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getstarted.md

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Get started, from scratch, fast.

The first thing to do is to get the code and compile it, so it can be executed.
Then we will get some NMEA Data - from a USB GPS for example. If we can read that stream, then we're good to move on.

Get the code, compile it

Pre-requisites

  • A Raspberry Pi, with a recent RasPi OS installed on it
    • The Raspberry Pi Zero and A might be a bit weak to compile all the code (possible though, but you'd need to go under the hood). Models B would be preferred.
    • An Internet access is required to download and compile the code. Not necessary after that step.
  • git, already installed on your Raspberry Pi
  • java, already installed on your Raspberry Pi
    • You will need at least Java 8, verify your java version with typing java -version in a terminal.
  • libxrtx, to be installed (just once)
    • from a terminal, just do a sudo apt-get install librxtx-java

Get the code

We will clone the git repository. From a place of your choice (like your home directory), in a terminal, do a

$ git clone https://github.com/OlivierLD/ROB.git

This can take several minutes...
Now, we compile the NMEA Multiplexer. In a terminal, do this:

$ cd ROB/raspberry-sailor/NMEA-multiplexer
$ ../../gradlew clean shadowJar

If gradle has not yet been used on your system, this last command will download it first.
If the previous command goes well, we are ready for the first tests.

Serial ?

Let us do a test with a Serial (USB) GPS, like this one.
The first thing to do is to find what serial port to read.
To do so, unplug the GPS from its USB port, and in a terminal, type

$ ls -l /dev/tty* > before.txt

Now plug your GPS in its USB port on the Raspberry Pi, give it a couple of seconds to get recognized, and type

$ ls -l /dev/tty* > after.txt

Then:

$ diff before.txt after.txt
65a66
> crw-rw---- 1 root dialout 166, 0 Feb 27 09:11 /dev/ttyACM0

/dev/ttyACM0 is your serial port.

Even simpler: run ./find.port.sh

Another option

In a terminal, type

$ ./serial.util.sh 
Stable Library
=========================================
Native lib Version = RXTX-2.2pre2
Java lib Version   = RXTX-2.1-7
WARNING:  RXTX Version mismatch
	Jar version = RXTX-2.1-7
	native lib Version = RXTX-2.2pre2

----- Serial Port List -----
Found 0 port(s)
----------------------------
Warning!

If - as above - you do not see your /dev/ttyACM0 port, it is a known problem, and we are going to fix it. Let us create a symbolic link. In a terminal, type

$ sudo ln -s /dev/ttyACM0 /dev/ttyS80

Now, re-launch serial.util.sh:

$ ./serial.util.sh 
Stable Library
=========================================
Native lib Version = RXTX-2.2pre2
Java lib Version   = RXTX-2.1-7
WARNING:  RXTX Version mismatch
	Jar version = RXTX-2.1-7
	native lib Version = RXTX-2.2pre2

----- Serial Port List -----
Port: /dev/ttyS80, SERIAL, free.
Found 1 port(s)
----------------------------

The port to read will now be /dev/ttyS80
You can also try to run sudo ./serial.util.sh... If the result is not the same (more ports), then some ports will have to be accessed as SuperUser (su), which is OK.

Note: you will have to do this link (ln command) every time the system re-starts.
It might be a good idea to put it in your /etc/rc.local file...

You can also directly dump the content of a serial port from the command line:

$ stty -F /dev/ttyS80 raw 4800 cs8 clocal
$ cat /dev/ttyS80

[Ctrl-C] to stop.

PuTTY is also available on Debian, and works well:

$ sudo apt install putty

First tests

So, now we know that the port we want to read is /dev/ttyS80. We now need to know the baud rate (data speed) we need to use. You will find this info in the documentation of your GPS. It is likely to be something like 4800.

Good to start

We will execute the NMEA-multiplexer, driven by the config file nmea.mux.1st.test.yaml (created by you):

#
# MUX definition.
#
name: "First test"
context:
  with.http.server: false
  init.cache: false
channels:
  - type: serial
    port: /dev/ttyS80
    baudrate: 4800
    verbose: false
forwarders:
  - type: console

It cannot be any simpler, it tells the Multiplexer (aka mux) to:

  • Read the serial port /dev/ttyS80 at 4800 bits per second
  • Spit out whatever is read on the terminal (the console)

Note: Change the port name to fit your settings, if needed.

Actually, it could be simpler 😊, by using the verbose property on the serial channel :

name: "First test"
context:
  with.http.server: false
  init.cache: false
channels:
  - type: serial
    port: /dev/ttyS80
    baudrate: 4800
    verbose: true

From the NMEA-multiplexer directory, let's do it:

$ ./mux.sh nmea.mux.1st.test.yaml

You should see an output like that:

