ivkos / gpsd4j

gpsd client for Java

gpsd4j

gpsd4j is a Java library that allows you to communicate with a gpsd server.

Table of Contents

• Requirements
• Installation
  • Maven
  • Gradle
• Documentation
• Quick Start
  • Creating a client
  • Message handlers
  • Client lifecycle
    • Persisting device settings and watch mode
  • Sending commands
    • Sending a command and expecting a response
    • Sending a command and not awaiting a response
  • Putting it all together

Requirements

• JRE 8 or higher at runtime
• JDK 8 or higher to compile the library from source

Installation

Maven

Step 1. Add the JitPack repository to your pom.xml file:

<repositories>
    <repository>
        <id>jitpack.io</id>
        <url>https://jitpack.io</url>
    </repository>
</repositories>

Step 2. Add the dependency:

<dependency>
    <groupId>com.ivkos</groupId>
    <artifactId>gpsd4j</artifactId>
    <version>1.3.1</version>
</dependency>

Gradle

Step 1. Add the JitPack repository to your root build.gradle at the end of repositories:

allprojects {
    repositories {
      ...
      maven { url "https://jitpack.io" }
    }
}

Step 2. Add the dependency:

dependencies {
    compile 'com.ivkos:gpsd4j:1.3.1'
}

Documentation

Javadocs can be found here.

Quick Start

An example is worth a thousand pages of Javadocs.

Creating a client

// Create a client for connecting to the gpsd server at localhost, port 2947
GpsdClient client = new GpsdClient("localhost", 2947);

// You can pass an options object if you wish to configure connection handling
GpsdClientOptions options = new GpsdClientOptions()
    .setReconnectOnDisconnect(true)
    .setConnectTimeout(3000) // ms
    .setIdleTimeout(30) // seconds
    .setReconnectAttempts(5)
    .setReconnectInterval(3000); // ms

GpsdClient client = new GpsdClient("localhost", 2947, options);

Message handlers

Because of the asynchronous nature of the client, you can dynamically add or remove handlers with no unexpected side effects, no matter if the client is running or not.

// Adds a handler that prints received gpsd errors to stderr
client.addErrorHandler(System.err::println);

// Adds a message handler that handles incoming TPV messages
client.addHandler(TPVReport.class, tpv -> {
    Double lat = tpv.getLatitude();
    Double lon = tpv.getLongitude();

    System.out.printf("Lat: %f, Lon: %f\n", lat, lon);
});

// Adding handlers can be chained
client.addHandler(TPVReport.class, tpv -> { ... })
      .addHandler(SKYReport.class, sky -> { ... })
      .addHandler(GSTReport.class, gst -> { ... });

// Suppose you use a generic handler for multiple types of messages
Consumer<? extends GpsdMessage> genericHandler = msg -> {
    System.out.println("Got a message: " + msg);
};

client.addHandler(TPVReport.class, (Consumer<TPVReport>) genericHandler)
      .addHandler(GSTReport.class, (Consumer<GSTReport>) genericHandler);

// You can remove it from a specific type of message
client.removeHandler(TPVReport.class, (Consumer<TPVReport>) genericHandler);

// Or you can remove it altogether from all types of messages
client.removeHandler(genericHandler);

Client lifecycle

// After you have created a client and (optionally) added handlers, you can start it
client.start();

// As long as the client is running, you can send commands to the gpsd server
// More on that later...
client.sendCommand(...)
      .sendCommand(..., result -> { ... });

// Send a command to the server to enable dumping of messages
client.watch();

// To stop the client:
client.stop();

Persisting device settings and watch mode

Device settings and watch mode settings may be lost if the connection drops or the gpsd server restarts. In order to persist them, you can set a connection handler that gets executed upon each successful connection the gpsd server, including reconnections.

new GpsdClient(...)
    .setSuccessfulConnectionHandler(client -> {
       DeviceMessage device = new DeviceMessage();
       device.setPath("/dev/ttyAMA0");
       device.setNative(true);

       client.sendCommand(device);
       client.watch();
    })
    .addHandler(TPVReport.class, tpv -> { ... })
    .start();

Sending commands

There are multiple ways of sending commands to the server. In order to send commands, the client must be started and running. Otherwise, an IllegalStateException may be thrown.

