feat: 添加导航控制与MQTT命令处理功能

- 新增NavController类，封装机器人导航相关操作（前往、停止、巡逻等） - 扩展MqttManager以支持JSON命令解析，处理导航与语音指令 - 在AndroidManifest中添加temimetadata声明，使应用作为技能运行 - 移除设置界面中的日志显示功能，简化UI - 优化主界面布局结构，修复缩进问题 - 添加到达目的地自动语音播报功能 - 固定表情视图尺寸，确保显示一致性
2026-03-11 15:30:23 +08:00
parent 03cc654468
commit 8c687aa76e
7 changed files with 199 additions and 80 deletions
--- a/app/src/main/AndroidManifest.xml
+++ b/app/src/main/AndroidManifest.xml
@@ -16,6 +16,9 @@
        android:supportsRtl="true"
        android:theme="@style/Theme.Lzwcaiterminaltemi"
        tools:targetApi="31">
+        <meta-data
+            android:name="com.robotemi.sdk.metadata.SKILL"
+            android:value="@string/app_name" />
        <activity
            android:name=".MainActivity"
            android:exported="true">
--- a/app/src/main/java/com/example/lzwcai_terminal_temi/MainActivity.kt
+++ b/app/src/main/java/com/example/lzwcai_terminal_temi/MainActivity.kt
@@ -12,14 +12,20 @@ import com.example.lzwcai_terminal_temi.databinding.ActivityMainBinding
 import com.robotemi.sdk.Robot
 import com.robotemi.sdk.TtsRequest
 import com.robotemi.sdk.Robot.TtsListener
+import com.robotemi.sdk.listeners.OnGoToLocationStatusChangedListener
 import com.robotemi.sdk.listeners.OnRobotReadyListener

-class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, SharedPreferences.OnSharedPreferenceChangeListener {
+class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnGoToLocationStatusChangedListener, SharedPreferences.OnSharedPreferenceChangeListener {

    private lateinit var robot: Robot
    private lateinit var binding: ActivityMainBinding
    private var mqttManager: MqttManager? = null
    private lateinit var prefs: SharedPreferences
+    private lateinit var navCon: NavController
+    private var lastArrivalLocation: String? = null
+    private var lastArrivalAt: Long = 0L
+    private val fixedFaceScale = 1.0f
+    private val baseFaceSizeDp = 1000f

    @SuppressLint("SetTextI18n")
    override fun onCreate(savedInstanceState: Bundle?) {
@@ -30,6 +36,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, Sha
        LogManager.startLogcatListener()
        window.setSoftInputMode(WindowManager.LayoutParams.SOFT_INPUT_STATE_HIDDEN)
        robot = Robot.getInstance()
+        navCon = NavController(robot)

        prefs = getSharedPreferences("app_prefs", Context.MODE_PRIVATE)

@@ -46,6 +53,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, Sha
        }

        binding.animatedEmojiView.currentExpression = AnimatedEmojiView.Expression.SMILE
+        applyFaceScale(fixedFaceScale)
        
        updateMqttConnection()
    }
@@ -54,6 +62,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, Sha
        super.onStart()
        robot.addOnRobotReadyListener(this)
        robot.addTtsListener(this)
+        robot.addOnGoToLocationStatusChangedListener(this)
        prefs.registerOnSharedPreferenceChangeListener(this)
        mqttManager?.connect()
    }
@@ -62,13 +71,13 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, Sha
        super.onStop()
        robot.removeOnRobotReadyListener(this)
        robot.removeTtsListener(this)
+        robot.removeOnGoToLocationStatusChangedListener(this)
        prefs.unregisterOnSharedPreferenceChangeListener(this)
        mqttManager?.disconnect()
    }

    override fun onDestroy() {
        super.onDestroy()
-        // 确保在应用销毁时彻底释放资源
        mqttManager?.disconnect()
        LogManager.stopLogcatListener()
        Log.i("MainActivity", "All resources released on destroy.")
@@ -108,6 +117,23 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, Sha
        }
    }

