Rust - Industrial Digital In 4 Bricklet

This is the description of the Rust API bindings for the Industrial Digital In 4 Bricklet. General information and technical specifications for the Industrial Digital In 4 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::{industrial_digital_in_4_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your Industrial Digital In 4 Bricklet.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let idi4 = IndustrialDigitalIn4Bricklet::new(UID, &ipcon); // Create device object.

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

    // Get current value as bitmask.
    let value_mask = idi4.get_value().recv()?;
    println!("Value Mask: {:b}", value_mask);

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

Interrupt

Download (example_interrupt.rs)

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use std::{error::Error, io, thread};
use tinkerforge::{industrial_digital_in_4_bricklet::*, ip_connection::IpConnection};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your Industrial Digital In 4 Bricklet.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let idi4 = IndustrialDigitalIn4Bricklet::new(UID, &ipcon); // Create device object.

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

    let interrupt_receiver = idi4.get_interrupt_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `idi4` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for interrupt in interrupt_receiver {
            println!("Interrupt Mask: {:b}", interrupt.interrupt_mask);
            println!("Value Mask: {:b}", interrupt.value_mask);
            println!();
        }
    });

    // Enable interrupt on pin 0
    idi4.set_interrupt(1 << 0).recv()?;

    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 occurred.

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 IndustrialDigitalIn4Bricklet::new(uid: &str, ip_connection: &IpConnection) → IndustrialDigitalIn4Bricklet
Parameters:
  • uid – Type: &str
  • ip_connection – Type: &IPConnection
Returns:
  • industrial_digital_in_4 – Type: IndustrialDigitalIn4Bricklet

Creates a new IndustrialDigitalIn4Bricklet object with the unique device ID uid and adds it to the IPConnection ip_connection:

let industrial_digital_in_4 = IndustrialDigitalIn4Bricklet::new("YOUR_DEVICE_UID", &ip_connection);

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

pub fn IndustrialDigitalIn4Bricklet::get_value(&self) → ConvertingReceiver<u16>
Returns:
  • value_mask – Type: u16, Range: [0 to 216 - 1]

Returns the input value with a bitmask. The bitmask is 16bit long, true refers to high and false refers to low.

For example: The value 3 or 0b0011 means that pins 0-1 are high and the other pins are low.

If no groups are used (see IndustrialDigitalIn4Bricklet::set_group), the pins correspond to the markings on the IndustrialDigital In 4 Bricklet.

If groups are used, the pins correspond to the element in the group. Element 1 in the group will get pins 0-3, element 2 pins 4-7, element 3 pins 8-11 and element 4 pins 12-15.

pub fn IndustrialDigitalIn4Bricklet::get_edge_count(&self, pin: u8, reset_counter: bool) → ConvertingReceiver<u32>
Parameters:
  • pin – Type: u8, Range: [0 to 3]
  • reset_counter – Type: bool
Returns:
  • count – Type: u32, Range: [0 to 232 - 1]

Returns the current value of the edge counter for the selected pin. You can configure the edges that are counted with IndustrialDigitalIn4Bricklet::set_edge_count_config.

If you set the reset counter to true, the count is set back to 0 directly after it is read.

The edge counters use the grouping as set by IndustrialDigitalIn4Bricklet::set_group.

New in version 2.0.1 (Plugin).

Advanced Functions

pub fn IndustrialDigitalIn4Bricklet::set_group(&self, group: [char; 4]) → ConvertingReceiver<()>
Parameters:
  • group – Type: [char; 4], Range: ['a' to 'd', 'n']

Sets a group of Digital In 4 Bricklets that should work together. You can find Bricklets that can be grouped together with IndustrialDigitalIn4Bricklet::get_available_for_group.

The group consists of 4 elements. Element 1 in the group will get pins 0-3, element 2 pins 4-7, element 3 pins 8-11 and element 4 pins 12-15.

Each element can either be one of the ports ('a' to 'd') or 'n' if it should not be used.

