C# - Thermal Imaging Bricklet¶

Callback¶

Download (ExampleCallback.cs)

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using System;
using Tinkerforge;

class Example
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "XYZ"; // Change XYZ to the UID of your Thermal Imaging Bricklet

    // Callback function for high contrast image callback
    static void HighContrastImageCB(BrickletThermalImaging sender, byte[] image)
    {
        // image is an array of size 80*60 with a 8 bit grey value for each element
    }

    static void Main()
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletThermalImaging ti = new BrickletThermalImaging(UID, ipcon); // Create device object

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

        // Register high contrast image callback to function HighContrastImageCB
        ti.HighContrastImageCallback += HighContrastImageCB;

        // Enable high contrast image transfer for callback
        ti.SetImageTransferConfig(BrickletThermalImaging.IMAGE_TRANSFER_CALLBACK_HIGH_CONTRAST_IMAGE);

        Console.WriteLine("Press enter to exit");
        Console.ReadLine();
        ipcon.Disconnect();
    }
}

Create Image¶

Download (ExampleCreateImage.cs)

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using Tinkerforge;
using System;
using System.Threading;
using System.Drawing;
using System.Drawing.Imaging;

//
// Takes one thermal image and saves it as PNG
// This example needs /reference:System.Drawing.dll
//

class Example
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "XYZ"; // Change XYZ to the UID of your Thermal Imaging Bricklet

    // Creates standard thermal image color palette (blue=cold, red=hot)
    private static byte[] paletteR = new byte[256];
    private static byte[] paletteG = new byte[256];
    private static byte[] paletteB = new byte[256];

    static void CreateThermalImageColorPalette()
    {
        // The palette is gnuplot's PM3D palette.
        // See here for details: https://stackoverflow.com/questions/28495390/thermal-imaging-palette
        for(int x = 0; x < 256; x++)
        {
            paletteR[x] = System.Convert.ToByte(255*Math.Sqrt(x/255.0));
            paletteG[x] = System.Convert.ToByte(255*Math.Pow(x/255.0, 3));
            if(Math.Sin(2*Math.PI * (x/255.0)) >= 0) 
            {
                paletteB[x] = System.Convert.ToByte(255*Math.Sin(2*Math.PI * (x/255.0)));
            } else 
            {
                paletteB[x] = 0;
            }
        }
    }

    static void Main() 
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletThermalImaging ti = new BrickletThermalImaging(UID, ipcon); // Create device object

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

        CreateThermalImageColorPalette();

        // Enable high contrast image transfer for callback
        ti.SetImageTransferConfig(BrickletThermalImaging.IMAGE_TRANSFER_MANUAL_HIGH_CONTRAST_IMAGE);

        // If we change between transfer modes we have to wait until one more 
        // image is taken after the mode is set and the first image is saved 
        // we can call GetHighContrastImage any time.
        Thread.Sleep(250);

        byte[] imageData = ti.GetHighContrastImage();

        // Create PNG with Bitmap from System.Drawing
        Bitmap bitmap = new Bitmap(80, 60);
        for(int row = 0; row < 80; row++)
        {
            for(int col = 0; col < 60; col++)
            {
                int color = imageData[row + col*80];
                bitmap.SetPixel(row, col, Color.FromArgb(paletteR[color], paletteG[color], paletteB[color]));
            }
        }

        // Scale to 800x600 and save thermal image!
        bitmap = new Bitmap(bitmap, new Size(80*10, 60*10));
        bitmap.Save("thermal_image.png", ImageFormat.Png);

        System.Console.WriteLine("Press enter to exit");
        System.Console.ReadLine();
        ipcon.Disconnect();
    }
}

Live Video¶

Download (ExampleLiveVideo.cs)

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using Tinkerforge;
using System;
using System.Threading;
using System.Drawing;
using System.Drawing.Imaging;
using System.Windows.Forms;

//
// Shows live thermal image video in Windows.Forms window
// This example needs /reference:System.Drawing.dll and /reference:System.Windows.Forms.dll
//

class Example : System.Windows.Forms.Form
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "XYZ"; // Change XYZ to the UID of your Thermal Imaging Bricklet

    private static int WIDTH = 80;
    private static int HEIGHT = 60;
    private static int SCALE = 5;

    private byte[] imageData = new byte[80*60];

