Rust - Motion Detector Bricklet 2.0¶

Indicator¶

Download (example_indicator.rs)

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

use tinkerforge::{ip_connection::IpConnection, motion_detector_v2_bricklet::*};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your Motion Detector Bricklet 2.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let md = MotionDetectorV2Bricklet::new(UID, &ipcon); // Create device object.

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

    // Turn blue backlight LEDs on (maximum brightness)
    md.set_indicator(255, 255, 255).recv()?;

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

Callback¶

Download (example_callback.rs)

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use std::{error::Error, io, thread};
use tinkerforge::{ip_connection::IpConnection, motion_detector_v2_bricklet::*};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your Motion Detector Bricklet 2.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let md = MotionDetectorV2Bricklet::new(UID, &ipcon); // Create device object.

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

    let motion_detected_receiver = md.get_motion_detected_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `md` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for _motion_detected in motion_detected_receiver {
            println!("Motion Detected");
        }
    });

    let detection_cycle_ended_receiver = md.get_detection_cycle_ended_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `md` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for _detection_cycle_ended in detection_cycle_ended_receiver {
            println!("Detection Cycle Ended (next detection possible in ~2 seconds)");
        }
    });

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

Basic Functions¶

pub fn MotionDetectorV2Bricklet::new(uid: &str, ip_connection: &IpConnection) → MotionDetectorV2Bricklet¶

Parameters:	uid – Type: &str ip_connection – Type: &IPConnection
Returns:	motion_detector_v2 – Type: MotionDetectorV2Bricklet

Creates a new MotionDetectorV2Bricklet object with the unique device ID uid and adds it to the IPConnection ip_connection:

let motion_detector_v2 = MotionDetectorV2Bricklet::new("YOUR_DEVICE_UID", &ip_connection);

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

pub fn MotionDetectorV2Bricklet::get_motion_detected(&self) → ConvertingReceiver<u8>¶

Returns:	motion – Type: u8, Range: See constants

Returns 1 if a motion was detected. It returns 1 approx. for 1.8 seconds until the sensor checks for a new movement.

The following constants are available for this function:

For motion:

• MOTION_DETECTOR_V2_BRICKLET_MOTION_NOT_DETECTED = 0
• MOTION_DETECTOR_V2_BRICKLET_MOTION_DETECTED = 1

pub fn MotionDetectorV2Bricklet::set_sensitivity(&self, sensitivity: u8) → ConvertingReceiver<()>¶

Parameters:	sensitivity – Type: u8, Range: [0 to 100], Default: 50

Sets the sensitivity of the PIR sensor. At full sensitivity (100), the Bricklet can detect motion in a range of approximately 12m.

The actual range depends on many things in the environment (e.g. reflections) and the size of the object to be detected. While a big person might be detected in a range of 10m a cat may only be detected at 2m distance with the same setting.

So you will have to find a good sensitivity for your application by trial and error.

pub fn MotionDetectorV2Bricklet::get_sensitivity(&self) → ConvertingReceiver<u8>¶

Returns:	sensitivity – Type: u8, Range: [0 to 100], Default: 50

Returns the sensitivity as set by MotionDetectorV2Bricklet::set_sensitivity.

pub fn MotionDetectorV2Bricklet::set_indicator(&self, top_left: u8, top_right: u8, bottom: u8) → ConvertingReceiver<()>¶

Parameters:	top_left – Type: u8, Range: [0 to 255], Default: 0 top_right – Type: u8, Range: [0 to 255], Default: 0 bottom – Type: u8, Range: [0 to 255], Default: 0

Sets the blue backlight of the fresnel lens. The backlight consists of three LEDs. The brightness of each LED can be controlled with a 8-bit value (0-255). A value of 0 turns the LED off and a value of 255 turns the LED to full brightness.

pub fn MotionDetectorV2Bricklet::get_indicator(&self) → ConvertingReceiver<Indicator>¶

Return Object:	top_left – Type: u8, Range: [0 to 255], Default: 0 top_right – Type: u8, Range: [0 to 255], Default: 0 bottom – Type: u8, Range: [0 to 255], Default: 0

Returns the indicator configuration as set by MotionDetectorV2Bricklet::set_indicator.

