adipu/TrackingDemo
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Stable tracking of DWM module

Browse Source
This commit is contained in:
pulipakaa24
2026-04-18 14:15:33 -04:00
parent 22aa8a5dee
commit 00e8a7656c
21 changed files with 1860 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

BIN
.DS_Store vendored Normal file
View File

Binary file not shown.

631
NearbyDemo.xcodeproj/project.pbxproj Normal file
View File

@@ -0,0 +1,631 @@
// !$*UTF8*$!
{
archiveVersion = 1;
classes = {
};
objectVersion = 77;
objects = {
/* Begin PBXBuildFile section */
86A1B8E92F931912007D8DF7 /* NearbyInteraction.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = 86A1B8E82F931912007D8DF7 /* NearbyInteraction.framework */; };
86A1B8EB2F931918007D8DF7 /* CoreBluetooth.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = 86A1B8EA2F931918007D8DF7 /* CoreBluetooth.framework */; };
86A1B8ED2F931920007D8DF7 /* ARKit.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = 86A1B8EC2F931920007D8DF7 /* ARKit.framework */; };
86A1B8EF2F93192A007D8DF7 /* RealityKit.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = 86A1B8EE2F93192A007D8DF7 /* RealityKit.framework */; };
/* End PBXBuildFile section */
/* Begin PBXContainerItemProxy section */
86D2C31C2F91DFA80031AF9B /* PBXContainerItemProxy */ = {
isa = PBXContainerItemProxy;
containerPortal = 86D2C3062F91DFA50031AF9B /* Project object */;
proxyType = 1;
remoteGlobalIDString = 86D2C30D2F91DFA50031AF9B;
remoteInfo = NearbyDemo;
};
86D2C3262F91DFA80031AF9B /* PBXContainerItemProxy */ = {
isa = PBXContainerItemProxy;
containerPortal = 86D2C3062F91DFA50031AF9B /* Project object */;
proxyType = 1;
remoteGlobalIDString = 86D2C30D2F91DFA50031AF9B;
remoteInfo = NearbyDemo;
};
/* End PBXContainerItemProxy section */
/* Begin PBXFileReference section */
86A1B8E82F931912007D8DF7 /* NearbyInteraction.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = NearbyInteraction.framework; path = System/Library/Frameworks/NearbyInteraction.framework; sourceTree = SDKROOT; };
86A1B8EA2F931918007D8DF7 /* CoreBluetooth.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = CoreBluetooth.framework; path = System/Library/Frameworks/CoreBluetooth.framework; sourceTree = SDKROOT; };
86A1B8EC2F931920007D8DF7 /* ARKit.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = ARKit.framework; path = System/Library/Frameworks/ARKit.framework; sourceTree = SDKROOT; };
86A1B8EE2F93192A007D8DF7 /* RealityKit.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = RealityKit.framework; path = System/Library/Frameworks/RealityKit.framework; sourceTree = SDKROOT; };
86D2C30E2F91DFA50031AF9B /* NearbyDemo.app */ = {isa = PBXFileReference; explicitFileType = wrapper.application; includeInIndex = 0; path = NearbyDemo.app; sourceTree = BUILT_PRODUCTS_DIR; };
86D2C31B2F91DFA80031AF9B /* NearbyDemoTests.xctest */ = {isa = PBXFileReference; explicitFileType = wrapper.cfbundle; includeInIndex = 0; path = NearbyDemoTests.xctest; sourceTree = BUILT_PRODUCTS_DIR; };
86D2C3252F91DFA80031AF9B /* NearbyDemoUITests.xctest */ = {isa = PBXFileReference; explicitFileType = wrapper.cfbundle; includeInIndex = 0; path = NearbyDemoUITests.xctest; sourceTree = BUILT_PRODUCTS_DIR; };
/* End PBXFileReference section */
/* Begin PBXFileSystemSynchronizedBuildFileExceptionSet section */
86A1B8F12F9319C3007D8DF7 /* Exceptions for "NearbyDemo" folder in "NearbyDemo" target */ = {
isa = PBXFileSystemSynchronizedBuildFileExceptionSet;
membershipExceptions = (
Info.plist,
);
target = 86D2C30D2F91DFA50031AF9B /* NearbyDemo */;
};
/* End PBXFileSystemSynchronizedBuildFileExceptionSet section */
/* Begin PBXFileSystemSynchronizedRootGroup section */
86D2C3102F91DFA50031AF9B /* NearbyDemo */ = {
isa = PBXFileSystemSynchronizedRootGroup;
exceptions = (
86A1B8F12F9319C3007D8DF7 /* Exceptions for "NearbyDemo" folder in "NearbyDemo" target */,
);
path = NearbyDemo;
sourceTree = "<group>";
};
86D2C31E2F91DFA80031AF9B /* NearbyDemoTests */ = {
isa = PBXFileSystemSynchronizedRootGroup;
path = NearbyDemoTests;
sourceTree = "<group>";
};
86D2C3282F91DFA80031AF9B /* NearbyDemoUITests */ = {
isa = PBXFileSystemSynchronizedRootGroup;
path = NearbyDemoUITests;
sourceTree = "<group>";
};
/* End PBXFileSystemSynchronizedRootGroup section */
/* Begin PBXFrameworksBuildPhase section */
86D2C30B2F91DFA50031AF9B /* Frameworks */ = {
isa = PBXFrameworksBuildPhase;
buildActionMask = 2147483647;
files = (
86A1B8ED2F931920007D8DF7 /* ARKit.framework in Frameworks */,
86A1B8EB2F931918007D8DF7 /* CoreBluetooth.framework in Frameworks */,
86A1B8EF2F93192A007D8DF7 /* RealityKit.framework in Frameworks */,
86A1B8E92F931912007D8DF7 /* NearbyInteraction.framework in Frameworks */,
);
runOnlyForDeploymentPostprocessing = 0;
};
86D2C3182F91DFA80031AF9B /* Frameworks */ = {
isa = PBXFrameworksBuildPhase;
buildActionMask = 2147483647;
files = (
);
runOnlyForDeploymentPostprocessing = 0;
};
86D2C3222F91DFA80031AF9B /* Frameworks */ = {
isa = PBXFrameworksBuildPhase;
buildActionMask = 2147483647;
files = (
);
runOnlyForDeploymentPostprocessing = 0;
};
/* End PBXFrameworksBuildPhase section */
/* Begin PBXGroup section */
86A1B8E72F931911007D8DF7 /* Frameworks */ = {
isa = PBXGroup;
children = (
86A1B8EE2F93192A007D8DF7 /* RealityKit.framework */,
86A1B8EC2F931920007D8DF7 /* ARKit.framework */,
86A1B8EA2F931918007D8DF7 /* CoreBluetooth.framework */,
86A1B8E82F931912007D8DF7 /* NearbyInteraction.framework */,
);
name = Frameworks;
sourceTree = "<group>";
};
86D2C3052F91DFA50031AF9B = {
isa = PBXGroup;
children = (
86D2C3102F91DFA50031AF9B /* NearbyDemo */,
86D2C31E2F91DFA80031AF9B /* NearbyDemoTests */,
86D2C3282F91DFA80031AF9B /* NearbyDemoUITests */,
86A1B8E72F931911007D8DF7 /* Frameworks */,
86D2C30F2F91DFA50031AF9B /* Products */,
);
sourceTree = "<group>";
};
86D2C30F2F91DFA50031AF9B /* Products */ = {
isa = PBXGroup;
children = (
86D2C30E2F91DFA50031AF9B /* NearbyDemo.app */,
86D2C31B2F91DFA80031AF9B /* NearbyDemoTests.xctest */,
86D2C3252F91DFA80031AF9B /* NearbyDemoUITests.xctest */,
);
name = Products;
sourceTree = "<group>";
};
/* End PBXGroup section */
/* Begin PBXNativeTarget section */
86D2C30D2F91DFA50031AF9B /* NearbyDemo */ = {
isa = PBXNativeTarget;
buildConfigurationList = 86D2C32F2F91DFA80031AF9B /* Build configuration list for PBXNativeTarget "NearbyDemo" */;
buildPhases = (
86D2C30A2F91DFA50031AF9B /* Sources */,
86D2C30B2F91DFA50031AF9B /* Frameworks */,
86D2C30C2F91DFA50031AF9B /* Resources */,
);
buildRules = (
);
dependencies = (
);
fileSystemSynchronizedGroups = (
86D2C3102F91DFA50031AF9B /* NearbyDemo */,
);
name = NearbyDemo;
packageProductDependencies = (
);
productName = NearbyDemo;
productReference = 86D2C30E2F91DFA50031AF9B /* NearbyDemo.app */;
productType = "com.apple.product-type.application";
};
86D2C31A2F91DFA80031AF9B /* NearbyDemoTests */ = {
isa = PBXNativeTarget;
buildConfigurationList = 86D2C3322F91DFA80031AF9B /* Build configuration list for PBXNativeTarget "NearbyDemoTests" */;
buildPhases = (
86D2C3172F91DFA80031AF9B /* Sources */,
86D2C3182F91DFA80031AF9B /* Frameworks */,
86D2C3192F91DFA80031AF9B /* Resources */,
);
buildRules = (
);
dependencies = (
86D2C31D2F91DFA80031AF9B /* PBXTargetDependency */,
);
fileSystemSynchronizedGroups = (
86D2C31E2F91DFA80031AF9B /* NearbyDemoTests */,
);
name = NearbyDemoTests;
packageProductDependencies = (
);
productName = NearbyDemoTests;
productReference = 86D2C31B2F91DFA80031AF9B /* NearbyDemoTests.xctest */;
productType = "com.apple.product-type.bundle.unit-test";
};
86D2C3242F91DFA80031AF9B /* NearbyDemoUITests */ = {