    // Creates standard thermal image color palette (blue=cold, red=hot)
    private byte[] paletteR = new byte[256];
    private byte[] paletteG = new byte[256];
    private byte[] paletteB = new byte[256];
    void CreateThermalImageColorPalette()
    {
        // The palette is gnuplot's PM3D palette.
        // See here for details: https://stackoverflow.com/questions/28495390/thermal-imaging-palette
        for(int x = 0; x < 256; x++)
        {
            paletteR[x] = System.Convert.ToByte(255*Math.Sqrt(x/255.0));
            paletteG[x] = System.Convert.ToByte(255*Math.Pow(x/255.0, 3));
            if(Math.Sin(2*Math.PI * (x/255.0)) >= 0) 
            {
                paletteB[x] = System.Convert.ToByte(255*Math.Sin(2*Math.PI * (x/255.0)));
            } else 
            {
                paletteB[x] = 0;
            }
        }
    }

    // Callback function for the high contrast image
    void HighContrastImageCB(BrickletThermalImaging sender, byte[] image)
    {
        // Save image and trigger paint event handler
        imageData = image;
        this.Refresh();
    }
    
    public Example()
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletThermalImaging ti = new BrickletThermalImaging(UID, ipcon); // Create device object

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

        CreateThermalImageColorPalette();

        // Register high contrast callback to function cb_high_contrast_image
        ti.HighContrastImageCallback += HighContrastImageCB;

        // Enable high contrast image transfer for callback
        ti.SetImageTransferConfig(BrickletThermalImaging.IMAGE_TRANSFER_CALLBACK_HIGH_CONTRAST_IMAGE);

        // Use correct size for window and add paint event handler
        this.ClientSize = new System.Drawing.Size(WIDTH*SCALE, HEIGHT*SCALE);
        this.Paint += new System.Windows.Forms.PaintEventHandler(this.ThermalImagePaint);

    }

    private void ThermalImagePaint(object sender, System.Windows.Forms.PaintEventArgs e)
    {
        // Create PNG with Bitmap from System.Drawing
        Bitmap bitmap = new Bitmap(WIDTH, HEIGHT);
        for(int row = 0; row < WIDTH; row++)
        {
            for(int col = 0; col < HEIGHT; col++)
            {
                int color = imageData[row + col*WIDTH];
                bitmap.SetPixel(row, col, Color.FromArgb(paletteR[color], paletteG[color], paletteB[color]));
            }
        }

        // Scale to bigger size (can be changed with SCALE constant)!
        bitmap = new Bitmap(bitmap, new Size(WIDTH*SCALE, HEIGHT*SCALE));
        e.Graphics.DrawImage(bitmap, 0, 0);
    
        // Dispose
        e.Graphics.Dispose();       
    }

    static void Main() 
    {
        Application.Run(new Example());
    }
}

Basic Functions¶

class BrickletThermalImaging(string uid, IPConnection ipcon)¶

Parameters:	uid – Type: string ipcon – Type: IPConnection
Returns:	thermalImaging – Type: BrickletThermalImaging

Creates an object with the unique device ID uid:

BrickletThermalImaging thermalImaging = new BrickletThermalImaging("YOUR_DEVICE_UID", ipcon);

This object can then be used after the IP Connection is connected.

byte[] BrickletThermalImaging.GetHighContrastImage()¶

Returns:	image – Type: byte[], Length: 4800, Range: [0 to 255]

Returns the current high contrast image. See here for the difference between High Contrast and Temperature Image. If you don't know what to use the High Contrast Image is probably right for you.

The data is organized as a 8-bit value 80x60 pixel matrix linearized in a one-dimensional array. The data is arranged line by line from top left to bottom right.

Each 8-bit value represents one gray-scale image pixel that can directly be shown to a user on a display.

Before you can use this function you have to enable it with SetImageTransferConfig().

int[] BrickletThermalImaging.GetTemperatureImage()¶

Returns:	image – Type: int[], Length: 4800, Unit: ? K, Range: [0 to 216 - 1]

Returns the current temperature image. See here for the difference between High Contrast and Temperature Image. If you don't know what to use the High Contrast Image is probably right for you.

The data is organized as a 16-bit value 80x60 pixel matrix linearized in a one-dimensional array. The data is arranged line by line from top left to bottom right.

Each 16-bit value represents one temperature measurement in either Kelvin/10 or Kelvin/100 (depending on the resolution set with SetResolution()).

Before you can use this function you have to enable it with SetImageTransferConfig().

void BrickletThermalImaging.GetStatistics(out int[] spotmeterStatistics, out int[] temperatures, out byte resolution, out byte ffcStatus, out bool[] temperatureWarning)¶

Output Parameters:

spotmeterStatistics – Type: int[], Length: 4 0: meanTemperature – Type: int, Unit: ? K, Range: [0 to 216 - 1] 1: maxTemperature – Type: int, Unit: ? K, Range: [0 to 216 - 1] 2: minTemperature – Type: int, Unit: ? K, Range: [0 to 216 - 1] 3: pixelCount – Type: int, Range: [0 to 4800] temperatures – Type: int[], Length: 4 0: focalPlainArray – Type: int, Unit: ? K, Range: [0 to 216 - 1] 1: focalPlainArrayLastFFC – Type: int, Unit: ? K, Range: [0 to 216 - 1] 2: housing – Type: int, Unit: ? K, Range: [0 to 216 - 1] 3: housingLastFFC – Type: int, Unit: ? K, Range: [0 to 216 - 1] resolution – Type: byte, Range: See constants ffcStatus – Type: byte, Range: See constants temperatureWarning – Type: bool[], Length: 2 0: shutterLockout – Type: bool 1: overtemperatureShutDownImminent – Type: bool

Returns the spotmeter statistics, various temperatures, current resolution and status bits.

The spotmeter statistics are:

• Index 0: Mean Temperature.
• Index 1: Maximum Temperature.
• Index 2: Minimum Temperature.
• Index 3: Pixel Count of spotmeter region of interest.

The temperatures are:

• Index 0: Focal Plain Array temperature.
• Index 1: Focal Plain Array temperature at last FFC (Flat Field Correction).
• Index 2: Housing temperature.
• Index 3: Housing temperature at last FFC.

The resolution is either 0 to 6553 Kelvin or 0 to 655 Kelvin. If the resolution is the former, the temperatures are in Kelvin/10, if it is the latter the temperatures are in Kelvin/100.

FFC (Flat Field Correction) Status:

• FFC Never Commanded: Only seen on startup before first FFC.
• FFC Imminent: This state is entered 2 seconds prior to initiating FFC.
• FFC In Progress: Flat field correction is started (shutter moves in front of lens and back). Takes about 1 second.
• FFC Complete: Shutter is in waiting position again, FFC done.

Temperature warning bits:

• Index 0: Shutter lockout (if true shutter is locked out because temperature is outside -10°C to +65°C)
• Index 1: Overtemperature shut down imminent (goes true 10 seconds before shutdown)

The following constants are available for this function:

For resolution:

• BrickletThermalImaging.RESOLUTION_0_TO_6553_KELVIN = 0
• BrickletThermalImaging.RESOLUTION_0_TO_655_KELVIN = 1

For ffcStatus:

• BrickletThermalImaging.FFC_STATUS_NEVER_COMMANDED = 0
• BrickletThermalImaging.FFC_STATUS_IMMINENT = 1
• BrickletThermalImaging.FFC_STATUS_IN_PROGRESS = 2
• BrickletThermalImaging.FFC_STATUS_COMPLETE = 3

void BrickletThermalImaging.SetResolution(byte resolution)¶

Parameters:	resolution – Type: byte, Range: See constants, Default: 1

Sets the resolution. The Thermal Imaging Bricklet can either measure

• from 0 to 6553 Kelvin (-273.15°C to +6279.85°C) with 0.1°C resolution or
• from 0 to 655 Kelvin (-273.15°C to +381.85°C) with 0.01°C resolution.

The accuracy is specified for -10°C to 450°C in the first range and -10°C and 140°C in the second range.

The following constants are available for this function:

For resolution:

• BrickletThermalImaging.RESOLUTION_0_TO_6553_KELVIN = 0
• BrickletThermalImaging.RESOLUTION_0_TO_655_KELVIN = 1

byte BrickletThermalImaging.GetResolution()¶

Returns:	resolution – Type: byte, Range: See constants

Returns the resolution as set by SetResolution().

The following constants are available for this function:

For resolution:

• BrickletThermalImaging.RESOLUTION_0_TO_6553_KELVIN = 0
• BrickletThermalImaging.RESOLUTION_0_TO_655_KELVIN = 1

void BrickletThermalImaging.SetSpotmeterConfig(byte[] regionOfInterest)¶

Parameters:	regionOfInterest – Type: byte[], Length: 4 0: firstColumn – Type: byte, Range: [0 to 79], Default: 39 1: firstRow – Type: byte, Range: [0 to 59], Default: 29 2: lastColumn – Type: byte, Range: [1 to 80], Default: 40 3: lastRow – Type: byte, Range: [1 to 60], Default: 30

Sets the spotmeter region of interest. The 4 values are

• Index 0: Column start (has to be smaller then Column end).
• Index 1: Row start (has to be smaller then Row end).
• Index 2: Column end (has to be smaller then 80).
• Index 3: Row end (has to be smaller then 60).

