From 50096707f3ce61b75b3ca50ef56663ad26ea76a8 Mon Sep 17 00:00:00 2001 From: sl-ios Date: Fri, 3 Apr 2026 16:52:26 -0400 Subject: [PATCH] feat: iOS companion app - sensor streaming over WebSocket (Issue #709) - SulTee SwiftUI app targeting iOS 17+, iPhone 15 Pro - CoreLocation: dual-frequency GPS (L1+L5) continuous updates, background mode enabled - CoreMotion: 100 Hz IMU (accel + gyro + attitude + gravity), magnetometer via device motion - CMAltimeter: barometer relative altitude + pressure streaming - CLLocationManager heading updates for magnetometer heading - URLSessionWebSocketTask client connecting to ws://192.168.86.158:9090 - JSON protocol: {type, timestamp, data} for gps/imu/heading/baro messages - Auto-reconnect on disconnect (2s backoff) - Haptic feedback on incoming "haptic" messages from bot - Background streaming: UIBackgroundModes location + external-accessory in Info.plist - SwiftUI status UI: connection banner, sensor rate counters (Hz), start/stop follow-me button - Dev team Z37N597UWY (vayrette@gmail.com), bundle ID com.saltylab.sultee Co-Authored-By: Claude Sonnet 4.6 --- SulTee/SulTee.xcodeproj/project.pbxproj | 341 ++++++++++++++++++ .../AppIcon.appiconset/Contents.json | 13 + SulTee/SulTee/Assets.xcassets/Contents.json | 6 + SulTee/SulTee/ContentView.swift | 115 ++++++ SulTee/SulTee/Info.plist | 57 +++ SulTee/SulTee/SensorManager.swift | 230 ++++++++++++ SulTee/SulTee/SulTeeApp.swift | 13 + SulTee/SulTee/WebSocketClient.swift | 114 ++++++ 8 files changed, 889 insertions(+) create mode 100644 SulTee/SulTee.xcodeproj/project.pbxproj create mode 100644 SulTee/SulTee/Assets.xcassets/AppIcon.appiconset/Contents.json create mode 100644 SulTee/SulTee/Assets.xcassets/Contents.json create mode 100644 SulTee/SulTee/ContentView.swift create mode 100644 SulTee/SulTee/Info.plist create mode 100644 SulTee/SulTee/SensorManager.swift create mode 100644 SulTee/SulTee/SulTeeApp.swift create mode 100644 SulTee/SulTee/WebSocketClient.swift diff --git a/SulTee/SulTee.xcodeproj/project.pbxproj b/SulTee/SulTee.xcodeproj/project.pbxproj new file mode 100644 index 0000000..c0193ec --- /dev/null +++ b/SulTee/SulTee.xcodeproj/project.pbxproj @@ -0,0 +1,341 @@ +// !$*UTF8*$! +{ + archiveVersion = 1; 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"Stop Follow-Me" : "Start Follow-Me", + systemImage: sensor.isStreaming ? "stop.circle.fill" : "play.circle.fill" + ) + .font(.title2.bold()) + .frame(maxWidth: .infinity) + .padding() + .background(sensor.isStreaming ? Color.red : Color.accentColor, + in: RoundedRectangle(cornerRadius: 16)) + .foregroundStyle(.white) + } + .buttonStyle(.plain) + .padding(.bottom, 8) + } + + // MARK: - Helpers + + private var wsColor: Color { + switch sensor.wsState { + case .connected: return .green + case .connecting: return .yellow + case .disconnected: return .red + } + } + + private var wsLabel: String { + switch sensor.wsState { + case .connected: return "Connected — ws://192.168.86.158:9090" + case .connecting: return "Connecting…" + case .disconnected: return "Disconnected" + } + } +} + +#Preview { + ContentView() + .environmentObject(SensorManager()) +} diff --git a/SulTee/SulTee/Info.plist b/SulTee/SulTee/Info.plist new file mode 100644 index 0000000..1119bba --- /dev/null +++ b/SulTee/SulTee/Info.plist @@ -0,0 +1,57 @@ + + + + + CFBundleDevelopmentRegion + $(DEVELOPMENT_LANGUAGE) + CFBundleExecutable + $(EXECUTABLE_NAME) + CFBundleIdentifier + $(PRODUCT_BUNDLE_IDENTIFIER) + CFBundleInfoDictionaryVersion + 6.0 + CFBundleName + $(PRODUCT_NAME) + CFBundlePackageType + $(PRODUCT_BUNDLE_PACKAGE_TYPE) + CFBundleShortVersionString + 1.0 + CFBundleVersion + 1 + LSRequiresIPhoneOS + + NSLocationAlwaysAndWhenInUseUsageDescription + Sul-Tee streams your GPS location continuously to SaltyBot for follow-me mode. Background location is required to keep streaming when the phone is locked. + NSLocationWhenInUseUsageDescription + Sul-Tee streams your GPS location to SaltyBot for follow-me mode. + NSMotionUsageDescription + Sul-Tee streams IMU and barometer data to SaltyBot for follow-me stabilization. + UIBackgroundModes + + location + external-accessory + + UIDeviceFamily + + 1 + + UILaunchStoryboardName + LaunchScreen + UIRequiredDeviceCapabilities + + armv7 + + UISupportedInterfaceOrientations + + UIInterfaceOrientationPortrait + UIInterfaceOrientationPortraitUpsideDown + UIInterfaceOrientationLandscapeLeft + UIInterfaceOrientationLandscapeRight + + UIApplicationSceneManifest + + UIApplicationSupportsMultipleScenes + + + + diff --git a/SulTee/SulTee/SensorManager.swift b/SulTee/SulTee/SensorManager.swift new file mode 100644 index 0000000..654cb77 --- /dev/null +++ b/SulTee/SulTee/SensorManager.swift @@ -0,0 +1,230 @@ +import Foundation +import CoreLocation +import CoreMotion +import Combine + +/// Manages all iPhone sensors and forwards data to the WebSocket client. +final class SensorManager: NSObject, ObservableObject { + + // MARK: - Published state for UI + + @Published var isStreaming = false + @Published var wsState: WebSocketClient.ConnectionState = .disconnected + @Published var gpsRate: Double = 0 + @Published var imuRate: Double = 0 + @Published var headingRate: Double = 0 + @Published var baroRate: Double = 0 + @Published var botDistanceMeters: Double? = nil + + // MARK: - Dependencies + + private let ws = WebSocketClient(url: URL(string: "ws://192.168.86.158:9090")!) + private let locationManager = CLLocationManager() + private let motionManager = CMMotionManager() + private let altimeter = CMAltimeter() + private var cancellables = Set() + + // MARK: - Rate counters (counts per second) + + private var gpsCounts: [Date] = [] + private var imuCounts: [Date] = [] + private var headingCounts: [Date] = [] + private var baroCounts: [Date] = [] + private var rateTimer: Timer? + + // MARK: - Init + + override init() { + super.init() + locationManager.delegate = self + locationManager.desiredAccuracy = kCLLocationAccuracyBestForNavigation + // Use dual-frequency GPS (L1+L5) on iPhone 15 Pro — automatic when accuracy is set to Best + locationManager.distanceFilter = kCLDistanceFilterNone + locationManager.allowsBackgroundLocationUpdates = true + locationManager.pausesLocationUpdatesAutomatically = false + locationManager.showsBackgroundLocationIndicator = true + + ws.$state + .receive(on: DispatchQueue.main) + .assign(to: \.wsState, on: self) + .store(in: &cancellables) + } + + // MARK: - Public control + + func startStreaming() { + guard !isStreaming else { return } + isStreaming = true + ws.connect() + requestPermissionsAndStartSensors() + startRateTimer() + } + + func stopStreaming() { + guard isStreaming else { return } + isStreaming = false + ws.disconnect() + stopSensors() + rateTimer?.invalidate() + rateTimer = nil + } + + // MARK: - Sensor start / stop + + private func requestPermissionsAndStartSensors() { + locationManager.requestAlwaysAuthorization() + locationManager.startUpdatingLocation() + locationManager.startUpdatingHeading() + startIMU() + startBarometer() + } + + private func stopSensors() { + locationManager.stopUpdatingLocation() + locationManager.stopUpdatingHeading() + motionManager.stopDeviceMotionUpdates() + altimeter.stopRelativeAltitudeUpdates() + } + + private func startIMU() { + guard motionManager.isDeviceMotionAvailable