feat: 添加权限管理并增强导航功能

- 新增 PermissionManager 用于检查和请求 Temi 机器人权限
- 在 AndroidManifest 中声明所需的权限元数据
- 为 NavController 添加充电功能和改进的巡逻逻辑
- 扩展 MQTT 命令支持，包括充电和可配置巡逻
- 添加 Python 测试脚本用于 MQTT 流式文本测试
- 使用任务状态跟踪替代原有的接待模式标志

app/src/main/AndroidManifest.xml

@@ -20,6 +20,15 @@
         <meta-data
             android:name="com.robotemi.sdk.metadata.SKILL"
             android:value="@string/app_name" />
+            
+        <meta-data
+            android:name="@string/metadata_permissions"
+            android:value="com.robotemi.permission.settings,
+                            com.robotemi.permission.face_recognition,
+                            com.robotemi.permission.map,
+                            com.robotemi.permission.sequence,
+                            com.robotemi.permission.meetings" />
+
         <activity
             android:name=".MainActivity"
             android:exported="true">
@@ -31,6 +40,8 @@
         </activity>
         <activity android:name=".SettingsActivity" />
 
+
+
         <service android:name="org.eclipse.paho.android.service.MqttService" />
 
     </application>

app/src/main/java/com/example/lzwcai_terminal_temi/MainActivity.kt

@@ -18,6 +18,7 @@ import com.robotemi.sdk.listeners.OnRobotReadyListener
 import com.robotemi.sdk.listeners.OnDetectionStateChangedListener.Companion.DETECTED
 import com.robotemi.sdk.listeners.OnDetectionStateChangedListener.Companion.IDLE
 import com.robotemi.sdk.navigation.listener.OnReposeStatusChangedListener
+import com.robotemi.sdk.permission.*
 import kotlinx.coroutines.CoroutineScope
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.SupervisorJob
@@ -25,7 +26,8 @@ import kotlinx.coroutines.launch
 import kotlinx.coroutines.cancel
 
 class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnGoToLocationStatusChangedListener,
-    OnDetectionStateChangedListener, OnReposeStatusChangedListener, SharedPreferences.OnSharedPreferenceChangeListener {
+    OnDetectionStateChangedListener, OnReposeStatusChangedListener, SharedPreferences.OnSharedPreferenceChangeListener,
+    OnRequestPermissionResultListener {
 
     private lateinit var robot: Robot
     private lateinit var binding: ActivityMainBinding
@@ -33,13 +35,14 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     private val mainScope = CoroutineScope(Dispatchers.Main + SupervisorJob())
     private lateinit var prefs: SharedPreferences
     private lateinit var navCon: NavController
+    private lateinit var permissionManager: PermissionManager
+
     private var lastArrivalLocation: String? = null
     private var lastArrivalAt: Long = 0L
     private val fixedFaceScale = 1.0f
     private val baseFaceSizeDp = 1000f
+    private var currentTask: String = ""
 
-    // Reception mode
-    private var isReceptionMode = false
     private var receptionLocation: String = ""
     private var receptionText: String = ""
     private var receptionDestination: String = ""
@@ -54,6 +57,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         window.setSoftInputMode(WindowManager.LayoutParams.SOFT_INPUT_STATE_HIDDEN)
         robot = Robot.getInstance()
         navCon = NavController(robot)
+        permissionManager = PermissionManager(robot)
 
         prefs = getSharedPreferences("app_prefs", Context.MODE_PRIVATE)
 
@@ -82,6 +86,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         robot.addOnGoToLocationStatusChangedListener(this)
         robot.addOnDetectionStateChangedListener(this)
         robot.addOnReposeStatusChangedListener(this)
+        robot.addOnRequestPermissionResultListener(this)
         prefs.registerOnSharedPreferenceChangeListener(this)
         mqttManager?.connect()
     }
@@ -93,6 +98,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         robot.removeOnGoToLocationStatusChangedListener(this)
         robot.removeOnDetectionStateChangedListener(this)
         robot.removeOnReposeStatusChangedListener(this)
+        robot.removeOnRequestPermissionResultListener(this)
         prefs.unregisterOnSharedPreferenceChangeListener(this)
         mqttManager?.disconnect()
     }
@@ -108,6 +114,21 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     override fun onRobotReady(isReady: Boolean) {
         if (isReady) {
             Log.i("MainActivity", "Robot is ready!")
+            permissionManager.checkAndRequestPermissions()
+        }
+    }
+
+    override fun onRequestPermissionResult(
+        permission: Permission,
+        grantResult: Int,
+        requestCode: Int
+    ) {
+        if (requestCode == PermissionManager.REQUEST_CODE_TEMI_PERMISSIONS) {
+            if (grantResult == Permission.GRANTED) {
+                Log.i("MainActivity", "Temi permission GRANTED: $permission")
+            } else {
+                Log.w("MainActivity", "Temi permission DENIED: $permission")
+            }
         }
     }
 