The spotmeter statistics can be read out with GetStatistics().

byte[] BrickletThermalImaging.GetSpotmeterConfig()¶

Output Parameters:	regionOfInterest – Type: byte[], Length: 4 0: firstColumn – Type: byte, Range: [0 to 78], Default: 39 1: firstRow – Type: byte, Range: [0 to 58], Default: 29 2: lastColumn – Type: byte, Range: [1 to 79], Default: 40 3: lastRow – Type: byte, Range: [1 to 59], Default: 30

Returns the spotmeter config as set by SetSpotmeterConfig().

void BrickletThermalImaging.SetHighContrastConfig(byte[] regionOfInterest, int dampeningFactor, int[] clipLimit, int emptyCounts)¶

Parameters:

regionOfInterest – Type: byte[], Length: 4 0: firstColumn – Type: byte, Range: [0 to 78], Default: 0 1: firstRow – Type: byte, Range: [0 to 58], Default: 0 2: lastColumn – Type: byte, Range: [1 to 79], Default: 79 3: lastRow – Type: byte, Range: [1 to 59], Default: 59 dampeningFactor – Type: int, Range: [0 to 256], Default: 64 clipLimit – Type: int[], Length: 2 0: agcHEQClipLimitHigh – Type: int, Range: [0 to 4800], Default: 4800 1: agcHEQClipLimitLow – Type: int, Range: [0 to 210], Default: 29 emptyCounts – Type: int, Range: [0 to 214 - 1], Default: 2

Sets the high contrast region of interest, dampening factor, clip limit and empty counts. This config is only used in high contrast mode (see SetImageTransferConfig()).

The high contrast region of interest consists of four values:

• Index 0: Column start (has to be smaller or equal then Column end).
• Index 1: Row start (has to be smaller then Row end).
• Index 2: Column end (has to be smaller then 80).
• Index 3: Row end (has to be smaller then 60).

The algorithm to generate the high contrast image is applied to this region.

Dampening Factor: This parameter is the amount of temporal dampening applied to the HEQ (history equalization) transformation function. An IIR filter of the form:

(N / 256) * previous + ((256 - N) / 256) * current

is applied, and the HEQ dampening factor represents the value N in the equation, i.e., a value that applies to the amount of influence the previous HEQ transformation function has on the current function. The lower the value of N the higher the influence of the current video frame whereas the higher the value of N the more influence the previous damped transfer function has.

Clip Limit Index 0 (AGC HEQ Clip Limit High): This parameter defines the maximum number of pixels allowed to accumulate in any given histogram bin. Any additional pixels in a given bin are clipped. The effect of this parameter is to limit the influence of highly-populated bins on the resulting HEQ transformation function.

Clip Limit Index 1 (AGC HEQ Clip Limit Low): This parameter defines an artificial population that is added to every non-empty histogram bin. In other words, if the Clip Limit Low is set to L, a bin with an actual population of X will have an effective population of L + X. Any empty bin that is nearby a populated bin will be given an artificial population of L. The effect of higher values is to provide a more linear transfer function; lower values provide a more non-linear (equalized) transfer function.

Empty Counts: This parameter specifies the maximum number of pixels in a bin that will be interpreted as an empty bin. Histogram bins with this number of pixels or less will be processed as an empty bin.

void BrickletThermalImaging.GetHighContrastConfig(out byte[] regionOfInterest, out int dampeningFactor, out int[] clipLimit, out int emptyCounts)¶

Output Parameters:

regionOfInterest – Type: byte[], Length: 4 0: firstColumn – Type: byte, Range: [0 to 78], Default: 0 1: firstRow – Type: byte, Range: [0 to 58], Default: 0 2: lastColumn – Type: byte, Range: [1 to 79], Default: 79 3: lastRow – Type: byte, Range: [1 to 59], Default: 59 dampeningFactor – Type: int, Range: [0 to 256], Default: 64 clipLimit – Type: int[], Length: 2 0: agcHEQClipLimitHigh – Type: int, Range: [0 to 4800], Default: 4800 1: agcHEQClipLimitLow – Type: int, Range: [0 to 210], Default: 29 emptyCounts – Type: int, Range: [0 to 216 - 1], Default: 2

Returns the high contrast config as set by SetHighContrastConfig().

