use crate::{
byte_converter::*, converting_callback_receiver::ConvertingCallbackReceiver, converting_receiver::ConvertingReceiver, device::*,
ip_connection::GetRequestSender,
};
pub enum LaserRangeFinderV2BrickletFunction {
GetDistance,
SetDistanceCallbackConfiguration,
GetDistanceCallbackConfiguration,
GetVelocity,
SetVelocityCallbackConfiguration,
GetVelocityCallbackConfiguration,
SetEnable,
GetEnable,
SetConfiguration,
GetConfiguration,
SetMovingAverage,
GetMovingAverage,
SetOffsetCalibration,
GetOffsetCalibration,
SetDistanceLedConfig,
GetDistanceLedConfig,
GetSpitfpErrorCount,
SetBootloaderMode,
GetBootloaderMode,
SetWriteFirmwarePointer,
WriteFirmware,
SetStatusLedConfig,
GetStatusLedConfig,
GetChipTemperature,
Reset,
WriteUid,
ReadUid,
GetIdentity,
CallbackDistance,
CallbackVelocity,
}
impl From<LaserRangeFinderV2BrickletFunction> for u8 {
fn from(fun: LaserRangeFinderV2BrickletFunction) -> Self {
match fun {
LaserRangeFinderV2BrickletFunction::GetDistance => 1,
LaserRangeFinderV2BrickletFunction::SetDistanceCallbackConfiguration => 2,
LaserRangeFinderV2BrickletFunction::GetDistanceCallbackConfiguration => 3,
LaserRangeFinderV2BrickletFunction::GetVelocity => 5,
LaserRangeFinderV2BrickletFunction::SetVelocityCallbackConfiguration => 6,
LaserRangeFinderV2BrickletFunction::GetVelocityCallbackConfiguration => 7,
LaserRangeFinderV2BrickletFunction::SetEnable => 9,
LaserRangeFinderV2BrickletFunction::GetEnable => 10,
LaserRangeFinderV2BrickletFunction::SetConfiguration => 11,
LaserRangeFinderV2BrickletFunction::GetConfiguration => 12,
LaserRangeFinderV2BrickletFunction::SetMovingAverage => 13,
LaserRangeFinderV2BrickletFunction::GetMovingAverage => 14,
LaserRangeFinderV2BrickletFunction::SetOffsetCalibration => 15,
LaserRangeFinderV2BrickletFunction::GetOffsetCalibration => 16,
LaserRangeFinderV2BrickletFunction::SetDistanceLedConfig => 17,
LaserRangeFinderV2BrickletFunction::GetDistanceLedConfig => 18,
LaserRangeFinderV2BrickletFunction::GetSpitfpErrorCount => 234,
LaserRangeFinderV2BrickletFunction::SetBootloaderMode => 235,
LaserRangeFinderV2BrickletFunction::GetBootloaderMode => 236,
LaserRangeFinderV2BrickletFunction::SetWriteFirmwarePointer => 237,
LaserRangeFinderV2BrickletFunction::WriteFirmware => 238,
LaserRangeFinderV2BrickletFunction::SetStatusLedConfig => 239,
LaserRangeFinderV2BrickletFunction::GetStatusLedConfig => 240,
LaserRangeFinderV2BrickletFunction::GetChipTemperature => 242,
LaserRangeFinderV2BrickletFunction::Reset => 243,
LaserRangeFinderV2BrickletFunction::WriteUid => 248,
LaserRangeFinderV2BrickletFunction::ReadUid => 249,
LaserRangeFinderV2BrickletFunction::GetIdentity => 255,
LaserRangeFinderV2BrickletFunction::CallbackDistance => 4,
LaserRangeFinderV2BrickletFunction::CallbackVelocity => 8,
}
}
}
pub const LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OFF: char = 'x';
pub const LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OUTSIDE: char = 'o';
pub const LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_INSIDE: char = 'i';
pub const LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_SMALLER: char = '<';
pub const LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_GREATER: char = '>';
pub const LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_OFF: u8 = 0;
pub const LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_ON: u8 = 1;
pub const LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_SHOW_HEARTBEAT: u8 = 2;
pub const LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_SHOW_DISTANCE: u8 = 3;
pub const LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER: u8 = 0;
pub const LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE: u8 = 1;
pub const LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT: u8 = 2;
pub const LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT: u8 = 3;
pub const LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT: u8 = 4;
