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sl-ios/sau
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main
67
CLAUDE.md
67
CLAUDE.md
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# sl-ios — iOS Companion App Agent (Sul-Tee)
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## Role
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You are sl-ios, a SaltyLab agent building the iOS companion app ("Sul-Tee") for SaltyBot follow-me mode. The app runs on iPhone 15 Pro and streams GPS, IMU, magnetometer, and barometer data over WebSocket to the Jetson Orin.
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## Scope
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- Swift / SwiftUI native iOS app (iOS 17+, iPhone 15 Pro target)
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- CoreLocation (dual-frequency GPS L1+L5), CoreMotion (IMU, mag, baro)
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- WebSocket client streaming sensor data to Orin
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- Background operation (must keep streaming when phone locked/backgrounded)
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- Simple status UI: connection state, sensor rates, bot distance
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- Start/stop follow-me button, haptic alerts from bot
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- Future: LiDAR depth data passthrough
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## Tech Stack
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- **Language:** Swift
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- **UI:** SwiftUI
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- **Sensors:** CoreLocation, CoreMotion, CMAltimeter
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- **Networking:** URLSessionWebSocketTask (native WebSocket)
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- **Protocol:** JSON over WebSocket (binary optimization later)
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- **Target:** iPhone 15 Pro, iOS 17+
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- **Xcode dev account:** vayrette@gmail.com (team Z37N597UWY)
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## Architecture Context
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- UWB ranging is handled by ESP32 DW1000 anchors on the bot (NOT Apple U1)
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- iPhone provides GPS + IMU + mag + baro over WiFi/WebSocket to Orin
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- Orin fuses phone sensors + UWB ranges for position estimate
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- Orin IP: 192.168.86.158 (saltylab-orin)
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## Repository
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- Repo: `seb/saltylab-ios` on gitea.vayrette.com
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- Target branch: `origin/main`
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- PR login: `--login sl-ios` (via tea CLI, or sl-jetson if no access)
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## Git Rules (MANDATORY)
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1. Always rebase before starting: `git fetch origin && git rebase origin/main`
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2. Always rebase before pushing: `git fetch origin && git rebase origin/main`
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3. Branch naming: `sl-ios/issue-<N>-<slug>`
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## MQTT Communication
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```bash
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# Send message to max (PM):
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AGENT_NAME=sl-ios ~/agent-mqtt/agent-send max "your message"
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# Read inbox:
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~/agent-mqtt/agent-read 2>/dev/null | tail -15
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```
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Prioritize messages from max in your inbox.
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## PR Workflow
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```bash
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tea pr create --login sl-ios --repo seb/saltylab-ios \
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--title 'feat: <description> (Issue #N)' \
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--description '<details>' --base main
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|
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```
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||||||
If push fails (permission denied), report via MQTT — sl-jetson will push for you.
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## Tab Naming
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Update iTerm tab to reflect state:
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- Working: `printf '\e]1;%s\a' "sl-ios - issue-<N>"`
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- Done: `printf '\e]1;%s\a' "sl-ios - reported to max"`
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- Idle: `printf '\e]1;%s\a' "sl-ios - idle"`
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## Reference
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- Issue #709: https://gitea.vayrette.com/seb/saltylab-firmware/issues/709
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- UWB firmware branch: `salty/uwb-tag-display-wireless`
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- SaltyBot architecture: see saltylab-firmware repo docs
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@ -1,349 +0,0 @@
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|||||||
