Java - Color Bricklet

This is the description of the Java 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 Java API bindings is part of their general description.

Examples

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

Simple

Download (ExampleSimple.java)

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import com.tinkerforge.IPConnection;
import com.tinkerforge.BrickletColor;
import com.tinkerforge.BrickletColor.Color;

public class ExampleSimple {
    private static final String HOST = "localhost";
    private static final int PORT = 4223;

    // Change XYZ to the UID of your Color Bricklet
    private static final String UID = "XYZ";

    // Note: To make the example code cleaner we do not handle exceptions. Exceptions
    //       you might normally want to catch are described in the documentation
    public static void main(String args[]) throws Exception {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletColor c = new BrickletColor(UID, ipcon); // Create device object

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

        // Get current color
        Color color = c.getColor(); // Can throw com.tinkerforge.TimeoutException

        System.out.println("Color [R]: " + color.r);
        System.out.println("Color [G]: " + color.g);
        System.out.println("Color [B]: " + color.b);
        System.out.println("Color [C]: " + color.c);

        System.out.println("Press key to exit"); System.in.read();
        ipcon.disconnect();
    }
}

Callback

Download (ExampleCallback.java)

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import com.tinkerforge.IPConnection;
import com.tinkerforge.BrickletColor;

public class ExampleCallback {
    private static final String HOST = "localhost";
    private static final int PORT = 4223;

    // Change XYZ to the UID of your Color Bricklet
    private static final String UID = "XYZ";

    // Note: To make the example code cleaner we do not handle exceptions. Exceptions
    //       you might normally want to catch are described in the documentation
    public static void main(String args[]) throws Exception {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletColor c = new BrickletColor(UID, ipcon); // Create device object

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

        // Add color listener
        c.addColorListener(new BrickletColor.ColorListener() {
            public void color(int r, int g, int b, int c) {
                System.out.println("Color [R]: " + r);
                System.out.println("Color [G]: " + g);
                System.out.println("Color [B]: " + b);
                System.out.println("Color [C]: " + c);
                System.out.println("");
            }
        });

        // 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);

        System.out.println("Press key to exit"); System.in.read();
        ipcon.disconnect();
    }
}

Threshold

Download (ExampleThreshold.java)

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import com.tinkerforge.IPConnection;
import com.tinkerforge.BrickletColor;

public class ExampleThreshold {
    private static final String HOST = "localhost";
    private static final int PORT = 4223;

    // Change XYZ to the UID of your Color Bricklet
    private static final String UID = "XYZ";

    // Note: To make the example code cleaner we do not handle exceptions. Exceptions
    //       you might normally want to catch are described in the documentation
    public static void main(String args[]) throws Exception {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletColor c = new BrickletColor(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 10 seconds (10000ms)
        c.setDebouncePeriod(10000);

        // Add color reached listener
        c.addColorReachedListener(new BrickletColor.ColorReachedListener() {
            public void colorReached(int r, int g, int b, int c) {
                System.out.println("Color [R]: " + r);
                System.out.println("Color [G]: " + g);
                System.out.println("Color [B]: " + b);
                System.out.println("Color [C]: " + c);
                System.out.println("");
            }
        });

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

        System.out.println("Press key to exit"); System.in.read();
        ipcon.disconnect();
    }
}

API

Generally, every method of the Java bindings that returns a value can throw a TimeoutException. This exception gets thrown if the device did not respond. If a cable based connection is used, it is unlikely that this exception gets thrown (assuming nobody unplugs the device). However, if a wireless connection is used, timeouts will occur if the distance to the device gets too big.

Beside the TimeoutException there is also a NotConnectedException that is thrown if a method needs to communicate with the device while the IP Connection is not connected.

Since Java does not support multiple return values and return by reference is not possible for primitive types, we use small classes that only consist of member variables. The member variables of the returned objects are described in the corresponding method descriptions.

The package for all Brick/Bricklet bindings and the IP Connection is com.tinkerforge.*

All methods listed below are thread-safe.

