Rust - Tilt Bricklet

This is the description of the Rust API bindings for the Tilt Bricklet. General information and technical specifications for the Tilt 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};

use tinkerforge::{ip_connection::IpConnection, tilt_bricklet::*};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your Tilt Bricklet.

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

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

    // Get current tilt state.
    let state = t.get_tilt_state().recv()?;

    if state == TILT_BRICKLET_TILT_STATE_CLOSED {
        println!("Tilt State: Closed");
    } else if state == TILT_BRICKLET_TILT_STATE_OPEN {
        println!("Tilt State: Open");
    } else if state == TILT_BRICKLET_TILT_STATE_CLOSED_VIBRATING {
        println!("Tilt State: Closed Vibrating");
    }

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;
    ipcon.disconnect();
    Ok(())
}

Callback

Download (example_callback.rs)

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use std::{error::Error, io, thread};
use tinkerforge::{ip_connection::IpConnection, tilt_bricklet::*};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your Tilt Bricklet.

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

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

    // Enable tilt state callback
    t.enable_tilt_state_callback();

    let tilt_state_receiver = t.get_tilt_state_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `t` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for tilt_state in tilt_state_receiver {
            if tilt_state == TILT_BRICKLET_TILT_STATE_CLOSED {
                println!("Tilt State: Closed");
            } else if tilt_state == TILT_BRICKLET_TILT_STATE_OPEN {
                println!("Tilt State: Open");
            } else if tilt_state == TILT_BRICKLET_TILT_STATE_CLOSED_VIBRATING {
                println!("Tilt State: Closed Vibrating");
            }
        }
    });

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

Creates a new TiltBricklet 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 TiltBricklet::get_tilt_state(&self) → ConvertingReceiver<u8>

Returns the current tilt state. The state can either be

  • 0 = Closed: The ball in the tilt switch closes the circuit.
  • 1 = Open: The ball in the tilt switch does not close the circuit.
  • 2 = Closed Vibrating: The tilt switch is in motion (rapid change between open and close).
Tilt states

The following constants are available for this function:

  • TILT_BRICKLET_TILT_STATE_CLOSED = 0
  • TILT_BRICKLET_TILT_STATE_OPEN = 1
  • TILT_BRICKLET_TILT_STATE_CLOSED_VIBRATING = 2

Advanced Functions

pub fn TiltBricklet::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 TiltBricklet::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 TiltBricklet::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 TiltBricklet::set_response_expected for the list of function ID constants available for this function.

pub fn TiltBricklet::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:

  • TILT_BRICKLET_FUNCTION_ENABLE_TILT_STATE_CALLBACK = 2
  • TILT_BRICKLET_FUNCTION_DISABLE_TILT_STATE_CALLBACK = 3
pub fn TiltBricklet::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 TiltBricklet::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

pub fn TiltBricklet::enable_tilt_state_callback(&self) → ConvertingReceiver<()>

Enables the TiltBricklet::get_tilt_state_callback_receiver callback.

pub fn TiltBricklet::disable_tilt_state_callback(&self) → ConvertingReceiver<()>

Disables the TiltBricklet::get_tilt_state_callback_receiver callback.

pub fn TiltBricklet::is_tilt_state_callback_enabled(&self) → ConvertingReceiver<bool>

Returns true if the TiltBricklet::get_tilt_state_callback_receiver callback is enabled.

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 TiltBricklet::get_tilt_state_callback_receiver(&self) → ConvertingCallbackReceiver<u8>

Receivers created with this function receive Tilt State events.

This callback provides the current tilt state. It is called every time the state changes.

See TiltBricklet::get_tilt_state for a description of the states.

The following constants are available for this function:

  • TILT_BRICKLET_TILT_STATE_CLOSED = 0
  • TILT_BRICKLET_TILT_STATE_OPEN = 1
  • TILT_BRICKLET_TILT_STATE_CLOSED_VIBRATING = 2

Constants

TiltBricklet::DEVICE_IDENTIFIER

This constant is used to identify a Tilt Bricklet.

The TiltBricklet::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.

TiltBricklet::DEVICE_DISPLAY_NAME

This constant represents the human readable name of a Tilt Bricklet.