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:breadcrumbs: <a href="../../index.html">Home</a> / <a href="../../index.html#software-shell">Software</a> / Shell - Distance IR Bricklet

.. |device_identifier_constant| unicode:: 0xA0
   :trim:

.. _distance_ir_bricklet_shell:

Shell - Distance IR Bricklet
============================

This is the description of the :ref:`Shell API bindings <api_bindings_shell>` for the :ref:`Distance IR Bricklet <distance_ir_bricklet>`. General information and technical
specifications for the Distance IR Bricklet are summarized in its :ref:`hardware description
<distance_ir_bricklet_description>`.

An :ref:`installation guide <api_bindings_shell_install>` for the Shell API
bindings is part of their general description.

.. _distance_ir_bricklet_shell_examples:


Examples
--------

The example code below is `Public Domain (CC0 1.0)
<http://creativecommons.org/publicdomain/zero/1.0/>`__.

Simple
^^^^^^

`Download (example-simple.sh) <https://github.com/Tinkerforge/distance-ir-bricklet/raw/master/software/examples/shell/example-simple.sh>`__

.. literalinclude:: DistanceIR_Bricklet_Shell_example-simple.sh
 :language: bash
 :linenos:
 :tab-width: 4

Callback
^^^^^^^^

`Download (example-callback.sh) <https://github.com/Tinkerforge/distance-ir-bricklet/raw/master/software/examples/shell/example-callback.sh>`__

.. literalinclude:: DistanceIR_Bricklet_Shell_example-callback.sh
 :language: bash
 :linenos:
 :tab-width: 4

Threshold
^^^^^^^^^

`Download (example-threshold.sh) <https://github.com/Tinkerforge/distance-ir-bricklet/raw/master/software/examples/shell/example-threshold.sh>`__

.. literalinclude:: DistanceIR_Bricklet_Shell_example-threshold.sh
 :language: bash
 :linenos:
 :tab-width: 4

.. _distance_ir_bricklet_shell_api:

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
:ref:`here <ipcon_shell_api>`. The specific command structure is shown below.

.. sh:function:: X Stinkerforge Pcall Ndistance-ir-bricklet A[<option>..] L<uid> L<function> L[<argument>..]

 :param <uid>: string
 :param <function>: string

 The ``call`` command is used to call a function of the Distance IR 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 Distance IR Bricklet and exits


.. sh:function:: X Stinkerforge Pdispatch Ndistance-ir-bricklet A[<option>..] L<uid> L<callback>

 :param <uid>: string
 :param <callback>: string

 The ``dispatch`` command is used to dispatch a callback of the Distance IR 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 Distance IR Bricklet and exits


.. sh:function:: X Stinkerforge Scall Pdistance-ir-bricklet L<uid> N<function> A[<option>..] L[<argument>..]

 :param <uid>: string
 :param <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 :ref:`output formatting <ipcon_shell_output>`
   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.


.. sh:function:: X Stinkerforge Sdispatch Pdistance-ir-bricklet L<uid> N<callback> A[<option>..]

 :param <uid>: string
 :param <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 :ref:`output formatting <ipcon_shell_output>`
   for details)



Basic Functions
^^^^^^^^^^^^^^^



.. sh:function:: tinkerforge call distance-ir-bricklet <uid> get-distance  


 :returns distance: int

 Returns the distance measured by the sensor. The value is in mm and possible
 distance ranges are 40 to 300, 100 to 800 and 200 to 1500, depending on the
 selected IR sensor.
 
 If you want to get the distance periodically, it is recommended to use the
 callback :sh:func:`distance <distance-ir-bricklet distance>` and set the period with 
 :sh:func:`set-distance-callback-period <distance-ir-bricklet set-distance-callback-period>`.
 


Advanced Functions
^^^^^^^^^^^^^^^^^^

.. sh:function:: tinkerforge call distance-ir-bricklet <uid> get-analog-value  


 :returns value: int

 Returns the value as read by a 12-bit analog-to-digital converter.
 The value is between 0 and 4095.
 
 .. note::
  The value returned by :sh:func:`get-distance <distance-ir-bricklet get-distance>` is averaged over several samples
  to yield less noise, while :sh:func:`get-analog-value <distance-ir-bricklet get-analog-value>` gives back raw
  unfiltered analog values. The only reason to use :sh:func:`get-analog-value <distance-ir-bricklet get-analog-value>` is,
  if you need the full resolution of the analog-to-digital converter.
 
 If you want the analog value periodically, it is recommended to use the 
 callback :sh:func:`analog-value <distance-ir-bricklet analog-value>` and set the period with 
 :sh:func:`set-analog-value-callback-period <distance-ir-bricklet set-analog-value-callback-period>`.
 