For example: If you have two Digital In 4 Bricklets connected to port A and port B respectively, you could call with ['a', 'b', 'n', 'n'].

Now the pins on the Digital In 4 on port A are assigned to 0-3 and the pins on the Digital In 4 on port B are assigned to 4-7. It is now possible to call IndustrialDigitalIn4Bricklet::get_value and read out two Bricklets at the same time.

Changing the group configuration resets all edge counter configurations and values.

pub fn IndustrialDigitalIn4Bricklet::get_group(&self) → ConvertingReceiver<[char; 4]>
Returns:
  • group – Type: [char; 4], Range: ['a' to 'd', 'n']

Returns the group as set by IndustrialDigitalIn4Bricklet::set_group

pub fn IndustrialDigitalIn4Bricklet::get_available_for_group(&self) → ConvertingReceiver<u8>
Returns:
  • available – Type: u8, Range: [0 to 15]

Returns a bitmask of ports that are available for grouping. For example the value 5 or 0b0101 means: Port A and port C are connected to Bricklets that can be grouped together.

pub fn IndustrialDigitalIn4Bricklet::set_edge_count_config(&self, selection_mask: u16, edge_type: u8, debounce: u8) → ConvertingReceiver<()>
Parameters:
  • selection_mask – Type: u16, Range: [0 to 216 - 1]
  • edge_type – Type: u8, Range: See constants, Default: 0
  • debounce – Type: u8, Unit: 1 ms, Range: [0 to 255], Default: 100

Configures the edge counter for the selected pins. A bitmask of 9 or 0b1001 will enable the edge counter for pins 0 and 3.

The edge type parameter configures if rising edges, falling edges or both are counted if the pin is configured for input. Possible edge types are:

  • 0 = rising
  • 1 = falling
  • 2 = both

Configuring an edge counter resets its value to 0.

If you don't know what any of this means, just leave it at default. The default configuration is very likely OK for you.

The edge counters use the grouping as set by IndustrialDigitalIn4Bricklet::set_group.

The following constants are available for this function:

For edge_type:

  • INDUSTRIAL_DIGITAL_IN_4_BRICKLET_EDGE_TYPE_RISING = 0
  • INDUSTRIAL_DIGITAL_IN_4_BRICKLET_EDGE_TYPE_FALLING = 1
  • INDUSTRIAL_DIGITAL_IN_4_BRICKLET_EDGE_TYPE_BOTH = 2

New in version 2.0.1 (Plugin).

pub fn IndustrialDigitalIn4Bricklet::get_edge_count_config(&self, pin: u8) → ConvertingReceiver<EdgeCountConfig>
Parameters:
  • pin – Type: u8, Range: [0 to 255]
Return Object:
  • edge_type – Type: u8, Range: See constants, Default: 0
  • debounce – Type: u8, Unit: 1 ms, Range: [0 to 255], Default: 100

Returns the edge type and debounce time for the selected pin as set by IndustrialDigitalIn4Bricklet::set_edge_count_config.

The following constants are available for this function:

For edge_type:

  • INDUSTRIAL_DIGITAL_IN_4_BRICKLET_EDGE_TYPE_RISING = 0
  • INDUSTRIAL_DIGITAL_IN_4_BRICKLET_EDGE_TYPE_FALLING = 1
  • INDUSTRIAL_DIGITAL_IN_4_BRICKLET_EDGE_TYPE_BOTH = 2

New in version 2.0.1 (Plugin).

pub fn IndustrialDigitalIn4Bricklet::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', 'i', '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). 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

pub fn IndustrialDigitalIn4Bricklet::set_debounce_period(&self, debounce: u32) → ConvertingReceiver<()>
Parameters:
  • debounce – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100

Sets the debounce period of the IndustrialDigitalIn4Bricklet::get_interrupt_callback_receiver callback.

