From d700982d510b7cb362946252124b3eb1b2985be5 Mon Sep 17 00:00:00 2001 From: nab138 <56705177+nab138@users.noreply.github.com> Date: Fri, 21 Jun 2024 18:37:26 -0400 Subject: [PATCH] Finish Command Scheduler and start trajectory rendering --- .vscode/tasks.json | 2 +- README.md | 6 +- compile_commands.json | 2 +- src/CommandScheduler/CommandScheduler.swift | 59 +++-- .../CommandSchedulerView.swift | 57 ++++- src/CommandScheduler/CommandView.swift | 0 src/ConfigViewController.swift | 28 ++- src/NetworkTables/NT4Client.swift | 1 - src/NetworkTables/NTStructures.swift | 224 ++++++++---------- src/RootViewController.swift | 4 + src/utils/ARSceneView.swift | 49 ++++ src/utils/NetworkTablesHandler.swift | 37 ++- 12 files changed, 306 insertions(+), 163 deletions(-) delete mode 100644 src/CommandScheduler/CommandView.swift diff --git a/.vscode/tasks.json b/.vscode/tasks.json index 934e725..e7c8273 100644 --- a/.vscode/tasks.json +++ b/.vscode/tasks.json @@ -2,7 +2,7 @@ "version": "2.0.0", "tasks": [ { - "label": "Deploy to iphone", + "label": "Deploy to iPhone", "type": "shell", "command": "./deploy.sh", "problemMatcher": ["$swiftc"], diff --git a/README.md b/README.md index 68a2f6f..b7087e3 100644 --- a/README.md +++ b/README.md @@ -42,15 +42,15 @@ If you add the [sideloader cli](https://github.com/Dadoum/Sideloader) to $THEOS/ ## In progress features -Features that are being worked on, but are not included in a release yet. +Features that are being worked on. 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a/src/CommandScheduler/CommandScheduler.swift b/src/CommandScheduler/CommandScheduler.swift index 5c6ff32..1adc716 100644 --- a/src/CommandScheduler/CommandScheduler.swift +++ b/src/CommandScheduler/CommandScheduler.swift @@ -1,47 +1,78 @@ import ARKit class CommandScheduler { - var subscriptionID: Int? + var namesSubID: Int? let view = CommandSchedulerView() var node: SCNNode! var plane: SCNPlane! var arScene: ARSceneView! + var planeSize: Float = 0.25 var size: Float = 0.25 var height: Float = 3.0 var visible = true - // add constructor + var commands: [String] = [] + + var hasUpdatedLabel = false + init(scene: ARSceneView) { + NSLog("Initializing CommandScheduler") arScene = scene - loadViewNode() } func subscribeToCommandScheduler(client: NT4Client, key: String) { - if subscriptionID != nil { - client.unsubscribe(subID: subscriptionID!) + if namesSubID != nil { + client.unsubscribe(subID: namesSubID!) } - subscriptionID = client.subscribe( - key: key, callback: { topic, timestamp, data in }, periodic: 0.1) + namesSubID = client.subscribe( + key: key + "/Names", + callback: { topic, timestamp, data in + if let commands = data as? [String] { + NSLog("Recieved commands: \(commands.joined(separator: ", "))") + if commands != self.commands { + self.commands = commands + self.updateCommands() + } + } + }, periodic: 0.1) } - func loadViewNode() { - let image = view.asImage() - let aspectRatio = image.size.width / image.size.height - plane = SCNPlane(width: CGFloat(size), height: CGFloat(size) / aspectRatio) - plane.firstMaterial?.diffuse.contents = image + private func loadViewNode() { + plane = SCNPlane(width: CGFloat(planeSize), height: CGFloat(planeSize)) plane.firstMaterial?.isDoubleSided = true node = SCNNode(geometry: plane) + regenImage() let billboardConstraint = SCNBillboardConstraint() billboardConstraint.freeAxes = [.Y, .X] node.constraints = [billboardConstraint] - node.isHidden = UserDefaults.standard.bool(forKey: "schedulerVisible") + node.isHidden = !UserDefaults.standard.bool(forKey: "schedulerVisible") + } + + private func updateCommands() { + view.setCommands(commands) + + if commands.count > 0 { + view.updateLabel(with: "\(commands.count) Commands") + } else { + view.updateLabel(with: "No Data") + } + + regenImage() + } + + func regenImage() { + let image = view.asImage() + let aspectRatio = image.size.width / image.size.height + plane.width = CGFloat(planeSize) + plane.height = CGFloat(planeSize) / aspectRatio + plane.firstMaterial?.diffuse.contents = image - arScene.scene.rootNode.addChildNode(node) + node.geometry = plane } } diff --git a/src/CommandScheduler/CommandSchedulerView.swift b/src/CommandScheduler/CommandSchedulerView.swift index 8e823dd..5cbe09f 100644 --- a/src/CommandScheduler/CommandSchedulerView.swift +++ b/src/CommandScheduler/CommandSchedulerView.swift @@ -3,6 +3,8 @@ import UIKit class CommandSchedulerView: UIView { let mainLabel = UILabel() + let secondLabel = UILabel() + private let padding: CGFloat = 10 override init(frame: CGRect) { super.init(frame: frame) @@ -17,22 +19,36 @@ class CommandSchedulerView: UIView { private func setupView() { layer.cornerRadius = 10 clipsToBounds = true - frame = CGRect(x: 10, y: 10, width: 400, height: 100) - backgroundColor = UIColor.systemBackground.withAlphaComponent(0.8) + frame = CGRect(x: padding, y: padding, width: 325, height: 200) + backgroundColor = UIColor.systemBackground.withAlphaComponent(0.85) let visualEffectView = UIVisualEffectView(effect: UIBlurEffect(style: .systemMaterial)) visualEffectView.frame = bounds visualEffectView.autoresizingMask = [.flexibleWidth, .flexibleHeight] addSubview(visualEffectView) - mainLabel.text = "Command Scheduler ⋅ No Data" + mainLabel.text = "Command Scheduler" mainLabel.font = UIFont.systemFont(ofSize: 20) mainLabel.translatesAutoresizingMaskIntoConstraints = false mainLabel.textAlignment = .left mainLabel.textColor = UIColor.label mainLabel.frame = CGRect( - x: 10, y: 10, width: frame.width - 20, height: frame.height - 20) + x: padding, y: padding, width: frame.width - (2 * padding), + height: frame.height - (2 * padding)) addSubview(mainLabel) mainLabel.sizeToFit() + + secondLabel.text = "No Data" + secondLabel.font = UIFont.systemFont(ofSize: 16) + secondLabel.translatesAutoresizingMaskIntoConstraints = false + secondLabel.textAlignment = .left + secondLabel.textColor = UIColor.label + secondLabel.frame = CGRect( + x: padding, y: padding + mainLabel.frame.height, width: frame.width - (2 * padding), + height: frame.height - (2 * padding)) + addSubview(secondLabel) + secondLabel.sizeToFit() + + frame.size.height = secondLabel.frame.maxY + (2 * padding) } func asImage() -> UIImage { @@ -44,7 +60,36 @@ class CommandSchedulerView: UIView { } func updateLabel(with text: String) { - mainLabel.text = text - mainLabel.sizeToFit() + secondLabel.text = text + secondLabel.sizeToFit() + } + + func setCommands(_ commands: [String]) { + // Remove existing command labels + subviews.forEach { view in + if view is UILabel && view != mainLabel && view != secondLabel { + view.removeFromSuperview() + } + } + + var yOffset: CGFloat = secondLabel.frame.maxY + padding + for command in commands { + let commandLabel = PaddedLabel() + commandLabel.text = command + commandLabel.font = UIFont.systemFont(ofSize: 16) + commandLabel.translatesAutoresizingMaskIntoConstraints = true + commandLabel.textAlignment = .left + commandLabel.textColor = UIColor.label + commandLabel.layer.cornerRadius = 10 + commandLabel.layer.masksToBounds = true + commandLabel.backgroundColor = UIColor.systemGray.withAlphaComponent(0.5) + commandLabel.leftInset = padding + commandLabel.frame = CGRect( + x: padding, y: yOffset, width: frame.width - (2 * padding), height: 20 + (2 * padding)) + addSubview(commandLabel) + yOffset += commandLabel.frame.height + padding + } + + frame.size.height = yOffset + padding } } diff --git a/src/CommandScheduler/CommandView.swift b/src/CommandScheduler/CommandView.swift deleted file mode 100644 index e69de29..0000000 diff --git a/src/ConfigViewController.swift b/src/ConfigViewController.swift index 00eef50..3967614 100644 --- a/src/ConfigViewController.swift +++ b/src/ConfigViewController.swift @@ -76,6 +76,11 @@ class ConfigViewController: UITableViewController, UIDocumentPickerDelegate { type: .toggleSwitch( label: "Detect AprilTags", defaultValue: UserDefaults.standard.bool(forKey: "detectAprilTags"))), + Row( + type: .textField( + placeholder: "Trajectory NT Key", + defaultValue: UserDefaults.standard.string(forKey: "trajectoryKey") + )), ], [ Row( @@ -126,11 +131,6 @@ class ConfigViewController: UITableViewController, UIDocumentPickerDelegate { label: "Size", defaultValue: UserDefaults.standard.float(forKey: "schedulerSize"), min: 0.05, max: 1)), - Row( - type: .textField( - placeholder: "Scheduler NT Key", - defaultValue: UserDefaults.standard.string(forKey: "schedulerKey") - )), ], [ Row( @@ -456,6 +456,7 @@ class ConfigViewController: UITableViewController, UIDocumentPickerDelegate { let portTextField = cellViews[IndexPath(row: 2, section: 0)] as? UITextField let manualAddressSwitch = cellViews[IndexPath(row: 3, section: 0)] as? UISwitch let robotKeyTextField = cellViews[IndexPath(row: 0, section: 2)] as? UITextField + let trajectoryKeyTextField = cellViews[IndexPath(row: 4, section: 1)] as? UITextField if manualAddressSwitch?.isOn ?? false { NTHandler.ip = ipTextField?.text @@ -479,6 +480,7 @@ class ConfigViewController: UITableViewController, UIDocumentPickerDelegate { NTHandler.port = portTextField?.text NTHandler.robotKey = robotKeyTextField?.text + NTHandler.trajectoryKey = trajectoryKeyTextField?.text let xOffsetTextField = cellViews[IndexPath(row: 1, section: 3)] as? UITextField let yOffsetTextField = cellViews[IndexPath(row: 2, section: 3)] as? UITextField @@ -519,7 +521,7 @@ 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, forKey: "schedulerVisible") + 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") @@ -529,19 +531,16 @@ class ConfigViewController: UITableViewController, UIDocumentPickerDelegate { + (controller.scheduler.height * controller.sceneView.fieldNode.scale.y) let newSize = schedulerSizeSlider?.value ?? 0.25 - let oldSize = controller.scheduler.size - controller.scheduler.node.scale = SCNVector3( - (controller.scheduler.node.scale.x / oldSize) * newSize, - (controller.scheduler.node.scale.y / oldSize) * newSize, - (controller.scheduler.node.scale.z / oldSize) * newSize) - controller.scheduler.size = newSize + controller.scheduler.planeSize = newSize + controller.scheduler.regenImage() - controller.scheduler.node.isHidden = !