Sending a command and expecting a response

// The response is the same type as the command message (subtypes of GpsdCommandMessage)
client.sendCommand(new PollMessage(), pollMessageResponse -> {
    Integer activeDevices = pollMessageResponse.getActiveCount();
});

Sending a command and not awaiting a response

// Setup the GPS device to run in its native mode
DeviceMessage device = new DeviceMessage();
device.setPath("/dev/ttyAMA0");
device.setNative(true);

client.sendCommand(device);

Putting it all together

new GpsdClient("localhost", 2947)
      .addErrorHandler(System.err::println)
      .addHandler(TPVReport.class, tpv -> {
          Double lat = tpv.getLatitude();
          Double lon = tpv.getLongitude();

          System.out.printf("Lat: %f, Lon: %f\n", lat, lon);
      })
      .addHandler(SKYReport.class, sky -> {
          System.out.printf("We can see %d satellites\n", sky.getSatellites().size())
      })
      .setSuccessfulConnectionHandler(client -> {
          DeviceMessage device = new DeviceMessage();
          device.setPath("/dev/ttyAMA0");
          device.setNative(true);

          client.sendCommand(device);
          client.watch();
      })
      .start();

gpsd4j's Issues

Fails to parse some messages when too much data

Hi,

Firstly, thank you for this library. It's really useful.

I have been testing it with the gpsfake and I have run into a problem. If I send messages only as fast as I can hit enter in gpsfake (using -i argument), everything is fine, but if I let it run on its own (without -i argument), it floods the socket with messages, then the library tries to parse half of the message only, which fails, which in turn sometimes causes it to disconnect and connect again.

This how I configured the GpsdClient:

gpsdClient.addErrorHandler(errorMessage -> logger.e("Jarek", errorMessage.getMessage()));

gpsdClient.addHandler(TPVReport.class, tpv -> {
    Double latitude = tpv.getLatitude();
    Double longitude = tpv.getLongitude();
    if (latitude == null || longitude == null) {
        return; // if gpsd daemon gets restarted, library reconnects but returns one TPV event with no coordinates
    }
    logger.i("Jarek", "latitude: " + latitude + ", longitude: " + longitude);
});

gpsdClient.addHandler(ATTReport.class,          x -> logger.i("Jarek", "ATTReport: "          + x.toString()));
gpsdClient.addHandler(GSTReport.class,          x -> logger.i("Jarek", "GSTReport: "          + x.toString()));
//gpsdClient.addHandler(SKYReport.class,          x -> logger.i("Jarek", "SKYReport: "          + x.toString()));
gpsdClient.addHandler(TOFFReport.class,         x -> logger.i("Jarek", "TOFFReport: "         + x.toString()));
gpsdClient.addHandler(DeviceMessage.class,      x -> logger.i("Jarek", "DeviceMessage: "      + x.toString()));
gpsdClient.addHandler(DevicesMessage.class,     x -> logger.i("Jarek", "DevicesMessage: "     + x.toString()));
gpsdClient.addHandler(ErrorMessage.class,       x -> logger.i("Jarek", "ErrorMessage: "       + x.toString()));
gpsdClient.addHandler(GpsdCommandMessage.class, x -> logger.i("Jarek", "GpsdCommandMessage: " + x.toString()));
//gpsdClient.addHandler(GpsdMessage.class,        x -> logger.i("Jarek", "GpsdMessage: "        + x.toString()));
gpsdClient.addHandler(PollMessage.class,        x -> logger.i("Jarek", "PollMessage: "        + x.toString()));
gpsdClient.addHandler(VersionMessage.class,     x -> logger.i("Jarek", "VersionMessage: "     + x.toString()));
gpsdClient.addHandler(WatchMessage.class,       x -> logger.i("Jarek", "WatchMessage: "       + x.toString()));

gpsdClient.setSuccessfulConnectionHandler(client -> {
    logger.i("Jarek", "Successful connection!!!");
    client.watch();
});

gpsdClient.start();

