♻️ (RobotKitExample): Add Robot to RobotControlView

leka · Oct 9, 2023 · 44a4f9e · 44a4f9e
1 parent fe3d6d8
commit 44a4f9e
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Showing 3 changed files with 73 additions and 23 deletions.
diff --git a/Modules/RobotKit/Examples/RobotKitExample/Sources/MainView.swift b/Modules/RobotKit/Examples/RobotKitExample/Sources/MainView.swift
@@ -2,6 +2,7 @@
 // Copyright 2023 APF France handicap
 // SPDX-License-Identifier: Apache-2.0
 
+import RobotKit
 import SwiftUI
 
 struct MainView: View {
@@ -24,7 +25,7 @@ struct MainView: View {
 
                 NavigationLink(
                     destination: {
-                        RobotControlView()
+                        RobotControlView(viewModel: RobotControlViewModel(robot: Robot.shared))
                     },
                     label: {
                         Text("Go to robot control")

diff --git a/Modules/RobotKit/Examples/RobotKitExample/Sources/Models/RobotControlViewModel.swift b/Modules/RobotKit/Examples/RobotKitExample/Sources/Models/RobotControlViewModel.swift
@@ -0,0 +1,39 @@
+// Leka - iOS Monorepo
+// Copyright 2023 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+import Combine
+import RobotKit
+import SwiftUI
+
+class RobotControlViewModel: ObservableObject {
+
+    @Published var magicCard: MagicCard = .none
+    @Published var magicCardImage: Image = Image(systemName: "photo")
+
+    private let robot: Robot
+    private var cancellables: Set<AnyCancellable> = []
+
+    init(robot: Robot) {
+        self.robot = robot
+        self.robot.onMagicCard()
+            .receive(on: DispatchQueue.main)
+            .sink {
+                self.magicCard = $0
+                self.magicCardImage = {
+                    switch $0 {
+                        case .none:
+                            Image(systemName: "cross")
+                        case .emergency_stop:
+                            Image(systemName: "exclamationmark.octagon")
+                        case .dice_roll:
+                            Image(systemName: "dice")
+                        default:
+                            Image(systemName: "photo")
+                    }
+                }($0)
+            }
+            .store(in: &cancellables)
+    }
+
+}
diff --git a/Modules/RobotKit/Examples/RobotKitExample/Sources/Views/RobotControlView.swift b/Modules/RobotKit/Examples/RobotKitExample/Sources/Views/RobotControlView.swift
@@ -2,10 +2,20 @@
 // Copyright 2023 APF France handicap
 // SPDX-License-Identifier: Apache-2.0
 
+import Combine
+import RobotKit
 import SwiftUI
 
 struct RobotControlView: View {
 
+    @StateObject var viewModel: RobotControlViewModel
+
+    private let robot = Robot.shared
+
+    init(viewModel: RobotControlViewModel) {
+        self._viewModel = StateObject(wrappedValue: viewModel)
+    }
+
     var body: some View {
         VStack {
             VStack(alignment: .leading, spacing: 30) {
@@ -14,21 +24,21 @@ struct RobotControlView: View {
                         .font(.title)
                     HStack {
                         RobotControlActionButton(title: "Move forward", image: "arrow.up", tint: .orange) {
-                            // TODO(@ladislas): Add command
+                            robot.move(.forward, speed: 1.0)
                         }
                         RobotControlActionButton(title: "Move backward", image: "arrow.down", tint: .green) {
-                            // TODO(@ladislas): Add command
+                            robot.move(.backward, speed: 0.5)
                         }
                         RobotControlActionButton(title: "Spin clockwise", image: "arrow.clockwise", tint: .indigo) {
-                            // TODO(@ladislas): Add command
+                            robot.spin(.clockwise, speed: 0.7)
                         }
                         RobotControlActionButton(
                             title: "Spin counterclockwise", image: "arrow.counterclockwise", tint: .teal
                         ) {
-                            // TODO(@ladislas): Add command
+                            robot.spin(.counterclockwise, speed: 1.0)
                         }
                         RobotControlActionButton(title: "Stop motion", image: "xmark", tint: .red) {
-                            // TODO(@ladislas): Add command
+                            robot.stopMotion()
                         }
                     }
                 }
@@ -38,19 +48,19 @@ struct RobotControlView: View {
                         .font(.title)
                     HStack {
                         RobotControlActionButton(title: "Individual LEDs", image: "light.max", tint: .orange) {
-                            // TODO(@ladislas): Add command
+                            robot.shine(.spot(ids: [0, 4, 8, 10, 12]), color: .red)
                         }
                         RobotControlActionButton(title: "Quarters", image: "light.max", tint: .green) {
-                            // TODO(@ladislas): Add command
+                            robot.shine(.quarterBackLeft, color: .blue)
                         }
                         RobotControlActionButton(title: "Halves", image: "light.max", tint: .indigo) {
-                            // TODO(@ladislas): Add command
+                            robot.shine(.halfRight, color: .green)
                         }
-                        RobotControlActionButton(title: "Full counterclockwise", image: "light.max", tint: .teal) {
-                            // TODO(@ladislas): Add command
+                        RobotControlActionButton(title: "Full", image: "light.max", tint: .teal) {
+                            robot.shine(.full, color: .blue)
                         }
                         RobotControlActionButton(title: "Turn off lights", image: "xmark", tint: .red) {
-                            // TODO(@ladislas): Add command
+                            robot.stopLights()
                         }
                     }
                 }
@@ -60,16 +70,16 @@ struct RobotControlView: View {
                         .font(.title)
                     HStack {
                         RobotControlActionButton(title: "Rainbow", image: "number.circle", tint: .orange) {
-                            // TODO(@ladislas): Add command
+                            robot.run(.rainbow)
                         }
                         RobotControlActionButton(title: "Fire", image: "number.circle", tint: .green) {
-                            // TODO(@ladislas): Add command
+                            robot.run(.fire)
                         }
                         RobotControlActionButton(title: "Spin 1", image: "number.circle", tint: .indigo) {
-                            // TODO(@ladislas): Add command
+                            robot.run(.spinBlinkGreenOff)
                         }
                         RobotControlActionButton(title: "Spin 2", image: "number.circle", tint: .teal) {
-                            // TODO(@ladislas): Add command
+                            robot.run(.spinBlinkBlueViolet)
                         }
                     }
                 }
@@ -78,10 +88,9 @@ struct RobotControlView: View {
                     Text("Magic Cards")
                         .font(.title)
                     HStack(alignment: .center, spacing: 30) {
-                        Text("ID: 0x\(String(0xDEAD_BEEF, radix: 16, uppercase: true))")
+                        Text("ID: 0x\(String(format: "%04X", viewModel.magicCard.id))")
                             .monospacedDigit()
-                        // TODO(@ladislas): Display image of magic card read by the robot
-                        Image(systemName: "photo")
+                        viewModel.magicCardImage
                             .resizable()
                             .aspectRatio(contentMode: .fit)
                             .frame(height: 180)
@@ -100,8 +109,7 @@ struct RobotControlView: View {
 
     var stopButton: some View {
         Button {
-            print("STOP ROBOT")
-            // TODO(@ladislas): Add command
+            robot.stop()
         } label: {
             Image(systemName: "exclamationmark.octagon.fill")
             Text("STOP")
@@ -113,7 +121,9 @@ struct RobotControlView: View {
 }
 
 #Preview {
-    NavigationStack {
-        RobotControlView()
+    let viewModel = RobotControlViewModel(robot: Robot.shared)
+
+    return NavigationStack {
+        RobotControlView(viewModel: viewModel)
     }
 }