feat(telemetry): 添加机器人状态监控与定期上报功能

- 新增电池状态、移动状态和位置变化的监听器
- 实现定期心跳上报和状态快照发布机制
- 添加低电量预警和事件发布功能
- 在MQTT连接时主动发布状态信息
- 支持通过"status"命令手动触发状态上报

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

@@ -18,13 +18,18 @@ import androidx.core.content.ContextCompat
 import com.example.lzwcai_terminal_temi.databinding.ActivityMainBinding
 import com.robotemi.sdk.Robot
 import com.robotemi.sdk.TtsRequest
+import com.robotemi.sdk.BatteryData
 import com.robotemi.sdk.Robot.TtsListener
+import com.robotemi.sdk.listeners.OnBatteryStatusChangedListener
 import com.robotemi.sdk.listeners.OnDetectionStateChangedListener
 import com.robotemi.sdk.listeners.OnGoToLocationStatusChangedListener
+import com.robotemi.sdk.listeners.OnMovementStatusChangedListener
 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.OnCurrentPositionChangedListener
 import com.robotemi.sdk.navigation.listener.OnReposeStatusChangedListener
+import com.robotemi.sdk.navigation.model.Position
 import com.robotemi.sdk.permission.*
 import kotlinx.coroutines.CoroutineScope
 import kotlinx.coroutines.Dispatchers
@@ -43,7 +48,8 @@ import javax.crypto.spec.SecretKeySpec
 
 class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnGoToLocationStatusChangedListener,
     OnDetectionStateChangedListener, OnReposeStatusChangedListener, SharedPreferences.OnSharedPreferenceChangeListener,
-    OnRequestPermissionResultListener {
+    OnRequestPermissionResultListener, OnBatteryStatusChangedListener, OnMovementStatusChangedListener,
+    OnCurrentPositionChangedListener {
 
     private lateinit var robot: Robot
     private lateinit var binding: ActivityMainBinding
@@ -73,6 +79,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
 
     private var closeDoorJob: Job? = null
     private var blinkJob: Job? = null
+    private var telemetryJob: Job? = null
 
     private var receptionLocation: String = ""
     private var receptionText: String = ""
@@ -84,6 +91,15 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     private var patrolNonStop: Boolean = false
     private var patrolMoveJob: Job? = null
     private var isLeavingHomeBase: Boolean = false
+    private var latestBatteryLevel: Int? = null
+    private var latestBatteryCharging: Boolean? = null
+    private var latestBattery2Level: Int? = null
+    private var latestPosition: Position? = null
+    private var latestMovementType: String? = null
+    private var latestMovementStatus: String? = null
+    private var lastTelemetrySentAt: Long = 0L
+    private var lastBatteryLowWarningAt: Long = 0L
+    private val batteryLowThreshold = 20
 
     @SuppressLint("SetTextI18n")
     override fun onCreate(savedInstanceState: Bundle?) {
@@ -149,6 +165,9 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         robot.addOnGoToLocationStatusChangedListener(this)
         robot.addOnDetectionStateChangedListener(this)
         robot.addOnReposeStatusChangedListener(this)
+        robot.addOnBatteryStatusChangedListener(this)
+        robot.addOnMovementStatusChangedListener(this)
+        robot.addOnCurrentPositionChangedListener(this)
         robot.addOnRequestPermissionResultListener(this)
         robot.constraintBeWith()
         if (mqttManager == null) {
@@ -158,6 +177,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         }
         updateLiveKitConnection()
         startBlinking()
+        startTelemetry()
     }
 
     override fun onStop() {
@@ -167,10 +187,14 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         robot.removeOnGoToLocationStatusChangedListener(this)
         robot.removeOnDetectionStateChangedListener(this)
         robot.removeOnReposeStatusChangedListener(this)
+        robot.removeOnBatteryStatusChangedListener(this)
+        robot.removeOnMovementStatusChangedListener(this)
+        robot.removeOnCurrentPositionChangedListener(this)
         robot.removeOnRequestPermissionResultListener(this)
         // mqttManager?.disconnect()  // Keep MQTT alive in background/settings
         liveKitManager?.disconnect()
         stopBlinking()
+        stopTelemetry()
     }
 
     override fun onDestroy() {
@@ -228,6 +252,42 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         }
     }
 