Here are all the logs in ~0.5s window of time:

2020-02-10T11:40:33.819Z [vert.x-worker-thread-16] INFO - Jarek latitude: 55.671483333, longitude: 12.518383333
2020-02-10T11:40:33.827Z [vert.x-worker-thread-17] INFO - Jarek latitude: 55.671493333, longitude: 12.51839
2020-02-10T11:40:33.837Z [vert.x-worker-thread-18] INFO - Jarek latitude: 55.671493333, longitude: 12.51839
2020-02-10T11:40:33.845Z [vert.x-worker-thread-19] INFO - Jarek latitude: 55.671505, longitude: 12.518386667
2020-02-10T11:40:33.871Z [vert.x-worker-thread-1] INFO - Jarek latitude: 55.671505, longitude: 12.518386667
2020-02-10T11:40:33.880Z [vert.x-worker-thread-0] INFO - Jarek latitude: 55.671515, longitude: 12.518391667
2020-02-10T11:40:33.888Z [vert.x-worker-thread-2] INFO - Jarek latitude: 55.671515, longitude: 12.518391667
2020-02-10T11:40:33.897Z [vert.x-worker-thread-3] INFO - Jarek latitude: 55.671525, longitude: 12.518385
2020-02-10T11:40:33.905Z [vert.x-worker-thread-4] INFO - Jarek latitude: 55.671525, longitude: 12.518385
2020-02-10T11:40:33.913Z [vert.x-worker-thread-5] INFO - Jarek latitude: 55.671531667, longitude: 12.518385
2020-02-10T11:40:33.921Z [vert.x-worker-thread-6] INFO - Jarek latitude: 55.671531667, longitude: 12.518385
2020-02-10T11:40:33.930Z [vert.x-worker-thread-7] INFO - Jarek latitude: 55.671538333, longitude: 12.518386667
2020-02-10T11:40:33.933Z [vert.x-eventloop-thread-0] WARN - Cannot parse JSON
com.ivkos.gpsd4j.support.GpsdParseException: Could not parse JSON: {"class":"TPV","device":"/dev/pts/9","mode":3,"time":"2012-11-04T14:03:31.000Z","ept":0.005,"lat":55.6715383
	at com.ivkos.gpsd4j.support.SerializationHelper.deserialize(SerializationHelper.java:97)
	at com.ivkos.gpsd4j.client.GpsdClient.handleJsonString(GpsdClient.java:481)
	at com.ivkos.gpsd4j.client.GpsdClient.lambda$handleConnectResult$5(GpsdClient.java:437)
	at io.vertx.core.net.impl.NetSocketImpl.handleDataReceived(NetSocketImpl.java:325)
	at io.vertx.core.net.impl.NetClientImpl.handleMsgReceived(NetClientImpl.java:101)
	at io.vertx.core.net.impl.NetClientImpl.handleMsgReceived(NetClientImpl.java:45)
	at io.vertx.core.net.impl.NetClientBase$1.handleMsgReceived(NetClientBase.java:189)
	at io.vertx.core.net.impl.VertxNetHandler.lambda$channelRead$0(VertxNetHandler.java:63)
	at io.vertx.core.impl.ContextImpl.lambda$wrapTask$2(ContextImpl.java:335)
	at io.vertx.core.impl.ContextImpl.executeFromIO(ContextImpl.java:193)
	at io.vertx.core.net.impl.VertxNetHandler.channelRead(VertxNetHandler.java:63)
	at io.vertx.core.net.impl.VertxHandler.channelRead(VertxHandler.java:122)
	at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:363)
	at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:349)
	at io.netty.channel.AbstractChannelHandlerContext.fireChannelRead(AbstractChannelHandlerContext.java:341)
	at io.netty.channel.DefaultChannelPipeline$HeadContext.channelRead(DefaultChannelPipeline.java:1334)
	at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:363)
	at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:349)
	at io.netty.channel.DefaultChannelPipeline.fireChannelRead(DefaultChannelPipeline.java:926)
	at io.netty.channel.nio.AbstractNioByteChannel$NioByteUnsafe.read(AbstractNioByteChannel.java:129)
	at io.netty.channel.nio.NioEventLoop.processSelectedKey(NioEventLoop.java:642)
	at io.netty.channel.nio.NioEventLoop.processSelectedKeysOptimized(NioEventLoop.java:565)
	at io.netty.channel.nio.NioEventLoop.processSelectedKeys(NioEventLoop.java:479)
	at io.netty.channel.nio.NioEventLoop.run(NioEventLoop.java:441)
	at io.netty.util.concurrent.SingleThreadEventExecutor$5.run(SingleThreadEventExecutor.java:858)
	at java.lang.Thread.run(Unknown Source)
Caused by: io.vertx.core.json.DecodeException: Failed to decode: Unexpected end-of-input: expected close marker for OBJECT (from [Source: {"class":"TPV","device":"/dev/pts/9","mode":3,"time":"2012-11-04T14:03:31.000Z","ept":0.005,"lat":55.6715383; line: 1, column: 1])
 at [Source: {"class":"TPV","device":"/dev/pts/9","mode":3,"time":"2012-11-04T14:03:31.000Z","ept":0.005,"lat":55.6715383; line: 1, column: 325]
	at io.vertx.core.json.Json.decodeValue(Json.java:123)
	at io.vertx.core.json.JsonObject.fromJson(JsonObject.java:950)
	at io.vertx.core.json.JsonObject.<init>(JsonObject.java:53)
	at com.ivkos.gpsd4j.support.SerializationHelper.deserialize(SerializationHelper.java:95)
	... 25 common frames omitted
2020-02-10T11:40:33.999Z [vert.x-eventloop-thread-0] WARN - Cannot parse JSON
com.ivkos.gpsd4j.support.GpsdParseException: Could not parse JSON: 33,"lon":12.518386667,"alt":0.500,"epx":8.824,"epy":8.912,"epv":36.800,"track":22.7100,"speed":0.370,"climb":-0.800,"eps":17.82,"epc":73.60}
	at com.ivkos.gpsd4j.support.SerializationHelper.deserialize(SerializationHelper.java:97)
	at com.ivkos.gpsd4j.client.GpsdClient.handleJsonString(GpsdClient.java:481)
	at com.ivkos.gpsd4j.client.GpsdClient.lambda$handleConnectResult$5(GpsdClient.java:437)
	at io.vertx.core.net.impl.NetSocketImpl.handleDataReceived(NetSocketImpl.java:325)
	at io.vertx.core.net.impl.NetClientImpl.handleMsgReceived(NetClientImpl.java:101)
	at io.vertx.core.net.impl.NetClientImpl.handleMsgReceived(NetClientImpl.java:45)
	at io.vertx.core.net.impl.NetClientBase$1.handleMsgReceived(NetClientBase.java:189)
	at io.vertx.core.net.impl.VertxNetHandler.lambda$channelRead$0(VertxNetHandler.java:63)
	at io.vertx.core.impl.ContextImpl.lambda$wrapTask$2(ContextImpl.java:335)
	at io.vertx.core.impl.ContextImpl.executeFromIO(ContextImpl.java:193)
	at io.vertx.core.net.impl.VertxNetHandler.channelRead(VertxNetHandler.java:63)
	at io.vertx.core.net.impl.VertxHandler.channelRead(VertxHandler.java:122)
	at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:363)
	at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:349)
	at io.netty.channel.AbstractChannelHandlerContext.fireChannelRead(AbstractChannelHandlerContext.java:341)
	at io.netty.channel.DefaultChannelPipeline$HeadContext.channelRead(DefaultChannelPipeline.java:1334)
	at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:363)
	at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:349)
	at io.netty.channel.DefaultChannelPipeline.fireChannelRead(DefaultChannelPipeline.java:926)
	at io.netty.channel.nio.AbstractNioByteChannel$NioByteUnsafe.read(AbstractNioByteChannel.java:129)
	at io.netty.channel.nio.NioEventLoop.processSelectedKey(NioEventLoop.java:642)
	at io.netty.channel.nio.NioEventLoop.processSelectedKeysOptimized(NioEventLoop.java:565)
