Delphi/Lazarus - Color Bricklet

This is the description of the Delphi/Lazarus API bindings for the Color Bricklet. General information and technical specifications for the Color Bricklet are summarized in its hardware description.

An installation guide for the Delphi/Lazarus API bindings is part of their general description.

Examples

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

Simple

Download (ExampleSimple.pas)

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program ExampleSimple;

{$ifdef MSWINDOWS}{$apptype CONSOLE}{$endif}
{$ifdef FPC}{$mode OBJFPC}{$H+}{$endif}

uses
  SysUtils, IPConnection, BrickletColor;

type
  TExample = class
  private
    ipcon: TIPConnection;
    c: TBrickletColor;
  public
    procedure Execute;
  end;

const
  HOST = 'localhost';
  PORT = 4223;
  UID = 'XYZ'; { Change XYZ to the UID of your Color Bricklet }

var
  e: TExample;

procedure TExample.Execute;
var r, g, b, c_: word;
begin
  { Create IP connection }
  ipcon := TIPConnection.Create;

  { Create device object }
  c := TBrickletColor.Create(UID, ipcon);

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

  { Get current color }
  c.GetColor(r, g, b, c_);

  WriteLn(Format('Color [R]: %d', [r]));
  WriteLn(Format('Color [G]: %d', [g]));
  WriteLn(Format('Color [B]: %d', [b]));
  WriteLn(Format('Color [C]: %d', [c_]));

  WriteLn('Press key to exit');
  ReadLn;
  ipcon.Destroy; { Calls ipcon.Disconnect internally }
end;

begin
  e := TExample.Create;
  e.Execute;
  e.Destroy;
end.

Callback

Download (ExampleCallback.pas)

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program ExampleCallback;

{$ifdef MSWINDOWS}{$apptype CONSOLE}{$endif}
{$ifdef FPC}{$mode OBJFPC}{$H+}{$endif}

uses
  SysUtils, IPConnection, BrickletColor;

type
  TExample = class
  private
    ipcon: TIPConnection;
    c: TBrickletColor;
  public
    procedure ColorCB(sender: TBrickletColor; const r: word; const g: word; const b: word;
                      const c_: word);
    procedure Execute;
  end;

const
  HOST = 'localhost';
  PORT = 4223;
  UID = 'XYZ'; { Change XYZ to the UID of your Color Bricklet }

var
  e: TExample;

{ Callback procedure for color callback }
procedure TExample.ColorCB(sender: TBrickletColor; const r: word; const g: word;
                           const b: word; const c_: word);
begin
  WriteLn(Format('Color [R]: %d', [r]));
  WriteLn(Format('Color [G]: %d', [g]));
  WriteLn(Format('Color [B]: %d', [b]));
  WriteLn(Format('Color [C]: %d', [c_]));
  WriteLn('');
end;

procedure TExample.Execute;
begin
  { Create IP connection }
  ipcon := TIPConnection.Create;

  { Create device object }
  c := TBrickletColor.Create(UID, ipcon);

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

  { Register color callback to procedure ColorCB }
  c.OnColor := {$ifdef FPC}@{$endif}ColorCB;

  { Set period for color callback to 1s (1000ms)
    Note: The color callback is only called every second
          if the color has changed since the last call! }
  c.SetColorCallbackPeriod(1000);

  WriteLn('Press key to exit');
  ReadLn;
  ipcon.Destroy; { Calls ipcon.Disconnect internally }
end;

begin
  e := TExample.Create;
  e.Execute;
  e.Destroy;
end.

Threshold

Download (ExampleThreshold.pas)

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program ExampleThreshold;

{$ifdef MSWINDOWS}{$apptype CONSOLE}{$endif}
{$ifdef FPC}{$mode OBJFPC}{$H+}{$endif}

uses
  SysUtils, IPConnection, BrickletColor;

type
  TExample = class
  private
    ipcon: TIPConnection;
    c: TBrickletColor;
  public
    procedure ColorReachedCB(sender: TBrickletColor; const r: word; const g: word;
                             const b: word; const c_: word);
    procedure Execute;
  end;

const
  HOST = 'localhost';
  PORT = 4223;
  UID = 'XYZ'; { Change XYZ to the UID of your Color Bricklet }

var
  e: TExample;

