Shell - Thermal Imaging Bricklet

This is the description of the Shell API bindings for the Thermal Imaging Bricklet. General information and technical specifications for the Thermal Imaging Bricklet are summarized in its hardware description.

An installation guide for the Shell API bindings is part of their general description.

Examples

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

Callback

Download (example-callback.sh)

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#!/bin/sh
# Connects to localhost:4223 by default, use --host and --port to change this

uid=XYZ # Change XYZ to the UID of your Thermal Imaging Bricklet

# Handle incoming high contrast image callbacks
tinkerforge dispatch thermal-imaging-bricklet $uid high-contrast-image &

# Enable high contrast image transfer for callback
tinkerforge call thermal-imaging-bricklet $uid set-image-transfer-config image-transfer-callback-high-contrast-image

echo "Press key to exit"; read dummy

kill -- -$$ # Stop callback dispatch in background

API

Possible exit codes for all tinkerforge commands are:

  • 1: interrupted (ctrl+c)
  • 2: syntax error
  • 21: Python 2.5 or newer is required
  • 22: Python argparse module is missing
  • 23: socket error
  • 24: other exception
  • 25: invalid placeholder in format string
  • 26: authentication error
  • 201: timeout occurred
  • 209: invalid argument value
  • 210: function is not supported
  • 211: unknown error

Command Structure

The common options of the call and dispatch commands are documented here. The specific command structure is shown below.

tinkerforge call thermal-imaging-bricklet [<option>..] <uid> <function> [<argument>..]
Parameters:
  • <uid> -- string
  • <function> -- string

The call command is used to call a function of the Thermal Imaging Bricklet. It can take several options:

  • --help shows help for the specific call command and exits
  • --list-functions shows a list of known functions of the Thermal Imaging Bricklet and exits
tinkerforge dispatch thermal-imaging-bricklet [<option>..] <uid> <callback>
Parameters:
  • <uid> -- string
  • <callback> -- string

The dispatch command is used to dispatch a callback of the Thermal Imaging Bricklet. It can take several options:

  • --help shows help for the specific dispatch command and exits
  • --list-callbacks shows a list of known callbacks of the Thermal Imaging Bricklet and exits
tinkerforge call thermal-imaging-bricklet <uid> <function> [<option>..] [<argument>..]
Parameters:
  • <uid> -- string
  • <function> -- string

The <function> to be called can take different options depending of its kind. All functions can take the following options:

  • --help shows help for the specific function and exits

Getter functions can take the following options:

  • --execute <command> shell command line to execute for each incoming response (see section about output formatting for details)

Setter functions can take the following options:

  • --expect-response requests response and waits for it

The --expect-response option for setter functions allows to detect timeouts and other error conditions calls of setters as well. The device will then send a response for this purpose. If this option is not given for a setter function then no response is send and errors are silently ignored, because they cannot be detected.

tinkerforge dispatch thermal-imaging-bricklet <uid> <callback> [<option>..]
Parameters:
  • <uid> -- string
  • <callback> -- string

The <callback> to be dispatched can take several options:

  • --help shows help for the specific callback and exits
  • --execute <command> shell command line to execute for each incoming response (see section about output formatting for details)

Basic Functions

tinkerforge call thermal-imaging-bricklet <uid> get-high-contrast-image-low-level
Output:
  • image-chunk-offset -- int
  • image-chunk-data -- int,int,..59x..,int

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 set-image-transfer-config.

tinkerforge call thermal-imaging-bricklet <uid> get-temperature-image-low-level
Output:
  • image-chunk-offset -- int
  • image-chunk-data -- int,int,..28x..,int

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:sh:func:set-resolution <thermal-imaging-bricklet set-resolution>).

