nbus-client-api/examples/example_slave_module.py

import sys

from nbus_hal.nbus_serial.serial_port import *
from nbus_api.nbus_module_slave import NBusSlaveModule
from nbus_hal.nbus_serial.serial_config import *
from nbus_types.nbus_parameter_type import NBusParameterID

# example config
config = {
    "port_name": "COM4",
    "baud": NBusBaudrate.SPEED_921600,
    "parity": NBusParity.NONE,
    "timeout": 1.0,
    "flush_delay": 0.05,
    "request_attempts": 1,
    "enable_log": False
}

BRIDGE_ACQUIRE_WAIT = 0.5

if __name__ == "__main__":

    # create port
    port = NBusSerialPort(NBusSerialConfig(**config))
    # create module
    module = NBusSlaveModule(port, 5, BRIDGE_ACQUIRE_WAIT)

    # run commands
    try:
        # initialize module from hardware
        module.init()   # initialize and load format

        # get devices
        devices = module.get_devices()
        accelerometer = devices[1]
        led = devices[129]

        # test module get
        print("<<TEST MODULE GET>>")
        print("CMD GET ECHO: ", module.cmd_get_echo(bytearray("Hello world!", "ascii")))
        print("CMD GET PARAM SAMPLERATE: ", module.cmd_get_param(NBusParameterID.PARAM_SAMPLERATE))
        print("CMD GET ALL PARAMS: ", module.cmd_get_all_params())
        print("CMD GET SENSOR COUNT: ", module.cmd_get_sensor_cnt())
        print("CMD GET SENSOR TYPE: ", module.cmd_get_sensor_type())
        print("CMD GET INFO: ", module.cmd_get_info())
        print("CMD GET SENSOR FORMAT: ", module.cmd_get_format())
        print("CMD GET SENSOR DATA: ", module.cmd_get_data())

        # test module set
        print("CMD SET PARAM SAMPLERATE: ", module.cmd_set_param(NBusParameterID.PARAM_SAMPLERATE, 12345))
        print("CMD GET PARAM SAMPLERATE: ", module.cmd_get_param(NBusParameterID.PARAM_SAMPLERATE))

        params = {NBusParameterID.PARAM_RANGE: 12, NBusParameterID.PARAM_RANGE0: 4234}
        print("CMD SET MULTI PARAMS: ", module.cmd_set_multi_params(params))
        print("CMD GET ALL PARAMS: ", module.cmd_get_all_params())

        print("CMD SET CALIBRATE: ", module.cmd_set_calibrate())

        data = {129: [1], 130: [10, -32]}
        print("CMD SET DATA: ", module.cmd_set_data(data))
        print("CMD GET SENSOR DATA: ", module.cmd_get_data())

        # test sensor get
        print("\n<<TEST SENSOR GET>>")
        print("CMD GET PARAM SAMPLERATE: ", accelerometer.cmd_get_param(NBusParameterID.PARAM_SAMPLERATE))
        print("CMD GET ALL PARAMS: ", accelerometer.cmd_get_all_params())
        print("CMD GET SENSOR TYPE: ", accelerometer.cmd_get_sensor_type())
        print("CMD GET SENSOR FORMAT: ", accelerometer.cmd_get_format())
        print("CMD GET SENSOR DATA: ", accelerometer.cmd_get_data())

        # test sensor set
        print("\n<<TEST SENSOR SET>>")
        print("CMD SET FIND: ", led.cmd_set_find(True))
        print("CMD SET PARAM SAMPLERATE: ", led.cmd_set_param(NBusParameterID.PARAM_SAMPLERATE, 23456))
        print("CMD GET PARAM SAMPLERATE: ", led.cmd_get_param(NBusParameterID.PARAM_SAMPLERATE))

        params = {NBusParameterID.PARAM_RANGE: 12, NBusParameterID.PARAM_RANGE0: 4234}
        print("CMD SET MULTI PARAMS: ", led.cmd_set_multi_params(params))
        print("CMD GET ALL PARAMS: ", led.cmd_get_all_params())

        print("CMD SET CALIBRATE: ", led.cmd_set_calibrate())

        print("CMD SET DATA: ", led.cmd_set_data([1]))
        print("CMD GET SENSOR DATA: ", led.cmd_get_data())

    except Exception as e:
        print(e)

    finally:
        port.flush()
        port.close()