Merge pull request #485 from robotemi/dev_sprint_135

Sprint 135

Author: zjn0505

gradle.properties

@@ -21,7 +21,7 @@ android.enableJetifier=true
 kotlin.code.style=official
 
 GROUP=com.robotemi
-VERSION_NAME=1.134.1
+VERSION_NAME=1.135.1
 POM_URL=https://github.com/robotemi/sdk/
 POM_SCM_URL=https://github.com/robotemi/sdk/
 POM_SCM_CONNECTION=scm:git:git://github.com/robotemi/sdk.git

sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt

@@ -72,6 +72,7 @@ import com.robotemi.sdk.telepresence.LinkBasedMeeting
 import com.robotemi.sdk.telepresence.Participant
 import com.robotemi.sdk.tourguide.TourModel
 import com.robotemi.sdk.voice.ITtsService
+import com.robotemi.sdk.voice.WakeupOrigin
 import com.robotemi.sdk.voice.model.TtsVoice
 import kotlinx.android.synthetic.main.activity_main.*
 import kotlinx.android.synthetic.main.group_app_and_permission.*
@@ -331,6 +332,10 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
 
         btnStopMovement.setOnClickListener { stopMovement() }
         btnFollow.setOnClickListener { followMe() }
+        btnFollow.setOnLongClickListener {
+            followMe(SpeedLevel.HIGH)
+            true
+        }
         btnskidJoy.setOnClickListener { skidJoy() }
         btnskidJoyDialog.setOnClickListener {
             val alert = AlertDialog.Builder(it.context)
@@ -470,6 +475,7 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
             mediaPlayer.reset()
         }
         btnSetGoToSpeed.setOnClickListener { setGoToSpeed() }
+        btnSetFollowSpeed.setOnClickListener { setFollowSpeed() }
         btnSetGoToSafety.setOnClickListener { setGoToSafety() }
         btnToggleTopBadge.setOnClickListener { toggleTopBadge() }
         btnToggleDetectionMode.setOnClickListener { toggleDetectionMode() }
@@ -586,6 +592,7 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
             true
         }
         btnIsKioskModeOn.setOnClickListener { isKioskModeOn() }
+        btnCurrentHomeScreenMode.setOnClickListener { currentHomeScreenMode() }
         btnEnabledLatinKeyboards.setOnClickListener { enabledLatinKeyboards() }
         btnGetSupportedKeyboard.setOnClickListener { getSupportedLatinKeyboards() }
         btnToggleGroundDepthCliff.setOnClickListener { toggleGroundDepthCliff() }
@@ -850,6 +857,10 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
         printLog("Is kiosk mode on: ${robot.isKioskModeOn()}")
     }
 
+    private fun currentHomeScreenMode() {
+        printLog("Current home screen mode: ${robot.getHomeScreenMode()}")
+    }
+
     private fun toggleKiosk() {
         robot.setKioskModeOn(!robot.isKioskModeOn())
     }
@@ -1089,8 +1100,8 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
     /**
      * Simple follow me example.
      */
-    private fun followMe() {
-        robot.beWithMe()
+    private fun followMe(speedLevel: SpeedLevel? = null) {
+        robot.beWithMe(speedLevel)
         hideKeyboard()
     }
 
@@ -1298,9 +1309,9 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
         robot.showTopBar()
     }
 
-    override fun onWakeupWord(wakeupWord: String, direction: Int) {
+    override fun onWakeupWord(wakeupWord: String, direction: Int, origin: WakeupOrigin) {
         // Do anything on wakeup. Follow, go to location, or even try creating dance moves.
-        printLog("onWakeupWord", "$wakeupWord, $direction")
+        printLog("onWakeupWord", "$wakeupWord, $direction, $origin")
     }
 
     override fun onTtsStatusChanged(ttsRequest: TtsRequest) {
@@ -1634,6 +1645,29 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
         dialog.show()
     }
 
