This is the description of the C/C++ API bindings for the Distance US Bricklet. General information and technical specifications for the Distance US Bricklet are summarized in its hardware description.
An installation guide for the C/C++ API bindings is part of their general description.
The example code below is Public Domain (CC0 1.0).
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 30 31 32 33 34 35 36 37 38 | #include <stdio.h>
#include "ip_connection.h"
#include "bricklet_distance_us.h"
#define HOST "localhost"
#define PORT 4223
#define UID "XYZ" // Change to your UID
int main() {
// Create IP connection
IPConnection ipcon;
ipcon_create(&ipcon);
// Create device object
DistanceUS dist;
distance_us_create(&dist, UID, &ipcon);
// Connect to brickd
if(ipcon_connect(&ipcon, HOST, PORT) < 0) {
fprintf(stderr, "Could not connect\n");
exit(1);
}
// Don't use device before ipcon is connected
// Get current distance value
uint16_t distance;
if(distance_us_get_distance_value(&dist, &distance) < 0) {
fprintf(stderr, "Could not get value, probably timeout\n");
exit(1);
}
printf("Distance Value: %d\n", distance);
printf("Press key to exit\n");
getchar();
ipcon_destroy(&ipcon); // Calls ipcon_disconnect internally
}
|
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 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 | #include <stdio.h>
#include "ip_connection.h"
#include "bricklet_distance_us.h"
#define HOST "localhost"
#define PORT 4223
#define UID "XYZ" // Change to your UID
// Callback function for distance value
void cb_distance(uint16_t distance, void *user_data) {
(void)user_data; // avoid unused parameter warning
printf("Distance Value: %d\n", distance);
}
int main() {
// Create IP connection
IPConnection ipcon;
ipcon_create(&ipcon);
// Create device object
DistanceUS dist;
distance_us_create(&dist, UID, &ipcon);
// Connect to brickd
if(ipcon_connect(&ipcon, HOST, PORT) < 0) {
fprintf(stderr, "Could not connect\n");
exit(1);
}
// Don't use device before ipcon is connected
// Set Period for distance callback to 0.2s (200ms)
// Note: The callback is only called every 200ms if the
// distance has changed since the last call!
distance_us_set_distance_callback_period(&dist, 200);
// Register distance callback to function cb_distance
distance_us_register_callback(&dist,
DISTANCE_US_CALLBACK_DISTANCE,
(void *)cb_distance,
NULL);
printf("Press key to exit\n");
getchar();
ipcon_destroy(&ipcon); // Calls ipcon_disconnect internally
}
|
Download (example_threshold.c)
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 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 | #include <stdio.h>
#include "ip_connection.h"
#include "bricklet_distance_us.h"
#define HOST "localhost"
#define PORT 4223
#define UID "XYZ" // Change to your UID
// Callback for distance value smaller than 200
void cb_reached(uint16_t distance, void *user_data) {
(void)user_data; // avoid unused parameter warning
printf("Distance Value is smaller than 200: %d\n", distance);
}
int main() {
// Create IP connection
IPConnection ipcon;
ipcon_create(&ipcon);
// Create device object
DistanceUS dist;
distance_us_create(&dist, UID, &ipcon);
// Connect to brickd
if(ipcon_connect(&ipcon, HOST, PORT) < 0) {
fprintf(stderr, "Could not connect\n");
exit(1);
}
// Don't use device before ipcon is connected
// Get threshold callbacks with a debounce time of 1 second (1000ms)
distance_us_set_debounce_period(&dist, 1000);
// Register threshold reached callback to function cb_reached
distance_us_register_callback(&dist,
DISTANCE_US_CALLBACK_DISTANCE_REACHED,
(void *)cb_reached,
NULL);
// Configure threshold for "smaller than 200"
distance_us_set_distance_callback_threshold(&dist, '<', 200, 0);
printf("Press key to exit\n");
getchar();
ipcon_destroy(&ipcon); // Calls ipcon_disconnect internally
}
|
Every function of the C/C++ bindings returns an integer which describes an error code. Data returned from the device, when a getter is called, is handled via call by reference. These parameters are labeled with the ret_ prefix.