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|
||||||
GCC_WARN_ABOUT_RETURN_TYPE = YES_ERROR;
|
|
||||||
GCC_WARN_UNDECLARED_SELECTOR = YES;
|
|
||||||
GCC_WARN_UNINITIALIZED_AUTOS = YES_AGGRESSIVE;
|
|
||||||
GCC_WARN_UNUSED_FUNCTION = YES;
|
|
||||||
GCC_WARN_UNUSED_VARIABLE = YES;
|
|
||||||
IPHONEOS_DEPLOYMENT_TARGET = 17.0;
|
|
||||||
MTL_FAST_MATH = YES;
|
|
||||||
SDKROOT = iphoneos;
|
|
||||||
SWIFT_COMPILATION_MODE = wholemodule;
|
|
||||||
SWIFT_OPTIMIZATION_LEVEL = "-O";
|
|
||||||
VALIDATE_PRODUCT = YES;
|
|
||||||
};
|
|
||||||
name = Release;
|
|
||||||
};
|
|
||||||
A100000100000000000003BC /* Debug */ = {
|
|
||||||
isa = XCBuildConfiguration;
|
|
||||||
buildSettings = {
|
|
||||||
ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon;
|
|
||||||
ASSETCATALOG_COMPILER_GLOBAL_ACCENT_COLOR_NAME = AccentColor;
|
|
||||||
CODE_SIGN_STYLE = Automatic;
|
|
||||||
CURRENT_PROJECT_VERSION = 1;
|
|
||||||
DEVELOPMENT_ASSET_PATHS = "";
|
|
||||||
DEVELOPMENT_TEAM = Z37N597UWY;
|
|
||||||
ENABLE_PREVIEWS = YES;
|
|
||||||
GENERATE_INFOPLIST_FILE = NO;
|
|
||||||
INFOPLIST_FILE = SulTee/Info.plist;
|
|
||||||
IPHONEOS_DEPLOYMENT_TARGET = 17.0;
|
|
||||||
LD_RUNPATH_SEARCH_PATHS = (
|
|
||||||
"$(inherited)",
|
|
||||||
"@executable_path/Frameworks",
|
|
||||||
);
|
|
||||||
MARKETING_VERSION = 1.0;
|
|
||||||
PRODUCT_BUNDLE_IDENTIFIER = com.saltylab.sultee;
|
|
||||||
PRODUCT_NAME = "$(TARGET_NAME)";
|
|
||||||
SWIFT_EMIT_LOC_STRINGS = YES;
|
|
||||||
SWIFT_VERSION = 5.0;
|
|
||||||
TARGETED_DEVICE_FAMILY = 1;
|
|
||||||
};
|
|
||||||
name = Debug;
|
|
||||||
};
|
|
||||||
A100000100000000000004BC /* Release */ = {
|
|
||||||
isa = XCBuildConfiguration;
|
|
||||||
buildSettings = {
|
|
||||||
ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon;
|
|
||||||
ASSETCATALOG_COMPILER_GLOBAL_ACCENT_COLOR_NAME = AccentColor;
|
|
||||||
CODE_SIGN_STYLE = Automatic;
|
|
||||||
CURRENT_PROJECT_VERSION = 1;
|
|
||||||
DEVELOPMENT_ASSET_PATHS = "";
|
|
||||||
DEVELOPMENT_TEAM = Z37N597UWY;
|
|
||||||
ENABLE_PREVIEWS = YES;
|
|
||||||
GENERATE_INFOPLIST_FILE = NO;
|
|
||||||
INFOPLIST_FILE = SulTee/Info.plist;
|
|
||||||
IPHONEOS_DEPLOYMENT_TARGET = 17.0;
|
|
||||||
LD_RUNPATH_SEARCH_PATHS = (
|
|
||||||
"$(inherited)",
|
|
||||||
"@executable_path/Frameworks",
|
|
||||||
);
|
|
||||||
MARKETING_VERSION = 1.0;
|
|
||||||
PRODUCT_BUNDLE_IDENTIFIER = com.saltylab.sultee;
|
|
||||||
PRODUCT_NAME = "$(TARGET_NAME)";
|
|
||||||
SWIFT_EMIT_LOC_STRINGS = YES;
|
|
||||||
SWIFT_VERSION = 5.0;
|
|
||||||
TARGETED_DEVICE_FAMILY = 1;
|
|
||||||
};
|
|
||||||
name = Release;
|
|
||||||
};
|
|
||||||
/* End XCBuildConfiguration section */
|
|
||||||
|
|
||||||
/* Begin XCConfigurationList section */
|
|
||||||
A100000100000000000002CL /* Build configuration list for PBXProject "SulTee" */ = {
|
|
||||||
isa = XCConfigurationList;
|
|
||||||
buildConfigurations = (
|
|
||||||
A100000100000000000001BC /* Debug */,
|
|
||||||
A100000100000000000002BC /* Release */,
|
|
||||||
);
|
|
||||||
defaultConfigurationIsVisible = 0;
|
|
||||||
defaultConfigurationName = Release;
|
|
||||||
};
|
|
||||||
A100000100000000000001CL /* Build configuration list for PBXNativeTarget "SulTee" */ = {
|
|
||||||
isa = XCConfigurationList;
|
|
||||||
buildConfigurations = (
|
|
||||||
A100000100000000000003BC /* Debug */,
|
|
||||||
A100000100000000000004BC /* Release */,
|
|
||||||
);
|
|
||||||
defaultConfigurationIsVisible = 0;
|
|
||||||
defaultConfigurationName = Release;
|
|
||||||
};
|
|
||||||
/* End XCConfigurationList section */
|
|
||||||
|
|
||||||
};
|
|
||||||
rootObject = A100000100000000000001PJ /* Project object */;
|
|
||||||
}
|
|
||||||
@ -1,7 +0,0 @@
|
|||||||
<?xml version="1.0" encoding="UTF-8"?>
|
|
||||||
<Workspace
|
|
||||||
version = "1.0">
|
|
||||||
<FileRef
|
|
||||||
location = "self:">
|
|
||||||
</FileRef>
|
|
||||||
</Workspace>
|
|
||||||
@ -1,13 +0,0 @@
|
|||||||
{
|
|
||||||
"images" : [
|
|
||||||
{
|
|
||||||
"idiom" : "universal",
|
|
||||||
"platform" : "ios",
|
|
||||||
"size" : "1024x1024"
|
|
||||||
}
|
|
||||||
],
|
|
||||||
"info" : {
|
|
||||||
"author" : "xcode",
|
|
||||||
"version" : 1
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@ -1,6 +0,0 @@
|
|||||||
{
|
|
||||||
"info" : {
|
|
||||||
"author" : "xcode",
|
|
||||||
"version" : 1
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@ -1,178 +0,0 @@
|
|||||||
import SwiftUI
|
|
||||||
|
|
||||||
// MARK: - Root (tab container)
|
|
||||||
|
|
||||||
struct ContentView: View {
|
|
||||||
@EnvironmentObject var sensor: SensorManager
|
|
||||||
|
|
||||||
var body: some View {
|
|
||||||
TabView {
|
|
||||||
StatusView()
|
|
||||||
.tabItem { Label("Status", systemImage: "antenna.radiowaves.left.and.right") }
|
|
||||||
MapContentView()
|
|
||||||
.tabItem { Label("Map", systemImage: "map.fill") }
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: - Status tab
|
|
||||||
|
|
||||||
private struct StatusView: View {
|
|
||||||
@EnvironmentObject var sensor: SensorManager
|
|
||||||
@AppStorage("orinURL") private var orinURL: String = SensorManager.defaultOrinURL
|
|
||||||
@State private var editingURL: String = ""
|
|
||||||
@FocusState private var urlFieldFocused: Bool
|
|
||||||
|
|
||||||
var body: some View {
|
|
||||||
NavigationStack {
|
|
||||||
VStack(spacing: 24) {
|
|
||||||
connectionBanner
|
|
||||||
orinURLField
|
|
||||||
Divider()
|
|
||||||
sensorRatesGrid
|
|
||||||
Divider()
|
|
||||||
if let dist = sensor.distanceToRobot {
|
|
||||||
distanceRow(dist)
|
|
||||||
}
|
|
||||||
Spacer()
|
|
||||||
followMeButton
|
|
||||||
}
|
|
||||||
.padding()
|
|
||||||
.navigationTitle("SAUL-T-MOTE")
|
|
||||||
.onAppear { editingURL = orinURL }
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: Connection banner
|
|
||||||
|
|
||||||
private var connectionBanner: some View {
|
|
||||||
HStack(spacing: 12) {
