feat: 新增机器人运动控制、任务管理及远程监控功能

- 扩展 NavController 支持旋转、倾斜及遥控操作
- 实现任务控制器统一管理接待、巡逻、通知等任务逻辑
- 新增遥测管理器定期上报状态并支持低电量预警
- 增强 LiveKit 管理器支持自动重连与麦克风状态联动
- 优化人体检测去抖逻辑并更新技术文档
- 调整设置界面文本描述并添加网络异常提示

.idea/misc.xml

@@ -1,4 +1,3 @@
-<?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="ExternalStorageConfigurationManager" enabled="true" />
   <component name="ProjectRootManager" version="2" languageLevel="JDK_21" default="true" project-jdk-name="jbr-21" project-jdk-type="JavaSDK">

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

@@ -12,6 +12,7 @@ import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.Job
 import kotlinx.coroutines.SupervisorJob
 import kotlinx.coroutines.cancel
+import kotlinx.coroutines.delay
 import kotlinx.coroutines.launch
 
 enum class LiveKitStatus {
@@ -20,12 +21,36 @@ enum class LiveKitStatus {
     Failed
 }
 
-class LiveKitManager(appContext: Context, private val statusListener: (LiveKitStatus) -> Unit) {
+class LiveKitManager(
+    appContext: Context,
+    private val statusListener: (LiveKitStatus) -> Unit,
+    private val onDataReceived: (payload: String, topic: String?, participantIdentity: String?) -> Unit = { _, _, _ -> }
+) {
 
     private val context = appContext.applicationContext
     private val scope = CoroutineScope(Dispatchers.Main + SupervisorJob())
     private var room: Room? = null
     private var eventsJob: Job? = null
+    private var reconnectJob: Job? = null
+    private var autoReconnectEnabled = false
+    private var lastUrl: String? = null
+    private var lastToken: String? = null
+    private var lastEnableMic: Boolean = false
+    private var lastEnableCamera: Boolean = false
+    private var ttsMuted: Boolean = false
+    private var detectionActive: Boolean = false
+
+    companion object {
+        const val PREF_KEY_URL = "livekit_url"
+        const val PREF_KEY_ROOM = "livekit_room"
+        const val PREF_KEY_TOKEN = "livekit_token"
+        const val PREF_KEY_ENABLED = "livekit_enabled"
+        const val DEFAULT_URL = "ws://localhost:7880"
+        const val DEFAULT_ROOM = "temi-room"
+        const val DEFAULT_API_KEY = "devkey"
+        const val DEFAULT_API_SECRET = "secret"
+        const val PERMISSION_REQUEST_CODE = 2001
+    }
 
     fun connect(url: String, token: String, enableMic: Boolean, enableCamera: Boolean) {
         val finalUrl = url.trim()
@@ -34,6 +59,13 @@ class LiveKitManager(appContext: Context, private val statusListener: (LiveKitSt
             Log.w("LiveKitManager", "LiveKit connect skipped: empty url or token.")
             return
         }
+        reconnectJob?.cancel()
+        autoReconnectEnabled = true
+        lastUrl = finalUrl
+        lastToken = finalToken
+        lastEnableMic = enableMic
+        lastEnableCamera = enableCamera
+        Log.i("LiveKitManager", "LiveKit connect requested: mic=$enableMic, camera=$enableCamera, url=$finalUrl")
         scope.launch {
             val currentRoom = room ?: LiveKit.create(context).also { room = it }
             eventsJob?.cancel()
@@ -42,11 +74,19 @@ class LiveKitManager(appContext: Context, private val statusListener: (LiveKitSt
                     when (event) {
                         is RoomEvent.Connected -> {
                             Log.i("LiveKitManager", "LiveKit connected.")
+                            reconnectJob?.cancel()
                             statusListener(LiveKitStatus.Connected)
+                            applyMicState()
                         }
                         is RoomEvent.Disconnected -> {
                             Log.i("LiveKitManager", "LiveKit disconnected.")
                             statusListener(LiveKitStatus.Disconnected)
+                            scheduleReconnect()
+                        }
+                        is RoomEvent.DataReceived -> {
+                            val payload = runCatching { event.data.toString(Charsets.UTF_8) }.getOrDefault("")
+                            val participantIdentity = event.participant?.identity?.toString()
+                            onDataReceived(payload, event.topic, participantIdentity)
                         }
                         else -> {}
                     }
@@ -62,12 +102,15 @@ class LiveKitManager(appContext: Context, private val statusListener: (LiveKitSt
             }.onFailure { e ->
                 Log.e("LiveKitManager", "LiveKit connect error: ${e.message}", e)
                 statusListener(LiveKitStatus.Failed)
+                scheduleReconnect()
             }
         }
     }
 
     fun disconnect() {
+        autoReconnectEnabled = false
         scope.launch {
+            reconnectJob?.cancel()
             eventsJob?.cancel()
             runCatching { room?.disconnect() }
             statusListener(LiveKitStatus.Disconnected)
@@ -75,10 +118,64 @@ class LiveKitManager(appContext: Context, private val statusListener: (LiveKitSt
     }
 
     fun release() {
+        autoReconnectEnabled = false
+        reconnectJob?.cancel()
         eventsJob?.cancel()
         runCatching { room?.disconnect() }
         room = null
         scope.cancel()
         statusListener(LiveKitStatus.Disconnected)
     }
+
+    fun setTtsMute(active: Boolean) {
+        if (ttsMuted == active) {
+            return
+        }
+        ttsMuted = active
+        Log.i("LiveKitManager", "LiveKit TTS mute changed: $active")
+        applyMicState()
+    }
+
+    fun setDetectionActive(active: Boolean) {
+        if (detectionActive == active) {
+            return
+        }
+        detectionActive = active
+        Log.i("LiveKitManager", "LiveKit detection active: $active")
+        applyMicState()
+    }
+
+    private fun scheduleReconnect() {
+        if (!autoReconnectEnabled) {
+            return
+        }
+        if (reconnectJob?.isActive == true) {
+            return
+        }
+        val url = lastUrl
+        val token = lastToken
+        if (url.isNullOrBlank() || token.isNullOrBlank()) {
+            return
+        }
+        reconnectJob = scope.launch {
+            delay(5000L)
+            connect(url, token, lastEnableMic, lastEnableCamera)
+        }
+    }
+
+    private fun applyMicState() {
+        val currentRoom = room ?: return
+        val enabled = lastEnableMic && detectionActive && !ttsMuted
+        Log.i(
+            "LiveKitManager",
+            "LiveKit mic state -> enabled=$enabled (config=$lastEnableMic, detection=$detectionActive, ttsMuted=$ttsMuted)"
+        )
+        scope.launch {
+            runCatching {
+                currentRoom.localParticipant.setMicrophoneEnabled(enabled)
+            }.onFailure { e ->
+                Log.w("LiveKitManager", "LiveKit mic toggle failed: ${e.message}", e)
+            }
+        }
+    }
 }

