iOS simple controller works

CarControlleriOS/CarController.xcodeproj/project.xcworkspace/xcshareddata/swiftpm/Package.resolved

@@ -24,8 +24,8 @@
         "repositoryURL": "https://github.com/apple/swift-nio.git",
         "state": {
           "branch": null,
-          "revision": "e876fb37410e0036b98b5361bb18e6854739572b",
-          "version": "2.16.0"
+          "revision": "40bdad80882d307abe2c0bb36cf3bd4d3e03fe04",
+          "version": "2.16.1"
         }
       },
       {

CarControlleriOS/CarController/ContentView.swift

@@ -15,16 +15,26 @@ struct ContentView: View {
                 NavigationLink(destination: SimpleControllerView()){
                     Text("Simple Controller")
                 }
-                
                 // TODO: Change these when other functionality is implemented
+                NavigationLink(destination: SimpleControllerView()){
+                    Text("Gamepad controller")
+                }
                 NavigationLink(destination: SimpleControllerView()){
                     Text("SLAM Controller")
                 }
                 NavigationLink(destination: SimpleControllerView()){
-                    Text("Tracking Controller")
+                    Text("Lidar Tracking Controller")
+                }
+                NavigationLink(destination: SimpleControllerView()){
+                    Text("Mono Camera Tracking Controller")
+                }
+                NavigationLink(destination: SimpleControllerView()){
+                    Text("Hybrid Lidar Camera Tracking Controller")
                 }
             }
+            .navigationBarTitle(Text("Controllers"))
         }
+    .navigationViewStyle(StackNavigationViewStyle())
     }
 }
 

CarControlleriOS/CarController/PiLoader.swift

@@ -15,42 +15,32 @@ class PiLoader: ObservableObject {
     // Find a cleaner way to handle these properties
     @Published var throttle: Float = 0.5
     @Published var steering: Float = 0.5
-    let port: Int = 50051
     var stopped = false
     
-    func makeClient(port: Int, group: EventLoopGroup) -> MotorControl_CarControlClient {
-        let channel = ClientConnection.insecure(group: group)
-            // TODO: Pass the host in based on the settings.
-            .connect(host: "10.0.0.55", port: port)
-        
-        return MotorControl_CarControlClient(channel: channel)
-    }
-    
-    func startUpdating() {
-        let group = MultiThreadedEventLoopGroup(numberOfThreads: 1)
-        defer {
-            try? group.syncShutdownGracefully()
-        }
-        let client = makeClient(port: self.port, group: group)
-        let options = CallOptions(timeout: .seconds(rounding: 10))
-        let call = client.stream_vehicle_2d(callOptions: options)
-        
-        call.response.whenFailure { error in
-            print("RecordRoute Failed: \(error)")
-            self.stop()
-        }
-        
-        call.status.whenComplete { _ in
-            print("Finished RecordRoute")
-            self.stop()
-        }
-        
-        call.response.whenSuccess { summary in
-            print("Finished")
-            self.stop()
-        }
-        
-        DispatchQueue.global(qos: .userInteractive).async{
+    func startUpdating(forPort port: Int, atHost host: String) {
+        DispatchQueue.global(qos: .background).async{
+            let group = PlatformSupport.makeEventLoopGroup(loopCount: 1)
+            defer {
+                try? group.syncShutdownGracefully()
+            }
+            let client = makeClient(port: port, host: host, group: group)
+            let options = CallOptions(timeout: .seconds(rounding: 10))
+            let call = client.stream_vehicle_2d(callOptions: options)
+            
+            call.response.whenFailure { error in
+                print("Failed: \(error)")
+                self.stop()
+            }
+            
+            call.status.whenComplete { _ in
+                print("Finished")
+                self.stop()
+            }
+            
+            call.response.whenSuccess { summary in
+                print("Finished")
+                self.stop()
+            }
             // Running in background. Do the update thread stuff.
             while (!self.stopped){
                 call.sendMessage(self.createProto(), promise: nil)
@@ -74,3 +64,12 @@ class PiLoader: ObservableObject {
         }
     }
 }
+
+func makeClient(port: Int, host: String, group: EventLoopGroup) -> MotorControl_CarControlClient {
+    let channel = ClientConnection.insecure(group: group)
+        // TODO: Pass the host in based on the settings.
+        .connect(host: host, port: port)
+    
+    
+    return MotorControl_CarControlClient(channel: channel)
+}

CarControlleriOS/CarController/ServerData.swift

@@ -8,20 +8,18 @@
 
 import Foundation
 
+struct UserKeys{
+    static let host = "host"
+    static let port = "port"
+}
+
 final class ServerData: ObservableObject{
     