|
|
||||||
Circle()
|
|
||||||
.fill(wsColor)
|
|
||||||
.frame(width: 14, height: 14)
|
|
||||||
Text(wsLabel)
|
|
||||||
.font(.headline)
|
|
||||||
Spacer()
|
|
||||||
}
|
|
||||||
.padding(.top, 8)
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: Orin URL field
|
|
||||||
|
|
||||||
private var orinURLField: some View {
|
|
||||||
VStack(alignment: .leading, spacing: 4) {
|
|
||||||
Text("Orin WebSocket URL")
|
|
||||||
.font(.caption)
|
|
||||||
.foregroundStyle(.secondary)
|
|
||||||
HStack {
|
|
||||||
TextField("ws://host:port", text: $editingURL)
|
|
||||||
.textFieldStyle(.roundedBorder)
|
|
||||||
.keyboardType(.URL)
|
|
||||||
.autocorrectionDisabled()
|
|
||||||
.textInputAutocapitalization(.never)
|
|
||||||
.focused($urlFieldFocused)
|
|
||||||
.disabled(sensor.isStreaming)
|
|
||||||
.onSubmit { applyURL() }
|
|
||||||
if !sensor.isStreaming {
|
|
||||||
Button("Apply") { applyURL() }
|
|
||||||
.buttonStyle(.borderedProminent)
|
|
||||||
.controlSize(.small)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
private func applyURL() {
|
|
||||||
urlFieldFocused = false
|
|
||||||
orinURL = editingURL
|
|
||||||
sensor.updateURL(editingURL)
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: Sensor rates grid
|
|
||||||
|
|
||||||
private var sensorRatesGrid: some View {
|
|
||||||
Grid(horizontalSpacing: 20, verticalSpacing: 12) {
|
|
||||||
GridRow {
|
|
||||||
rateCell(icon: "location.fill", label: "GPS", rate: sensor.gpsRate)
|
|
||||||
rateCell(icon: "gyroscope", label: "IMU", rate: sensor.imuRate)
|
|
||||||
}
|
|
||||||
GridRow {
|
|
||||||
rateCell(icon: "location.north.fill", label: "Heading", rate: sensor.headingRate)
|
|
||||||
rateCell(icon: "barometer", label: "Baro", rate: sensor.baroRate)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
private func rateCell(icon: String, label: String, rate: Double) -> some View {
|
|
||||||
VStack(spacing: 4) {
|
|
||||||
Image(systemName: icon)
|
|
||||||
.font(.title2)
|
|
||||||
.foregroundStyle(rate > 0 ? .green : .secondary)
|
|
||||||
Text(label)
|
|
||||||
.font(.caption)
|
|
||||||
.foregroundStyle(.secondary)
|
|
||||||
Text("\(Int(rate)) Hz")
|
|
||||||
.font(.title3.monospacedDigit())
|
|
||||||
.bold()
|
|
||||||
}
|
|
||||||
.frame(maxWidth: .infinity)
|
|
||||||
.padding()
|
|
||||||
.background(.quaternary, in: RoundedRectangle(cornerRadius: 12))
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: Distance row
|
|
||||||
|
|
||||||
private func distanceRow(_ dist: Double) -> some View {
|
|
||||||
HStack {
|
|
||||||
Image(systemName: "arrow.left.and.right")
|
|
||||||
Text(dist < 1000
|
|
||||||
? "Robot \(Int(dist)) m away"
|
|
||||||
: String(format: "Robot %.1f km away", dist / 1000))
|
|
||||||
.font(.title2).bold()
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: Follow-Me button
|
|
||||||
|
|
||||||
private var followMeButton: some View {
|
|
||||||
Button {
|
|
||||||
sensor.isStreaming ? sensor.stopStreaming() : sensor.startStreaming()
|
|
||||||
} label: {
|
|
||||||
Label(
|
|
||||||
sensor.isStreaming ? "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 — \(orinURL)"
|
|
||||||
case .connecting: return "Connecting…"
|
|
||||||
case .disconnected: return "Disconnected"
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
#Preview {
|
|
||||||
ContentView()
|
|
||||||
.environmentObject(SensorManager())
|
|
||||||
}
|
|
||||||
@ -1,80 +0,0 @@
|
|||||||
<?xml version="1.0" encoding="UTF-8"?>
|
|
||||||
<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
|
|
||||||
<plist version="1.0">
|
|
||||||
<dict>
|
|
||||||
<key>CFBundleDevelopmentRegion</key>
|
|
||||||
<string>$(DEVELOPMENT_LANGUAGE)</string>
|
|
||||||
<key>CFBundleExecutable</key>
|
|
||||||
<string>$(EXECUTABLE_NAME)</string>
|
|
||||||
<key>CFBundleIdentifier</key>
|
|
||||||
<string>$(PRODUCT_BUNDLE_IDENTIFIER)</string>
|
|
||||||
<key>CFBundleInfoDictionaryVersion</key>
|
|
||||||
<string>6.0</string>
|
|
||||||
<key>CFBundleDisplayName</key>
|
|
||||||
<string>SAUL-T-MOTE</string>
|
|
||||||
<key>CFBundleName</key>
|
|
||||||
<string>$(PRODUCT_NAME)</string>
|
|
||||||
<key>CFBundlePackageType</key>
|
|
||||||
<string>$(PRODUCT_BUNDLE_PACKAGE_TYPE)</string>
|
|
||||||
<key>CFBundleShortVersionString</key>
|
|
||||||
<string>1.0</string>
|
|
||||||
<key>CFBundleVersion</key>
|
|
||||||
<string>1</string>
|
|
||||||
<key>LSRequiresIPhoneOS</key>
|
|
||||||
<true/>
|
|
||||||
<key>NSLocationAlwaysAndWhenInUseUsageDescription</key>
|
|
||||||
<string>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.</string>
|
|
||||||
<key>NSLocationWhenInUseUsageDescription</key>
|
|
||||||
<string>Sul-Tee streams your GPS location to SaltyBot for follow-me mode.</string>
|
|
||||||
<key>NSMotionUsageDescription</key>
|
|
||||||
<string>Sul-Tee streams IMU and barometer data to SaltyBot for follow-me stabilization.</string>
|
|
||||||
<key>UIBackgroundModes</key>
|
|
||||||
<array>
|
|
||||||
<string>location</string>
|
|
||||||
<string>external-accessory</string>
|
|
||||||
</array>
|
|
||||||
<key>UIDeviceFamily</key>
|
|
||||||
<array>
|
|
||||||
<integer>1</integer>
|
|
||||||
</array>
|
|
||||||
<key>UILaunchStoryboardName</key>
|
|
||||||
<string>LaunchScreen</string>
|
|
||||||
<key>UIRequiredDeviceCapabilities</key>
|
|
||||||
<array>
|
|
||||||
<string>armv7</string>
|
|
||||||
</array>
|
|
||||||
<key>UISupportedInterfaceOrientations</key>
|
|
||||||
<array>
|
|
||||||
<string>UIInterfaceOrientationPortrait</string>
|
|
||||||
<string>UIInterfaceOrientationPortraitUpsideDown</string>
|
|
||||||
<string>UIInterfaceOrientationLandscapeLeft</string>
|
|
||||||
<string>UIInterfaceOrientationLandscapeRight</string>
|
|
||||||
</array>
|
|
||||||
<key>NSAppTransportSecurity</key>
|
|
||||||
<dict>
|
|
||||||
<!-- Allow plain ws:// to Tailscale (CGNAT 100.64.0.0/10) and other local addresses.