Before you can use this function you have to enable it with set-image-transfer-config.

tinkerforge call thermal-imaging-bricklet <uid> get-statistics
Output:
  • spotmeter-statistics -- int,int,int,int
  • temperatures -- int,int,int,int
  • resolution -- int (has symbols)
  • ffc-status -- int (has symbols)
  • temperature-warning -- bool,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 symbols are available for this function:

  • resolution-0-to-6553-kelvin = 0, for resolution
  • resolution-0-to-655-kelvin = 1, for resolution
  • ffc-status-never-commanded = 0, for ffc-status
  • ffc-status-imminent = 1, for ffc-status
  • ffc-status-in-progress = 2, for ffc-status
  • ffc-status-complete = 3, for ffc-status
tinkerforge call thermal-imaging-bricklet <uid> set-resolution <resolution>
Parameters:
  • <resolution> -- int (has symbols)
Output:

no output

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 default value is 0 to 655 Kelvin.

The following symbols are available for this function:

  • resolution-0-to-6553-kelvin = 0, for <resolution>
  • resolution-0-to-655-kelvin = 1, for <resolution>
tinkerforge call thermal-imaging-bricklet <uid> get-resolution
Output:
  • resolution -- int (has symbols)

Returns the resolution as set by set-resolution.

The following symbols are available for this function:

  • resolution-0-to-6553-kelvin = 0, for resolution
  • resolution-0-to-655-kelvin = 1, for resolution
tinkerforge call thermal-imaging-bricklet <uid> set-spotmeter-config <region-of-interest>
Parameters:
  • <region-of-interest> -- int,int,int,int
Output:

no output

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 get-statistics.

The default region of interest is (39, 29, 40, 30).

tinkerforge call thermal-imaging-bricklet <uid> get-spotmeter-config
Output:
  • region-of-interest -- int,int,int,int

Returns the spotmeter config as set by set-spotmeter-config.

tinkerforge call thermal-imaging-bricklet <uid> set-high-contrast-config <region-of-interest> <dampening-factor> <clip-limit> <empty-counts>
Parameters:
  • <region-of-interest> -- int,int,int,int
  • <dampening-factor> -- int
  • <clip-limit> -- int,int
  • <empty-counts> -- int
Output:

no output

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

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 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.

Clip Limit Index 1 (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.

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.

The default values are

  • Region Of Interest = (0, 0, 79, 59),
  • Dampening Factor = 64,
  • Clip Limit = (4800, 512) and
  • Empty Counts = 2.
tinkerforge call thermal-imaging-bricklet <uid> get-high-contrast-config
Output:
  • region-of-interest -- int,int,int,int
  • dampening-factor -- int
  • clip-limit -- int,int
  • empty-counts -- int

Returns the high contrast config as set by set-high-contrast-config.

Advanced Functions

tinkerforge call thermal-imaging-bricklet <uid> get-spitfp-error-count
Output:
  • error-count-ack-checksum -- int
  • error-count-message-checksum -- int
  • error-count-frame -- int
  • error-count-overflow -- int

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.

tinkerforge call thermal-imaging-bricklet <uid> set-bootloader-mode <mode>
Parameters:
  • <mode> -- int (has symbols)
Output:
  • status -- int (has symbols)

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 symbols are available for this function:

  • bootloader-mode-bootloader = 0, for <mode>
  • bootloader-mode-firmware = 1, for <mode>
  • bootloader-mode-bootloader-wait-for-reboot = 2, for <mode>
  • bootloader-mode-firmware-wait-for-reboot = 3, for <mode>
  • bootloader-mode-firmware-wait-for-erase-and-reboot = 4, for <mode>
  • bootloader-status-ok = 0, for status
  • bootloader-status-invalid-mode = 1, for status
  • bootloader-status-no-change = 2, for status
  • bootloader-status-entry-function-not-present = 3, for status
  • bootloader-status-device-identifier-incorrect = 4, for status
  • bootloader-status-crc-mismatch = 5, for status
tinkerforge call thermal-imaging-bricklet <uid> get-bootloader-mode
Output:
  • mode -- int (has symbols)

Returns the current bootloader mode, see set-bootloader-mode.