Advanced Functions¶

void BrickletThermalImaging.SetFluxLinearParameters(int sceneEmissivity, int temperatureBackground, int tauWindow, int temperaturWindow, int tauAtmosphere, int temperatureAtmosphere, int reflectionWindow, int temperatureReflection)¶

Parameters:

sceneEmissivity – Type: int, Unit: 25/2048 %, Range: [82 to 213], Default: 213 temperatureBackground – Type: int, Unit: 1/100 K, Range: [0 to 216 - 1], Default: 29515 tauWindow – Type: int, Unit: 25/2048 %, Range: [82 to 213], Default: 213 temperaturWindow – Type: int, Unit: 1/100 K, Range: [0 to 216 - 1], Default: 29515 tauAtmosphere – Type: int, Unit: 25/2048 %, Range: [82 to 213], Default: 213 temperatureAtmosphere – Type: int, Unit: 1/100 K, Range: [0 to 216 - 1], Default: 29515 reflectionWindow – Type: int, Unit: 25/2048 %, Range: [0 to 213], Default: 0 temperatureReflection – Type: int, Unit: 1/100 K, Range: [0 to 216 - 1], Default: 29515

Sets the flux linear parameters that can be used for radiometry calibration.

See FLIR document 102-PS245-100-01 for more details.

New in version 2.0.5 (Plugin).

void BrickletThermalImaging.GetFluxLinearParameters(out int sceneEmissivity, out int temperatureBackground, out int tauWindow, out int temperaturWindow, out int tauAtmosphere, out int temperatureAtmosphere, out int reflectionWindow, out int temperatureReflection)¶

Output Parameters:

sceneEmissivity – Type: int, Unit: 25/2048 %, Range: [82 to 213], Default: 213 temperatureBackground – Type: int, Unit: 1/100 K, Range: [0 to 216 - 1], Default: 29515 tauWindow – Type: int, Unit: 25/2048 %, Range: [82 to 213], Default: 213 temperaturWindow – Type: int, Unit: 1/100 K, Range: [0 to 216 - 1], Default: 29515 tauAtmosphere – Type: int, Unit: 25/2048 %, Range: [82 to 213], Default: 213 temperatureAtmosphere – Type: int, Unit: 1/100 K, Range: [0 to 216 - 1], Default: 29515 reflectionWindow – Type: int, Unit: 25/2048 %, Range: [0 to 213], Default: 0 temperatureReflection – Type: int, Unit: 1/100 K, Range: [0 to 216 - 1], Default: 29515

Returns the flux linear parameters, as set by SetFluxLinearParameters().

New in version 2.0.5 (Plugin).

void BrickletThermalImaging.SetFFCShutterMode(byte shutterMode, byte tempLockoutState, bool videoFreezeDuringFFC, bool ffcDesired, long elapsedTimeSinceLastFFC, long desiredFFCPeriod, bool explicitCmdToOpen, int desiredFFCTempDelta, int imminentDelay)¶

Parameters:

shutterMode – Type: byte, Range: See constants, Default: 1 tempLockoutState – Type: byte, Range: See constants, Default: 0 videoFreezeDuringFFC – Type: bool, Default: true ffcDesired – Type: bool, Default: false elapsedTimeSinceLastFFC – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 desiredFFCPeriod – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 300000 explicitCmdToOpen – Type: bool, Default: false desiredFFCTempDelta – Type: int, Unit: 1/100 K, Range: [0 to 216 - 1], Default: 300 imminentDelay – Type: int, Range: [0 to 216 - 1], Default: 52

Sets the FFC shutter mode parameters.

See FLIR document 110-0144-03 4.5.15 for more details.

The following constants are available for this function:

For shutterMode:

• BrickletThermalImaging.SHUTTER_MODE_MANUAL = 0
• BrickletThermalImaging.SHUTTER_MODE_AUTO = 1
• BrickletThermalImaging.SHUTTER_MODE_EXTERNAL = 2

For tempLockoutState:

• BrickletThermalImaging.SHUTTER_LOCKOUT_INACTIVE = 0
• BrickletThermalImaging.SHUTTER_LOCKOUT_HIGH = 1
• BrickletThermalImaging.SHUTTER_LOCKOUT_LOW = 2

New in version 2.0.6 (Plugin).

void BrickletThermalImaging.GetFFCShutterMode(out byte shutterMode, out byte tempLockoutState, out bool videoFreezeDuringFFC, out bool ffcDesired, out long elapsedTimeSinceLastFFC, out long desiredFFCPeriod, out bool explicitCmdToOpen, out int desiredFFCTempDelta, out int imminentDelay)¶

Output Parameters:

shutterMode – Type: byte, Range: See constants, Default: 1 tempLockoutState – Type: byte, Range: See constants, Default: 0 videoFreezeDuringFFC – Type: bool, Default: true ffcDesired – Type: bool, Default: false elapsedTimeSinceLastFFC – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 desiredFFCPeriod – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 300000 explicitCmdToOpen – Type: bool, Default: false desiredFFCTempDelta – Type: int, Unit: 1/100 K, Range: [0 to 216 - 1], Default: 300 imminentDelay – Type: int, Range: [0 to 216 - 1], Default: 52

Sets the FFC shutter mode parameters.

