From 3e3cc3923126d81e49c43094cc1a0132b468a457 Mon Sep 17 00:00:00 2001
From: Murphy <thehelixpg@gmail.com>
Date: Wed, 15 Nov 2023 18:44:18 +0200
Subject: [PATCH] added self inspection

---
 README.md               |  3 +++
 infiray_lrf/__init__.py |  2 +-
 infiray_lrf/commands.py | 12 ++++++------
 infiray_lrf/sender.py   |  6 ++++++
 4 files changed, 16 insertions(+), 7 deletions(-)

diff --git a/README.md b/README.md
index fdb90ae..ab549d4 100644
--- a/README.md
+++ b/README.md
@@ -20,6 +20,9 @@ python -m infiray-lrf
 # commands list:
 q     - quit
 h     - help
+
+i     - self inspection
+
 s     - single ranging
 cf <int:frequency> <int:timeout> 
       - continious ranging (frequency 1~10Hz, timout - seconds)
diff --git a/infiray_lrf/__init__.py b/infiray_lrf/__init__.py
index 7b9b038..edd39f1 100644
--- a/infiray_lrf/__init__.py
+++ b/infiray_lrf/__init__.py
@@ -1,4 +1,4 @@
-__version__ = '1.0.0'
+__version__ = '1.0.1'
 __author__ = "o-murphy"
 __credits__ = ["Dmytro Yaroshenko"]
 __copyright__ = ('2023 Yaroshenko Dmytro (https://github.com/o-murphy)', )
diff --git a/infiray_lrf/commands.py b/infiray_lrf/commands.py
index 11f67be..139adbb 100644
--- a/infiray_lrf/commands.py
+++ b/infiray_lrf/commands.py
@@ -60,18 +60,18 @@
     temperature=Enum(Bit,
                      normal=1,
                      exception=0),
-    reserve=Bit
+    _reserve=Bit
 ))
 
 TSelfInspect = Struct(
-    status3=Byte,  # reserved
-    status2=Byte,
-    status1=TSelfStatus,
+    _reserved=Byte,  # reserved
+    echo_intensity=Byte,
+    system=TSelfStatus,
     status0=BitStruct(
         v5_power=Enum(Bit,
                       normal=1,
                       exception=0),
-        reserve=Bit[7]
+        _reserve=Bit[7]
     ),
 )
 
@@ -172,7 +172,7 @@ def crc(ctx):
     cmd=COMMAND,
     params=Switch(
         this.cmd, {
-            COMMAND.SelfInspection: TSelfInspect,
+            # COMMAND.SelfInspection: TSelfInspect,
             COMMAND.SetFirstLast: TSetFirstLast,
             COMMAND.SetFrequency: TSetFrequency,
 
diff --git a/infiray_lrf/sender.py b/infiray_lrf/sender.py
index d7e3512..be0c604 100644
--- a/infiray_lrf/sender.py
+++ b/infiray_lrf/sender.py
@@ -84,6 +84,9 @@ def write_serial(intf):
                 if message == 's':
                     cmd = command_request_struct.build({'cmd': COMMAND.SingleRanging, 'params': None})
 
+                elif message == 'i':
+                    cmd = command_request_struct.build({'cmd': COMMAND.SelfInspection, 'params': None})
+
                 elif message == 'C':
                     cmd = command_request_struct.build({'cmd': COMMAND.ContinuousRanging, 'params': None})
 
@@ -182,6 +185,9 @@ def show_help():
 
 q\t - quit
 h\t - help
+
+i\t - self inspection
+
 s\t - single ranging
 cf <int:frequency> <int:timeout> 
 \t - continious ranging (frequency 1~10Hz, timout - seconds)