+    override fun onGoToLocationStatusChanged(location: String, status: String, descriptionId: Int, description: String) {
+        val normalized = status.lowercase()
+        if (normalized != "complete") {
+            return
+        }
+        val now = System.currentTimeMillis()
+        if (lastArrivalLocation == location && now - lastArrivalAt < 5000L) {
+            return
+        }
+        lastArrivalLocation = location
+        lastArrivalAt = now
+        val text = "已到达$location"
+        val ttsRequest = TtsRequest.create(text, false, language = TtsRequest.Language.ZH_CN)
+        robot.speak(ttsRequest)
+        Log.i("MainActivity", "Arrived at $location, announcement sent.")
+    }
+
    override fun onSharedPreferenceChanged(sharedPreferences: SharedPreferences?, key: String?) {
        if (key == "network_ip") {
            Log.i("MainActivity", "IP address changed, re-initializing MQTT connection.")
@@ -119,7 +145,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, Sha
        mqttManager?.disconnect()
        val ip = prefs.getString("network_ip", null)
        if (!ip.isNullOrEmpty()) {
-            mqttManager = MqttManager(this, ip)
+            mqttManager = MqttManager(this, ip, robot, navCon)
            mqttManager?.connect()
            Log.i("MainActivity", "MQTT Manager updated with new IP: $ip")
        } else {
@@ -127,4 +153,14 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, Sha
            Log.w("MainActivity", "MQTT Manager disabled: IP address is not set.")
        }
    }
+
+    private fun applyFaceScale(scale: Float) {
+        val density = resources.displayMetrics.density
+        val sizePx = (baseFaceSizeDp * density * scale).toInt()
+        val params = binding.animatedEmojiView.layoutParams
+        params.width = sizePx
+        params.height = sizePx
+        binding.animatedEmojiView.layoutParams = params
+        binding.animatedEmojiView.requestLayout()
+    }
 }
--- a/app/src/main/java/com/example/lzwcai_terminal_temi/MqttManager.kt
+++ b/app/src/main/java/com/example/lzwcai_terminal_temi/MqttManager.kt
@@ -2,11 +2,19 @@ package com.example.lzwcai_terminal_temi

 import android.content.Context
 import android.util.Log
+import com.robotemi.sdk.Robot
+import com.robotemi.sdk.TtsRequest
 import kotlinx.coroutines.*
 import org.eclipse.paho.client.mqttv3.*
 import org.eclipse.paho.client.mqttv3.persist.MemoryPersistence
+import org.json.JSONObject

-class MqttManager(private val context: Context, private val serverIp: String) {
+class MqttManager(
+    private val context: Context,
+    private val serverIp: String,
+    private val robot: Robot,
+    private val navController: NavController
+) {

    private var mqttClient: MqttClient? = null
    private val TAG = "MqttManager"
@@ -33,10 +41,10 @@ class MqttManager(private val context: Context, private val serverIp: String) {
                override fun messageArrived(topic: String?, message: MqttMessage?) {
                    val payload = String(message?.payload ?: ByteArray(0))
                    Log.i(TAG, "Message arrived: Topic=$topic, Payload=$payload")
+                    handleIncomingMessage(topic, payload)
                }

                override fun deliveryComplete(token: IMqttDeliveryToken?) {
-                    // This is not critical for our use case
                }
            })
        } catch (e: MqttException) {
@@ -70,7 +78,7 @@ class MqttManager(private val context: Context, private val serverIp: String) {

