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Merge remote-tracking branch 'refs/remotes/origin/master'

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Conflicts:
	Sources/SwiftRPLidar/SwiftRPLidar.swift
This commit is contained in:
Piv
2020-07-09 20:12:33 +09:30
parent c89dc948d7 05ebdbd0a4
commit 5d412b4832
2 changed files with 11 additions and 3 deletions
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8
Sources/SwiftRPLidar/LidarSerial.swift Normal file
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@@ -0,0 +1,8 @@
protocol LidarSerial {
var dtr: Bool {get set};
var inWaiting: Int {get};
func closePort() -> Void;
func openPort() -> Void;
readData(ofLength: Int) throws -> Void;
writeData(_ data: Data) throws -> Void;
}

6
Sources/SwiftRPLidar/SwiftRPLidar.swift
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@@ -1,5 +1,5 @@
import Foundation import Foundation
import SwiftSerial import LidarSerial
struct Constants{ struct Constants{
static let SYNC: UInt8 = 0xA5 static let SYNC: UInt8 = 0xA5
@@ -64,11 +64,11 @@ typealias ScanHandler = (_ scans: [LidarScan]) -> Bool
class RPLidar{ class RPLidar{
private var motor: Bool = false private var motor: Bool = false
private var serialPort: SerialPort? = nil private var serialPort: LidarSerial? = nil
private var motorRunning = false private var motorRunning = false
init(onPort serialPort: SerialPort) throws { init(onPort serialPort: LidarSerial) throws {
self.serialPort = serialPort self.serialPort = serialPort
try connect() try connect()
try startMotor() try startMotor()