|
|
||||||
Error -1022 occurs because ATS blocks non-TLS connections by default.
|
|
||||||
NSAllowsLocalNetworking covers loopback, link-local, and CGNAT ranges. -->
|
|
||||||
<key>NSAllowsLocalNetworking</key>
|
|
||||||
<true/>
|
|
||||||
<key>NSExceptionDomains</key>
|
|
||||||
<dict>
|
|
||||||
<key>100.64.0.2</key>
|
|
||||||
<dict>
|
|
||||||
<key>NSExceptionAllowsInsecureHTTPLoads</key>
|
|
||||||
<true/>
|
|
||||||
</dict>
|
|
||||||
<key>192.168.87.29</key>
|
|
||||||
<dict>
|
|
||||||
<key>NSExceptionAllowsInsecureHTTPLoads</key>
|
|
||||||
<true/>
|
|
||||||
</dict>
|
|
||||||
</dict>
|
|
||||||
</dict>
|
|
||||||
<key>UIApplicationSceneManifest</key>
|
|
||||||
<dict>
|
|
||||||
<key>UIApplicationSupportsMultipleScenes</key>
|
|
||||||
<false/>
|
|
||||||
</dict>
|
|
||||||
</dict>
|
|
||||||
</plist>
|
|
||||||
@ -1,240 +0,0 @@
|
|||||||
import Foundation
|
|
||||||
import Network
|
|
||||||
|
|
||||||
/// Minimal MQTT 3.1.1 client — CONNECT + PUBLISH (QoS 0) + SUBSCRIBE (QoS 0) + PINGREQ.
|
|
||||||
/// Supports both publish and subscribe; no QoS 1/2 needed for this use-case.
|
|
||||||
final class MQTTClient {
|
|
||||||
|
|
||||||
struct Config {
|
|
||||||
var host: String
|
|
||||||
var port: UInt16
|
|
||||||
var username: String
|
|
||||||
var password: String
|
|
||||||
var clientID: String
|
|
||||||
var keepAlive: UInt16 = 60
|
|
||||||
}
|
|
||||||
|
|
||||||
enum State { case disconnected, connecting, connected }
|
|
||||||
|
|
||||||
private(set) var state: State = .disconnected
|
|
||||||
|
|
||||||
/// Called on the main queue for every received PUBLISH message: (topic, payload).
|
|
||||||
var onMessage: ((String, String) -> Void)?
|
|
||||||
|
|
||||||
private var config: Config
|
|
||||||
private var connection: NWConnection?
|
|
||||||
private var pingTimer: DispatchSourceTimer?
|
|
||||||
private var shouldRun = false
|
|
||||||
private var subscriptions: [String] = [] // persisted across reconnects
|
|
||||||
private var nextPacketID: UInt16 = 1
|
|
||||||
private let queue = DispatchQueue(label: "mqtt.client", qos: .utility)
|
|
||||||
|
|
||||||
init(config: Config) {
|
|
||||||
self.config = config
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: - Public
|
|
||||||
|
|
||||||
func connect() {
|
|
||||||
shouldRun = true
|
|
||||||
guard state == .disconnected else { return }
|
|
||||||
openConnection()
|
|
||||||
}
|
|
||||||
|
|
||||||
func disconnect() {
|
|
||||||
shouldRun = false
|
|
||||||
pingTimer?.cancel()
|
|
||||||
pingTimer = nil
|
|
||||||
connection?.cancel()
|
|
||||||
connection = nil
|
|
||||||
state = .disconnected
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Publish a UTF-8 string payload to `topic` at QoS 0.
|
|
||||||
func publish(topic: String, payload: String) {
|
|
||||||
guard state == .connected else { return }
|
|
||||||
connection?.send(content: buildPublish(topic: topic, payload: payload),
|
|
||||||
completion: .idempotent)
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Subscribe to `topic` at QoS 0. Stored and re-sent automatically on reconnect.
|
|
||||||
func subscribe(topic: String) {
|
|
||||||
if !subscriptions.contains(topic) { subscriptions.append(topic) }
|
|
||||||
guard state == .connected else { return }
|
|
||||||
sendSubscribe(topic: topic)
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: - Connection lifecycle
|
|
||||||
|
|
||||||
private func openConnection() {
|
|
||||||
state = .connecting
|
|
||||||
let conn = NWConnection(host: NWEndpoint.Host(config.host),
|
|
||||||
port: NWEndpoint.Port(rawValue: config.port)!,
|
|
||||||
using: .tcp)
|
|
||||||
conn.stateUpdateHandler = { [weak self] s in self?.handleStateChange(s) }
|
|
||||||
conn.start(queue: queue)
|
|
||||||
connection = conn
|
|
||||||
scheduleRead()
|
|
||||||
}
|
|
||||||
|
|
||||||
private func handleStateChange(_ newState: NWConnection.State) {
|
|
||||||
switch newState {
|
|
||||||
case .ready:
|
|
||||||
sendConnect()
|
|
||||||
schedulePing()
|
|
||||||
case .failed, .cancelled:
|
|
||||||
state = .disconnected
|
|
||||||
pingTimer?.cancel()
|
|
||||||
pingTimer = nil
|
|
||||||
reconnectIfNeeded()
|
|
||||||
default:
|
|
||||||
break
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
private func reconnectIfNeeded() {
|
|
||||||
guard shouldRun else { return }
|
|
||||||
queue.asyncAfter(deadline: .now() + 3) { [weak self] in self?.openConnection() }
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: - Read loop
|
|
||||||
|
|
||||||
private func scheduleRead() {
|
|
||||||
connection?.receive(minimumIncompleteLength: 2, maximumLength: 4096) { [weak self] data, _, _, error in
|
|
||||||
guard let self else { return }
|
|
||||||
if let data, !data.isEmpty { self.handleIncoming(data) }
|
|
||||||
if error == nil { self.scheduleRead() }
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Parse one or more MQTT packets from `data`.