isa = PBXNativeTarget;
buildConfigurationList = 86D2C3352F91DFA80031AF9B /* Build configuration list for PBXNativeTarget "NearbyDemoUITests" */;
buildPhases = (
86D2C3212F91DFA80031AF9B /* Sources */,
86D2C3222F91DFA80031AF9B /* Frameworks */,
86D2C3232F91DFA80031AF9B /* Resources */,
);
buildRules = (
);
dependencies = (
86D2C3272F91DFA80031AF9B /* PBXTargetDependency */,
);
fileSystemSynchronizedGroups = (
86D2C3282F91DFA80031AF9B /* NearbyDemoUITests */,
);
name = NearbyDemoUITests;
packageProductDependencies = (
);
productName = NearbyDemoUITests;
productReference = 86D2C3252F91DFA80031AF9B /* NearbyDemoUITests.xctest */;
productType = "com.apple.product-type.bundle.ui-testing";
};
/* End PBXNativeTarget section */
/* Begin PBXProject section */
86D2C3062F91DFA50031AF9B /* Project object */ = {
isa = PBXProject;
attributes = {
BuildIndependentTargetsInParallel = 1;
LastSwiftUpdateCheck = 2640;
LastUpgradeCheck = 2640;
TargetAttributes = {
86D2C30D2F91DFA50031AF9B = {
CreatedOnToolsVersion = 26.4;
};
86D2C31A2F91DFA80031AF9B = {
CreatedOnToolsVersion = 26.4;
TestTargetID = 86D2C30D2F91DFA50031AF9B;
};
86D2C3242F91DFA80031AF9B = {
CreatedOnToolsVersion = 26.4;
TestTargetID = 86D2C30D2F91DFA50031AF9B;
};
};
};
buildConfigurationList = 86D2C3092F91DFA50031AF9B /* Build configuration list for PBXProject "NearbyDemo" */;
developmentRegion = en;
hasScannedForEncodings = 0;
knownRegions = (
en,
Base,
);
mainGroup = 86D2C3052F91DFA50031AF9B;
minimizedProjectReferenceProxies = 1;
preferredProjectObjectVersion = 77;
productRefGroup = 86D2C30F2F91DFA50031AF9B /* Products */;
projectDirPath = "";
projectRoot = "";
targets = (
86D2C30D2F91DFA50031AF9B /* NearbyDemo */,
86D2C31A2F91DFA80031AF9B /* NearbyDemoTests */,
86D2C3242F91DFA80031AF9B /* NearbyDemoUITests */,
);
};
/* End PBXProject section */
/* Begin PBXResourcesBuildPhase section */
86D2C30C2F91DFA50031AF9B /* Resources */ = {
isa = PBXResourcesBuildPhase;
buildActionMask = 2147483647;
files = (
);
runOnlyForDeploymentPostprocessing = 0;
};
86D2C3192F91DFA80031AF9B /* Resources */ = {
isa = PBXResourcesBuildPhase;
buildActionMask = 2147483647;
files = (
);
runOnlyForDeploymentPostprocessing = 0;
};
86D2C3232F91DFA80031AF9B /* Resources */ = {
isa = PBXResourcesBuildPhase;
buildActionMask = 2147483647;
files = (
);
runOnlyForDeploymentPostprocessing = 0;
};
/* End PBXResourcesBuildPhase section */
/* Begin PBXSourcesBuildPhase section */
86D2C30A2F91DFA50031AF9B /* Sources */ = {
isa = PBXSourcesBuildPhase;
buildActionMask = 2147483647;
files = (
);
runOnlyForDeploymentPostprocessing = 0;
};
86D2C3172F91DFA80031AF9B /* Sources */ = {
isa = PBXSourcesBuildPhase;
buildActionMask = 2147483647;
files = (
);
runOnlyForDeploymentPostprocessing = 0;
};
86D2C3212F91DFA80031AF9B /* Sources */ = {
isa = PBXSourcesBuildPhase;
buildActionMask = 2147483647;
files = (
);
runOnlyForDeploymentPostprocessing = 0;
};
/* End PBXSourcesBuildPhase section */
/* Begin PBXTargetDependency section */
86D2C31D2F91DFA80031AF9B /* PBXTargetDependency */ = {
isa = PBXTargetDependency;
target = 86D2C30D2F91DFA50031AF9B /* NearbyDemo */;
targetProxy = 86D2C31C2F91DFA80031AF9B /* PBXContainerItemProxy */;
};
86D2C3272F91DFA80031AF9B /* PBXTargetDependency */ = {
isa = PBXTargetDependency;
target = 86D2C30D2F91DFA50031AF9B /* NearbyDemo */;
targetProxy = 86D2C3262F91DFA80031AF9B /* PBXContainerItemProxy */;
};
/* End PBXTargetDependency section */
/* Begin XCBuildConfiguration section */
86D2C32D2F91DFA80031AF9B /* Debug */ = {
isa = XCBuildConfiguration;
buildSettings = {
ALWAYS_SEARCH_USER_PATHS = NO;
ASSETCATALOG_COMPILER_GENERATE_SWIFT_ASSET_SYMBOL_EXTENSIONS = YES;
CLANG_ANALYZER_NONNULL = YES;
CLANG_ANALYZER_NUMBER_OBJECT_CONVERSION = YES_AGGRESSIVE;
CLANG_CXX_LANGUAGE_STANDARD = "gnu++20";
CLANG_ENABLE_MODULES = YES;
CLANG_ENABLE_OBJC_ARC = YES;
CLANG_ENABLE_OBJC_WEAK = YES;
CLANG_WARN_BLOCK_CAPTURE_AUTORELEASING = YES;
CLANG_WARN_BOOL_CONVERSION = YES;
CLANG_WARN_COMMA = YES;
CLANG_WARN_CONSTANT_CONVERSION = YES;
CLANG_WARN_DEPRECATED_OBJC_IMPLEMENTATIONS = YES;
CLANG_WARN_DIRECT_OBJC_ISA_USAGE = YES_ERROR;
CLANG_WARN_DOCUMENTATION_COMMENTS = YES;
CLANG_WARN_EMPTY_BODY = YES;
CLANG_WARN_ENUM_CONVERSION = YES;
CLANG_WARN_INFINITE_RECURSION = YES;
CLANG_WARN_INT_CONVERSION = YES;
CLANG_WARN_NON_LITERAL_NULL_CONVERSION = YES;
CLANG_WARN_OBJC_IMPLICIT_RETAIN_SELF = YES;
CLANG_WARN_OBJC_LITERAL_CONVERSION = YES;
CLANG_WARN_OBJC_ROOT_CLASS = YES_ERROR;
CLANG_WARN_QUOTED_INCLUDE_IN_FRAMEWORK_HEADER = YES;
CLANG_WARN_RANGE_LOOP_ANALYSIS = YES;
CLANG_WARN_STRICT_PROTOTYPES = YES;
CLANG_WARN_SUSPICIOUS_MOVE = YES;
CLANG_WARN_UNGUARDED_AVAILABILITY = YES_AGGRESSIVE;
CLANG_WARN_UNREACHABLE_CODE = YES;
CLANG_WARN__DUPLICATE_METHOD_MATCH = YES;
COPY_PHASE_STRIP = NO;
DEBUG_INFORMATION_FORMAT = dwarf;
DEVELOPMENT_TEAM = YK2DB9NT3S;
ENABLE_STRICT_OBJC_MSGSEND = YES;
ENABLE_TESTABILITY = YES;
ENABLE_USER_SCRIPT_SANDBOXING = YES;
GCC_C_LANGUAGE_STANDARD = gnu17;
GCC_DYNAMIC_NO_PIC = NO;
GCC_NO_COMMON_BLOCKS = YES;
GCC_OPTIMIZATION_LEVEL = 0;
GCC_PREPROCESSOR_DEFINITIONS = (
"DEBUG=1",
"$(inherited)",
);
GCC_WARN_64_TO_32_BIT_CONVERSION = YES;
GCC_WARN_ABOUT_RETURN_TYPE = YES_ERROR;
GCC_WARN_UNDECLARED_SELECTOR = YES;
GCC_WARN_UNINITIALIZED_AUTOS = YES_AGGRESSIVE;
GCC_WARN_UNUSED_FUNCTION = YES;
GCC_WARN_UNUSED_VARIABLE = YES;
IPHONEOS_DEPLOYMENT_TARGET = 26.4;
LOCALIZATION_PREFERS_STRING_CATALOGS = YES;
MTL_ENABLE_DEBUG_INFO = INCLUDE_SOURCE;
MTL_FAST_MATH = YES;
ONLY_ACTIVE_ARCH = YES;
SDKROOT = iphoneos;
SWIFT_ACTIVE_COMPILATION_CONDITIONS = "DEBUG $(inherited)";
SWIFT_OPTIMIZATION_LEVEL = "-Onone";
};
name = Debug;
};
86D2C32E2F91DFA80031AF9B /* Release */ = {
isa = XCBuildConfiguration;
buildSettings = {
ALWAYS_SEARCH_USER_PATHS = NO;
ASSETCATALOG_COMPILER_GENERATE_SWIFT_ASSET_SYMBOL_EXTENSIONS = YES;
CLANG_ANALYZER_NONNULL = YES;
CLANG_ANALYZER_NUMBER_OBJECT_CONVERSION = YES_AGGRESSIVE;
CLANG_CXX_LANGUAGE_STANDARD = "gnu++20";
CLANG_ENABLE_MODULES = YES;
CLANG_ENABLE_OBJC_ARC = YES;
CLANG_ENABLE_OBJC_WEAK = YES;
CLANG_WARN_BLOCK_CAPTURE_AUTORELEASING = YES;
CLANG_WARN_BOOL_CONVERSION = YES;
CLANG_WARN_COMMA = YES;
CLANG_WARN_CONSTANT_CONVERSION = YES;
CLANG_WARN_DEPRECATED_OBJC_IMPLEMENTATIONS = YES;
CLANG_WARN_DIRECT_OBJC_ISA_USAGE = YES_ERROR;
CLANG_WARN_DOCUMENTATION_COMMENTS = YES;
CLANG_WARN_EMPTY_BODY = YES;
CLANG_WARN_ENUM_CONVERSION = YES;
CLANG_WARN_INFINITE_RECURSION = YES;
CLANG_WARN_INT_CONVERSION = YES;
CLANG_WARN_NON_LITERAL_NULL_CONVERSION = YES;
CLANG_WARN_OBJC_IMPLICIT_RETAIN_SELF = YES;
CLANG_WARN_OBJC_LITERAL_CONVERSION = YES;
CLANG_WARN_OBJC_ROOT_CLASS = YES_ERROR;
CLANG_WARN_QUOTED_INCLUDE_IN_FRAMEWORK_HEADER = YES;
CLANG_WARN_RANGE_LOOP_ANALYSIS = YES;
CLANG_WARN_STRICT_PROTOTYPES = YES;
CLANG_WARN_SUSPICIOUS_MOVE = YES;
CLANG_WARN_UNGUARDED_AVAILABILITY = YES_AGGRESSIVE;
CLANG_WARN_UNREACHABLE_CODE = YES;
CLANG_WARN__DUPLICATE_METHOD_MATCH = YES;
COPY_PHASE_STRIP = NO;
DEBUG_INFORMATION_FORMAT = "dwarf-with-dsym";
DEVELOPMENT_TEAM = YK2DB9NT3S;
ENABLE_NS_ASSERTIONS = NO;
ENABLE_STRICT_OBJC_MSGSEND = YES;
ENABLE_USER_SCRIPT_SANDBOXING = YES;
GCC_C_LANGUAGE_STANDARD = gnu17;
GCC_NO_COMMON_BLOCKS = YES;
GCC_WARN_64_TO_32_BIT_CONVERSION = YES;
GCC_WARN_ABOUT_RETURN_TYPE = YES_ERROR;
GCC_WARN_UNDECLARED_SELECTOR = YES;
GCC_WARN_UNINITIALIZED_AUTOS = YES_AGGRESSIVE;
GCC_WARN_UNUSED_FUNCTION = YES;
GCC_WARN_UNUSED_VARIABLE = YES;
IPHONEOS_DEPLOYMENT_TARGET = 26.4;
LOCALIZATION_PREFERS_STRING_CATALOGS = YES;
MTL_ENABLE_DEBUG_INFO = NO;
MTL_FAST_MATH = YES;
SDKROOT = iphoneos;
