from nbus_slave import *
from imu_slave import *


class NbusSystem:
    slaves = {}

    def __init__(self, debug=False):
        self.serial_port = SerialComm('/dev/ttyACM0', debug)

    def create_slave(self, clazz, slave_address):
        slave = None
        if type(clazz) is type(ImuSlave):
            slave = ImuSlave(slave_address, self.serial_port)
        self.slaves[slave_address] = slave
        return slave

    def finish(self):
        self.serial_port.close()

    def open(self):
        self.serial_port.open()        

    def cmd_start(self):
        print("MODULE START")
        self.serial_port.requestBroadcast(CMD_START, [])

    def cmd_stop(self):
        print("MODULE STOP")
        self.serial_port.requestBroadcast(CMD_STOP, [])
        time.sleep(0.05)
        self.serial_port.port.reset_input_buffer()
        self.serial_port.port.reset_output_buffer()

    def get_slave(self, address):
        return self.slaves[address]