|
|
||||||
private func handleIncoming(_ data: Data) {
|
|
||||||
var i = data.startIndex
|
|
||||||
|
|
||||||
while i < data.endIndex {
|
|
||||||
let firstByte = data[i]
|
|
||||||
i = data.index(after: i)
|
|
||||||
let packetType = firstByte & 0xF0
|
|
||||||
|
|
||||||
// Decode variable-length remaining-length field
|
|
||||||
var multiplier = 1
|
|
||||||
var remaining = 0
|
|
||||||
var lenByte: UInt8 = 0
|
|
||||||
repeat {
|
|
||||||
guard i < data.endIndex else { return }
|
|
||||||
lenByte = data[i]
|
|
||||||
i = data.index(after: i)
|
|
||||||
remaining += Int(lenByte & 0x7F) * multiplier
|
|
||||||
multiplier *= 128
|
|
||||||
} while lenByte & 0x80 != 0
|
|
||||||
|
|
||||||
guard let payloadEnd = data.index(i, offsetBy: remaining, limitedBy: data.endIndex) else { break }
|
|
||||||
|
|
||||||
switch packetType {
|
|
||||||
case 0x20: // CONNACK
|
|
||||||
state = .connected
|
|
||||||
for topic in subscriptions { sendSubscribe(topic: topic) }
|
|
||||||
|
|
||||||
case 0x30: // PUBLISH (QoS 0 — no packet identifier)
|
|
||||||
var j = i
|
|
||||||
if data.distance(from: j, to: payloadEnd) >= 2 {
|
|
||||||
let topicLen = Int(data[j]) << 8 | Int(data[data.index(after: j)])
|
|
||||||
j = data.index(j, offsetBy: 2)
|
|
||||||
if let topicEnd = data.index(j, offsetBy: topicLen, limitedBy: payloadEnd) {
|
|
||||||
let topic = String(bytes: data[j..<topicEnd], encoding: .utf8) ?? ""
|
|
||||||
let payload = String(bytes: data[topicEnd..<payloadEnd], encoding: .utf8) ?? ""
|
|
||||||
let t = topic, p = payload
|
|
||||||
DispatchQueue.main.async { self.onMessage?(t, p) }
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
case 0x90: // SUBACK — ignore
|
|
||||||
break
|
|
||||||
case 0xD0: // PINGRESP — ignore
|
|
||||||
break
|
|
||||||
default:
|
|
||||||
break
|
|
||||||
}
|
|
||||||
|
|
||||||
i = payloadEnd
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: - Keep-alive ping
|
|
||||||
|
|
||||||
private func schedulePing() {
|
|
||||||
let t = DispatchSource.makeTimerSource(queue: queue)
|
|
||||||
t.schedule(deadline: .now() + Double(config.keepAlive / 2),
|
|
||||||
repeating: Double(config.keepAlive / 2))
|
|
||||||
t.setEventHandler { [weak self] in
|
|
||||||
self?.connection?.send(content: Data([0xC0, 0x00]), completion: .idempotent)
|
|
||||||
}
|
|
||||||
t.resume()
|
|
||||||
pingTimer = t
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: - MQTT packet builders
|
|
||||||
|
|
||||||
private func sendConnect() {
|
|
||||||
connection?.send(content: buildConnect(), completion: .idempotent)
|
|
||||||
}
|
|
||||||
|
|
||||||
private func buildConnect() -> Data {
|
|
||||||
var payload = Data()
|
|
||||||
payload += mqttString("MQTT")
|
|
||||||
payload.append(0x04) // protocol level 3.1.1
|
|
||||||
payload.append(0xC2) // flags: username + password + clean session
|
|
||||||
payload += uint16BE(config.keepAlive)
|
|
||||||
payload += mqttString(config.clientID)
|
|
||||||
payload += mqttString(config.username)
|
|
||||||
payload += mqttString(config.password)
|
|
||||||
return mqttPacket(type: 0x10, payload: payload)
|
|
||||||
}
|
|
||||||
|
|
||||||
private func buildPublish(topic: String, payload: String) -> Data {
|
|
||||||
var body = Data()
|
|
||||||
body += mqttString(topic)
|
|
||||||
body += payload.data(using: .utf8) ?? Data()
|
|
||||||
return mqttPacket(type: 0x30, payload: body)
|
|
||||||
}
|
|
||||||
|
|
||||||
private func sendSubscribe(topic: String) {
|
|
||||||
var payload = Data()
|
|
||||||
payload += uint16BE(nextPacketID)
|
|
||||||
nextPacketID &+= 1
|
|
||||||
payload += mqttString(topic)
|
|
||||||
payload.append(0x00) // QoS 0
|
|
||||||
connection?.send(content: mqttPacket(type: 0x82, payload: payload),
|
|
||||||
completion: .idempotent)
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: - Encoding helpers
|
|
||||||
|
|
||||||
private func mqttPacket(type: UInt8, payload: Data) -> Data {
|
|
||||||
var packet = Data([type])
|
|
||||||
packet += remainingLength(payload.count)
|
|
||||||
packet += payload
|
|
||||||
return packet
|
|
||||||
}
|
|
||||||
|
|
||||||
private func remainingLength(_ value: Int) -> Data {
|
|
||||||
var data = Data()
|
|
||||||
var n = value
|
|
||||||
repeat {
|
|
||||||
var byte = UInt8(n & 0x7F)
|
|
||||||
n >>= 7
|
|
||||||
if n > 0 { byte |= 0x80 }
|
|
||||||
data.append(byte)
|
|
||||||
} while n > 0
|
|
||||||
return data
|
|
||||||
}
|
|
||||||
|
|
||||||
private func mqttString(_ s: String) -> Data {
|
|
||||||
let bytes = s.data(using: .utf8) ?? Data()
|
|
||||||
return uint16BE(UInt16(bytes.count)) + bytes
|
|
||||||
}
|
|
||||||
|
|
||||||
private func uint16BE(_ v: UInt16) -> Data {
|
|
||||||
Data([UInt8(v >> 8), UInt8(v & 0xFF)])
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@ -1,184 +0,0 @@
|
|||||||
import SwiftUI
|
|
||||||
import MapKit
|
|
||||||
|
|
||||||
/// Full-screen map showing user (blue) and robot (orange) positions,
|
|
||||||
/// a follow-path line between them, and fading breadcrumb trails for both.