See FLIR document 110-0144-03 4.5.15 for more details.

The following constants are available for this function:

For shutterMode:

• BrickletThermalImaging.SHUTTER_MODE_MANUAL = 0
• BrickletThermalImaging.SHUTTER_MODE_AUTO = 1
• BrickletThermalImaging.SHUTTER_MODE_EXTERNAL = 2

For tempLockoutState:

• BrickletThermalImaging.SHUTTER_LOCKOUT_INACTIVE = 0
• BrickletThermalImaging.SHUTTER_LOCKOUT_HIGH = 1
• BrickletThermalImaging.SHUTTER_LOCKOUT_LOW = 2

New in version 2.0.6 (Plugin).

void BrickletThermalImaging.RunFFCNormalization()¶

Starts the Flat-Field Correction (FFC) normalization.

See FLIR document 110-0144-03 4.5.16 for more details.

New in version 2.0.6 (Plugin).

void BrickletThermalImaging.GetSPITFPErrorCount(out long errorCountAckChecksum, out long errorCountMessageChecksum, out long errorCountFrame, out long errorCountOverflow)¶

Output Parameters:	errorCountAckChecksum – Type: long, Range: [0 to 232 - 1] errorCountMessageChecksum – Type: long, Range: [0 to 232 - 1] errorCountFrame – Type: long, Range: [0 to 232 - 1] errorCountOverflow – Type: long, Range: [0 to 232 - 1]

Returns the error count for the communication between Brick and Bricklet.

The errors are divided into

• ACK checksum errors,
• message checksum errors,
• framing errors and
• overflow errors.

The errors counts are for errors that occur on the Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.

void BrickletThermalImaging.SetStatusLEDConfig(byte config)¶

Parameters:	config – Type: byte, Range: See constants, Default: 3

Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets.

You can also turn the LED permanently on/off or show a heartbeat.

If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.

The following constants are available for this function:

For config:

• BrickletThermalImaging.STATUS_LED_CONFIG_OFF = 0
• BrickletThermalImaging.STATUS_LED_CONFIG_ON = 1
• BrickletThermalImaging.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BrickletThermalImaging.STATUS_LED_CONFIG_SHOW_STATUS = 3

byte BrickletThermalImaging.GetStatusLEDConfig()¶

Returns:	config – Type: byte, Range: See constants, Default: 3

Returns the configuration as set by SetStatusLEDConfig()

The following constants are available for this function:

For config:

• BrickletThermalImaging.STATUS_LED_CONFIG_OFF = 0
• BrickletThermalImaging.STATUS_LED_CONFIG_ON = 1
• BrickletThermalImaging.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BrickletThermalImaging.STATUS_LED_CONFIG_SHOW_STATUS = 3

short BrickletThermalImaging.GetChipTemperature()¶

Returns:	temperature – Type: short, Unit: 1 °C, Range: [-215 to 215 - 1]

Returns the temperature as measured inside the microcontroller. The value returned is not the ambient temperature!

The temperature is only proportional to the real temperature and it has bad accuracy. Practically it is only useful as an indicator for temperature changes.

void BrickletThermalImaging.Reset()¶

Calling this function will reset the Bricklet. All configurations will be lost.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

void BrickletThermalImaging.GetIdentity(out string uid, out string connectedUid, out char position, out byte[] hardwareVersion, out byte[] firmwareVersion, out int deviceIdentifier)¶

Output Parameters:

uid – Type: string, Length: up to 8 connectedUid – Type: string, Length: up to 8 position – Type: char, Range: ['a' to 'h', 'z'] hardwareVersion – Type: byte[], Length: 3 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, Range: [0 to 255] firmwareVersion – Type: byte[], Length: 3 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, Range: [0 to 255] deviceIdentifier – Type: int, 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). A Bricklet connected to an Isolator Bricklet is always at 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¶

void BrickletThermalImaging.SetImageTransferConfig(byte config)¶

Parameters:	config – Type: byte, Range: See constants, Default: 0

The necessary bandwidth of this Bricklet is too high to use getter/callback or high contrast/temperature image at the same time. You have to configure the one you want to use, the Bricklet will optimize the internal configuration accordingly.

