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Minor bug fixes
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@nab138
nab138 committed Jun 22, 2024
1 parent 843dde2 commit 09ec5e9
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Showing 2 changed files with 67 additions and 80 deletions.
138 changes: 60 additions & 78 deletions src/ConfigViewController.swift
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Original file line number Diff line number Diff line change
Expand Up @@ -4,14 +4,15 @@ import UIKit

enum CellType {
case textField(
placeholder: String, defaultValue: String?, keyboardType: UIKeyboardType = .default)
case toggleSwitch(label: String, defaultValue: Bool = false)
placeholder: String, keyboardType: UIKeyboardType = .default,
saveIn: String, defaultValue: String? = nil)
case toggleSwitch(label: String, saveIn: String, defaultValue: Bool? = nil)
case button(label: String, action: () -> Void)
case robotConfig(robot: Robot)
case customRobotConfig
case importRobot
case offsetField(label: String, defaultValue: String?)
case slider(label: String, defaultValue: Float, min: Float, max: Float)
case offsetField(label: String, defaultValue: String)
case slider(label: String, min: Float, max: Float, saveIn: String, defaultValue: Float? = nil)
}

struct Row {
Expand All @@ -37,57 +38,31 @@ class ConfigViewController: UITableViewController, UIDocumentPickerDelegate {
override func viewDidLoad() {
super.viewDidLoad()

self.isModalInPresentation = true

sections = [
[
Row(
type: .textField(
placeholder: "Team Number (for roboRIO)",
defaultValue: UserDefaults.standard.string(forKey: "teamNumber"),
keyboardType: .numberPad)),
Row(
type: .textField(
placeholder: "IP (for simulator)",
defaultValue: UserDefaults.standard.string(forKey: "ip"),
keyboardType: .numbersAndPunctuation)),
placeholder: "Team Number (for roboRIO)", keyboardType: .numberPad, saveIn: "teamNumber"
)),
Row(
type: .textField(
placeholder: "Port", defaultValue: UserDefaults.standard.string(forKey: "port"),
keyboardType: .numberPad)),
Row(
type: .toggleSwitch(
label: "Manual Address",
defaultValue: UserDefaults.standard.bool(forKey: "manualAddress"))),
placeholder: "IP (for simulator)", keyboardType: .numbersAndPunctuation, saveIn: "ip")),
Row(type: .textField(placeholder: "Port", keyboardType: .numberPad, saveIn: "port")),
Row(type: .toggleSwitch(label: "Manual Address", saveIn: "manualAddress")),
],
[
Row(
type: .button(
label: "Set to full size",
action: {
self.fieldNode.scale = SCNVector3(1, 1, 1)
})),
Row(
type: .toggleSwitch(
label: "Visible", defaultValue: UserDefaults.standard.bool(forKey: "fieldVisible"))),
Row(
type: .toggleSwitch(
label: "Transparent",
defaultValue: UserDefaults.standard.bool(forKey: "fieldTransparent"))),
Row(
type: .toggleSwitch(
label: "Detect AprilTags",
defaultValue: UserDefaults.standard.bool(forKey: "detectAprilTags"))),
Row(
type: .textField(
placeholder: "Trajectory NT Key",
defaultValue: UserDefaults.standard.string(forKey: "trajectoryKey")
)),
label: "Set to full size", action: { self.fieldNode.scale = SCNVector3(1, 1, 1) })),
Row(type: .toggleSwitch(label: "Visible", saveIn: "fieldVisible")),
Row(type: .toggleSwitch(label: "Transparent", saveIn: "fieldTransparent")),
Row(type: .toggleSwitch(label: "Detect AprilTags", saveIn: "detectAprilTags")),
Row(type: .textField(placeholder: "Trajectory NT Key", saveIn: "trajectoryKey")),
],
[
Row(
type: .textField(
placeholder: "Robot NT Key",
defaultValue: UserDefaults.standard.string(forKey: "robotKey")
)),
Row(type: .textField(placeholder: "Robot NT Key", saveIn: "robotKey")),
Row(type: .robotConfig(robot: Robot.kitBot)),
Row(type: .robotConfig(robot: Robot.robot3044)),
Row(type: .customRobotConfig),
Expand Down Expand Up @@ -117,20 +92,9 @@ class ConfigViewController: UITableViewController, UIDocumentPickerDelegate {
label: "Z Rot", defaultValue: UserDefaults.standard.string(forKey: "zRot") ?? "0")),
],
[
Row(
type: .toggleSwitch(
label: "Visible",
defaultValue: UserDefaults.standard.bool(forKey: "schedulerVisible"))),
Row(
type: .slider(
label: "Height",
defaultValue: UserDefaults.standard.float(forKey: "schedulerHeight"),
min: 0, max: 10)),
Row(
type: .slider(
label: "Size",
defaultValue: UserDefaults.standard.float(forKey: "schedulerSize"), min: 0.05,
max: 1)),
Row(type: .toggleSwitch(label: "Visible", saveIn: "schedulerVisible")),
Row(type: .slider(label: "Height", min: 0, max: 10, saveIn: "schedulerHeight")),
Row(type: .slider(label: "Size", min: 0.05, max: 1, saveIn: "schedulerSize")),
],
[
Row(
Expand Down Expand Up @@ -206,16 +170,43 @@ class ConfigViewController: UITableViewController, UIDocumentPickerDelegate {
return sections[section].count
}

