Software / API Bindings / Rust / API Reference and Examples / Bricklets / Distance IR Bricklet

Rust - Distance IR Bricklet¶

This is the description of the Rust API bindings for the Distance IR Bricklet. General information and technical specifications for the Distance IR Bricklet are summarized in its hardware description.

An installation guide for the Rust API bindings is part of their general description. Additional documentation can be found on docs.rs.

Examples¶

The example code below is Public Domain (CC0 1.0).

Simple¶

Download (example_simple.rs)

use std::{error::Error, io};

use tinkerforge::{distance_ir_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your Distance IR Bricklet.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let dir = DistanceIrBricklet::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    // Get current distance.
    let distance = dir.get_distance().recv()?;
    println!("Distance: {} cm", distance as f32 / 10.0);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

Callback¶

Download (example_callback.rs)

use std::{error::Error, io, thread};
use tinkerforge::{distance_ir_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your Distance IR Bricklet.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let dir = DistanceIrBricklet::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    let distance_receiver = dir.get_distance_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `dir` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for distance in distance_receiver {
            println!("Distance: {} cm", distance as f32 / 10.0);
        }
    });

    // Set period for distance receiver to 0.2s (200ms).
    // Note: The distance callback is only called every 0.2 seconds
    //       if the distance has changed since the last call!
    dir.set_distance_callback_period(200);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

Threshold¶

Download (example_threshold.rs)

use std::{error::Error, io, thread};
use tinkerforge::{distance_ir_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your Distance IR Bricklet.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let dir = DistanceIrBricklet::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    // Get threshold receivers with a debounce time of 10 seconds (10000ms).
    dir.set_debounce_period(10000);

    let distance_reached_receiver = dir.get_distance_reached_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `dir` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for distance_reached in distance_reached_receiver {
            println!("Distance: {} cm", distance_reached as f32 / 10.0);
        }
    });

    // Configure threshold for distance "smaller than 30 cm".
    dir.set_distance_callback_threshold('<', 30 * 10, 0);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

API¶

To allow non-blocking usage, nearly every function of the Rust bindings returns a wrapper around a mpsc::Receiver. To block until the function has finished and get your result, call one of the receiver's recv variants. Those return either the result sent by the device, or any error occurred.

Functions returning a result directly will block until the device has finished processing the request.

All functions listed below are thread-safe, those which return a receiver are lock-free.

Basic Functions¶

pub fn DistanceIrBricklet::new(uid: &str, ip_connection: &IpConnection) → DistanceIrBricklet¶

Parameters:	uid – Type: &str ip_connection – Type: &IPConnection
Returns:	distance_ir – Type: DistanceIrBricklet

Creates a new DistanceIrBricklet object with the unique device ID uid and adds it to the IPConnection ip_connection:

let distance_ir = DistanceIrBricklet::new("YOUR_DEVICE_UID", &ip_connection);

This device object can be used after the IP connection has been connected.

pub fn DistanceIrBricklet::get_distance(&self) → ConvertingReceiver<u16>¶

Returns:	distance – Type: u16, Unit: 1 mm, Range: [0 to 2¹⁶ - 1]

Returns the distance measured by the sensor. Possible distance ranges are 40 to 300, 100 to 800 and 200 to 1500, depending on the selected IR sensor.

If you want to get the distance periodically, it is recommended to use the DistanceIrBricklet::get_distance_callback_receiver callback and set the period with DistanceIrBricklet::set_distance_callback_period.

Advanced Functions¶

pub fn DistanceIrBricklet::get_analog_value(&self) → ConvertingReceiver<u16>¶

Returns:	value – Type: u16, Range: [0 to 2¹² - 1]

Returns the value as read by a 12-bit analog-to-digital converter.

Note

The value returned by DistanceIrBricklet::get_distance is averaged over several samples to yield less noise, while DistanceIrBricklet::get_analog_value gives back raw unfiltered analog values. The only reason to use DistanceIrBricklet::get_analog_value is, if you need the full resolution of the analog-to-digital converter.

If you want the analog value periodically, it is recommended to use the DistanceIrBricklet::get_analog_value_callback_receiver callback and set the period with DistanceIrBricklet::set_analog_value_callback_period.

pub fn DistanceIrBricklet::set_sampling_point(&self, position: u8, distance: u16) → ConvertingReceiver<()>¶

Parameters:	position – Type: u8, Range: [0 to 127] distance – Type: u16, Unit: 1/10 mm, Range: [0 to 2¹⁶ - 1]

Sets a sampling point value to a specific position of the lookup table. The lookup table comprises 128 equidistant analog values with corresponding distances.