+    private fun setFollowSpeed() {
+        if (requestPermissionIfNeeded(Permission.SETTINGS, REQUEST_CODE_NORMAL)) {
+            return
+        }
+        printLog("Current follow speed ${robot.getFollowSpeed()}")
+        val speedLevels: MutableList<String> = ArrayList()
+        speedLevels.add(SpeedLevel.HIGH.value)
+        speedLevels.add(SpeedLevel.MEDIUM.value)
+        speedLevels.add(SpeedLevel.SLOW.value)
+        val adapter = ArrayAdapter(this, R.layout.item_dialog_row, R.id.name, speedLevels)
+        val dialog = AlertDialog.Builder(this)
+            .setTitle("Select Follow Speed Level")
+            .setAdapter(adapter, null)
+            .create()
+        dialog.listView.onItemClickListener =
+            OnItemClickListener { _: AdapterView<*>?, _: View?, position: Int, _: Long ->
+                val resp = robot.setFollowSpeed(SpeedLevel.valueToEnum(adapter.getItem(position)!!))
+                printLog("Set follow speed to: ${adapter.getItem(position)}, response $resp")
+                dialog.dismiss()
+            }
+        dialog.show()
+    }
+
     private fun setGoToSafety() {
         if (requestPermissionIfNeeded(Permission.SETTINGS, REQUEST_CODE_NORMAL)) {
             return

sample/src/main/java/com/robotemi/sdk/sample/MapActivity.kt

@@ -111,7 +111,11 @@ class MapActivity : AppCompatActivity() {
                 val internalFiles = internalMapDirectory.listFiles()?.toList() ?: listOf()
                 val externalFiles = externalMapDirectory.listFiles()?.toList() ?: listOf()
                 val files = (internalFiles + externalFiles).filter {
-                    it.isFile && it.path.endsWith("tar.gz", true)
+                    it.isFile
+                            && (it.path.endsWith("tar.gz", true)
+                            || it.path.endsWith("zip", true)
+                            || it.path.endsWith("tgz", true)
+                            || it.path.endsWith("tar", true))
                 }
 
                 val builder = AlertDialog.Builder(this@MapActivity)

sample/src/main/java/com/robotemi/sdk/sample/TemiBroadcastReceiver.kt

@@ -9,6 +9,8 @@ import com.robotemi.sdk.SttLanguage
 import com.robotemi.sdk.SttRequest
 import com.robotemi.sdk.TtsRequest
 import com.robotemi.sdk.constants.SequenceCommand
+import com.robotemi.sdk.navigation.model.Position
+import com.robotemi.sdk.voice.WakeupRequest
 
 class TemiBroadcastReceiver : BroadcastReceiver() {
     companion object {
@@ -23,6 +25,7 @@ class TemiBroadcastReceiver : BroadcastReceiver() {
         private const val ACTION_MEETING = "temi.debug.meeting"
         private const val ACTION_FACE = "temi.debug.face"
         private const val ACTION_WAKE_UP = "temi.debug.wakeup"
+        private const val ACTION_GOTO = "temi.debug.goto"
     }
 
     override fun onReceive(context: Context?, intent: Intent?) {
@@ -168,8 +171,24 @@ class TemiBroadcastReceiver : BroadcastReceiver() {
                     )
                     15 -> Robot.getInstance().wakeup(listOf(SttLanguage.MS_MY, SttLanguage.RU_RU, SttLanguage.VI_VN))
                     16 -> Robot.getInstance().wakeup(listOf(SttLanguage.EL_GR))
+                    17 -> Robot.getInstance().wakeup(listOf(SttLanguage.EL_GR), WakeupRequest(wakeupResponse = false))
+                    18 -> Robot.getInstance().wakeup(listOf(SttLanguage.EL_GR), WakeupRequest(wakeupResponse = true))
+                }
+            }
+            ACTION_GOTO -> {
+                // adb shell am broadcast -a temi.debug.sdk --es action "temi.debug.goto" --ei test 1
+                val test = intent.getIntExtra("test", 1)
+                val robot = Robot.getInstance()
+                val position = robot.getPosition()
+                when (test) {
+                    1 -> robot.goToPosition(position.copy(x = position.x + 0.5f))
+                    2 -> robot.goToPosition(position.copy(x = position.x + 0.5f), highAccuracyArrival = true)
+                    3 -> robot.goToPosition(position.copy(x = position.x + 0.5f, yaw = 999f), highAccuracyArrival = true)
+                    4 -> robot.goTo("a")
+                    5 -> robot.goTo("a", highAccuracyArrival = true)
+                    6 -> robot.goTo("a", highAccuracyArrival = true,  noRotationAtEnd = true)
+                    7 -> robot.goTo("a", noRotationAtEnd = true)
                 }
-
             }
         }
     }

sample/src/main/res/layout/group_app_and_permission.xml

@@ -49,4 +49,9 @@
         style="@style/ButtonCommon"
         android:text="Is Kiosk Mode On" />
 
