.github/workflows/ios.yml

我将帮助你为iOS平台适配OpenClaw，根据你的需求,我将提供详细的适配方案。

iOS适配架构设计

技术栈选择

// 主要技术框架
- SwiftUI / UIKit (界面)
- Core Bluetooth / Network (通信)
- AVFoundation (音视频)
- Combine (响应式编程)
- Metal / Core Graphics (图形渲染)

目录结构

OpenClaw-iOS/
├── OpenClaw/
│   ├── Application/
│   ├── Presentation/
│   ├── Domain/
│   ├── Data/
│   └── Resources/
├── OpenClawWatch/ (Apple Watch扩展)
├── OpenClawWidget/ (小组件)
└── OpenClawTests/

核心模块适配

通信模块适配

import CoreBluetooth
import Network
class RobotConnectionManager: NSObject, ObservableObject {
    @Published var connectionState: ConnectionState = .disconnected
    @Published var batteryLevel: Int = 0
    private var centralManager: CBCentralManager?
    private var peripheral: CBPeripheral?
    // WebSocket通信（如果使用网络）
    private var webSocketTask: URLSessionWebSocketTask?
    enum ConnectionState {
        case disconnected, connecting, connected
    }
    func connectToRobot(ip: String? = nil, uuid: UUID? = nil) {
        if let ip = ip {
            setupNetworkConnection(to: ip)
        } else if let uuid = uuid {
            setupBluetoothConnection(deviceUUID: uuid)
        }
    }
    func sendCommand(_ command: RobotCommand) {
        // 发送控制指令
        let data = command.encode()
        peripheral?.writeValue(data, for: characteristic, type: .withResponse)
    }
}
struct RobotCommand {
    let type: CommandType
    let speed: Float
    let angle: Float
    enum CommandType {
        case move, rotate, grab, release
    }
}

控制界面适配

import SwiftUI
struct ControlPanelView: View {
    @StateObject private var connectionManager = RobotConnectionManager()
    @State private var isGrabbing = false
    var body: some View {
        VStack {
            ConnectionStatusView(state: $connectionManager.connectionState)
            // 摇杆控制
            JoystickView { vector in
                let command = RobotCommand(
                    type: .move,
                    speed: Float(vector.magnitude),
                    angle: Float(vector.angle)
                )
                connectionManager.sendCommand(command)
            }
            // 抓取控制
            HStack {
                Button("抓取") {
                    connectionManager.sendCommand(
                        RobotCommand(type: .grab, speed: 1.0, angle: 0)
                    )
                }
                .buttonStyle(GrabButtonStyle())
                Button("释放") {
                    connectionManager.sendCommand(
                        RobotCommand(type: .release, speed: 1.0, angle: 0)
                    )
                }
                .buttonStyle(ReleaseButtonStyle())
            }
        }
        .onAppear {
            connectionManager.connectToRobot()
        }
    }
}

视频流处理

import AVFoundation
import SwiftUI
class VideoStreamManager: NSObject, ObservableObject {
    @Published var videoFrame: UIImage?
    private let captureSession = AVCaptureSession()
    func setupStream(ip: String, port: Int) {
        // 设置RTSP/MJPEG流
        setupRTSPStream(from: "rtsp://\(ip):\(port)/stream")
    }
    private func setupRTSPStream(from urlString: String) {
        guard let url = URL(string: urlString) else { return }
        let asset = AVAsset(url: url)
        let playerItem = AVPlayerItem(asset: asset)
        let player = AVPlayer(playerItem: playerItem)
        player.play()
    }
}
struct VideoStreamView: UIViewRepresentable {
    @ObservedObject var manager: VideoStreamManager
    func makeUIView(context: Context) -> UIView {
        let view = UIView(frame: .zero)
        // 设置视频层
        return view
    }
    func updateUIView(_ uiView: UIView, context: Context) {}
}

iOS特定功能实现

手势控制

struct GestureControlView: View {
    var onSwipe: (Direction) -> Void
    var body: some View {
        VStack {
            Text("手势控制")
                .gesture(
                    DragGesture()
                        .onEnded { value in
                            let direction = determineDirection(from: value.translation)
                            onSwipe(direction)
                        }
                )
        }
    }
    enum Direction {
        case up, down, left, right
    }
}

