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More methods, start on tier measurements.

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This commit is contained in:
Piv
2020-07-06 22:03:45 +09:30
parent 3d8148c22c
commit 897e4c95b5
1 changed files with 47 additions and 9 deletions
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50
Sources/SwiftRPLidar/SwiftRPLidar.swift
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@@ -27,8 +27,8 @@ struct Constants{
static let DEFAULT_MOTOR_PWM = 660
}
enum HEALTH_STATUSES {
case GOOD, WARNING, ERROR
enum HEALTH_STATUSES: UInt8 {
case GOOD = 0, WARNING, ERROR
}
struct SwiftRPLidar {
@@ -127,25 +127,63 @@ class RPLidar{
return (raw[0], raw[2], raw[3], serialNumber)
}
public func getHealth(){
public func getHealth() throws -> (HEALTH_STATUSES, UInt8){
try sendCommand(Constants.GET_HEALTH.asData())
let (dataSize, isSingle, dataType) = try readDescriptor()!
if (dataSize != Constants.HEALTH_LEN){
}
if (!isSingle){
}
if(dataType != Constants.HEALTH_TYPE){
}
let raw = try readResponse(dataSize)
let status = HEALTH_STATUSES(rawValue: raw[0])!
let errorCode = raw[1] << 8 + raw[2]
return (status, errorCode)
}
public func clearInput(){
}
public func stop(){
public func stop() throws{
try sendCommand(Constants.STOP.asData())
}
public func reset() throws{
try sendCommand(Constants.RESET.asData())
}
public func iterMeasurements(maxBufferMeasurements: Int = 500, _ onMeasure: MeasurementHandler) throws {
try startMotor()
let (status, errorCode) = try getHealth()
if status == .ERROR{
// Throw Exception
}
else if status == .WARNING {
}
public func reset(){
try sendCommand(Constants.SCAN.asData())
let (dataSize, isSingle, dataType) = try readDescriptor()!
if (dataSize != 5){
}
if isSingle{
public func iterMeasurements(maxBufferMeasurements: Int = 500, _ onMeasure: MeasurementHandler) {
}
if dataType != Constants.SCAN_TYPE{
}
for _ in 0..<500{
let raw = try readResponse(Int(dataSize))
}
}
public func iterScans(maxBufferMeasurements: Int = 500, minLength: Int = 5, _ onScan: ScanHandler){