Corresponding functions:

• Manual High Contrast Image: GetHighContrastImage().
• Manual Temperature Image: GetTemperatureImage().
• Callback High Contrast Image: HighContrastImageCallback callback.
• Callback Temperature Image: TemperatureImageCallback callback.

The following constants are available for this function:

For config:

• BrickletThermalImaging.IMAGE_TRANSFER_MANUAL_HIGH_CONTRAST_IMAGE = 0
• BrickletThermalImaging.IMAGE_TRANSFER_MANUAL_TEMPERATURE_IMAGE = 1
• BrickletThermalImaging.IMAGE_TRANSFER_CALLBACK_HIGH_CONTRAST_IMAGE = 2
• BrickletThermalImaging.IMAGE_TRANSFER_CALLBACK_TEMPERATURE_IMAGE = 3

byte BrickletThermalImaging.GetImageTransferConfig()¶

Returns:	config – Type: byte, Range: See constants, Default: 0

Returns the image transfer config, as set by SetImageTransferConfig().

The following constants are available for this function:

For config:

• BrickletThermalImaging.IMAGE_TRANSFER_MANUAL_HIGH_CONTRAST_IMAGE = 0
• BrickletThermalImaging.IMAGE_TRANSFER_MANUAL_TEMPERATURE_IMAGE = 1
• BrickletThermalImaging.IMAGE_TRANSFER_CALLBACK_HIGH_CONTRAST_IMAGE = 2
• BrickletThermalImaging.IMAGE_TRANSFER_CALLBACK_TEMPERATURE_IMAGE = 3

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by appending your callback handler to the corresponding event:

void MyCallback(BrickletThermalImaging sender, int value)
{
    System.Console.WriteLine("Value: " + value);
}

thermalImaging.ExampleCallback += MyCallback;

The available events are described below.

event BrickletThermalImaging.HighContrastImageCallback(BrickletThermalImaging sender, byte[] image)¶

Callback Parameters:	sender – Type: BrickletThermalImaging image – Type: byte[], Length: 4800, Range: [0 to 255]

This callback is triggered with every new high contrast image if the transfer image config is configured for high contrast callback (see SetImageTransferConfig()).

The data is organized as a 8-bit value 80x60 pixel matrix linearized in a one-dimensional array. The data is arranged line by line from top left to bottom right.

Each 8-bit value represents one gray-scale image pixel that can directly be shown to a user on a display.

Note

If reconstructing the value fails, the callback is triggered with null for image.

event BrickletThermalImaging.TemperatureImageCallback(BrickletThermalImaging sender, int[] image)¶

Callback Parameters:	sender – Type: BrickletThermalImaging image – Type: int[], Length: 4800, Unit: ? K, Range: [0 to 216 - 1]

This callback is triggered with every new temperature image if the transfer image config is configured for temperature callback (see SetImageTransferConfig()).

The data is organized as a 16-bit value 80x60 pixel matrix linearized in a one-dimensional array. The data is arranged line by line from top left to bottom right.

Each 16-bit value represents one temperature measurement in either Kelvin/10 or Kelvin/100 (depending on the resolution set with SetResolution()).

Note

If reconstructing the value fails, the callback is triggered with null for image.

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.

byte[] BrickletThermalImaging.GetAPIVersion()¶

Output Parameters:	apiVersion – Type: byte[], Length: 3 0: major – Type: byte, Range: [0 to 255] 1: minor – Type: byte, Range: [0 to 255] 2: revision – Type: byte, 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.

bool BrickletThermalImaging.GetResponseExpected(byte functionId)¶

Parameters:	functionId – Type: byte, Range: See constants
Returns:	responseExpected – 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 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 sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

• BrickletThermalImaging.FUNCTION_SET_RESOLUTION = 4
• BrickletThermalImaging.FUNCTION_SET_SPOTMETER_CONFIG = 6
• BrickletThermalImaging.FUNCTION_SET_HIGH_CONTRAST_CONFIG = 8
• BrickletThermalImaging.FUNCTION_SET_IMAGE_TRANSFER_CONFIG = 10
• BrickletThermalImaging.FUNCTION_SET_FLUX_LINEAR_PARAMETERS = 14
• BrickletThermalImaging.FUNCTION_SET_FFC_SHUTTER_MODE = 16
• BrickletThermalImaging.FUNCTION_RUN_FFC_NORMALIZATION = 18
• BrickletThermalImaging.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BrickletThermalImaging.FUNCTION_SET_STATUS_LED_CONFIG = 239
• BrickletThermalImaging.FUNCTION_RESET = 243
• BrickletThermalImaging.FUNCTION_WRITE_UID = 248

void BrickletThermalImaging.SetResponseExpected(byte functionId, bool responseExpected)¶

