Merge branch 'develop' into feature/iOS/GWL-407

.github/workflows/iOS_CI.yml

@@ -10,7 +10,7 @@ on:
 jobs:
   swift-format:
     if: contains(github.event.pull_request.labels.*.name, '📱 iOS')
-    runs-on: macos-13
+    runs-on: macos-latest
     env:
       working-directory: ./iOS
 

iOS/Plugins/DependencyPlugin/ProjectDescriptionHelpers/Dependency+Target.swift

@@ -10,6 +10,7 @@ import ProjectDescription
 // MARK: - Feature
 
 public enum Feature: String {
+  case writeBoard
   case home
   case splash
   case profile

iOS/Projects/Core/Coordinator/Sources/CoordinatorFlow.swift

@@ -20,4 +20,5 @@ public enum CoordinatorFlow {
   case onboarding
   case profile
   case home
+  case writeBoard
 }

iOS/Projects/Features/Profile/Project.swift

@@ -17,6 +17,7 @@ let project = Project.makeModule(
       .commonNetworkingKeyManager,
       .keychain,
       .userInformationManager,
+      .feature(.writeBoard),
     ],
     testDependencies: [],
     resources: "Resources/**"

iOS/Projects/Features/Profile/Sources/Presentation/Coordinator/ProfileCoordinator.swift

@@ -11,6 +11,7 @@ import Keychain
 import Log
 import Trinet
 import UIKit
+import WriteBoardFeature
 
 // MARK: - ProfileFinishFinishDelegate
 
@@ -90,4 +91,22 @@ extension ProfileCoordinator: ProfileCoordinating {
     viewController.hidesBottomBarWhenPushed = true
     navigationController.pushViewController(viewController, animated: true)
   }
+
+  public func presentWriteBoard() {
+    let writeBoardCoordinator = WriteBoardCoordinator(
+      navigationController: navigationController,
+      delegate: self
+    )
+    childCoordinators.append(writeBoardCoordinator)
+    writeBoardCoordinator.start()
+  }
+}
+
+// MARK: CoordinatorFinishDelegate
+
+extension ProfileCoordinator: CoordinatorFinishDelegate {
+  public func flowDidFinished(childCoordinator: Coordinating) {
+    childCoordinators = childCoordinators.filter { $0.flow != childCoordinator.flow }
+    childCoordinator.childCoordinators.removeAll()
+  }
 }

iOS/Projects/Features/Profile/Sources/Presentation/Coordinator/Protocol/ProfileCoordinating.swift

@@ -18,4 +18,7 @@ public protocol ProfileCoordinating: Coordinating {
 
   /// 프로필 설정 화면으로 넘어갑니다.
   func moveToProfileSettings()
+
+  /// 글쓰기 화면으로 넘어갑니다.
+  func presentWriteBoard()
 }

iOS/Projects/Features/Profile/Sources/Presentation/ProfileScene/ProfileViewController.swift

@@ -11,6 +11,7 @@ public final class ProfileViewController: UICollectionViewController {
 
   private let viewDidLoadSubject: PassthroughSubject<Void, Never> = .init()
   private let didTapSettingButtonSubject: PassthroughSubject<Void, Never> = .init()
+  private let didTapWriteBarButtonSubject: PassthroughSubject<Void, Never> = .init()
   private let paginationEventSubject: PassthroughSubject<ProfileItem, Never> = .init()
 
   private var subscriptions: Set<AnyCancellable> = []
@@ -61,13 +62,25 @@ public final class ProfileViewController: UICollectionViewController {
   private func setupStyles() {
     collectionView.backgroundColor = DesignSystemColor.primaryBackground
     navigationItem.backButtonDisplayMode = .minimal
-    navigationItem.rightBarButtonItem = .init(
+
+    let settingBarButtonItem = UIBarButtonItem(
       image: .init(systemName: "gearshape"),
       style: .plain,
       target: self,
-      action: #selector(didTapSettingButton)
+      action: #selector(didTapSettingBarButton)
+    )
+
+    let writeBoardBarButtonItem = UIBarButtonItem(
+      image: .init(systemName: "plus.square"),
+      style: .plain,
+      target: self,
+      action: #selector(didTapWriteBarButton)
     )
-    navigationItem.rightBarButtonItem?.tintColor = DesignSystemColor.primaryText
+
+    let rightBarButtonItems = [writeBoardBarButtonItem, settingBarButtonItem]
+    rightBarButtonItems.forEach { $0.tintColor = DesignSystemColor.primaryText }
+
+    navigationItem.rightBarButtonItems = rightBarButtonItems
   }
 