(schedulerVisibleSwitch?.isOn ?? false) + 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") @@ -602,6 +601,9 @@ class ConfigViewController: UITableViewController, UIDocumentPickerDelegate { case 3: return "You can convert your model to .usdz online. Only one robot can be imported at a time; subsequent imports will overwrite. Offsets can be changed after import." + case 4: + return + "Uses /SmartDashboard/Scheduler to display scheduled commands. To publish this from your robot code, you can add SmartDashboard.putData(CommandScheduler.getInstance()); to robotPeriodic." default: return nil } diff --git a/src/NetworkTables/NT4Client.swift b/src/NetworkTables/NT4Client.swift index 698e9bf..bce4b43 100644 --- a/src/NetworkTables/NT4Client.swift +++ b/src/NetworkTables/NT4Client.swift @@ -266,7 +266,6 @@ Unsubscribe from a NetworkTables topic topic.latestTimestamp = timestamp onNewTopicData?(topic, timestamp, data) if let callback = subscriptionCallbacks[topic.name] { - NSLog("Found callback for topic \(topic.name)") callback(topic, timestamp, data) } } else { diff --git a/src/NetworkTables/NTStructures.swift b/src/NetworkTables/NTStructures.swift index 6236059..533dfb0 100644 --- a/src/NetworkTables/NTStructures.swift +++ b/src/NetworkTables/NTStructures.swift @@ -1,147 +1,133 @@ import UIKit class NTSubscription { - var uid: Int = -1 - var topics = Set() - var options = NTSubscriptionOptions() + var uid: Int = -1 + var topics = Set() + var options = NTSubscriptionOptions() - init(uid: Int, topics: Set, options: NTSubscriptionOptions) { - self.uid = uid - self.topics = topics - self.options = options - } + init(uid: Int, topics: Set, options: NTSubscriptionOptions) { + self.uid = uid + self.topics = topics + self.options = options + } - func toSubscribeObj() -> [String: Any] { - return [ - "topics": Array(topics), - "subuid": uid, - "options": options.toObj() - ] - } + func toSubscribeObj() -> [String: Any] { + return [ + "topics": Array(topics), + "subuid": uid, + "options": options.toObj(), + ] + } - func toUnsubscribeObj() -> [String: Int] { - return [ - "subuid": uid - ] - } + func toUnsubscribeObj() -> [String: Int] { + return [ + "subuid": uid + ] + } } class NTSubscriptionOptions { - var periodic = 0.1; - var all = false; - var topicsOnly = false; - var isPrefix = false; + var periodic = 0.1 + var all = false + var topicsOnly = false + var isPrefix = false - init() {} + init() {} - init(periodic: Double, all: Bool, topicsOnly: Bool, isPrefix: Bool) { - self.periodic = periodic - self.all = all - self.topicsOnly = topicsOnly - self.isPrefix = isPrefix - } + init(periodic: Double, all: Bool, topicsOnly: Bool, isPrefix: Bool) { + self.periodic = periodic + self.all = all + self.topicsOnly = topicsOnly + self.isPrefix = isPrefix + } - func toObj()-> [String: Any] { + func toObj() -> [String: Any] { return [ "periodic": periodic, "all": all, "topicsonly": topicsOnly, - "prefix": isPrefix - ]; + "prefix": isPrefix, + ] } } class NTTopic { - static let typestrIdxLookup = [ - "boolean": 0, - "double": 1, - "int": 2, - "float": 3, - "string": 4, - "json": 4, - "raw": 5, - "rpc": 5, - "msgpack": 5, - "protobuf": 5, - "boolean[]": 16, - "double[]": 17, - "int[]": 18, - "float[]": 19, - "string[]": 20 - ] - var uid: Int = -1 // "id" if server topic, "pubuid" if published - var name: String = "" - var type: String = "" - var properties: [String: Any] = [:] - var latestValue: Any? = nil - var latestTimestamp: Int64 = -1 + static let typestrIdxLookup = [ + "boolean": 0, + "double": 1, + "int": 2, + "float": 3, + "string": 4, + "json": 4, + "raw": 5, + "rpc": 5, + "msgpack": 5, + "protobuf": 