118 lines
3.8 KiB
Swift
118 lines
3.8 KiB
Swift
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import SwiftUI
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import ARKit
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struct ContentView: View {
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@EnvironmentObject var ble: BLEManager
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@EnvironmentObject var ni: NIManager
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@EnvironmentObject var ar: ARManager
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@EnvironmentObject var estimator: AnchorEstimator
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var body: some View {
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ZStack {
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ARViewContainer(arManager: ar, estimator: estimator)
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.ignoresSafeArea()
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if let angle = estimator.offScreenAngle {
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Image(systemName: "location.north.fill")
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.resizable()
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.aspectRatio(contentMode: .fit)
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.frame(width: 40, height: 40)
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.foregroundColor(.red)
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.shadow(radius: 5)
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// The image points "Up".
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// SwiftUI rotates clockwise. Angle is mathematically CCW.
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// If angle = 0 (right), we need it to point Right, so rotate 90 deg clockwise.
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// Actually, if image points UP, we rotate by PI/2 - angle.
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.rotationEffect(.radians(.pi / 2 - angle))
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// Offset moves it towards the edge
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.offset(x: cos(angle) * 140, y: -sin(angle) * 140)
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.animation(.interactiveSpring(), value: angle)
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}
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VStack {
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HUDView(ble: ble, ni: ni, estimator: estimator)
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.padding()
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Spacer()
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Button("Reset Estimate") {
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estimator.reset()
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}
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.buttonStyle(.borderedProminent)
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.tint(.red.opacity(0.8))
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.padding(.bottom, 40)
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}
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}
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}
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}
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// MARK: - HUD overlay
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private struct HUDView: View {
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@ObservedObject var ble: BLEManager
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@ObservedObject var ni: NIManager
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@ObservedObject var estimator: AnchorEstimator
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var body: some View {
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VStack(alignment: .leading, spacing: 6) {
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HUDRow(label: "BLE", value: bleStateText)
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HUDRow(label: "NI", value: niStateText)
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HUDRow(label: "Range", value: rangeText)
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HUDRow(label: "Measurements", value: "\(estimator.measurementCount)")
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HUDRow(label: "Residual", value: String(format: "%.3f m", estimator.residualError))
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}
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.padding(12)
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.background(.ultraThinMaterial, in: RoundedRectangle(cornerRadius: 12))
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.frame(maxWidth: .infinity, alignment: .leading)
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}
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private var bleStateText: String {
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switch ble.connectionState {
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case .disconnected: return "Disconnected"
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case .scanning: return "Scanning…"
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case .connecting: return "Connecting…"
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case .connected: return "Connected"
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}
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}
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private var niStateText: String {
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switch ni.sessionState {
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case .idle: return "Idle"
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case .waitingForAccessory: return "Waiting for board…"
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case .configuring: return "Configuring…"
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case .ranging: return "Ranging"
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case .error(let msg): return "Error: \(msg)"
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}
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}
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private var rangeText: String {
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if let r = ni.lastRange {
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return String(format: "%.2f m", r)
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}
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return "—"
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}
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}
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private struct HUDRow: View {
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let label: String
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let value: String
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var body: some View {
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HStack {
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Text(label)
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.font(.caption.bold())
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.foregroundStyle(.secondary)
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.frame(width: 100, alignment: .leading)
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Text(value)
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.font(.caption)
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.foregroundStyle(.primary)
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}
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}
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}
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#Preview {
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ContentView()
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.environmentObject(BLEManager())
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.environmentObject(NIManager())
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.environmentObject(ARManager())
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.environmentObject(AnchorEstimator())
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}
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