pub const LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_OK: u8 = 0;
pub const LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_INVALID_MODE: u8 = 1;
pub const LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_NO_CHANGE: u8 = 2;
pub const LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT: u8 = 3;
pub const LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT: u8 = 4;
pub const LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_CRC_MISMATCH: u8 = 5;
pub const LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_OFF: u8 = 0;
pub const LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_ON: u8 = 1;
pub const LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT: u8 = 2;
pub const LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS: u8 = 3;
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct DistanceCallbackConfiguration {
pub period: u32,
pub value_has_to_change: bool,
pub option: char,
pub min: i16,
pub max: i16,
}
impl FromByteSlice for DistanceCallbackConfiguration {
fn bytes_expected() -> usize { 10 }
fn from_le_byte_slice(bytes: &[u8]) -> DistanceCallbackConfiguration {
DistanceCallbackConfiguration {
period: <u32>::from_le_byte_slice(&bytes[0..4]),
value_has_to_change: <bool>::from_le_byte_slice(&bytes[4..5]),
option: <char>::from_le_byte_slice(&bytes[5..6]),
min: <i16>::from_le_byte_slice(&bytes[6..8]),
max: <i16>::from_le_byte_slice(&bytes[8..10]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct VelocityCallbackConfiguration {
pub period: u32,
pub value_has_to_change: bool,
pub option: char,
pub min: i16,
pub max: i16,
}
impl FromByteSlice for VelocityCallbackConfiguration {
fn bytes_expected() -> usize { 10 }
fn from_le_byte_slice(bytes: &[u8]) -> VelocityCallbackConfiguration {
VelocityCallbackConfiguration {
period: <u32>::from_le_byte_slice(&bytes[0..4]),
value_has_to_change: <bool>::from_le_byte_slice(&bytes[4..5]),
option: <char>::from_le_byte_slice(&bytes[5..6]),
min: <i16>::from_le_byte_slice(&bytes[6..8]),
max: <i16>::from_le_byte_slice(&bytes[8..10]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct Configuration {
pub acquisition_count: u8,
pub enable_quick_termination: bool,
pub threshold_value: u8,
pub measurement_frequency: u16,
}
impl FromByteSlice for Configuration {
fn bytes_expected() -> usize { 5 }
fn from_le_byte_slice(bytes: &[u8]) -> Configuration {
Configuration {
acquisition_count: <u8>::from_le_byte_slice(&bytes[0..1]),
enable_quick_termination: <bool>::from_le_byte_slice(&bytes[1..2]),
threshold_value: <u8>::from_le_byte_slice(&bytes[2..3]),
measurement_frequency: <u16>::from_le_byte_slice(&bytes[3..5]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct MovingAverage {
pub distance_average_length: u8,
pub velocity_average_length: u8,
}
impl FromByteSlice for MovingAverage {
fn bytes_expected() -> usize { 2 }
fn from_le_byte_slice(bytes: &[u8]) -> MovingAverage {
MovingAverage {
distance_average_length: <u8>::from_le_byte_slice(&bytes[0..1]),
velocity_average_length: <u8>::from_le_byte_slice(&bytes[1..2]),
}
}
}
#[derive(Clone, Copy, Debug, Default, PartialEq, Eq, Hash)]
pub struct SpitfpErrorCount {
pub error_count_ack_checksum: u32,
pub error_count_message_checksum: u32,
pub error_count_frame: u32,
pub error_count_overflow: u32,
}
impl FromByteSlice for SpitfpErrorCount {
fn bytes_expected() -> usize { 16 }
fn from_le_byte_slice(bytes: &[u8]) -> SpitfpErrorCount {
SpitfpErrorCount {
error_count_ack_checksum: <u32>::from_le_byte_slice(&bytes[0..4]),
error_count_message_checksum: <u32>::from_le_byte_slice(&bytes[4..8]),
error_count_frame: <u32>::from_le_byte_slice(&bytes[8..12]),
error_count_overflow: <u32>::from_le_byte_slice(&bytes[12..16]),
}
}
}
#[derive(Clone, Debug, Default, PartialEq, Eq, Hash)]
pub struct Identity {
pub uid: String,
pub connected_uid: String,
pub position: char,
pub hardware_version: [u8; 3],