Basic Functions

public class BrickletColor(String uid, IPConnection ipcon)

Creates an object with the unique device ID uid:

BrickletColor color = new BrickletColor("YOUR_DEVICE_UID", ipcon);

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

public BrickletColor.Color getColor()

Returns the measured color of the sensor. The values have a range of 0 to 65535.

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 ColorListener listener and set the period with setColorCallbackPeriod().

The returned object has the public member variables int r, int g, int b and int c.

public void lightOn()

Turns the LED on.

public void lightOff()

Turns the LED off.

public short isLightOn()

Returns the state of the LED. Possible values are:

  • 0: On
  • 1: Off

The following constants are available for this function:

  • BrickletColor.LIGHT_ON = 0
  • BrickletColor.LIGHT_OFF = 1
public void setConfig(short gain, short integrationTime)

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 default values are 60x gain and 154ms integration time.

The following constants are available for this function:

  • BrickletColor.GAIN_1X = 0
  • BrickletColor.GAIN_4X = 1
  • BrickletColor.GAIN_16X = 2
  • BrickletColor.GAIN_60X = 3
  • BrickletColor.INTEGRATION_TIME_2MS = 0
  • BrickletColor.INTEGRATION_TIME_24MS = 1
  • BrickletColor.INTEGRATION_TIME_101MS = 2
  • BrickletColor.INTEGRATION_TIME_154MS = 3
  • BrickletColor.INTEGRATION_TIME_700MS = 4
public BrickletColor.Config getConfig()

Returns the configuration as set by setConfig().

The following constants are available for this function:

  • BrickletColor.GAIN_1X = 0
  • BrickletColor.GAIN_4X = 1
  • BrickletColor.GAIN_16X = 2
  • BrickletColor.GAIN_60X = 3
  • BrickletColor.INTEGRATION_TIME_2MS = 0
  • BrickletColor.INTEGRATION_TIME_24MS = 1
  • BrickletColor.INTEGRATION_TIME_101MS = 2
  • BrickletColor.INTEGRATION_TIME_154MS = 3
  • BrickletColor.INTEGRATION_TIME_700MS = 4

The returned object has the public member variables short gain and short integrationTime.

public long getIlluminance()

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 themself 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().

public int getColorTemperature()

Returns the color temperature in Kelvin.

To get a correct color temperature measurement make sure that the color values themself 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

public short[] getAPIVersion()

Returns the version of the API definition (major, minor, revision) 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.

public boolean getResponseExpected(short functionId)

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 listener 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.

See setResponseExpected() for the list of function ID constants available for this function.

public void setResponseExpected(short functionId, boolean responseExpected)

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 listener 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 function ID constants are available for this function:

  • BrickletColor.FUNCTION_SET_COLOR_CALLBACK_PERIOD = 2
  • BrickletColor.FUNCTION_SET_COLOR_CALLBACK_THRESHOLD = 4
  • BrickletColor.FUNCTION_SET_DEBOUNCE_PERIOD = 6
  • BrickletColor.FUNCTION_LIGHT_ON = 10
  • BrickletColor.FUNCTION_LIGHT_OFF = 11
  • BrickletColor.FUNCTION_SET_CONFIG = 13
  • BrickletColor.FUNCTION_SET_ILLUMINANCE_CALLBACK_PERIOD = 17
  • BrickletColor.FUNCTION_SET_COLOR_TEMPERATURE_CALLBACK_PERIOD = 19
public void setResponseExpectedAll(boolean responseExpected)

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

public BrickletColor.Identity getIdentity()

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' or 'd'.

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

The returned object has the public member variables String uid, String connectedUid, char position, short[] hardwareVersion, short[] firmwareVersion and int deviceIdentifier.

Listener Configuration Functions

public void setColorCallbackPeriod(long period)

Sets the period in ms with which the ColorListener listener is triggered periodically. A value of 0 turns the listener off.

The ColorListener listener is only triggered if the color has changed since the last triggering.

The default value is 0.

public long getColorCallbackPeriod()

Returns the period as set by setColorCallbackPeriod().

public void setColorCallbackThreshold(char option, int minR, int maxR, int minG, int maxG, int minB, int maxB, int minC, int maxC)

Sets the thresholds for the ColorReachedListener listener.

