Package com.gmv.its.deepsy.hal.gnss
Classes | |
| interface | Gnss |
| Gnss. More... | |
| interface | GnssEvent |
| Gnss event. More... | |
| interface | GnssInfo |
| Gnss information. More... | |
| class | GnssLowLevelException |
| Gnss low level exception. More... | |
| interface | GnssManager |
| Gnss Manager. More... | |
| class | GnssNotAvailableException |
| Gnss not available exception. More... | |
| class | GnssObserver |
| Gnss observer. More... | |
| interface | GnssPosition |
| Gnss position. More... | |
| interface | GnssPowerStatus |
| Gnss Power status. More... | |
| enum | GnssQualityIndicator |
| class | GnssStatus |
| indicates gnss status More... | |
| enum | GnssSwResetType |
| indicates gnss software reset type More... | |
| interface | NewPositionEvent |
| New position event. More... | |
| interface | PeriodicStatusEvent |
| Periodic status event. More... | |
Detailed Description
To work with Deepsy gnss service it is necessary to use DeepsyGnssManager located in com.gmv.its.deepsy.gnss for getting the initial GnssManager object.
GnssManager gnssManager = DeepsyGnssManager.getInstance();
DeepsyGnssManager.getInstance has an optional parameter indicating the ip address of remote service. For instance:
GnssManager gnssManager = DeepsyGnssManager.getInstance("192.168.1.10");
GnssManager is an AutoCloseable interface. An object that may hold resources (such as file or socket handles) until it is closed. The close() method of an AutoCloseable object is called automatically when exiting a try-with-resources 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. To obtain a Gnss object:
try (GnssManager gnssManager = DeepsyGnssManager.getInstance("192.168.1.10")){
Gnss gnss = gnssManager.getGnss();
} catch (GnssNotAvailableException e) {
e.printStackTrace();
} catch (GnssLowLevelException e) {
e.printStackTrace();
}
If this object is not inside a try with resources block, it is recommended to call to gnssManager.close() in order to finalize properly;
gnssManager.close();
Service availability
To detect service availability the DeepsyGnssManager implements Manager interface which provides methods for getting availability and subscribing to availability events.
class MyManagerObserver implements ManagerObserver{
public void notify(ManagerConnectionEvent event) {
System.out.println(event.getManager().getName() + " in "+ event.getManager().getIp() + " "+ event.getAction().toString());
}
}
public class App {
public static void main(String[] args) {
ManagerObserver observer = new MyManagerObserver();
try (GnssManager gnssManager = DeepsyGnssManager.getInstance()){
gnssManager.subscribe(observer);
} catch (CannotSubscribeException e1) {
e1.printStackTrace();
}
}
}
Examples
Get Gnss Position and Date
package com.gmv.its.dpyjavaexamples.gnss;
import java.time.Instant;
public class GetPositionApp {
public static void main(String[] args) {
try (GnssManager gnssManager = DeepsyGnssManager.getInstance("192.168.0.144")) {
Gnss gnss = gnssManager.getGnss();
Instant date = gnss.getInstant();
System.out.println(date.toString());
GnssPosition position = gnss.getLastPosition();
System.out.println(position.getLatitude() + ", " + position.getLongitude());
} catch (GnssNotAvailableException e) {
e.printStackTrace();
} catch (GnssLowLevelException e) {
e.printStackTrace();
}
}
}
Get Gnss Status
package com.gmv.its.dpyjavaexamples.gnss;
import java.time.Instant;
public class GetGnssStatusApp {
public static void main(String[] args) {
try (GnssManager gnssManager = DeepsyGnssManager.getInstance("192.168.0.144")) {
