Rust - Color Bricklet

This is the description of the Rust 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 Rust API bindings is part of their general description. Additional documentation can be found on docs.rs.

Examples

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

Simple

Download (example_simple.rs)

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

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

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

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

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

    // Get current color.
    let color = c.get_color().recv()?;

    println!("Color [R]: {}", color.r);
    println!("Color [G]: {}", color.g);
    println!("Color [B]: {}", color.b);
    println!("Color [C]: {}", color.c);

    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::{color_bricklet::*, ip_connection::IpConnection};

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

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

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

    let color_receiver = c.get_color_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `c` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for color in color_receiver {
            println!("Color [R]: {}", color.r);
            println!("Color [G]: {}", color.g);
            println!("Color [B]: {}", color.b);
            println!("Color [C]: {}", color.c);
            println!();
        }
    });

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

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

Threshold

Download (example_threshold.rs)

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

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

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

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

    // Get threshold receivers with a debounce time of 10 seconds (10000ms).
    c.set_debounce_period(10000);

    let color_reached_receiver = c.get_color_reached_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `c` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for color_reached in color_reached_receiver {
            println!("Color [R]: {}", color_reached.r);
            println!("Color [G]: {}", color_reached.g);
            println!("Color [B]: {}", color_reached.b);
            println!("Color [C]: {}", color_reached.c);
            println!();
        }
    });

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

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

API

To allow non-blocking usage, nearly every function of the Rust bindings returns a wrapper around a mpsc::Receiver. To block until the function has finished and get your result, call one of the receiver's recv variants. Those return either the result sent by the device, or any error occured.

Functions returning a result directly will block until the device has finished processing the request.

All functions listed below are thread-safe, those which return a receiver are lock-free.

Basic Functions

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

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

This device object can be used after the IP connection has been connected (see examples above).

pub fn ColorBricklet::get_color(&self) → ConvertingReceiver<Color>

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 ColorBricklet::get_color_callback_receiver callback and set the period with ColorBricklet::set_color_callback_period.

pub fn ColorBricklet::light_on(&self) → ConvertingReceiver<()>

Turns the LED on.

pub fn ColorBricklet::light_off(&self) → ConvertingReceiver<()>

Turns the LED off.

pub fn ColorBricklet::is_light_on(&self) → ConvertingReceiver<u8>

Returns the state of the LED. Possible values are:

  • 0: On
  • 1: Off

The following constants are available for this function:

  • COLOR_BRICKLET_LIGHT_ON = 0
  • COLOR_BRICKLET_LIGHT_OFF = 1
pub fn ColorBricklet::set_config(&self, gain: u8, integration_time: u8) → ConvertingReceiver<()>

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:

  • COLOR_BRICKLET_GAIN_1X = 0
  • COLOR_BRICKLET_GAIN_4X = 1
  • COLOR_BRICKLET_GAIN_16X = 2
  • COLOR_BRICKLET_GAIN_60X = 3
  • COLOR_BRICKLET_INTEGRATION_TIME_2MS = 0
  • COLOR_BRICKLET_INTEGRATION_TIME_24MS = 1
  • COLOR_BRICKLET_INTEGRATION_TIME_101MS = 2
  • COLOR_BRICKLET_INTEGRATION_TIME_154MS = 3
  • COLOR_BRICKLET_INTEGRATION_TIME_700MS = 4
pub fn ColorBricklet::get_config(&self) → ConvertingReceiver<Config>

Returns the configuration as set by ColorBricklet::set_config.

The following constants are available for this function:

  • COLOR_BRICKLET_GAIN_1X = 0
  • COLOR_BRICKLET_GAIN_4X = 1
  • COLOR_BRICKLET_GAIN_16X = 2
  • COLOR_BRICKLET_GAIN_60X = 3
  • COLOR_BRICKLET_INTEGRATION_TIME_2MS = 0
  • COLOR_BRICKLET_INTEGRATION_TIME_24MS = 1
  • COLOR_BRICKLET_INTEGRATION_TIME_101MS = 2
  • COLOR_BRICKLET_INTEGRATION_TIME_154MS = 3
  • COLOR_BRICKLET_INTEGRATION_TIME_700MS = 4
pub fn ColorBricklet::get_illuminance(&self) → ConvertingReceiver<u32>

Returns the illuminance affected by the gain and integration time as set by ColorBricklet::set_config. 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 ColorBricklet::set_config.

pub fn ColorBricklet::get_color_temperature(&self) → ConvertingReceiver<u16>

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 ColorBricklet::set_config.

Advanced Functions

pub fn ColorBricklet::get_api_version(&self) → [u8; 3]

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.

pub fn ColorBricklet::get_response_expected(&mut self, function_id: u8) → 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 ColorBricklet::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 send and errors are silently ignored, because they cannot be detected.

See ColorBricklet::set_response_expected for the list of function ID constants available for this function.

pub fn ColorBricklet::set_response_expected(&mut self, function_id: u8, response_expected: 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 send and errors are silently ignored, because they cannot be detected.

The following function ID constants are available for this function:

  • COLOR_BRICKLET_FUNCTION_SET_COLOR_CALLBACK_PERIOD = 2
  • COLOR_BRICKLET_FUNCTION_SET_COLOR_CALLBACK_THRESHOLD = 4
  • COLOR_BRICKLET_FUNCTION_SET_DEBOUNCE_PERIOD = 6
  • COLOR_BRICKLET_FUNCTION_LIGHT_ON = 10
  • COLOR_BRICKLET_FUNCTION_LIGHT_OFF = 11
  • COLOR_BRICKLET_FUNCTION_SET_CONFIG = 13
  • COLOR_BRICKLET_FUNCTION_SET_ILLUMINANCE_CALLBACK_PERIOD = 17
  • COLOR_BRICKLET_FUNCTION_SET_COLOR_TEMPERATURE_CALLBACK_PERIOD = 19
pub fn ColorBricklet::set_response_expected_all(&mut self, response_expected: bool) → ()

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

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

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.

