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Fix initialiser, return statements

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This commit is contained in:
Piv
2020-07-09 20:06:57 +09:30
parent b79200524f
commit c89dc948d7
1 changed files with 17 additions and 14 deletions
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31
Sources/SwiftRPLidar/SwiftRPLidar.swift
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@@ -40,10 +40,10 @@ func processScan(raw: Data) throws -> LidarScan {
let inversedNewScan = (raw[0] >> 1) & 0b1 let inversedNewScan = (raw[0] >> 1) & 0b1
let quality = raw[0] >> 2 let quality = raw[0] >> 2
if (newScan == inversedNewScan){ if (newScan == inversedNewScan){
} }
if ((raw[1] & 0b1) != 1) { if ((raw[1] & 0b1) != 1) {
} }
let angle = Float(raw[1] >> 1) + Float(raw[2] << 7) / 64 let angle = Float(raw[1] >> 1) + Float(raw[2] << 7) / 64
let distance = Float(raw[3]) + Float(raw[4] << 8) / 4 let distance = Float(raw[3]) + Float(raw[4] << 8) / 4
@@ -59,8 +59,8 @@ struct LidarScan{
typealias MeasurementHandler = (_ scan: LidarScan) -> Void typealias MeasurementHandler = (_ scan: LidarScan) -> Bool
typealias ScanHandler = (_ scans: [LidarScan]) -> Void typealias ScanHandler = (_ scans: [LidarScan]) -> Bool
class RPLidar{ class RPLidar{
private var motor: Bool = false private var motor: Bool = false
@@ -68,9 +68,10 @@ class RPLidar{
private var motorRunning = false private var motorRunning = false
init(serialPort: SerialPort) throws { init(onPort serialPort: SerialPort) throws {
self.serialPort = serialPort self.serialPort = serialPort
try connect()
try startMotor()
} }
deinit { deinit {
@@ -164,7 +165,7 @@ class RPLidar{
if status == .ERROR{ if status == .ERROR{
// Throw Exception // Throw Exception
} }
else if status == .WARNING { else if status == .WARNING {
} }
@@ -180,9 +181,9 @@ class RPLidar{
if dataType != Constants.SCAN_TYPE { if dataType != Constants.SCAN_TYPE {
} }
var read = true
// Need to check in waiting or something... // Need to check in waiting or something...
for _ in 0..<500{ while read {
let raw = try readResponse(Int(dataSize)) let raw = try readResponse(Int(dataSize))
if maxBufferMeasurements > 0 { if maxBufferMeasurements > 0 {
let dataInWaiting = serialPort?.inWaiting let dataInWaiting = serialPort?.inWaiting
@@ -192,22 +193,24 @@ class RPLidar{
} }
} }
// TODO: Support cancelling of measurements. Would it already work though? // TODO: Support cancelling of measurements. Would it already work though?
try onMeasure(processScan(raw: raw)) read = try onMeasure(processScan(raw: raw))
} }
} }
public func iterScans(maxBufferMeasurements: Int = 500, minLength: Int = 5, _ onScan: ScanHandler) throws { public func iterScans(maxBufferMeasurements: Int = 500, minLength: Int = 5, _ onScan: ScanHandler) throws {
var scan: [LidarScan] = [] var scan: [LidarScan] = []
var read = true
try iterMeasurements{ measurement in try iterMeasurements{ measurement in
if measurement.newScan { if measurement.newScan {
if scan.count > minLength { if scan.count > minLength {
onScan(scan) read = onScan(scan)
} }
scan = [] scan = []
} }
if measurement.quality > 0 && measurement.distance > 0 { if measurement.quality > 0 && measurement.distance > 0 {
scan.append(measurement) scan.append(measurement)
} }
return read
} }
} }
@@ -243,10 +246,10 @@ class RPLidar{
return nil return nil
} }
if (descriptor.count != Constants.DESCRIPTOR_LEN){ if (descriptor.count != Constants.DESCRIPTOR_LEN){
return return nil
} }
else if (descriptor[0...1] != Data([Constants.SYNC, Constants.SYNC2])){ else if (descriptor[0...1] != Data([Constants.SYNC, Constants.SYNC2])){
return return nil
} }
let isSingle = descriptor[descriptor.count - 2] == 0 let isSingle = descriptor[descriptor.count - 2] == 0
return (descriptor[2], isSingle, descriptor[descriptor.count - 1]) return (descriptor[2], isSingle, descriptor[descriptor.count - 1])
@@ -257,7 +260,7 @@ class RPLidar{
return Data() return Data()
} }
if(data.count != dataSize){ if(data.count != dataSize){
return return Data()
} }
return data return data
} }