    private fun scheduleReconnect() {
        if (reconnectJob?.isActive == true) {
-            return // 如果已经在计划重连，则不再创建新的
+            return 
        }
        reconnectJob = scope.launch {
            Log.d(TAG, "Scheduling reconnect in 5 seconds.")
@@ -82,7 +90,7 @@ class MqttManager(private val context: Context, private val serverIp: String) {
    fun disconnect() {
        scope.launch {
            try {
-                reconnectJob?.cancel() // 取消任何待处理的重连任务
+                reconnectJob?.cancel() 
                if (mqttClient?.isConnected == true) {
                    mqttClient?.disconnect()
                    Log.i(TAG, "Disconnected from MQTT broker.")
@@ -123,4 +131,76 @@ class MqttManager(private val context: Context, private val serverIp: String) {
            }
        }
    }
+
+    private fun handleIncomingMessage(topic: String?, payload: String) {
+        val trimmed = payload.trim()
+        if (trimmed.isEmpty()) {
+            return
+        }
+        if (!trimmed.startsWith("{")) {
+            Log.w(TAG, "Ignored non-JSON payload on ${topic ?: "unknown"}: $payload")
+            return
+        }
+        try {
+            val obj = JSONObject(trimmed)
+            handleJsonCommand(obj)
+        } catch (e: Exception) {
+            Log.w(TAG, "Invalid JSON payload: $payload")
+        }
+    }
+
+    private fun handleJsonCommand(obj: JSONObject) {
+        val action = obj.optString("action", obj.optString("cmd", obj.optString("type", ""))).lowercase()
+        when (action) {
+            "goto" -> {
+                val location = obj.optString("location", obj.optString("target", ""))
+                goTo(location)
+            }
+            "speak" -> {
+                val text = obj.optString("text", obj.optString("speech", ""))
+                val lang = obj.optString("lang", "")
+                speak(text, lang)
+            }
+            "stop" -> {
+                navController.stop()
+            }
+            "patrol" -> {
+                navController.randomPatrol()
+            }
+            else -> Log.w(TAG, "Unknown command action: $action")
+        }
+    }
+
+    private fun goTo(location: String) {
+        val target = location.trim()
+        if (target.isEmpty()) {
+            Log.w(TAG, "GoTo ignored: empty location")
+            return
+        }
+        val ok = navController.goTo(target)
+        Log.i(TAG, "GoTo command sent: $target, result=$ok")
+    }
+
+    private fun speak(text: String, langCode: String?) {
+        val content = text.trim()
+        if (content.isEmpty()) {
+            Log.w(TAG, "Speak ignored: empty text")
+            return
+        }
+        val language = resolveLanguage(langCode)
+        scope.launch(Dispatchers.Main) {
+            val ttsRequest = TtsRequest.create(content, false, language = language)
+            robot.speak(ttsRequest)
+            Log.i(TAG, "Speak command sent: $content, lang=$language")
+        }
+    }
+
+    private fun resolveLanguage(langCode: String?): TtsRequest.Language {
+        val code = langCode?.trim()?.lowercase().orEmpty()
+        return when (code) {
+            "zh", "zh_cn", "zh-cn" -> TtsRequest.Language.ZH_CN
+            "en", "en_us", "en-us" -> TtsRequest.Language.EN_US
+            else -> TtsRequest.Language.ZH_CN
+        }
+    }
 }
--- a/app/src/main/java/com/example/lzwcai_terminal_temi/NavController.kt
+++ b/app/src/main/java/com/example/lzwcai_terminal_temi/NavController.kt
@@ -0,0 +1,37 @@
+package com.example.lzwcai_terminal_temi
+
+import android.util.Log
+import com.robotemi.sdk.Robot
+
+class NavController(private val robot: Robot) {
+    private val TAG = "NavController"
+
+    fun goTo(location: String): Boolean {
+        robot.goTo(location)
+        return true
+    }
+
+    fun stop(): Boolean {
+        robot.stopMovement()
+        return true
+    }
+
+    fun getAllLocations(): List<String> {
+        return robot.locations
+    }
+
+    fun patrol(locations: List<String>, nonStop: Boolean = false, times: Int = 1, waiting: Int = 3) {
+        robot.patrol(locations, nonStop, times, waiting)
+    }
+
+    fun randomPatrol() {
+        val allLocations = getAllLocations()
+        if (allLocations.size < 3) {
+            return
+        }
+        val patrolCount = (3..minOf(6, allLocations.size)).random()
+        val patrolLocations = allLocations.shuffled().take(patrolCount)
+
+        patrol(patrolLocations, false, 1, 3)
+    }
+}
--- a/app/src/main/res/layout/activity_main.xml
+++ b/app/src/main/res/layout/activity_main.xml
@@ -6,42 +6,42 @@
    android:padding="16dp"
    tools:context=".MainActivity">