If you measure a distance of 50cm at the analog value 2048, you should call this function with (64, 5000). The utilized analog-to-digital converter has a resolution of 12 bit. With 128 sampling points on the whole range, this means that every sampling point has a size of 32 analog values. Thus the analog value 2048 has the corresponding sampling point 64 = 2048/32.

Sampling points are saved on the EEPROM of the Distance IR Bricklet and loaded again on startup.

Note

An easy way to calibrate the sampling points of the Distance IR Bricklet is implemented in the Brick Viewer. If you want to calibrate your Bricklet it is highly recommended to use this implementation.

pub fn DistanceIrBricklet::get_sampling_point(&self, position: u8) → ConvertingReceiver<u16>¶

Parameters:	position – Type: u8, Range: [0 to 127]
Returns:	distance – Type: u16, Unit: 1/10 mm, Range: [0 to 2¹⁶ - 1]

Returns the distance to a sampling point position as set by DistanceIrBricklet::set_sampling_point.

pub fn DistanceIrBricklet::get_identity(&self) → ConvertingReceiver<Identity>¶

Return Object:

Return Object:	uid – Type: String, Length: up to 8 connected_uid – Type: String, Length: up to 8 position – Type: char, Range: ['a' to 'h', 'z'] hardware_version – Type: [u8; 3] 0: major – Type: u8, Range: [0 to 255] 1: minor – Type: u8, Range: [0 to 255] 2: revision – Type: u8, Range: [0 to 255] firmware_version – Type: [u8; 3] 0: major – Type: u8, Range: [0 to 255] 1: minor – Type: u8, Range: [0 to 255] 2: revision – Type: u8, Range: [0 to 255] device_identifier – Type: u16, Range: [0 to 2¹⁶ - 1]

uid – Type: String, Length: up to 8
connected_uid – Type: String, Length: up to 8
position – Type: char, Range: ['a' to 'h', 'z']
hardware_version – Type: [u8; 3]

0: major – Type: u8, Range: [0 to 255]
1: minor – Type: u8, Range: [0 to 255]
2: revision – Type: u8, Range: [0 to 255]

firmware_version – Type: [u8; 3]

0: major – Type: u8, Range: [0 to 255]
1: minor – Type: u8, Range: [0 to 255]
2: revision – Type: u8, Range: [0 to 255]

device_identifier – Type: u16, Range: [0 to 2¹⁶ - 1]

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', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an Isolator Bricklet is always at position 'z'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions¶

pub fn DistanceIrBricklet::set_distance_callback_period(&self, period: u32) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Sets the period with which the DistanceIrBricklet::get_distance_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

The DistanceIrBricklet::get_distance_callback_receiver callback is only triggered if the distance has changed since the last triggering.

pub fn DistanceIrBricklet::get_distance_callback_period(&self) → ConvertingReceiver<u32>¶

Returns:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by DistanceIrBricklet::set_distance_callback_period.

pub fn DistanceIrBricklet::set_analog_value_callback_period(&self, period: u32) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Sets the period with which the DistanceIrBricklet::get_analog_value_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

The DistanceIrBricklet::get_analog_value_callback_receiver callback is only triggered if the analog value has changed since the last triggering.

pub fn DistanceIrBricklet::get_analog_value_callback_period(&self) → ConvertingReceiver<u32>¶

Returns:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0

Returns the period as set by DistanceIrBricklet::set_analog_value_callback_period.

pub fn DistanceIrBricklet::set_distance_callback_threshold(&self, option: char, min: u16, max: u16) → ConvertingReceiver<()>¶

Parameters:	option – Type: char, Range: See constants, Default: 'x' min – Type: u16, Unit: 1 mm, Range: [0 to 2¹⁶ - 1], Default: 0 max – Type: u16, Unit: 1 mm, Range: [0 to 2¹⁶ - 1], Default: 0

Sets the thresholds for the DistanceIrBricklet::get_distance_reached_callback_receiver callback.