   private func bind() {
@@ -76,7 +89,8 @@ public final class ProfileViewController: UICollectionViewController {
         viewDidLoadPublisher: viewDidLoadSubject.eraseToAnyPublisher(),
         didTapSettingButtonPublisher: didTapSettingButtonSubject.eraseToAnyPublisher(),
         paginationEventPublisher: paginationEventSubject.eraseToAnyPublisher(),
-        refreshPostsPublisher: refreshControl.publisher(.valueChanged).map { _ in () }.eraseToAnyPublisher()
+        refreshPostsPublisher: refreshControl.publisher(.valueChanged).map { _ in () }.eraseToAnyPublisher(),
+        writeBoardPublisher: didTapWriteBarButtonSubject.eraseToAnyPublisher()
       )
     )
     .receive(on: RunLoop.main)
@@ -100,8 +114,13 @@ public final class ProfileViewController: UICollectionViewController {
   // MARK: - Custom Methods
 
   @objc
-  private func didTapSettingButton() {
-    didTapSettingButtonSubject.send(())
+  private func didTapSettingBarButton() {
+    didTapSettingButtonSubject.send()
+  }
+
+  @objc
+  private func didTapWriteBarButton() {
+    didTapWriteBarButtonSubject.send()
   }
 
   /// 에러 알림 문구를 보여줍니다.

iOS/Projects/Features/Profile/Sources/Presentation/ProfileScene/ProfileViewModel.swift

@@ -8,6 +8,7 @@ public struct ProfileViewModelInput {
   let didTapSettingButtonPublisher: AnyPublisher<Void, Never>
   let paginationEventPublisher: AnyPublisher<ProfileItem, Never>
   let refreshPostsPublisher: AnyPublisher<Void, Never>
+  let writeBoardPublisher: AnyPublisher<Void, Never>
 }
 
 public typealias ProfileViewModelOutput = AnyPublisher<ProfileViewModelState, Never>
@@ -59,6 +60,12 @@ extension ProfileViewModel: ProfileViewModelRepresentable {
       }
       .store(in: &subscriptions)
 
+    input.writeBoardPublisher
+      .sink { [weak self] _ in
+        self?.coordinating?.presentWriteBoard()
+      }
+      .store(in: &subscriptions)
+
     let profileInfoPublisher = input.viewDidLoadPublisher
       .flatMap(useCase.fetchProfile)
       .map(ProfileViewModelState.setupProfile)

iOS/Projects/Features/Record/Sources/Domain/Entities/KalmanFilterUpdateRequireElement.swift

@@ -6,13 +6,12 @@
 //  Copyright © 2023 kr.codesquad.boostcamp8. All rights reserved.
 //
 
+import CoreLocation
 import Foundation
 
 // MARK: - KalmanFilterUpdateRequireElement
 
 struct KalmanFilterUpdateRequireElement {
-  let longitude: Double
-  let latitude: Double
-  let prevSpeedAtLongitude: Double
-  let prevSpeedAtLatitude: Double
+  let prevCLLocation: CLLocation
+  let currentCLLocation: CLLocation
 }

iOS/Projects/Features/Record/Sources/Domain/UseCases/KalmanFilter.swift

@@ -6,29 +6,26 @@
 //  Copyright © 2023 kr.codesquad.boostcamp8. All rights reserved.
 //
 
+import CoreLocation
 import Foundation
 import Log
+import simd
 
 struct KalmanFilter {
   /// 새로운 값을 입력하게 된다면, 에측을 통해서 값을 작성하게 되는 변수 입니다.
-  var x = MatrixOfTwoDimension([[]])
+  var x = simd_double4()
 