AR增强现实控制

import ARKit
import RealityKit
class ARRobotController: UIViewController, ARSessionDelegate {
    @IBOutlet var arView: ARView!
    override func viewDidLoad() {
        super.viewDidLoad()
        let config = ARWorldTrackingConfiguration()
        arView.session.run(config)
        // 添加虚拟机器人模型
        let robotAnchor = try! Experience.loadRobot()
        arView.scene.anchors.append(robotAnchor)
    }
    func session(_ session: ARSession, didUpdate frame: ARFrame) {
        // 更新机器人位置
    }
}

小组件实现

import WidgetKit
import SwiftUI
struct OpenClawWidget: Widget {
    let kind: String = "OpenClawWidget"
    var body: some WidgetConfiguration {
        StaticConfiguration(kind: kind, provider: Provider()) { entry in
            WidgetView(entry: entry)
        }
        .configurationDisplayName("机器人控制")
        .description("快速控制OpenClaw机器人")
    }
}
struct WidgetView: View {
    var entry: Provider.Entry
    var body: some View {
        VStack {
            Button(intent: GrabIntent()) {
                Image(systemName: "hand.raised.fill")
            }
            Text("电池: \(entry.batteryLevel)%")
        }
    }
}

配置文件和部署

Info.plist配置

<key>NSBluetoothAlwaysUsageDescription</key>
<string>需要蓝牙连接控制机器人</string>
<key>NSLocalNetworkUsageDescription</key>
<string>需要连接机器人WiFi网络</string>
<key>NSCameraUsageDescription</key>
<string>需要摄像头进行AR控制</string>
<key>UIRequiredDeviceCapabilities</key>
<array>
    <string>bluetooth-le</string>
    <string>armv7</string>
</array>

Package.swift依赖

// Package.swift
dependencies: [
    .package(url: "https://github.com/Alamofire/Alamofire.git", from: "5.0.0"),
    .package(url: "https://github.com/SwiftyJSON/SwiftyJSON.git", from: "4.0.0"),
    .package(url: "https://github.com/marmelroy/Zip.git", from: "2.0.0")
]

CI/CD配置（GitHub Actions）

on: [push]
jobs:
  build:
    runs-on: macos-latest
    steps:
    - uses: actions/checkout@v2
    - name: Build
      run: xcodebuild -project OpenClaw.xcodeproj -scheme OpenClaw -configuration Release

优化建议

性能优化

class PerformanceOptimizer {
    // 使用Metal优化图像处理
    private let metalDevice = MTLCreateSystemDefaultDevice()
    // 后台线程处理数据
    private let processingQueue = DispatchQueue(
        label: "com.openclaw.processing",
        qos: .userInitiated
    )
    // 内存管理
    func optimizeMemoryUsage() {
        // 使用NSCache缓存图像
        let imageCache = NSCache<NSString, UIImage>()
        imageCache.countLimit = 50
    }
}

适配不同设备

struct AdaptiveLayoutView: View {
    @Environment(\.horizontalSizeClass) var sizeClass
    var body: some View {
        if sizeClass == .compact {
            CompactControlView()
        } else {
            RegularControlView()
        }
    }
}

测试方案

import XCTest
class OpenClawTests: XCTestCase {
    func testConnectionManager() async {
        let manager = RobotConnectionManager()
        // 模拟测试
        await manager.connectToRobot(ip: "192.168.1.100")
        XCTAssertEqual(manager.connectionState, .connected)
    }
    func testCommandEncoding() {
        let command = RobotCommand(type: .move, speed: 0.5, angle: 45)
        let data = command.encode()
        XCTAssertNotNil(data)
        XCTAssertGreaterThan(data.count, 0)
    }
}

这个适配方案提供了完整的iOS实现框架，需要根据OpenClaw的具体硬件协议进行调整，特别是通信协议部分，建议先从基础控制功能开始，逐步添加高级功能如AR控制、手势识别等。

标签： GitHub Actions iOS 工作流