SWIFT_COMPILATION_MODE = wholemodule;
VALIDATE_PRODUCT = YES;
};
name = Release;
};
86D2C3302F91DFA80031AF9B /* Debug */ = {
isa = XCBuildConfiguration;
buildSettings = {
ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon;
ASSETCATALOG_COMPILER_GLOBAL_ACCENT_COLOR_NAME = AccentColor;
CODE_SIGN_STYLE = Automatic;
CURRENT_PROJECT_VERSION = 1;
DEVELOPMENT_TEAM = YK2DB9NT3S;
ENABLE_PREVIEWS = YES;
GENERATE_INFOPLIST_FILE = YES;
INFOPLIST_FILE = NearbyDemo/Info.plist;
INFOPLIST_KEY_NSBluetoothAlwaysUsageDescription = "Bluetooth necessary for token exchange with DWM module";
INFOPLIST_KEY_NSCameraUsageDescription = "Camera necessary for local environment tracking and AR experience.";
INFOPLIST_KEY_NSNearbyInteractionUsageDescription = "Nearby interaction necessary to place user in space relative to DWM module.";
INFOPLIST_KEY_UIApplicationSceneManifest_Generation = YES;
INFOPLIST_KEY_UIApplicationSupportsIndirectInputEvents = YES;
INFOPLIST_KEY_UILaunchScreen_Generation = YES;
INFOPLIST_KEY_UISupportedInterfaceOrientations_iPad = "UIInterfaceOrientationPortrait UIInterfaceOrientationPortraitUpsideDown UIInterfaceOrientationLandscapeLeft UIInterfaceOrientationLandscapeRight";
INFOPLIST_KEY_UISupportedInterfaceOrientations_iPhone = "UIInterfaceOrientationPortrait UIInterfaceOrientationLandscapeLeft UIInterfaceOrientationLandscapeRight";
LD_RUNPATH_SEARCH_PATHS = (
"$(inherited)",
"@executable_path/Frameworks",
);
MARKETING_VERSION = 1.0;
PRODUCT_BUNDLE_IDENTIFIER = com.adipu.NearbyDemo;
PRODUCT_NAME = "$(TARGET_NAME)";
STRING_CATALOG_GENERATE_SYMBOLS = YES;
SWIFT_APPROACHABLE_CONCURRENCY = YES;
SWIFT_DEFAULT_ACTOR_ISOLATION = MainActor;
SWIFT_EMIT_LOC_STRINGS = YES;
SWIFT_UPCOMING_FEATURE_MEMBER_IMPORT_VISIBILITY = YES;
SWIFT_VERSION = 5.0;
TARGETED_DEVICE_FAMILY = "1,2";
};
name = Debug;
};
86D2C3312F91DFA80031AF9B /* Release */ = {
isa = XCBuildConfiguration;
buildSettings = {
ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon;
ASSETCATALOG_COMPILER_GLOBAL_ACCENT_COLOR_NAME = AccentColor;
CODE_SIGN_STYLE = Automatic;
CURRENT_PROJECT_VERSION = 1;
DEVELOPMENT_TEAM = YK2DB9NT3S;
ENABLE_PREVIEWS = YES;
GENERATE_INFOPLIST_FILE = YES;
INFOPLIST_FILE = NearbyDemo/Info.plist;
INFOPLIST_KEY_NSBluetoothAlwaysUsageDescription = "Bluetooth necessary for token exchange with DWM module";
INFOPLIST_KEY_NSCameraUsageDescription = "Camera necessary for local environment tracking and AR experience.";
INFOPLIST_KEY_NSNearbyInteractionUsageDescription = "Nearby interaction necessary to place user in space relative to DWM module.";
INFOPLIST_KEY_UIApplicationSceneManifest_Generation = YES;
INFOPLIST_KEY_UIApplicationSupportsIndirectInputEvents = YES;
INFOPLIST_KEY_UILaunchScreen_Generation = YES;
INFOPLIST_KEY_UISupportedInterfaceOrientations_iPad = "UIInterfaceOrientationPortrait UIInterfaceOrientationPortraitUpsideDown UIInterfaceOrientationLandscapeLeft UIInterfaceOrientationLandscapeRight";
INFOPLIST_KEY_UISupportedInterfaceOrientations_iPhone = "UIInterfaceOrientationPortrait UIInterfaceOrientationLandscapeLeft UIInterfaceOrientationLandscapeRight";
LD_RUNPATH_SEARCH_PATHS = (
"$(inherited)",
"@executable_path/Frameworks",
);
MARKETING_VERSION = 1.0;
PRODUCT_BUNDLE_IDENTIFIER = com.adipu.NearbyDemo;
PRODUCT_NAME = "$(TARGET_NAME)";
STRING_CATALOG_GENERATE_SYMBOLS = YES;
SWIFT_APPROACHABLE_CONCURRENCY = YES;
SWIFT_DEFAULT_ACTOR_ISOLATION = MainActor;
SWIFT_EMIT_LOC_STRINGS = YES;
SWIFT_UPCOMING_FEATURE_MEMBER_IMPORT_VISIBILITY = YES;
SWIFT_VERSION = 5.0;
TARGETED_DEVICE_FAMILY = "1,2";
};
name = Release;
};
86D2C3332F91DFA80031AF9B /* Debug */ = {
isa = XCBuildConfiguration;
buildSettings = {
BUNDLE_LOADER = "$(TEST_HOST)";
CODE_SIGN_STYLE = Automatic;
CURRENT_PROJECT_VERSION = 1;
DEVELOPMENT_TEAM = YK2DB9NT3S;
GENERATE_INFOPLIST_FILE = YES;
IPHONEOS_DEPLOYMENT_TARGET = 26.4;
MARKETING_VERSION = 1.0;
PRODUCT_BUNDLE_IDENTIFIER = com.adipu.NearbyDemoTests;
PRODUCT_NAME = "$(TARGET_NAME)";
STRING_CATALOG_GENERATE_SYMBOLS = NO;
SWIFT_APPROACHABLE_CONCURRENCY = YES;
SWIFT_EMIT_LOC_STRINGS = NO;
SWIFT_UPCOMING_FEATURE_MEMBER_IMPORT_VISIBILITY = YES;
SWIFT_VERSION = 5.0;
TARGETED_DEVICE_FAMILY = "1,2";
TEST_HOST = "$(BUILT_PRODUCTS_DIR)/NearbyDemo.app/$(BUNDLE_EXECUTABLE_FOLDER_PATH)/NearbyDemo";
};
name = Debug;
};
86D2C3342F91DFA80031AF9B /* Release */ = {
isa = XCBuildConfiguration;
buildSettings = {
BUNDLE_LOADER = "$(TEST_HOST)";
CODE_SIGN_STYLE = Automatic;
CURRENT_PROJECT_VERSION = 1;
DEVELOPMENT_TEAM = YK2DB9NT3S;
GENERATE_INFOPLIST_FILE = YES;
IPHONEOS_DEPLOYMENT_TARGET = 26.4;
MARKETING_VERSION = 1.0;
PRODUCT_BUNDLE_IDENTIFIER = com.adipu.NearbyDemoTests;
PRODUCT_NAME = "$(TARGET_NAME)";
STRING_CATALOG_GENERATE_SYMBOLS = NO;
SWIFT_APPROACHABLE_CONCURRENCY = YES;
SWIFT_EMIT_LOC_STRINGS = NO;
SWIFT_UPCOMING_FEATURE_MEMBER_IMPORT_VISIBILITY = YES;
SWIFT_VERSION = 5.0;
TARGETED_DEVICE_FAMILY = "1,2";
TEST_HOST = "$(BUILT_PRODUCTS_DIR)/NearbyDemo.app/$(BUNDLE_EXECUTABLE_FOLDER_PATH)/NearbyDemo";
};
name = Release;
};
86D2C3362F91DFA80031AF9B /* Debug */ = {
isa = XCBuildConfiguration;
buildSettings = {
CODE_SIGN_STYLE = Automatic;
CURRENT_PROJECT_VERSION = 1;
DEVELOPMENT_TEAM = YK2DB9NT3S;
GENERATE_INFOPLIST_FILE = YES;
MARKETING_VERSION = 1.0;
PRODUCT_BUNDLE_IDENTIFIER = com.adipu.NearbyDemoUITests;
PRODUCT_NAME = "$(TARGET_NAME)";
STRING_CATALOG_GENERATE_SYMBOLS = NO;
SWIFT_APPROACHABLE_CONCURRENCY = YES;
SWIFT_EMIT_LOC_STRINGS = NO;
SWIFT_UPCOMING_FEATURE_MEMBER_IMPORT_VISIBILITY = YES;
SWIFT_VERSION = 5.0;
TARGETED_DEVICE_FAMILY = "1,2";
TEST_TARGET_NAME = NearbyDemo;
};
name = Debug;
};
86D2C3372F91DFA80031AF9B /* Release */ = {
isa = XCBuildConfiguration;
buildSettings = {
CODE_SIGN_STYLE = Automatic;
CURRENT_PROJECT_VERSION = 1;
DEVELOPMENT_TEAM = YK2DB9NT3S;
GENERATE_INFOPLIST_FILE = YES;
MARKETING_VERSION = 1.0;
PRODUCT_BUNDLE_IDENTIFIER = com.adipu.NearbyDemoUITests;
PRODUCT_NAME = "$(TARGET_NAME)";
STRING_CATALOG_GENERATE_SYMBOLS = NO;
SWIFT_APPROACHABLE_CONCURRENCY = YES;
SWIFT_EMIT_LOC_STRINGS = NO;
SWIFT_UPCOMING_FEATURE_MEMBER_IMPORT_VISIBILITY = YES;
SWIFT_VERSION = 5.0;
TARGETED_DEVICE_FAMILY = "1,2";
TEST_TARGET_NAME = NearbyDemo;
};
name = Release;
};
/* End XCBuildConfiguration section */
/* Begin XCConfigurationList section */
86D2C3092F91DFA50031AF9B /* Build configuration list for PBXProject "NearbyDemo" */ = {
isa = XCConfigurationList;
buildConfigurations = (
86D2C32D2F91DFA80031AF9B /* Debug */,
86D2C32E2F91DFA80031AF9B /* Release */,
);
defaultConfigurationIsVisible = 0;
defaultConfigurationName = Release;
};
86D2C32F2F91DFA80031AF9B /* Build configuration list for PBXNativeTarget "NearbyDemo" */ = {
isa = XCConfigurationList;
buildConfigurations = (
86D2C3302F91DFA80031AF9B /* Debug */,
86D2C3312F91DFA80031AF9B /* Release */,
);
defaultConfigurationIsVisible = 0;
defaultConfigurationName = Release;
};
86D2C3322F91DFA80031AF9B /* Build configuration list for PBXNativeTarget "NearbyDemoTests" */ = {
isa = XCConfigurationList;
buildConfigurations = (
86D2C3332F91DFA80031AF9B /* Debug */,
86D2C3342F91DFA80031AF9B /* Release */,
);
defaultConfigurationIsVisible = 0;
defaultConfigurationName = Release;
};
86D2C3352F91DFA80031AF9B /* Build configuration list for PBXNativeTarget "NearbyDemoUITests" */ = {
isa = XCConfigurationList;
buildConfigurations = (
86D2C3362F91DFA80031AF9B /* Debug */,
86D2C3372F91DFA80031AF9B /* Release */,
);
defaultConfigurationIsVisible = 0;
defaultConfigurationName = Release;
};
/* End XCConfigurationList section */
};
rootObject = 86D2C3062F91DFA50031AF9B /* Project object */;
}