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

@@ -4,27 +4,46 @@ import android.util.Log
 import kotlinx.coroutines.CoroutineScope
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.Job
+import kotlinx.coroutines.SupervisorJob
 import kotlinx.coroutines.launch
 import java.io.BufferedReader
 import java.io.InputStreamReader
+import java.util.concurrent.CopyOnWriteArrayList
 
 object LogManager {
+    private val ioScope = CoroutineScope(Dispatchers.IO + SupervisorJob())
+    private val mainScope = CoroutineScope(Dispatchers.Main + SupervisorJob())
     private var logcatJob: Job? = null
     private var logcatProcess: Process? = null
-    private val logListeners = mutableListOf<(String) -> Unit>()
+    private val logListeners = CopyOnWriteArrayList<(String) -> Unit>()
+    private var logcatTags: List<String> = emptyList()
+    private var logcatMinPriority: Char = 'D'
+
+    fun configureLogcat(tags: List<String>, minPriority: Char = 'D') {
+        logcatTags = tags.map { it.trim() }.filter { it.isNotEmpty() }
+        logcatMinPriority = normalizePriority(minPriority)
+        if (logcatJob?.isActive == true) {
+            stopLogcatListener()
+            startLogcatListener()
+        }
+    }
 
     fun startLogcatListener() {
         if (logcatJob?.isActive == true) {
             return
         }
-        logcatJob = CoroutineScope(Dispatchers.IO).launch {
+        val command = buildLogcatCommand()
+        logcatJob = ioScope.launch {
             try {
-                logcatProcess = ProcessBuilder("logcat", "-v", "time").start()
+                logcatProcess = ProcessBuilder(command).start()
                 val reader = BufferedReader(InputStreamReader(logcatProcess!!.inputStream))
                 var line: String?
                 while (reader.readLine().also { line = it } != null) {
-                    CoroutineScope(Dispatchers.Main).launch {
-                        updateLog(line!!)
+                    if (logListeners.isNotEmpty()) {
+                        val text = line ?: continue
+                        mainScope.launch {
+                            updateLog(text)
+                        }
                     }
                 }
             } catch (e: Exception) {
@@ -52,4 +71,19 @@ object LogManager {
     private fun updateLog(logLine: String) {
         logListeners.forEach { it(logLine) }
     }
+
+    private fun buildLogcatCommand(): List<String> {
+        if (logcatTags.isEmpty()) {
+            return listOf("logcat", "-v", "time")
+        }
+        val filters = logcatTags.map { "$it:$logcatMinPriority" } + "*:S"
+        return listOf("logcat", "-v", "time", "-s") + filters
+    }
+
+    private fun normalizePriority(priority: Char): Char {
+        return when (priority.uppercaseChar()) {
+            'V', 'D', 'I', 'W', 'E', 'F', 'S' -> priority.uppercaseChar()
+            else -> 'D'
+        }
+    }
 }

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

@@ -10,6 +10,7 @@ import android.os.Bundle
 import android.os.Build
 import android.util.Log
 import android.view.WindowManager
+import android.view.View
 import android.util.Base64
 import android.graphics.drawable.GradientDrawable
 import androidx.appcompat.app.AppCompatActivity
@@ -56,50 +57,35 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     private var mqttManager: MqttManager? = null
     private val mainScope = CoroutineScope(Dispatchers.Main + SupervisorJob())
     private lateinit var prefs: SharedPreferences
+    private val specialStateKey = "special_state"
     private lateinit var navCon: NavController
     private lateinit var permissionManager: PermissionManager
     private var liveKitManager: LiveKitManager? = null
-    private val liveKitUrlKey = "livekit_url"
-    private val liveKitRoomKey = "livekit_room"
-    private val liveKitTokenKey = "livekit_token"
-    private val liveKitEnabledKey = "livekit_enabled"
-    private val liveKitPermissionRequestCode = 2001
-    private val liveKitUrlDefault = "ws://192.168.2.236:7880"
-    private val liveKitApiKeyDefault = "devkey"
-    private val liveKitApiSecretDefault = "secret"
-    private val liveKitRoomDefault = "temi-room"
     private var isLiveKitConnected = false
     private var isMqttConnected = false
 
     private var lastArrivalLocation: String? = null
     private var lastArrivalAt: Long = 0L
 
-    private var currentTask: String = ""
+    private var initialTask: String = ""
+    private var initialReceptionLocation: String = ""
+    private var initialReceptionText: String = ""
+    private var initialReceptionDestination: String = ""
+    private var initialNotificationLocation: String = ""
+    private var initialNotificationText: String = ""
 
 
     private var closeDoorJob: Job? = null
+    private var detectConfirmJob: Job? = null
+    private var idleConfirmJob: Job? = null
+    private var latestDetectionState: Int = IDLE
+    private var isDetectionStable = false
+    private val detectedConfirmDelayMs = 800L
+    private val idleConfirmDelayMs = 5000L
     private var blinkJob: Job? = null
-    private var telemetryJob: Job? = null
-
-    private var receptionLocation: String = ""
-    private var receptionText: String = ""
-    private var receptionDestination: String = ""
-    private var patrolRoute: List<String> = emptyList()
-    private var patrolIndex: Int = 0
-    private var patrolLoopsRemaining: Int = 1
-    private var patrolWaitingSeconds: Int = 3
-    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
+    private var networkErrorJob: Job? = null
+    private lateinit var telemetryManager: TelemetryManager
+    private lateinit var taskController: TaskController
 
     @SuppressLint("SetTextI18n")
     override fun onCreate(savedInstanceState: Bundle?) {
@@ -107,6 +93,19 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         binding = ActivityMainBinding.inflate(layoutInflater)
         setContentView(binding.root)
 
+        LogManager.configureLogcat(
+            tags = listOf(
+                "MainActivity",
+                "MqttManager",
+                "LiveKitManager",
+                "SettingsActivity",
+                "PermissionManager",
+                "LogManager",
+                "TaskController",
+                "TelemetryManager"
+            ),
+            minPriority = 'I'
+        )
         LogManager.startLogcatListener()
         window.setSoftInputMode(WindowManager.LayoutParams.SOFT_INPUT_STATE_HIDDEN)
         robot = Robot.getInstance()
@@ -114,25 +113,33 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         permissionManager = PermissionManager(robot)
 
         if (savedInstanceState != null) {
-            currentTask = savedInstanceState.getString("currentTask", "") ?: ""
-            receptionLocation = savedInstanceState.getString("receptionLocation", "") ?: ""
-            receptionText = savedInstanceState.getString("receptionText", "") ?: ""
-            receptionDestination = savedInstanceState.getString("receptionDestination", "") ?: ""
+            initialTask = savedInstanceState.getString("currentTask", "") ?: ""
+            initialReceptionLocation = savedInstanceState.getString("receptionLocation", "") ?: ""
+            initialReceptionText = savedInstanceState.getString("receptionText", "") ?: ""
+            initialReceptionDestination = savedInstanceState.getString("receptionDestination", "") ?: ""
+            initialNotificationLocation = savedInstanceState.getString("notificationLocation", "") ?: ""
+            initialNotificationText = savedInstanceState.getString("notificationText", "") ?: ""
             lastArrivalLocation = savedInstanceState.getString("lastArrivalLocation")
         }
-        if (currentTask == "special") {
-            currentTask = ""
+        if (initialTask == "special") {
+            initialTask = ""
         }
 
         prefs = getSharedPreferences("app_prefs", Context.MODE_PRIVATE)
         prefs.registerOnSharedPreferenceChangeListener(this)
-        liveKitManager = LiveKitManager(applicationContext) { status ->
-            when (status) {
-                LiveKitStatus.Connected -> setLiveKitStatus(true)
-                LiveKitStatus.Disconnected -> setLiveKitStatus(false)
-                LiveKitStatus.Failed -> setLiveKitStatus(false)
+        liveKitManager = LiveKitManager(
+            applicationContext,
+            statusListener = { status ->
+                when (status) {
+                    LiveKitStatus.Connected -> setLiveKitStatus(true)
+                    LiveKitStatus.Disconnected -> setLiveKitStatus(false)
+                    LiveKitStatus.Failed -> setLiveKitStatus(false)
+                }
+            },
+            onDataReceived = { payload, topic, participant ->
+                handleAsrPayload(payload, topic, participant)
             }
-        }
+        )
         if (lastArrivalLocation == null) {
             lastArrivalLocation = prefs.getString("current_location", null)
         }
@@ -140,20 +147,53 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
             startActivity(Intent(this, SettingsActivity::class.java))
         }
 