+    <Button
+        android:id="@+id/btnCurrentHomeScreenMode"
+        style="@style/ButtonCommon"
+        android:text="Current Home Screen Mode" />
+
 </LinearLayout>

sample/src/main/res/layout/group_settings_and_status.xml

@@ -218,6 +218,11 @@
         style="@style/ButtonCommon"
         android:text="Enable Hard Buttons" />
 
+    <Button
+        android:id="@+id/btnSetFollowSpeed"
+        style="@style/ButtonCommon"
+        android:text="Set Follow Speed" />
+
     <Button
         android:id="@+id/btnSetGoToSpeed"
         style="@style/ButtonCommon"

sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl

@@ -5,6 +5,7 @@ import android.content.pm.ActivityInfo;
 import com.robotemi.sdk.ISdkServiceCallback;
 import com.robotemi.sdk.SttRequest;
 import com.robotemi.sdk.TtsRequest;
+import com.robotemi.sdk.voice.WakeupRequest;
 import com.robotemi.sdk.DisplayListRequest;
 import com.robotemi.sdk.activitystream.ActivityStreamObject;
 import com.robotemi.sdk.notification.AlertNotification;
@@ -96,7 +97,7 @@ interface ISdkService {
      *
      * @param location - Saved location name.
      */
-    void goTo(in String location, int backwards, int noBypass, in String speedLevel);
+    void goTo(in String location, int backwards, int noBypass, in String speedLevel, int highAccuracyArrival, int noRotationAtEnd);
 
     /**
      * Retrieve list of previously saved locations.
@@ -122,7 +123,7 @@ interface ISdkService {
     /**
      * Request robot to follow the user.
      */
-    void beWithMe();
+    void beWithMe(in String speedLevel);
 
     void skidJoy(in float x, in float y, in boolean smart);
 
@@ -174,7 +175,7 @@ interface ISdkService {
      */
     boolean deleteLocation(in String name);
 
-    void wakeup(in int[] languages, in SttRequest sttRequest);
+    void wakeup(in int[] languages, in SttRequest sttRequest, in WakeupRequest wakeupRequest);
 
     String getWakeupWord();
 
@@ -247,7 +248,7 @@ interface ISdkService {
 
     void playSequence(in String packageName, in String sequenceId, boolean withPlayer, int repeat);
 
-    void goToPosition(in Position position, int backwards, int noBypass, in String speedLevel);
+    void goToPosition(in Position position, int backwards, int noBypass, in String speedLevel, int highAccuracyArrival);
 
     MapDataModel getMapData(in String packageName);
 
@@ -387,4 +388,10 @@ interface ISdkService {
     String deleteMapLayer(in String packageName, in String layerId, int layerCategory);
 
     String getHardButtonStatus(in String packageName, int type);
+
+    String setFollowSpeed(in String packageName, in String speedLevel);
+
+    String getFollowSpeed();
+
+    String getHomeScreenMode(in String packageName);
 }

sdk/src/main/aidl/com/robotemi/sdk/ISdkServiceCallback.aidl

@@ -16,7 +16,7 @@ import com.robotemi.sdk.exception.SdkException;
 
 interface ISdkServiceCallback {
 
-    boolean onWakeupWord(in String wakeupWord, in int direction);
+    boolean onWakeupWord(in String wakeupWord, in int direction, in String origin);
 
     boolean onTtsStatusChanged(in TtsRequest ttsRequest);
 

sdk/src/main/aidl/com/robotemi/sdk/voice/WakeupRequest.aidl

@@ -0,0 +1,3 @@
+package com.robotemi.sdk.voice;
+
+parcelable WakeupRequest;