{ Callback procedure for color reached callback }
procedure TExample.ColorReachedCB(sender: TBrickletColor; const r: word; const g: word;
                                  const b: word; const c_: word);
begin
  WriteLn(Format('Color [R]: %d', [r]));
  WriteLn(Format('Color [G]: %d', [g]));
  WriteLn(Format('Color [B]: %d', [b]));
  WriteLn(Format('Color [C]: %d', [c_]));
  WriteLn('');
end;

procedure TExample.Execute;
begin
  { Create IP connection }
  ipcon := TIPConnection.Create;

  { Create device object }
  c := TBrickletColor.Create(UID, ipcon);

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

  { Get threshold callbacks with a debounce time of 10 seconds (10000ms) }
  c.SetDebouncePeriod(10000);

  { Register color reached callback to procedure ColorReachedCB }
  c.OnColorReached := {$ifdef FPC}@{$endif}ColorReachedCB;

  { Configure threshold for color "greater than 100, 200, 300, 400" }
  c.SetColorCallbackThreshold('>', 100, 0, 200, 0, 300, 0, 400, 0);

  WriteLn('Press key to exit');
  ReadLn;
  ipcon.Destroy; { Calls ipcon.Disconnect internally }
end;

begin
  e := TExample.Create;
  e.Execute;
  e.Destroy;
end.

API

Since Delphi does not support multiple return values directly, we use the out keyword to return multiple values from a function.

All functions and procedures listed below are thread-safe.

Basic Functions

constructor TBrickletColor.Create(const uid: string; ipcon: TIPConnection)
Parameters:
  • uid – Type: string
  • ipcon – Type: TIPConnection
Returns:
  • color – Type: TBrickletColor

Creates an object with the unique device ID uid:

color := TBrickletColor.Create('YOUR_DEVICE_UID', ipcon);

This object can then be used after the IP Connection is connected (see examples above).

procedure TBrickletColor.GetColor(out r: word; out g: word; out b: word; out c: word)
Output Parameters:
  • r – Type: word, Range: [0 to 216 - 1]
  • g – Type: word, Range: [0 to 216 - 1]
  • b – Type: word, Range: [0 to 216 - 1]
  • c – Type: word, Range: [0 to 216 - 1]

Returns the measured color of the sensor.

The red (r), green (g), blue (b) and clear (c) colors are measured with four different photodiodes that are responsive at different wavelengths:

Chart Responsivity / Wavelength

If you want to get the color periodically, it is recommended to use the OnColor callback and set the period with SetColorCallbackPeriod.

procedure TBrickletColor.LightOn

Turns the LED on.

procedure TBrickletColor.LightOff

Turns the LED off.

function TBrickletColor.IsLightOn: byte
Returns:
  • light – Type: byte, Range: See constants, Default: 1

Returns the state of the LED. Possible values are:

  • 0: On
  • 1: Off

The following constants are available for this function:

For light:

  • BRICKLET_COLOR_LIGHT_ON = 0
  • BRICKLET_COLOR_LIGHT_OFF = 1
procedure TBrickletColor.SetConfig(const gain: byte; const integrationTime: byte)
Parameters:
  • gain – Type: byte, Range: See constants, Default: 3
  • integrationTime – Type: byte, Range: See constants, Default: 3

Sets the configuration of the sensor. Gain and integration time can be configured in this way.

For configuring the gain:

  • 0: 1x Gain
  • 1: 4x Gain
  • 2: 16x Gain
  • 3: 60x Gain

For configuring the integration time:

  • 0: 2.4ms
  • 1: 24ms
  • 2: 101ms
  • 3: 154ms
  • 4: 700ms

Increasing the gain enables the sensor to detect a color from a higher distance.

The integration time provides a trade-off between conversion time and accuracy. With a longer integration time the values read will be more accurate but it will take longer time to get the conversion results.