-        if (currentTask == "patrol") {
-            binding.animatedEmojiView.currentExpression = AnimatedEmojiView.Expression.ANGRY
-        } else {
-            binding.animatedEmojiView.currentExpression = AnimatedEmojiView.Expression.SMILE
-        }
+        taskController = TaskController(
+            scope = mainScope,
+            navController = navCon,
+            getLastArrivalLocation = { lastArrivalLocation },
+            speak = { text ->
+                val ttsRequest = TtsRequest.create(text, false, language = TtsRequest.Language.ZH_CN)
+                robot.speak(ttsRequest)
+            },
+            setEmoji = { expression ->
+                binding.animatedEmojiView.currentExpression = expression
+            },
+            setReceptionButtonVisible = { visible ->
+                binding.btnReception.visibility = if (visible) android.view.View.VISIBLE else android.view.View.GONE
+            }
+        )
+        taskController.restoreState(
+            initialTask,
+            initialReceptionLocation,
+            initialReceptionText,
+            initialReceptionDestination,
+            initialNotificationLocation,
+            initialNotificationText
+        )
 
         binding.btnReception.setOnClickListener {
-            val destination = receptionDestination
-            stopReceptionMode()
+            val destination = taskController.confirmReception()
+            if (destination.isNullOrBlank()) {
+                return@setOnClickListener
+            }
             val ttsRequest = TtsRequest.create("接待任务确认，请跟我来", false, language = TtsRequest.Language.ZH_CN)
             robot.speak(ttsRequest)
             navCon.goTo(destination, false)
         }
 
+        telemetryManager = TelemetryManager(
+            scope = mainScope,
+            taskProvider = { taskController.currentTask },
+            locationProvider = { lastArrivalLocation },
+            mqttConnectedProvider = { isMqttConnected },
+            liveKitConnectedProvider = { isLiveKitConnected },
+            publish = { topic, payload -> mqttManager?.publish(topic, payload) },
+            onLowBattery = { _ ->
+                val ttsRequest = TtsRequest.create("电量低，请及时充电。", false, language = TtsRequest.Language.ZH_CN)
+                robot.speak(ttsRequest)
+            }
+        )
+
         updateMqttConnection()
         updateLiveKitStatusSnapshot()
     }
@@ -177,7 +217,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         }
         updateLiveKitConnection()
         startBlinking()
-        startTelemetry()
+        telemetryManager.start()
     }
 
     override fun onStop() {
@@ -194,7 +234,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         // mqttManager?.disconnect()  // Keep MQTT alive in background/settings
         liveKitManager?.disconnect()
         stopBlinking()
-        stopTelemetry()
+        telemetryManager.stop()
     }
 
     override fun onDestroy() {
@@ -234,21 +274,26 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
             TtsRequest.Status.STARTED -> {
                 Log.i("MainActivity", "TTS started")
                 binding.animatedEmojiView.currentExpression = AnimatedEmojiView.Expression.TALKING
+                liveKitManager?.setTtsMute(true)
             }
             TtsRequest.Status.COMPLETED, 
-            TtsRequest.Status.CANCELED -> {
+            TtsRequest.Status.CANCELED,
+            TtsRequest.Status.NOT_ALLOWED -> {
                 Log.i("MainActivity", "TTS finished: ${ttsRequest.speech}")
-                if (currentTask == "patrol") {
+                if (taskController.currentTask == "patrol") {
                     binding.animatedEmojiView.currentExpression = AnimatedEmojiView.Expression.ANGRY
                 } else {
                     binding.animatedEmojiView.currentExpression = AnimatedEmojiView.Expression.SMILE
                 }
+                liveKitManager?.setTtsMute(false)
             }
             TtsRequest.Status.ERROR -> {
                 Log.e("MainActivity", "TTS error: ${ttsRequest.speech}")
                 binding.animatedEmojiView.currentExpression = AnimatedEmojiView.Expression.SAD
+                liveKitManager?.setTtsMute(false)
+                showNetworkErrorBanner()
             }
-            else -> { /* PENDING, PROCESSING, NOT_ALLOWED */ }
+            else -> { /* PENDING, PROCESSING */ }
         }
     }
 
@@ -256,36 +301,15 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         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")
+        telemetryManager.onBatteryStatusChanged(batteryData)
     }
 
     override fun onMovementStatusChanged(type: String, status: String) {
-        latestMovementType = type
-        latestMovementStatus = status
-        publishStatusSnapshot("movement")
+        telemetryManager.onMovementStatusChanged(type, status)
     }
 
     override fun onCurrentPositionChanged(position: Position) {
-        latestPosition = position
-        publishStatusSnapshot("position")
+        telemetryManager.onCurrentPositionChanged(position)
     }
 
     override fun onGoToLocationStatusChanged(location: String, status: String, descriptionId: Int, description: String) {
@@ -295,23 +319,29 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
             return
         }
         if (isAbort) {
-            isLeavingHomeBase = false
-            endNonSpecialTask("goTo aborted: $location, status=$status")
+            taskController.clearLeavingHomeBase()
+            taskController.endNonSpecialTask("goTo aborted: $location, status=$status")
             return
         }
         val now = System.currentTimeMillis()
         if (lastArrivalLocation == location && now - lastArrivalAt < 5000L) {
             return
         }
-        isLeavingHomeBase = false
+        taskController.clearLeavingHomeBase()
         lastArrivalLocation = location
         lastArrivalAt = now
         prefs.edit().putString("current_location", location).apply()
-        if (currentTask == "patrol") {
-            handlePatrolArrival(location)
+        if (normalizeLocation(location) == "homebase") {
+            navCon.tiltAngle(20)
         }
-        if (isSpecialModeEnabled() && currentTask.isEmpty()) {
-            Log.i("MainActivity", "Special task mode: arrival announcement skipped at $location.")
+        if (taskController.currentTask == "patrol") {
+            taskController.handlePatrolArrival(location)
+        }
+        if (taskController.handleNotificationArrival(location)) {
+            return
+        }
+        if (isSpecialStateEnabled() && taskController.currentTask.isEmpty()) {
+            Log.i("MainActivity", "Special state: arrival announcement skipped at $location.")
             return
         }
         val text = "已到达$location"
@@ -321,74 +351,89 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     }
 