The following options are possible:

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

The default value is ('x', 0, 0, 0, 0, 0, 0, 0, 0).

The following constants are available for this function:

  • BrickletColor.THRESHOLD_OPTION_OFF = 'x'
  • BrickletColor.THRESHOLD_OPTION_OUTSIDE = 'o'
  • BrickletColor.THRESHOLD_OPTION_INSIDE = 'i'
  • BrickletColor.THRESHOLD_OPTION_SMALLER = '<'
  • BrickletColor.THRESHOLD_OPTION_GREATER = '>'
public BrickletColor.ColorCallbackThreshold getColorCallbackThreshold()

Returns the threshold as set by setColorCallbackThreshold().

The following constants are available for this function:

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

The returned object has the public member variables char option, int minR, int maxR, int minG, int maxG, int minB, int maxB, int minC and int maxC.

public void setDebouncePeriod(long debounce)

Sets the period in ms with which the threshold listener

is triggered, if the threshold

keeps being reached.

The default value is 100.

public long getDebouncePeriod()

Returns the debounce period as set by setDebouncePeriod().

public void setIlluminanceCallbackPeriod(long period)

Sets the period in ms with which the IlluminanceListener listener is triggered periodically. A value of 0 turns the listener off.

The IlluminanceListener listener is only triggered if the illuminance has changed since the last triggering.

The default value is 0.

public long getIlluminanceCallbackPeriod()

Returns the period as set by setIlluminanceCallbackPeriod().

public void setColorTemperatureCallbackPeriod(long period)

Sets the period in ms with which the ColorTemperatureListener listener is triggered periodically. A value of 0 turns the listener off.

The ColorTemperatureListener listener is only triggered if the color temperature has changed since the last triggering.

The default value is 0.

public long getColorTemperatureCallbackPeriod()

Returns the period as set by setColorTemperatureCallbackPeriod().

Listeners

Listeners can be registered to receive time critical or recurring data from the device. The registration is done with "add*Listener" functions of the device object.

The parameter is a listener class object, for example:

device.addExampleListener(new BrickletColor.ExampleListener() {
    public void property(int value) {
        System.out.println("Value: " + value);
    }
});

The available listener classes with inherent methods to be overwritten are described below. It is possible to add several listeners and to remove them with the corresponding "remove*Listener" function.

Note

Using listeners 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.

public class BrickletColor.ColorListener()

This listener can be added with the addColorListener() function. An added listener can be removed with the removeColorListener() function.

public void color(int r, int g, int b, int c)

This listener is triggered periodically with the period that is set by setColorCallbackPeriod(). The parameter is the color of the sensor as RGBC.

The ColorListener listener is only triggered if the color has changed since the last triggering.

public class BrickletColor.ColorReachedListener()

This listener can be added with the addColorReachedListener() function. An added listener can be removed with the removeColorReachedListener() function.

public void colorReached(int r, int g, int b, int c)

This listener 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 listener is triggered periodically with the period as set by setDebouncePeriod().

public class BrickletColor.IlluminanceListener()

This listener can be added with the addIlluminanceListener() function. An added listener can be removed with the removeIlluminanceListener() function.

public void illuminance(long illuminance)

This listener 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 IlluminanceListener listener is only triggered if the illuminance has changed since the last triggering.

public class BrickletColor.ColorTemperatureListener()

This listener can be added with the addColorTemperatureListener() function. An added listener can be removed with the removeColorTemperatureListener() function.

public void colorTemperature(int colorTemperature)

This listener is triggered periodically with the period that is set by setColorTemperatureCallbackPeriod(). The parameter is the color temperature in Kelvin.

The ColorTemperatureListener listener is only triggered if the color temperature has changed since the last triggering.

Constants

public static final int BrickletColor.DEVICE_IDENTIFIER

This constant is used to identify a Color Bricklet.

The getIdentity() function and the EnumerateListener listener of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

public static final String BrickletColor.DEVICE_DISPLAY_NAME

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