line_bricklet.go

/* ***********************************************************
 * This file was automatically generated on 2024-02-27.      *
 *                                                           *
 * Go Bindings Version 2.0.15                                *
 *                                                           *
 * If you have a bugfix for this file and want to commit it, *
 * please fix the bug in the generator. You can find a link  *
 * to the generators git repository on tinkerforge.com       *
 *************************************************************/

// Measures reflectivity of a surface.
//
//
// See also the documentation here: https://www.tinkerforge.com/en/doc/Software/Bricklets/Line_Bricklet_Go.html.
package line_bricklet

import (
	"bytes"
	"encoding/binary"
	"fmt"
	. "github.com/Tinkerforge/go-api-bindings/internal"
	"github.com/Tinkerforge/go-api-bindings/ipconnection"
)

type Function = uint8

const (
	FunctionGetReflectivity                  Function = 1
	FunctionSetReflectivityCallbackPeriod    Function = 2
	FunctionGetReflectivityCallbackPeriod    Function = 3
	FunctionSetReflectivityCallbackThreshold Function = 4
	FunctionGetReflectivityCallbackThreshold Function = 5
	FunctionSetDebouncePeriod                Function = 6
	FunctionGetDebouncePeriod                Function = 7
	FunctionGetIdentity                      Function = 255
	FunctionCallbackReflectivity             Function = 8
	FunctionCallbackReflectivityReached      Function = 9
)

type ThresholdOption = rune

const (
	ThresholdOptionOff     ThresholdOption = 'x'
	ThresholdOptionOutside ThresholdOption = 'o'
	ThresholdOptionInside  ThresholdOption = 'i'
	ThresholdOptionSmaller ThresholdOption = '<'
	ThresholdOptionGreater ThresholdOption = '>'
)

type LineBricklet struct {
	device Device
}

const DeviceIdentifier = 241
const DeviceDisplayName = "Line Bricklet"

// Creates an object with the unique device ID `uid`. This object can then be used after the IP Connection `ipcon` is connected.
func New(uid string, ipcon *ipconnection.IPConnection) (LineBricklet, error) {
	internalIPCon := ipcon.GetInternalHandle().(IPConnection)
	dev, err := NewDevice([3]uint8{2, 0, 0}, uid, &internalIPCon, 0, DeviceIdentifier, DeviceDisplayName)
	if err != nil {
		return LineBricklet{}, err
	}
	dev.ResponseExpected[FunctionGetReflectivity] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionSetReflectivityCallbackPeriod] = ResponseExpectedFlagTrue
	dev.ResponseExpected[FunctionGetReflectivityCallbackPeriod] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionSetReflectivityCallbackThreshold] = ResponseExpectedFlagTrue
	dev.ResponseExpected[FunctionGetReflectivityCallbackThreshold] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionSetDebouncePeriod] = ResponseExpectedFlagTrue
	dev.ResponseExpected[FunctionGetDebouncePeriod] = ResponseExpectedFlagAlwaysTrue
	dev.ResponseExpected[FunctionGetIdentity] = ResponseExpectedFlagAlwaysTrue
	return LineBricklet{dev}, nil
}

// 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 SetResponseExpected.
// 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 sent
// and errors are silently ignored, because they cannot be detected.
//
// See SetResponseExpected for the list of function ID constants available for this function.
func (device *LineBricklet) GetResponseExpected(functionID Function) (bool, error) {
	return device.device.GetResponseExpected(uint8(functionID))
}

// 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 sent
// and errors are silently ignored, because they cannot be detected.
func (device *LineBricklet) SetResponseExpected(functionID Function, responseExpected bool) error {
	return device.device.SetResponseExpected(uint8(functionID), responseExpected)
}

// Changes the response expected flag for all setter and callback configuration functions of this device at once.
func (device *LineBricklet) SetResponseExpectedAll(responseExpected bool) {
	device.device.SetResponseExpectedAll(responseExpected)
}

// 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.
func (device *LineBricklet) GetAPIVersion() [3]uint8 {
	return device.device.GetAPIVersion()
}

// This callback is triggered periodically with the period that is set by
// SetReflectivityCallbackPeriod. The parameter is the
// reflectivity of the sensor.
//
// The RegisterReflectivityCallback callback is only triggered if the reflectivity has
// changed since the last triggering.
func (device *LineBricklet) RegisterReflectivityCallback(fn func(uint16)) uint64 {
	wrapper := func(byteSlice []byte) {
		var header PacketHeader

		header.FillFromBytes(byteSlice)
		if header.Length != 10 {
			return
		}
		buf := bytes.NewBuffer(byteSlice[8:])
		var reflectivity uint16
		binary.Read(buf, binary.LittleEndian, &reflectivity)
		fn(reflectivity)
	}
	return device.device.RegisterCallback(uint8(FunctionCallbackReflectivity), wrapper)
}