     override fun onDetectionStateChanged(state: Int) {
-        if (currentTask == "patrol" && state == DETECTED) {
-            val ttsRequest = TtsRequest.create("别妨碍我，我正在巡逻呢", false, language = TtsRequest.Language.ZH_CN)
-            robot.speak(ttsRequest)
-            return
-        }
-
-        if (currentTask == "reception" && lastArrivalLocation == receptionLocation) {
-            when (state) {
-                DETECTED -> {
-                    if (binding.btnReception.visibility != android.view.View.VISIBLE) {
-                        binding.btnReception.visibility = android.view.View.VISIBLE
-                        val ttsRequest = TtsRequest.create(receptionText, false, language = TtsRequest.Language.ZH_CN)
-                        robot.speak(ttsRequest)
-                        Log.i("MainActivity", "Reception: Person detected (new session) at $receptionLocation")
+        latestDetectionState = state
+        Log.i("MainActivity", "Detection state changed: $state")
+        when (state) {
+            DETECTED -> {
+                idleConfirmJob?.cancel()
+                if (isDetectionStable || detectConfirmJob?.isActive == true) {
+                    return
+                }
+                detectConfirmJob = mainScope.launch {
+                    delay(detectedConfirmDelayMs)
+                    if (latestDetectionState == DETECTED && !isDetectionStable) {
+                        isDetectionStable = true
+                        handleStableDetectionStateChanged(DETECTED)
                     }
                 }
-                IDLE -> {
-                    binding.btnReception.visibility = android.view.View.GONE
-                    Log.i("MainActivity", "Reception: Person left (IDLE)")
+            }
+            IDLE -> {
+                detectConfirmJob?.cancel()
+                if (!isDetectionStable) {
+                    return
+                }
+                idleConfirmJob?.cancel()
+                idleConfirmJob = mainScope.launch {
+                    delay(idleConfirmDelayMs)
+                    if (latestDetectionState == IDLE && isDetectionStable) {
+                        isDetectionStable = false
+                        handleStableDetectionStateChanged(IDLE)
+                    }
                 }
             }
         }
+    }
 
-        // Home Base logic
-        if (currentTask == "" && lastArrivalLocation?.lowercase() == "home base" && !isLeavingHomeBase) {
-            // Check if special task mode is enabled, if so, skip door logic
-            if (isSpecialModeEnabled() && currentTask.isEmpty()) {
-                Log.i("MainActivity", "Special task mode: Door logic skipped at Home Base.")
-                return
-            }
-            
+    private fun handleStableDetectionStateChanged(state: Int) {
+        Log.i("MainActivity", "Stable detection state: $state")
+        liveKitManager?.setDetectionActive(state == DETECTED)
+        if (taskController.handleDetectionStateChanged(state)) {
+            Log.i("MainActivity", "what the f**k")
+            return
+        }
+        val isSpecialState = isSpecialStateEnabled()
+        val isIdleTask = taskController.currentTask.isEmpty() || taskController.currentTask == "speech"
+        val atHomeBase = normalizeLocation(lastArrivalLocation) == "homebase"
+        val canHandleDoor = isIdleTask && atHomeBase && !taskController.isLeavingHomeBase && !isSpecialState
+        if (canHandleDoor) {
             when (state) {
                 DETECTED -> {
                     closeDoorJob?.cancel()
                     binding.animatedEmojiView.currentExpression = AnimatedEmojiView.Expression.WINK
                     val ttsRequest = TtsRequest.create("正在为你开门，请稍等。", false, language = TtsRequest.Language.ZH_CN)
                     robot.speak(ttsRequest)
-                    // mainScope.launch {
-                    //     HttpManager.workflow_execute(
-                    //         context = this@MainActivity,
-                    //         apiKey = "wf_865e80f5fc1a4a319474a21d47470863",
-                    //         workflowId = "2031297462423851009",
-                    //         inputs = emptyMap<String, Any>()
-                    //     )
-                    // }
+                    mainScope.launch {
+                        val result = HttpManager.workflow_execute(
+                            context = this@MainActivity,
+                            apiKey = "wf_865e80f5fc1a4a319474a21d47470863",
+                            workflowId = "2031297462423851009",
+                            inputs = emptyMap<String, Any>()
+                        )
+                        if (result == null) {
+                            showNetworkErrorBanner()
+                        }
+                    }
                 }
                 IDLE -> {
                     closeDoorJob = mainScope.launch {
-                        delay(5000)
                         val ttsRequest = TtsRequest.create("正准备关门，请小心被夹。", false, language = TtsRequest.Language.ZH_CN)
                         robot.speak(ttsRequest)
-                        // mainScope.launch {
-                        //     HttpManager.workflow_execute(
-                        //         context = this@MainActivity,
-                        //         apiKey = "wf_c02aa853371345dbb29572641d083c24",
-                        //         workflowId = "2031634633458520065",
-                        //         inputs = emptyMap<String, Any>()
-                        //     )
-                        // }
+                        mainScope.launch {
+                            val result = HttpManager.workflow_execute(
+                                context = this@MainActivity,
+                                apiKey = "wf_c02aa853371345dbb29572641d083c24",
+                                workflowId = "2031634633458520065",
+                                inputs = emptyMap<String, Any>()
+                            )
+                            if (result == null) {
+                                showNetworkErrorBanner()
+                            }
+                        }
                     }
                 }
             }
         }
-        if (lastArrivalLocation?.lowercase() != "home base" && currentTask.isEmpty() && state == DETECTED) {
-            if (isSpecialModeEnabled()) {
-                 Log.i("MainActivity", "Special task mode enabled (pref check), skipping greeting.")
-                 return
-            }
+        if (isIdleTask && !atHomeBase && state == DETECTED && !isSpecialState) {
             val hour = java.util.Calendar.getInstance().get(java.util.Calendar.HOUR_OF_DAY)
             val greeting = when (hour) {
                 in 6..11 -> "早上好"
@@ -401,148 +446,37 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         }
     }
 
+    private fun normalizeLocation(value: String?): String {
+        return value.orEmpty()
+            .trim()
+            .lowercase()
+            .replace(" ", "")
+            .replace("_", "")
+            .replace("-", "")
+    }
+
     fun startReceptionMode(location: String, text: String, destination: String) {
-        setCurrentTask("reception")
-        receptionLocation = location
-        receptionText = text
-        receptionDestination = destination
-        Log.i("MainActivity", "Reception mode started: location=$location, text=$text, dest=$destination")
-        if (lastArrivalLocation != location) {
-            navCon.goTo(location, false)
-        }
-    }
-
-    private fun stopReceptionMode() {
-        setCurrentTask("")
-        receptionLocation = ""
-        receptionText = ""
-        receptionDestination = ""
-        binding.btnReception.visibility = android.view.View.GONE
-        Log.i("MainActivity", "Reception mode stopped")
-    }
-
-    private fun endNonSpecialTask(reason: String) {
-        if (currentTask.isEmpty()) {
-            return
-        }
-        if (currentTask != "patrol" && currentTask != "reception") {
-            return
-        }
-        Log.i("MainActivity", "Ending task '$currentTask': $reason")
-        setCurrentTask("")
+        taskController.startReceptionMode(location, text, destination)
     }
 
     fun startPatrolMode(route: List<String>, times: Int = 1, waiting: Int = 3, nonStop: Boolean = false) {
-        if (route.isEmpty()) {
-            setCurrentTask("")
-            return
-        }
-        patrolRoute = route
-        patrolIndex = 0
-        patrolLoopsRemaining = times.coerceAtLeast(1)
-        patrolWaitingSeconds = waiting.coerceAtLeast(0)
-        patrolNonStop = nonStop
-        patrolMoveJob?.cancel()
-        setCurrentTask("patrol")
-        Log.i("MainActivity", "Patrol mode started: route=${route.joinToString()}")
-        moveToCurrentPatrolTarget()
+        taskController.startPatrolMode(route, times, waiting, nonStop)
     }
 