-    <ImageButton
-        android:id="@+id/btnSettings"
-        android:layout_width="60dp"
-        android:layout_height="60dp"
-        android:layout_alignParentTop="true"
-        android:layout_alignParentEnd="true"
-        android:background="?attr/selectableItemBackgroundBorderless"
-        android:contentDescription="@string/btn_settings"
-        android:src="@android:drawable/ic_menu_manage" />
+        <ImageButton
+            android:id="@+id/btnSettings"
+            android:layout_width="60dp"
+            android:layout_height="60dp"
+            android:layout_alignParentTop="true"
+            android:layout_alignParentEnd="true"
+            android:background="?attr/selectableItemBackgroundBorderless"
+            android:contentDescription="@string/btn_settings"
+            android:src="@android:drawable/ic_menu_manage" />

-    <com.example.lzwcai_terminal_temi.AnimatedEmojiView
-        android:id="@+id/animatedEmojiView"
-        android:layout_width="500dp"
-        android:layout_height="500dp"
-        android:layout_centerInParent="true" />
+        <com.example.lzwcai_terminal_temi.AnimatedEmojiView
+            android:id="@+id/animatedEmojiView"
+            android:layout_width="500dp"
+            android:layout_height="500dp"
+            android:layout_centerInParent="true" />

-    <LinearLayout
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:layout_alignParentBottom="true"
-        android:layout_centerHorizontal="true"
-        android:layout_marginBottom="32dp"
-        android:orientation="horizontal">
-
-        <Button
-            android:id="@+id/btnRandomExpression"
+        <LinearLayout
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
-            android:layout_marginEnd="16dp"
-            android:text="@string/btn_random_expression" />
+            android:layout_alignParentBottom="true"
+            android:layout_centerHorizontal="true"
+            android:layout_marginBottom="32dp"
+            android:orientation="horizontal">

-        <Button
-            android:id="@+id/btnSpeak"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:text="@string/btn_speak" />
-    </LinearLayout>
+            <Button
+                android:id="@+id/btnRandomExpression"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:layout_marginEnd="16dp"
+                android:text="@string/btn_random_expression" />
+
+            <Button
+                android:id="@+id/btnSpeak"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="@string/btn_speak" />
+        </LinearLayout>

 </RelativeLayout>
--- a/app/src/main/res/layout/activity_settings.xml
+++ b/app/src/main/res/layout/activity_settings.xml
@@ -91,38 +91,5 @@
            </FrameLayout>
        </LinearLayout>

-        <LinearLayout
-            android:layout_width="match_parent"
-            android:layout_height="wrap_content"
-            android:layout_below="@id/restartLayout"
-            android:layout_marginTop="32dp"
-            android:orientation="vertical">
-
-            <View
-                android:layout_width="match_parent"
-                android:layout_height="1dp"
-                android:layout_marginBottom="24dp"
-                android:background="#CCCCCC" />
-
-            <Button
-                android:id="@+id/btnToggleLogs"
-                android:layout_width="match_parent"
-                android:layout_height="80dp"
-                android:layout_marginBottom="16dp"
-                android:text="@string/btn_show_logs"
-                android:textSize="24sp" />
-
-            <TextView
-                android:id="@+id/tvLog"
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:background="#EEEEEE"
-                android:padding="16dp"
-                android:scrollbars="vertical"
-                android:text="@string/log_placeholder"
-                android:textSize="18sp"
-                android:visibility="gone" />
-        </LinearLayout>
-
    </RelativeLayout>
 </ScrollView>
--- a/app/src/main/res/values/strings.xml
+++ b/app/src/main/res/values/strings.xml
@@ -8,12 +8,8 @@
    <string name="hint_ip_address">请输入 IP 地址 (例如 192.168.1.100)</string>
    <string name="btn_save">保存</string>
    <string name="btn_back">返回主界面</string>
-    <string name="btn_show_logs">显示日志</string>
-    <string name="btn_hide_logs">隐藏日志</string>
    <string name="msg_ip_saved">IP 已保存: %1$s</string>
    <string name="msg_invalid_ip">请输入有效的 IP 地址</string>
-    <string name="log_init">应用启动完成。目标 IP: %1$s</string>
-    <string name="log_placeholder">日志将显示在这里...</string>
    <string name="btn_random_expression">随机表情</string>
    <string name="btn_speak">让机器人说话</string>
    <string name="btn_restart_app">长按重启应用</string>