-  /// 초기 오차 공분산 입니다.
-  /// 초기 값은 에러가 많기 떄문에 다음과 같이 크게 가져갔습니다.
-  private var p = MatrixOfTwoDimension([
-    [500, 0, 0, 0],
+  private var p = simd_double4x4([
+    [1, 0, 0, 0],
     [0, 1, 0, 0],
-    [0, 0, 500, 0],
+    [0, 0, 1, 0],
     [0, 0, 0, 1],
   ])
 
-  // 사용자 경험을 통해 얻어진 값 입니다. (일단 대한민국 GPS환경이 좋다고 가정하여,
-  // 애플 오차의 1/2로 가져갔습니다.)
-
-  private var q = MatrixOfTwoDimension([
-    [0.000455, 0, 0, 0],
+  private var q = simd_double4x4([
+    [0.00082, 0, 0, 0],
     [0, 0, 0, 0],
-    [0, 0, 0.000059, 0],
+    [0, 0, 0.00082, 0],
     [0, 0, 0, 0],
   ])
 
@@ -45,77 +42,86 @@ struct KalmanFilter {
   /// 1도 일 때 몇 km? = 지구 반지름 6371 * cos(37) * 1 (pi/180) = 85.18km
   /// 1º : 85180m = y : 10m
   /// y = 0.00011739 ~= 0.000117
-  private var r = MatrixOfTwoDimension([
-    [0.000899, 0],
-    [0, 0.000117],
+  private var r = simd_double2x2([
+    [0.00082, 0],
+    [0, 0.00082],
   ])
 
-  var prevHeadingValue: Double
-  var prevSpeedAtLatitude: Double = 0
-  var prevSpeedAtLongitude: Double = 0
-
   /// 관계 식 입니다.
-  lazy var A = MatrixOfTwoDimension([
-    [1, cos(prevHeadingValue) * prevSpeedAtLatitude, 0, 0],
+  lazy var A = simd_double4x4([
+    [1, timeInterval * prevVelocity.lat, 0, 0],
     [0, 1, 0, 0],
-    [0, 0, 1, sin(prevHeadingValue) * prevSpeedAtLongitude],
+    [0, 0, 1, timeInterval * prevVelocity.long],
     [0, 0, 0, 1],
   ])
 
-  /// 우리가 궁금한건 위도와 경도이기 때문에 필요한 부분만 기재했습니다.
-  private var H = MatrixOfTwoDimension([
+  let H = simd_double4x2([
+    [1, 0],
+    [0, 0],
+    [0, 1],
+    [0, 0],
+  ])
+
+  // 우리가 궁금한건 위도와 경도이기 때문에 필요한 부분만 기재했습니다.
+
+  var prevTime: Date
+
+  init(initLocation: CLLocation) {
+    x = .init(initLocation.coordinate.latitude, 0, initLocation.coordinate.longitude, 0)
+    prevTime = initLocation.timestamp
+  }
+
+  var timeInterval: Double = 0.0
+
+  var prevLocation = CLLocation()
+
+  let pIdentity = simd_double4x4([
     [1, 0, 0, 0],
+    [0, 1, 0, 0],
     [0, 0, 1, 0],
+    [0, 0, 0, 1],
   ])
 
-  init(initLongitude: Double, initLatitude: Double, headingValue: Double) {
-    x = .init([
-      [initLatitude],
-      [0],
-      [initLongitude],
-      [0],
-    ])
-    prevHeadingValue = headingValue
-  }
+  var prevVelocity: (lat: Double, long: Double) = (0, 0)
 
-  /// 사용자가 가르키는 방향을 업데이트 합니다.
-  mutating func update(heading: Double) {
-    prevHeadingValue = heading
-  }
+  mutating func update(currentLocation: CLLocation) {
+    let currentTime = currentLocation.timestamp
+
+    let prevTimeInterval = prevTime.timeIntervalSince1970
+    let currentTimeInterval = currentTime.timeIntervalSince1970
+
+    timeInterval = currentTimeInterval - prevTimeInterval
+
+    let velocityLatitude = (prevLocation.coordinate.latitude - currentLocation.coordinate.latitude)
+    let velocityLongitude = (prevLocation.coordinate.longitude - currentLocation.coordinate.longitude)
 
