From 8c1e8f61c5b3395bee02f4ce17cac484258aa4b1 Mon Sep 17 00:00:00 2001
From: Andrey Pohilko <apc4@ya.ru>
Date: Thu, 14 Sep 2017 10:08:42 +0300
Subject: [PATCH] Working on tilt sensor

---
 README.md              |  1 +
 pylgbst/peripherals.py |  9 ++++++++-
 test.py                | 25 +++++++++++++------------
 3 files changed, 22 insertions(+), 13 deletions(-)

diff --git a/README.md b/README.md
index 81ffea3..e299969 100644
--- a/README.md
+++ b/README.md
@@ -29,6 +29,7 @@ for device in hub.devices:
 - Make it 2/3 compatible
 - Add travis unit tests and coverage
 - Give nice documentation examples, don't forget to mention logging
+- make angled motors to be synchronous by default
 
 ## Links
 
diff --git a/pylgbst/peripherals.py b/pylgbst/peripherals.py
index 15960f8..9bc5dca 100644
--- a/pylgbst/peripherals.py
+++ b/pylgbst/peripherals.py
@@ -10,10 +10,15 @@ class Peripheral(object):
     """
 
     def __init__(self, parent, port):
+        """
+        :type parent: pylgbst.MoveHub
+        :type port: int
+        """
         super(Peripheral, self).__init__()
         self.parent = parent
         self.port = port
         self.working = False
+        self._subscribers = []
 
     def __repr__(self):
         return "%s on port %s" % (self.__class__.__name__, PORTS[self.port] if self.port in PORTS else 'N/A')
@@ -117,8 +122,10 @@ class ColorDistanceSensor(Peripheral):
 
 class TiltSensor(Peripheral):
     def subscribe(self, callback):
+        params = b'\x00\x01\x00\x00\x00\x01'  # full
+        # params = b'\x02\x01\x00\x00\x00\x01'  # basic
         self._subscribe_on_port(params)
-        self._subscribers.append(callback)
+        self._subscribers.append(callback)  # TODO: maybe join it into `_subscribe_on_port`
 
 
 class Button(Peripheral):
diff --git a/test.py b/test.py
index ddbd178..a8b00f5 100644
--- a/test.py
+++ b/test.py
@@ -3,9 +3,10 @@ import time
 import unittest
 from threading import Thread
 
-from pylgbst import MoveHub, COLOR_RED, LED, EncodedMotor, PORT_AB, Peripheral
+from pylgbst import MoveHub, COLOR_RED, LED, EncodedMotor, PORT_AB
 from pylgbst.comms import Connection, str2hex, hex2str
-from pylgbst.constants import PORT_LED
+from pylgbst.constants import PORT_LED, PORT_TILT_SENSOR
+from pylgbst.peripherals import TiltSensor
 
 logging.basicConfig(level=logging.DEBUG)
 
@@ -51,29 +52,29 @@ class ConnectionMock(Connection):
 
 
 class HubMock(MoveHub):
+    def __init__(self, connection=None):
+        super(HubMock, self).__init__(connection if connection else ConnectionMock())
+
     def _wait_for_devices(self):
         pass
 
 
 class GeneralTest(unittest.TestCase):
     def test_led(self):
-        conn = ConnectionMock()
-        conn.notifications.append((14, '1b0e00 0900 04 39 0227003738'))
-        hub = HubMock(conn)
+        hub = HubMock()
         led = LED(hub, PORT_LED)
         led.set_color(COLOR_RED)
-        self.assertEquals("0701813211510009", conn.writes[0][1])
+        self.assertEquals("0801813211510009", hub.connection.writes[0][1])
 
     def test_tilt_sensor(self):
-        conn = ConnectionMock()
-        conn.notifications.append((14, '1b0e000f00043a0128000000000100000001'))
-        hub = HubMock(conn)
+        hub = HubMock()
+        hub.tilt_sensor = TiltSensor(hub, PORT_TILT_SENSOR)
 
         def callback():
             pass
 
         hub.tilt_sensor.subscribe(callback)
-        self.assertEquals("0701813211510009", conn.writes[1][1])
+        self.assertEquals("0a01413a000100000001", hub.connection.writes[0][1])
 
     def test_motor(self):
         conn = ConnectionMock()
@@ -81,9 +82,9 @@ class GeneralTest(unittest.TestCase):
         hub = HubMock(conn)
         motor = EncodedMotor(hub, PORT_AB)
         motor.timed(1.5)
-        self.assertEquals("0c018139110adc056464647f03", conn.writes[0][1])
+        self.assertEquals("0d018139110adc056464647f03", conn.writes[0][1])
         motor.angled(90)
-        self.assertEquals("0e018139110c5a0000006464647f03", conn.writes[1][1])
+        self.assertEquals("0f018139110c5a0000006464647f03", conn.writes[1][1])
 
     def test_capabilities(self):
         conn = ConnectionMock()