	at io.netty.channel.nio.NioEventLoop.processSelectedKeys(NioEventLoop.java:479)
	at io.netty.channel.nio.NioEventLoop.run(NioEventLoop.java:441)
	at io.netty.util.concurrent.SingleThreadEventExecutor$5.run(SingleThreadEventExecutor.java:858)
	at java.lang.Thread.run(Unknown Source)
Caused by: io.vertx.core.json.DecodeException: Failed to decode: Unexpected character (',' (code 44)): Expected space separating root-level values
 at [Source: 33,"lon":12.518386667,"alt":0.500,"epx":8.824,"epy":8.912,"epv":36.800,"track":22.7100,"speed":0.370,"climb":-0.800,"eps":17.82,"epc":73.60}; line: 1, column: 4]
	at io.vertx.core.json.Json.decodeValue(Json.java:123)
	at io.vertx.core.json.JsonObject.fromJson(JsonObject.java:950)
	at io.vertx.core.json.JsonObject.<init>(JsonObject.java:53)
	at com.ivkos.gpsd4j.support.SerializationHelper.deserialize(SerializationHelper.java:95)
	... 25 common frames omitted
2020-02-10T11:40:34.009Z [vert.x-worker-thread-8] INFO - Jarek latitude: 55.671543333, longitude: 12.51838
2020-02-10T11:40:34.018Z [vert.x-worker-thread-9] INFO - Jarek latitude: 55.671543333, longitude: 12.51838
2020-02-10T11:40:34.027Z [vert.x-worker-thread-10] INFO - Jarek latitude: 55.67155, longitude: 12.518376667
2020-02-10T11:40:34.037Z [vert.x-worker-thread-11] INFO - Jarek latitude: 55.67155, longitude: 12.518376667
2020-02-10T11:40:34.045Z [vert.x-worker-thread-12] INFO - Jarek latitude: 55.671555, longitude: 12.518366667
2020-02-10T11:40:34.053Z [vert.x-worker-thread-13] INFO - Jarek latitude: 55.671555, longitude: 12.518366667
2020-02-10T11:40:34.062Z [vert.x-worker-thread-14] INFO - Jarek latitude: 55.671563333, longitude: 12.518365
2020-02-10T11:40:34.071Z [vert.x-worker-thread-15] INFO - Jarek latitude: 55.671563333, longitude: 12.518365
2020-02-10T11:40:34.079Z [vert.x-worker-thread-16] INFO - Jarek latitude: 55.671571667, longitude: 12.51837
2020-02-10T11:40:34.088Z [vert.x-worker-thread-17] INFO - Jarek latitude: 55.671571667, longitude: 12.51837
2020-02-10T11:40:34.093Z [vert.x-eventloop-thread-0] WARN - Cannot parse JSON
com.ivkos.gpsd4j.support.GpsdParseException: Could not parse JSON: {"class":"TPV","device":"/dev/pts/9","mode":3,"time":"2012-11-04T14:03:37.000Z","ept":0.005,"lat":55.671585000,
	at com.ivkos.gpsd4j.support.SerializationHelper.deserialize(SerializationHelper.java:97)
	at com.ivkos.gpsd4j.client.GpsdClient.handleJsonString(GpsdClient.java:481)
	at com.ivkos.gpsd4j.client.GpsdClient.lambda$handleConnectResult$5(GpsdClient.java:437)
	at io.vertx.core.net.impl.NetSocketImpl.handleDataReceived(NetSocketImpl.java:325)
	at io.vertx.core.net.impl.NetClientImpl.handleMsgReceived(NetClientImpl.java:101)
	at io.vertx.core.net.impl.NetClientImpl.handleMsgReceived(NetClientImpl.java:45)
	at io.vertx.core.net.impl.NetClientBase$1.handleMsgReceived(NetClientBase.java:189)
	at io.vertx.core.net.impl.VertxNetHandler.lambda$channelRead$0(VertxNetHandler.java:63)
	at io.vertx.core.impl.ContextImpl.lambda$wrapTask$2(ContextImpl.java:335)
	at io.vertx.core.impl.ContextImpl.executeFromIO(ContextImpl.java:193)
	at io.vertx.core.net.impl.VertxNetHandler.channelRead(VertxNetHandler.java:63)
	at io.vertx.core.net.impl.VertxHandler.channelRead(VertxHandler.java:122)