Parameters:	functionId – Type: byte, Range: See constants responseExpected – 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 functionId:

• BrickletThermalImaging.FUNCTION_SET_RESOLUTION = 4
• BrickletThermalImaging.FUNCTION_SET_SPOTMETER_CONFIG = 6
• BrickletThermalImaging.FUNCTION_SET_HIGH_CONTRAST_CONFIG = 8
• BrickletThermalImaging.FUNCTION_SET_IMAGE_TRANSFER_CONFIG = 10
• BrickletThermalImaging.FUNCTION_SET_FLUX_LINEAR_PARAMETERS = 14
• BrickletThermalImaging.FUNCTION_SET_FFC_SHUTTER_MODE = 16
• BrickletThermalImaging.FUNCTION_RUN_FFC_NORMALIZATION = 18
• BrickletThermalImaging.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BrickletThermalImaging.FUNCTION_SET_STATUS_LED_CONFIG = 239
• BrickletThermalImaging.FUNCTION_RESET = 243
• BrickletThermalImaging.FUNCTION_WRITE_UID = 248

void BrickletThermalImaging.SetResponseExpectedAll(bool responseExpected)¶

Parameters:	responseExpected – Type: bool

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

Internal Functions¶

Internal functions are used for maintenance tasks such as flashing a new firmware of changing the UID of a Bricklet. These task should be performed using Brick Viewer instead of using the internal functions directly.

byte BrickletThermalImaging.SetBootloaderMode(byte mode)¶

Parameters:	mode – Type: byte, Range: See constants
Returns:	status – Type: byte, Range: See constants

Sets the bootloader mode and returns the status after the requested mode change was instigated.

You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

The following constants are available for this function:

For mode:

• BrickletThermalImaging.BOOTLOADER_MODE_BOOTLOADER = 0
• BrickletThermalImaging.BOOTLOADER_MODE_FIRMWARE = 1
• BrickletThermalImaging.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BrickletThermalImaging.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BrickletThermalImaging.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

• BrickletThermalImaging.BOOTLOADER_STATUS_OK = 0
• BrickletThermalImaging.BOOTLOADER_STATUS_INVALID_MODE = 1
• BrickletThermalImaging.BOOTLOADER_STATUS_NO_CHANGE = 2
• BrickletThermalImaging.BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
• BrickletThermalImaging.BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
• BrickletThermalImaging.BOOTLOADER_STATUS_CRC_MISMATCH = 5

byte BrickletThermalImaging.GetBootloaderMode()¶

Returns:	mode – Type: byte, Range: See constants

Returns the current bootloader mode, see SetBootloaderMode().

The following constants are available for this function:

For mode:

• BrickletThermalImaging.BOOTLOADER_MODE_BOOTLOADER = 0
• BrickletThermalImaging.BOOTLOADER_MODE_FIRMWARE = 1
• BrickletThermalImaging.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BrickletThermalImaging.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BrickletThermalImaging.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

void BrickletThermalImaging.SetWriteFirmwarePointer(long pointer)¶

Parameters:	pointer – Type: long, Unit: 1 B, Range: [0 to 232 - 1]

Sets the firmware pointer for WriteFirmware(). The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256).

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

byte BrickletThermalImaging.WriteFirmware(byte[] data)¶

Parameters:	data – Type: byte[], Length: 64, Range: [0 to 255]
Returns:	status – Type: byte, Range: [0 to 255]

Writes 64 Bytes of firmware at the position as written by SetWriteFirmwarePointer() before. The firmware is written to flash every 4 chunks.

You can only write firmware in bootloader mode.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

void BrickletThermalImaging.WriteUID(long uid)¶

Parameters:	uid – Type: long, Range: [0 to 232 - 1]

Writes a new UID into flash. If you want to set a new UID you have to decode the Base58 encoded UID string into an integer first.

We recommend that you use Brick Viewer to change the UID.

long BrickletThermalImaging.ReadUID()¶

Returns:	uid – Type: long, Range: [0 to 232 - 1]

Returns the current UID as an integer. Encode as Base58 to get the usual string version.

Constants¶

int BrickletThermalImaging.DEVICE_IDENTIFIER¶

This constant is used to identify a Thermal Imaging Bricklet.

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

string BrickletThermalImaging.DEVICE_DISPLAY_NAME¶

This constant represents the human readable name of a Thermal Imaging Bricklet.