.. sh:function:: tinkerforge call distance-ir-bricklet <uid> set-sampling-point <position> <distance> 

 :param <position>: int
 :param <distance>: int

 :noreturn: no output

 Sets a sampling point value to a specific position of the lookup table.
 The lookup table comprises 128 equidistant analog values with
 corresponding distances.
 
 If you measure a distance of 50cm at the analog value 2048, you
 should call this function with (64, 5000). The utilized analog-to-digital
 converter has a resolution of 12 bit. With 128 sampling points on the
 whole range, this means that every sampling point has a size of 32
 analog values. Thus the analog value 2048 has the corresponding sampling
 point 64 = 2048/32.
 
 Sampling points are saved on the EEPROM of the Distance IR Bricklet and
 loaded again on startup.
 
 .. note::
  An easy way to calibrate the sampling points of the Distance IR Bricklet is
  implemented in the Brick Viewer. If you want to calibrate your Bricklet it is
  highly recommended to use this implementation.
 
.. sh:function:: tinkerforge call distance-ir-bricklet <uid> get-sampling-point <position> 

 :param <position>: int

 :returns distance: int

 Returns the distance to a sampling point position as set by
 :sh:func:`set-sampling-point <distance-ir-bricklet set-sampling-point>`.
 
.. sh:function:: tinkerforge call distance-ir-bricklet <uid> get-identity  


 :returns uid: string
 :returns connected-uid: string
 :returns position: char
 :returns hardware-version: int,int,int
 :returns firmware-version: int,int,int
 :returns 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 :ref:`here <device_identifier>`.
 |device_identifier_constant|
 


Callback Configuration Functions
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^



.. sh:function:: tinkerforge call distance-ir-bricklet <uid> set-distance-callback-period <period> 

 :param <period>: int

 :noreturn: no output

 Sets the period in ms with which the :sh:func:`distance <distance-ir-bricklet distance>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
 :sh:func:`distance <distance-ir-bricklet distance>` is only triggered if the distance has changed since the
 last triggering.
 
 The default value is 0.
 
.. sh:function:: tinkerforge call distance-ir-bricklet <uid> get-distance-callback-period  


 :returns period: int

 Returns the period as set by :sh:func:`set-distance-callback-period <distance-ir-bricklet set-distance-callback-period>`.
 
.. sh:function:: tinkerforge call distance-ir-bricklet <uid> set-analog-value-callback-period <period> 

 :param <period>: int

 :noreturn: no output

 Sets the period in ms with which the :sh:func:`analog-value <distance-ir-bricklet analog-value>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
 :sh:func:`analog-value <distance-ir-bricklet analog-value>` is only triggered if the analog value has changed since the
 last triggering.
 
 The default value is 0.
 
.. sh:function:: tinkerforge call distance-ir-bricklet <uid> get-analog-value-callback-period  


 :returns period: int

 Returns the period as set by :sh:func:`set-analog-value-callback-period <distance-ir-bricklet set-analog-value-callback-period>`.
 
.. sh:function:: tinkerforge call distance-ir-bricklet <uid> set-distance-callback-threshold <option> <min> <max> 

 :param <option>: char (has symbols)
 :param <min>: int
 :param <max>: int

 :noreturn: no output

 Sets the thresholds for the :sh:func:`distance-reached <distance-ir-bricklet distance-reached>` callback. 
 
 The following options are possible:
 
 .. csv-table::
  :header: "Option", "Description"
  :widths: 10, 100
 
  "'x'",    "Callback is turned off"
  "'o'",    "Callback is triggered when the distance is *outside* the min and max values"
  "'i'",    "Callback is triggered when the distance is *inside* the min and max values"
  "'<'",    "Callback is triggered when the distance is smaller than the min value (max is ignored)"
  "'>'",    "Callback is triggered when the distance is greater than the min value (max is ignored)"
 
 The default value is ('x', 0, 0).
 
 The following symbols are available for this function:
 
 * ``off`` = x, for <option>
 * ``outside`` = o, for <option>
 * ``inside`` = i, for <option>
 * ``smaller`` = <, for <option>
 * ``greater`` = >, for <option>
 
.. sh:function:: tinkerforge call distance-ir-bricklet <uid> get-distance-callback-threshold  


 :returns option: char (has symbols)
 :returns min: int
 :returns max: int

 Returns the threshold as set by :sh:func:`set-distance-callback-threshold <distance-ir-bricklet set-distance-callback-threshold>`.
 