@@ -115,7 +136,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         mqttManager?.handleTtsStatusChange(ttsRequest)
         when (ttsRequest.status) {
             TtsRequest.Status.STARTED -> {
-                Log.i("MainActivity", "TTS started: ${ttsRequest.speech}")
+                Log.i("MainActivity", "TTS started")
                 binding.animatedEmojiView.currentExpression = AnimatedEmojiView.Expression.TALKING
             }
             TtsRequest.Status.COMPLETED -> {
@@ -152,8 +173,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     }
 
     override fun onDetectionStateChanged(state: Int) {
-        // Reception mode logic
+        if (currentTask == "reception" && lastArrivalLocation == receptionLocation) {
-        if (isReceptionMode && lastArrivalLocation == receptionLocation) {
             when (state) {
                 DETECTED -> {
                     if (binding.btnReception.visibility != android.view.View.VISIBLE) {
@@ -171,34 +191,34 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         }
 
         // Home Base logic
-        if (lastArrivalLocation?.lowercase() == "home base") {
+        // if (lastArrivalLocation?.lowercase() == "home base") {
-            when (state) {
+        //     when (state) {
-                DETECTED -> {
+        //         DETECTED -> {
-                    mainScope.launch {
+        //             mainScope.launch {
-                        HttpManager.workflow_execute(
+        //                 HttpManager.workflow_execute(
-                            context = this@MainActivity,
+        //                     context = this@MainActivity,
-                            apiKey = "wf_865e80f5fc1a4a319474a21d47470863",
+        //                     apiKey = "wf_865e80f5fc1a4a319474a21d47470863",
-                            workflowId = "2031297462423851009",
+        //                     workflowId = "2031297462423851009",
-                            inputs = emptyMap<String, Any>()
+        //                     inputs = emptyMap<String, Any>()
-                        )
+        //                 )
-                    }
+        //             }
-                }
+        //         }
-                IDLE -> {
+        //         IDLE -> {
-                    mainScope.launch {
+        //             mainScope.launch {
-                        HttpManager.workflow_execute(
+        //                 HttpManager.workflow_execute(
-                            context = this@MainActivity,
+        //                     context = this@MainActivity,
-                            apiKey = "wf_c02aa853371345dbb29572641d083c24",
+        //                     apiKey = "wf_c02aa853371345dbb29572641d083c24",
-                            workflowId = "2031634633458520065",
+        //                     workflowId = "2031634633458520065",
-                            inputs = emptyMap<String, Any>()
+        //                     inputs = emptyMap<String, Any>()
-                        )
+        //                 )
-                    }
+        //             }
-                }
+        //         }
-            }
+        //     }
-        }
+        // }
     }
 
     fun startReceptionMode(location: String, text: String, destination: String) {
-        isReceptionMode = true
+        currentTask = "reception"
         receptionLocation = location
         receptionText = text
         receptionDestination = destination
@@ -209,7 +229,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     }
 
     private fun stopReceptionMode() {
-        isReceptionMode = false
+        currentTask = ""
         receptionLocation = ""
         receptionText = ""
         receptionDestination = ""
@@ -217,6 +237,11 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         Log.i("MainActivity", "Reception mode stopped")
     }
 
+    fun setCurrentTask(task: String) {
+        currentTask = task
+        Log.i("MainActivity", "Current task set to: $task")
+    }
+
     override fun onReposeStatusChanged(status: Int, description: String) {
         when (status) {
             OnReposeStatusChangedListener.REPOSING_COMPLETE -> {
@@ -266,4 +291,5 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         binding.animatedEmojiView.layoutParams = params
         binding.animatedEmojiView.requestLayout()
     }
+
 }

