sl-ios
1eaaa58194
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>
68 lines
2.5 KiB
Markdown
68 lines
2.5 KiB
Markdown
# 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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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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