|
|
||||||
struct MapContentView: View {
|
|
||||||
@EnvironmentObject var sensor: SensorManager
|
|
||||||
|
|
||||||
@State private var position: MapCameraPosition = .automatic
|
|
||||||
@State private var followUser = true
|
|
||||||
|
|
||||||
var body: some View {
|
|
||||||
ZStack(alignment: .bottom) {
|
|
||||||
map
|
|
||||||
overlay
|
|
||||||
}
|
|
||||||
.ignoresSafeArea(edges: .top)
|
|
||||||
.onChange(of: sensor.userLocation) { _, coord in
|
|
||||||
if followUser, let coord {
|
|
||||||
withAnimation(.easeInOut(duration: 0.4)) {
|
|
||||||
position = .camera(MapCamera(
|
|
||||||
centerCoordinate: coord,
|
|
||||||
distance: 400,
|
|
||||||
heading: 0,
|
|
||||||
pitch: 0
|
|
||||||
))
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: - Map
|
|
||||||
|
|
||||||
private var map: some View {
|
|
||||||
Map(position: $position) {
|
|
||||||
|
|
||||||
// ── User breadcrumb trail (fading blue dots)
|
|
||||||
let userCrumbs = sensor.userBreadcrumbs
|
|
||||||
ForEach(userCrumbs.indices, id: \.self) { idx in
|
|
||||||
let opacity = Double(idx + 1) / Double(max(userCrumbs.count, 1))
|
|
||||||
Annotation("", coordinate: userCrumbs[idx]) {
|
|
||||||
Circle()
|
|
||||||
.fill(.blue.opacity(opacity * 0.6))
|
|
||||||
.frame(width: 7, height: 7)
|
|
||||||
}
|
|
||||||
.annotationTitles(.hidden)
|
|
||||||
}
|
|
||||||
|
|
||||||
// ── Robot breadcrumb trail (fading orange dots)
|
|
||||||
let robotCrumbs = sensor.robotBreadcrumbs
|
|
||||||
ForEach(robotCrumbs.indices, id: \.self) { idx in
|
|
||||||
let opacity = Double(idx + 1) / Double(max(robotCrumbs.count, 1))
|
|
||||||
Annotation("", coordinate: robotCrumbs[idx]) {
|
|
||||||
Circle()
|
|
||||||
.fill(.orange.opacity(opacity * 0.6))
|
|
||||||
.frame(width: 7, height: 7)
|
|
||||||
}
|
|
||||||
.annotationTitles(.hidden)
|
|
||||||
}
|
|
||||||
|
|
||||||
// ── Follow path line: robot → user
|
|
||||||
if let userLoc = sensor.userLocation,
|
|
||||||
let robotLoc = sensor.robotLocation {
|
|
||||||
MapPolyline(coordinates: [robotLoc, userLoc])
|
|
||||||
.stroke(.yellow, style: StrokeStyle(lineWidth: 2, dash: [6, 4]))
|
|
||||||
}
|
|
||||||
|
|
||||||
// ── User marker (blue)
|
|
||||||
if let userLoc = sensor.userLocation {
|
|
||||||
Annotation("You", coordinate: userLoc) {
|
|
||||||
ZStack {
|
|
||||||
Circle()
|
|
||||||
.fill(.blue.opacity(0.25))
|
|
||||||
.frame(width: 36, height: 36)
|
|
||||||
Circle()
|
|
||||||
.fill(.blue)
|
|
||||||
.frame(width: 16, height: 16)
|
|
||||||
Circle()
|
|
||||||
.stroke(.white, lineWidth: 2.5)
|
|
||||||
.frame(width: 16, height: 16)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// ── Robot marker (orange)
|
|
||||||
if let robotLoc = sensor.robotLocation {
|
|
||||||
Annotation("Robot", coordinate: robotLoc) {
|
|
||||||
ZStack {
|
|
||||||
Circle()
|
|
||||||
.fill(.orange.opacity(0.25))
|
|
||||||
.frame(width: 36, height: 36)
|
|
||||||
Image(systemName: "car.fill")
|
|
||||||
.font(.system(size: 16, weight: .bold))
|
|
||||||
.foregroundStyle(.white)
|
|
||||||
.padding(6)
|
|
||||||
.background(.orange, in: Circle())
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
.mapStyle(.standard(elevation: .realistic))
|
|
||||||
.onMapCameraChange { _ in
|
|
||||||
// User dragged map → stop auto-follow
|
|
||||||
followUser = false
|
|
||||||
}
|
|
||||||
.overlay(alignment: .topTrailing) {
|
|
||||||
followButton
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: - Re-centre button
|
|
||||||
|
|
||||||
private var followButton: some View {
|
|
||||||
Button {
|
|
||||||
followUser = true
|
|
||||||
if let coord = sensor.userLocation {
|
|
||||||
withAnimation {
|
|
||||||
position = .camera(MapCamera(
|
|
||||||
centerCoordinate: coord,
|
|
||||||
distance: 400,
|
|
||||||
heading: 0,
|
|
||||||
pitch: 0
|
|
||||||
))
|
|
||||||
}
|
|
||||||
}
|
|
||||||
} label: {
|
|
||||||
Image(systemName: followUser ? "location.fill" : "location")
|
|
||||||
.padding(10)
|
|
||||||
.background(.ultraThinMaterial, in: Circle())
|
|
||||||
}
|
|
||||||
.padding([.top, .trailing], 16)
|
|
||||||
.padding(.top, 44) // below nav bar
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: - Stats overlay
|
|
||||||
|
|
||||||
private var overlay: some View {
|
|
||||||
HStack(spacing: 20) {
|
|
||||||
if let dist = sensor.distanceToRobot {
|
|
||||||
statCell(value: distanceString(dist),
|
|
||||||
label: "distance",
|
|
||||||
icon: "arrow.left.and.right")
|
|
||||||
}
|
|
||||||
if sensor.robotSpeed > 0.2 {
|
|
||||||
statCell(value: String(format: "%.1f m/s", sensor.robotSpeed),
|
|
||||||
label: "robot spd",
|
|
||||||
icon: "speedometer")
