Rust - Industrial Digital Out 4 Bricklet

This is the description of the Rust 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 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, thread, time::Duration};
use tinkerforge::{industrial_digital_out_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 Out 4 Bricklet.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let ido4 = IndustrialDigitalOut4Bricklet::new(UID, &ipcon); // Create device object.

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

    // Set pins alternating high/low 10 times with 100ms delay
    for i in 0..10 {
        thread::sleep(Duration::from_millis(100));
        ido4.set_value(1 << 0);
        thread::sleep(Duration::from_millis(100));
        ido4.set_value(1 << 1);
        thread::sleep(Duration::from_millis(100));
        ido4.set_value(1 << 2);
        thread::sleep(Duration::from_millis(100));
        ido4.set_value(1 << 3);
    }

    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 IndustrialDigitalOut4Bricklet::new(uid: &str, ip_connection: &IpConnection) → IndustrialDigitalOut4Bricklet

Creates a new IndustrialDigitalOut4Bricklet 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 IndustrialDigitalOut4Bricklet::set_value(&self, value_mask: u16) → ConvertingReceiver<()>

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 IndustrialDigitalOut4Bricklet::set_group), 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.

pub fn IndustrialDigitalOut4Bricklet::get_value(&self) → ConvertingReceiver<u16>

Returns the bitmask as set by IndustrialDigitalOut4Bricklet::set_value.

pub fn IndustrialDigitalOut4Bricklet::set_selected_values(&self, selection_mask: u16, value_mask: u16) → ConvertingReceiver<()>

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 IndustrialDigitalOut4Bricklet::set_group), 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

pub fn IndustrialDigitalOut4Bricklet::set_monoflop(&self, selection_mask: u16, value_mask: u16, time: u32) → ConvertingReceiver<()>

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.

pub fn IndustrialDigitalOut4Bricklet::get_monoflop(&self, pin: u8) → ConvertingReceiver<Monoflop>

Returns (for the given pin) the current value and the time as set by IndustrialDigitalOut4Bricklet::set_monoflop 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.

pub fn IndustrialDigitalOut4Bricklet::set_group(&self, group: [char; 4]) → ConvertingReceiver<()>

Sets a group of Digital Out 4 Bricklets that should work together. You can find Bricklets that can be grouped together with IndustrialDigitalOut4Bricklet::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 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 IndustrialDigitalOut4Bricklet::set_value and control two Bricklets at the same time.

pub fn IndustrialDigitalOut4Bricklet::get_group(&self) → ConvertingReceiver<[char; 4]>

Returns the group as set by IndustrialDigitalOut4Bricklet::set_group

pub fn IndustrialDigitalOut4Bricklet::get_available_for_group(&self) → ConvertingReceiver<u8>

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 IndustrialDigitalOut4Bricklet::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 IndustrialDigitalOut4Bricklet::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 IndustrialDigitalOut4Bricklet::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 IndustrialDigitalOut4Bricklet::set_response_expected for the list of function ID constants available for this function.

pub fn IndustrialDigitalOut4Bricklet::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:

  • INDUSTRIAL_DIGITAL_OUT_4_BRICKLET_FUNCTION_SET_VALUE = 1
  • INDUSTRIAL_DIGITAL_OUT_4_BRICKLET_FUNCTION_SET_MONOFLOP = 3
  • INDUSTRIAL_DIGITAL_OUT_4_BRICKLET_FUNCTION_SET_GROUP = 5
  • INDUSTRIAL_DIGITAL_OUT_4_BRICKLET_FUNCTION_SET_SELECTED_VALUES = 9
pub fn IndustrialDigitalOut4Bricklet::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 IndustrialDigitalOut4Bricklet::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

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 IndustrialDigitalOut4Bricklet::get_monoflop_done_callback_receiver(&self) → ConvertingCallbackReceiver<MonoflopDoneEvent>

Receivers created with this function receive Monoflop Done events.

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

Constants

IndustrialDigitalOut4Bricklet::DEVICE_IDENTIFIER

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

The IndustrialDigitalOut4Bricklet::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.

IndustrialDigitalOut4Bricklet::DEVICE_DISPLAY_NAME

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