Merge pull request #502 from robotemi/sprint_136/goto_speed_0.1_1.5

Goto speed 0.1 to 1.5

Author: zjn0505

gradle.properties

@@ -21,7 +21,7 @@ android.enableJetifier=true
 kotlin.code.style=official
 
 GROUP=com.robotemi
-VERSION_NAME=1.136.0.12-SNAPSHOT
+VERSION_NAME=1.136.0.13-SNAPSHOT
 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/MainJavaActivity.java

@@ -0,0 +1,26 @@
+package com.robotemi.sdk.sample;
+
+import android.app.Activity;
+
+import com.robotemi.sdk.Robot;
+import com.robotemi.sdk.navigation.model.SpeedLevel;
+import com.robotemi.sdk.voice.WakeupRequest;
+
+import java.util.ArrayList;
+
+public class MainJavaActivity extends Activity {
+
+    /**
+     * This is sample code to test SDK Java compatibility
+     */
+    private void test() {
+        Robot.getInstance().setVolume(10);
+        Robot.getInstance().setVolume(11);
+        Robot.getInstance().repose();
+        int volume = Robot.getInstance().getVolume();
+        Robot.getInstance().setKioskModeOn(false);
+
+        Robot.getInstance().wakeup(new ArrayList<>(), new WakeupRequest());
+        Robot.getInstance().goTo("a", false, false, SpeedLevel.Companion.customSpeed(1.5f));
+    }
+}

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.navigation.model.SpeedLevel
 import com.robotemi.sdk.voice.WakeupRequest
 
 class TemiBroadcastReceiver : BroadcastReceiver() {
@@ -176,8 +178,9 @@ class TemiBroadcastReceiver : BroadcastReceiver() {
                 }
             }
             ACTION_GOTO -> {
-                // adb shell am broadcast -a temi.debug.sdk --es action "temi.debug.goto" --ei test 1
+                // adb shell am broadcast -a temi.debug.sdk --es action "temi.debug.goto" --ei test 1 --ef speed 0.5
                 val test = intent.getIntExtra("test", 1)
+                val speed = intent.getFloatExtra("speed", 0.0f)
                 val robot = Robot.getInstance()
                 val position = robot.getPosition()
                 when (test) {
@@ -188,6 +191,14 @@ class TemiBroadcastReceiver : BroadcastReceiver() {
                     5 -> robot.goTo("a", highAccuracyArrival = true)
                     6 -> robot.goTo("a", highAccuracyArrival = true,  noRotationAtEnd = true)
                     7 -> robot.goTo("a", noRotationAtEnd = true)
+                    8 -> robot.goTo("a", speedLevel = SpeedLevel.HIGH)
+                    9 -> robot.goTo("a", speedLevel = SpeedLevel.MEDIUM)
+                    10 -> robot.goTo("a", speedLevel = SpeedLevel.SLOW, backwards = true)
+                    11 -> robot.goTo("a", speedLevel = SpeedLevel.customSpeed(1.5f), highAccuracyArrival = true)
+                    12 -> robot.goToPosition(Position(1f, 2f, 3f), speedLevel = SpeedLevel.customSpeed(speed), highAccuracyArrival = true)
+                    13 -> robot.goToPosition(Position(1f, 2f, 3f), speedLevel = SpeedLevel.MEDIUM, highAccuracyArrival = true)
+                    14 -> robot.goTo("a", speedLevel = SpeedLevel.customSpeed(speed), highAccuracyArrival = true)
+                    15 -> robot.goTo("b", speedLevel = SpeedLevel.customSpeed(speed), highAccuracyArrival = true)
                 }
             }
         }

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

@@ -98,7 +98,7 @@ interface ISdkService {
      *
      * @param location - Saved location name.
      */
-    void goTo(in String location, int backwards, int noBypass, in String speedLevel, int highAccuracyArrival, int noRotationAtEnd);
+    void goTo(in String location, int backwards, int noBypass, in String speedLevel, int highAccuracyArrival, int noRotationAtEnd, in float floatSpeedLevel);
 
     /**
      * Retrieve list of previously saved locations.
@@ -249,7 +249,7 @@ interface ISdkService {
 
     void playSequence(in String packageName, in String sequenceId, boolean withPlayer, int repeat, int startFromStep);
 
-    void goToPosition(in Position position, int backwards, int noBypass, in String speedLevel, int highAccuracyArrival);
+    void goToPosition(in Position position, int backwards, int noBypass, in String speedLevel, int highAccuracyArrival, in float floatSpeedLevel);
 
     MapDataModel getMapData(in String packageName);
 

sdk/src/main/java/com/robotemi/sdk/Robot.kt

@@ -1385,6 +1385,7 @@ class Robot private constructor(private val context: Context) {
                 speedLevel?.value ?: "",
                 highAccuracyArrivalInt,
                 noRotationAtEndInt,
+                speedLevel?.floatSpeedLevel ?: 0.0f,
             )
         } catch (e: RemoteException) {
             Log.e(TAG, "goTo(String) error")
@@ -1421,7 +1422,8 @@ class Robot private constructor(private val context: Context) {
                 allowBackwardsInt,
                 noBypassInt,
                 speedLevel?.value ?: "",
-                highAccuracyArrivalInt
+                highAccuracyArrivalInt,
+                speedLevel?.floatSpeedLevel ?: 0.0f,
             )
         } catch (e: RemoteException) {
             Log.e(TAG, "goToPosition() error")

sdk/src/main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt

@@ -1,10 +1,19 @@
 package com.robotemi.sdk.navigation.model
 
-enum class SpeedLevel(val value: String) {
+import androidx.annotation.FloatRange
 
-    HIGH("high"),
-    MEDIUM("medium"),
-    SLOW("slow");
+
+enum class SpeedLevel(
+    val value: String,
+    private var floatValue: Float? = null
+) {
+
+    HIGH("high"),       // 0.9 m/s
+    MEDIUM("medium"),   // 0.7 m/s
+    SLOW("slow");       // 0.5 m/s
+
+    internal val floatSpeedLevel: Float
+        get() = floatValue ?: 0.0f
 
     companion object {
 
@@ -20,5 +29,26 @@ enum class SpeedLevel(val value: String) {
                 else -> DEFAULT
             }
         }
+
+        /**
+         * Added in 136 version, use a float value to control the max goto speed level.
+         * It will fallback to predefined speed level is the temi launcher doesn't support custom speed
+         *
+         * @param floatValue the custom max goto speed value, range from 0.1 to 1.5
+         *                   Currently V3 and temi platform might not be able to go as fast as 1.5 m/s
+         *                   due to obstacle avoidance and ground surface conditions.
+         *                   The max speed might be around 1.2 m/s.
+         *                   But in the future the limit might be changed to go faster.
+         */
+        fun customSpeed(@FloatRange(from = 0.1, to = 1.5) floatValue: Float): SpeedLevel {
+            return when {
+                floatValue < 0.7f - EPSILON -> SLOW
+                floatValue > 0.9f - EPSILON -> HIGH
+                else -> MEDIUM
+            }.apply { this.floatValue = floatValue.coerceAtLeast(0.1f) }
+        }
+
+        // Fix the float precision issue
+        private const val EPSILON = 1e-6f
     }
 }