|
|
||||||
}
|
|
||||||
if !sensor.isStreaming {
|
|
||||||
Text("Start Follow-Me to stream")
|
|
||||||
.font(.caption)
|
|
||||||
.foregroundStyle(.secondary)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
.padding(.horizontal, 20)
|
|
||||||
.padding(.vertical, 12)
|
|
||||||
.background(.ultraThinMaterial, in: RoundedRectangle(cornerRadius: 16))
|
|
||||||
.padding(.bottom, 24)
|
|
||||||
.padding(.horizontal, 16)
|
|
||||||
}
|
|
||||||
|
|
||||||
private func statCell(value: String, label: String, icon: String) -> some View {
|
|
||||||
HStack(spacing: 6) {
|
|
||||||
Image(systemName: icon)
|
|
||||||
.foregroundStyle(.secondary)
|
|
||||||
.font(.caption)
|
|
||||||
VStack(alignment: .leading, spacing: 0) {
|
|
||||||
Text(value).font(.headline.monospacedDigit())
|
|
||||||
Text(label).font(.caption2).foregroundStyle(.secondary)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
private func distanceString(_ metres: Double) -> String {
|
|
||||||
metres < 1000
|
|
||||||
? "\(Int(metres)) m"
|
|
||||||
: String(format: "%.1f km", metres / 1000)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
#Preview {
|
|
||||||
MapContentView()
|
|
||||||
.environmentObject(SensorManager())
|
|
||||||
}
|
|
||||||
@ -1,331 +0,0 @@
|
|||||||
import Foundation
|
|
||||||
import CoreLocation
|
|
||||||
import CoreMotion
|
|
||||||
import MapKit
|
|
||||||
import Combine
|
|
||||||
|
|
||||||
/// Manages all iPhone sensors, publishes iOS GPS to MQTT, subscribes to robot GPS,
|
|
||||||
/// and exposes state for the map and status views.
|
|
||||||
final class SensorManager: NSObject, ObservableObject {
|
|
||||||
|
|
||||||
// MARK: - Streaming state
|
|
||||||
|
|
||||||
@Published var isStreaming = false
|
|
||||||
@Published var wsState: WebSocketClient.ConnectionState = .disconnected
|
|
||||||
|
|
||||||
// MARK: - Sensor rates (Hz)
|
|
||||||
|
|
||||||
@Published var gpsRate: Double = 0
|
|
||||||
@Published var imuRate: Double = 0
|
|
||||||
@Published var headingRate: Double = 0
|
|
||||||
@Published var baroRate: Double = 0
|
|
||||||
|
|
||||||
// MARK: - User (phone) position
|
|
||||||
|
|
||||||
@Published var userLocation: CLLocationCoordinate2D? = nil
|
|
||||||
@Published var userBreadcrumbs: [CLLocationCoordinate2D] = []
|
|
||||||
|
|
||||||
// MARK: - Robot position (from MQTT saltybot/phone/gps)
|
|
||||||
|
|
||||||
@Published var robotLocation: CLLocationCoordinate2D? = nil
|
|
||||||
@Published var robotBreadcrumbs: [CLLocationCoordinate2D] = []
|
|
||||||
@Published var robotSpeed: Double = 0
|
|
||||||
|
|
||||||
// MARK: - Derived
|
|
||||||
|
|
||||||
@Published var distanceToRobot: Double? = nil
|
|
||||||
|
|
||||||
// MARK: - WebSocket config (sensor stream to Orin)
|
|
||||||
|
|
||||||
static let defaultOrinURL = "ws://100.64.0.2:9090"
|
|
||||||
private static let orinURLKey = "orinURL"
|
|
||||||
|
|
||||||
private(set) var ws: WebSocketClient
|
|
||||||
|
|
||||||
var orinURLString: String {
|
|
||||||
get { UserDefaults.standard.string(forKey: Self.orinURLKey) ?? Self.defaultOrinURL }
|
|
||||||
set { UserDefaults.standard.set(newValue, forKey: Self.orinURLKey) }
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: - MQTT
|
|
||||||
|
|
||||||
private let mqtt = MQTTClient(config: .init(
|
|
||||||
host: "192.168.87.29",
|
|
||||||
port: 1883,
|
|
||||||
username: "mqtt_seb",
|
|
||||||
password: "mqtt_pass",
|
|
||||||
clientID: "saul-t-mote-\(UUID().uuidString.prefix(8))"
|
|
||||||
))
|
|
||||||
private static let iosGPSTopic = "saltybot/ios/gps"
|
|
||||||
private static let robotGPSTopic = "saltybot/phone/gps"
|
|
||||||
private static let maxBreadcrumbs = 60
|
|
||||||
|
|
||||||
private var lastKnownLocation: CLLocation?
|
|
||||||
private var mqttPublishTimer: Timer?
|
|
||||||
|
|
||||||
// MARK: - Sensors
|
|
||||||
|
|
||||||
private let locationManager = CLLocationManager()
|
|
||||||
private let motionManager = CMMotionManager()
|
|
||||||
private let altimeter = CMAltimeter()
|
|
||||||
private var cancellables = Set<AnyCancellable>()
|
|
||||||
|
|
||||||
// MARK: - Rate counters
|
|
||||||
|
|
||||||
private var gpsCounts: [Date] = []
|
|
||||||
private var imuCounts: [Date] = []
|
|
||||||
private var headingCounts: [Date] = []
|
|
||||||
private var baroCounts: [Date] = []
|
|
||||||
private var rateTimer: Timer?
|
|
||||||
|
|
||||||
// MARK: - Init
|
|
||||||
|
|
||||||
override init() {
|
|
||||||
let urlString = UserDefaults.standard.string(forKey: Self.orinURLKey) ?? Self.defaultOrinURL
|
|
||||||
self.ws = WebSocketClient(url: URL(string: urlString) ?? URL(string: Self.defaultOrinURL)!)
