Interface.Facade;
  using System;
  
  namespace GMV.ITS.HAL.DEEPSY.Examples.Gnss
  {
      class GnssStatusApp
      {
          static void Main(string[] args)
          {
              GnssDeepsyService gnssDeepsyService = new GnssDeepsyService("192.168.0.144");
              IGnssManager gnss = gnssDeepsyService.GetGnss();
              IGnssStatus status = gnss.GetStatus();
  
              Console.WriteLine($"Quality: {status.Quality}");
              Console.WriteLine($"Antenna Status: {status.AntennaStatus}");
              Console.WriteLine($"Power Status: {status.PowerStatus}");
              Console.WriteLine($"Simulation Mode Active: {status.SimulationModeActive}");
          }
      }
  }

  
  

• Get Gnss Information

  using GMV.ITS.HAL.DEEPSY.Gnss.Facade;
  using GMV.ITS.HAL.DEEPSY.Gnss.Interface.Dto;
  using GMV.ITS.HAL.DEEPSY.Gnss.Interface.Facade;
  using System;
  
  namespace GMV.ITS.HAL.DEEPSY.Examples.Gnss
  {
      class GnssInformationApp
      {
          static void Main(string[] args)
          {
              GnssDeepsyService gnssDeepsyService = new GnssDeepsyService("172.22.198.103");
              IGnssManager gnss = gnssDeepsyService.GetGnss();
  
              string manufacturer = gnss.GetModuleInfo(GnssInfo.Info.Manufacturer);
              Console.WriteLine($"Manufacturer: {manufacturer}");
  
              string model = gnss.GetModuleInfo(GnssInfo.Info.Model);
              Console.WriteLine($"Model: {model}");
  
              string fwVer = gnss.GetModuleInfo(GnssInfo.Info.FwVer);
              Console.WriteLine($"FW VERSION: {fwVer}");
  
              string protocolVersion = gnss.GetModuleInfo(GnssInfo.Info.ProtocolVer);
              Console.WriteLine($"Protocol Version: {protocolVersion }");
          }
      }
  }

  
  
• Subscribe to Gnss positions and status

  using GMV.ITS.HAL.DEEPSY.Gnss.Facade;
  using GMV.ITS.HAL.DEEPSY.Gnss.Interface.Dto;
  using GMV.ITS.HAL.DEEPSY.Gnss.Interface.Facade;
  using System;
  
  namespace GMV.ITS.HAL.DEEPSY.Examples.Gnss
  {
      class GnssSubscribeApp
      {
          static void Main(string[] args)
          {
              //GnssDeepsyService gnssDeepsyService = new GnssDeepsyService("172.22.198.103");
              //GnssDeepsyService gnssDeepsyService = new GnssDeepsyService("95.124.251.132");
              GnssDeepsyService gnssDeepsyService = new GnssDeepsyService("212.169.147.170");
  
              IGnssManager gnss = gnssDeepsyService.GetGnss();
  
              gnss.GnssPosition += Gnss_GnssPosition;
  
              Console.WriteLine("Press ESC for exit. Any other for requesting a new position");
              while (Console.ReadKey().Key != ConsoleKey.Escape)
              {
                  IGnssPosition position = gnss.GetLastPosition();
                  Console.WriteLine("New position requested");
                  printPosition("request",position);
              }
          }
  
          private static void Gnss_GnssPosition(object sender, IGnssPosition e)
          {
              Console.WriteLine(" *** New event position received *** ");
              printPosition("event", e);
          }
  
          private static void printPosition(string prefix, IGnssPosition e)
          {
              Console.WriteLine($"{prefix} Lat: {e.Latitude}");
              Console.WriteLine($"{prefix} Lon: {e.Longitude}");
              Console.WriteLine($"{prefix} Heading: {e.DirectionDegrees}");
              Console.WriteLine($"{prefix} Speed: {e.SpeedKph}");
              Console.WriteLine($"{prefix} Date: {e.Date}");
              Console.WriteLine($"{prefix} Satellites Visible: {e.SatellitesVisible}");
              Console.WriteLine($"{prefix} Satellites used: {e.SatellitesUsed}");
          }
      }
  }

