From 753d22d13db55a6b6814f14409b1d6fc90a87875 Mon Sep 17 00:00:00 2001
From: Andrey Pohilko <apc4@ya.ru>
Date: Thu, 14 Sep 2017 17:06:57 +0300
Subject: [PATCH] Fix tests

---
 pylgbst/comms.py       |  2 +-
 pylgbst/constants.py   |  2 +-
 pylgbst/peripherals.py | 17 ++++++++---------
 3 files changed, 10 insertions(+), 11 deletions(-)

diff --git a/pylgbst/comms.py b/pylgbst/comms.py
index 0901c9d..ca10381 100644
--- a/pylgbst/comms.py
+++ b/pylgbst/comms.py
@@ -36,7 +36,7 @@ else:
 
 
     def str2hex(data):
-        return binascii.hexlify(data)
+        return binascii.hexlify(data).decode("utf8")
 
 
     def hex2str(data):
diff --git a/pylgbst/constants.py b/pylgbst/constants.py
index 84d361b..ff121b1 100644
--- a/pylgbst/constants.py
+++ b/pylgbst/constants.py
@@ -66,7 +66,7 @@ MSG_PORT_CMD_ERROR = 0x05
 MSG_SET_PORT_VAL = 0x81
 MSG_PORT_STATUS = 0x82
 MSG_SENSOR_SUBSCRIBE = 0x41
-#MSG_SENSOR_UNSUBSCRIBE = 0x42
+MSG_SENSOR_SOMETHING = 0x42
 MSG_SENSOR_DATA = 0x45
 MSG_SENSOR_SUBSCRIBE_ACK = 0x47
 
diff --git a/pylgbst/peripherals.py b/pylgbst/peripherals.py
index acb9d9b..e6b9551 100644
--- a/pylgbst/peripherals.py
+++ b/pylgbst/peripherals.py
@@ -37,10 +37,6 @@ class Peripheral(object):
         # FIXME: became obsolete
         self._write_to_hub(MSG_SET_PORT_VAL, value)
 
-    def _subscribe_on_port(self, params):
-        # FIXME: became obsolete
-        self._write_to_hub(MSG_SENSOR_SUBSCRIBE, params)
-
     def started(self):
         self.working = True
 
@@ -126,22 +122,25 @@ class EncodedMotor(Peripheral):
 
 
 class TiltSensor(Peripheral):
-    TRAILER = b'\x01\x00\x00\x00'
+    TRAILER = b'\x00\x00\x00'
 
     def __init__(self, parent, port):
         super(TiltSensor, self).__init__(parent, port)
         self.mode = None
 
-    def subscribe(self, callback, mode=TILT_SENSOR_MODE_BASIC):
-        # TODO: check input for valid mode
+    def subscribe(self, callback, mode=TILT_SENSOR_MODE_BASIC, threshold=1):
         self.mode = mode
-        self._subscribe_on_port(int2byte(self.mode) + self.TRAILER + int2byte(1))
+        params = int2byte(self.mode)
+        params += int2byte(threshold)
+        params += self.TRAILER
+        params += int2byte(1)  # enable
+        self._write_to_hub(MSG_SENSOR_SUBSCRIBE, params + self.TRAILER)
         self._subscribers.add(callback)
 
     def unsubscribe(self, callback):
         self._subscribers.remove(callback)
         if not self._subscribers:
-            self._subscribe_on_port(int2byte(self.mode) + self.TRAILER + int2byte(0))
+            self._write_to_hub(MSG_SENSOR_SUBSCRIBE, int2byte(self.mode) + self.TRAILER + int2byte(0))
 
     def handle_notification(self, data):
         if self.mode == TILT_SENSOR_MODE_BASIC: