Merge branch 'master' of ssh://vato.ddns.net:222/vato007/swiftrplidar

Package.swift

@@ -6,21 +6,16 @@ import PackageDescription
 let package = Package(
     name: "SwiftRPLidar",
     products: [
-        // Products define the executables and libraries produced by a package, and make them visible to other packages.
         .library(
             name: "SwiftRPLidar",
             targets: ["SwiftRPLidar"]),
     ],
     dependencies: [
-        // Dependencies declare other packages that this package depends on.
-        .package(url: "https://vato.ddns.net/gitlab/vato007/SwiftSerial.git", .branch("dtr_support"))
     ],
     targets: [
-        // Targets are the basic building blocks of a package. A target can define a module or a test suite.
-        // Targets can depend on other targets in this package, and on products in packages which this package depends on.
         .target(
             name: "SwiftRPLidar",
-            dependencies: [.product(name: "SwiftSerial", package: "SwiftSerial")]),
+            dependencies: []),
         .testTarget(
             name: "SwiftRPLidarTests",
             dependencies: ["SwiftRPLidar"]),

Sources/SwiftRPLidar/LidarSerial.swift

@@ -7,4 +7,5 @@ public protocol LidarSerial {
     func openPort() throws;
     func readData(ofLength: Int) throws -> Data;
     func writeData(_ data: Data) throws -> Int;
+    func setBaudrate(baudrate: Int)
 }

Sources/SwiftRPLidar/SwiftRPLidar.swift

@@ -46,10 +46,10 @@ func processScan(raw: Data) throws -> LidarScan {
 }
 
 public struct LidarScan{
-    var newScan: Bool
+    public let newScan: Bool
-    var quality: UInt8
+    public let quality: UInt8
-    var angle: Float
+    public let angle: Float
-    var distance: Float
+    public let distance: Float
 }
 
 
@@ -78,6 +78,7 @@ public class SwiftRPLidar {
     public func connect() throws {
         disconnect()
         try serialPort!.openPort()
+        serialPort?.setBaudrate(baudrate: 115200)
     }
     
     public func disconnect(){

Tests/SwiftRPLidarTests/SwiftRPLidarTests.swift

@@ -13,3 +13,28 @@ final class SwiftRPLidarTests: XCTestCase {
         ("testExample", testExample),
     ]
 }
+
+struct MockSerialPort: LidarSerial {
+    
+    var dtr: Bool
+    
+    var inWaiting: Int
+    
+    func closePort() {
+    }
+    
+    func openPort() throws {
+    }
+    
+    func readData(ofLength: Int) throws -> Data {
+        return Data()
+    }
+    
+    func writeData(_ data: Data) throws -> Int {
+        return 0
+    }
+    
+    func setBaudrate(baudrate: Int) {
+        
+    }
+}