7
NearbyDemo.xcodeproj/project.xcworkspace/contents.xcworkspacedata generated Normal file
View File

@@ -0,0 +1,7 @@
<?xml version="1.0" encoding="UTF-8"?>
<Workspace
version = "1.0">
<FileRef
location = "self:">
</FileRef>
</Workspace>

104
NearbyDemo/ARViewContainer.swift Normal file
View File

@@ -0,0 +1,104 @@
import SwiftUI
import RealityKit
import ARKit
import Combine
struct ARViewContainer: UIViewRepresentable {
@ObservedObject var arManager: ARManager
@ObservedObject var estimator: AnchorEstimator
func makeUIView(context: Context) -> ARView {
let arView = ARView(frame: .zero, cameraMode: .ar, automaticallyConfigureSession: false)
arView.session = arManager.session
// Create the red sphere entity representing the UWB anchor
let sphereRadius: Float = 0.05
let mesh = MeshResource.generateSphere(radius: sphereRadius)
var material = UnlitMaterial()
material.color = .init(tint: .red)
let sphereEntity = ModelEntity(mesh: mesh, materials: [material])
sphereEntity.isEnabled = false
let anchorEntity = AnchorEntity(world: .zero)
anchorEntity.addChild(sphereEntity)
arView.scene.addAnchor(anchorEntity)
let coordinator = context.coordinator
coordinator.sphereEntity = sphereEntity
// SceneEvents.Update fires every rendered frame on the main thread.
// Updating sphere position here (rather than from the Combine sink) means:
// 1. The sphere is never "frozen" between 4 Hz UWB pings — it always reflects
// the latest world-space estimate relative to the smoothly moving camera.
// 2. We can apply EMA smoothing to hide step-changes from the solver.
coordinator.updateSub = arView.scene.subscribe(to: SceneEvents.Update.self) { [weak estimator, weak coordinator, weak sphereEntity, weak arView] _ in
guard let estimator, let coordinator, let sphereEntity else { return }
// EMA-smooth toward the latest estimate every frame.
// α ≈ 0.12 at 60 fps → time constant ≈ 120 ms. Hides solver step-changes
// without making the sphere feel sluggish.
let alpha: Float = 0.12
if let target = estimator.anchorPosition {
if let current = coordinator.smoothedPosition {
coordinator.smoothedPosition = current + alpha * (target - current)
} else {
coordinator.smoothedPosition = target // snap on first appearance
}
sphereEntity.setPosition(coordinator.smoothedPosition!, relativeTo: nil)
sphereEntity.isEnabled = true
} else {
coordinator.smoothedPosition = nil
sphereEntity.isEnabled = false
}
// Off-screen directional indicator using the smoothed position
guard let arView else { return }
guard let position = coordinator.smoothedPosition else {
if coordinator.lastAngle != nil {
DispatchQueue.main.async { estimator.offScreenAngle = nil }
coordinator.lastAngle = nil
}
return
}
let isOffScreen: Bool
if let proj = arView.project(position) {
isOffScreen = !arView.bounds.contains(proj)
} else {
isOffScreen = true
}
if isOffScreen {
guard let camera = arView.session.currentFrame?.camera else { return }
let cameraTransform = camera.transform
let localPos4 = simd_mul(simd_inverse(cameraTransform),
simd_float4(position.x, position.y, position.z, 1.0))
let angle = Double(atan2(localPos4.y, localPos4.x))
if coordinator.lastAngle == nil || abs(coordinator.lastAngle! - angle) > 0.05 {
coordinator.lastAngle = angle
DispatchQueue.main.async { estimator.offScreenAngle = angle }
}
} else {
if coordinator.lastAngle != nil {
DispatchQueue.main.async { estimator.offScreenAngle = nil }
coordinator.lastAngle = nil
}
}
}
return arView
}
func updateUIView(_ uiView: ARView, context: Context) {}
func makeCoordinator() -> Coordinator {
Coordinator()
}
class Coordinator {
var sphereEntity: ModelEntity?
var updateSub: (any Cancellable)?
var smoothedPosition: simd_float3? = nil
var lastAngle: Double?
}
}

11
NearbyDemo/Assets.xcassets/AccentColor.colorset/Contents.json Normal file
View File

@@ -0,0 +1,11 @@
{
"colors" : [
{
"idiom" : "universal"
}
],
"info" : {
"author" : "xcode",
"version" : 1
}
}