The following constants are available for this function:

For gain:

  • BRICKLET_COLOR_GAIN_1X = 0
  • BRICKLET_COLOR_GAIN_4X = 1
  • BRICKLET_COLOR_GAIN_16X = 2
  • BRICKLET_COLOR_GAIN_60X = 3

For integrationTime:

  • BRICKLET_COLOR_INTEGRATION_TIME_2MS = 0
  • BRICKLET_COLOR_INTEGRATION_TIME_24MS = 1
  • BRICKLET_COLOR_INTEGRATION_TIME_101MS = 2
  • BRICKLET_COLOR_INTEGRATION_TIME_154MS = 3
  • BRICKLET_COLOR_INTEGRATION_TIME_700MS = 4
procedure TBrickletColor.GetConfig(out gain: byte; out integrationTime: byte)
Output Parameters:
  • gain – Type: byte, Range: See constants, Default: 3
  • integrationTime – Type: byte, Range: See constants, Default: 3

Returns the configuration as set by SetConfig.

The following constants are available for this function:

For gain:

  • BRICKLET_COLOR_GAIN_1X = 0
  • BRICKLET_COLOR_GAIN_4X = 1
  • BRICKLET_COLOR_GAIN_16X = 2
  • BRICKLET_COLOR_GAIN_60X = 3

For integrationTime:

  • BRICKLET_COLOR_INTEGRATION_TIME_2MS = 0
  • BRICKLET_COLOR_INTEGRATION_TIME_24MS = 1
  • BRICKLET_COLOR_INTEGRATION_TIME_101MS = 2
  • BRICKLET_COLOR_INTEGRATION_TIME_154MS = 3
  • BRICKLET_COLOR_INTEGRATION_TIME_700MS = 4
function TBrickletColor.GetIlluminance: longword
Returns:
  • illuminance – Type: longword, Unit: ? lx, Range: [0 to 103438]

Returns the illuminance affected by the gain and integration time as set by SetConfig. To get the illuminance in Lux apply this formula:

lux = illuminance * 700 / gain / integration_time

To get a correct illuminance measurement make sure that the color values themselves are not saturated. The color value (R, G or B) is saturated if it is equal to the maximum value of 65535. In that case you have to reduce the gain, see SetConfig.

function TBrickletColor.GetColorTemperature: word
Returns:
  • colorTemperature – Type: word, Unit: 1 K, Range: [0 to 216 - 1]

Returns the color temperature.

To get a correct color temperature measurement make sure that the color values themselves are not saturated. The color value (R, G or B) is saturated if it is equal to the maximum value of 65535. In that case you have to reduce the gain, see SetConfig.

Advanced Functions

procedure TBrickletColor.GetIdentity(out uid: string; out connectedUid: string; out position: char; out hardwareVersion: array [0..2] of byte; out firmwareVersion: array [0..2] of byte; out deviceIdentifier: word)
Output Parameters:
  • uid – Type: string, Length: up to 8
  • connectedUid – Type: string, Length: up to 8
  • position – Type: char, Range: ['a' to 'h', 'i', 'z']
  • hardwareVersion – Type: array [0..2] of byte
    • 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: array [0..2] of byte
    • 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: word, 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). The Raspberry Pi HAT (Zero) Brick is always at position 'i' and the Bricklet connected to an Isolator Bricklet is always as 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

procedure TBrickletColor.SetColorCallbackPeriod(const period: longword)
Parameters:
  • period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

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

The OnColor callback is only triggered if the color has changed since the last triggering.

function TBrickletColor.GetColorCallbackPeriod: longword
Returns:
  • period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by SetColorCallbackPeriod.

procedure TBrickletColor.SetColorCallbackThreshold(const option: char; const minR: word; const maxR: word; const minG: word; const maxG: word; const minB: word; const maxB: word; const minC: word; const maxC: word)
Parameters:
  • option – Type: char, Range: See constants, Default: 'x'
  • minR – Type: word, Range: [0 to 216 - 1], Default: 0
  • maxR – Type: word, Range: [0 to 216 - 1], Default: 0
  • minG – Type: word, Range: [0 to 216 - 1], Default: 0
  • maxG – Type: word, Range: [0 to 216 - 1], Default: 0
  • minB – Type: word, Range: [0 to 216 - 1], Default: 0
  • maxB – Type: word, Range: [0 to 216 - 1], Default: 0
  • minC – Type: word, Range: [0 to 216 - 1], Default: 0
  • maxC – Type: word, Range: [0 to 216 - 1], Default: 0

Sets the thresholds for the OnColorReached callback.