Advanced Functions¶

pub fn MotionDetectorV2Bricklet::get_spitfp_error_count(&self) → ConvertingReceiver<SpitfpErrorCount>¶

Return Object:	error_count_ack_checksum – Type: u32, Range: [0 to 232 - 1] error_count_message_checksum – Type: u32, Range: [0 to 232 - 1] error_count_frame – Type: u32, Range: [0 to 232 - 1] error_count_overflow – Type: u32, Range: [0 to 232 - 1]

Returns the error count for the communication between Brick and Bricklet.

The errors are divided into

• ACK checksum errors,
• message checksum errors,
• framing errors and
• overflow errors.

The errors counts are for errors that occur on the Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.

pub fn MotionDetectorV2Bricklet::set_status_led_config(&self, config: u8) → ConvertingReceiver<()>¶

Parameters:	config – Type: u8, Range: See constants, Default: 3

Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets.

You can also turn the LED permanently on/off or show a heartbeat.

If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.

The following constants are available for this function:

For config:

• MOTION_DETECTOR_V2_BRICKLET_STATUS_LED_CONFIG_OFF = 0
• MOTION_DETECTOR_V2_BRICKLET_STATUS_LED_CONFIG_ON = 1
• MOTION_DETECTOR_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• MOTION_DETECTOR_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS = 3

pub fn MotionDetectorV2Bricklet::get_status_led_config(&self) → ConvertingReceiver<u8>¶

Returns:	config – Type: u8, Range: See constants, Default: 3

Returns the configuration as set by MotionDetectorV2Bricklet::set_status_led_config

The following constants are available for this function:

For config:

• MOTION_DETECTOR_V2_BRICKLET_STATUS_LED_CONFIG_OFF = 0
• MOTION_DETECTOR_V2_BRICKLET_STATUS_LED_CONFIG_ON = 1
• MOTION_DETECTOR_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• MOTION_DETECTOR_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS = 3

pub fn MotionDetectorV2Bricklet::get_chip_temperature(&self) → ConvertingReceiver<i16>¶

Returns:	temperature – Type: i16, Unit: 1 °C, Range: [-215 to 215 - 1]

Returns the temperature as measured inside the microcontroller. The value returned is not the ambient temperature!

The temperature is only proportional to the real temperature and it has bad accuracy. Practically it is only useful as an indicator for temperature changes.

pub fn MotionDetectorV2Bricklet::reset(&self) → ConvertingReceiver<()>¶

Calling this function will reset the Bricklet. All configurations will be lost.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

pub fn MotionDetectorV2Bricklet::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.

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 MotionDetectorV2Bricklet::get_motion_detected_callback_receiver(&self) → ConvertingCallbackReceiver<()>¶

Receivers created with this function receive Motion Detected events.

This callback is called after a motion was detected.

pub fn MotionDetectorV2Bricklet::get_detection_cycle_ended_callback_receiver(&self) → ConvertingCallbackReceiver<()>¶

Receivers created with this function receive Detection Cycle Ended events.

This callback is called when the detection cycle ended. When this callback is called, a new motion can be detected again after approximately 2 seconds.

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 MotionDetectorV2Bricklet::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 MotionDetectorV2Bricklet::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 MotionDetectorV2Bricklet::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:

• MOTION_DETECTOR_V2_BRICKLET_FUNCTION_SET_SENSITIVITY = 2
• MOTION_DETECTOR_V2_BRICKLET_FUNCTION_SET_INDICATOR = 4
• MOTION_DETECTOR_V2_BRICKLET_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• MOTION_DETECTOR_V2_BRICKLET_FUNCTION_SET_STATUS_LED_CONFIG = 239
• MOTION_DETECTOR_V2_BRICKLET_FUNCTION_RESET = 243
• MOTION_DETECTOR_V2_BRICKLET_FUNCTION_WRITE_UID = 248

pub fn MotionDetectorV2Bricklet::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:

• MOTION_DETECTOR_V2_BRICKLET_FUNCTION_SET_SENSITIVITY = 2
• MOTION_DETECTOR_V2_BRICKLET_FUNCTION_SET_INDICATOR = 4
• MOTION_DETECTOR_V2_BRICKLET_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• MOTION_DETECTOR_V2_BRICKLET_FUNCTION_SET_STATUS_LED_CONFIG = 239
• MOTION_DETECTOR_V2_BRICKLET_FUNCTION_RESET = 243
• MOTION_DETECTOR_V2_BRICKLET_FUNCTION_WRITE_UID = 248

pub fn MotionDetectorV2Bricklet::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.