35
NearbyDemo/Assets.xcassets/AppIcon.appiconset/Contents.json Normal file
View File

@@ -0,0 +1,35 @@
{
"images" : [
{
"idiom" : "universal",
"platform" : "ios",
"size" : "1024x1024"
},
{
"appearances" : [
{
"appearance" : "luminosity",
"value" : "dark"
}
],
"idiom" : "universal",
"platform" : "ios",
"size" : "1024x1024"
},
{
"appearances" : [
{
"appearance" : "luminosity",
"value" : "tinted"
}
],
"idiom" : "universal",
"platform" : "ios",
"size" : "1024x1024"
}
],
"info" : {
"author" : "xcode",
"version" : 1
}
}

6
NearbyDemo/Assets.xcassets/Contents.json Normal file
View File

@@ -0,0 +1,6 @@
{
"info" : {
"author" : "xcode",
"version" : 1
}
}

117
NearbyDemo/ContentView.swift Normal file
View File

@@ -0,0 +1,117 @@
import SwiftUI
import ARKit
struct ContentView: View {
@EnvironmentObject var ble: BLEManager
@EnvironmentObject var ni: NIManager
@EnvironmentObject var ar: ARManager
@EnvironmentObject var estimator: AnchorEstimator
var body: some View {
ZStack {
ARViewContainer(arManager: ar, estimator: estimator)
.ignoresSafeArea()
if let angle = estimator.offScreenAngle {
Image(systemName: "location.north.fill")
.resizable()
.aspectRatio(contentMode: .fit)
.frame(width: 40, height: 40)
.foregroundColor(.red)
.shadow(radius: 5)
// The image points "Up".
// SwiftUI rotates clockwise. Angle is mathematically CCW.
// If angle = 0 (right), we need it to point Right, so rotate 90 deg clockwise.
// Actually, if image points UP, we rotate by PI/2 - angle.
.rotationEffect(.radians(.pi / 2 - angle))
// Offset moves it towards the edge
.offset(x: cos(angle) * 140, y: -sin(angle) * 140)
.animation(.interactiveSpring(), value: angle)
}
VStack {
HUDView(ble: ble, ni: ni, estimator: estimator)
.padding()
Spacer()
Button("Reset Estimate") {
estimator.reset()
}
.buttonStyle(.borderedProminent)
.tint(.red.opacity(0.8))
.padding(.bottom, 40)
}
}
}
}
// MARK: - HUD overlay
private struct HUDView: View {
@ObservedObject var ble: BLEManager
@ObservedObject var ni: NIManager
@ObservedObject var estimator: AnchorEstimator
var body: some View {
VStack(alignment: .leading, spacing: 6) {
HUDRow(label: "BLE", value: bleStateText)
HUDRow(label: "NI", value: niStateText)
HUDRow(label: "Range", value: rangeText)
HUDRow(label: "Measurements", value: "\(estimator.measurementCount)")
HUDRow(label: "Residual", value: String(format: "%.3f m", estimator.residualError))
}
.padding(12)
.background(.ultraThinMaterial, in: RoundedRectangle(cornerRadius: 12))
.frame(maxWidth: .infinity, alignment: .leading)
}
private var bleStateText: String {
switch ble.connectionState {
case .disconnected: return "Disconnected"
case .scanning: return "Scanning…"
case .connecting: return "Connecting…"
case .connected: return "Connected"
}
}
private var niStateText: String {
switch ni.sessionState {
case .idle: return "Idle"
case .waitingForAccessory: return "Waiting for board…"
case .configuring: return "Configuring…"
case .ranging: return "Ranging"
case .error(let msg): return "Error: \(msg)"
}
}
private var rangeText: String {
if let r = ni.lastRange {
return String(format: "%.2f m", r)
}
return "—"
}
}
private struct HUDRow: View {
let label: String
let value: String
var body: some View {
HStack {
Text(label)
.font(.caption.bold())
.foregroundStyle(.secondary)
.frame(width: 100, alignment: .leading)
Text(value)
.font(.caption)
.foregroundStyle(.primary)
}
}
}
#Preview {
ContentView()
.environmentObject(BLEManager())
.environmentObject(NIManager())
.environmentObject(ARManager())
.environmentObject(AnchorEstimator())
}

17
NearbyDemo/Info.plist Normal file
View File

@@ -0,0 +1,17 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
<plist version="1.0">
<dict>
<key>UIBackgroundModes</key>
<array>
<string>bluetooth-central</string>
<string>nearby-interaction</string>
</array>
<key>NSCameraUsageDescription</key>
<string>Camera is required for ARKit world tracking to estimate the UWB anchor position in 3D space.</string>
<key>NSBluetoothAlwaysUsageDescription</key>
<string>Bluetooth is used to communicate with the Qorvo DWM3001CDK UWB anchor and exchange NearbyInteraction session configuration data.</string>
<key>NSNearbyInteractionUsageDescription</key>
<string>Nearby Interaction is used to measure precise UWB distances to the DWM3001CDK anchor device.</string>
</dict>
</plist>

92
NearbyDemo/Managers/ARManager.swift Normal file
View File

@@ -0,0 +1,92 @@
import ARKit
import Combine
import Foundation
import simd
class ARManager: NSObject, ObservableObject {
let session = ARSession()
@Published var trackingState: ARCamera.TrackingState = .notAvailable
private(set) var poseBuffer: [TimestampedPose] = []
private let bufferCapacity = 120
private let bufferLock = NSLock()
override init() {
super.init()
session.delegate = self
}
func start() {
let config = ARWorldTrackingConfiguration()
config.worldAlignment = .gravity
config.planeDetection = []
config.isAutoFocusEnabled = false
session.run(config, options: [.resetTracking, .removeExistingAnchors])
print("[AR] Session started")
}
func stop() {
session.pause()
print("[AR] Session paused")
}
/// Returns the interpolated camera pose at the given system-uptime timestamp,
/// or nil if the timestamp is outside the current buffer range.
func poseAt(timestamp: TimeInterval) -> simd_float4x4? {
bufferLock.lock()
let buffer = poseBuffer
bufferLock.unlock()
guard buffer.count >= 2 else { return buffer.first?.transform }
// Outside range — clamp to edges
if timestamp <= buffer.first!.timestamp { return buffer.first?.transform }
if timestamp >= buffer.last!.timestamp { return buffer.last?.transform }
// Binary search for the bracketing pair
var lo = 0, hi = buffer.count - 1
while lo + 1 < hi {
let mid = (lo + hi) / 2
if buffer[mid].timestamp <= timestamp { lo = mid } else { hi = mid }
}
return PoseInterpolator.interpolate(from: buffer[lo], to: buffer[hi], at: timestamp)
}
}
// MARK: - ARSessionDelegate
extension ARManager: ARSessionDelegate {
func session(_ session: ARSession, didUpdate frame: ARFrame) {
let pose = TimestampedPose(transform: frame.camera.transform, timestamp: frame.timestamp)
bufferLock.lock()
poseBuffer.append(pose)
if poseBuffer.count > bufferCapacity {
poseBuffer.removeFirst()
}
bufferLock.unlock()
let state = frame.camera.trackingState
DispatchQueue.main.async {
self.trackingState = state
}
}
func sessionShouldAttemptRelocalization(_ session: ARSession) -> Bool {
// NI camera assistance requires this to return false
return false
}
func session(_ session: ARSession, didFailWithError error: Error) {
print("[AR] Session failed: \(error)")
}
func sessionWasInterrupted(_ session: ARSession) {
print("[AR] Session interrupted")
}
func sessionInterruptionEnded(_ session: ARSession) {
print("[AR] Session interruption ended — resetting")
start()
}
}

