MATLAB/Octave - Industrial Digital Out 4 Bricklet

This is the description of the MATLAB/Octave 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 MATLAB/Octave API bindings is part of their general description.

Examples

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

Simple (MATLAB)

Download (matlab_example_simple.m)

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
function matlab_example_simple()
    import com.tinkerforge.IPConnection;
    import com.tinkerforge.BrickletIndustrialDigitalOut4;

    HOST = 'localhost';
    PORT = 4223;
    UID = 'XYZ'; % Change XYZ to the UID of your Industrial Digital Out 4 Bricklet

    ipcon = IPConnection(); % Create IP connection
    ido4 = handle(BrickletIndustrialDigitalOut4(UID, ipcon), 'CallbackProperties'); % Create device object

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

    % Set pins alternating high/low 10 times with 100ms delay
    for i = 0:9
        pause(0.1);
        ido4.setValue(bitshift(1, 0));
        pause(0.1);
        ido4.setValue(bitshift(1, 1));
        pause(0.1);
        ido4.setValue(bitshift(1, 2));
        pause(0.1);
        ido4.setValue(bitshift(1, 3));
    end

    input('Press key to exit\n', 's');
    ipcon.disconnect();
end

Simple (Octave)

Download (octave_example_simple.m)

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
function octave_example_simple()
    more off;

    HOST = "localhost";
    PORT = 4223;
    UID = "XYZ"; % Change XYZ to the UID of your Industrial Digital Out 4 Bricklet

    ipcon = javaObject("com.tinkerforge.IPConnection"); % Create IP connection
    ido4 = javaObject("com.tinkerforge.BrickletIndustrialDigitalOut4", UID, ipcon); % Create device object

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

    % Set pins alternating high/low 10 times with 100ms delay
    for i = 0:9
        pause(0.1);
        ido4.setValue(bitshift(1, 0));
        pause(0.1);
        ido4.setValue(bitshift(1, 1));
        pause(0.1);
        ido4.setValue(bitshift(1, 2));
        pause(0.1);
        ido4.setValue(bitshift(1, 3));
    end

    input("Press key to exit\n", "s");
    ipcon.disconnect();
end

API

Generally, every method of the MATLAB 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 the MATLAB bindings are based on Java and 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 BrickletIndustrialDigitalOut4(String uid, IPConnection ipcon)

Creates an object with the unique device ID uid.

In MATLAB:

import com.tinkerforge.BrickletIndustrialDigitalOut4;

industrialDigitalOut4 = BrickletIndustrialDigitalOut4('YOUR_DEVICE_UID', ipcon);

In Octave:

industrialDigitalOut4 = java_new("com.tinkerforge.BrickletIndustrialDigitalOut4", "YOUR_DEVICE_UID", ipcon);

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

public void setValue(int valueMask)

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 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.

public int getValue()

Returns the bitmask as set by setValue().

public void setSelectedValues(int selectionMask, int valueMask)

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 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.

Advanced Functions

public void setMonoflop(int selectionMask, int valueMask, long time)

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.

public BrickletIndustrialDigitalOut4.Monoflop getMonoflop(short pin)

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.

The returned object has the public member variables int value, long time and long timeRemaining.

public void setGroup(char[] group)

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.

public char[] getGroup()

Returns the group as set by setGroup()

public short getAvailableForGroup()

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.

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 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.

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 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:

  • BrickletIndustrialDigitalOut4.FUNCTION_SET_VALUE = 1
  • BrickletIndustrialDigitalOut4.FUNCTION_SET_MONOFLOP = 3
  • BrickletIndustrialDigitalOut4.FUNCTION_SET_GROUP = 5
  • BrickletIndustrialDigitalOut4.FUNCTION_SET_SELECTED_VALUES = 9
public void setResponseExpectedAll(boolean responseExpected)

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

public BrickletIndustrialDigitalOut4.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.

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with "set" function of MATLAB. The parameters consist of the IP Connection object, the callback name and the callback function. For example, it looks like this in MATLAB:

function my_callback(e)
    fprintf('Parameter: %s\n', e.param);
end

set(device, 'ExampleCallback', @(h, e) my_callback(e));

Due to a difference in the Octave Java support the "set" function cannot be used in Octave. The registration is done with "add*Callback" functions of the device object. It looks like this in Octave:

function my_callback(e)
    fprintf("Parameter: %s\n", e.param);
end

device.addExampleCallback(@my_callback);

It is possible to add several callbacks and to remove them with the corresponding "remove*Callback" function.

The parameters of the callback are passed to the callback function as fields of the structure e, which is derived from the java.util.EventObject class. The available callback names with corresponding structure fields 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.

public callback BrickletIndustrialDigitalOut4.MonoflopDoneCallback
Parameters:
  • selectionMask -- int
  • valueMask -- int

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

In MATLAB the set() function can be used to register a callback function to this callback.

In Octave a callback function can be added to this callback using the addMonoflopDoneCallback() function. An added callback function can be removed with the removeMonoflopDoneCallback() function.

Constants

public static final int BrickletIndustrialDigitalOut4.DEVICE_IDENTIFIER

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

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

public static final String BrickletIndustrialDigitalOut4.DEVICE_DISPLAY_NAME

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