sl-ios
cd90d6dbee
New 'Routes' tab added to SAUL-T-MOTE:
RECORDING
- Record button starts 1Hz GPS capture (lat/lon/alt/speed/bearing/ts)
- Live stats bar: elapsed time, point count, distance, waypoint count
- Live map shows recorded polyline + waypoint annotations in real-time
- 'Add Waypoint' sheet: label + robot action (none/stop/slow/photo)
- 'Stop' ends recording → Save sheet to name the route
STORAGE
- JSON files in app Documents/routes/<uuid>.json
- RouteStore: save/rename/delete; auto-sorts newest first
- Route list with duration, distance, waypoint count
MQTT FORMAT DEFINED (Phase 3 playback — robot side TBD)
- Topic: saltybot/route/command
- Payload: {action, route_id, route_name, points:[{lat,lon,alt,speed,bearing,ts}],
waypoints:[{lat,lon,alt,ts,label,action}]}
New files: RouteModels.swift, RouteStore.swift, RouteRecorder.swift, RoutesView.swift
SensorManager: lastKnownLocation promoted to private(set) for recorder access
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
118 lines
3.5 KiB
Swift
118 lines
3.5 KiB
Swift
import Foundation
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import CoreLocation
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// MARK: - Route data types
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/// A single GPS sample recorded at 1 Hz.
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struct RoutePoint: Codable {
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let latitude: Double
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let longitude: Double
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let altitude: Double
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let speed: Double // m/s
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let bearing: Double // degrees, 0–360
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let timestamp: Double // Unix epoch seconds
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}
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/// A named marker added by the user during recording.
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struct Waypoint: Codable, Identifiable {
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let id: UUID
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let latitude: Double
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let longitude: Double
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let altitude: Double
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let timestamp: Double
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var label: String
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var action: WaypointAction
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init(location: CLLocation, label: String, action: WaypointAction = .none) {
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self.id = UUID()
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self.latitude = location.coordinate.latitude
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self.longitude = location.coordinate.longitude
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self.altitude = location.altitude
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self.timestamp = location.timestamp.timeIntervalSince1970
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self.label = label
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self.action = action
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}
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}
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enum WaypointAction: String, Codable, CaseIterable, Identifiable {
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case none = "none"
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case stop = "stop"
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case slow = "slow"
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case photo = "photo"
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var id: String { rawValue }
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var displayName: String {
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switch self {
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case .none: return "Marker"
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case .stop: return "Stop"
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case .slow: return "Slow down"
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case .photo: return "Take photo"
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}
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}
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var systemImage: String {
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switch self {
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case .none: return "mappin"
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case .stop: return "stop.circle"
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case .slow: return "tortoise"
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case .photo: return "camera"
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}
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}
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}
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/// A complete recorded route persisted to disk.
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struct SavedRoute: Codable, Identifiable {
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let id: UUID
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var name: String
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let date: Date
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var points: [RoutePoint]
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var waypoints: [Waypoint]
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/// Total elapsed recording time in seconds.
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var durationSeconds: Double {
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guard let first = points.first, let last = points.last else { return 0 }
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return last.timestamp - first.timestamp
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}
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/// Approximate distance in metres (sum of point-to-point segments).
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var distanceMetres: Double {
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var total = 0.0
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for i in 1..<points.count {
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let a = CLLocation(latitude: points[i-1].latitude, longitude: points[i-1].longitude)
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let b = CLLocation(latitude: points[i].latitude, longitude: points[i].longitude)
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total += a.distance(from: b)
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}
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return total
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}
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// MARK: - MQTT payload for robot route-following (Phase 3)
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//
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// Topic: saltybot/route/command
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// {
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// "action": "start",
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// "route_id": "<uuid>",
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// "route_name":"<name>",
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// "points": [{"lat","lon","alt","speed","bearing","ts"}, ...],
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// "waypoints": [{"lat","lon","alt","ts","label","action"}, ...]
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// }
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func mqttPayload(action: String = "start") -> [String: Any] {
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[
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"action": action,
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"route_id": id.uuidString,
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"route_name": name,
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"points": points.map {[
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"lat": $0.latitude, "lon": $0.longitude,
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"alt": $0.altitude, "speed": $0.speed,
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"bearing": $0.bearing, "ts": $0.timestamp
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]},
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"waypoints": waypoints.map {[
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"lat": $0.latitude, "lon": $0.longitude,
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"alt": $0.altitude, "ts": $0.timestamp,
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"label": $0.label, "action": $0.action.rawValue
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]}
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]
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}
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}
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