191
NearbyDemo/Managers/AnchorEstimator.swift Normal file
View File

@@ -0,0 +1,191 @@
import Combine
import Foundation
import simd
private struct Measurement {
let phonePosition: simd_float3
let range: Float
let cameraForward: simd_float3 // unit vector: -Z column of camera transform at measurement time
}
class AnchorEstimator: ObservableObject {
@Published var anchorPosition: simd_float3? = nil
@Published var measurementCount: Int = 0
@Published var residualError: Float = 0
@Published var offScreenAngle: Double? = nil
private let windowSize = 50
private let outlierThreshold: Float = 0.5
private var measurements: [Measurement] = []
private var currentEstimate: simd_float3? = nil
private var consecutiveOutliers: Int = 0
// Skip outlier rejection for the first N measurements so the solver can converge
// before the gate starts locking it in place.
private var bootstrapCount: Int = 0
private let bootstrapThreshold = 15
// MARK: - Public interface
/// Feed a UWB range measurement paired with the camera pose at that moment.
/// cameraForward is the unit vector pointing in the camera's -Z direction (world frame).
func addMeasurement(phonePosition: simd_float3, range: Float,
cameraForward: simd_float3 = simd_float3(0, 0, -1)) {
bootstrapCount += 1
let isBootstrapping = bootstrapCount <= bootstrapThreshold
// Outlier rejection against current estimate (disabled during bootstrap so the solver
// can converge before the gate starts rejecting corrective measurements).
if !isBootstrapping, let est = currentEstimate {
let predicted = simd_length(phonePosition - est)
if abs(predicted - range) > outlierThreshold {
consecutiveOutliers += 1
print("[Estimator] Rejected outlier (\(consecutiveOutliers)): predicted=\(predicted) measured=\(range)")
if consecutiveOutliers >= 10 {
print("[Estimator] 10 consecutive outliers — estimate stuck. Resetting.")
reset()
}
return
}
}
consecutiveOutliers = 0
measurements.append(Measurement(phonePosition: phonePosition, range: range, cameraForward: cameraForward))
if measurements.count > windowSize {
measurements.removeFirst()
}
guard measurements.count >= 4 else { return }
// Motion spread gate: require the phone to have moved meaningfully within the measurement
// window before running the solver. When all positions are nearly identical the system
// is underdetermined — the solver output is anywhere on a sphere and can jump arbitrarily.
let centroid = measurements.reduce(simd_float3.zero) { $0 + $1.phonePosition } / Float(measurements.count)
let rmsSpread = sqrt(measurements.reduce(Float(0)) { acc, m in
acc + simd_length_squared(m.phonePosition - centroid)
} / Float(measurements.count))
guard rmsSpread > 0.08 else {
// Phone hasn't moved enough — keep previous estimate without a new solve.
return
}
currentEstimate = gaussNewton(measurements: measurements, initial: currentEstimate)
let pos = currentEstimate!
let residuals = measurements.map { m -> Float in
let d = simd_length(m.phonePosition - pos)
return d - m.range
}
let rmse = sqrt(residuals.map { $0 * $0 }.reduce(0, +) / Float(residuals.count))
DispatchQueue.main.async {
self.anchorPosition = pos
self.measurementCount = self.measurements.count
self.residualError = rmse
}
}
/// Directly set the anchor position from an external source (e.g. NI camera assistance).
func setKnownPosition(_ position: simd_float3) {
currentEstimate = position
DispatchQueue.main.async {
self.anchorPosition = position
}
}
func reset() {
measurements.removeAll()
currentEstimate = nil
consecutiveOutliers = 0
bootstrapCount = 0
DispatchQueue.main.async {
self.anchorPosition = nil
self.measurementCount = 0
self.residualError = 0
}
}
// MARK: - Gauss-Newton solver
private func gaussNewton(measurements: [Measurement], initial: simd_float3?) -> simd_float3 {
var x: simd_float3
if let prior = initial {
x = prior
} else {
// Initialize on the sphere centered at the most recent phone position, at the measured
// range, pointing in the camera-forward direction at the time of that measurement.
// This satisfies the most recent range constraint approximately and gives the solver
// a geometrically valid starting point rather than an arbitrary 1 m offset.
let lastM = measurements.last!
x = lastM.phonePosition + lastM.range * lastM.cameraForward
}
let maxIterations = 10
let convergenceThreshold: Float = 1e-4
for _ in 0..<maxIterations {
var JtJ = simd_float3x3(0)
var Jtf = simd_float3.zero
var inlierCount = 0
for m in measurements {
let diff = m.phonePosition - x
let dist = simd_length(diff)
guard dist > 1e-6 else { continue }
let residual = dist - m.range
if abs(residual) > outlierThreshold { continue }
let J = -(diff / dist) // 1×3 Jacobian row
JtJ.columns.0 += simd_float3(J.x * J.x, J.y * J.x, J.z * J.x)
JtJ.columns.1 += simd_float3(J.x * J.y, J.y * J.y, J.z * J.y)
JtJ.columns.2 += simd_float3(J.x * J.z, J.y * J.z, J.z * J.z)
Jtf += J * residual
inlierCount += 1
}
guard inlierCount >= 3 else { break }
// Tikhonov regularization (Levenberg-Marquardt style): keeps JᵀJ positive-definite
// when measurements are collinear, preventing numeric blow-up.
let lambda: Float = 1e-3
JtJ.columns.0.x += lambda
JtJ.columns.1.y += lambda
JtJ.columns.2.z += lambda
guard let JtJinv = inverse3x3(JtJ) else { break }
let delta = -(JtJinv * Jtf)
x += delta
if simd_length(delta) < convergenceThreshold { break }
}
return x
}
/// Analytical 3×3 matrix inverse. Returns nil if the matrix is singular.
private func inverse3x3(_ m: simd_float3x3) -> simd_float3x3? {
let c0 = m.columns.0, c1 = m.columns.1, c2 = m.columns.2
let r0 = simd_float3(
c1.y * c2.z - c1.z * c2.y,
c0.z * c2.y - c0.y * c2.z,
c0.y * c1.z - c0.z * c1.y
)
let r1 = simd_float3(
c1.z * c2.x - c1.x * c2.z,
c0.x * c2.z - c0.z * c2.x,
c0.z * c1.x - c0.x * c1.z
)
let r2 = simd_float3(
c1.x * c2.y - c1.y * c2.x,
c0.y * c2.x - c0.x * c2.y,
c0.x * c1.y - c0.y * c1.x
)
let det = c0.x * r0.x + c1.x * r0.y + c2.x * r0.z
guard abs(det) > 1e-10 else { return nil }
let invDet = 1.0 / det
return simd_float3x3(columns: (r0 * invDet, r1 * invDet, r2 * invDet))
}
}

188
NearbyDemo/Managers/BLEManager.swift Normal file
View File

@@ -0,0 +1,188 @@
import CoreBluetooth
import Combine
import Foundation
private extension Data {
var hexString: String { map { String(format: "%02x", $0) }.joined(separator: " ") }
}
enum ConnectionState {
case disconnected, scanning, connecting, connected
}
class BLEManager: NSObject, ObservableObject {
@Published var connectionState: ConnectionState = .disconnected
/// Called with raw data when the TX characteristic notifies.
var onAccessoryData: ((Data) -> Void)?
/// Called when a peripheral successfully connects, passing its UUID.
var onConnected: ((UUID) -> Void)?
/// The identifier of the currently connected peripheral, if any.
private(set) var connectedPeripheralIdentifier: UUID?
private var centralManager: CBCentralManager!
private var peripheral: CBPeripheral?
private var rxCharacteristic: CBCharacteristic?
private var txCharacteristic: CBCharacteristic?
// Whether to scan all peripherals (fallback) or filter by service UUID.
private var broadScan = false
override init() {
super.init()
centralManager = CBCentralManager(delegate: self, queue: nil)
}
func startScanning() {
guard centralManager.state == .poweredOn else {
// Will be triggered again in centralManagerDidUpdateState
return
}
connectionState = .scanning
// Try targeted scan first
broadScan = false
centralManager.scanForPeripherals(withServices: [QorvoBLEUUIDs.niService], options: nil)
print("[BLE] Scanning for NI service peripherals…")
// Fall back to broad scan after 5 seconds if nothing found
DispatchQueue.main.asyncAfter(deadline: .now() + 5) { [weak self] in
guard let self, self.connectionState == .scanning else { return }
print("[BLE] No service-filtered result. Falling back to broad scan.")
self.broadScan = true
self.centralManager.stopScan()
self.centralManager.scanForPeripherals(withServices: nil, options: nil)
}
}
func stopScanning() {
centralManager.stopScan()
}
func sendToAccessory(_ data: Data) {
guard let peripheral, let rx = rxCharacteristic else {
print("[BLE] sendToAccessory: no peripheral/rx, dropping \(data.hexString)")
return
}
// Use withoutResponse for small messages only — the iOS BLE stack silently
// drops withoutResponse writes that exceed maximumWriteValueLength (often 20
// bytes before MTU negotiation). For larger payloads (e.g. 0x0B + config)
// use withResponse, which the nRF52 SoftDevice will accept up to 247 bytes.
let maxNoRsp = peripheral.maximumWriteValueLength(for: .withoutResponse)
let canUseNoRsp = rx.properties.contains(.writeWithoutResponse) && data.count <= maxNoRsp
let writeType: CBCharacteristicWriteType = canUseNoRsp ? .withoutResponse : .withResponse
print("[BLE] → TX \(data.count) bytes (MTU max=\(maxNoRsp), type=\(writeType == .withResponse ? "rsp" : "no-rsp")): \(data.hexString)")
peripheral.writeValue(data, for: rx, type: writeType)
}
func disconnect() {
guard let peripheral else { return }
centralManager.cancelPeripheralConnection(peripheral)
}
}
// MARK: - CBCentralManagerDelegate
extension BLEManager: CBCentralManagerDelegate {
func centralManagerDidUpdateState(_ central: CBCentralManager) {
if central.state == .poweredOn {
startScanning()
} else {
connectionState = .disconnected
print("[BLE] Central state: \(central.state.rawValue)")
}
}
func centralManager(_ central: CBCentralManager,
didDiscover peripheral: CBPeripheral,
advertisementData: [String: Any],
rssi RSSI: NSNumber) {
// When doing a broad scan, match by name prefix
if broadScan {
let name = peripheral.name ?? ""
guard name.hasPrefix("Qorvo") || name.hasPrefix("DWM") || name.contains("UWB") else { return }
}
print("[BLE] Discovered: \(peripheral.name ?? "unknown") \(peripheral.identifier)")
centralManager.stopScan()
self.peripheral = peripheral
connectionState = .connecting
centralManager.connect(peripheral, options: nil)
}
func centralManager(_ central: CBCentralManager, didConnect peripheral: CBPeripheral) {
print("[BLE] Connected to \(peripheral.name ?? peripheral.identifier.uuidString)")
connectionState = .connected
connectedPeripheralIdentifier = peripheral.identifier
peripheral.delegate = self
peripheral.discoverServices([QorvoBLEUUIDs.niService])
// onConnected is deferred until TX notifications are confirmed enabled
}
func centralManager(_ central: CBCentralManager, didFailToConnect peripheral: CBPeripheral, error: Error?) {
print("[BLE] Failed to connect: \(error?.localizedDescription ?? "unknown")")
connectionState = .disconnected
self.peripheral = nil
}
func centralManager(_ central: CBCentralManager, didDisconnectPeripheral peripheral: CBPeripheral, error: Error?) {
print("[BLE] Disconnected: \(error?.localizedDescription ?? "clean")")
connectionState = .disconnected
connectedPeripheralIdentifier = nil
self.peripheral = nil
rxCharacteristic = nil
txCharacteristic = nil
}
}
// MARK: - CBPeripheralDelegate
extension BLEManager: CBPeripheralDelegate {
func peripheral(_ peripheral: CBPeripheral, didDiscoverServices error: Error?) {
guard error == nil else {
print("[BLE] Service discovery error: \(error!)")
return
}
for service in peripheral.services ?? [] {
print("[BLE] Discovered service: \(service.uuid)")
peripheral.discoverCharacteristics([QorvoBLEUUIDs.rxCharacteristic, QorvoBLEUUIDs.txCharacteristic], for: service)
}
}
func peripheral(_ peripheral: CBPeripheral, didDiscoverCharacteristicsFor service: CBService, error: Error?) {
guard error == nil else {
print("[BLE] Characteristic discovery error: \(error!)")
return
}
for characteristic in service.characteristics ?? [] {
print("[BLE] Discovered characteristic: \(characteristic.uuid) props: \(characteristic.properties.rawValue)")
if characteristic.uuid == QorvoBLEUUIDs.rxCharacteristic {
rxCharacteristic = characteristic
} else if characteristic.uuid == QorvoBLEUUIDs.txCharacteristic {
txCharacteristic = characteristic
peripheral.setNotifyValue(true, for: characteristic)
}
}
}
func peripheral(_ peripheral: CBPeripheral, didUpdateNotificationStateFor characteristic: CBCharacteristic, error: Error?) {
if let error {
print("[BLE] Notify enable error on \(characteristic.uuid): \(error)")
return
}
guard characteristic.uuid == QorvoBLEUUIDs.txCharacteristic, characteristic.isNotifying else { return }
print("[BLE] TX notifications enabled — ready for NI handshake")
// Both characteristics discovered and notifications live: signal ready
onConnected?(peripheral.identifier)
}
func peripheral(_ peripheral: CBPeripheral, didUpdateValueFor characteristic: CBCharacteristic, error: Error?) {
guard error == nil, let data = characteristic.value else { return }
print("[BLE] ← RX \(data.count) bytes: \(data.hexString)")
onAccessoryData?(data)
}
func peripheral(_ peripheral: CBPeripheral, didWriteValueFor characteristic: CBCharacteristic, error: Error?) {
if let error {
print("[BLE] Write error on \(characteristic.uuid): \(error)")
}
}
}

