Merge branch 'SimpleIosController' into 'master'

Simple ios controller

See merge request vato007/picar!1

.vscode/launch.json

@@ -10,9 +10,9 @@
             "request": "launch",
             "module": "car",
             "env": {
-                "CAR_LIDAR": "LIDAR_RPLIDAR",
+                "CAR_LIDAR": "LIDAR_MOCK",
                 "CAR_VEHICLE": "CAR_MOCK",
-                "LIDAR_DEVICE": "/dev/tty.usbserial-0001"
+                // "LIDAR_DEVICE": "/dev/tty.usbserial-0001"
             }
         },
         {

CarControlleriOS/CarController.xcodeproj/project.pbxproj

@@ -21,7 +21,9 @@
 		5A9EB280240100970053D3CF /* Assets.xcassets in Resources */ = {isa = PBXBuildFile; fileRef = 5A9EB27F240100970053D3CF /* Assets.xcassets */; };
 		5A9EB283240100970053D3CF /* Preview Assets.xcassets in Resources */ = {isa = PBXBuildFile; fileRef = 5A9EB282240100970053D3CF /* Preview Assets.xcassets */; };
 		5A9EB286240100970053D3CF /* LaunchScreen.storyboard in Resources */ = {isa = PBXBuildFile; fileRef = 5A9EB284240100970053D3CF /* LaunchScreen.storyboard */; };
-		5AE45131245CFF2800D82BAF /* BuildFile in Frameworks */ = {isa = PBXBuildFile; productRef = 5AE45130245CFF2800D82BAF /* SwiftPackageProductDependency */; };
+		5AC1297B245EF22700CC19C3 /* Settings.bundle in Resources */ = {isa = PBXBuildFile; fileRef = 5AC1297A245EF22700CC19C3 /* Settings.bundle */; };
+		5AC1297D245FB95000CC19C3 /* PiLoader.swift in Sources */ = {isa = PBXBuildFile; fileRef = 5AC1297C245FB95000CC19C3 /* PiLoader.swift */; };
+		5AE45131245CFF2800D82BAF /* GRPC in Frameworks */ = {isa = PBXBuildFile; productRef = 5AE45130245CFF2800D82BAF /* GRPC */; };
 /* End PBXBuildFile section */
 
 /* Begin PBXFileReference section */
@@ -41,6 +43,8 @@
 		5A9EB282240100970053D3CF /* Preview Assets.xcassets */ = {isa = PBXFileReference; lastKnownFileType = folder.assetcatalog; path = "Preview Assets.xcassets"; sourceTree = "<group>"; };
 		5A9EB285240100970053D3CF /* Base */ = {isa = PBXFileReference; lastKnownFileType = file.storyboard; name = Base; path = Base.lproj/LaunchScreen.storyboard; sourceTree = "<group>"; };
 		5A9EB287240100970053D3CF /* Info.plist */ = {isa = PBXFileReference; lastKnownFileType = text.plist.xml; path = Info.plist; sourceTree = "<group>"; };
+		5AC1297A245EF22700CC19C3 /* Settings.bundle */ = {isa = PBXFileReference; lastKnownFileType = "wrapper.plug-in"; path = Settings.bundle; sourceTree = "<group>"; };
+		5AC1297C245FB95000CC19C3 /* PiLoader.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = PiLoader.swift; sourceTree = "<group>"; };
 /* End PBXFileReference section */
 
