feat: Add Pilot tab — MJPEG camera feed + virtual joystick RC control
- New PilotView.swift: full-screen MJPEG stream via WKWebView, virtual
joystick overlay (bottom-right, semi-transparent), camera switcher
pill (top-right, hidden when single source)
- Dead-man switch: finger lift snaps joystick to zero; next 10 Hz tick
publishes {linear_x:0, angular_z:0} within 100 ms
- cmd_vel published to saltybot/cmd_vel at 10 Hz max via MQTT
- SensorManager: add ensureMQTTConnected(), releaseMQTTIfIdle(),
publishCmdVel(linearX:angularZ:) so Pilot tab can use MQTT
independently of Follow-Me streaming
- ContentView: add Pilot tab (camera.fill icon, last tab)
- xcodeproj: register PilotView.swift in Sources build phase
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
parent
615dc405d0
commit
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@ -23,6 +23,7 @@
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A10000010000000000000DAA /* BLEPackets.swift in Sources */ = {isa = PBXBuildFile; fileRef = A10000010000000000000DAB /* BLEPackets.swift */; };
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A10000010000000000000EAA /* AnchorInfo.swift in Sources */ = {isa = PBXBuildFile; fileRef = A10000010000000000000EAB /* AnchorInfo.swift */; };
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A10000010000000000000FAA /* BLEStatusView.swift in Sources */ = {isa = PBXBuildFile; fileRef = A10000010000000000000FAB /* BLEStatusView.swift */; };
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A100000100000000000014AA /* PilotView.swift in Sources */ = {isa = PBXBuildFile; fileRef = A100000100000000000014AB /* PilotView.swift */; };
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/* End PBXBuildFile section */
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/* Begin PBXFileReference section */
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@ -44,6 +45,7 @@
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A10000010000000000000DAB /* BLEPackets.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = BLEPackets.swift; sourceTree = "<group>"; };
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A10000010000000000000EAB /* AnchorInfo.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = AnchorInfo.swift; sourceTree = "<group>"; };
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A10000010000000000000FAB /* BLEStatusView.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = BLEStatusView.swift; sourceTree = "<group>"; };
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A100000100000000000014AB /* PilotView.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = PilotView.swift; sourceTree = "<group>"; };
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/* End PBXFileReference section */
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/* Begin PBXFrameworksBuildPhase section */
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@ -83,6 +85,7 @@
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A100000100000000000011BB /* RouteStore.swift */,
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A100000100000000000012BB /* RouteRecorder.swift */,
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A100000100000000000013BB /* RoutesView.swift */,
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A100000100000000000014AB /* PilotView.swift */,
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A100000100000000000005AB /* Assets.xcassets */,
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A100000100000000000006AB /* Info.plist */,
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);
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@ -182,6 +185,7 @@
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A100000100000000000011AB /* RouteStore.swift in Sources */,
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A100000100000000000012AB /* RouteRecorder.swift in Sources */,
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A100000100000000000013AB /* RoutesView.swift in Sources */,
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A100000100000000000014AA /* PilotView.swift in Sources */,
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);
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runOnlyForDeploymentPostprocessing = 0;
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};
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@ -15,6 +15,8 @@ struct ContentView: View {
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.tabItem { Label("BLE Tag", systemImage: "dot.radiowaves.right") }
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RoutesView()
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.tabItem { Label("Routes", systemImage: "point.bottomleft.forward.to.point.topright.scurvepath") }
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PilotView()
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.tabItem { Label("Pilot", systemImage: "camera.fill") }
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}
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}
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}
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187
SulTee/SulTee/PilotView.swift
Normal file
187
SulTee/SulTee/PilotView.swift
Normal file
@ -0,0 +1,187 @@
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import SwiftUI
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import WebKit
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// MARK: - Camera source
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struct CameraSource: Identifiable, Hashable {
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let id: String
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let name: String
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let url: String
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}
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// MARK: - MJPEG stream renderer (WKWebView)
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/// Renders an MJPEG stream URL inside a black-background WKWebView.
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/// Reloads only when `urlString` changes (guarded by Coordinator).
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struct MJPEGStreamView: UIViewRepresentable {
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let urlString: String
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class Coordinator {
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var loadedURL = ""
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}
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func makeCoordinator() -> Coordinator { Coordinator() }
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func makeUIView(context: Context) -> WKWebView {
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let cfg = WKWebViewConfiguration()
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cfg.allowsInlineMediaPlayback = true
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let wv = WKWebView(frame: .zero, configuration: cfg)
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wv.backgroundColor = .black
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wv.isOpaque = true
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wv.scrollView.isScrollEnabled = false
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wv.scrollView.bounces = false
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return wv
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}
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func updateUIView(_ wv: WKWebView, context: Context) {
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guard context.coordinator.loadedURL != urlString else { return }
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context.coordinator.loadedURL = urlString
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let html = """
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<!DOCTYPE html><html><head>
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<meta name="viewport" content="width=device-width,initial-scale=1,user-scalable=no">
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<style>
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* { margin: 0; padding: 0; box-sizing: border-box; }
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body { background: #000; width: 100vw; height: 100vh;
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display: flex; align-items: center; justify-content: center; overflow: hidden; }
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img { max-width: 100%; max-height: 100%; object-fit: contain; }
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</style>
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</head><body>
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<img src="\(urlString)">
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</body></html>
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"""
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wv.loadHTMLString(html, baseURL: nil)
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}
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}
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// MARK: - Virtual joystick
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/// Single-touch virtual joystick. Knob snaps back to center on release (dead-man).