Internal Functions¶

Internal functions are used for maintenance tasks such as flashing a new firmware of changing the UID of a Bricklet. These task should be performed using Brick Viewer instead of using the internal functions directly.

pub fn MotionDetectorV2Bricklet::set_bootloader_mode(&self, mode: u8) → ConvertingReceiver<u8>¶

Parameters:	mode – Type: u8, Range: See constants
Returns:	status – Type: u8, Range: See constants

Sets the bootloader mode and returns the status after the requested mode change was instigated.

You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

The following constants are available for this function:

For mode:

• MOTION_DETECTOR_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER = 0
• MOTION_DETECTOR_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE = 1
• MOTION_DETECTOR_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• MOTION_DETECTOR_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• MOTION_DETECTOR_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

• MOTION_DETECTOR_V2_BRICKLET_BOOTLOADER_STATUS_OK = 0
• MOTION_DETECTOR_V2_BRICKLET_BOOTLOADER_STATUS_INVALID_MODE = 1
• MOTION_DETECTOR_V2_BRICKLET_BOOTLOADER_STATUS_NO_CHANGE = 2
• MOTION_DETECTOR_V2_BRICKLET_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
• MOTION_DETECTOR_V2_BRICKLET_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
• MOTION_DETECTOR_V2_BRICKLET_BOOTLOADER_STATUS_CRC_MISMATCH = 5

pub fn MotionDetectorV2Bricklet::get_bootloader_mode(&self) → ConvertingReceiver<u8>¶

Returns:	mode – Type: u8, Range: See constants

Returns the current bootloader mode, see MotionDetectorV2Bricklet::set_bootloader_mode.

The following constants are available for this function:

For mode:

• MOTION_DETECTOR_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER = 0
• MOTION_DETECTOR_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE = 1
• MOTION_DETECTOR_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• MOTION_DETECTOR_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• MOTION_DETECTOR_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

pub fn MotionDetectorV2Bricklet::set_write_firmware_pointer(&self, pointer: u32) → ConvertingReceiver<()>¶

Parameters:	pointer – Type: u32, Unit: 1 B, Range: [0 to 232 - 1]

Sets the firmware pointer for MotionDetectorV2Bricklet::write_firmware. The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256).

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

pub fn MotionDetectorV2Bricklet::write_firmware(&self, data: [u8; 64]) → ConvertingReceiver<u8>¶

Parameters:	data – Type: [u8; 64], Range: [0 to 255]
Returns:	status – Type: u8, Range: [0 to 255]

Writes 64 Bytes of firmware at the position as written by MotionDetectorV2Bricklet::set_write_firmware_pointer before. The firmware is written to flash every 4 chunks.

You can only write firmware in bootloader mode.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

pub fn MotionDetectorV2Bricklet::write_uid(&self, uid: u32) → ConvertingReceiver<()>¶

Parameters:	uid – Type: u32, Range: [0 to 232 - 1]

Writes a new UID into flash. If you want to set a new UID you have to decode the Base58 encoded UID string into an integer first.

We recommend that you use Brick Viewer to change the UID.

pub fn MotionDetectorV2Bricklet::read_uid(&self) → ConvertingReceiver<u32>¶

Returns:	uid – Type: u32, Range: [0 to 232 - 1]

Returns the current UID as an integer. Encode as Base58 to get the usual string version.

Constants¶

pub const MotionDetectorV2Bricklet::DEVICE_IDENTIFIER¶

This constant is used to identify a Motion Detector Bricklet 2.0.

The MotionDetectorV2Bricklet::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 MotionDetectorV2Bricklet::DEVICE_DISPLAY_NAME¶

This constant represents the human readable name of a Motion Detector Bricklet 2.0.