C# - Line Bricklet¶

Simple¶

Download (ExampleSimple.cs)

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using System;
using Tinkerforge;

class Example
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "XYZ"; // Change XYZ to the UID of your Line Bricklet

    static void Main()
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletLine l = new BrickletLine(UID, ipcon); // Create device object

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

        // Get current reflectivity
        int reflectivity = l.GetReflectivity();
        Console.WriteLine("Reflectivity: " + reflectivity);

        Console.WriteLine("Press enter to exit");
        Console.ReadLine();
        ipcon.Disconnect();
    }
}

Callback¶

Download (ExampleCallback.cs)

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using System;
using Tinkerforge;

class Example
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "XYZ"; // Change XYZ to the UID of your Line Bricklet

    // Callback function for reflectivity callback
    static void ReflectivityCB(BrickletLine sender, int reflectivity)
    {
        Console.WriteLine("Reflectivity: " + reflectivity);
    }

    static void Main()
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletLine l = new BrickletLine(UID, ipcon); // Create device object

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

        // Register reflectivity callback to function ReflectivityCB
        l.ReflectivityCallback += ReflectivityCB;

        // Set period for reflectivity callback to 1s (1000ms)
        // Note: The reflectivity callback is only called every second
        //       if the reflectivity has changed since the last call!
        l.SetReflectivityCallbackPeriod(1000);

        Console.WriteLine("Press enter to exit");
        Console.ReadLine();
        ipcon.Disconnect();
    }
}

Threshold¶

Download (ExampleThreshold.cs)

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using System;
using Tinkerforge;

class Example
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "XYZ"; // Change XYZ to the UID of your Line Bricklet

    // Callback function for reflectivity reached callback
    static void ReflectivityReachedCB(BrickletLine sender, int reflectivity)
    {
        Console.WriteLine("Reflectivity: " + reflectivity);
    }

    static void Main()
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletLine l = new BrickletLine(UID, ipcon); // Create device object

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

        // Get threshold callbacks with a debounce time of 1 second (1000ms)
        l.SetDebouncePeriod(1000);

        // Register reflectivity reached callback to function ReflectivityReachedCB
        l.ReflectivityReachedCallback += ReflectivityReachedCB;

        // Configure threshold for reflectivity "greater than 2000"
        l.SetReflectivityCallbackThreshold('>', 2000, 0);

        Console.WriteLine("Press enter to exit");
        Console.ReadLine();
        ipcon.Disconnect();
    }
}

Basic Functions¶

class BrickletLine(string uid, IPConnection ipcon)¶

Parameters:	uid – Type: string ipcon – Type: IPConnection
Returns:	line – Type: BrickletLine

Creates an object with the unique device ID uid:

BrickletLine line = new BrickletLine("YOUR_DEVICE_UID", ipcon);

This object can then be used after the IP Connection is connected.

int BrickletLine.GetReflectivity()¶

Returns:	reflectivity – Type: int, Range: [0 to 212 - 1]

Returns the currently measured reflectivity. The reflectivity is a value between 0 (not reflective) and 4095 (very reflective).

Usually black has a low reflectivity while white has a high reflectivity.

If you want to get the reflectivity periodically, it is recommended to use the ReflectivityCallback callback and set the period with SetReflectivityCallbackPeriod().

Advanced Functions¶

void BrickletLine.GetIdentity(out string uid, out string connectedUid, out char position, out byte[] hardwareVersion, out byte[] firmwareVersion, out int deviceIdentifier)¶

Output Parameters:

uid – Type: string, Length: up to 8 connectedUid – Type: string, Length: up to 8 position – Type: char, Range: ['a' to 'h', 'z'] hardwareVersion – Type: byte[], Length: 3 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, Range: [0 to 255] firmwareVersion – Type: byte[], Length: 3 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, Range: [0 to 255] deviceIdentifier – Type: int, 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¶

void BrickletLine.SetReflectivityCallbackPeriod(long period)¶

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

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

The ReflectivityCallback callback is only triggered if the reflectivity has changed since the last triggering.

long BrickletLine.GetReflectivityCallbackPeriod()¶

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

Returns the period as set by SetReflectivityCallbackPeriod().

void BrickletLine.SetReflectivityCallbackThreshold(char option, int min, int max)¶

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

Sets the thresholds for the ReflectivityReachedCallback callback.