 /* Begin PBXFrameworksBuildPhase section */
@@ -48,7 +52,7 @@
 			isa = PBXFrameworksBuildPhase;
 			buildActionMask = 2147483647;
 			files = (
-				5AE45131245CFF2800D82BAF /* BuildFile in Frameworks */,
+				5AE45131245CFF2800D82BAF /* GRPC in Frameworks */,
 			);
 			runOnlyForDeploymentPostprocessing = 0;
 		};
@@ -122,6 +126,8 @@
 				5A9EB281240100970053D3CF /* Preview Content */,
 				5A9C27122443F52500DBDF12 /* SimpleControllerView.swift */,
 				5A9C27142443F5B500DBDF12 /* ServerData.swift */,
+				5AC1297A245EF22700CC19C3 /* Settings.bundle */,
+				5AC1297C245FB95000CC19C3 /* PiLoader.swift */,
 			);
 			path = CarController;
 			sourceTree = "<group>";
@@ -151,7 +157,7 @@
 			);
 			name = CarController;
 			packageProductDependencies = (
-				5AE45130245CFF2800D82BAF /* SwiftPackageProductDependency */,
+				5AE45130245CFF2800D82BAF /* GRPC */,
 			);
 			productName = CarController;
 			productReference = 5A9EB276240100960053D3CF /* CarController.app */;
@@ -182,7 +188,7 @@
 			);
 			mainGroup = 5A9EB26D240100950053D3CF;
 			packageReferences = (
-				5AE4512F245CFF2800D82BAF /* RemoteSwiftPackageReference */,
+				5AE4512F245CFF2800D82BAF /* XCRemoteSwiftPackageReference "grpc-swift" */,
 			);
 			productRefGroup = 5A9EB277240100960053D3CF /* Products */;
 			projectDirPath = "";
@@ -198,6 +204,7 @@
 			isa = PBXResourcesBuildPhase;
 			buildActionMask = 2147483647;
 			files = (
+				5AC1297B245EF22700CC19C3 /* Settings.bundle in Resources */,
 				5A9EB286240100970053D3CF /* LaunchScreen.storyboard in Resources */,
 				5A9EB283240100970053D3CF /* Preview Assets.xcassets in Resources */,
 				5A9EB280240100970053D3CF /* Assets.xcassets in Resources */,
@@ -216,6 +223,7 @@
 				5A6B34552459AFCE0000E6FC /* SlamController.grpc.swift in Sources */,
 				5A6B34562459AFCE0000E6FC /* SlamController.pb.swift in Sources */,
 				5A6B34592459AFCE0000E6FC /* motorService.grpc.swift in Sources */,
+				5AC1297D245FB95000CC19C3 /* PiLoader.swift in Sources */,
 				5A9EB27A240100960053D3CF /* AppDelegate.swift in Sources */,
 				5A6B345A2459AFCE0000E6FC /* motorService.pb.swift in Sources */,
 				5A6B34582459AFCE0000E6FC /* lidar_tracker.grpc.swift in Sources */,
@@ -417,7 +425,7 @@
 /* End XCConfigurationList section */
 
 /* Begin XCRemoteSwiftPackageReference section */
-		5AE4512F245CFF2800D82BAF /* RemoteSwiftPackageReference */ = {
+		5AE4512F245CFF2800D82BAF /* XCRemoteSwiftPackageReference "grpc-swift" */ = {
 			isa = XCRemoteSwiftPackageReference;
 			repositoryURL = "https://github.com/grpc/grpc-swift.git";
 			requirement = {
@@ -428,9 +436,9 @@
 /* End XCRemoteSwiftPackageReference section */
 
 /* Begin XCSwiftPackageProductDependency section */
-		5AE45130245CFF2800D82BAF /* SwiftPackageProductDependency */ = {
+		5AE45130245CFF2800D82BAF /* GRPC */ = {
 			isa = XCSwiftPackageProductDependency;
-			package = 5AE4512F245CFF2800D82BAF /* RemoteSwiftPackageReference */;
+			package = 5AE4512F245CFF2800D82BAF /* XCRemoteSwiftPackageReference "grpc-swift" */;
 			productName = GRPC;
 		};
 /* End XCSwiftPackageProductDependency section */

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",
+          "revision": "40bdad80882d307abe2c0bb36cf3bd4d3e03fe04",
-          "version": "2.16.0"
+          "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