-    private fun handlePatrolArrival(location: String) {
-        if (patrolRoute.isEmpty()) {
-            return
-        }
-        val matchIndex = patrolRoute.indexOfFirst { it.equals(location, ignoreCase = true) }
-        if (matchIndex == -1) {
-            return
-        }
-        if (matchIndex >= patrolIndex) {
-            patrolIndex = matchIndex + 1
-        }
-        if (patrolIndex >= patrolRoute.size) {
-            patrolLoopsRemaining -= 1
-            if (patrolLoopsRemaining <= 0) {
-                Log.i("MainActivity", "Patrol route completed: ${patrolRoute.joinToString()}")
-                setCurrentTask("")
-                return
-            }
-            patrolIndex = 0
-        }
-        scheduleNextPatrolMove()
-    }
-
-    private fun moveToCurrentPatrolTarget() {
-        if (currentTask != "patrol") {
-            return
-        }
-        val target = patrolRoute.getOrNull(patrolIndex) ?: return
-        if (lastArrivalLocation?.equals(target, ignoreCase = true) == true) {
-            patrolIndex += 1
-            if (patrolIndex >= patrolRoute.size) {
-                Log.i("MainActivity", "Patrol route completed: ${patrolRoute.joinToString()}")
-                setCurrentTask("")
-                return
-            }
-            moveToCurrentPatrolTarget()
-            return
-        }
-        Log.i("MainActivity", "Patrol moving to next target: $target")
-        if (lastArrivalLocation?.equals("home base", ignoreCase = true) == true &&
-            !target.equals("home base", ignoreCase = true)
-        ) {
-            isLeavingHomeBase = true
-        }
-        navCon.goTo(target, false)
-    }
-
-    private fun scheduleNextPatrolMove() {
-        patrolMoveJob?.cancel()
-        if (patrolNonStop || patrolWaitingSeconds <= 0) {
-            moveToCurrentPatrolTarget()
-            return
-        }
-        patrolMoveJob = mainScope.launch {
-            delay(patrolWaitingSeconds * 1000L)
-            moveToCurrentPatrolTarget()
-        }
+    fun startNotificationMode(location: String, text: String) {
+        taskController.startNotificationMode(location, text)
     }
 
     fun setCurrentTask(task: String) {
-        val finalTask = task
-
-        // Avoid re-setting the same task
-        if (currentTask == finalTask) {
-            return
-        }
-        
-        currentTask = finalTask
-        Log.i("MainActivity", "Current task set to: '$finalTask'")
-        if (finalTask == "patrol") {
-            binding.animatedEmojiView.currentExpression = AnimatedEmojiView.Expression.ANGRY
-        } else {
-            binding.animatedEmojiView.currentExpression = AnimatedEmojiView.Expression.SMILE
-        }
-        if (finalTask != "patrol") {
-            patrolRoute = emptyList()
-            patrolIndex = 0
-            patrolLoopsRemaining = 1
-            patrolWaitingSeconds = 3
-            patrolNonStop = false
-            patrolMoveJob?.cancel()
-            patrolMoveJob = null
-        }
+        taskController.setCurrentTask(task)
     }
 
     fun markSpeechTaskActive() {
-        if (currentTask.isEmpty() || currentTask == "speech") {
-            setCurrentTask("speech")
-        }
+        taskController.markSpeechTaskActive()
     }
 
     fun clearSpeechTaskIfActive() {
-        if (currentTask == "speech") {
-            setCurrentTask("")
-        }
+        taskController.clearSpeechTaskIfActive()
     }
 
     override fun onSharedPreferenceChanged(sharedPreferences: SharedPreferences?, key: String?) {
@@ -555,17 +489,24 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
             lastArrivalLocation = sharedPreferences?.getString("current_location", null)
             Log.i("MainActivity", "Current location updated manually: $lastArrivalLocation")
         }
-        if (key == "special_task_mode") {
-            val isSpecial = sharedPreferences?.getBoolean("special_task_mode", false) == true
-            Log.i("MainActivity", "Special mode pref changed: $isSpecial, currentTask: $currentTask")
+        if (key == specialStateKey) {
+            val isSpecial = isSpecialStateEnabled()
+            Log.i("MainActivity", "Special state pref changed: $isSpecial, currentTask: ${taskController.currentTask}")
         }
-        if (key == liveKitUrlKey || key == liveKitRoomKey || key == liveKitTokenKey || key == liveKitEnabledKey) {
+        if (key == LiveKitManager.PREF_KEY_URL ||
+            key == LiveKitManager.PREF_KEY_ROOM ||
+            key == LiveKitManager.PREF_KEY_TOKEN ||
+            key == LiveKitManager.PREF_KEY_ENABLED
+        ) {
             updateLiveKitConnection()
         }
     }
 
-    private fun isSpecialModeEnabled(): Boolean {
-        return ::prefs.isInitialized && prefs.getBoolean("special_task_mode", false)
+    private fun isSpecialStateEnabled(): Boolean {
+        if (!::prefs.isInitialized) {
+            return false
+        }
+        return prefs.getBoolean(specialStateKey, false)
     }
 
     private fun updateMqttConnection() {
@@ -585,14 +526,14 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     }
 
     private fun updateLiveKitConnection() {
-        val enabled = prefs.getBoolean(liveKitEnabledKey, true)
+        val enabled = prefs.getBoolean(LiveKitManager.PREF_KEY_ENABLED, true)
         val url = resolveLiveKitUrl()
-        val room = prefs.getString(liveKitRoomKey, liveKitRoomDefault).orEmpty()
-        val savedToken = prefs.getString(liveKitTokenKey, "").orEmpty()
+        val room = prefs.getString(LiveKitManager.PREF_KEY_ROOM, LiveKitManager.DEFAULT_ROOM).orEmpty()
+        val savedToken = prefs.getString(LiveKitManager.PREF_KEY_TOKEN, "").orEmpty()
         val token = if (savedToken.isBlank()) {
             buildLiveKitToken(
-                apiKey = liveKitApiKeyDefault,
-                apiSecret = liveKitApiSecretDefault,
+                apiKey = LiveKitManager.DEFAULT_API_KEY,
+                apiSecret = LiveKitManager.DEFAULT_API_SECRET,
                 room = room,
                 identity = buildLiveKitIdentity()
             )
@@ -630,7 +571,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         ActivityCompat.requestPermissions(
             this,
             arrayOf(Manifest.permission.RECORD_AUDIO, Manifest.permission.CAMERA),
-            liveKitPermissionRequestCode
+            LiveKitManager.PERMISSION_REQUEST_CODE
         )
     }
 