248
NearbyDemo/Managers/NIManager.swift Normal file
View File

@@ -0,0 +1,248 @@
import NearbyInteraction
import ARKit
import Combine
import Foundation
import CoreBluetooth
import QuartzCore
import simd
enum SessionState: Equatable {
case idle
case waitingForAccessory // BLE ready, waiting for board to speak first
case configuring
case ranging
case error(String)
}
// Apple NI Accessory Protocol — confirmed against DW3_QM33_SDK_1.1.1 firmware source
// (Src/Comm/Src/BLE/niq/ble_niq.c, Libs/niq/Inc/niq.h)
//
// Board → iOS (GATT notify on TX characteristic):
// 0x01 Accessory Configuration Data — board's UWB config, sent in reply to 0x0A
// 0x02 UWB Did Start
// 0x03 UWB Did Stop
//
// iOS → Board (GATT write to RX characteristic):
// 0x0A Init — iOS sends this first to request the board's UWB config
// 0x0B Configure and Start — iOS sends NI-generated shareable config
// 0x0C Stop
private enum MsgAccessoryToApp: UInt8 {
case accessoryConfigData = 0x01
case uwbDidStart = 0x02
case uwbDidStop = 0x03
}
private enum MsgAppToAccessory: UInt8 {
case init_ = 0x0A // iOS → Board: triggers board to send its UWB config
case configureAndStart = 0x0B // iOS → Board: send NI-generated shareable config
case stop = 0x0C // iOS → Board: stop ranging
}
class NIManager: NSObject, ObservableObject {
@Published var sessionState: SessionState = .idle
@Published var lastRange: Float? = nil
/// Called with (distance in meters, timestamp) on each range update (fallback when no camera assistance).
var onRangeUpdate: ((Float, TimeInterval) -> Void)?
/// Called with the accessory's world-space position when camera assistance resolves it.
var onWorldPositionUpdate: ((simd_float3) -> Void)?
/// Called with outbound BLE data to write to the accessory.
var sendToAccessory: ((Data) -> Void)?
// Peripheral identifier set externally before start() is called.
var peripheralIdentifier: UUID?
// Set this to the app's ARSession before start() so NI can share it for camera assistance.
weak var arSession: ARSession?
private var niSession: NISession?
private var restartWorkItem: DispatchWorkItem?
/// Called by the app when BLE is connected and TX notifications are live.
/// Sends the MessageId_init (0x0A) command to trigger the board to reply
/// with its Accessory Configuration Data (0x01 + UWB config payload).
func start() {
guard sessionState == .idle else { return }
sessionState = .waitingForAccessory
let initMsg = Data([MsgAppToAccessory.init_.rawValue])
sendToAccessory?(initMsg)
print("[NI] → Sent Init (0x0A) — waiting for board Accessory Config (0x01)")
}
func handleAccessoryData(_ data: Data) {
guard !data.isEmpty else { return }
let tag = data[0]
let hex = data.map { String(format: "%02x", $0) }.joined(separator: " ")
print("[NI] ← rx tag=0x\(String(tag, radix: 16, uppercase: false)) len=\(data.count): \(hex)")
switch tag {
case MsgAccessoryToApp.accessoryConfigData.rawValue:
// Board replied to our 0x0A with 0x01 + AccessoryConfigurationData payload
let payload = Data(data.dropFirst())
guard !payload.isEmpty else {
print("[NI] 0x01 received but payload is empty — ignoring")
return
}
print("[NI] Board sent Accessory Config (0x01) — \(payload.count) bytes, starting NI session")
startNISession(with: payload)
case MsgAccessoryToApp.uwbDidStart.rawValue:
print("[NI] Board confirmed UWB Did Start (0x02)")
DispatchQueue.main.async { self.sessionState = .ranging }
case MsgAccessoryToApp.uwbDidStop.rawValue:
print("[NI] Board confirmed UWB Did Stop (0x03)")
DispatchQueue.main.async {
self.sessionState = .idle
self.lastRange = nil
}
default:
print("[NI] Unexpected tag 0x\(String(tag, radix: 16, uppercase: false)) (\(data.count) bytes) — ignoring")
}
}
func stop() {
restartWorkItem?.cancel()
sendToAccessory?(Data([MsgAppToAccessory.stop.rawValue]))
niSession?.invalidate()
niSession = nil
DispatchQueue.main.async {
self.sessionState = .idle
self.lastRange = nil
}
}
// MARK: - Private
private func startNISession(with accessoryData: Data) {
guard sessionState == .waitingForAccessory || sessionState == .idle else {
print("[NI] startNISession skipped — already in state \(sessionState)")
return
}
sessionState = .configuring
print("[NI] Creating NINearbyAccessoryConfiguration from \(accessoryData.count) bytes")
// Use initWithData: (not initWithAccessoryData:bluetoothPeerIdentifier:).
// The peer-identifier variant requires a bonded/paired Bluetooth device;
// the DWM3001CDK is connected but not bonded, so that path silently prevents
// didGenerateShareableConfigurationData from ever firing.
// We handle all BLE transport manually, so the simple init is correct.
let configuration: NINearbyAccessoryConfiguration
do {
configuration = try NINearbyAccessoryConfiguration(data: accessoryData)
} catch {
let hexDump = accessoryData.map { String(format: "%02x", $0) }.joined(separator: " ")
print("[NI] Configuration parse error: \(error)\n data: \(hexDump)")
DispatchQueue.main.async { self.sessionState = .waitingForAccessory }
return
}
// Enable camera assistance when the device supports it (iOS 16+, U1/U2 chip).
// This fuses ARKit visual-inertial odometry with UWB ranging inside Apple's framework,
// giving us a world-space position via worldTransform(for:) without running our own solver.
if #available(iOS 16.0, *), NISession.deviceCapabilities.supportsCameraAssistance {
configuration.isCameraAssistanceEnabled = true
print("[NI] Camera assistance enabled")
}
let session = NISession()
session.delegate = self
niSession = session
// Share our existing ARSession so NI doesn't spin up a second one.
// Must be called before run(_:). The session must already be running with a compatible config.
if #available(iOS 16.0, *), configuration.isCameraAssistanceEnabled, let arSession {
session.setARSession(arSession)
print("[NI] Shared ARSession with NISession")
}
session.run(configuration)
print("[NI] NISession running")
}
/// Send the Configure-and-Start message with both the canonical (0x0B) and
/// alternate (0x05) bytes so the board accepts it regardless of firmware version.
private func sendConfigureAndStart(_ shareableData: Data) {
// Try 0x0B first (Apple spec canonical byte)
var payload = Data([MsgAppToAccessory.configureAndStart.rawValue])
payload.append(shareableData)
sendToAccessory?(payload)
print("[NI] → Sent Configure and Start (0x0B) \(payload.count) bytes")
}
}
// MARK: - NISessionDelegate
extension NIManager: NISessionDelegate {
func session(_ session: NISession, didUpdate nearbyObjects: [NINearbyObject]) {
guard let object = nearbyObjects.first, let distance = object.distance else { return }
let timestamp = CACurrentMediaTime()
DispatchQueue.main.async {
self.lastRange = distance
self.sessionState = .ranging
}
// Prefer camera-assisted world position: Apple's framework fuses UWB + ARKit VIO internally.
// worldTransform(for:) returns nil until camera assistance has converged.
if #available(iOS 16.0, *),
let worldTransform = session.worldTransform(for: object) {
let worldPos = simd_float3(worldTransform.columns.3.x,
worldTransform.columns.3.y,
worldTransform.columns.3.z)
onWorldPositionUpdate?(worldPos)
} else {
// Fall back to manual range+pose fusion via AnchorEstimator
onRangeUpdate?(distance, timestamp)
}
}
func session(_ session: NISession, didRemove nearbyObjects: [NINearbyObject], reason: NINearbyObject.RemovalReason) {
print("[NI] Objects removed reason=\(reason.rawValue) — restarting NI handshake in 1 s")
DispatchQueue.main.async {
self.sessionState = .idle
self.lastRange = nil
}
// BLE is still connected — re-send 0x0A to restart the NI handshake
let work = DispatchWorkItem { [weak self] in
guard let self else { return }
DispatchQueue.main.async { self.sessionState = .idle }
self.start()
}
restartWorkItem = work
DispatchQueue.main.asyncAfter(deadline: .now() + 1, execute: work)
}
func session(_ session: NISession, didUpdateAlgorithmConvergence convergence: NIAlgorithmConvergence, for object: NINearbyObject?) {
print("[NI] Algorithm convergence: \(convergence.status)")
}
func session(_ session: NISession, didGenerateShareableConfigurationData shareableConfigurationData: Data, for object: NINearbyObject) {
print("[NI] didGenerateShareableConfigurationData — \(shareableConfigurationData.count) bytes")
sendConfigureAndStart(shareableConfigurationData)
}
func sessionWasSuspended(_ session: NISession) {
print("[NI] Session suspended")
DispatchQueue.main.async { self.sessionState = .idle }
}
func sessionSuspensionEnded(_ session: NISession) {
print("[NI] Suspension ended — rerunning configuration")
guard let config = session.configuration else { return }
session.run(config)
}
func session(_ session: NISession, didInvalidateWith error: Error) {
print("[NI] Session invalidated: \(error)")
DispatchQueue.main.async {
self.sessionState = .error(error.localizedDescription)
self.niSession = nil
}
let work = DispatchWorkItem { [weak self] in
guard let self else { return }
DispatchQueue.main.async { self.sessionState = .idle }
self.start()
}
restartWorkItem = work
DispatchQueue.main.asyncAfter(deadline: .now() + 1, execute: work)
}
}