The following options are possible:

Option	Description
'x'	Callback is turned off
'o'	Callback is triggered when the distance is outside the min and max values
'i'	Callback is triggered when the distance is inside the min and max values
'<'	Callback is triggered when the distance is smaller than the min value (max is ignored)
'>'	Callback is triggered when the distance is greater than the min value (max is ignored)

The following constants are available for this function:

For option:

DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_OFF = 'x'
DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_OUTSIDE = 'o'
DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_INSIDE = 'i'
DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_SMALLER = '<'
DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_GREATER = '>'

pub fn DistanceIrBricklet::get_distance_callback_threshold(&self) → ConvertingReceiver<DistanceCallbackThreshold>¶

Return Object:	option – Type: char, Range: See constants, Default: 'x' min – Type: u16, Unit: 1 mm, Range: [0 to 2¹⁶ - 1], Default: 0 max – Type: u16, Unit: 1 mm, Range: [0 to 2¹⁶ - 1], Default: 0

Returns the threshold as set by DistanceIrBricklet::set_distance_callback_threshold.

The following constants are available for this function:

For option:

DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_OFF = 'x'
DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_OUTSIDE = 'o'
DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_INSIDE = 'i'
DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_SMALLER = '<'
DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_GREATER = '>'

pub fn DistanceIrBricklet::set_analog_value_callback_threshold(&self, option: char, min: u16, max: u16) → ConvertingReceiver<()>¶

Parameters:	option – Type: char, Range: See constants, Default: 'x' min – Type: u16, Range: [0 to 2¹⁶ - 1], Default: 0 max – Type: u16, Range: [0 to 2¹⁶ - 1], Default: 0

Sets the thresholds for the DistanceIrBricklet::get_analog_value_reached_callback_receiver callback.

The following options are possible:

Option	Description
'x'	Callback is turned off
'o'	Callback is triggered when the analog value is outside the min and max values
'i'	Callback is triggered when the analog value is inside the min and max values
'<'	Callback is triggered when the analog value is smaller than the min value (max is ignored)
'>'	Callback is triggered when the analog value is greater than the min value (max is ignored)

The following constants are available for this function:

For option:

DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_OFF = 'x'
DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_OUTSIDE = 'o'
DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_INSIDE = 'i'
DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_SMALLER = '<'
DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_GREATER = '>'

pub fn DistanceIrBricklet::get_analog_value_callback_threshold(&self) → ConvertingReceiver<AnalogValueCallbackThreshold>¶

Return Object:	option – Type: char, Range: See constants, Default: 'x' min – Type: u16, Range: [0 to 2¹⁶ - 1], Default: 0 max – Type: u16, Range: [0 to 2¹⁶ - 1], Default: 0

Returns the threshold as set by DistanceIrBricklet::set_analog_value_callback_threshold.

The following constants are available for this function:

For option:

DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_OFF = 'x'
DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_OUTSIDE = 'o'
DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_INSIDE = 'i'
DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_SMALLER = '<'
DISTANCE_IR_BRICKLET_THRESHOLD_OPTION_GREATER = '>'

pub fn DistanceIrBricklet::set_debounce_period(&self, debounce: u32) → ConvertingReceiver<()>¶

Parameters:	debounce – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 100

Sets the period with which the threshold callbacks

DistanceIrBricklet::get_distance_reached_callback_receiver,
DistanceIrBricklet::get_analog_value_reached_callback_receiver

are triggered, if the thresholds

DistanceIrBricklet::set_distance_callback_threshold,
DistanceIrBricklet::set_analog_value_callback_threshold

keep being reached.

pub fn DistanceIrBricklet::get_debounce_period(&self) → ConvertingReceiver<u32>¶

Returns:	debounce – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 100

Returns the debounce period as set by DistanceIrBricklet::set_debounce_period.

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the corresponding get_*_callback_receiver function, which returns a receiver for callback events.

Note

Using callbacks for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.

pub fn DistanceIrBricklet::get_distance_callback_receiver(&self) → ConvertingCallbackReceiver<u16>¶

Event:	distance – Type: u16, Unit: 1 mm, Range: [0 to 2¹⁶ - 1]

Receivers created with this function receive Distance events.

This callback is triggered periodically with the period that is set by DistanceIrBricklet::set_distance_callback_period. The received variable is the distance of the sensor.

The DistanceIrBricklet::get_distance_callback_receiver callback is only triggered if the distance has changed since the last triggering.

pub fn DistanceIrBricklet::get_analog_value_callback_receiver(&self) → ConvertingCallbackReceiver<u16>¶

Event:	value – Type: u16, Range: [0 to 2¹² - 1]

Receivers created with this function receive Analog Value events.