@@ -640,7 +581,7 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         grantResults: IntArray
     ) {
         super.onRequestPermissionsResult(requestCode, permissions, grantResults)
-        if (requestCode == liveKitPermissionRequestCode) {
+        if (requestCode == LiveKitManager.PERMISSION_REQUEST_CODE) {
             val granted = grantResults.isNotEmpty() && grantResults.all { it == PackageManager.PERMISSION_GRANTED }
             if (granted) {
                 updateLiveKitConnection()
@@ -698,9 +639,9 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     }
 
     private fun updateLiveKitStatusSnapshot() {
-        val enabled = prefs.getBoolean(liveKitEnabledKey, true)
+        val enabled = prefs.getBoolean(LiveKitManager.PREF_KEY_ENABLED, true)
         val url = resolveLiveKitUrl()
-        val room = prefs.getString(liveKitRoomKey, liveKitRoomDefault).orEmpty()
+        val room = prefs.getString(LiveKitManager.PREF_KEY_ROOM, LiveKitManager.DEFAULT_ROOM).orEmpty()
         if (!enabled) {
             setLiveKitStatus(false)
             return
@@ -725,7 +666,48 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
         isMqttConnected = connected
         updateConnectionIndicator()
         if (connected) {
-            publishStatusSnapshot("mqtt_connected", true)
+            telemetryManager.publishStatusSnapshot("mqtt_connected", true)
+        }
+    }
+
+    private fun handleAsrPayload(payload: String, topic: String?, participant: String?) {
+        val text = extractAsrText(payload) ?: return
+        val topicLabel = topic ?: "default"
+        val participantLabel = participant ?: "unknown"
+        Log.i("MainActivity", "ASR received: topic=$topicLabel, participant=$participantLabel, text=$text")
+        val data = JSONObject()
+            .put("type", "asr")
+            .put("text", text)
+            .put("topic", topicLabel)
+            .put("participant", participantLabel)
+            .put("ts", System.currentTimeMillis())
+        mqttManager?.publish("robot/asr", data.toString())
+    }
+
+    private fun extractAsrText(payload: String): String? {
+        val trimmed = payload.trim()
+        if (trimmed.isEmpty()) {
+            return null
+        }
+        if (trimmed.startsWith("{")) {
+            return runCatching {
+                val obj = JSONObject(trimmed)
+                val text = obj.optString("text", "")
+                    .ifBlank { obj.optString("transcript", "") }
+                    .ifBlank { obj.optString("asr", "") }
+                    .ifBlank { obj.optString("content", "") }
+                text.ifBlank { trimmed }
+            }.getOrDefault(trimmed)
+        }
+        return trimmed
+    }
+
+    private fun showNetworkErrorBanner() {
+        networkErrorJob?.cancel()
+        binding.tvNetworkError.visibility = View.VISIBLE
+        networkErrorJob = mainScope.launch {
+            delay(5000L)
+            binding.tvNetworkError.visibility = View.GONE
         }
     }
 
@@ -741,15 +723,11 @@ class MainActivity : AppCompatActivity(), OnRobotReadyListener, TtsListener, OnG
     }
 
     private fun resolveLiveKitUrl(): String {
-        val savedUrl = prefs.getString(liveKitUrlKey, "").orEmpty().trim()
+        val savedUrl = prefs.getString(LiveKitManager.PREF_KEY_URL, "").orEmpty().trim()
         if (savedUrl.isNotEmpty()) {
             return savedUrl
         }
-        val ip = prefs.getString("network_ip", "").orEmpty().trim()
-        if (ip.isNotEmpty()) {
-            return "ws://$ip:7880"
-        }
-        return liveKitUrlDefault
+        return LiveKitManager.DEFAULT_URL
     }
 
     private fun startBlinking() {
@@ -774,92 +752,18 @@ 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())
+        telemetryManager.publishStatusSnapshot(reason, force)
     }
 
     override fun onSaveInstanceState(outState: Bundle) {
         super.onSaveInstanceState(outState)
-        outState.putString("currentTask", currentTask)
-        outState.putString("receptionLocation", receptionLocation)
-        outState.putString("receptionText", receptionText)
-        outState.putString("receptionDestination", receptionDestination)
+        outState.putString("currentTask", taskController.currentTask)
+        outState.putString("receptionLocation", taskController.getReceptionLocation())
+        outState.putString("receptionText", taskController.getReceptionText())
+        outState.putString("receptionDestination", taskController.getReceptionDestination())
+        outState.putString("notificationLocation", taskController.getNotificationLocation())
+        outState.putString("notificationText", taskController.getNotificationText())
         outState.putString("lastArrivalLocation", lastArrivalLocation)
     }
 

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

@@ -46,6 +46,7 @@ class MqttManager(
     private val ttsLanguageMap = mutableMapOf<TtsRequest, TtsRequest.Language>()
     private var currentStreamSessionId: String? = null
     private var currentStreamMessageId: String? = null
+    private var danceJob: Job? = null
 
     init {
         try {
@@ -290,10 +291,36 @@ class MqttManager(
                 }
                 processStreamText(text, lang)
             }
+            "notification" -> {
+                val location = obj.optString("location", obj.optString("target", ""))
+                val text = obj.optString("text", obj.optString("content", ""))
+                scope.launch(Dispatchers.Main) {
+                    (context as? MainActivity)?.startNotificationMode(location, text)
+                }
+            }
             "repose" -> {
                 val ok = navController.repose()
                 Log.i(TAG, "Repose command sent: $ok")
             }
+            "turn" -> {
+                val degrees = obj.optInt("degrees", obj.optInt("angle", 0))
+                val speed = obj.optDouble("speed", 1.0).toFloat().coerceIn(0.0f, 1.0f)
+                if (degrees == 0) {
+                    Log.w(TAG, "Turn ignored: degrees=0")
+                } else {
+                    val ok = navController.turnBy(degrees, speed)
+                    Log.i(TAG, "Turn command sent: degrees=$degrees, speed=$speed, result=$ok")
+                }
+            }
+            "tilt" -> {
+                val degrees = obj.optInt("degrees", obj.optInt("angle", 0))
+                val speed = obj.optDouble("speed", 1.0).toFloat().coerceIn(0.0f, 1.0f)
+                val ok = navController.tiltAngle(degrees, speed)
+                Log.i(TAG, "Tilt command sent: degrees=$degrees, speed=$speed, result=$ok")
+            }
+            "dance" -> {
+                startDance()
+            }
             "stop" -> {
                 navController.stop()
                 pauseTts()
@@ -317,7 +344,7 @@ class MqttManager(
                 speak("接到巡逻任务", "zh")
                 val flag = obj.optBoolean("flag", true)
                 val times = obj.optInt("times", 1)
-                val waiting = obj.optInt("waiting", obj.optInt("wait", 3))
+                val waiting = obj.optInt("waiting", obj.optInt("wait", 5))
                 val nonStop = obj.optBoolean("nonStop", obj.optBoolean("non_stop", false))
                 var patrolLocations: List<String> = emptyList()
                 if (flag) {
@@ -359,6 +386,45 @@ class MqttManager(
         }
     }
 