Callback Configuration Functions

pub fn ColorBricklet::set_color_callback_period(&self, period: u32) → ConvertingReceiver<()>

Sets the period in ms with which the ColorBricklet::get_color_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

The ColorBricklet::get_color_callback_receiver callback is only triggered if the color has changed since the last triggering.

The default value is 0.

pub fn ColorBricklet::get_color_callback_period(&self) → ConvertingReceiver<u32>

Returns the period as set by ColorBricklet::set_color_callback_period.

pub fn ColorBricklet::set_color_callback_threshold(&self, option: char, min_r: u16, max_r: u16, min_g: u16, max_g: u16, min_b: u16, max_b: u16, min_c: u16, max_c: u16) → ConvertingReceiver<()>

Sets the thresholds for the ColorBricklet::get_color_reached_callback_receiver 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 default value is ('x', 0, 0, 0, 0, 0, 0, 0, 0).

The following constants are available for this function:

  • COLOR_BRICKLET_THRESHOLD_OPTION_OFF = 'x'
  • COLOR_BRICKLET_THRESHOLD_OPTION_OUTSIDE = 'o'
  • COLOR_BRICKLET_THRESHOLD_OPTION_INSIDE = 'i'
  • COLOR_BRICKLET_THRESHOLD_OPTION_SMALLER = '<'
  • COLOR_BRICKLET_THRESHOLD_OPTION_GREATER = '>'
pub fn ColorBricklet::get_color_callback_threshold(&self) → ConvertingReceiver<ColorCallbackThreshold>

Returns the threshold as set by ColorBricklet::set_color_callback_threshold.

The following constants are available for this function:

  • COLOR_BRICKLET_THRESHOLD_OPTION_OFF = 'x'
  • COLOR_BRICKLET_THRESHOLD_OPTION_OUTSIDE = 'o'
  • COLOR_BRICKLET_THRESHOLD_OPTION_INSIDE = 'i'
  • COLOR_BRICKLET_THRESHOLD_OPTION_SMALLER = '<'
  • COLOR_BRICKLET_THRESHOLD_OPTION_GREATER = '>'
pub fn ColorBricklet::set_debounce_period(&self, debounce: u32) → ConvertingReceiver<()>

Sets the period in ms with which the threshold callback

is triggered, if the threshold

keeps being reached.

The default value is 100.

pub fn ColorBricklet::get_debounce_period(&self) → ConvertingReceiver<u32>

Returns the debounce period as set by ColorBricklet::set_debounce_period.

pub fn ColorBricklet::set_illuminance_callback_period(&self, period: u32) → ConvertingReceiver<()>

Sets the period in ms with which the ColorBricklet::get_illuminance_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

The ColorBricklet::get_illuminance_callback_receiver callback is only triggered if the illuminance has changed since the last triggering.

The default value is 0.

pub fn ColorBricklet::get_illuminance_callback_period(&self) → ConvertingReceiver<u32>

Returns the period as set by ColorBricklet::set_illuminance_callback_period.

pub fn ColorBricklet::set_color_temperature_callback_period(&self, period: u32) → ConvertingReceiver<()>

Sets the period in ms with which the ColorBricklet::get_color_temperature_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

The ColorBricklet::get_color_temperature_callback_receiver callback is only triggered if the color temperature has changed since the last triggering.

The default value is 0.

pub fn ColorBricklet::get_color_temperature_callback_period(&self) → ConvertingReceiver<u32>

Returns the period as set by ColorBricklet::set_color_temperature_callback_period.

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.

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.

pub fn ColorBricklet::get_color_callback_receiver(&self) → ConvertingCallbackReceiver<ColorEvent>

Receivers created with this function receive Color events.

This callback is triggered periodically with the period that is set by ColorBricklet::set_color_callback_period. The received variable is the color of the sensor as RGBC.

The ColorBricklet::get_color_callback_receiver callback is only triggered if the color has changed since the last triggering.

pub fn ColorBricklet::get_color_reached_callback_receiver(&self) → ConvertingCallbackReceiver<ColorReachedEvent>

Receivers created with this function receive Color Reached events.

This callback is triggered when the threshold as set by ColorBricklet::set_color_callback_threshold is reached. The received variable 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 ColorBricklet::set_debounce_period.

pub fn ColorBricklet::get_illuminance_callback_receiver(&self) → ConvertingCallbackReceiver<u32>

Receivers created with this function receive Illuminance events.

This callback is triggered periodically with the period that is set by ColorBricklet::set_illuminance_callback_period. The received variable is the illuminance. See ColorBricklet::get_illuminance for how to interpret this value.

The ColorBricklet::get_illuminance_callback_receiver callback is only triggered if the illuminance has changed since the last triggering.

pub fn ColorBricklet::get_color_temperature_callback_receiver(&self) → ConvertingCallbackReceiver<u16>

Receivers created with this function receive Color Temperature events.

This callback is triggered periodically with the period that is set by ColorBricklet::set_color_temperature_callback_period. The received variable is the color temperature in Kelvin.

The ColorBricklet::get_color_temperature_callback_receiver callback is only triggered if the color temperature has changed since the last triggering.

Constants

ColorBricklet::DEVICE_IDENTIFIER

This constant is used to identify a Color Bricklet.

The ColorBricklet::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.

ColorBricklet::DEVICE_DISPLAY_NAME

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