The following options are possible:

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

The following constants are available for this function:

For option:

  • BRICKLET_COLOR_THRESHOLD_OPTION_OFF = 'x'
  • BRICKLET_COLOR_THRESHOLD_OPTION_OUTSIDE = 'o'
  • BRICKLET_COLOR_THRESHOLD_OPTION_INSIDE = 'i'
  • BRICKLET_COLOR_THRESHOLD_OPTION_SMALLER = '<'
  • BRICKLET_COLOR_THRESHOLD_OPTION_GREATER = '>'
procedure TBrickletColor.GetColorCallbackThreshold(out option: char; out minR: word; out maxR: word; out minG: word; out maxG: word; out minB: word; out maxB: word; out minC: word; out maxC: word)
Output Parameters:
  • option – Type: char, Range: See constants, Default: 'x'
  • minR – Type: word, Range: [0 to 216 - 1], Default: 0
  • maxR – Type: word, Range: [0 to 216 - 1], Default: 0
  • minG – Type: word, Range: [0 to 216 - 1], Default: 0
  • maxG – Type: word, Range: [0 to 216 - 1], Default: 0
  • minB – Type: word, Range: [0 to 216 - 1], Default: 0
  • maxB – Type: word, Range: [0 to 216 - 1], Default: 0
  • minC – Type: word, Range: [0 to 216 - 1], Default: 0
  • maxC – Type: word, Range: [0 to 216 - 1], Default: 0

Returns the threshold as set by SetColorCallbackThreshold.

The following constants are available for this function:

For option:

  • BRICKLET_COLOR_THRESHOLD_OPTION_OFF = 'x'
  • BRICKLET_COLOR_THRESHOLD_OPTION_OUTSIDE = 'o'
  • BRICKLET_COLOR_THRESHOLD_OPTION_INSIDE = 'i'
  • BRICKLET_COLOR_THRESHOLD_OPTION_SMALLER = '<'
  • BRICKLET_COLOR_THRESHOLD_OPTION_GREATER = '>'
procedure TBrickletColor.SetDebouncePeriod(const debounce: longword)
Parameters:
  • debounce – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100

Sets the period with which the threshold callback

is triggered, if the threshold

keeps being reached.

function TBrickletColor.GetDebouncePeriod: longword
Returns:
  • debounce – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100

Returns the debounce period as set by SetDebouncePeriod.

procedure TBrickletColor.SetIlluminanceCallbackPeriod(const period: longword)
Parameters:
  • period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

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

The OnIlluminance callback is only triggered if the illuminance has changed since the last triggering.

function TBrickletColor.GetIlluminanceCallbackPeriod: longword
Returns:
  • period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by SetIlluminanceCallbackPeriod.

procedure TBrickletColor.SetColorTemperatureCallbackPeriod(const period: longword)
Parameters:
  • period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

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

The OnColorTemperature callback is only triggered if the color temperature has changed since the last triggering.

function TBrickletColor.GetColorTemperatureCallbackPeriod: longword
Returns:
  • period – Type: longword, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by SetColorTemperatureCallbackPeriod.

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by assigning a procedure to an callback property of the device object:

procedure TExample.MyCallback(sender: TBrickletColor; const value: longint);
begin
  WriteLn(Format('Value: %d', [value]));
end;

color.OnExample := {$ifdef FPC}@{$endif}example.MyCallback;

The available callback properties and their parameter types are described below.

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.

property TBrickletColor.OnColor
procedure(sender: TBrickletColor; const r: word; const g: word; const b: word; const c: word) of object;
Callback Parameters:
  • sender – Type: TBrickletColor
  • r – Type: word, Range: [0 to 216 - 1]
  • g – Type: word, Range: [0 to 216 - 1]
  • b – Type: word, Range: [0 to 216 - 1]
  • c – Type: word, Range: [0 to 216 - 1]

This callback is triggered periodically with the period that is set by SetColorCallbackPeriod. The parameter is the color of the sensor as RGBC.

