From 8860817b7f9a055b003a43dd82b01a4bd9b88acd Mon Sep 17 00:00:00 2001
From: tanjianbin <632190820@qq.com>
Date: Tue, 14 Apr 2026 10:56:32 +0800
Subject: [PATCH] =?UTF-8?q?fix:=20=E7=A6=81=E7=94=A8=E8=88=9E=E8=B9=88?=
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 =?UTF-8?q?=E5=90=8E=E8=87=AA=E5=8A=A8=E5=85=85=E7=94=B5=E9=80=BB=E8=BE=91?=
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禁用 MQTT 舞蹈命令以避免意外触发。
添加自动充电功能：当机器人空闲到达非充电桩位置10秒后，自动发起充电。
在开始移动、任务设置或移动取消时，自动取消充电计划。
---
 .../lzwcai_terminal_temi/MainActivity.kt      | 39 +++++++++++++++++++
 .../lzwcai_terminal_temi/MqttManager.kt       |  2 +-
 2 files changed, 40 insertions(+), 1 deletion(-)

diff --git a/app/src/main/java/com/example/lzwcai_terminal_temi/MainActivity.kt b/app/src/main/java/com/example/lzwcai_terminal_temi/MainActivity.kt
index 75c7fa7..86a9f36 100644
--- a/app/src/main/java/com/example/lzwcai_terminal_temi/MainActivity.kt
+++ b/app/src/main/java/com/example/lzwcai_terminal_temi/MainActivity.kt
@@ -96,6 +96,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     private val idleConfirmDelayMs = 5000L
     private var blinkJob: Job? = null
     private var networkErrorJob: Job? = null
+    private var autoRechargeJob: Job? = null
     private lateinit var telemetryManager: TelemetryManager
     private lateinit var taskController: TaskController
 
@@ -327,10 +328,15 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     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")
+        val isMoving = normalized in setOf("start", "starting", "going", "moving", "navigating", "calculating", "recalculating")
+        if (isMoving) {
+            cancelAutoRecharge("movement_started:$location/$status")
+        }
         if (normalized != "complete" && !isAbort) {
             return
         }
         if (isAbort) {
+            cancelAutoRecharge("movement_aborted:$location/$status")
             taskController.clearLeavingHomeBase()
             taskController.endNonSpecialTask("goTo aborted: $location, status=$status")
             return
@@ -360,6 +366,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         val ttsRequest = TtsRequest.create(text, false, language = TtsRequest.Language.ZH_CN)
         robot.speak(ttsRequest)
         Log.i("MainActivity", "Arrived at $location, announcement sent.")
+        scheduleAutoRechargeAfterIdleArrival()
     }
 
     override fun onDetectionStateChanged(state: Int) {
@@ -480,6 +487,9 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     }
 
     fun setCurrentTask(task: String) {
+        if (task.trim().isNotEmpty()) {
+            cancelAutoRecharge("task_set:$task")
+        }
         taskController.setCurrentTask(task)
     }
 
@@ -723,6 +733,35 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         }
     }
 
+    private fun scheduleAutoRechargeAfterIdleArrival() {
+        if (taskController.currentTask.isNotEmpty()) {
+            return
+        }
+        if (normalizeLocation(lastArrivalLocation) == "homebase") {
+            return
+        }
+        autoRechargeJob?.cancel()
+        autoRechargeJob = mainScope.launch {
+            delay(10_000L)
+            if (taskController.currentTask.isNotEmpty()) {
+                return@launch
+            }
+            if (normalizeLocation(lastArrivalLocation) == "homebase") {
+                return@launch
+            }
+            Log.i("MainActivity", "Auto recharge triggered after idle arrival timeout.")
+            navCon.recharge()
+        }
+    }
+
+    private fun cancelAutoRecharge(reason: String) {
+        if (autoRechargeJob?.isActive == true) {
+            Log.i("MainActivity", "Auto recharge canceled: $reason")
+        }
+        autoRechargeJob?.cancel()
+        autoRechargeJob = null
+    }
+
     private fun updateConnectionIndicator() {
         val colorRes = when {
             !isLiveKitConnected && !isMqttConnected -> android.R.color.holo_red_dark
diff --git a/app/src/main/java/com/example/lzwcai_terminal_temi/MqttManager.kt b/app/src/main/java/com/example/lzwcai_terminal_temi/MqttManager.kt
index 275dda4..1b2d63d 100644
--- a/app/src/main/java/com/example/lzwcai_terminal_temi/MqttManager.kt
+++ b/app/src/main/java/com/example/lzwcai_terminal_temi/MqttManager.kt
@@ -323,7 +323,7 @@ class MqttManager(
                 Log.i(TAG, "Tilt command sent: degrees=$degrees, speed=$speed, result=$ok")
             }
             "dance" -> {
-                startDance()
+                // startDance()
             }
             "stop" -> {
                 navController.stop()