287 lines
14 KiB
Python
287 lines
14 KiB
Python
# -*- coding: utf-8 -*-
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#############################################################
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# This file was automatically generated on 2013-02-19. #
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# #
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# Bindings Version 2.0.4 #
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# #
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# If you have a bugfix for this file and want to commit it, #
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# please fix the bug in the generator. You can find a link #
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# to the generator git on tinkerforge.com #
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#############################################################
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try:
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from collections import namedtuple
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except ImportError:
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try:
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from .ip_connection import namedtuple
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except ValueError:
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from ip_connection import namedtuple
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try:
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from .ip_connection import Device, IPConnection, Error
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except ValueError:
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from ip_connection import Device, IPConnection, Error
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GetDistanceCallbackThreshold = namedtuple('DistanceCallbackThreshold', ['option', 'min', 'max'])
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GetAnalogValueCallbackThreshold = namedtuple('AnalogValueCallbackThreshold', ['option', 'min', 'max'])
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GetIdentity = namedtuple('Identity', ['uid', 'connected_uid', 'position', 'hardware_version', 'firmware_version', 'device_identifier'])
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class BrickletDistanceIR(Device):
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"""
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Device for sensing distance via infrared
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"""
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DEVICE_IDENTIFIER = 25
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CALLBACK_DISTANCE = 15
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CALLBACK_ANALOG_VALUE = 16
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CALLBACK_DISTANCE_REACHED = 17
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CALLBACK_ANALOG_VALUE_REACHED = 18
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FUNCTION_GET_DISTANCE = 1
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FUNCTION_GET_ANALOG_VALUE = 2
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FUNCTION_SET_SAMPLING_POINT = 3
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FUNCTION_GET_SAMPLING_POINT = 4
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FUNCTION_SET_DISTANCE_CALLBACK_PERIOD = 5
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FUNCTION_GET_DISTANCE_CALLBACK_PERIOD = 6
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FUNCTION_SET_ANALOG_VALUE_CALLBACK_PERIOD = 7
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FUNCTION_GET_ANALOG_VALUE_CALLBACK_PERIOD = 8
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FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD = 9
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FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD = 10
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FUNCTION_SET_ANALOG_VALUE_CALLBACK_THRESHOLD = 11
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FUNCTION_GET_ANALOG_VALUE_CALLBACK_THRESHOLD = 12
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FUNCTION_SET_DEBOUNCE_PERIOD = 13
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FUNCTION_GET_DEBOUNCE_PERIOD = 14
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FUNCTION_GET_IDENTITY = 255
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THRESHOLD_OPTION_OFF = 'x'
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THRESHOLD_OPTION_OUTSIDE = 'o'
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THRESHOLD_OPTION_INSIDE = 'i'
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THRESHOLD_OPTION_SMALLER = '<'
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THRESHOLD_OPTION_GREATER = '>'
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def __init__(self, uid, ipcon):
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"""
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Creates an object with the unique device ID *uid* and adds it to
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the IP Connection *ipcon*.
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"""
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Device.__init__(self, uid, ipcon)
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self.api_version = (2, 0, 0)
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self.response_expected[BrickletDistanceIR.FUNCTION_GET_DISTANCE] = BrickletDistanceIR.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickletDistanceIR.FUNCTION_GET_ANALOG_VALUE] = BrickletDistanceIR.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickletDistanceIR.FUNCTION_SET_SAMPLING_POINT] = BrickletDistanceIR.RESPONSE_EXPECTED_FALSE
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self.response_expected[BrickletDistanceIR.FUNCTION_GET_SAMPLING_POINT] = BrickletDistanceIR.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickletDistanceIR.FUNCTION_SET_DISTANCE_CALLBACK_PERIOD] = BrickletDistanceIR.RESPONSE_EXPECTED_TRUE
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self.response_expected[BrickletDistanceIR.FUNCTION_GET_DISTANCE_CALLBACK_PERIOD] = BrickletDistanceIR.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickletDistanceIR.FUNCTION_SET_ANALOG_VALUE_CALLBACK_PERIOD] = BrickletDistanceIR.RESPONSE_EXPECTED_TRUE
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self.response_expected[BrickletDistanceIR.FUNCTION_GET_ANALOG_VALUE_CALLBACK_PERIOD] = BrickletDistanceIR.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickletDistanceIR.FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD] = BrickletDistanceIR.RESPONSE_EXPECTED_TRUE
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self.response_expected[BrickletDistanceIR.FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD] = BrickletDistanceIR.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickletDistanceIR.FUNCTION_SET_ANALOG_VALUE_CALLBACK_THRESHOLD] = BrickletDistanceIR.RESPONSE_EXPECTED_TRUE
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self.response_expected[BrickletDistanceIR.FUNCTION_GET_ANALOG_VALUE_CALLBACK_THRESHOLD] = BrickletDistanceIR.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickletDistanceIR.FUNCTION_SET_DEBOUNCE_PERIOD] = BrickletDistanceIR.RESPONSE_EXPECTED_TRUE