The OnColor callback is only triggered if the color has changed since the last triggering.

property TBrickletColor.OnColorReached
procedure(sender: TBrickletColor; const r: word; const g: word; const b: word; const c: word) of object;
Callback Parameters:
  • sender – Type: TBrickletColor
  • r – Type: word, Range: [0 to 216 - 1]
  • g – Type: word, Range: [0 to 216 - 1]
  • b – Type: word, Range: [0 to 216 - 1]
  • c – Type: word, Range: [0 to 216 - 1]

This callback is triggered when the threshold as set by SetColorCallbackThreshold is reached. The parameter is the color of the sensor as RGBC.

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

property TBrickletColor.OnIlluminance
procedure(sender: TBrickletColor; const illuminance: longword) of object;
Callback Parameters:
  • sender – Type: TBrickletColor
  • illuminance – Type: longword, Unit: ? lx, Range: [0 to 103438]

This callback is triggered periodically with the period that is set by SetIlluminanceCallbackPeriod. The parameter is the illuminance. See GetIlluminance for how to interpret this value.

The OnIlluminance callback is only triggered if the illuminance has changed since the last triggering.

property TBrickletColor.OnColorTemperature
procedure(sender: TBrickletColor; const colorTemperature: word) of object;
Callback Parameters:
  • sender – Type: TBrickletColor
  • colorTemperature – Type: word, Unit: 1 K, Range: [0 to 216 - 1]

This callback is triggered periodically with the period that is set by SetColorTemperatureCallbackPeriod. The parameter is the color temperature.

The OnColorTemperature callback is only triggered if the color temperature has changed since the last triggering.

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.

function TBrickletColor.GetAPIVersion: array [0..2] of byte
Output Parameters:
  • apiVersion – Type: array [0..2] of byte
    • 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.

function TBrickletColor.GetResponseExpected(const functionId: byte): boolean
Parameters:
  • functionId – Type: byte, Range: See constants
Returns:
  • responseExpected – Type: boolean

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 send and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

  • BRICKLET_COLOR_FUNCTION_SET_COLOR_CALLBACK_PERIOD = 2
  • BRICKLET_COLOR_FUNCTION_SET_COLOR_CALLBACK_THRESHOLD = 4
  • BRICKLET_COLOR_FUNCTION_SET_DEBOUNCE_PERIOD = 6
  • BRICKLET_COLOR_FUNCTION_LIGHT_ON = 10
  • BRICKLET_COLOR_FUNCTION_LIGHT_OFF = 11
  • BRICKLET_COLOR_FUNCTION_SET_CONFIG = 13
  • BRICKLET_COLOR_FUNCTION_SET_ILLUMINANCE_CALLBACK_PERIOD = 17
  • BRICKLET_COLOR_FUNCTION_SET_COLOR_TEMPERATURE_CALLBACK_PERIOD = 19
procedure TBrickletColor.SetResponseExpected(const functionId: byte; const responseExpected: boolean)
Parameters:
  • functionId – Type: byte, Range: See constants
  • responseExpected – Type: boolean

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 send and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

  • BRICKLET_COLOR_FUNCTION_SET_COLOR_CALLBACK_PERIOD = 2
  • BRICKLET_COLOR_FUNCTION_SET_COLOR_CALLBACK_THRESHOLD = 4
  • BRICKLET_COLOR_FUNCTION_SET_DEBOUNCE_PERIOD = 6
  • BRICKLET_COLOR_FUNCTION_LIGHT_ON = 10
  • BRICKLET_COLOR_FUNCTION_LIGHT_OFF = 11
  • BRICKLET_COLOR_FUNCTION_SET_CONFIG = 13
  • BRICKLET_COLOR_FUNCTION_SET_ILLUMINANCE_CALLBACK_PERIOD = 17
  • BRICKLET_COLOR_FUNCTION_SET_COLOR_TEMPERATURE_CALLBACK_PERIOD = 19
procedure TBrickletColor.SetResponseExpectedAll(const responseExpected: boolean)
Parameters:
  • responseExpected – Type: boolean

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

Constants

const BRICKLET_COLOR_DEVICE_IDENTIFIER

This constant is used to identify a Color Bricklet.

The GetIdentity function and the TIPConnection.OnEnumerate callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

const BRICKLET_COLOR_DEVICE_DISPLAY_NAME

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