pub firmware_version: [u8; 3],
pub device_identifier: u16,
}
impl FromByteSlice for Identity {
fn bytes_expected() -> usize { 25 }
fn from_le_byte_slice(bytes: &[u8]) -> Identity {
Identity {
uid: <String>::from_le_byte_slice(&bytes[0..8]),
connected_uid: <String>::from_le_byte_slice(&bytes[8..16]),
position: <char>::from_le_byte_slice(&bytes[16..17]),
hardware_version: <[u8; 3]>::from_le_byte_slice(&bytes[17..20]),
firmware_version: <[u8; 3]>::from_le_byte_slice(&bytes[20..23]),
device_identifier: <u16>::from_le_byte_slice(&bytes[23..25]),
}
}
}
#[derive(Clone)]
pub struct LaserRangeFinderV2Bricklet {
device: Device,
}
impl LaserRangeFinderV2Bricklet {
pub const DEVICE_IDENTIFIER: u16 = 2144;
pub const DEVICE_DISPLAY_NAME: &'static str = "Laser Range Finder Bricklet 2.0";
pub fn new<T: GetRequestSender>(uid: &str, req_sender: T) -> LaserRangeFinderV2Bricklet {
let mut result = LaserRangeFinderV2Bricklet { device: Device::new([2, 0, 0], uid, req_sender, 0) };
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::GetDistance) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::SetDistanceCallbackConfiguration) as usize] =
ResponseExpectedFlag::True;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::GetDistanceCallbackConfiguration) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::GetVelocity) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::SetVelocityCallbackConfiguration) as usize] =
ResponseExpectedFlag::True;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::GetVelocityCallbackConfiguration) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::SetEnable) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::GetEnable) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::SetConfiguration) as usize] =
ResponseExpectedFlag::False;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::GetConfiguration) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::SetMovingAverage) as usize] =
ResponseExpectedFlag::False;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::GetMovingAverage) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::SetOffsetCalibration) as usize] =
ResponseExpectedFlag::False;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::GetOffsetCalibration) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::SetDistanceLedConfig) as usize] =
ResponseExpectedFlag::False;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::GetDistanceLedConfig) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::GetSpitfpErrorCount) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::SetBootloaderMode) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::GetBootloaderMode) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::SetWriteFirmwarePointer) as usize] =
ResponseExpectedFlag::False;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::WriteFirmware) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::SetStatusLedConfig) as usize] =
ResponseExpectedFlag::False;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::GetStatusLedConfig) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::GetChipTemperature) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::Reset) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::WriteUid) as usize] = ResponseExpectedFlag::False;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::ReadUid) as usize] = ResponseExpectedFlag::AlwaysTrue;
result.device.response_expected[u8::from(LaserRangeFinderV2BrickletFunction::GetIdentity) as usize] =
ResponseExpectedFlag::AlwaysTrue;
result
}
pub fn get_response_expected(&mut self, fun: LaserRangeFinderV2BrickletFunction) -> Result<bool, GetResponseExpectedError> {
self.device.get_response_expected(u8::from(fun))
}
pub fn set_response_expected(
&mut self,
fun: LaserRangeFinderV2BrickletFunction,
response_expected: bool,
) -> Result<(), SetResponseExpectedError> {
self.device.set_response_expected(u8::from(fun), response_expected)