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/// `value.x` ∈ [-1, 1] (right positive), `value.y` ∈ [-1, 1] (down positive).
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struct JoystickControl: View {
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@Binding var value: CGPoint
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private let baseRadius: CGFloat = 64
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private let knobRadius: CGFloat = 24
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@State private var offset: CGSize = .zero
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var body: some View {
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let travel = baseRadius - knobRadius
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let cx = min(max(offset.width, -travel), travel)
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let cy = min(max(offset.height, -travel), travel)
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ZStack {
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// Base ring
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Circle()
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.fill(.white.opacity(0.12))
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.frame(width: baseRadius * 2, height: baseRadius * 2)
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.overlay(Circle().stroke(.white.opacity(0.35), lineWidth: 1.5))
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// Knob
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Circle()
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.fill(.white.opacity(offset == .zero ? 0.35 : 0.70))
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.frame(width: knobRadius * 2, height: knobRadius * 2)
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.offset(x: cx, y: cy)
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}
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.gesture(
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DragGesture(minimumDistance: 0)
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.onChanged { g in
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offset = g.translation
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let travel = baseRadius - knobRadius
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value = CGPoint(
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x: min(max(g.translation.width / travel, -1), 1),
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y: min(max(g.translation.height / travel, -1), 1)
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)
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}
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.onEnded { _ in
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// Dead-man: finger lifted → snap to zero immediately.
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// The cmd timer will publish zeros on the next tick (≤ 100 ms).
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offset = .zero
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value = .zero
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}
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)
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}
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}
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// MARK: - Pilot view
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struct PilotView: View {
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@EnvironmentObject var sensor: SensorManager
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private static let cameras: [CameraSource] = [
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CameraSource(id: "realsense", name: "RealSense", url: "http://100.64.0.2:8888/stream"),
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// Add more cameras here: CameraSource(id: "...", name: "...", url: "...")
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]
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@State private var selectedCamIndex = 0
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@State private var joystick: CGPoint = .zero
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/// 10 Hz publish timer — rate-limits cmd_vel to Orin.
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private let cmdTimer = Timer.publish(every: 0.1, on: .main, in: .common).autoconnect()
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var body: some View {
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ZStack(alignment: .bottomTrailing) {
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Color.black.ignoresSafeArea()
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// Full-screen camera feed
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MJPEGStreamView(urlString: Self.cameras[selectedCamIndex].url)
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.ignoresSafeArea()
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// Camera switcher pill — top-right (hidden when only one source)
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if Self.cameras.count > 1 {
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VStack {
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HStack {
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Spacer()
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cameraSwitcher
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.padding(.top, 56)
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.padding(.trailing, 16)
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}
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Spacer()
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}
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}
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// Joystick overlay — bottom-right, semi-transparent
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JoystickControl(value: $joystick)
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.padding(.trailing, 32)
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.padding(.bottom, 52)
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}
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// Publish at exactly 10 Hz — joystick value is zero when not touched.
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.onReceive(cmdTimer) { _ in
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sensor.publishCmdVel(
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linearX: Float(-joystick.y), // drag up → positive linear_x (forward)
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angularZ: Float(-joystick.x) // drag left → positive angular_z (counter-cw)
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)
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}
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.onAppear { sensor.ensureMQTTConnected() }
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.onDisappear {
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// Safety: publish a stop command and release MQTT if Follow-Me isn't using it.
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joystick = .zero
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sensor.publishCmdVel(linearX: 0, angularZ: 0)
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sensor.releaseMQTTIfIdle()
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}
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}
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private var cameraSwitcher: some View {
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Menu {
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ForEach(Array(Self.cameras.enumerated()), id: \.element.id) { i, cam in
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Button {
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selectedCamIndex = i
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} label: {
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if selectedCamIndex == i {
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Label(cam.name, systemImage: "checkmark")
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} else {
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Text(cam.name)
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}
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}
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}
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} label: {
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Label(Self.cameras[selectedCamIndex].name,
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systemImage: "camera.on.rectangle.fill")
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.font(.caption.bold())
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.padding(.horizontal, 12)
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.padding(.vertical, 7)
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.background(.ultraThinMaterial, in: Capsule())
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}
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.foregroundStyle(.white)
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}
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}
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@ -242,6 +242,26 @@ final class SensorManager: NSObject, ObservableObject {
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followPreset = preset; publishFollowPreset()
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}
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// MARK: - MQTT: Pilot tab lifecycle + cmd_vel
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/// Ensure MQTT is open. Safe to call even when Follow-Me is already streaming.
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func ensureMQTTConnected() {
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mqtt.connect() // no-op if state != .disconnected (guarded inside MQTTClient)
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}
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/// Tear down MQTT only if Follow-Me is not running.
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func releaseMQTTIfIdle() {
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guard !isStreaming else { return }
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mqtt.disconnect()
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}
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/// Publish a ROS-compatible Twist cmd_vel command at QoS 0.
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func publishCmdVel(linearX: Float, angularZ: Float) {
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let payload = String(format: "{\"linear_x\":%.3f,\"angular_z\":%.3f}",
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linearX, angularZ)
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mqtt.publish(topic: "saltybot/cmd_vel", payload: payload)
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}
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// MARK: - Sensor lifecycle
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private func ensureSensorsRunning() {
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