🔀 Merge branch 'ladislas/feature/robotkit+send_commands'

.swiftlint.yml

@@ -22,17 +22,19 @@ identifier_name:
   min_length: # only min_length
     error: 4 # only error
   excluded:
-    - id
-    - rx
-    - tx
-    - URL
+    - ble
     - BLE
-    - new
+    - cmd
+    - i
+    - id
     - img
     - lhs
-    - rhs
-    - i
+    - new
     - red
+    - rhs
+    - rx
+    - tx
+    - URL
 
 line_length:
   warning: 130

Modules/RobotKit/Examples/RobotKitExample/Sources/Views/RobotControlView.swift

@@ -24,18 +24,18 @@ struct RobotControlView: View {
                         .font(.title)
                     HStack {
                         RobotControlActionButton(title: "Move forward", image: "arrow.up", tint: .orange) {
-                            robot.move(.forward, speed: 1.0)
+                            robot.move(.forward(speed: 1.0))
                         }
                         RobotControlActionButton(title: "Move backward", image: "arrow.down", tint: .green) {
-                            robot.move(.backward, speed: 0.5)
+                            robot.move(.backward(speed: 0.5))
                         }
                         RobotControlActionButton(title: "Spin clockwise", image: "arrow.clockwise", tint: .indigo) {
-                            robot.spin(.clockwise, speed: 0.7)
+                            robot.move(.spin(.clockwise, speed: 0.7))
                         }
                         RobotControlActionButton(
                             title: "Spin counterclockwise", image: "arrow.counterclockwise", tint: .teal
                         ) {
-                            robot.spin(.counterclockwise, speed: 1.0)
+                            robot.move(.spin(.counterclockwise, speed: 0.7))
                         }
                         RobotControlActionButton(title: "Stop motion", image: "xmark", tint: .red) {
                             robot.stopMotion()
@@ -48,16 +48,21 @@ struct RobotControlView: View {
                         .font(.title)
                     HStack {
                         RobotControlActionButton(title: "Individual LEDs", image: "light.max", tint: .orange) {
-                            robot.shine(.spot(ids: [0, 4, 8, 10, 12]), color: .red)
+                            robot.shine(.spot(.belt, ids: [0, 4, 8, 10, 12], in: .red))
                         }
                         RobotControlActionButton(title: "Quarters", image: "light.max", tint: .green) {
-                            robot.shine(.quarterBackLeft, color: .blue)
+                            robot.shine(.quarterFrontLeft(in: .blue))
+                            robot.shine(.quarterFrontRight(in: .red))
+                            robot.shine(.quarterBackLeft(in: .red))
+                            robot.shine(.quarterBackRight(in: .blue))
                         }
                         RobotControlActionButton(title: "Halves", image: "light.max", tint: .indigo) {
-                            robot.shine(.halfRight, color: .green)
+                            robot.shine(.halfRight(in: .green))
+                            robot.shine(.halfLeft(in: .red))
                         }
-                        RobotControlActionButton(title: "Full", image: "light.max", tint: .teal) {
-                            robot.shine(.full, color: .blue)
+                        RobotControlActionButton(title: "Full belt + ears", image: "light.max", tint: .teal) {
+                            robot.shine(.full(.belt, in: .blue))
+                            robot.shine(.full(.ears, in: .green))
                         }
                         RobotControlActionButton(title: "Turn off lights", image: "xmark", tint: .red) {
                             robot.stopLights()

Modules/RobotKit/Sources/Extensions/Array+checksum8.swift

@@ -0,0 +1,17 @@
+// Leka - iOS Monorepo
+// Copyright 2023 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+extension Array where Element == UInt8 {
+
+    public var checksum8: UInt8 {
+        var checksum: Int = 0
+
+        for value in self {
+            checksum = (Int(value) + checksum) % 256
+        }
+
+        return UInt8(checksum)
+    }
+
+}

Modules/RobotKit/Sources/Robot+Colors.swift

@@ -0,0 +1,45 @@
+// Leka - iOS Monorepo
+// Copyright 2023 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+import Foundation
+
+extension Robot {
+
+    public struct Color {
+
+        public var data: [UInt8]
+
+        init(_ values: UInt8...) {
+            guard values.count == 3 else { fatalError() }
+            data = values
+        }
+
+        public var red: UInt8 {
+            data[0]
+        }
+
+        public var green: UInt8 {
+            data[1]
+        }
+
+        public var blue: UInt8 {
+            data[2]
+        }
+
+        public static let black: Color = Color(0, 0, 0)
+        public static let white: Color = Color(255, 255, 255)
+
+        public static let red: Color = Color(255, 0, 0)
+        public static let green: Color = Color(0, 150, 0)
+        public static let blue: Color = Color(0, 0, 255)
+
+        public static let orange: Color = Color(248, 100, 0)
+        public static let yellow: Color = Color(255, 255, 0)
+        public static let lightBlue: Color = Color(0, 121, 255)
+        public static let purple: Color = Color(20, 0, 80)
+        public static let pink: Color = Color(255, 0, 127)
+
+    }
+
+}

Modules/RobotKit/Sources/Robot+Commands.swift

@@ -0,0 +1,29 @@
+// Leka - iOS Monorepo
+// Copyright 2023 APF France handicap
+// SPDX-License-Identifier: Apache-2.0
+
+import Foundation
+
+extension Robot {
+
+    static let kHeaderPattern: [UInt8] = [0x2A, 0x2A, 0x2A, 0x2A]
+
+    func commandGenerator(commands: [UInt8]...) -> Data {
+        commandGenerator(commands: commands)
+    }
+
+    func commandGenerator(commands: [[UInt8]]) -> Data {
+        let commands = commands.filter { $0 != [] }
+        var output: [UInt8] = []
+
+        output.append(contentsOf: Robot.kHeaderPattern)
+        output.append(UInt8(commands.count))
+
+        for command in commands {
+            output.append(contentsOf: command)
+        }
+
+        return Data(output)
+    }
+
+}