Bump version, improve docs (#54)

* Improve the doc strings for the connectors Signed-off-by: Evan Flynn <[email protected]> * Bump version for new release Signed-off-by: Evan Flynn <[email protected]> * Update CHANGELOG for new release Signed-off-by: Evan Flynn <[email protected]> Signed-off-by: Evan Flynn <[email protected]>
flynneva · Jan 14, 2023 · f04b088 · f04b088
1 parent b96c8d1
commit f04b088
Show file tree

Hide file tree

Showing 5 changed files with 88 additions and 4 deletions.
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,8 +2,49 @@
 Changelog for package bno055
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.4.0
+-----------
+* Update CHANGELOG for new release
+* Improve the doc strings for the connectors
+* Add I2C implementation (`#52 <https://github.com/flynneva/bno055/issues/52>`_)
+  * Add I2C implementation
+  * Updates after review
+  * Revert one file change
+  * Add newline
+  * Revert to UART as default
+  * Fix typo
+  * nit
+* Merge pull request `#50 <https://github.com/flynneva/bno055/issues/50>`_ from flynneva/fix-invalid-log-print
+  Fix invalid log string variable expansion
+* Update CI to include Humble
+* Fix invalid log string variable expansion
+* Merge pull request `#49 <https://github.com/flynneva/bno055/issues/49>`_ from sjev/operation_mode
+* add device mode setting
+* Contributors: Andrew Symington, Evan Flynn, Jev Kuznetsov
+
 Forthcoming
 -----------
+* Bump version for new release
+* Update CHANGELOG for new release
+* Improve the doc strings for the connectors
+* Add I2C implementation (`#52 <https://github.com/flynneva/bno055/issues/52>`_)
+  * Add I2C implementation
+  * Updates after review
+  * Revert one file change
+  * Add newline
+  * Revert to UART as default
+  * Fix typo
+  * nit
+* Merge pull request `#50 <https://github.com/flynneva/bno055/issues/50>`_ from flynneva/fix-invalid-log-print
+  Fix invalid log string variable expansion
+* Update CI to include Humble
+* Fix invalid log string variable expansion
+* Merge pull request `#49 <https://github.com/flynneva/bno055/issues/49>`_ from sjev/operation_mode
+* add device mode setting
+* Contributors: Andrew Symington, Evan Flynn, Jev Kuznetsov
+
+0.3.0
+-----------
 * Merge pull request `#43 <https://github.com/flynneva/bno055/issues/43>`_ from flynneva/develop
   bring over updates
 * Merge pull request `#44 <https://github.com/flynneva/bno055/issues/44>`_ from Towflos/develop

diff --git a/bno055/connectors/i2c.py b/bno055/connectors/i2c.py
@@ -37,19 +37,38 @@
 
 
 class I2C(Connector):
+    """Connector implementation for I2C connection to the sensor."""
+
     CONNECTIONTYPE_I2C = 'i2c'
 
     def __init__(self, node: Node, i2c_bus=0, i2c_addr=registers.BNO055_ADDRESS_A):
+        """Initialize the I2C class.
+        
+        :param node: a ROS node
+        :param i2c_bus: I2C bus to use
+        :param i2c_addr: I2C address to connect to
+        :return:
+        """
         super().__init__(node)
         self.bus = SMBus(i2c_bus)
         self.address = i2c_addr
 
     def connect(self):
+        """Connect to the sensor
+        
+        :return:
+        """
         returned_id = self.bus.read_byte_data(self.address, registers.BNO055_CHIP_ID_ADDR)
         if returned_id != registers.BNO055_ID:
             raise TransmissionException('Could not get BNO055 chip ID via I2C')
 
     def read(self, reg_addr, length):
+        """Read data from sensor via I2C.
+
+        :param reg_addr: The register address
+        :param length: The data length
+        :return:
+        """
         buffer = bytearray()
         bytes_left_to_read = length
         while bytes_left_to_read > 0:
@@ -62,6 +81,13 @@ def read(self, reg_addr, length):
         return buffer
 
     def write(self, reg_addr, length, data: bytes):
+        """Write data to sensor via I2C.
+        
+        :param reg_addr: The register address
+        :param length: The data length
+        :param data: data to transmit
+        :return:
+        """
         bytes_left_to_write = length
         while bytes_left_to_write > 0:
             write_len = min(bytes_left_to_write, 32)

diff --git a/bno055/connectors/uart.py b/bno055/connectors/uart.py
@@ -45,7 +45,14 @@ class UART(Connector):
     CONNECTIONTYPE_UART = 'uart'
 
     def __init__(self, node: Node, baudrate, port, timeout):
-        # Initialize parent class
+        """Initialize the UART class.
+        
+        :param node: a ROS node
+        :param baudrate: baudrate to configure UART communication to
+        :param port: UART port to connect to
+        :param timeout: timeout to use
+        :return:
+        """
         super().__init__(node)
 
         self.node = node
@@ -55,6 +62,10 @@ def __init__(self, node: Node, baudrate, port, timeout):
         self.serialConnection = None
 
     def connect(self):
+        """Connect to the sensor.
+        
+        :return:
+        """
         self.node.get_logger().info('Opening serial port: "%s"...' % self.port)
 
         try:
@@ -65,6 +76,12 @@ def connect(self):
             sys.exit(1)
 
     def read(self, reg_addr, length):
+        """Read data from sensor via UART.
+
+        :param reg_addr: The register address
+        :param length: The data length
+        :return:
+        """
         buf_out = bytearray()
         buf_out.append(registers.COM_START_BYTE_WR)
         buf_out.append(registers.COM_READ)
@@ -119,9 +136,9 @@ def read(self, reg_addr, length):
     def write(self, reg_addr, length, data: bytes):
         """
         Transmit data packages to the sensor.
+
         :param reg_addr: The register address
         :param length: The data length
-        :param data: data to transmit
         :return:
         """
         buf_out = bytearray()

diff --git a/package.xml b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bno055</name>
-  <version>0.3.0</version>
+  <version>0.4.0</version>
   <description>Bosch BNO055 IMU driver for ROS2</description>
   <maintainer email="[email protected]">flynneva</maintainer>
   <license>BSD</license>

diff --git a/setup.py b/setup.py
@@ -7,7 +7,7 @@
 
 setup(
     name=package_name,
-    version='0.3.1',
+    version='0.4.0.',
     # find sub-packages automatically in order to allow sub-modules, etc. to be imported:
     # packages=[package_name],
     packages=find_packages(exclude=['test']),