This callback is triggered periodically with the period that is set by DistanceIrBricklet::set_analog_value_callback_period. The received variable is the analog value of the sensor.

The DistanceIrBricklet::get_analog_value_callback_receiver callback is only triggered if the analog value has changed since the last triggering.

pub fn DistanceIrBricklet::get_distance_reached_callback_receiver(&self) → ConvertingCallbackReceiver<u16>¶

Event:	distance – Type: u16, Unit: 1 mm, Range: [0 to 2¹⁶ - 1]

Receivers created with this function receive Distance Reached events.

This callback is triggered when the threshold as set by DistanceIrBricklet::set_distance_callback_threshold is reached. The received variable is the distance of the sensor.

If the threshold keeps being reached, the callback is triggered periodically with the period as set by DistanceIrBricklet::set_debounce_period.

pub fn DistanceIrBricklet::get_analog_value_reached_callback_receiver(&self) → ConvertingCallbackReceiver<u16>¶

Event:	value – Type: u16, Range: [0 to 2¹² - 1]

Receivers created with this function receive Analog Value Reached events.

This callback is triggered when the threshold as set by DistanceIrBricklet::set_analog_value_callback_threshold is reached. The received variable is the analog value of the sensor.

If the threshold keeps being reached, the callback is triggered periodically with the period as set by DistanceIrBricklet::set_debounce_period.

Virtual Functions¶

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

pub fn DistanceIrBricklet::get_api_version(&self) → [u8; 3]¶

Return Object:	api_version – Type: [u8; 3] 0: major – Type: u8, Range: [0 to 255] 1: minor – Type: u8, Range: [0 to 255] 2: revision – Type: u8, Range: [0 to 255]

Returns the version of the API definition implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

pub fn DistanceIrBricklet::get_response_expected(&mut self, function_id: u8) → bool¶

Parameters:	function_id – Type: u8, Range: See constants
Returns:	response_expected – Type: bool

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by DistanceIrBricklet::set_response_expected. For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For function_id:

DISTANCE_IR_BRICKLET_FUNCTION_SET_SAMPLING_POINT = 3
DISTANCE_IR_BRICKLET_FUNCTION_SET_DISTANCE_CALLBACK_PERIOD = 5
DISTANCE_IR_BRICKLET_FUNCTION_SET_ANALOG_VALUE_CALLBACK_PERIOD = 7
DISTANCE_IR_BRICKLET_FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD = 9
DISTANCE_IR_BRICKLET_FUNCTION_SET_ANALOG_VALUE_CALLBACK_THRESHOLD = 11
DISTANCE_IR_BRICKLET_FUNCTION_SET_DEBOUNCE_PERIOD = 13

pub fn DistanceIrBricklet::set_response_expected(&mut self, function_id: u8, response_expected: bool) → ()¶

Parameters:	function_id – Type: u8, Range: See constants response_expected – Type: bool

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

The following constants are available for this function:

For function_id:

DISTANCE_IR_BRICKLET_FUNCTION_SET_SAMPLING_POINT = 3
DISTANCE_IR_BRICKLET_FUNCTION_SET_DISTANCE_CALLBACK_PERIOD = 5
DISTANCE_IR_BRICKLET_FUNCTION_SET_ANALOG_VALUE_CALLBACK_PERIOD = 7
DISTANCE_IR_BRICKLET_FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD = 9
DISTANCE_IR_BRICKLET_FUNCTION_SET_ANALOG_VALUE_CALLBACK_THRESHOLD = 11
DISTANCE_IR_BRICKLET_FUNCTION_SET_DEBOUNCE_PERIOD = 13

pub fn DistanceIrBricklet::set_response_expected_all(&mut self, response_expected: bool) → ()¶

Parameters:	response_expected – Type: bool

Changes the response expected flag for all setter and callback configuration functions of this device at once.

Constants¶

pub const DistanceIrBricklet::DEVICE_IDENTIFIER¶

This constant is used to identify a Distance IR Bricklet.

The DistanceIrBricklet::get_identity function and the IpConnection::get_enumerate_callback_receiver callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

pub const DistanceIrBricklet::DEVICE_DISPLAY_NAME¶: This constant represents the human readable name of a Distance IR Bricklet.