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Add linux test bootstrap package.

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2020-07-10 19:45:24 +09:30
parent 45bead4f38
commit 760747dfce
1 changed files with 5 additions and 5 deletions
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10
Sources/SwiftRPLidar/SwiftRPLidar.swift
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@@ -143,7 +143,7 @@ public class SwiftRPLidar {
} }
public func clearInput() throws{ public func clearInput() throws{
try serialPort?.readData(ofLength: (serialPort?.inWaiting)!) _ = try serialPort?.readData(ofLength: (serialPort?.inWaiting)!)
} }
public func stop() throws{ public func stop() throws{
@@ -156,7 +156,7 @@ public class SwiftRPLidar {
public func iterMeasurements(maxBufferMeasurements: Int = 500, _ onMeasure: MeasurementHandler) throws { public func iterMeasurements(maxBufferMeasurements: Int = 500, _ onMeasure: MeasurementHandler) throws {
try startMotor() try startMotor()
let (status, errorCode) = try getHealth() let (status, _) = try getHealth()
if status == .ERROR{ if status == .ERROR{
// Throw Exception // Throw Exception
} }
@@ -184,7 +184,7 @@ public class SwiftRPLidar {
let dataInWaiting = serialPort?.inWaiting let dataInWaiting = serialPort?.inWaiting
if dataInWaiting! > maxBufferMeasurements { if dataInWaiting! > maxBufferMeasurements {
print("Too many measurements in the input buffer. Clearing Buffer") print("Too many measurements in the input buffer. Clearing Buffer")
try serialPort?.readData(ofLength: dataInWaiting! / Int(dataSize) * Int(dataSize)) _ = try serialPort?.readData(ofLength: dataInWaiting! / Int(dataSize) * Int(dataSize))
} }
} }
// TODO: Support cancelling of measurements. Would it already work though? // TODO: Support cancelling of measurements. Would it already work though?
@@ -215,7 +215,7 @@ public class SwiftRPLidar {
var req = Constants.SYNC.asData() + cmd.asData() + size.asData() + payload var req = Constants.SYNC.asData() + cmd.asData() + size.asData() + payload
let checksum = calcChecksum(req) let checksum = calcChecksum(req)
req += checksum.asData() req += checksum.asData()
try serialPort?.writeData(req) _ = try serialPort?.writeData(req)
} }
private func sendPayloadCommand(_ cmd: UInt8, payload: Data) throws { private func sendPayloadCommand(_ cmd: UInt8, payload: Data) throws {
@@ -233,7 +233,7 @@ public class SwiftRPLidar {
private func sendCommand(_ command: Data) throws{ private func sendCommand(_ command: Data) throws{
var req = Constants.SYNC.asData() var req = Constants.SYNC.asData()
req.append(command) req.append(command)
try serialPort?.writeData(req) _ = try serialPort?.writeData(req)
} }
private func readDescriptor() throws -> (UInt8, Bool, UInt8)?{ private func readDescriptor() throws -> (UInt8, Bool, UInt8)?{