@objc func textFieldDidChange(_ textField: UITextField) {
if let indexPath = cellViews.first(where: { $0.value == textField })?.key {
let row = sections[indexPath.section][indexPath.row]
if case .textField(_, _, let saveIn, _) = row.type {
UserDefaults.standard.set(textField.text, forKey: saveIn)
}
}
}

@objc func toggleDidChange(_ toggle: UISwitch) {
if let indexPath = cellViews.first(where: { $0.value == toggle })?.key {
let row = sections[indexPath.section][indexPath.row]
if case .toggleSwitch(_, let saveIn, _) = row.type {
UserDefaults.standard.set(toggle.isOn, forKey: saveIn)
}
}
}

@objc func sliderDidChange(_ slider: UISlider) {
if let indexPath = cellViews.first(where: { $0.value == slider })?.key {
let row = sections[indexPath.section][indexPath.row]
if case .slider(_, _, _, let saveIn, _) = row.type {
UserDefaults.standard.set(slider.value, forKey: saveIn)
}
}
}

override func tableView(_ tableView: UITableView, cellForRowAt indexPath: IndexPath)
-> UITableViewCell
{
let row = sections[indexPath.section][indexPath.row]
let cell = UITableViewCell()
switch row.type {
case .textField(let placeholder, let defaultValue, let keyboardType):
case .textField(let placeholder, let keyboardType, let saveIn, let defaultValue):
let textField = UITextField()
textField.placeholder = placeholder
textField.text = defaultValue
textField.text = defaultValue ?? UserDefaults.standard.string(forKey: saveIn)
textField.keyboardType = keyboardType
textField.translatesAutoresizingMaskIntoConstraints = false
cell.contentView.addSubview(textField)
Expand All @@ -227,9 +218,11 @@ class ConfigViewController: UITableViewController, UIDocumentPickerDelegate {
textField.bottomAnchor.constraint(equalTo: cell.contentView.bottomAnchor),
])
cellViews[indexPath] = textField
case .toggleSwitch(let label, let defaultValue):
textField.addTarget(
self, action: #selector(textFieldDidChange(_:)), for: .editingChanged)
case .toggleSwitch(let label, let saveIn, let defaultValue):
let toggleSwitch = UISwitch()
toggleSwitch.isOn = defaultValue
toggleSwitch.isOn = defaultValue ?? UserDefaults.standard.bool(forKey: saveIn)
toggleSwitch.translatesAutoresizingMaskIntoConstraints = false
cell.textLabel?.text = label
cell.contentView.addSubview(toggleSwitch)
Expand All @@ -239,6 +232,8 @@ class ConfigViewController: UITableViewController, UIDocumentPickerDelegate {
toggleSwitch.centerYAnchor.constraint(equalTo: cell.contentView.centerYAnchor),
])
cellViews[indexPath] = toggleSwitch
toggleSwitch.addTarget(
self, action: #selector(toggleDidChange(_:)), for: .valueChanged)
case .button(let label, let action):
cell.textLabel?.text = label
cell.textLabel?.textColor = view.tintColor
Expand Down Expand Up @@ -317,11 +312,11 @@ class ConfigViewController: UITableViewController, UIDocumentPickerDelegate {
textField.bottomAnchor.constraint(equalTo: cell.contentView.bottomAnchor),
])
cellViews[indexPath] = textField
case .slider(let label, let defaultValue, let min, let max):
case .slider(let label, let min, let max, let saveIn, let defaultValue):
let slider = UISlider()
slider.minimumValue = min
slider.maximumValue = max
slider.value = defaultValue
slider.value = defaultValue ?? UserDefaults.standard.float(forKey: saveIn)
slider.translatesAutoresizingMaskIntoConstraints = false