app/src/main/java/com/example/lzwcai_terminal_temi/MqttManager.kt

@@ -161,6 +161,10 @@ class MqttManager(
     private fun handleJsonCommand(obj: JSONObject) {
         val action = obj.optString("action", obj.optString("cmd", obj.optString("type", ""))).lowercase()
         when (action) {
+            "charge" -> {
+                speak("前往充电桩", "zh")
+                navController.charge()
+            }
             "goto" -> {
                 val location = obj.optString("location", obj.optString("target", ""))
                 goTo(location)
@@ -184,7 +188,25 @@ class MqttManager(
                 stopTts()
             }
             "patrol" -> {
+                (context as? MainActivity)?.setCurrentTask("patrol")
+                speak("接到巡逻任务", "zh")
+                val flag = obj.optBoolean("flag", true)
+                if (flag) {
+                    Log.d(TAG, "navController.randomPatrol() called.")
                     navController.randomPatrol()
+                } else {
+                    val locationsArray = obj.optJSONArray("locations")
+                    if (locationsArray != null && locationsArray.length() > 0) {
+                        val locations = List(locationsArray.length()) {
+                            locationsArray.getString(it)
+                        }
+                        Log.d(TAG, "navController.NavPatrol() called with locations: $locations")
+                        navController.NavPatrol(locations)
+                    } else {
+                        Log.w(TAG, "Patrol command received without locations, falling back to random patrol.")
+                        navController.randomPatrol()
+                    }
+                }
             }
             "reception" -> {
                 val location = obj.optString("location", "前台")
@@ -230,9 +252,7 @@ class MqttManager(
     }
 
     private fun stopTts() {
-        // Clear buffer
         speechBuffer.setLength(0)
-        
         scope.launch(Dispatchers.Main) {
             ttsQueue.clear()
             isTtsBusy = false
@@ -254,7 +274,6 @@ class MqttManager(
     private fun speak(text: String, langCode: String?) {
         val content = text.trim()
         if (content.isEmpty()) {
-            // Log.w(TAG, "Speak ignored: empty text") // Too noisy for stream?
             return
         }
         val language = resolveLanguage(langCode)

app/src/main/java/com/example/lzwcai_terminal_temi/NavController.kt

@@ -5,6 +5,13 @@ import com.robotemi.sdk.Robot
 
 class NavController(private val robot: Robot) {
     private val TAG = "NavController"
+    private var playmode = false
+
+    fun charge(): Boolean {
+        playmode = !playmode
+        robot.goTo("home base", playmode)
+        return true
+    }
 
     fun goTo(location: String, backwards: Boolean = false): Boolean {
         robot.goTo(location, backwards)
@@ -20,8 +27,12 @@ class NavController(private val robot: Robot) {
         return robot.locations
     }
 
-    fun patrol(locations: List<String>, nonStop: Boolean = false, times: Int = 1, waiting: Int = 3) {
+    fun NavPatrol(locations: List<String>, nonStop: Boolean = false, times: Int = 1, waiting: Int = 3) {
+        try {
             robot.patrol(locations, nonStop, times, waiting)
+        } catch (e: Exception) {
+            Log.e(TAG, "patrol() command failed.", e)
+        }
     }
 
     fun repose(): Boolean {
@@ -31,12 +42,14 @@ class NavController(private val robot: Robot) {
 
     fun randomPatrol() {
         val allLocations = getAllLocations()
-        if (allLocations.size < 3) {
+        val availablePatrolLocations = allLocations.filter { !it.equals("home base", ignoreCase = true) }
+        if (availablePatrolLocations.size < 3) {
+            Log.w(TAG, "Patrol command ignored: Not enough valid locations (excluding home base). Need at least 3, but found ${availablePatrolLocations.size}.")
             return
         }
-        val patrolCount = (3..minOf(6, allLocations.size)).random()
+        val patrolCount = (3..minOf(6, availablePatrolLocations.size)).random()
-        val patrolLocations = allLocations.shuffled().take(patrolCount)
+        val patrolLocations = availablePatrolLocations.shuffled().take(patrolCount)
-
+        Log.i(TAG, "Starting random patrol with $patrolCount locations: ${patrolLocations.joinToString()}.")
-        patrol(patrolLocations, false, 1, 3)
+        NavPatrol(patrolLocations, false, 1, 5)
     }
 }

app/src/main/java/com/example/lzwcai_terminal_temi/PermissionManager.kt

@@ -0,0 +1,35 @@
+package com.example.lzwcai_terminal_temi
+
+import android.util.Log
+import com.robotemi.sdk.Robot
+import com.robotemi.sdk.permission.Permission
+
+class PermissionManager(private val robot: Robot) {
+
+    private val TAG = "PermissionManager"
+
+    companion object {
+        const val REQUEST_CODE_TEMI_PERMISSIONS = 101
+    }
+
+    private val requiredPermissions = listOf(
+        Permission.MAP,
+        Permission.SEQUENCE,
+        Permission.FACE_RECOGNITION,
+        Permission.SETTINGS
+    )
+
+    fun checkAndRequestPermissions() {
+
+        val neededPermissions = requiredPermissions.filter {
+            robot.checkSelfPermission(it) != Permission.GRANTED
+        }
+
+        if (neededPermissions.isNotEmpty()) {
+            Log.i(TAG, "Requesting Temi permissions: $neededPermissions")
+            robot.requestPermissions(neededPermissions, REQUEST_CODE_TEMI_PERMISSIONS)
+        } else {
+            Log.i(TAG, "All required Temi permissions are already granted.")
+        }
+    }
+}