}
pub fn set_response_expected_all(&mut self, response_expected: bool) { self.device.set_response_expected_all(response_expected) }
pub fn get_api_version(&self) -> [u8; 3] { self.device.api_version }
pub fn get_distance_callback_receiver(&self) -> ConvertingCallbackReceiver<i16> {
self.device.get_callback_receiver(u8::from(LaserRangeFinderV2BrickletFunction::CallbackDistance))
}
pub fn get_velocity_callback_receiver(&self) -> ConvertingCallbackReceiver<i16> {
self.device.get_callback_receiver(u8::from(LaserRangeFinderV2BrickletFunction::CallbackVelocity))
}
pub fn get_distance(&self) -> ConvertingReceiver<i16> {
let payload = vec![0; 0];
self.device.get(u8::from(LaserRangeFinderV2BrickletFunction::GetDistance), payload)
}
pub fn set_distance_callback_configuration(
&self,
period: u32,
value_has_to_change: bool,
option: char,
min: i16,
max: i16,
) -> ConvertingReceiver<()> {
let mut payload = vec![0; 10];
payload[0..4].copy_from_slice(&<u32>::to_le_byte_vec(period));
payload[4..5].copy_from_slice(&<bool>::to_le_byte_vec(value_has_to_change));
payload[5..6].copy_from_slice(&<char>::to_le_byte_vec(option));
payload[6..8].copy_from_slice(&<i16>::to_le_byte_vec(min));
payload[8..10].copy_from_slice(&<i16>::to_le_byte_vec(max));
self.device.set(u8::from(LaserRangeFinderV2BrickletFunction::SetDistanceCallbackConfiguration), payload)
}
pub fn get_distance_callback_configuration(&self) -> ConvertingReceiver<DistanceCallbackConfiguration> {
let payload = vec![0; 0];
self.device.get(u8::from(LaserRangeFinderV2BrickletFunction::GetDistanceCallbackConfiguration), payload)
}
pub fn get_velocity(&self) -> ConvertingReceiver<i16> {
let payload = vec![0; 0];
self.device.get(u8::from(LaserRangeFinderV2BrickletFunction::GetVelocity), payload)
}
pub fn set_velocity_callback_configuration(
&self,
period: u32,
value_has_to_change: bool,
option: char,
min: i16,
max: i16,
) -> ConvertingReceiver<()> {
let mut payload = vec![0; 10];
payload[0..4].copy_from_slice(&<u32>::to_le_byte_vec(period));
payload[4..5].copy_from_slice(&<bool>::to_le_byte_vec(value_has_to_change));
payload[5..6].copy_from_slice(&<char>::to_le_byte_vec(option));
payload[6..8].copy_from_slice(&<i16>::to_le_byte_vec(min));
payload[8..10].copy_from_slice(&<i16>::to_le_byte_vec(max));
self.device.set(u8::from(LaserRangeFinderV2BrickletFunction::SetVelocityCallbackConfiguration), payload)
}
pub fn get_velocity_callback_configuration(&self) -> ConvertingReceiver<VelocityCallbackConfiguration> {
let payload = vec![0; 0];
self.device.get(u8::from(LaserRangeFinderV2BrickletFunction::GetVelocityCallbackConfiguration), payload)
}
pub fn set_enable(&self, enable: bool) -> ConvertingReceiver<()> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<bool>::to_le_byte_vec(enable));
self.device.set(u8::from(LaserRangeFinderV2BrickletFunction::SetEnable), payload)
}
pub fn get_enable(&self) -> ConvertingReceiver<bool> {
let payload = vec![0; 0];
self.device.get(u8::from(LaserRangeFinderV2BrickletFunction::GetEnable), payload)
}
pub fn set_configuration(
&self,
acquisition_count: u8,
enable_quick_termination: bool,
threshold_value: u8,
measurement_frequency: u16,
) -> ConvertingReceiver<()> {
let mut payload = vec![0; 5];
payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(acquisition_count));
payload[1..2].copy_from_slice(&<bool>::to_le_byte_vec(enable_quick_termination));
payload[2..3].copy_from_slice(&<u8>::to_le_byte_vec(threshold_value));
payload[3..5].copy_from_slice(&<u16>::to_le_byte_vec(measurement_frequency));
self.device.set(u8::from(LaserRangeFinderV2BrickletFunction::SetConfiguration), payload)
}
pub fn get_configuration(&self) -> ConvertingReceiver<Configuration> {
let payload = vec![0; 0];
self.device.get(u8::from(LaserRangeFinderV2BrickletFunction::GetConfiguration), payload)
}
pub fn set_moving_average(&self, distance_average_length: u8, velocity_average_length: u8) -> ConvertingReceiver<()> {