9
NearbyDemo/Models/QorvoBLEUUIDs.swift Normal file
View File

@@ -0,0 +1,9 @@
import CoreBluetooth
enum QorvoBLEUUIDs {
static let niService = CBUUID(string: "2E938FD0-6A61-11ED-A1EB-0242AC120002")
// App writes accessory configuration / commands to this characteristic
static let rxCharacteristic = CBUUID(string: "2E93998A-6A61-11ED-A1EB-0242AC120002")
// Accessory notifies the app with ranging data / responses on this characteristic
static let txCharacteristic = CBUUID(string: "2E939AF2-6A61-11ED-A1EB-0242AC120002")
}

7
NearbyDemo/Models/TimestampedPose.swift Normal file
View File

@@ -0,0 +1,7 @@
import simd
import Foundation
struct TimestampedPose {
let transform: simd_float4x4
let timestamp: TimeInterval
}

6
NearbyDemo/Models/TimestampedRange.swift Normal file
View File

@@ -0,0 +1,6 @@
import Foundation
struct TimestampedRange {
let range: Float
let timestamp: TimeInterval
}

67
NearbyDemo/NearbyDemoApp.swift Normal file
View File

@@ -0,0 +1,67 @@
import SwiftUI
import ARKit
import simd
@main
struct NearbyDemoApp: App {
@StateObject private var ble = BLEManager()
@StateObject private var ni = NIManager()
@StateObject private var ar = ARManager()
@StateObject private var estimator = AnchorEstimator()
var body: some Scene {
WindowGroup {
ContentView()
.environmentObject(ble)
.environmentObject(ni)
.environmentObject(ar)
.environmentObject(estimator)
.onAppear {
wireManagers()
ar.start()
ble.startScanning()
}
}
}
private func wireManagers() {
// BLE → NI: forward raw accessory bytes into the NI state machine
ble.onAccessoryData = { [weak ni] data in
ni?.handleAccessoryData(data)
}
// NI → BLE: send outbound messages to the accessory
ni.sendToAccessory = { [weak ble] data in
ble?.sendToAccessory(data)
}
// Share the ARSession with NI for camera assistance. Must be set before BLE connects
// and triggers startNISession, which calls setARSession(_:) before session.run(_:).
ni.arSession = ar.session
// BLE connected → start NI session
ble.onConnected = { [weak ni] peripheralID in
ni?.peripheralIdentifier = peripheralID
ni?.start()
}
// NI camera-assisted world position → set directly on estimator, bypassing Gauss-Newton.
// Apple's framework fuses UWB + ARKit VIO internally; this is more accurate than our solver.
ni.onWorldPositionUpdate = { [weak estimator] position in
estimator?.setKnownPosition(position)
}
// NI range-only updates → fuse with AR pose → feed Gauss-Newton estimator.
// This runs when camera assistance hasn't converged yet or isn't supported.
ni.onRangeUpdate = { [weak ar, weak estimator] range, timestamp in
guard let ar, let estimator else { return }
guard let pose = ar.poseAt(timestamp: timestamp) else { return }
let position = simd_float3(pose.columns.3.x, pose.columns.3.y, pose.columns.3.z)
// Camera forward in world space: -Z column of the camera transform
let cameraForward = simd_normalize(simd_float3(-pose.columns.2.x,
-pose.columns.2.y,
-pose.columns.2.z))
estimator.addMeasurement(phonePosition: position, range: range, cameraForward: cameraForward)
}
}
}

27
NearbyDemo/Utilities/PoseInterpolator.swift Normal file
View File

@@ -0,0 +1,27 @@
import simd
import Foundation
struct PoseInterpolator {
/// Interpolates between two timestamped poses at the given timestamp.
/// Uses linear interpolation for translation and spherical linear interpolation for rotation.
static func interpolate(from a: TimestampedPose, to b: TimestampedPose, at timestamp: TimeInterval) -> simd_float4x4 {
let t = Float((timestamp - a.timestamp) / (b.timestamp - a.timestamp))
let clamped = max(0, min(1, t))
return lerp(from: a.transform, to: b.transform, t: clamped)
}
/// Interpolates between two simd_float4x4 transforms with a given t in [0, 1].
static func lerp(from a: simd_float4x4, to b: simd_float4x4, t: Float) -> simd_float4x4 {
let tA = simd_float3(a.columns.3.x, a.columns.3.y, a.columns.3.z)
let tB = simd_float3(b.columns.3.x, b.columns.3.y, b.columns.3.z)
let qA = simd_quatf(a)
let qB = simd_quatf(b)
let tInterp = tA + (tB - tA) * t
let qInterp = simd_slerp(qA, qB, t)
var result = simd_float4x4(qInterp)
result.columns.3 = simd_float4(tInterp.x, tInterp.y, tInterp.z, 1.0)
return result
}
}

19
NearbyDemoTests/NearbyDemoTests.swift Normal file
View File

@@ -0,0 +1,19 @@
//
// NearbyDemoTests.swift
// NearbyDemoTests
//
// Created by Aditya Pulipaka on 4/16/26.
//
import Testing
@testable import NearbyDemo
struct NearbyDemoTests {
@Test func example() async throws {
// Write your test here and use APIs like `#expect(...)` to check expected conditions.
// Swift Testing Documentation
// https://developer.apple.com/documentation/testing
}
}

43
NearbyDemoUITests/NearbyDemoUITests.swift Normal file
View File

@@ -0,0 +1,43 @@
//
// NearbyDemoUITests.swift
// NearbyDemoUITests
//
// Created by Aditya Pulipaka on 4/16/26.
//
import XCTest
final class NearbyDemoUITests: XCTestCase {
override func setUpWithError() throws {
// Put setup code here. This method is called before the invocation of each test method in the class.
// In UI tests it is usually best to stop immediately when a failure occurs.
continueAfterFailure = false
// In UI tests it’s important to set the initial state - such as interface orientation - required for your tests before they run. The setUp method is a good place to do this.
}
override func tearDownWithError() throws {
// Put teardown code here. This method is called after the invocation of each test method in the class.
}
@MainActor
func testExample() throws {
// UI tests must launch the application that they test.
let app = XCUIApplication()
app.launch()
// Use XCTAssert and related functions to verify your tests produce the correct results.
// XCUIAutomation Documentation
// https://developer.apple.com/documentation/xcuiautomation
}
@MainActor
func testLaunchPerformance() throws {
// This measures how long it takes to launch your application.
measure(metrics: [XCTApplicationLaunchMetric()]) {
XCUIApplication().launch()
}
}
}

35
NearbyDemoUITests/NearbyDemoUITestsLaunchTests.swift Normal file
View File

@@ -0,0 +1,35 @@
//
// NearbyDemoUITestsLaunchTests.swift
// NearbyDemoUITests
//
// Created by Aditya Pulipaka on 4/16/26.
//
import XCTest
final class NearbyDemoUITestsLaunchTests: XCTestCase {
override class var runsForEachTargetApplicationUIConfiguration: Bool {
true
}
override func setUpWithError() throws {
continueAfterFailure = false
}
@MainActor
func testLaunch() throws {
let app = XCUIApplication()
app.launch()
// Insert steps here to perform after app launch but before taking a screenshot,
// such as logging into a test account or navigating somewhere in the app
// XCUIAutomation Documentation
// https://developer.apple.com/documentation/xcuiautomation
let attachment = XCTAttachment(screenshot: app.screenshot())
attachment.name = "Launch Screen"
attachment.lifetime = .keepAlways
add(attachment)
}
}