+    private fun startDance() {
+        danceJob?.cancel()
+        danceJob = scope.launch(Dispatchers.Main) {
+            val endAt = System.currentTimeMillis() + 20000L
+            val speed = 0.6f
+            navController.tiltAngle(20, speed)
+            while (isActive && System.currentTimeMillis() < endAt) {
+                when ((1..4).random()) {
+                    1 -> {
+                        val delta = listOf(-15, -10, -5, 5, 10, 15).random()
+                        navController.tiltBy(delta, speed)
+                        delay(500L)
+                    }
+                    2 -> {
+                        val angle = listOf(-120, -90, -60, 60, 90, 120).random()
+                        navController.turnBy(angle, speed)
+                        delay(600L)
+                    }
+                    3 -> {
+                        val forward = listOf(0.6f, 0.8f, 1.0f).random()
+                        navController.skidJoy(forward, 0.0f)
+                        delay(500L)
+                        navController.skidJoy(0.0f, 0.0f)
+                        delay(300L)
+                    }
+                    else -> {
+                        val rotate = listOf(-1.0f, -0.8f, -0.6f, 0.6f, 0.8f, 1.0f).random()
+                        navController.skidJoy(0.0f, rotate)
+                        delay(500L)
+                        navController.skidJoy(0.0f, 0.0f)
+                        delay(300L)
+                    }
+                }
+            }
+            navController.skidJoy(0.0f, 0.0f)
+            navController.tiltAngle(20, speed)
+        }
+    }
+
     private fun processStreamText(text: String, langCode: String?) {
         lastStreamLangCode = langCode
         speechBuffer.append(text)

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

@@ -23,6 +23,26 @@ class NavController(private val robot: Robot) {
         return true
     }
 
+    fun turnBy(degrees: Int, speed: Float = 1.0f): Boolean {
+        robot.turnBy(degrees, speed)
+        return true
+    }
+
+    fun tiltAngle(degrees: Int, speed: Float = 1.0f): Boolean {
+        robot.tiltAngle(degrees, speed)
+        return true
+    }
+
+    fun tiltBy(degrees: Int, speed: Float = 1.0f): Boolean {
+        robot.tiltBy(degrees, speed)
+        return true
+    }
+
+    fun skidJoy(x: Float, y: Float): Boolean {
+        robot.skidJoy(x, y)
+        return true
+    }
+
     fun getAllLocations(): List<String> {
         return robot.locations
     }

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

@@ -28,14 +28,9 @@ class SettingsActivity : AppCompatActivity() {
     private lateinit var robot: Robot
     private lateinit var locationAdapter: ArrayAdapter<String>
     private val currentLocationKey = "current_location"
+    private val specialStateKey = "special_state"
     private lateinit var prefs: SharedPreferences
-    private val liveKitUrlKey = "livekit_url"
-    private val liveKitRoomKey = "livekit_room"
-    private val liveKitTokenKey = "livekit_token"
-    private val liveKitEnabledKey = "livekit_enabled"
     private val agentDempIdKey = "agent_demp_id"
-    private val liveKitUrlDefault = "ws://192.168.2.236:7880"
-    private val liveKitRoomDefault = "temi-room"
 
     override fun onCreate(savedInstanceState: Bundle?) {
         super.onCreate(savedInstanceState)
@@ -50,10 +45,10 @@ class SettingsActivity : AppCompatActivity() {
         binding.etIpAddress.setText(savedIp)
         val savedDempId = prefs.getString(agentDempIdKey, "")
         binding.etAgentDempId.setText(savedDempId)
-        val savedLiveKitUrl = prefs.getString(liveKitUrlKey, resolveLiveKitUrl())
-        val savedLiveKitRoom = prefs.getString(liveKitRoomKey, liveKitRoomDefault)
-        val savedLiveKitToken = prefs.getString(liveKitTokenKey, "")
-        val isLiveKitEnabled = prefs.getBoolean(liveKitEnabledKey, true)
+        val savedLiveKitUrl = prefs.getString(LiveKitManager.PREF_KEY_URL, resolveLiveKitUrl())
+        val savedLiveKitRoom = prefs.getString(LiveKitManager.PREF_KEY_ROOM, LiveKitManager.DEFAULT_ROOM)
+        val savedLiveKitToken = prefs.getString(LiveKitManager.PREF_KEY_TOKEN, "")
+        val isLiveKitEnabled = prefs.getBoolean(LiveKitManager.PREF_KEY_ENABLED, true)
         binding.etLiveKitUrl.setText(savedLiveKitUrl)
         binding.etLiveKitRoom.setText(savedLiveKitRoom)
         binding.etLiveKitToken.setText(savedLiveKitToken)
@@ -84,7 +79,7 @@ class SettingsActivity : AppCompatActivity() {
         }
 
         binding.switchLiveKitAuto.setOnCheckedChangeListener { _, isChecked ->
-            prefs.edit().putBoolean(liveKitEnabledKey, isChecked).apply()
+            prefs.edit().putBoolean(LiveKitManager.PREF_KEY_ENABLED, isChecked).apply()
         }
 
         binding.btnLiveKitSave.setOnClickListener {
@@ -94,10 +89,10 @@ class SettingsActivity : AppCompatActivity() {
             val token = binding.etLiveKitToken.text?.toString()?.trim().orEmpty()
             val enabled = binding.switchLiveKitAuto.isChecked
             prefs.edit()
-                .putString(liveKitUrlKey, url)
-                .putString(liveKitRoomKey, room)
-                .putString(liveKitTokenKey, token)
-                .putBoolean(liveKitEnabledKey, enabled)
+                .putString(LiveKitManager.PREF_KEY_URL, url)
+                .putString(LiveKitManager.PREF_KEY_ROOM, room)
+                .putString(LiveKitManager.PREF_KEY_TOKEN, token)
+                .putBoolean(LiveKitManager.PREF_KEY_ENABLED, enabled)
                 .apply()
             if (url.isBlank() || room.isBlank()) {
                 Toast.makeText(this, getString(R.string.msg_livekit_cleared), Toast.LENGTH_SHORT).show()
@@ -113,7 +108,7 @@ class SettingsActivity : AppCompatActivity() {
         }
 
         setupRestartButton()
-        setupSpecialTaskSwitch()
+        setupSpecialStateSwitch()
         setupLocationSelector()
     }
 
@@ -122,20 +117,22 @@ class SettingsActivity : AppCompatActivity() {
         refreshLocationList()
     }
 
-    private fun setupSpecialTaskSwitch() {
-        val isSpecialTaskMode = prefs.getBoolean("special_task_mode", false)
+    private fun setupSpecialStateSwitch() {
+        val isSpecialState = prefs.getBoolean(specialStateKey, false)
         binding.switchSpecialTask.setOnCheckedChangeListener(null)
-        binding.switchSpecialTask.isChecked = isSpecialTaskMode
-        updateStatusIndicator(isSpecialTaskMode)
+        binding.switchSpecialTask.isChecked = isSpecialState
+        updateStatusIndicator(isSpecialState)
         binding.switchSpecialTask.setOnCheckedChangeListener { _, isChecked ->
-            prefs.edit().putBoolean("special_task_mode", isChecked).apply()
+            prefs.edit()
+                .putBoolean(specialStateKey, isChecked)
+                .apply()
             updateStatusIndicator(isChecked)
-            Log.i("SettingsActivity", "Special Task Mode changed to: $isChecked")
+            Log.i("SettingsActivity", "Special state changed to: $isChecked")
         }
     }
 
-    private fun updateStatusIndicator(isSpecialTaskMode: Boolean) {
-        val indicatorColor = if (isSpecialTaskMode) {
+    private fun updateStatusIndicator(isSpecialState: Boolean) {
+        val indicatorColor = if (isSpecialState) {
             ContextCompat.getColor(this, android.R.color.holo_red_dark)
         } else {
             ContextCompat.getColor(this, android.R.color.holo_green_dark)
@@ -144,6 +141,7 @@ class SettingsActivity : AppCompatActivity() {
         indicatorDrawable.setColor(indicatorColor)
     }
 