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self.response_expected[BrickletDistanceIR.FUNCTION_GET_DEBOUNCE_PERIOD] = BrickletDistanceIR.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.response_expected[BrickletDistanceIR.CALLBACK_DISTANCE] = BrickletDistanceIR.RESPONSE_EXPECTED_ALWAYS_FALSE
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self.response_expected[BrickletDistanceIR.CALLBACK_ANALOG_VALUE] = BrickletDistanceIR.RESPONSE_EXPECTED_ALWAYS_FALSE
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self.response_expected[BrickletDistanceIR.CALLBACK_DISTANCE_REACHED] = BrickletDistanceIR.RESPONSE_EXPECTED_ALWAYS_FALSE
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self.response_expected[BrickletDistanceIR.CALLBACK_ANALOG_VALUE_REACHED] = BrickletDistanceIR.RESPONSE_EXPECTED_ALWAYS_FALSE
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self.response_expected[BrickletDistanceIR.FUNCTION_GET_IDENTITY] = BrickletDistanceIR.RESPONSE_EXPECTED_ALWAYS_TRUE
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self.callback_formats[BrickletDistanceIR.CALLBACK_DISTANCE] = 'H'
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self.callback_formats[BrickletDistanceIR.CALLBACK_ANALOG_VALUE] = 'H'
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self.callback_formats[BrickletDistanceIR.CALLBACK_DISTANCE_REACHED] = 'H'
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self.callback_formats[BrickletDistanceIR.CALLBACK_ANALOG_VALUE_REACHED] = 'H'
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def get_distance(self):
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"""
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Returns the distance measured by the sensor. The value is in mm and possible
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distance ranges are 40 to 300, 100 to 800 and 200 to 1500, depending on the
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selected IR sensor.
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If you want to get the distance periodically, it is recommended to use the
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callback :func:`Distance` and set the period with
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:func:`SetDistanceCallbackPeriod`.
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"""
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return self.ipcon.send_request(self, BrickletDistanceIR.FUNCTION_GET_DISTANCE, (), '', 'H')
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def get_analog_value(self):
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"""
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Returns the value as read by a 12-bit analog-to-digital converter.
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The value is between 0 and 4095.
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.. note::
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The value returned by :func:`GetDistance` is averaged over several samples
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to yield less noise, while :func:`GetAnalogValue` gives back raw
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unfiltered analog values. The only reason to use :func:`GetAnalogValue` is,
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if you need the full resolution of the analog-to-digital converter.
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If you want the analog value periodically, it is recommended to use the
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callback :func:`AnalogValue` and set the period with
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:func:`SetAnalogValueCallbackPeriod`.
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"""
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return self.ipcon.send_request(self, BrickletDistanceIR.FUNCTION_GET_ANALOG_VALUE, (), '', 'H')
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def set_sampling_point(self, position, distance):
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"""
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Sets a sampling point value to a specific position of the lookup table.
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The lookup table comprises 128 equidistant analog values with
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corresponding distances.
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If you measure a distance of 50cm at the analog value 2048, you
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should call this function with (64, 5000). The utilized analog-to-digital
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converter has a resolution of 12 bit. With 128 sampling points on the
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whole range, this means that every sampling point has a size of 32
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analog values. Thus the analog value 2048 has the corresponding sampling
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point 64 = 2048/32.
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Sampling points are saved on the EEPROM of the Distance IR Bricklet and
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loaded again on startup.
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.. note::
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An easy way to calibrate the sampling points of the Distance IR Bricklet is
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implemented in the Brick Viewer. If you want to calibrate your Bricklet it is
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highly recommended to use this implementation.
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"""
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self.ipcon.send_request(self, BrickletDistanceIR.FUNCTION_SET_SAMPLING_POINT, (position, distance), 'B H', '')
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def get_sampling_point(self, position):
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"""
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Returns the distance to a sampling point position as set by
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:func:`SetSamplingPoint`.
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"""
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return self.ipcon.send_request(self, BrickletDistanceIR.FUNCTION_GET_SAMPLING_POINT, (position,), 'B', 'H')
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def set_distance_callback_period(self, period):
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"""
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Sets the period in ms with which the :func:`Distance` callback is triggered
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periodically. A value of 0 turns the callback off.
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:func:`Distance` is only triggered if the distance has changed since the
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last triggering.
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The default value is 0.
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"""
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self.ipcon.send_request(self, BrickletDistanceIR.FUNCTION_SET_DISTANCE_CALLBACK_PERIOD, (period,), 'I', '')
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def get_distance_callback_period(self):
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"""
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Returns the period as set by :func:`SetDistanceCallbackPeriod`.