 The following symbols are available for this function:
 
 * ``off`` = x, for option
 * ``outside`` = o, for option
 * ``inside`` = i, for option
 * ``smaller`` = <, for option
 * ``greater`` = >, for option
 
.. sh:function:: tinkerforge call distance-ir-bricklet <uid> set-analog-value-callback-threshold <option> <min> <max> 

 :param <option>: char (has symbols)
 :param <min>: int
 :param <max>: int

 :noreturn: no output

 Sets the thresholds for the :sh:func:`analog-value-reached <distance-ir-bricklet analog-value-reached>` callback. 
 
 The following options are possible:
 
 .. csv-table::
  :header: "Option", "Description"
  :widths: 10, 100
 
  "'x'",    "Callback is turned off"
  "'o'",    "Callback is triggered when the analog value is *outside* the min and max values"
  "'i'",    "Callback is triggered when the analog value is *inside* the min and max values"
  "'<'",    "Callback is triggered when the analog value is smaller than the min value (max is ignored)"
  "'>'",    "Callback is triggered when the analog value is greater than the min value (max is ignored)"
 
 The default value is ('x', 0, 0).
 
 The following symbols are available for this function:
 
 * ``off`` = x, for <option>
 * ``outside`` = o, for <option>
 * ``inside`` = i, for <option>
 * ``smaller`` = <, for <option>
 * ``greater`` = >, for <option>
 
.. sh:function:: tinkerforge call distance-ir-bricklet <uid> get-analog-value-callback-threshold  


 :returns option: char (has symbols)
 :returns min: int
 :returns max: int

 Returns the threshold as set by :sh:func:`set-analog-value-callback-threshold <distance-ir-bricklet set-analog-value-callback-threshold>`.
 
 The following symbols are available for this function:
 
 * ``off`` = x, for option
 * ``outside`` = o, for option
 * ``inside`` = i, for option
 * ``smaller`` = <, for option
 * ``greater`` = >, for option
 
.. sh:function:: tinkerforge call distance-ir-bricklet <uid> set-debounce-period <debounce> 

 :param <debounce>: int

 :noreturn: no output

 Sets the period in ms with which the threshold callbacks
 
 * :sh:func:`distance-reached <distance-ir-bricklet distance-reached>`,
 * :sh:func:`analog-value-reached <distance-ir-bricklet analog-value-reached>`
 
 are triggered, if the thresholds
 
 * :sh:func:`set-distance-callback-threshold <distance-ir-bricklet set-distance-callback-threshold>`,
 * :sh:func:`set-analog-value-callback-threshold <distance-ir-bricklet set-analog-value-callback-threshold>`
 
 keep being reached.
 
 The default value is 100.
 
.. sh:function:: tinkerforge call distance-ir-bricklet <uid> get-debounce-period  


 :returns debounce: int

 Returns the debounce period as set by :sh:func:`set-debounce-period <distance-ir-bricklet set-debounce-period>`.
 


.. _distance_ir_bricklet_shell_callbacks:

Callbacks
^^^^^^^^^

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

.. code-block:: bash

    tinkerforge dispatch distance-ir-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.

.. sh:function::  tinkerforge dispatch distance-ir-bricklet <uid> distance

 :returns distance: int


 This callback is triggered periodically with the period that is set by
 :sh:func:`set-distance-callback-period <distance-ir-bricklet set-distance-callback-period>`. The parameter is the distance of the
 sensor.
 
 :sh:func:`distance <distance-ir-bricklet distance>` is only triggered if the distance has changed since the
 last triggering.
 
.. sh:function::  tinkerforge dispatch distance-ir-bricklet <uid> analog-value

 :returns value: int


 This callback is triggered periodically with the period that is set by
 :sh:func:`set-analog-value-callback-period <distance-ir-bricklet set-analog-value-callback-period>`. The parameter is the analog value of the
 sensor.
 
 :sh:func:`analog-value <distance-ir-bricklet analog-value>` is only triggered if the analog value has changed since the
 last triggering.
 
.. sh:function::  tinkerforge dispatch distance-ir-bricklet <uid> distance-reached

 :returns distance: int


 This callback is triggered when the threshold as set by
 :sh:func:`set-distance-callback-threshold <distance-ir-bricklet set-distance-callback-threshold>` is reached.
 The parameter is the distance of the sensor.
 
 If the threshold keeps being reached, the callback is triggered periodically
 with the period as set by :sh:func:`set-debounce-period <distance-ir-bricklet set-debounce-period>`.
 
.. sh:function::  tinkerforge dispatch distance-ir-bricklet <uid> analog-value-reached

 :returns value: int


 This callback is triggered when the threshold as set by
 :sh:func:`set-analog-value-callback-threshold <distance-ir-bricklet set-analog-value-callback-threshold>` is reached.
 The parameter is the analog value of the sensor.
 
 If the threshold keeps being reached, the callback is triggered periodically
 with the period as set by :sh:func:`set-debounce-period <distance-ir-bricklet set-debounce-period>`.
 