-    // TODO: Find a way to save/represent this stuff in iOS settings/preferences (user can access via settings app).
-    // Then load the below values ar runtime, from settings.
-    // Ideally want to be able to open this settings page from within the app as well.
-    
-    
-    @Published var port: Int = 50051
-    @Published var grpcPort: Int = 50050
-    @Published var host: String = "10.0.0.53"
+    @Published var host: String = UserDefaults.standard.string(forKey: UserKeys.host) ?? "10.0.0.53"
+    @Published var grpcPort: Int = UserDefaults.standard.integer(forKey: UserKeys.port)
     
     func load(){
-        // Load the server values from settings, if they had been
-        // previously saved.
+        // Load the server values from settings, if they had been previously saved.
     }
     
     func save(){

CarControlleriOS/CarController/Settings.bundle/Root.plist

@@ -6,23 +6,15 @@
 	<string>Root</string>
 	<key>PreferenceSpecifiers</key>
 	<array>
-		<dict>
-			<key>Type</key>
-			<string>PSGroupSpecifier</string>
-			<key>Title</key>
-			<string>Group</string>
-		</dict>
 		<dict>
 			<key>Type</key>
 			<string>PSTextFieldSpecifier</string>
 			<key>Title</key>
-			<string>Name</string>
+			<string>Host</string>
 			<key>Key</key>
-			<string>name_preference</string>
+			<string>host</string>
 			<key>DefaultValue</key>
-			<string></string>
-			<key>IsSecure</key>
-			<false/>
+			<string>10.0.0.53</string>
 			<key>KeyboardType</key>
 			<string>Alphabet</string>
 			<key>AutocapitalizationType</key>
@@ -32,29 +24,17 @@
 		</dict>
 		<dict>
 			<key>Type</key>
-			<string>PSToggleSwitchSpecifier</string>
+			<string>PSTextFieldSpecifier</string>
 			<key>Title</key>
-			<string>Enabled</string>
+			<string>Port</string>
 			<key>Key</key>
-			<string>enabled_preference</string>
+			<string>port</string>
 			<key>DefaultValue</key>
-			<true/>
-		</dict>
-		<dict>
-			<key>Type</key>
-			<string>PSSliderSpecifier</string>
-			<key>Key</key>
-			<string>slider_preference</string>
-			<key>DefaultValue</key>
-			<real>0.5</real>
-			<key>MinimumValue</key>
-			<integer>0</integer>
-			<key>MaximumValue</key>
-			<integer>1</integer>
-			<key>MinimumValueImage</key>
-			<string></string>
-			<key>MaximumValueImage</key>
-			<string></string>
+			<string>50051</string>
+			<key>IsSecure</key>
+			<false/>
+			<key>KeyboardType</key>
+			<string>NumberPad</string>
 		</dict>
 	</array>
 </dict>

CarControlleriOS/CarController/SimpleControllerView.swift

@@ -10,27 +10,33 @@ import SwiftUI
 
 struct SimpleControllerView: View {
     @EnvironmentObject var server: ServerData
-    
-    // Need lazy so that we can initialise with local properties.
     @ObservedObject var grpcController: PiLoader = PiLoader()
     
     var body: some View {
-        HStack{
-            Slider(value: $grpcController.throttle, in: 0...1){_ in
-                self.grpcController.throttle = 0.5
+        VStack (alignment: .trailing, spacing: 0){
+            Spacer()
+            HStack{
+                // Move this up a bit, due to being rotated.
+                Slider(value: self.$grpcController.throttle, in: 0...1){_ in
+                    self.grpcController.throttle = 0.5
+                }
+                .offset(x: 200)
+                .frame(width: 300)
+                .rotationEffect(.degrees(270))
+                Spacer()
+                Slider(value: self.$grpcController.steering, in: 0...1){_ in
+                    self.grpcController.steering = 0.5
+                }
+                .frame(width:300)
+                .offset(x: -50, y: -200)
+                .padding()
             }
-            .rotationEffect(.degrees(270))
-            
-            Slider(value: $grpcController.steering, in: 0...1){_ in
-                self.grpcController.steering = 0.5
+            .onAppear(){
+                self.grpcController.startUpdating(forPort: self.server.grpcPort, atHost: self.server.host)
+            }
+            .onDisappear(){
+                self.grpcController.stop()
             }
-        }
-        .onAppear(){
-            self.grpcController.startUpdating()
-        }
-        .onDisappear(){
-            // Stop the gRPC updater.
-            self.grpcController.stop()
         }
     }
 }