// Remove a registered Reflectivity callback.
func (device *LineBricklet) DeregisterReflectivityCallback(registrationId uint64) {
	device.device.DeregisterCallback(uint8(FunctionCallbackReflectivity), registrationId)
}

// This callback is triggered when the threshold as set by
// SetReflectivityCallbackThreshold is reached.
// The parameter is the reflectivity of the sensor.
//
// If the threshold keeps being reached, the callback is triggered periodically
// with the period as set by SetDebouncePeriod.
func (device *LineBricklet) RegisterReflectivityReachedCallback(fn func(uint16)) uint64 {
	wrapper := func(byteSlice []byte) {
		var header PacketHeader

		header.FillFromBytes(byteSlice)
		if header.Length != 10 {
			return
		}
		buf := bytes.NewBuffer(byteSlice[8:])
		var reflectivity uint16
		binary.Read(buf, binary.LittleEndian, &reflectivity)
		fn(reflectivity)
	}
	return device.device.RegisterCallback(uint8(FunctionCallbackReflectivityReached), wrapper)
}

// Remove a registered Reflectivity Reached callback.
func (device *LineBricklet) DeregisterReflectivityReachedCallback(registrationId uint64) {
	device.device.DeregisterCallback(uint8(FunctionCallbackReflectivityReached), registrationId)
}

// Returns the currently measured reflectivity. The reflectivity is
// a value between 0 (not reflective) and 4095 (very reflective).
//
// Usually black has a low reflectivity while white has a high
// reflectivity.
//
// If you want to get the reflectivity periodically, it is recommended
// to use the RegisterReflectivityCallback callback and set the period with
// SetReflectivityCallbackPeriod.
func (device *LineBricklet) GetReflectivity() (reflectivity uint16, err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Get(uint8(FunctionGetReflectivity), buf.Bytes())
	if err != nil {
		return reflectivity, err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return reflectivity, DeviceError(header.ErrorCode)
		}

		if header.Length != 10 {
			return reflectivity, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 10)
		}

		resultBuf := bytes.NewBuffer(resultBytes[8:])
		binary.Read(resultBuf, binary.LittleEndian, &reflectivity)

	}

	return reflectivity, nil
}

// Sets the period with which the RegisterReflectivityCallback callback is triggered
// periodically. A value of 0 turns the callback off.
//
// The RegisterReflectivityCallback callback is only triggered if the reflectivity has
// changed since the last triggering.
func (device *LineBricklet) SetReflectivityCallbackPeriod(period uint32) (err error) {
	var buf bytes.Buffer
	binary.Write(&buf, binary.LittleEndian, period)

	resultBytes, err := device.device.Set(uint8(FunctionSetReflectivityCallbackPeriod), buf.Bytes())
	if err != nil {
		return err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return DeviceError(header.ErrorCode)
		}

		if header.Length != 8 {
			return fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 8)
		}

		bytes.NewBuffer(resultBytes[8:])

	}

	return nil
}

// Returns the period as set by SetReflectivityCallbackPeriod.
func (device *LineBricklet) GetReflectivityCallbackPeriod() (period uint32, err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Get(uint8(FunctionGetReflectivityCallbackPeriod), buf.Bytes())
	if err != nil {
		return period, err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return period, DeviceError(header.ErrorCode)
		}

		if header.Length != 12 {
			return period, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 12)
		}

		resultBuf := bytes.NewBuffer(resultBytes[8:])
		binary.Read(resultBuf, binary.LittleEndian, &period)

	}

	return period, nil
}

// Sets the thresholds for the RegisterReflectivityReachedCallback callback.
//
// The following options are possible:
//
//  Option| Description
//  --- | ---
//  'x'|    Callback is turned off
//  'o'|    Callback is triggered when the reflectivity is *outside* the min and max values
//  'i'|    Callback is triggered when the reflectivity is *inside* the min and max values
//  '<'|    Callback is triggered when the reflectivity is smaller than the min value (max is ignored)
//  '>'|    Callback is triggered when the reflectivity is greater than the min value (max is ignored)
//
// Associated constants:
//
//	* ThresholdOptionOff
//	* ThresholdOptionOutside
//	* ThresholdOptionInside
//	* ThresholdOptionSmaller
//	* ThresholdOptionGreater
func (device *LineBricklet) SetReflectivityCallbackThreshold(option ThresholdOption, min uint16, max uint16) (err error) {
	var buf bytes.Buffer
	binary.Write(&buf, binary.LittleEndian, option)
	binary.Write(&buf, binary.LittleEndian, min)
	binary.Write(&buf, binary.LittleEndian, max)

	resultBytes, err := device.device.Set(uint8(FunctionSetReflectivityCallbackThreshold), buf.Bytes())
	if err != nil {
		return err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return DeviceError(header.ErrorCode)
		}

		if header.Length != 8 {
			return fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 8)
		}

		bytes.NewBuffer(resultBytes[8:])