The following options are possible:

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

The following constants are available for this function:

For option:

• BrickletLine.THRESHOLD_OPTION_OFF = 'x'
• BrickletLine.THRESHOLD_OPTION_OUTSIDE = 'o'
• BrickletLine.THRESHOLD_OPTION_INSIDE = 'i'
• BrickletLine.THRESHOLD_OPTION_SMALLER = '<'
• BrickletLine.THRESHOLD_OPTION_GREATER = '>'

void BrickletLine.GetReflectivityCallbackThreshold(out char option, out int min, out int max)¶

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

Returns the threshold as set by SetReflectivityCallbackThreshold().

The following constants are available for this function:

For option:

• BrickletLine.THRESHOLD_OPTION_OFF = 'x'
• BrickletLine.THRESHOLD_OPTION_OUTSIDE = 'o'
• BrickletLine.THRESHOLD_OPTION_INSIDE = 'i'
• BrickletLine.THRESHOLD_OPTION_SMALLER = '<'
• BrickletLine.THRESHOLD_OPTION_GREATER = '>'

void BrickletLine.SetDebouncePeriod(long debounce)¶

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

Sets the period with which the threshold callback

• ReflectivityReachedCallback

is triggered, if the threshold

• SetReflectivityCallbackThreshold()

keeps being reached.

long BrickletLine.GetDebouncePeriod()¶

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

Returns the debounce period as set by SetDebouncePeriod().

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by appending your callback handler to the corresponding event:

void MyCallback(BrickletLine sender, int value)
{
    System.Console.WriteLine("Value: " + value);
}

line.ExampleCallback += MyCallback;

The available events are described below.

event BrickletLine.ReflectivityCallback(BrickletLine sender, int reflectivity)¶

Callback Parameters:	sender – Type: BrickletLine reflectivity – Type: int, Range: [0 to 212 - 1]

This callback is triggered periodically with the period that is set by SetReflectivityCallbackPeriod(). The parameter is the reflectivity of the sensor.

The ReflectivityCallback callback is only triggered if the reflectivity has changed since the last triggering.

event BrickletLine.ReflectivityReachedCallback(BrickletLine sender, int reflectivity)¶

Callback Parameters:	sender – Type: BrickletLine reflectivity – Type: int, Range: [0 to 212 - 1]

This callback is triggered when the threshold as set by SetReflectivityCallbackThreshold() is reached. The parameter is the reflectivity of the sensor.

If the threshold keeps being reached, the callback is triggered periodically with the period as set by SetDebouncePeriod().

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.

byte[] BrickletLine.GetAPIVersion()¶

Output Parameters:	apiVersion – Type: byte[], Length: 3 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, 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.

bool BrickletLine.GetResponseExpected(byte functionId)¶

Parameters:	functionId – Type: byte, Range: See constants
Returns:	responseExpected – 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 SetResponseExpected(). 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 functionId:

• BrickletLine.FUNCTION_SET_REFLECTIVITY_CALLBACK_PERIOD = 2
• BrickletLine.FUNCTION_SET_REFLECTIVITY_CALLBACK_THRESHOLD = 4
• BrickletLine.FUNCTION_SET_DEBOUNCE_PERIOD = 6

void BrickletLine.SetResponseExpected(byte functionId, bool responseExpected)¶

Parameters:	functionId – Type: byte, Range: See constants responseExpected – 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 functionId:

• BrickletLine.FUNCTION_SET_REFLECTIVITY_CALLBACK_PERIOD = 2
• BrickletLine.FUNCTION_SET_REFLECTIVITY_CALLBACK_THRESHOLD = 4
• BrickletLine.FUNCTION_SET_DEBOUNCE_PERIOD = 6

void BrickletLine.SetResponseExpectedAll(bool responseExpected)¶

Parameters:	responseExpected – Type: bool

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

Constants¶

int BrickletLine.DEVICE_IDENTIFIER¶

This constant is used to identify a Line Bricklet.

The GetIdentity() function and the IPConnection.EnumerateCallback callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

string BrickletLine.DEVICE_DISPLAY_NAME¶

This constant represents the human readable name of a Line Bricklet.