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4eb2fce08f
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feat: Add UWB integration — follow mode, range presets, UWB status
UWBModels.swift (new):
- FollowMode enum: .gps / .uwb — publishes {"mode":"gps|uwb"} to saltybot/follow/mode
- FollowPreset enum: .close(1.5m) / .medium(3m) / .far(5m) — publishes
{"range_m":N,"preset":"..."} to saltybot/follow/range
- UWBPosition struct: x/y/z + timestamp
- UWBRange struct: anchorID + rangeMetres + timestamp
SensorManager:
- Subscribes to saltybot/uwb/range + saltybot/uwb/position on startStreaming
- handleUWBRange: updates uwbRanges[anchorID] (keyed dict)
- handleUWBPosition: updates uwbPosition + sets uwbActive=true
- UWB staleness watchdog (1Hz timer): clears uwbActive and prunes stale ranges >3s
- setFollowMode(_:) / setFollowPreset(_:): update state + publish to MQTT immediately
- Publishes current follow mode+range on connect
MapContentView:
- UWB status badge (top-left): green/gray dot, "UWB Active|Out of Range",
per-anchor range readouts (e.g. A1 2.34m)
- Follow mode segmented control: GPS | UWB
- Follow range segmented control: Close | Medium | Far (shows metres)
- MapCircle follow-range ring around robot: green inside, orange outside range
- Stats bar: distance turns green + checkmark when user is inside follow range;
UWB (x,y) coord shown when UWB mode active and position known
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-04-04 12:12:21 -04:00 |
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72e3138fb3
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feat: Rename to SAUL-T-MOTE, add map with user + robot positions and follow path
Rename:
- CFBundleDisplayName = "SAUL-T-MOTE" in Info.plist
- navigationTitle updated to "SAUL-T-MOTE" in StatusView
- MQTT clientID prefix changed to "saul-t-mote-"
Map view (MapContentView.swift, MapKit):
- Blue marker + fading breadcrumb trail for user (iPhone GPS)
- Orange car marker + fading breadcrumb trail for robot (Pixel 5)
- Dashed yellow line from robot → user (follow path)
- Bottom overlay: distance between user and robot, robot speed
- Auto-follow camera tracks user; manual drag disables it; re-centre button restores
- MapPolyline for trails, per-point Annotation for fading breadcrumb dots
Robot GPS subscription (saltybot/phone/gps):
- MQTTClient extended with SUBSCRIBE (QoS 0) + incoming PUBLISH parser
(handles variable-length remaining-length, multi-packet frames)
- Subscriptions persisted and re-sent on reconnect (CONNACK handler)
- SensorManager.handleRobotGPS() updates robotLocation, robotSpeed,
robotBreadcrumbs, distanceToRobot
iOS GPS publish unchanged (saltybot/ios/gps, 1 Hz) — PR #2 intact.
ContentView restructured as TabView:
- Tab 1: Status (sensor rates, WS URL, follow-me button)
- Tab 2: Map
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-04-04 12:09:22 -04:00 |
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541a27b07b
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feat: publish iOS GPS to MQTT topic saltybot/ios/gps at 1 Hz (Issue #681)
Adds minimal MQTT 3.1.1 client (MQTTClient.swift) using Network.framework —
no external dependency. Implements CONNECT + PUBLISH (QoS 0) + PINGREQ keepalive.
- Broker: 192.168.87.29:1883 (user: mqtt_seb)
- Topic: saltybot/ios/gps
- Rate: 1 Hz Timer, decoupled from GPS update rate
- Payload matches sensor_dashboard.py format:
{ts, lat, lon, alt_m, accuracy_m, speed_ms, bearing_deg, provider: "gps"}
- lastKnownLocation cached from CLLocationManagerDelegate, published on timer
- MQTT connect/disconnect tied to startStreaming()/stopStreaming()
- ATS NSExceptionDomains extended to include 192.168.87.29 (MQTT broker LAN IP)
- MQTTClient.swift registered in project.pbxproj Sources build phase
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-04-04 12:09:22 -04:00 |
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50096707f3
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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 <noreply@anthropic.com>
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2026-04-04 12:09:22 -04:00 |
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