Go - Industrial Digital Out 4 Bricklet

This is the description of the Go API bindings for the Industrial Digital Out 4 Bricklet. General information and technical specifications for the Industrial Digital Out 4 Bricklet are summarized in its hardware description.

An installation guide for the Go API bindings is part of their general description. Additional documentation can be found on godoc.org.

Examples

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

Simple

Download (example_simple.go)

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package main

import (
    "fmt"
    "github.com/Tinkerforge/go-api-bindings/industrial_digital_out_4_bricklet"
    "github.com/Tinkerforge/go-api-bindings/ipconnection"
    "time"
)

const ADDR string = "localhost:4223"
const UID string = "XYZ" // Change XYZ to the UID of your Industrial Digital Out 4 Bricklet.

func main() {
    ipcon := ipconnection.New()
    defer ipcon.Close()
    ido4, _ := industrial_digital_out_4_bricklet.New(UID, &ipcon) // Create device object.

    ipcon.Connect(ADDR) // Connect to brickd.
    defer ipcon.Disconnect()
    // Don't use device before ipcon is connected.

    // Set pins alternating high/low 10 times with 100ms delay
    for i := 0; i < 10; i++ {
        time.Sleep(100 * time.Millisecond)
        ido4.SetValue(1 << 0)
        time.Sleep(100 * time.Millisecond)
        ido4.SetValue(1 << 1)
        time.Sleep(100 * time.Millisecond)
        ido4.SetValue(1 << 2)
        time.Sleep(100 * time.Millisecond)
        ido4.SetValue(1 << 3)
    }

    fmt.Print("Press enter to exit.")
    fmt.Scanln()
}

API

The Industrial Digital Out 4 Bricklet API is defined in the package github.com/Tinkerforge/go-api-bindings/industrial_digital_out_4_bricklet

Nearly every function of the Go bindings can return an DeviceError, implementing the error interface. The error can have one of the following values:

  • DeviceErrorSuccess = 0
  • DeviceErrorInvalidParameter = 1
  • DeviceErrorFunctionNotSupported = 2
  • DeviceErrorUnknownError = 3

which correspond to the values returned from Bricks and Bricklets.

All functions listed below are thread-safe.

Basic Functions

func industrial_digital_out_4_bricklet.New(uid string, ipcon *IPConnection) (device IndustrialDigitalOut4Bricklet, err error)

Creates a new IndustrialDigitalOut4Bricklet object with the unique device ID uid and adds it to the IPConnection ipcon:

device, err := industrial_digital_out_4_bricklet.New("YOUR_DEVICE_UID", &ipcon)

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

func (*IndustrialDigitalOut4Bricklet) SetValue(valueMask uint16) (err error)

Sets the output value with a bitmask (16bit). A 1 in the bitmask means high and a 0 in the bitmask means low.

For example: The value 3 or 0b0011 will turn pins 0-1 high and the other pins low.

If no groups are used (see SetGroup()), the pins correspond to the markings on the Industrial Digital Out 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.

All running monoflop timers will be aborted if this function is called.

func (*IndustrialDigitalOut4Bricklet) GetValue() (valueMask uint16, err error)

Returns the bitmask as set by SetValue().

func (*IndustrialDigitalOut4Bricklet) SetSelectedValues(selectionMask uint16, valueMask uint16) (err error)

Sets the output value with a bitmask, according to the selection mask. The bitmask is 16 bit long, true refers to high and false refers to low.

For example: The values (3, 1) or (0b0011, 0b0001) will turn pin 0 high, pin 1 low the other pins remain untouched.

If no groups are used (see SetGroup()), the pins correspond to the markings on the Industrial Digital Out 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.

Running monoflop timers for the selected pins will be aborted if this function is called.

Advanced Functions

func (*IndustrialDigitalOut4Bricklet) SetMonoflop(selectionMask uint16, valueMask uint16, time uint32) (err error)

Configures a monoflop of the pins specified by the first parameter bitmask.

