RpLidarLowLevelDriver.java 文件源码

/**
 * Initializes serial connection
 *
 * @param portName Path to serial port
 * @param listener Listener for in comming packets
 * @throws Exception
 */
public RpLidarLowLevelDriver(final String portName, final RpLidarListener listener) throws Exception {

    log.info("Opening port " + portName);

    this.listener = listener;

    //Configuration for Serial port operations
    final CommPortIdentifier portIdentifier = CommPortIdentifier.getPortIdentifier(portName);
    final CommPort commPort = portIdentifier.open("FOO", 2000);
    serialPort = (SerialPort) commPort;
    serialPort.setSerialPortParams(115200, SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
    serialPort.setFlowControlMode(SerialPort.FLOWCONTROL_NONE);
    serialPort.setDTR(false); // lovely undocumented feature where if true the motor stops spinning

    in = serialPort.getInputStream();
    out = serialPort.getOutputStream();

    readThread = new ReadSerialThread();
    new Thread(readThread).start();
}