-  /// Update합니다.
-  mutating func update(initLongitude: Double, initLatitude: Double, prevSpeedAtLatitude: Double, prevSpeedAtLongitude: Double) {
-    let mesure = MatrixOfTwoDimension(
+    prevVelocity = (velocityLatitude, velocityLongitude)
+
+    prevLocation = currentLocation
+    prevTime = currentTime
+
+    let mesure = simd_double2(
       [
-        [initLatitude],
-        [initLongitude],
+        currentLocation.coordinate.latitude,
+        currentLocation.coordinate.longitude,
       ]
     )
-    self.prevSpeedAtLatitude = prevSpeedAtLatitude
-    self.prevSpeedAtLongitude = prevSpeedAtLongitude
-    guard
-      let prediction = A.multiply(x),
-      let predictionErrorCovariance = A.multiply(p)?.multiply(A.transPose())?.add(q),
-
-      let notInversed = H.multiply(predictionErrorCovariance)?.multiply(H.transPose())?.add(r),
-      let prevKalman = notInversed.invert(),
-      let kalman = predictionErrorCovariance.multiply(H.transPose())?.multiply(prevKalman),
-
-      let tempValue = H.multiply(prediction),
-      let subTractedValue = mesure.sub(tempValue),
-      let multiedKalmanValue = kalman.multiply(subTractedValue),
-      let currentX = prediction.add(multiedKalmanValue),
-
-      let tempPredictionErrorCovariance = kalman.multiply(H)?.multiply(predictionErrorCovariance),
-      let currentPredictionErrorCovariance = predictionErrorCovariance.sub(tempPredictionErrorCovariance)
-    else {
-      return
-    }
+
+    let xp = A * x
+    let pp = A * p * A.transpose + q
+
+    let temp = pp * H.transpose
+    let invert = (H * pp * H.transpose + r).inverse
+    let kalman = temp * invert
+
+    let currentX = xp + kalman * (mesure - H * xp)
+
+    let currentP = pp - kalman * H * pp.inverse
     x = currentX
-    p = currentPredictionErrorCovariance
+    p = currentP
   }
 
   var latestCensoredPosition: KalmanFilterCensored {
-    return .init(longitude: x.value[2][0], latitude: x.value[0][0])
+    return .init(longitude: x[2], latitude: x[0])
   }
 }

iOS/Projects/Features/Record/Sources/Domain/UseCases/KalmanUseCase.swift

@@ -13,7 +13,6 @@ import Foundation
 
 protocol KalmanUseCaseRepresentable {
   func updateFilter(_ element: KalmanFilterUpdateRequireElement) -> KalmanFilterCensored?
-  func updateHeading(_ heading: Double)
 }
 
 // MARK: - KalmanUseCase
@@ -27,21 +26,13 @@ final class KalmanUseCase {
 // MARK: KalmanUseCaseRepresentable
 
 extension KalmanUseCase: KalmanUseCaseRepresentable {
-  func updateHeading(_ heading: Double) {
-    filter?.update(heading: heading)
-  }
-
   func updateFilter(_ element: KalmanFilterUpdateRequireElement) -> KalmanFilterCensored? {
     if filter == nil {
-      filter = .init(initLongitude: element.latitude, initLatitude: element.longitude, headingValue: 0)
+      let currentLocation = element.currentCLLocation
+      filter = .init(initLocation: currentLocation)
       return nil
     }
-    filter?.update(
-      initLongitude: element.longitude,
-      initLatitude: element.latitude,
-      prevSpeedAtLatitude: element.prevSpeedAtLatitude,
-      prevSpeedAtLongitude: element.prevSpeedAtLongitude
-    )
+    filter?.update(currentLocation: element.currentCLLocation)
 
     return filter?.latestCensoredPosition
   }