The second parameter is a bitmask with the desired value of the specified pins. A 1 in the bitmask means high and a 0 in the bitmask means low.

The third parameter indicates the time (in ms) that the pins should hold the value.

If this function is called with the parameters (9, 1, 1500) or (0b1001, 0b0001, 1500): Pin 0 will get high and pin 3 will get low. In 1.5s pin 0 will get low and pin 3 will get high again.

A monoflop can be used as a fail-safe mechanism. For example: Lets assume you have a RS485 bus and a Digital Out 4 Bricklet connected to one of the slave stacks. You can now call this function every second, with a time parameter of two seconds and pin 0 high. Pin 0 will be high all the time. If now the RS485 connection is lost, then pin 0 will turn low in at most two seconds.

func (*IndustrialDigitalOut4Bricklet) GetMonoflop(pin uint8) (value uint16, time uint32, timeRemaining uint32, err error)

Returns (for the given pin) the current value and the time as set by SetMonoflop() as well as the remaining time until the value flips.

If the timer is not running currently, the remaining time will be returned as 0.

func (*IndustrialDigitalOut4Bricklet) SetGroup(group [4]rune) (err error)

Sets a group of Digital Out 4 Bricklets that should work together. You can find Bricklets that can be grouped together with GetAvailableForGroup().

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 Out 4 Bricklets connected to port A and port B respectively, you could call with ['a', 'b', 'n', 'n'].

Now the pins on the Digital Out 4 on port A are assigned to 0-3 and the pins on the Digital Out 4 on port B are assigned to 4-7. It is now possible to call SetValue() and control two Bricklets at the same time.

func (*IndustrialDigitalOut4Bricklet) GetGroup() (group [4]rune, err error)

Returns the group as set by SetGroup()

func (*IndustrialDigitalOut4Bricklet) GetAvailableForGroup() (available uint8, err error)

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.

func (*IndustrialDigitalOut4Bricklet) GetAPIVersion() (apiVersion [3]uint8, err error)

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.

func (*IndustrialDigitalOut4Bricklet) GetResponseExpected(functionId Function) (responseExpected bool, err error)

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:

  • industrial_digital_out_4_bricklet.FunctionSetValue = 1
  • industrial_digital_out_4_bricklet.FunctionSetMonoflop = 3
  • industrial_digital_out_4_bricklet.FunctionSetGroup = 5
  • industrial_digital_out_4_bricklet.FunctionSetSelectedValues = 9
func (*IndustrialDigitalOut4Bricklet) SetResponseExpected(functionId Function, responseExpected bool) (err error)

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:

  • industrial_digital_out_4_bricklet.FunctionSetValue = 1
  • industrial_digital_out_4_bricklet.FunctionSetMonoflop = 3
  • industrial_digital_out_4_bricklet.FunctionSetGroup = 5
  • industrial_digital_out_4_bricklet.FunctionSetSelectedValues = 9
func (*IndustrialDigitalOut4Bricklet) SetResponseExpectedAll(responseExpected bool) (err error)

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

func (*IndustrialDigitalOut4Bricklet) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, firmwareVersion [3]uint8, deviceIdentifier uint16, err error)

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.

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the corresponding Register*Callback function, which returns a unique callback ID. This ID can be used to deregister the callback later.

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.

func (*IndustrialDigitalOut4Bricklet) RegisterMonoflopDoneCallback(func(selectionMask uint16, valueMask uint16)) (registrationId uint64)

A callback can be registered for this event with the RegisterMonoflopDoneCallback() function. This function returns the ID of the registered callback. An added callback can be removed with the DeregisterMonoflopDoneCallback(registrationId uint64) function.

This callback is triggered whenever a monoflop timer reaches 0. The callback parameters contain the involved pins and the current value of the pins (the value after the monoflop).

Constants

industrial_digital_out_4_bricklet.DeviceIdentifier

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

The GetIdentity() function and the (*IPConnection) RegisterEnumerateCallback callback of the IPConnection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

industrial_digital_out_4_bricklet.DeviceDisplayName

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