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feat: iOS companion app - sensor streaming (Issue #709) #1

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sl-ios wants to merge 3 commits from sl-ios/issue-709-companion-app into main
pull from: sl-ios/issue-709-companion-app
merge into: seb:main
Conversation 0 Commits 3 Files Changed 8 +960

3 Commits

Author SHA1 Message Date
sl-ios
bdd2193d7e fix: add ATS exception for Tailscale WebSocket (error -1022) (Issue #709) 
NSAllowsLocalNetworking covers CGNAT 100.64.0.0/10 range used by Tailscale,
fixing ATS blocking plain ws:// connections. Also adds NSExceptionDomains
entry for 100.64.0.2 as explicit fallback.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-03 18:02:18 -04:00
sl-ios
1e7a512c89 fix: switch WebSocket to Tailscale IP, add configurable Orin URL (Issue #709) 
- Default URL updated from ws://192.168.86.158:9090 (LAN) to ws://100.64.0.2:9090 (Tailscale)
- URL persisted in UserDefaults under key "orinURL" — survives app restarts
- WebSocketClient.url is now mutable so it can be updated without recreation
- SensorManager.updateURL(_:) applies a new URL when not streaming
- ContentView: editable text field for Orin address with Apply button, disabled while streaming
- Connection banner shows the active URL instead of hardcoded string

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-04-03 17:24:41 -04:00
sl-ios
bd36370e5a 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>
 2026-04-03 16:52:26 -04:00