|
|
||||||
super.init()
|
|
||||||
|
|
||||||
locationManager.delegate = self
|
|
||||||
locationManager.desiredAccuracy = kCLLocationAccuracyBestForNavigation
|
|
||||||
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)
|
|
||||||
|
|
||||||
mqtt.onMessage = { [weak self] topic, payload in
|
|
||||||
guard let self, topic == Self.robotGPSTopic else { return }
|
|
||||||
self.handleRobotGPS(payload)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: - Public control
|
|
||||||
|
|
||||||
func startStreaming() {
|
|
||||||
guard !isStreaming else { return }
|
|
||||||
isStreaming = true
|
|
||||||
ws.connect()
|
|
||||||
mqtt.connect()
|
|
||||||
mqtt.subscribe(topic: Self.robotGPSTopic)
|
|
||||||
requestPermissionsAndStartSensors()
|
|
||||||
startRateTimer()
|
|
||||||
startMQTTPublishTimer()
|
|
||||||
}
|
|
||||||
|
|
||||||
func stopStreaming() {
|
|
||||||
guard isStreaming else { return }
|
|
||||||
isStreaming = false
|
|
||||||
ws.disconnect()
|
|
||||||
mqtt.disconnect()
|
|
||||||
stopSensors()
|
|
||||||
rateTimer?.invalidate(); rateTimer = nil
|
|
||||||
mqttPublishTimer?.invalidate(); mqttPublishTimer = nil
|
|
||||||
}
|
|
||||||
|
|
||||||
func updateURL(_ urlString: String) {
|
|
||||||
guard !isStreaming else { return }
|
|
||||||
orinURLString = urlString
|
|
||||||
if let url = URL(string: urlString), url.scheme?.hasPrefix("ws") == true {
|
|
||||||
ws.url = url
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: - MQTT GPS publish (1 Hz)
|
|
||||||
|
|
||||||
private func startMQTTPublishTimer() {
|
|
||||||
mqttPublishTimer = Timer.scheduledTimer(withTimeInterval: 1.0, repeats: true) { [weak self] _ in
|
|
||||||
self?.publishGPSToMQTT()
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
private func publishGPSToMQTT() {
|
|
||||||
guard let loc = lastKnownLocation else { return }
|
|
||||||
let payload: [String: Any] = [
|
|
||||||
"ts": loc.timestamp.timeIntervalSince1970,
|
|
||||||
"lat": loc.coordinate.latitude,
|
|
||||||
"lon": loc.coordinate.longitude,
|
|
||||||
"alt_m": loc.altitude,
|
|
||||||
"accuracy_m": max(0, loc.horizontalAccuracy),
|
|
||||||
"speed_ms": max(0, loc.speed),
|
|
||||||
"bearing_deg": loc.course >= 0 ? loc.course : 0.0,
|
|
||||||
"provider": "gps"
|
|
||||||
]
|
|
||||||
guard let data = try? JSONSerialization.data(withJSONObject: payload),
|
|
||||||
let json = String(data: data, encoding: .utf8) else { return }
|
|
||||||
mqtt.publish(topic: Self.iosGPSTopic, payload: json)
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: - Robot GPS subscription handler
|
|
||||||
|
|
||||||
private func handleRobotGPS(_ payload: String) {
|
|
||||||
guard let data = payload.data(using: .utf8),
|
|
||||||
let json = try? JSONSerialization.jsonObject(with: data) as? [String: Any],
|
|
||||||
let lat = json["lat"] as? Double,
|
|
||||||
let lon = json["lon"] as? Double else { return }
|
|
||||||
|
|
||||||
let coord = CLLocationCoordinate2D(latitude: lat, longitude: lon)
|
|
||||||
robotLocation = coord
|
|
||||||
robotSpeed = (json["speed_ms"] as? Double) ?? 0
|
|
||||||
appendBreadcrumb(coord, to: &robotBreadcrumbs)
|
|
||||||
updateDistance()
|
|
||||||
}
|
|
||||||
|
|
||||||
// MARK: - Breadcrumbs + distance
|
|
||||||
|
|
||||||
private func appendBreadcrumb(_ coord: CLLocationCoordinate2D,
|
|
||||||
to list: inout [CLLocationCoordinate2D]) {
|
|
||||||
list.append(coord)
|
|
||||||
if list.count > Self.maxBreadcrumbs { list.removeFirst() }
|
|
||||||
}
|
|
||||||
|
|
||||||
private func updateDistance() {
|
|
||||||
guard let user = userLocation, let robot = robotLocation else { return }
|
|
||||||
let a = CLLocation(latitude: user.latitude, longitude: user.longitude)
|
|
||||||
let b = CLLocation(latitude: robot.latitude, longitude: robot.longitude)
|
|
||||||
distanceToRobot = a.distance(from: b)
|
|
||||||
}
|
|
||||||
|
|
||||||
// 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, _ in
|
|
||||||
guard let self, let motion else { return }
|
|
||||||
self.recordEvent(in: &self.imuCounts)
|
|
||||||
self.ws.send([
|
|
||||||
"type": "imu",
|
|
||||||
"timestamp": Date().timeIntervalSince1970,
|
|
||||||
"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, _ 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 }
|
|
||||||
lastKnownLocation = loc
|
|
||||||
let coord = loc.coordinate
|
|
||||||
userLocation = coord
|
|
||||||
appendBreadcrumb(coord, to: &userBreadcrumbs)
|
|
||||||
updateDistance()
|
|
||||||
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
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@ -1,13 +0,0 @@
|
|||||||
import SwiftUI
|
|
||||||
|
|
||||||
@main
|
|
||||||
struct SulTeeApp: App {
|
|
||||||
@StateObject private var sensorManager = SensorManager()
|
|
||||||
|
|
||||||
var body: some Scene {
|
|
||||||
WindowGroup {
|
|
||||||
ContentView()
|
|
||||||
.environmentObject(sensorManager)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@ -1,114 +0,0 @@
|
|||||||
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
|
|
||||||
|
|
||||||
var 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()
|
|
||||||
}
|
|
||||||
}
|
|
||||||
Loading…
x
Reference in New Issue
Block a user