Rust - IO-16 Bricklet¶

Output¶

Download (example_output.rs)

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27

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

use tinkerforge::{io16_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your IO-16 Bricklet.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let io = Io16Bricklet::new(UID, &ipcon); // Create device object.

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

    // Set pin 0 on port A to output low
    io.set_port_configuration('a', 1 << 0, 'o', false).recv()?;

    // Set pin 0 and 7 on port B to output high
    io.set_port_configuration('b', (1 << 0) | (1 << 7), 'o', true).recv()?;

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

Input¶

Download (example_input.rs)

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29

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

use tinkerforge::{io16_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your IO-16 Bricklet.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let io = Io16Bricklet::new(UID, &ipcon); // Create device object.

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

    // Get current value from port A as bitmask.
    let value_mask_a = io.get_port('a').recv()?;
    println!("Value Mask (Port A): {:b}", value_mask_a);

    // Get current value from port B as bitmask.
    let value_mask_b = io.get_port('b').recv()?;
    println!("Value Mask (Port B): {:b}", value_mask_b);

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

Interrupt¶

Download (example_interrupt.rs)

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37

use std::{error::Error, io, thread};
use tinkerforge::{io16_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your IO-16 Bricklet.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let io = Io16Bricklet::new(UID, &ipcon); // Create device object.

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

    let interrupt_receiver = io.get_interrupt_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `io` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for interrupt in interrupt_receiver {
            println!("Port: {}", interrupt.port);
            println!("Interrupt Mask: {:b}", interrupt.interrupt_mask);
            println!("Value Mask: {:b}", interrupt.value_mask);
            println!();
        }
    });

    // Enable interrupt on pin 2 of port A
    io.set_port_interrupt('a', 1 << 2).recv()?;

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

Basic Functions¶

pub fn Io16Bricklet::new(uid: &str, ip_connection: &IpConnection) → Io16Bricklet¶

Parameters:	uid – Type: &str ip_connection – Type: &IPConnection
Returns:	io16 – Type: Io16Bricklet

Creates a new Io16Bricklet object with the unique device ID uid and adds it to the IPConnection ip_connection:

let io16 = Io16Bricklet::new("YOUR_DEVICE_UID", &ip_connection);

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

pub fn Io16Bricklet::set_port(&self, port: char, value_mask: u8) → ConvertingReceiver<()>¶

Parameters:	port – Type: char, Range: ['a' to 'b'] value_mask – Type: u8, Range: [0 to 255]

Sets the output value (high or low) for a port ("a" or "b") with a bitmask (8bit). A 1 in the bitmask means high and a 0 in the bitmask means low.

For example: The value 15 or 0b00001111 will turn the pins 0-3 high and the pins 4-7 low for the specified port.

All running monoflop timers of the given port will be aborted if this function is called.

Note

This function does nothing for pins that are configured as input. Pull-up resistors can be switched on with Io16Bricklet::set_port_configuration.

pub fn Io16Bricklet::get_port(&self, port: char) → ConvertingReceiver<u8>¶

Parameters:	port – Type: char, Range: ['a' to 'b']
Returns:	value_mask – Type: u8, Range: [0 to 255]

Returns a bitmask of the values that are currently measured on the specified port. This function works if the pin is configured to input as well as if it is configured to output.

pub fn Io16Bricklet::set_port_configuration(&self, port: char, selection_mask: u8, direction: char, value: bool) → ConvertingReceiver<()>¶

Parameters:	port – Type: char, Range: ['a' to 'b'] selection_mask – Type: u8, Range: [0 to 255] direction – Type: char, Range: See constants, Default: 'i' value – Type: bool, Default: true

Configures the value and direction of a specified port. Possible directions are 'i' and 'o' for input and output.

If the direction is configured as output, the value is either high or low (set as true or false).

If the direction is configured as input, the value is either pull-up or default (set as true or false).

For example:

• ('a', 255, 'i', true) or ('a', 0b11111111, 'i', true) will set all pins of port A as input pull-up.
• ('a', 128, 'i', false) or ('a', 0b10000000, 'i', false) will set pin 7 of port A as input default (floating if nothing is connected).
• ('b', 3, 'o', false) or ('b', 0b00000011, 'o', false) will set pins 0 and 1 of port B as output low.
• ('b', 4, 'o', true) or ('b', 0b00000100, 'o', true) will set pin 2 of port B as output high.

Running monoflop timers for the selected pins will be aborted if this function is called.

The following constants are available for this function:

For direction:

• IO16_BRICKLET_DIRECTION_IN = 'i'
• IO16_BRICKLET_DIRECTION_OUT = 'o'

pub fn Io16Bricklet::get_port_configuration(&self, port: char) → ConvertingReceiver<PortConfiguration>¶

Parameters:	port – Type: char, Range: ['a' to 'b']
Return Object:	direction_mask – Type: u8, Range: [0 to 255] value_mask – Type: u8, Range: [0 to 255]

Returns a direction bitmask and a value bitmask for the specified port. A 1 in the direction bitmask means input and a 0 in the bitmask means output.