let dynamicLabel = UILabel()
Expand All @@ -343,6 +338,8 @@ class ConfigViewController: UITableViewController, UIDocumentPickerDelegate {
])

cellViews[indexPath] = slider
slider.addTarget(
self, action: #selector(sliderDidChange(_:)), for: .valueChanged)
}
return cell
}
Expand Down Expand Up @@ -468,11 +465,7 @@ class ConfigViewController: UITableViewController, UIDocumentPickerDelegate {
let fieldTransparentSwitch = cellViews[IndexPath(row: 2, section: 1)] as? UISwitch
let detectAprilTagsSwitch = cellViews[IndexPath(row: 3, section: 1)] as? UISwitch

UserDefaults.standard.set(detectAprilTagsSwitch?.isOn, forKey: "detectAprilTags")

controller.shouldDetectAprilTags = detectAprilTagsSwitch?.isOn ?? false
UserDefaults.standard.set(fieldVisibleSwitch?.isOn, forKey: "fieldVisible")
UserDefaults.standard.set(fieldTransparentSwitch?.isOn, forKey: "fieldTransparent")

// Make field visible or invisible without affecting child nodes
fieldNode.isHidden = !(fieldVisibleSwitch?.isOn ?? false)
Expand Down Expand Up @@ -521,10 +514,6 @@ class ConfigViewController: UITableViewController, UIDocumentPickerDelegate {
let schedulerHeightSlider = cellViews[IndexPath(row: 1, section: 4)] as? UISlider
let schedulerSizeSlider = cellViews[IndexPath(row: 2, section: 4)] as? UISlider

UserDefaults.standard.set(schedulerVisibleSwitch?.isOn ?? true, forKey: "schedulerVisible")
UserDefaults.standard.set(schedulerHeightSlider?.value ?? 3, forKey: "schedulerHeight")
UserDefaults.standard.set(schedulerSizeSlider?.value ?? 0.25, forKey: "schedulerSize")

controller.scheduler.height = schedulerHeightSlider?.value ?? 3
controller.scheduler.node.position.y =
controller.sceneView.fieldNode.position.y
Expand All @@ -536,13 +525,6 @@ class ConfigViewController: UITableViewController, UIDocumentPickerDelegate {

controller.scheduler.node.isHidden = !(schedulerVisibleSwitch?.isOn ?? true)

UserDefaults.standard.set(teamNumberTextField?.text, forKey: "teamNumber")
UserDefaults.standard.set(ipTextField?.text, forKey: "ip")
UserDefaults.standard.set(portTextField?.text, forKey: "port")
UserDefaults.standard.set(robotKeyTextField?.text, forKey: "robotKey")
UserDefaults.standard.set(trajectoryKeyTextField?.text, forKey: "trajectoryKey")
UserDefaults.standard.set(manualAddressSwitch?.isOn, forKey: "manualAddress")

UserDefaults.standard.set(customRobotSelected, forKey: "customRobotSelected")

if let selectedRobotName = selectedRobotName {
Expand Down
9 changes: 7 additions & 2 deletions src/utils/ARSceneView.swift
View file
Original file line number Diff line number Diff line change
Expand Up @@ -212,10 +212,15 @@ class ARSceneView: ARSCNView {
var transform: CGAffineTransform

if let windowScene = UIApplication.shared.connectedScenes.first as? UIWindowScene {
if windowScene.interfaceOrientation.isPortrait {
switch windowScene.interfaceOrientation {
case .portrait:
transform = CGAffineTransform(rotationAngle: CGFloat.pi / 2)
} else {
case .landscapeLeft:
transform = CGAffineTransform(rotationAngle: 0)
case .landscapeRight:
transform = CGAffineTransform(rotationAngle: CGFloat.pi)
default:
transform = CGAffineTransform(rotationAngle: CGFloat.pi / 2)
}
} else {
transform = CGAffineTransform(rotationAngle: CGFloat.pi / 2)
Expand Down

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