5, + "boolean[]": 16, + "double[]": 17, + "int[]": 18, + "float[]": 19, + "string[]": 20, + ] + var uid: Int = -1 // "id" if server topic, "pubuid" if published + var name: String = "" + var type: String = "" + var properties: [String: Any] = [:] + var latestValue: Any? = nil + var latestTimestamp: Int64 = -1 - init(uid: Int, name: String, type: String, properties: [String: Any]) { - self.uid = uid - self.name = name - self.type = type - self.properties = properties - } + init(uid: Int, name: String, type: String, properties: [String: Any]) { + self.uid = uid + self.name = name + self.type = type + self.properties = properties + } - init(data: [String: Any]){ - if let id = data["id"] as? Int { - uid = id - } else if let id = data["pubuid"] as? Int { - uid = id - } else { - NSLog("Error: Topic does not have an id") - } - if let n = data["name"] as? String { - name = n - } else { - NSLog("Error: Topic does not have a name") - } - if let t = data["type"] as? String { - type = t - } else { - NSLog("Error: Topic does not have a type") - } - if let p = data["properties"] as? [String: Any] { - properties = p - } else { - NSLog("Error: Topic does not have properties") - } + init(data: [String: Any]) { + if let id = data["id"] as? Int { + uid = id + } else if let id = data["pubuid"] as? Int { + uid = id + } else { + NSLog("Error: Topic does not have an id") } - - - func toPublishObj() -> [String: Any] { - return [ - "name": name, - "type": type, - "pubuid": uid, - "properties": properties - ] + if let n = data["name"] as? String { + name = n + } else { + NSLog("Error: Topic does not have a name") } - - func toUnpublishObj() -> [String: Int] { - return [ - "pubuid": uid - ] + if let t = data["type"] as? String { + type = t + } else { + NSLog("Error: Topic does not have a type") } - - func getTypeIdx() -> Int { - if let index = NTTopic.typestrIdxLookup[type] { - return index - } else { - return 5 // Default to binary - } + if let p = data["properties"] as? [String: Any] { + properties = p + } else { + NSLog("Error: Topic does not have properties") } + } - func getDoubleArray() -> [Double]? { - if("double[]" != type) { - NSLog("Attempted to get double array from non-double[] topic") - return nil - } - if let val = latestValue as? [Double] { - return val - } else { - NSLog("Failed to cast latest value to double array") - return nil - } + func toPublishObj() -> [String: Any] { + return [ + "name": name, + "type": type, + "pubuid": uid, + "properties": properties, + ] + } + + func toUnpublishObj() -> [String: Int] { + return [ + "pubuid": uid + ] + } + + func getTypeIdx() -> Int { + if let index = NTTopic.typestrIdxLookup[type] { + return index + } else { + return 5 // Default to binary } -} \ No newline at end of file + } +} diff --git a/src/RootViewController.swift b/src/RootViewController.swift index 653db6d..51a4581 100644 --- a/src/RootViewController.swift +++ b/src/RootViewController.swift @@ -133,8 +133,12 @@ class RootViewController: UIViewController, UIGestureRecognizerDelegate, ARSessi NTHandler = NetworkTablesHandler( robotNode: robotNode, statusLabel: statusLabel, sceneView: sceneView) + // Attempts a connection with the saved connection info NTHandler.connect() + + scheduler.subscribeToCommandScheduler( + client: NTHandler.client, key: "/SmartDashboard/Scheduler") } override func viewWillDisappear(_ animated: Bool) { diff --git a/src/utils/ARSceneView.swift b/src/utils/ARSceneView.swift index