The following symbols are available for this function:

  • bootloader-mode-bootloader = 0, for mode
  • bootloader-mode-firmware = 1, for mode
  • bootloader-mode-bootloader-wait-for-reboot = 2, for mode
  • bootloader-mode-firmware-wait-for-reboot = 3, for mode
  • bootloader-mode-firmware-wait-for-erase-and-reboot = 4, for mode
tinkerforge call thermal-imaging-bricklet <uid> set-write-firmware-pointer <pointer>
Parameters:
  • <pointer> -- int
Output:

no output

Sets the firmware pointer for write-firmware. 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.

tinkerforge call thermal-imaging-bricklet <uid> write-firmware <data>
Parameters:
  • <data> -- int,int,..61x..,int
Output:
  • status -- int

Writes 64 Bytes of firmware at the position as written by set-write-firmware-pointer 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.

tinkerforge call thermal-imaging-bricklet <uid> set-status-led-config <config>
Parameters:
  • <config> -- int (has symbols)
Output:

no output

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 symbols are available for this function:

  • status-led-config-off = 0, for <config>
  • status-led-config-on = 1, for <config>
  • status-led-config-show-heartbeat = 2, for <config>
  • status-led-config-show-status = 3, for <config>
tinkerforge call thermal-imaging-bricklet <uid> get-status-led-config
Output:
  • config -- int (has symbols)

Returns the configuration as set by set-status-led-config

The following symbols are available for this function:

  • status-led-config-off = 0, for config
  • status-led-config-on = 1, for config
  • status-led-config-show-heartbeat = 2, for config
  • status-led-config-show-status = 3, for config
tinkerforge call thermal-imaging-bricklet <uid> get-chip-temperature
Output:
  • temperature -- int

Returns the temperature in °C 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.

tinkerforge call thermal-imaging-bricklet <uid> reset
Output:no output

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!

tinkerforge call thermal-imaging-bricklet <uid> write-uid <uid>
Parameters:
  • <uid> -- int
Output:

no output

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.

tinkerforge call thermal-imaging-bricklet <uid> read-uid
Output:
  • uid -- int

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

tinkerforge call thermal-imaging-bricklet <uid> get-identity
Output:
  • uid -- string
  • connected-uid -- string
  • position -- char
  • hardware-version -- int,int,int
  • firmware-version -- int,int,int
  • device-identifier -- int (has symbols)

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

Callback Configuration Functions

tinkerforge call thermal-imaging-bricklet <uid> set-image-transfer-config <config>
Parameters:
  • <config> -- int (has symbols)
Output:

no output

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: get-high-contrast-image.
  • Manual Temperature Image: get-temperature-image.
  • Callback High Contrast Image: high-contrast-image callback.
  • Callback Temperature Image: temperature-image callback.

The default is Manual High Contrast Image (0).

The following symbols are available for this function:

  • image-transfer-manual-high-contrast-image = 0, for <config>
  • image-transfer-manual-temperature-image = 1, for <config>
  • image-transfer-callback-high-contrast-image = 2, for <config>
  • image-transfer-callback-temperature-image = 3, for <config>
tinkerforge call thermal-imaging-bricklet <uid> get-image-transfer-config
Output:
  • config -- int (has symbols)

Returns the image transfer config, as set by set-image-transfer-config.

The following symbols are available for this function:

  • image-transfer-manual-high-contrast-image = 0, for config
  • image-transfer-manual-temperature-image = 1, for config
  • image-transfer-callback-high-contrast-image = 2, for config
  • image-transfer-callback-temperature-image = 3, for config

Callbacks

Callbacks can be used to receive time critical or recurring data from the device:

tinkerforge dispatch thermal-imaging-bricklet <uid> example

The available callbacks 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.

tinkerforge dispatch thermal-imaging-bricklet <uid> high-contrast-image-low-level
Output:
  • image-chunk-offset -- int
  • image-chunk-data -- int,int,..59x..,int

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

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.

tinkerforge dispatch thermal-imaging-bricklet <uid> temperature-image-low-level
Output:
  • image-chunk-offset -- int
  • image-chunk-data -- int,int,..28x..,int

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

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 set-resolution).