	at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:363)
	at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:349)
	at io.netty.channel.AbstractChannelHandlerContext.fireChannelRead(AbstractChannelHandlerContext.java:341)
	at io.netty.channel.DefaultChannelPipeline$HeadContext.channelRead(DefaultChannelPipeline.java:1334)
	at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:363)
	at io.netty.channel.AbstractChannelHandlerContext.invokeChannelRead(AbstractChannelHandlerContext.java:349)
	at io.netty.channel.DefaultChannelPipeline.fireChannelRead(DefaultChannelPipeline.java:926)
	at io.netty.channel.nio.AbstractNioByteChannel$NioByteUnsafe.read(AbstractNioByteChannel.java:129)
	at io.netty.channel.nio.NioEventLoop.processSelectedKey(NioEventLoop.java:642)
	at io.netty.channel.nio.NioEventLoop.processSelectedKeysOptimized(NioEventLoop.java:565)
	at io.netty.channel.nio.NioEventLoop.processSelectedKeys(NioEventLoop.java:479)
	at io.netty.channel.nio.NioEventLoop.run(NioEventLoop.java:441)
	at io.netty.util.concurrent.SingleThreadEventExecutor$5.run(SingleThreadEventExecutor.java:858)
	at java.lang.Thread.run(Unknown Source)
Caused by: io.vertx.core.json.DecodeException: Failed to decode: Unexpected end-of-input within/between OBJECT entries
 at [Source: {"class":"TPV","device":"/dev/pts/9","mode":3,"time":"2012-11-04T14:03:37.000Z","ept":0.005,"lat":55.671585000,; line: 1, column: 223]
	at io.vertx.core.json.Json.decodeValue(Json.java:123)
	at io.vertx.core.json.JsonObject.fromJson(JsonObject.java:950)
	at io.vertx.core.json.JsonObject.<init>(JsonObject.java:53)
	at com.ivkos.gpsd4j.support.SerializationHelper.deserialize(SerializationHelper.java:95)
	... 25 common frames omitted
2020-02-10T11:40:34.097Z [vert.x-eventloop-thread-0] WARN - Disconnected from gpsd server 10.99.17.63:2948. Will now try to reconnect...
2020-02-10T11:40:34.097Z [vert.x-eventloop-thread-0] INFO - Connecting to gpsd server 10.99.17.63:2948...
2020-02-10T11:40:34.122Z [vert.x-eventloop-thread-0] INFO - Successfully connected to gpsd server 10.99.17.63:2948
2020-02-10T11:40:34.123Z [vert.x-worker-thread-18] INFO - Jarek Successful connection!!!

I can see that if failed to parse these two JSON objects (at 2020-02-10T11:40:33.933Z and 2020-02-10T11:40:33.999Z respectively):

{"class":"TPV","device":"/dev/pts/9","mode":3,"time":"2012-11-04T14:03:31.000Z","ept":0.005,"lat":55.6715383

33,"lon":12.518386667,"alt":0.500,"epx":8.824,"epy":8.912,"epv":36.800,"track":22.7100,"speed":0.370,"climb":-0.800,"eps":17.82,"epc":73.60}

But they are in fact a single object.

Then it continued and parsed a few more messages. And then it tried to parse half of the message again at 2020-02-10T11:40:34.093Z, which caused a disconnect.

Have I configured something wrong? Any help would be appreciated.

Best wishes,
Jarek

Maven Central release

For convenience, a release in the maven central repository would be nice.

ErrorMessage cannot be resolved to a type

Hi,

I have downloaded and imported gpsd4j into Eclipse IDE and I got two errors:

1. ErrorMessage cannot be resolved to a type
2. WatchMessage cannot be resolved to a type

Both in GpsdClient.java file.

Any hints on how to solve it, please?

Thanks and Happy New Year 2021 :)