b62d9cb..62d4511 100644 --- a/src/utils/ARSceneView.swift +++ b/src/utils/ARSceneView.swift @@ -149,6 +149,55 @@ class ARSceneView: ARSCNView { } } + func drawTrajectory(points: [SCNVector3]) { + NSLog("Drawing trajectory with \(points.count) points. First point: \(points.first!)") + guard points.count > 1 else { return } + + for i in 0.. Float { + let dx = endPoint.x - startPoint.x + let dy = endPoint.y - startPoint.y + let dz = endPoint.z - startPoint.z + return sqrt(dx * dx + dy * dy + dz * dz) + } + func imageFrom() -> UIImage? { guard let currentFrame = self.session.currentFrame else { return nil diff --git a/src/utils/NetworkTablesHandler.swift b/src/utils/NetworkTablesHandler.swift index 1f73dc6..6c0afe3 100644 --- a/src/utils/NetworkTablesHandler.swift +++ b/src/utils/NetworkTablesHandler.swift @@ -10,10 +10,12 @@ class NetworkTablesHandler { var robotNode: SCNNode! var statusLabel: UILabel! var robotSubID: Int? + var trajectorySubID: Int? var ip: String? var port: String? var robotKey: String? + var trajectoryKey: String? var lastPosition: SCNVector3 = SCNVector3(0, 0, 0) var lastRotation: Float = 0 @@ -30,9 +32,7 @@ class NetworkTablesHandler { onTopicUnannounce: { topic in NSLog("Unannounced topic: \(topic.name)") }, - onNewTopicData: { topic, timestamp, data in - NSLog("New data for topic \(topic.name): \(data)") - }, + onNewTopicData: { topic, timestamp, data in }, onConnect: { NSLog("Connected to NetworkTables") self.updateStateLabel(active: true) @@ -61,6 +61,11 @@ class NetworkTablesHandler { robotKey = "/SmartDashboard/Field/Robot" UserDefaults.standard.set(robotKey, forKey: "robotKey") } + trajectoryKey = UserDefaults.standard.string(forKey: "trajectoryKey") + if trajectoryKey == nil { + trajectoryKey = "" + UserDefaults.standard.set(trajectoryKey, forKey: "trajectoryKey") + } } func setNewRobot(robot: SCNNode) { @@ -75,7 +80,7 @@ class NetworkTablesHandler { return } if client.serverConnectionActive { - self.updateStateLabel(active: true) + self.updateStateLabel(active: false) client.disconnect() } client.connect(serverBaseAddr: ip!, port: port ?? "5810") @@ -84,12 +89,16 @@ class NetworkTablesHandler { client.unsubscribe(subID: robotSubID!) } + if trajectorySubID != nil { + client.unsubscribe(subID: trajectorySubID!) + } + // Subscribe to robot position updates robotSubID = client.subscribe( key: robotKey!, callback: { topic, timestamp, data in // [x, y, rot (degrees)] - let newPos = topic.getDoubleArray() + let newPos = data as? [Double] self.robotNode.position = SCNVector3( -newPos![0] + self.fieldCenterX, 0, newPos![1] - self.fieldCenterY) self.lastPosition = self.robotNode.position @@ -97,6 +106,24 @@ class NetworkTablesHandler { self.lastRotation = self.robotNode.eulerAngles.y self.sceneView?.updateRobotNodeTransform() }, periodic: 0.001) + + // Subscribe to trajectory updates + if trajectoryKey != nil && trajectoryKey != "" { + trajectorySubID = client.subscribe( + key: trajectoryKey!, + callback: { topic, timestamp, data in + // [x, y, ignore, x, y, ignore, ...] + let points = data as? [Double] + var positions: [SCNVector3] = [] + for i in stride(from: 0, to: points!.count, by: 3) { + positions.append( + SCNVector3( + -points![i] + self.fieldCenterX, 0, points![i + 1] - self.fieldCenterY)) + } + // Draw a line between each point in the sceneView + self.sceneView?.drawTrajectory(points: positions) + }, periodic: 0.1) + } } private func updateStateLabel(active: Bool) {