Gnss gnss = gnssManager.getGnss();
GnssStatus status = gnss.getStatus();
} catch (GnssNotAvailableException e) {
e.printStackTrace();
} catch (GnssLowLevelException e) {
e.printStackTrace();
}
}
}
Get Gnss Information
package com.gmv.its.dpyjavaexamples.gnss;
import java.time.Instant;
public class GetGnssInfoApp {
public static void main(String[] args) {
try (GnssManager gnssManager = DeepsyGnssManager.getInstance("192.168.0.144")) {
Gnss gnss = gnssManager.getGnss();
String manufacturer = gnss.getModuleInfo(GnssInfo.MANUFACTURER);
String model = gnss.getModuleInfo(GnssInfo.MODEL);
String fwVersion = gnss.getModuleInfo(GnssInfo.FW_VERSION);
String protocolVersion = gnss.getModuleInfo(GnssInfo.PROTOCOL_VERSION);
} catch (GnssNotAvailableException e) {
e.printStackTrace();
} catch (GnssLowLevelException e) {
e.printStackTrace();
}
}
}
Subscribe to Gnss positions and status
package com.gmv.its.dpyjavaexamples.gnss;
@Override
public void notifyNewPosition(NewPositionEvent event) {
GnssPosition position = ((NewPositionEvent) event).getPosition();
}
@Override
public void notifyPeriodicStatus(PeriodicStatusEvent event) {
GnssStatus status = ((PeriodicStatusEvent) event).getStatus();
+ status.getAntennaStatus() + ", " + status.getPowerStatus() + ", " + status.getSimulationModeActive());
}
}
public class PositionEventsApp {
public static void main(String[] args) {
try (GnssManager gnssManager = DeepsyGnssManager.getInstance("192.168.0.144")){
Gnss gnss = gnssManager.getGnss();
gnss.subscribe(new MyGnssObserver());
Thread.sleep(10000);
} catch (GnssNotAvailableException e) {
e.printStackTrace();
} catch (GnssLowLevelException e) {
e.printStackTrace();
} catch (CannotSubscribeException e) {
e.printStackTrace();
} catch (InterruptedException e) {
e.printStackTrace();
}
}
}
Perform a cold start
package com.gmv.its.dpyjavaexamples.gnss;
import java.time.Instant;
public class PerformColdStart {
public static void main(String[] args) {
try (GnssManager gnssManager = DeepsyGnssManager.getInstance("192.168.0.125")) {
Gnss gnss = gnssManager.getGnss();
gnss.performSoftwareReset(GnssSwResetType.COLDSTART);
System.out.println("SoftwareReset operation successfully finished");
} catch (GnssNotAvailableException e) {
e.printStackTrace();
} catch (GnssLowLevelException e) {
e.printStackTrace();
}
}
}
Create a virual odometer
package com.gmv.its.dpyjavaexamples.gnss;
private static final double EARTH_RADIUS_KM = 6371.0;
private static final double M_PI = 3.141592;
private static double lastLon=0, lastLat=0;
private double distance = 0;
double getDistance(){
return distance;
}
void resetDistance(){
distance = 0;
lastLat=0;
lastLon=0;
}
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;
}
@Override
public void notifyNewPosition(NewPositionEvent event) {
GnssPosition position = ((NewPositionEvent) event).getPosition();
if(position.getQuality() != GnssQualityIndicator.NOFIX){
if(lastLat!=0 && lastLon!=0){
double d = distanceEarth(lastLat,lastLon,position.getLatitude(),position.getLongitude());
if(d > 20){ //20 meters for avoiding GPS bouncing
distance += d;
}
}
lastLat=position.getLatitude();
lastLon=position.getLongitude();
}
}
@Override
public void notifyPeriodicStatus(PeriodicStatusEvent event) {
}
}
public class OdometerApp {
public static void main(String[] args) {
try (GnssManager gnssManager = DeepsyGnssManager.getInstance("192.168.0.144")){
Gnss gnss = gnssManager.getGnss();
VirtualOdometer odom = new VirtualOdometer();
gnss.subscribe(odom);
Thread.sleep(30000);
} catch (Exception e) {
e.printStackTrace();
}
}
}