let mut payload = vec![0; 2];
payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(distance_average_length));
payload[1..2].copy_from_slice(&<u8>::to_le_byte_vec(velocity_average_length));
self.device.set(u8::from(LaserRangeFinderV2BrickletFunction::SetMovingAverage), payload)
}
pub fn get_moving_average(&self) -> ConvertingReceiver<MovingAverage> {
let payload = vec![0; 0];
self.device.get(u8::from(LaserRangeFinderV2BrickletFunction::GetMovingAverage), payload)
}
pub fn set_offset_calibration(&self, offset: i16) -> ConvertingReceiver<()> {
let mut payload = vec![0; 2];
payload[0..2].copy_from_slice(&<i16>::to_le_byte_vec(offset));
self.device.set(u8::from(LaserRangeFinderV2BrickletFunction::SetOffsetCalibration), payload)
}
pub fn get_offset_calibration(&self) -> ConvertingReceiver<i16> {
let payload = vec![0; 0];
self.device.get(u8::from(LaserRangeFinderV2BrickletFunction::GetOffsetCalibration), payload)
}
pub fn set_distance_led_config(&self, config: u8) -> ConvertingReceiver<()> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(config));
self.device.set(u8::from(LaserRangeFinderV2BrickletFunction::SetDistanceLedConfig), payload)
}
pub fn get_distance_led_config(&self) -> ConvertingReceiver<u8> {
let payload = vec![0; 0];
self.device.get(u8::from(LaserRangeFinderV2BrickletFunction::GetDistanceLedConfig), payload)
}
pub fn get_spitfp_error_count(&self) -> ConvertingReceiver<SpitfpErrorCount> {
let payload = vec![0; 0];
self.device.get(u8::from(LaserRangeFinderV2BrickletFunction::GetSpitfpErrorCount), payload)
}
pub fn set_bootloader_mode(&self, mode: u8) -> ConvertingReceiver<u8> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(mode));
self.device.get(u8::from(LaserRangeFinderV2BrickletFunction::SetBootloaderMode), payload)
}
pub fn get_bootloader_mode(&self) -> ConvertingReceiver<u8> {
let payload = vec![0; 0];
self.device.get(u8::from(LaserRangeFinderV2BrickletFunction::GetBootloaderMode), payload)
}
pub fn set_write_firmware_pointer(&self, pointer: u32) -> ConvertingReceiver<()> {
let mut payload = vec![0; 4];
payload[0..4].copy_from_slice(&<u32>::to_le_byte_vec(pointer));
self.device.set(u8::from(LaserRangeFinderV2BrickletFunction::SetWriteFirmwarePointer), payload)
}
pub fn write_firmware(&self, data: [u8; 64]) -> ConvertingReceiver<u8> {
let mut payload = vec![0; 64];
payload[0..64].copy_from_slice(&<[u8; 64]>::to_le_byte_vec(data));
self.device.get(u8::from(LaserRangeFinderV2BrickletFunction::WriteFirmware), payload)
}
pub fn set_status_led_config(&self, config: u8) -> ConvertingReceiver<()> {
let mut payload = vec![0; 1];
payload[0..1].copy_from_slice(&<u8>::to_le_byte_vec(config));
self.device.set(u8::from(LaserRangeFinderV2BrickletFunction::SetStatusLedConfig), payload)
}
pub fn get_status_led_config(&self) -> ConvertingReceiver<u8> {
let payload = vec![0; 0];
self.device.get(u8::from(LaserRangeFinderV2BrickletFunction::GetStatusLedConfig), payload)
}
pub fn get_chip_temperature(&self) -> ConvertingReceiver<i16> {
let payload = vec![0; 0];
self.device.get(u8::from(LaserRangeFinderV2BrickletFunction::GetChipTemperature), payload)
}
pub fn reset(&self) -> ConvertingReceiver<()> {
let payload = vec![0; 0];
self.device.set(u8::from(LaserRangeFinderV2BrickletFunction::Reset), payload)
}
pub fn write_uid(&self, uid: u32) -> ConvertingReceiver<()> {
let mut payload = vec![0; 4];
payload[0..4].copy_from_slice(&<u32>::to_le_byte_vec(uid));
self.device.set(u8::from(LaserRangeFinderV2BrickletFunction::WriteUid), payload)
}
pub fn read_uid(&self) -> ConvertingReceiver<u32> {
let payload = vec![0; 0];
self.device.get(u8::from(LaserRangeFinderV2BrickletFunction::ReadUid), payload)
}
pub fn get_identity(&self) -> ConvertingReceiver<Identity> {
let payload = vec![0; 0];
self.device.get(u8::from(LaserRangeFinderV2BrickletFunction::GetIdentity), payload)
}
}