+    override fun onBatteryStatusChanged(batteryData: BatteryData?) {
+        if (batteryData == null) {
+            return
+        }
+        latestBatteryLevel = batteryData.level
+        latestBatteryCharging = batteryData.isCharging
+        latestBattery2Level = batteryData.battery2Level
+        val now = System.currentTimeMillis()
+        if (batteryData.level <= batteryLowThreshold && batteryData.isCharging.not()) {
+            if (now - lastBatteryLowWarningAt > 10 * 60 * 1000L) {
+                lastBatteryLowWarningAt = now
+                val ttsRequest = TtsRequest.create("电量低，请及时充电。", false, language = TtsRequest.Language.ZH_CN)
+                robot.speak(ttsRequest)
+                publishEvent(
+                    "battery_low",
+                    JSONObject()
+                        .put("level", batteryData.level)
+                        .put("charging", batteryData.isCharging)
+                        .put("battery2Level", batteryData.battery2Level)
+                )
+            }
+        }
+        publishStatusSnapshot("battery")
+    }
+
+    override fun onMovementStatusChanged(type: String, status: String) {
+        latestMovementType = type
+        latestMovementStatus = status
+        publishStatusSnapshot("movement")
+    }
+
+    override fun onCurrentPositionChanged(position: Position) {
+        latestPosition = position
+        publishStatusSnapshot("position")
+    }
+
     override fun onGoToLocationStatusChanged(location: String, status: String, descriptionId: Int, description: String) {
         val normalized = status.lowercase()
         val isAbort = normalized in setOf("abort", "aborted", "canceled", "cancelled", "stopped", "stop", "failed", "error")
@@ -664,6 +724,9 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     private fun setMqttConnectionStatus(connected: Boolean) {
         isMqttConnected = connected
         updateConnectionIndicator()
+        if (connected) {
+            publishStatusSnapshot("mqtt_connected", true)
+        }
     }
 
     private fun updateConnectionIndicator() {
@@ -711,6 +774,86 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         blinkJob?.cancel()
     }
 
+    private fun startTelemetry() {
+        stopTelemetry()
+        telemetryJob = mainScope.launch {
+            while (isActive) {
+                publishStatusSnapshot("heartbeat", true)
+                delay(15000L)
+            }
+        }
+    }
+
+    private fun stopTelemetry() {
+        telemetryJob?.cancel()
+        telemetryJob = null
+    }
+
+    fun publishStatusSnapshot(reason: String, force: Boolean = false) {
+        val now = System.currentTimeMillis()
+        if (!force && now - lastTelemetrySentAt < 5000L) {
+            return
+        }
+        lastTelemetrySentAt = now
+        val payload = JSONObject()
+            .put("type", "status")
+            .put("reason", reason)
+            .put("ts", now)
+            .put("task", currentTask)
+            .put("location", lastArrivalLocation ?: JSONObject.NULL)
+            .put("mqttConnected", isMqttConnected)
+            .put("liveKitConnected", isLiveKitConnected)
+
+        val batteryJson = JSONObject()
+        if (latestBatteryLevel != null) {
+            batteryJson.put("level", latestBatteryLevel)
+        }
+        if (latestBatteryCharging != null) {
+            batteryJson.put("charging", latestBatteryCharging)
+        }
+        if (latestBattery2Level != null) {
+            batteryJson.put("battery2Level", latestBattery2Level)
+        }
+        if (batteryJson.length() > 0) {
+            payload.put("battery", batteryJson)
+        }
+
+        val movementJson = JSONObject()
+        if (!latestMovementType.isNullOrBlank()) {
+            movementJson.put("type", latestMovementType)
+        }
+        if (!latestMovementStatus.isNullOrBlank()) {
+            movementJson.put("status", latestMovementStatus)
+        }
+        if (movementJson.length() > 0) {
+            payload.put("movement", movementJson)
+        }
+
+        val position = latestPosition
+        if (position != null) {
+            payload.put(
+                "position",
+                JSONObject()
+                    .put("x", position.x)
+                    .put("y", position.y)
+                    .put("yaw", position.yaw)
+                    .put("tiltAngle", position.tiltAngle)
+                    .put("inMapArea", position.isInMapArea)
+            )
+        }
+
+        mqttManager?.publish("robot/status", payload.toString())
+    }
+
+    private fun publishEvent(event: String, data: JSONObject) {
+        val payload = JSONObject()
+            .put("type", "event")
+            .put("event", event)
+            .put("ts", System.currentTimeMillis())
+            .put("data", data)
+        mqttManager?.publish("robot/event", payload.toString())
+    }
+
     override fun onSaveInstanceState(outState: Bundle) {
         super.onSaveInstanceState(outState)
         outState.putString("currentTask", currentTask)

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

@@ -308,6 +308,11 @@ class MqttManager(
             "continue" -> {
                 resumeTts()
             }
+            "status" -> {
+                scope.launch(Dispatchers.Main) {
+                    (context as? MainActivity)?.publishStatusSnapshot("command", true)
+                }
+            }
             "patrol" -> {
                 speak("接到巡逻任务", "zh")
                 val flag = obj.optBoolean("flag", true)