	}

	return nil
}

// Returns the threshold as set by SetReflectivityCallbackThreshold.
//
// Associated constants:
//
//	* ThresholdOptionOff
//	* ThresholdOptionOutside
//	* ThresholdOptionInside
//	* ThresholdOptionSmaller
//	* ThresholdOptionGreater
func (device *LineBricklet) GetReflectivityCallbackThreshold() (option ThresholdOption, min uint16, max uint16, err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Get(uint8(FunctionGetReflectivityCallbackThreshold), buf.Bytes())
	if err != nil {
		return option, min, max, err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return option, min, max, DeviceError(header.ErrorCode)
		}

		if header.Length != 13 {
			return option, min, max, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 13)
		}

		resultBuf := bytes.NewBuffer(resultBytes[8:])
		binary.Read(resultBuf, binary.LittleEndian, &option)
		binary.Read(resultBuf, binary.LittleEndian, &min)
		binary.Read(resultBuf, binary.LittleEndian, &max)

	}

	return option, min, max, nil
}

// Sets the period with which the threshold callback
//
// * RegisterReflectivityReachedCallback
//
// is triggered, if the threshold
//
// * SetReflectivityCallbackThreshold
//
// keeps being reached.
func (device *LineBricklet) SetDebouncePeriod(debounce uint32) (err error) {
	var buf bytes.Buffer
	binary.Write(&buf, binary.LittleEndian, debounce)

	resultBytes, err := device.device.Set(uint8(FunctionSetDebouncePeriod), buf.Bytes())
	if err != nil {
		return err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return DeviceError(header.ErrorCode)
		}

		if header.Length != 8 {
			return fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 8)
		}

		bytes.NewBuffer(resultBytes[8:])

	}

	return nil
}

// Returns the debounce period as set by SetDebouncePeriod.
func (device *LineBricklet) GetDebouncePeriod() (debounce uint32, err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Get(uint8(FunctionGetDebouncePeriod), buf.Bytes())
	if err != nil {
		return debounce, err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return debounce, DeviceError(header.ErrorCode)
		}

		if header.Length != 12 {
			return debounce, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 12)
		}

		resultBuf := bytes.NewBuffer(resultBytes[8:])
		binary.Read(resultBuf, binary.LittleEndian, &debounce)

	}

	return debounce, nil
}

// 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', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port).
// A Bricklet connected to an `Isolator Bricklet <isolator_bricklet>` is always at
// position 'z'.
//
// The device identifier numbers can be found `here <device_identifier>`.
// |device_identifier_constant|
func (device *LineBricklet) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, firmwareVersion [3]uint8, deviceIdentifier uint16, err error) {
	var buf bytes.Buffer

	resultBytes, err := device.device.Get(uint8(FunctionGetIdentity), buf.Bytes())
	if err != nil {
		return uid, connectedUid, position, hardwareVersion, firmwareVersion, deviceIdentifier, err
	}
	if len(resultBytes) > 0 {
		var header PacketHeader

		header.FillFromBytes(resultBytes)

		if header.ErrorCode != 0 {
			return uid, connectedUid, position, hardwareVersion, firmwareVersion, deviceIdentifier, DeviceError(header.ErrorCode)
		}

		if header.Length != 33 {
			return uid, connectedUid, position, hardwareVersion, firmwareVersion, deviceIdentifier, fmt.Errorf("Received packet of unexpected size %d, instead of %d", header.Length, 33)
		}

		resultBuf := bytes.NewBuffer(resultBytes[8:])
		uid = ByteSliceToString(resultBuf.Next(8))
		connectedUid = ByteSliceToString(resultBuf.Next(8))
		position = rune(resultBuf.Next(1)[0])
		binary.Read(resultBuf, binary.LittleEndian, &hardwareVersion)
		binary.Read(resultBuf, binary.LittleEndian, &firmwareVersion)
		binary.Read(resultBuf, binary.LittleEndian, &deviceIdentifier)

	}

	return uid, connectedUid, position, hardwareVersion, firmwareVersion, deviceIdentifier, nil
}