Using properties file nmea.mux.1st.test.yaml
Running sudo java  -Djava.library.path=/usr/lib/jni -Dscreen.verbose=true -Drest.feeder.verbose=true -Dparse.ais=true -Dmux.props.verbose=true -Dprocess.on.start=true -Dmux.properties=nmea.mux.1st.test.yaml -Dno.ais=false -Dcalculate.solar.with.eot=true -Ddefault.mux.latitude=37.8218 -Ddefault.mux.longitude=-122.3112 -Dtry.to.speak=true -Djava.util.logging.config.file=./logging.properties   -cp ./build/libs/NMEA-multiplexer-1.0-all.jar:/usr/share/java/RXTXcomm.jar nmea.mux.GenericNMEAMultiplexer
Definition Name: First test
{with.http.server=false, init.cache=false}
Stable Library
=========================================
Native lib Version = RXTX-2.2pre2
Java lib Version   = RXTX-2.1-7
WARNING:  RXTX Version mismatch
	Jar version = RXTX-2.1-7
	native lib Version = RXTX-2.2pre2
Port Ownership of /dev/ttyS80 changed: type=1, Owned (Locked)
This is a serial port
Reading serial port...
/dev/ttyS80:4800  > Port is open...
$GNRMC,180325.00,A,3744.92708,N,12230.43228,W,0.224,,270221,,,D*79
$GNVTG,,T,,M,0.224,N,0.415,K,D*3C
$GNGGA,180325.00,3744.92708,N,12230.43228,W,2,10,1.05,-13.2,M,-29.9,M,,0000*64
$GNGSA,A,3,04,09,27,07,30,08,,,,,,,1.99,1.05,1.69*13
$GNGSA,A,3,71,72,73,65,,,,,,,,,1.99,1.05,1.69*13
$GPGSV,4,1,13,03,02,171,,04,37,121,22,05,07,324,,07,65,317,10*7D
$GPGSV,4,2,13,08,27,117,08,09,77,109,35,14,15,212,,16,17,042,*7F
$GPGSV,4,3,13,27,24,075,23,28,10,211,,30,35,276,16,46,46,191,*7D
$GPGSV,4,4,13,51,43,156,*4A
$GLGSV,2,1,08,65,43,323,25,71,34,159,17,72,82,229,20,73,20,041,25*65
$GLGSV,2,2,08,74,64,001,,75,43,254,31,82,01,011,,83,05,053,*6A
$GNGLL,3744.92708,N,12230.43228,W,180325.00,A,D*60
$GNTXT,01,01,02,u-blox AG - www.u-blox.com*4E
$GNTXT,01,01,02,HW UBX-M8030 00080000*60
$GNTXT,01,01,02,ROM CORE 3.01 (107888)*2B
$GNTXT,01,01,02,FWVER=SPG 3.01*46
$GNTXT,01,01,02,PROTVER=18.00*11
$GNTXT,01,01,02,GPS;GLO;GAL;BDS*77
$GNTXT,01,01,02,SBAS;IMES;QZSS*49
$GNTXT,01,01,02,GNSS OTP=GPS;GLO*37
$GNTXT,01,01,02,LLC=FFFFFFFF-FFFFFFFF-FFFFFFFF-FFFFFFFF-FFFFFFFD*2F
$GNTXT,01,01,02,ANTSUPERV=AC SD PDoS SR*3E
$GNTXT,01,01,02,ANTSTATUS=OK*25
$GNTXT,01,01,02,PF=3FF*4B
$GNRMC,180326.00,A,3744.92703,N,12230.43207,W,0.303,,270221,,,D*78
$GNVTG,,T,,M,0.303,N,0.561,K,D*3A
$GNGGA,180326.00,3744.92703,N,12230.43207,W,2,10,1.08,-13.2,M,-29.9,M,,0000*6C
$GNGSA,A,3,04,09,27,07,30,08,,,,,,,2.04,1.08,1.73*12
$GNGSA,A,3,71,72,73,65,,,,,,,,,2.04,1.08,1.73*12
$GPGSV,4,1,13,03,02,171,,04,37,121,23,05,07,324,,07,65,317,10*7C
$GPGSV,4,2,13,08,27,117,08,09,77,109,35,14,15,212,,16,17,042,*7F
$GPGSV,4,3,13,27,24,075,22,28,10,211,,30,35,276,15,46,46,191,*7F
$GPGSV,4,4,13,51,43,156,*4A
$GLGSV,2,1,08,65,43,323,25,71,34,159,17,72,82,229,20,73,20,041,26*66
$GLGSV,2,2,08,74,64,001,,75,43,254,31,82,01,011,,83,05,053,*6A
$GNGLL,3744.92703,N,12230.43207,W,180326.00,A,D*65
$GNRMC,180327.00,A,3744.92748,N,12230.43212,W,1.578,,270221,,,D*79
$GNVTG,,T,,M,1.578,N,2.923,K,D*39
$GNGGA,180327.00,3744.92748,N,12230.43212,W,2,10,1.05,-12.5,M,-29.9,M,,0000*6D
$GNGSA,A,3,04,09,27,07,30,08,,,,,,,1.99,1.05,1.69*13
$GNGSA,A,3,71,72,73,65,,,,,,,,,1.99,1.05,1.69*13
$GPGSV,4,1,13,03,02,171,,04,37,121,22,05,07,324,,07,65,317,14*79
$GPGSV,4,2,13,08,27,117,09,09,77,109,33,14,15,212,,16,17,042,*78
$GPGSV,4,3,13,27,24,075,21,28,10,211,,30,35,276,13,46,46,191,*7A
$GPGSV,4,4,13,51,43,156,*4A
$GLGSV,2,1,08,65,43,323,24,71,34,159,17,72,82,229,20,73,20,041,26*67
$GLGSV,2,2,08,74,64,001,,75,43,254,30,82,01,011,,83,05,053,*6B
$GNGLL,3744.92748,N,12230.43212,W,180327.00,A,D*6F
. . .

To stop the program, just type [Ctrl-C] in the console.

^CShutting down multiplexer nicely.
- Stop reading nmea.consumers.reader.SerialReader
Port Ownership /dev/ttyS80 changed: type=2, UnOwned (Released)
- Stop writing to the console. (nmea.forwarders.ConsoleWriter)
$

You're good!

Next steps

You can now dive into the manual.