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"""
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return self.ipcon.send_request(self, BrickletDistanceIR.FUNCTION_GET_DISTANCE_CALLBACK_PERIOD, (), '', 'I')
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def set_analog_value_callback_period(self, period):
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"""
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Sets the period in ms with which the :func:`AnalogValue` callback is triggered
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periodically. A value of 0 turns the callback off.
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:func:`AnalogValue` is only triggered if the analog value has changed since the
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last triggering.
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The default value is 0.
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"""
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self.ipcon.send_request(self, BrickletDistanceIR.FUNCTION_SET_ANALOG_VALUE_CALLBACK_PERIOD, (period,), 'I', '')
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def get_analog_value_callback_period(self):
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"""
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Returns the period as set by :func:`SetAnalogValueCallbackPeriod`.
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"""
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return self.ipcon.send_request(self, BrickletDistanceIR.FUNCTION_GET_ANALOG_VALUE_CALLBACK_PERIOD, (), '', 'I')
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def set_distance_callback_threshold(self, option, min, max):
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"""
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Sets the thresholds for the :func:`DistanceReached` callback.
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The following options are possible:
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.. csv-table::
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:header: "Option", "Description"
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:widths: 10, 100
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"'x'", "Callback is turned off"
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"'o'", "Callback is triggered when the distance is *outside* the min and max values"
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"'i'", "Callback is triggered when the distance is *inside* the min and max values"
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"'<'", "Callback is triggered when the distance is smaller than the min value (max is ignored)"
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"'>'", "Callback is triggered when the distance is greater than the min value (max is ignored)"
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The default value is ('x', 0, 0).
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"""
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self.ipcon.send_request(self, BrickletDistanceIR.FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD, (option, min, max), 'c h h', '')
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def get_distance_callback_threshold(self):
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"""
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Returns the threshold as set by :func:`SetDistanceCallbackThreshold`.
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"""
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return GetDistanceCallbackThreshold(*self.ipcon.send_request(self, BrickletDistanceIR.FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD, (), '', 'c h h'))
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def set_analog_value_callback_threshold(self, option, min, max):
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"""
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Sets the thresholds for the :func:`AnalogValueReached` callback.
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The following options are possible:
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.. csv-table::
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:header: "Option", "Description"
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:widths: 10, 100
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"'x'", "Callback is turned off"
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"'o'", "Callback is triggered when the analog value is *outside* the min and max values"
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"'i'", "Callback is triggered when the analog value is *inside* the min and max values"
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"'<'", "Callback is triggered when the analog value is smaller than the min value (max is ignored)"
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"'>'", "Callback is triggered when the analog value is greater than the min value (max is ignored)"
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The default value is ('x', 0, 0).
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"""
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self.ipcon.send_request(self, BrickletDistanceIR.FUNCTION_SET_ANALOG_VALUE_CALLBACK_THRESHOLD, (option, min, max), 'c H H', '')
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def get_analog_value_callback_threshold(self):
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"""
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Returns the threshold as set by :func:`SetAnalogValueCallbackThreshold`.
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"""
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return GetAnalogValueCallbackThreshold(*self.ipcon.send_request(self, BrickletDistanceIR.FUNCTION_GET_ANALOG_VALUE_CALLBACK_THRESHOLD, (), '', 'c H H'))
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def set_debounce_period(self, debounce):
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"""
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Sets the period in ms with which the threshold callbacks
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:func:`DistanceReached`, :func:`AnalogValueReached`
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are triggered, if the thresholds
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:func:`SetDistanceCallbackThreshold`, :func:`SetAnalogValueCallbackThreshold`
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keep being reached.
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The default value is 100.
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"""
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self.ipcon.send_request(self, BrickletDistanceIR.FUNCTION_SET_DEBOUNCE_PERIOD, (debounce,), 'I', '')
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def get_debounce_period(self):
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"""
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Returns the debounce period as set by :func:`SetDebouncePeriod`.
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"""
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return self.ipcon.send_request(self, BrickletDistanceIR.FUNCTION_GET_DEBOUNCE_PERIOD, (), '', 'I')
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def get_identity(self):
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"""
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Returns the UID, the UID where the Bricklet is connected to,
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the position, the hardware and firmware version as well as the
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device identifier.
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The position can be 'a', 'b', 'c' or 'd'.
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The device identifiers can be found :ref:`here <device_identifier>`.
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.. versionadded:: 2.0.0~(Plugin)
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"""
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return GetIdentity(*self.ipcon.send_request(self, BrickletDistanceIR.FUNCTION_GET_IDENTITY, (), '', '8s 8s c 3B 3B H'))
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def register_callback(self, id, callback):
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"""
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Registers a callback with ID *id* to the function *callback*.
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"""
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self.registered_callbacks[id] = callback
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DistanceIR = BrickletDistanceIR # for backward compatibility
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