For example: A return value of (15, 51) or (0b00001111, 0b00110011) for direction and value means that:

• pins 0 and 1 are configured as input pull-up,
• pins 2 and 3 are configured as input default,
• pins 4 and 5 are configured as output high
• and pins 6 and 7 are configured as output low.

pub fn Io16Bricklet::get_edge_count(&self, pin: u8, reset_counter: bool) → ConvertingReceiver<u32>¶

Parameters:	pin – Type: u8, Range: [0 to 1] reset_counter – Type: bool
Returns:	count – Type: u32, Range: [0 to 232 - 1]

Returns the current value of the edge counter for the selected pin on port A. You can configure the edges that are counted with Io16Bricklet::set_edge_count_config.

If you set the reset counter to true, the count is set back to 0 directly after it is read.

New in version 2.0.3 (Plugin).

Advanced Functions¶

pub fn Io16Bricklet::set_port_monoflop(&self, port: char, selection_mask: u8, value_mask: u8, time: u32) → ConvertingReceiver<()>¶

Parameters:	port – Type: char, Range: ['a' to 'b'] selection_mask – Type: u8, Range: [0 to 255] value_mask – Type: u8, Range: [0 to 255] time – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1]

Configures a monoflop of the pins specified by the second parameter as 8 bit long bitmask. The specified pins must be configured for output. Non-output pins will be ignored.

The third parameter is a bitmask with the desired value of the specified output pins. A 1 in the bitmask means high and a 0 in the bitmask means low.

The forth parameter indicates the time that the pins should hold the value.

If this function is called with the parameters ('a', 9, 1, 1500) or ('a', 0b00001001, 0b00000001, 1500): Pin 0 will get high and pin 3 will get low on port 'a'. In 1.5s pin 0 will get low and pin 3 will get high again.

A monoflop can be used as a fail-safe mechanism. For example: Lets assume you have a RS485 bus and an IO-16 Bricklet connected to one of the slave stacks. You can now call this function every second, with a time parameter of two seconds and pin 0 set to high. Pin 0 will be high all the time. If now the RS485 connection is lost, then pin 0 will get low in at most two seconds.

pub fn Io16Bricklet::get_port_monoflop(&self, port: char, pin: u8) → ConvertingReceiver<PortMonoflop>¶

Parameters:	port – Type: char, Range: ['a' to 'b'] pin – Type: u8, Range: [0 to 7]
Return Object:	value – Type: u8, Range: [0 to 255] time – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1] time_remaining – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1]

Returns (for the given pin) the current value and the time as set by Io16Bricklet::set_port_monoflop as well as the remaining time until the value flips.

If the timer is not running currently, the remaining time will be returned as 0.

pub fn Io16Bricklet::set_selected_values(&self, port: char, selection_mask: u8, value_mask: u8) → ConvertingReceiver<()>¶

Parameters:	port – Type: char, Range: ['a' to 'b'] selection_mask – Type: u8, Range: [0 to 255] value_mask – Type: u8, Range: [0 to 255]

Sets the output value (high or low) for a port ("a" or "b" with a bitmask, according to the selection mask. The bitmask is 8 bit long and a 1 in the bitmask means high and a 0 in the bitmask means low.

For example: The parameters ('a', 192, 128) or ('a', 0b11000000, 0b10000000) will turn pin 7 high and pin 6 low on port A, pins 0-6 will remain untouched.

Running monoflop timers for the selected pins will be aborted if this function is called.

Note

This function does nothing for pins that are configured as input. Pull-up resistors can be switched on with Io16Bricklet::set_port_configuration.

pub fn Io16Bricklet::set_edge_count_config(&self, pin: u8, edge_type: u8, debounce: u8) → ConvertingReceiver<()>¶

Parameters:	pin – Type: u8, Range: [0 to 1] edge_type – Type: u8, Range: See constants, Default: 0 debounce – Type: u8, Unit: 1 ms, Range: [0 to 255], Default: 100

Configures the edge counter for the selected pin of port A. Pins 0 and 1 are available for edge counting.

The edge type parameter configures if rising edges, falling edges or both are counted if the pin is configured for input. Possible edge types are:

• 0 = rising
• 1 = falling
• 2 = both

Configuring an edge counter resets its value to 0.

If you don't know what any of this means, just leave it at default. The default configuration is very likely OK for you.

The following constants are available for this function:

For edge_type:

• IO16_BRICKLET_EDGE_TYPE_RISING = 0
• IO16_BRICKLET_EDGE_TYPE_FALLING = 1
• IO16_BRICKLET_EDGE_TYPE_BOTH = 2

New in version 2.0.3 (Plugin).

pub fn Io16Bricklet::get_edge_count_config(&self, pin: u8) → ConvertingReceiver<EdgeCountConfig>¶

Parameters:	pin – Type: u8, Range: [0 to 1]
Return Object:	edge_type – Type: u8, Range: See constants, Default: 0 debounce – Type: u8, Unit: 1 ms, Range: [0 to 255], Default: 100

Returns the edge type and debounce time for the selected pin of port A as set by Io16Bricklet::set_edge_count_config.