Possible error codes are:
as defined in ip_connection.h.
All functions listed below are thread-safe.
Creates the device object distance_us with the unique device ID uid and adds it to the IPConnection ipcon:
DistanceUS distance_us;
distance_us_create(&distance_us, "YOUR_DEVICE_UID", &ipcon);
This device object can be used after the IP connection has been connected (see examples above).
Removes the device object distance_us from its IPConnection and destroys it. The device object cannot be used anymore afterwards.
Returns the current distance value measured by the sensor. The value has a range of 0 to 4095. A small value corresponds to a small distance, a big value corresponds to a big distance. The relation between the measured distance value and the actual distance is affected by the 5V supply voltage (deviations in the supply voltage result in deviations in the distance values) and is non-linear (resolution is bigger at close range).
If you want to get the distance value periodically, it is recommended to use the callback DISTANCE_US_CALLBACK_DISTANCE and set the period with distance_us_set_distance_callback_period().
Sets the length of a moving averaging for the distance value.
Setting the length to 0 will turn the averaging completely off. With less averaging, there is more noise on the data.
The range for the averaging is 0-100.
The default value is 20.
Returns the length moving average as set by distance_us_set_moving_average().
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.
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 distance_us_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 distance_us_set_response_expected() for the list of function ID defines available for this function.
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 and callbacks it is always disabled.
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 defines are available for this function:
Changes the response expected flag for all setter and callback configuration functions of this device at once.
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.
Registers a callback with ID id to the function callback. The user_data will be given as a parameter of the callback.
The available IDs with corresponding function signatures are listed below.
Sets the period in ms with which the DISTANCE_US_CALLBACK_DISTANCE callback is triggered periodically. A value of 0 turns the callback off.
DISTANCE_US_CALLBACK_DISTANCE is only triggered if the distance value has changed since the last triggering.
The default value is 0.
Returns the period as set by distance_us_set_distance_callback_period().
Sets the thresholds for the DISTANCE_US_CALLBACK_DISTANCE_REACHED callback.
The following options are possible:
Option | Description |
---|---|
'x' | Callback is turned off |
'o' | Callback is triggered when the distance value is outside the min and max values |
'i' | Callback is triggered when the distance value is inside the min and max values |
'<' | Callback is triggered when the distance value is smaller than the min value (max is ignored) |
'>' | Callback is triggered when the distance value is greater than the min value (max is ignored) |
The default value is ('x', 0, 0).
The following defines are available for this function:
Returns the threshold as set by distance_us_set_distance_callback_threshold().
The following defines are available for this function:
Sets the period in ms with which the threshold callbacks
are triggered, if the thresholds
keep being reached.
The default value is 100.
Returns the debounce period as set by distance_us_set_debounce_period().
Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the distance_us_register_callback() function. The parameters consist of the device object, the callback ID, the callback function and optional user data:
void my_callback(int p, void *user_data) { printf("parameter: %d\n", p); } distance_us_register_callback(&distance_us, DISTANCE_US_CALLBACK_EXAMPLE, (void *)my_callback, NULL);
The available constants with corresponding callback function signatures 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.
void callback(uint16_t distance, void *user_data)
This callback is triggered periodically with the period that is set by distance_us_set_distance_callback_period(). The parameter is the distance value of the sensor.
DISTANCE_US_CALLBACK_DISTANCE is only triggered if the distance value has changed since the last triggering.
void callback(uint16_t distance, void *user_data)
This callback is triggered when the threshold as set by distance_us_set_distance_callback_threshold() is reached. The parameter is the distance value of the sensor.
If the threshold keeps being reached, the callback is triggered periodically with the period as set by distance_us_set_debounce_period().
This constant is used to identify a Distance US Bricklet.
The distance_us_get_identity() function and the IPCON_CALLBACK_ENUMERATE callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.