test.py

@@ -0,0 +1,100 @@
+import paho.mqtt.client as mqtt
+import json
+import time
+import sys
+import random
+
+# --- MQTT 配置 ---
+# 重要：请将这里替换为您的 MQTT 代理的 IP 地址
+BROKER_IP = "192.168.2.236"
+BROKER_PORT = 1883
+MQTT_TOPIC = "robot/cmd"
+MQTT_USERNAME = "lzwc"
+MQTT_PASSWORD = "Lzwc@4187."
+
+# --- 要进行流式传输的文本 ---
+# 您可以更改此文本
+TEXT_TO_STREAM = "你好，我是一个先进的人工智能助理。我的设计目标是理解并生成自然语言，从而能够与人类进行流畅的对话。我可以回答问题、提供信息、撰写文章，甚至进行一些基础的编程任务。这个流式传输演示旨在展示我如何将长篇回复分解成小的数据块，并实时发送给客户端，从而创造出一种更具互动性和即时性的体验。希望这次演示能够清晰地展示我的能力。"
+
+# --- 流媒体参数 ---
+# 每个数据块中发送的字符长度范围
+MIN_CHUNK_SIZE = 2
+MAX_CHUNK_SIZE = 8
+# 块之间的延迟（秒）
+STREAM_DELAY = 0.1
+
+def on_connect(client, userdata, flags, rc):
+    """客户端连接到代理时的回调。"""
+    if rc == 0:
+        print("成功连接到 MQTT 代理!")
+    else:
+        print(f"连接失败, 返回码 {rc}\n")
+        sys.exit(1)
+
+def on_publish(client, userdata, mid):
+    """消息发布时的回调。"""
+    # 默认注释掉，因为可能会产生大量输出
+    # print(f"已发布消息，mid: {mid}")
+    pass
+
+def create_mqtt_client():
+    """创建并配置 MQTT 客户端。"""
+    client = mqtt.Client()
+    client.username_pw_set(MQTT_USERNAME, MQTT_PASSWORD)
+    client.on_connect = on_connect
+    client.on_publish = on_publish
+    return client
+
+def stream_text(client, text_to_stream):
+    """将给定的文本以数据块的形式流式传输到 MQTT 主题。"""
+    print(f"开始向主题 '{MQTT_TOPIC}' 流式传输文本:")
+    print(f"文本: {text_to_stream}")
+    
+    index = 0
+    while index < len(text_to_stream):
+        # 生成一个随机的块大小
+        chunk_size = random.randint(MIN_CHUNK_SIZE, MAX_CHUNK_SIZE)
+        # 获取块，确保不会超出文本长度
+        chunk = text_to_stream[index:index + chunk_size]
+        index += len(chunk)
+        
+        # 创建 JSON 负载
+        payload = {
+            "action": "stream",
+            "text": chunk,
+            "lang": "zh" # 假设是中文，如果需要可以更改
+        }
+        payload_json = json.dumps(payload, ensure_ascii=False)
+        
+        # 发布消息
+        result = client.publish(MQTT_TOPIC, payload_json)
+        
+        # 检查发布是否成功
+        if result.rc != mqtt.MQTT_ERR_SUCCESS:
+            print(f"发送消息失败: {mqtt.error_string(result.rc)}")
+        else:
+            print(f"已发送块: '{chunk}'")
+            
+        # 等待一小段时间以模拟流式传输
+        time.sleep(STREAM_DELAY)
+        
+    print("\n流式传输完成。")
+
+def main():
+    """运行 MQTT 流式脚本的主函数。"""
+    client = create_mqtt_client()
+    
+    try:
+        client.connect(BROKER_IP, BROKER_PORT)
+    except Exception as e:
+        print(f"连接到代理 {BROKER_IP}:{BROKER_PORT} 时出错。请检查 IP 地址。")
+        print(f"错误: {e}")
+        sys.exit(1)
+        
+    stream_text(client, TEXT_TO_STREAM)
+    
+    client.disconnect()
+    print("已从 MQTT 代理断开。")
+
+if __name__ == "__main__":
+    main()