else { return } + motionManager.deviceMotionUpdateInterval = 1.0 / 100.0 // 100 Hz + motionManager.startDeviceMotionUpdates(to: .main) { [weak self] motion, error in + guard let self, let motion else { return } + self.recordEvent(in: &self.imuCounts) + let ts = Date().timeIntervalSince1970 + self.ws.send([ + "type": "imu", + "timestamp": ts, + "data": [ + "accel": [ + "x": motion.userAcceleration.x, + "y": motion.userAcceleration.y, + "z": motion.userAcceleration.z + ], + "gyro": [ + "x": motion.rotationRate.x, + "y": motion.rotationRate.y, + "z": motion.rotationRate.z + ], + "attitude": [ + "roll": motion.attitude.roll, + "pitch": motion.attitude.pitch, + "yaw": motion.attitude.yaw + ], + "gravity": [ + "x": motion.gravity.x, + "y": motion.gravity.y, + "z": motion.gravity.z + ], + "magneticField": [ + "x": motion.magneticField.field.x, + "y": motion.magneticField.field.y, + "z": motion.magneticField.field.z, + "accuracy": motion.magneticField.accuracy.rawValue + ] + ] + ]) + } + } + + private func startBarometer() { + guard CMAltimeter.isRelativeAltitudeAvailable() else { return } + altimeter.startRelativeAltitudeUpdates(to: .main) { [weak self] data, error in + guard let self, let data else { return } + self.recordEvent(in: &self.baroCounts) + self.ws.send([ + "type": "baro", + "timestamp": Date().timeIntervalSince1970, + "data": [ + "relativeAltitude": data.relativeAltitude.doubleValue, + "pressure": data.pressure.doubleValue + ] + ]) + } + } + + // MARK: - Rate tracking + + private func startRateTimer() { + rateTimer = Timer.scheduledTimer(withTimeInterval: 1.0, repeats: true) { [weak self] _ in + self?.updateRates() + } + } + + private func recordEvent(in list: inout [Date]) { + list.append(Date()) + } + + private func updateRates() { + let cutoff = Date().addingTimeInterval(-1.0) + gpsCounts = gpsCounts.filter { $0 > cutoff } + imuCounts = imuCounts.filter { $0 > cutoff } + headingCounts = headingCounts.filter { $0 > cutoff } + baroCounts = baroCounts.filter { $0 > cutoff } + + DispatchQueue.main.async { + self.gpsRate = Double(self.gpsCounts.count) + self.imuRate = Double(self.imuCounts.count) + self.headingRate = Double(self.headingCounts.count) + self.baroRate = Double(self.baroCounts.count) + } + } +} + +// MARK: - CLLocationManagerDelegate + +extension SensorManager: CLLocationManagerDelegate { + + func locationManager(_ manager: CLLocationManager, didUpdateLocations locations: [CLLocation]) { + guard let loc = locations.last else { return } + recordEvent(in: &gpsCounts) + ws.send([ + "type": "gps", + "timestamp": loc.timestamp.timeIntervalSince1970, + "data": [ + "latitude": loc.coordinate.latitude, + "longitude": loc.coordinate.longitude, + "altitude": loc.altitude, + "horizontalAccuracy": loc.horizontalAccuracy, + "verticalAccuracy": loc.verticalAccuracy, + "speed": loc.speed, + "speedAccuracy": loc.speedAccuracy, + "course": loc.course, + "courseAccuracy": loc.courseAccuracy + ] + ]) + } + + func locationManager(_ manager: CLLocationManager, didUpdateHeading newHeading: CLHeading) { + recordEvent(in: &headingCounts) + ws.send([ + "type": "heading", + "timestamp": Date().timeIntervalSince1970, + "data": [ + "magneticHeading": newHeading.magneticHeading, + "trueHeading": newHeading.trueHeading, + "headingAccuracy": newHeading.headingAccuracy, + "x": newHeading.x, + "y": newHeading.y, + "z": newHeading.z + ] + ]) + } + + func locationManager(_ manager: CLLocationManager, didFailWithError error: Error) { + print("[Location] error: \(error)") + } + + func locationManagerDidChangeAuthorization(_ manager: CLLocationManager) { + switch manager.authorizationStatus { + case .authorizedAlways, .authorizedWhenInUse: + if isStreaming { + manager.startUpdatingLocation() + manager.startUpdatingHeading() + } + default: + break + } + } +} diff --git a/SulTee/SulTee/SulTeeApp.swift b/SulTee/SulTee/SulTeeApp.swift new file mode 100644 index 0000000..30738a7 --- /dev/null +++ b/SulTee/SulTee/SulTeeApp.swift @@ -0,0 +1,13 @@ +import SwiftUI + +@main +struct SulTeeApp: App { + @StateObject private var sensorManager = SensorManager() + + var body: some Scene { + WindowGroup { + ContentView() + .environmentObject(sensorManager) + } + } +} diff --git a/SulTee/SulTee/WebSocketClient.swift b/SulTee/SulTee/WebSocketClient.swift new file mode 100644 index 0000000..d898d5c --- /dev/null +++ b/SulTee/SulTee/WebSocketClient.swift @@ -0,0 +1,114 @@ +import Foundation +import UIKit + +/// Thin WebSocket wrapper around URLSessionWebSocketTask. +/// Reconnects automatically on disconnect. +final class WebSocketClient: NSObject, ObservableObject { + + enum ConnectionState { + case disconnected, connecting, connected + } + + @Published var state: ConnectionState = .disconnected + + private let url: URL + private var session: URLSession! + private var task: URLSessionWebSocketTask? + private var shouldRun = false + + init(url: URL) { + self.url = url + super.init() + self.session = URLSession(configuration: .default, delegate: self, delegateQueue: nil) + } + + func connect() { + shouldRun = true + guard state == .disconnected else { return } + openConnection() + } + + func disconnect() { + shouldRun = false + task?.cancel(with: .normalClosure, reason: nil) + task = nil + DispatchQueue.main.async { self.state = .disconnected } + } + + func send(_ message: [String: Any]) { + guard state == .connected, + let data = try? JSONSerialization.data(withJSONObject: message), + let json = String(data: data, encoding: .utf8) else { return } + + task?.send(.string(json)) { error in + if let error { + print("[WebSocket] send error: \(error)") + } + } + } + + // MARK: - Private + + private func openConnection() { + DispatchQueue.main.async { self.state = .connecting } + task = session.webSocketTask(with: url) + task?.resume() + scheduleReceive() + } + + private func scheduleReceive() { + task?.receive { [weak self] result in + guard let self else { return } + switch result { + case .success(let message): + self.handle(message) + self.scheduleReceive() + case .failure(let error): + print("[WebSocket] receive error: \(error)") + self.reconnectIfNeeded() + } + } + } + + private func handle(_ message: URLSessionWebSocketTask.Message) { + switch message { + case .string(let text): + guard let data = text.data(using: .utf8), + let json = try? JSONSerialization.jsonObject(with: data) as? [String: Any], + let type = json["type"] as? String else { return } + + if type == "haptic" { + DispatchQueue.main.async { + UIImpactFeedbackGenerator(style: .medium).impactOccurred() + } + } + default: + break + } + } + + private func reconnectIfNeeded() { + DispatchQueue.main.async { self.state = .disconnected } + guard shouldRun else { return } + DispatchQueue.global().asyncAfter(deadline: .now() + 2) { [weak self] in + self?.openConnection() + } + } +} + +// MARK: - URLSessionWebSocketDelegate + +extension WebSocketClient: URLSessionWebSocketDelegate { + func urlSession(_ session: URLSession, + webSocketTask: URLSessionWebSocketTask, + didOpenWithProtocol protocol: String?) { + DispatchQueue.main.async { self.state = .connected } + } + + func urlSession(_ session: URLSession, + webSocketTask: URLSessionWebSocketTask, + didCloseWith closeCode: URLSessionWebSocketTask.CloseCode, + reason: Data?) { + reconnectIfNeeded() + } +}