Simple Controller UI/gRPC working
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Piv
76
CarControlleriOS/CarController/PiLoader.swift
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76
CarControlleriOS/CarController/PiLoader.swift
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//
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// PiLoader.swift
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// CarController
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//
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// Created by Michael Pivato on 4/5/20.
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// Copyright © 2020 Michael Pivato. All rights reserved.
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//
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import Foundation
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import SwiftUI
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import GRPC
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import NIO
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class PiLoader: ObservableObject {
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// Find a cleaner way to handle these properties
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@Published var throttle: Float = 0.5
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@Published var steering: Float = 0.5
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let port: Int = 50051
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var stopped = false
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func makeClient(port: Int, group: EventLoopGroup) -> MotorControl_CarControlClient {
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let channel = ClientConnection.insecure(group: group)
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// TODO: Pass the host in based on the settings.
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.connect(host: "10.0.0.55", port: port)
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return MotorControl_CarControlClient(channel: channel)
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}
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func startUpdating() {
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let group = MultiThreadedEventLoopGroup(numberOfThreads: 1)
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defer {
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try? group.syncShutdownGracefully()
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}
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let client = makeClient(port: self.port, group: group)
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let options = CallOptions(timeout: .seconds(rounding: 10))
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let call = client.stream_vehicle_2d(callOptions: options)
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call.response.whenFailure { error in
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print("RecordRoute Failed: \(error)")
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self.stop()
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}
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call.status.whenComplete { _ in
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print("Finished RecordRoute")
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self.stop()
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}
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call.response.whenSuccess { summary in
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print("Finished")
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self.stop()
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}
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DispatchQueue.global(qos: .userInteractive).async{
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// Running in background. Do the update thread stuff.
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while (!self.stopped){
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call.sendMessage(self.createProto(), promise: nil)
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Thread.sleep(forTimeInterval: 0.2)
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}
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}
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}
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func stop(){
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stopped = true
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}
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func createProto() -> MotorControl_Vehicle2DRequest {
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return .with{
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$0.throttle = .with{
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$0.throttle = self.throttle
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}
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$0.steering = .with{
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$0.steering = self.steering
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}
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}
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}
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}
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@@ -10,8 +10,9 @@ import Foundation
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final class ServerData: ObservableObject{
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// TODO: Find a way to save/represent this stuff in iOS settings (user can access via settings app).
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// TODO: Find a way to save/represent this stuff in iOS settings/preferences (user can access via settings app).
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// Then load the below values ar runtime, from settings.
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// Ideally want to be able to open this settings page from within the app as well.
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@Published var port: Int = 50051
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61
CarControlleriOS/CarController/Settings.bundle/Root.plist
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61
CarControlleriOS/CarController/Settings.bundle/Root.plist
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<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
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<plist version="1.0">
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<dict>
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<key>StringsTable</key>
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<string>Root</string>
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<key>PreferenceSpecifiers</key>
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<array>
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<dict>
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<key>Type</key>
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<string>PSGroupSpecifier</string>
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<key>Title</key>
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<string>Group</string>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSTextFieldSpecifier</string>
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<key>Title</key>
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<string>Name</string>
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<key>Key</key>
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<string>name_preference</string>
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<key>DefaultValue</key>
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<string></string>
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<key>IsSecure</key>
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<false/>
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<key>KeyboardType</key>
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<string>Alphabet</string>
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<key>AutocapitalizationType</key>
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<string>None</string>
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<key>AutocorrectionType</key>
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<string>No</string>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSToggleSwitchSpecifier</string>
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<key>Title</key>
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<string>Enabled</string>
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<key>Key</key>
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<string>enabled_preference</string>
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<key>DefaultValue</key>
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<true/>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSSliderSpecifier</string>
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<key>Key</key>
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<string>slider_preference</string>
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<key>DefaultValue</key>
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<real>0.5</real>
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<key>MinimumValue</key>
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<integer>0</integer>
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<key>MaximumValue</key>
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<integer>1</integer>
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<key>MinimumValueImage</key>
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<string></string>
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<key>MaximumValueImage</key>
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<string></string>
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</dict>
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</array>
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</dict>
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</plist>
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Binary file not shown.
@@ -10,25 +10,27 @@ import SwiftUI
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struct SimpleControllerView: View {
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@EnvironmentObject var server: ServerData
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@State var throttle: Float = 0.5
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@State var steering: Float = 0.5
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// Need lazy so that we can initialise with local properties.
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@ObservedObject var grpcController: PiLoader = PiLoader()
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var body: some View {
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HStack{
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Slider(value: $throttle, in: 0...1){_ in
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self.throttle = 0.5}
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Slider(value: $grpcController.throttle, in: 0...1){_ in
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self.grpcController.throttle = 0.5
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}
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.rotationEffect(.degrees(270))
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Slider(value: $steering, in: 0...1){
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_ in self.steering = 0.5
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Slider(value: $grpcController.steering, in: 0...1){_ in
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self.grpcController.steering = 0.5
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}
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}
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.onAppear(){
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// Start the gRPC updater. Should be in a separate class/struct to be easier to implement for SLAM Controller after.
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self.grpcController.startUpdating()
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}
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.onDisappear(){
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// Stop the gRPC updater.
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self.grpcController.stop()
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}
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}
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}
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