@@ -0,0 +1,75 @@
+//
+//  PiLoader.swift
+//  CarController
+//
+//  Created by Michael Pivato on 4/5/20.
+//  Copyright © 2020 Michael Pivato. All rights reserved.
+//
+
+import Foundation
+import SwiftUI
+import GRPC
+import NIO
+
+class PiLoader: ObservableObject {
+    // Find a cleaner way to handle these properties
+    @Published var throttle: Float = 0.5
+    @Published var steering: Float = 0.5
+    var stopped = false
+    
+    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)
+                Thread.sleep(forTimeInterval: 0.2)
+            }
+        }
+    }
+    
+    func stop(){
+        stopped = true
+    }
+    
+    func createProto() -> MotorControl_Vehicle2DRequest {
+        return .with{
+            $0.throttle = .with{
+                $0.throttle = self.throttle
+            }
+            $0.steering = .with{
+                $0.steering = self.steering
+            }
+        }
+    }
+}
+
+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

@@ -8,19 +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 (user can access via settings app).
+    @Published var host: String = UserDefaults.standard.string(forKey: UserKeys.host) ?? "10.0.0.53"
-    // Then load the below values ar runtime, from settings.
+    @Published var grpcPort: Int = UserDefaults.standard.integer(forKey: UserKeys.port)
-    
-    
-    @Published var port: Int = 50051
-    @Published var grpcPort: Int = 50050
-    @Published var host: String = "10.0.0.53"
     
     func load(){
-        // Load the server values from settings, if they had been
+        // Load the server values from settings, if they had been previously saved.
-        // previously saved.
     }
     
     func save(){

CarControlleriOS/CarController/Settings.bundle/Root.plist

@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>StringsTable</key>
+	<string>Root</string>
+	<key>PreferenceSpecifiers</key>
+	<array>
+		<dict>
+			<key>Type</key>
+			<string>PSTextFieldSpecifier</string>
+			<key>Title</key>
+			<string>Host</string>
+			<key>Key</key>
+			<string>host</string>
+			<key>DefaultValue</key>
+			<string>10.0.0.53</string>
+			<key>KeyboardType</key>
+			<string>Alphabet</string>
+			<key>AutocapitalizationType</key>
+			<string>None</string>
+			<key>AutocorrectionType</key>
+			<string>No</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSTextFieldSpecifier</string>
+			<key>Title</key>
+			<string>Port</string>
+			<key>Key</key>
+			<string>port</string>
+			<key>DefaultValue</key>
+			<string>50051</string>
+			<key>IsSecure</key>
+			<false/>
+			<key>KeyboardType</key>
+			<string>NumberPad</string>
+		</dict>
+	</array>
+</dict>
+</plist>

CarControlleriOS/CarController/SimpleControllerView.swift

@@ -10,14 +10,33 @@ import SwiftUI
 
 struct SimpleControllerView: View {
     @EnvironmentObject var server: ServerData
-    @State var throttle: Float = 0
+    @ObservedObject var grpcController: PiLoader = PiLoader()
-    @State var steering: Float = 0
     
     var body: some View {
+        VStack (alignment: .trailing, spacing: 0){
+            Spacer()
             HStack{
-            Text("Opened Simple Controller!")
+                // Move this up a bit, due to being rotated.
-            Slider(value: $throttle)
+                Slider(value: self.$grpcController.throttle, in: 0...1){_ in
-            Slider(value: $steering)
+                    self.grpcController.throttle = 0.5
+                }
+                .offset(x: 200)
+                .frame(width: 300)
+                .rotationEffect(.degrees(270))
+                Spacer()
+                Slider(value: self.$grpcController.steering, in: 0...1){_ in
+                    self.grpcController.steering = 0.5
+                }
+                .frame(width:300)
+                .offset(x: -50, y: -200)
+                .padding()
+            }
+            .onAppear(){
+                self.grpcController.startUpdating(forPort: self.server.grpcPort, atHost: self.server.host)
+            }
+            .onDisappear(){
+                self.grpcController.stop()
+            }
         }
     }
 }

CarControlleriOS/build.gradle

@@ -12,5 +12,5 @@ dependencies {
 task copySwiftCode(type: Copy, dependsOn: configurations.swift) {
     // Copy python protobuf code from proto project.
     from zipTree(configurations.swift.asPath)
-    into './CarController/CarController'
+    into './CarController'
 }