The following constants are available for this function:

For edge_type:

• IO16_BRICKLET_EDGE_TYPE_RISING = 0
• IO16_BRICKLET_EDGE_TYPE_FALLING = 1
• IO16_BRICKLET_EDGE_TYPE_BOTH = 2

New in version 2.0.3 (Plugin).

pub fn Io16Bricklet::get_identity(&self) → ConvertingReceiver<Identity>¶

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]

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 Io16Bricklet::set_debounce_period(&self, debounce: u32) → ConvertingReceiver<()>¶

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

Sets the debounce period of the Io16Bricklet::get_interrupt_callback_receiver callback.

For example: If you set this value to 100, you will get the interrupt maximal every 100ms. This is necessary if something that bounces is connected to the IO-16 Bricklet, such as a button.

pub fn Io16Bricklet::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 Io16Bricklet::set_debounce_period.

pub fn Io16Bricklet::set_port_interrupt(&self, port: char, interrupt_mask: u8) → ConvertingReceiver<()>¶

Parameters:	port – Type: char, Range: ['a' to 'b'] interrupt_mask – Type: u8, Range: [0 to 255]

Sets the pins on which an interrupt is activated with a bitmask. Interrupts are triggered on changes of the voltage level of the pin, i.e. changes from high to low and low to high.

For example: ('a', 129) or ('a', 0b10000001) will enable the interrupt for pins 0 and 7 of port a.

The interrupt is delivered with the Io16Bricklet::get_interrupt_callback_receiver callback.

pub fn Io16Bricklet::get_port_interrupt(&self, port: char) → ConvertingReceiver<u8>¶

Parameters:	port – Type: char, Range: ['a' to 'b']
Returns:	interrupt_mask – Type: u8, Range: [0 to 255]

Returns the interrupt bitmask for the specified port as set by Io16Bricklet::set_port_interrupt.

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.

pub fn Io16Bricklet::get_interrupt_callback_receiver(&self) → ConvertingCallbackReceiver<InterruptEvent>¶

Event Object:	port – Type: char, Range: ['a' to 'b'] interrupt_mask – Type: u8, Range: [0 to 255] value_mask – Type: u8, Range: [0 to 255]

Receivers created with this function receive Interrupt events.

This callback is triggered whenever a change of the voltage level is detected on pins where the interrupt was activated with Io16Bricklet::set_port_interrupt.

The values are the port, a bitmask that specifies which interrupts occurred and the current value bitmask of the port.

For example:

• ('a', 1, 1) or ('a', 0b00000001, 0b00000001) means that on port A an interrupt on pin 0 occurred and currently pin 0 is high and pins 1-7 are low.
• ('b', 129, 254) or ('b', 0b10000001, 0b11111110) means that on port B interrupts on pins 0 and 7 occurred and currently pin 0 is low and pins 1-7 are high.

pub fn Io16Bricklet::get_monoflop_done_callback_receiver(&self) → ConvertingCallbackReceiver<MonoflopDoneEvent>¶

Event Object:	port – Type: char, Range: ['a' to 'b'] selection_mask – Type: u8, Range: [0 to 255] value_mask – Type: u8, Range: [0 to 255]

Receivers created with this function receive Monoflop Done events.

This callback is triggered whenever a monoflop timer reaches 0. The members of the received struct contain the port, the involved pins and the current value of the pins (the value after the monoflop).

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 Io16Bricklet::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 Io16Bricklet::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 Io16Bricklet::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:

• IO16_BRICKLET_FUNCTION_SET_PORT = 1
• IO16_BRICKLET_FUNCTION_SET_PORT_CONFIGURATION = 3
• IO16_BRICKLET_FUNCTION_SET_DEBOUNCE_PERIOD = 5
• IO16_BRICKLET_FUNCTION_SET_PORT_INTERRUPT = 7
• IO16_BRICKLET_FUNCTION_SET_PORT_MONOFLOP = 10
• IO16_BRICKLET_FUNCTION_SET_SELECTED_VALUES = 13
• IO16_BRICKLET_FUNCTION_SET_EDGE_COUNT_CONFIG = 15

pub fn Io16Bricklet::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.

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:

• IO16_BRICKLET_FUNCTION_SET_PORT = 1
• IO16_BRICKLET_FUNCTION_SET_PORT_CONFIGURATION = 3
• IO16_BRICKLET_FUNCTION_SET_DEBOUNCE_PERIOD = 5
• IO16_BRICKLET_FUNCTION_SET_PORT_INTERRUPT = 7
• IO16_BRICKLET_FUNCTION_SET_PORT_MONOFLOP = 10
• IO16_BRICKLET_FUNCTION_SET_SELECTED_VALUES = 13
• IO16_BRICKLET_FUNCTION_SET_EDGE_COUNT_CONFIG = 15

pub fn Io16Bricklet::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 Io16Bricklet::DEVICE_IDENTIFIER¶

This constant is used to identify a IO-16 Bricklet.

The Io16Bricklet::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 Io16Bricklet::DEVICE_DISPLAY_NAME¶

This constant represents the human readable name of a IO-16 Bricklet.