  
  
• Perform a cold start

  using GMV.ITS.HAL.DEEPSY.Gnss.Facade;
  using GMV.ITS.HAL.DEEPSY.Gnss.Interface.Dto;
  using GMV.ITS.HAL.DEEPSY.Gnss.Interface.Facade;
  using System;
  
  namespace GMV.ITS.HAL.DEEPSY.Examples.Gnss
  {
      class GnssColdStartApp
      {
          static void Main(string[] args)
          {
              GnssDeepsyService gnssDeepsyService = new GnssDeepsyService("192.168.0.144");
              IGnssManager gnss = gnssDeepsyService.GetGnss();
  
              gnss.PerformSoftwareReset(DEEPSY.Gnss.Interface.Enum.SwResetType.Type.Coldstart);
              Console.WriteLine("SoftwareReset operation successfully finished");
          }
      }
  }

  
  
• Create a virual odometer

  using GMV.ITS.HAL.DEEPSY.Gnss.Facade;
  using GMV.ITS.HAL.DEEPSY.Gnss.Interface.Dto;
  using GMV.ITS.HAL.DEEPSY.Gnss.Interface.Facade;
  using System;
  
  namespace GMV.ITS.HAL.DEEPSY.Examples.Gnss
  {
      class GnssVirtualOdometerApp
      {
          static void Main(string[] args)
          {
              GnssDeepsyService gnssDeepsyService = new GnssDeepsyService("192.168.0.144");
              IGnssManager gnss = gnssDeepsyService.GetGnss();
              
              VirtualOdometer virtualOdometer = new VirtualOdometer();
              gnss.GnssPosition += virtualOdometer.Gnss_PositionEvent;
  
              Console.WriteLine("Press ESC for exit. Any other for showind the current odometer");
              while (Console.ReadKey().Key != ConsoleKey.Escape)
              {
                  Console.WriteLine($"Current odometer: {virtualOdometer.GetOdometer()}");
              }
          }
          
      }
  
      class VirtualOdometer 
      {
          private double odometer = 0;
          private readonly double _initialOdometer = 0;
          private readonly double EARTH_RADIUS_KM = 6371.0;
          private readonly double M_PI = 3.141592;
          private double lastLon = 0, lastLat = 0;
          public VirtualOdometer(double initialOdometer = 0)
          {
              _initialOdometer = initialOdometer;
              odometer = initialOdometer;
          }
  
          public void ResetOdometer()
          {
              odometer = _initialOdometer;
              lastLon = 0;
              lastLat = 0;
          }
  
          public void Gnss_PositionEvent(object sender, IGnssPosition e)
          {
              if(e.Quality != DEEPSY.Gnss.Interface.Enum.QualityIndicator.Quality.NoFix)
              {
                  if (lastLat != 0 && lastLon != 0)
                  {
                      double d = distanceEarth(lastLat, lastLon, e.Latitude, e.Longitude);
                      if (d > 20)
                      { //20 meters for avoiding GPS bouncing
                          odometer += d;
                      }
                  }
                  lastLat = e.Latitude;
                  lastLon = e.Longitude;
              }
          }
  
          public double GetOdometer() => odometer;
  
          private double distanceEarth(double lat1, double lon1, double lat2, double lon2)
          {
              double lat1r, lon1r, lat2r, lon2r, u, v;
              lat1r = lat1 * M_PI / 180;
              lon1r = lon1 * M_PI / 180;
              lat2r = lat2 * M_PI / 180;
              lon2r = lon2 * M_PI / 180;
              u = Math.Sin((lat2r - lat1r) / 2);
              v = Math.Sin((lon2r - lon1r) / 2);
              return 2.0 * EARTH_RADIUS_KM * Math.Asin(Math.Sqrt(u * u + Math.Cos(lat1r) * Math.Cos(lat2r) * v * v)) * 1000;
          }
      }
  }