For example: If you set this value to 100, you will get the interrupt maximal every 100ms. This is necessary if something that bounces is connected to the Digital In 4 Bricklet, such as a button.

pub fn IndustrialDigitalIn4Bricklet::get_debounce_period(&self) → ConvertingReceiver<u32>
Returns:
  • debounce – Type: u32, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100

Returns the debounce period as set by IndustrialDigitalIn4Bricklet::set_debounce_period.

pub fn IndustrialDigitalIn4Bricklet::set_interrupt(&self, interrupt_mask: u16) → ConvertingReceiver<()>
Parameters:
  • interrupt_mask – Type: u16, Range: [0 to 216 - 1]

Sets the pins on which an interrupt is activated with a bitmask. Interrupts are triggered on changes of the voltage level of the pin, i.e. changes from high to low and low to high.

For example: An interrupt bitmask of 9 or 0b1001 will enable the interrupt for pins 0 and 3.

The interrupts use the grouping as set by IndustrialDigitalIn4Bricklet::set_group.

The interrupt is delivered with the IndustrialDigitalIn4Bricklet::get_interrupt_callback_receiver callback.

pub fn IndustrialDigitalIn4Bricklet::get_interrupt(&self) → ConvertingReceiver<u16>
Returns:
  • interrupt_mask – Type: u16, Range: [0 to 216 - 1]

Returns the interrupt bitmask as set by IndustrialDigitalIn4Bricklet::set_interrupt.

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 IndustrialDigitalIn4Bricklet::get_interrupt_callback_receiver(&self) → ConvertingCallbackReceiver<InterruptEvent>
Event Object:
  • interrupt_mask – Type: u16, Range: [0 to 216 - 1]
  • value_mask – Type: u16, Range: [0 to 216 - 1]

Receivers created with this function receive Interrupt events.

This callback is triggered whenever a change of the voltage level is detected on pins where the interrupt was activated with IndustrialDigitalIn4Bricklet::set_interrupt.

The values are a bitmask that specifies which interrupts occurred and the current value bitmask.

For example:

  • (1, 1) or (0b0001, 0b0001) means that an interrupt on pin 0 occurred and currently pin 0 is high and pins 1-3 are low.
  • (9, 14) or (0b1001, 0b1110) means that interrupts on pins 0 and 3 occurred and currently pin 0 is low and pins 1-3 are high.

The interrupts use the grouping as set by IndustrialDigitalIn4Bricklet::set_group.

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 IndustrialDigitalIn4Bricklet::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 IndustrialDigitalIn4Bricklet::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 IndustrialDigitalIn4Bricklet::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:

  • INDUSTRIAL_DIGITAL_IN_4_BRICKLET_FUNCTION_SET_GROUP = 2
  • INDUSTRIAL_DIGITAL_IN_4_BRICKLET_FUNCTION_SET_DEBOUNCE_PERIOD = 5
  • INDUSTRIAL_DIGITAL_IN_4_BRICKLET_FUNCTION_SET_INTERRUPT = 7
  • INDUSTRIAL_DIGITAL_IN_4_BRICKLET_FUNCTION_SET_EDGE_COUNT_CONFIG = 11
pub fn IndustrialDigitalIn4Bricklet::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:

  • INDUSTRIAL_DIGITAL_IN_4_BRICKLET_FUNCTION_SET_GROUP = 2
  • INDUSTRIAL_DIGITAL_IN_4_BRICKLET_FUNCTION_SET_DEBOUNCE_PERIOD = 5
  • INDUSTRIAL_DIGITAL_IN_4_BRICKLET_FUNCTION_SET_INTERRUPT = 7
  • INDUSTRIAL_DIGITAL_IN_4_BRICKLET_FUNCTION_SET_EDGE_COUNT_CONFIG = 11
pub fn IndustrialDigitalIn4Bricklet::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.

Constants

pub const IndustrialDigitalIn4Bricklet::DEVICE_IDENTIFIER

This constant is used to identify a Industrial Digital In 4 Bricklet.

The IndustrialDigitalIn4Bricklet::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 IndustrialDigitalIn4Bricklet::DEVICE_DISPLAY_NAME

This constant represents the human readable name of a Industrial Digital In 4 Bricklet.