+
     private fun setupRestartButton() {
         binding.btnRestart.setOnTouchListener { _, event ->
             when (event.action) {
@@ -243,14 +241,10 @@ class SettingsActivity : AppCompatActivity() {
     }
 
     private fun resolveLiveKitUrl(): String {
-        val savedUrl = prefs.getString(liveKitUrlKey, "").orEmpty().trim()
+        val savedUrl = prefs.getString(LiveKitManager.PREF_KEY_URL, "").orEmpty().trim()
         if (savedUrl.isNotEmpty()) {
             return savedUrl
         }
-        val ip = prefs.getString("network_ip", "").orEmpty().trim()
-        if (ip.isNotEmpty()) {
-            return "ws://$ip:7880"
-        }
-        return liveKitUrlDefault
+        return LiveKitManager.DEFAULT_URL
     }
 }

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

@@ -0,0 +1,277 @@
+package com.example.lzwcai_terminal_temi
+
+import com.robotemi.sdk.listeners.OnDetectionStateChangedListener.Companion.DETECTED
+import com.robotemi.sdk.listeners.OnDetectionStateChangedListener.Companion.IDLE
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.launch
+
+class TaskController(
+    private val scope: CoroutineScope,
+    private val navController: NavController,
+    private val getLastArrivalLocation: () -> String?,
+    private val speak: (String) -> Unit,
+    private val setEmoji: (AnimatedEmojiView.Expression) -> Unit,
+    private val setReceptionButtonVisible: (Boolean) -> Unit
+) {
+    var currentTask: String = ""
+        private set
+
+    var isLeavingHomeBase: Boolean = false
+        private set
+
+    private var receptionLocation: String = ""
+    private var receptionText: String = ""
+    private var receptionDestination: String = ""
+    private var notificationLocation: String = ""
+    private var notificationText: String = ""
+    private var isReceptionPromptVisible: Boolean = false
+    private var patrolRoute: List<String> = emptyList()
+    private var patrolIndex: Int = 0
+    private var patrolLoopsRemaining: Int = 1
+    private var patrolWaitingSeconds: Int = 3
+    private var patrolNonStop: Boolean = false
+    private var patrolMoveJob: Job? = null
+
+    fun restoreState(
+        task: String,
+        location: String,
+        text: String,
+        destination: String,
+        notificationLocation: String,
+        notificationText: String
+    ) {
+        receptionLocation = location
+        receptionText = text
+        receptionDestination = destination
+        this.notificationLocation = notificationLocation
+        this.notificationText = notificationText
+        setCurrentTask(task)
+    }
+
+    fun getReceptionLocation(): String = receptionLocation
+
+    fun getReceptionText(): String = receptionText
+
+    fun getReceptionDestination(): String = receptionDestination
+
+    fun getNotificationLocation(): String = notificationLocation
+
+    fun getNotificationText(): String = notificationText
+
+    fun setCurrentTask(task: String) {
+        val finalTask = task.trim().lowercase()
+        if (currentTask == finalTask) {
+            return
+        }
+        currentTask = finalTask
+        if (finalTask == "patrol") {
+            setEmoji(AnimatedEmojiView.Expression.ANGRY)
+        } else {
+            setEmoji(AnimatedEmojiView.Expression.SMILE)
+        }
+        if (finalTask != "patrol") {
+            patrolRoute = emptyList()
+            patrolIndex = 0
+            patrolLoopsRemaining = 1
+            patrolWaitingSeconds = 3
+            patrolNonStop = false
+            patrolMoveJob?.cancel()
+            patrolMoveJob = null
+        }
+        if (finalTask != "reception") {
+            clearReceptionState()
+        }
+        if (finalTask != "notification") {
+            clearNotificationState()
+        }
+    }
+
+    fun markSpeechTaskActive() {
+        if (currentTask.isEmpty() || currentTask == "speech") {
+            setCurrentTask("speech")
+        }
+    }
+
+    fun clearSpeechTaskIfActive() {
+        if (currentTask == "speech") {
+            setCurrentTask("")
+        }
+    }
+
+    fun startReceptionMode(location: String, text: String, destination: String) {
+        setCurrentTask("reception")
+        receptionLocation = location
+        receptionText = text
+        receptionDestination = destination
+        isReceptionPromptVisible = false
+        setReceptionButtonVisible(false)
+        if (getLastArrivalLocation() != location) {
+            navController.goTo(location, false)
+        }
+    }
+
+    fun startNotificationMode(location: String, text: String) {
+        val target = location.trim()
+        val message = text.trim()
+        if (target.isEmpty()) {
+            setCurrentTask("")
+            return
+        }
+        setCurrentTask("notification")
+        notificationLocation = target
+        notificationText = message
+        if (getLastArrivalLocation()?.equals(target, ignoreCase = true) == true) {
+            if (message.isNotEmpty()) {
+                speak(message)
+            }
+            setCurrentTask("")
+            return
+        }
+        navController.goTo(target, false)
+    }
+
+    fun confirmReception(): String? {
+        val destination = receptionDestination.trim()
+        setCurrentTask("")
+        return destination.ifEmpty { null }
+    }
+
+    private fun clearReceptionState() {
+        receptionLocation = ""
+        receptionText = ""
+        receptionDestination = ""
+        isReceptionPromptVisible = false
+        setReceptionButtonVisible(false)
+    }
+
+    private fun clearNotificationState() {
+        notificationLocation = ""
+        notificationText = ""
+    }
+
+    fun handleDetectionStateChanged(state: Int): Boolean {
+        if (currentTask == "patrol" && state == DETECTED) {
+            speak("别妨碍我，我正在巡逻呢")
+            return true
+        }
+        if (currentTask == "reception" &&
+            getLastArrivalLocation()?.equals(receptionLocation, ignoreCase = true) == true
+        ) {
+            when (state) {
+                DETECTED -> {
+                    if (!isReceptionPromptVisible) {
+                        isReceptionPromptVisible = true
+                        setReceptionButtonVisible(true)
+                        speak(receptionText)
+                    }
+                }
+                IDLE -> {
+                    isReceptionPromptVisible = false
+                    setReceptionButtonVisible(false)
+                }
+            }
+        }
+        return currentTask == "reception"
+    }
+
+    fun endNonSpecialTask(reason: String) {
+        if (currentTask.isEmpty()) {
+            return
+        }
+        if (currentTask != "patrol" && currentTask != "reception" && currentTask != "notification") {
+            return
+        }
+        setCurrentTask("")
+    }
+
+    fun startPatrolMode(route: List<String>, times: Int = 1, waiting: Int = 3, nonStop: Boolean = false) {
+        if (route.isEmpty()) {
+            setCurrentTask("")
+            return
+        }
+        patrolRoute = route
+        patrolIndex = 0
+        patrolLoopsRemaining = times.coerceAtLeast(1)
+        patrolWaitingSeconds = waiting.coerceAtLeast(0)
+        patrolNonStop = nonStop
+        patrolMoveJob?.cancel()
+        setCurrentTask("patrol")
+        moveToCurrentPatrolTarget()
+    }
+
+    fun handlePatrolArrival(location: String) {
+        if (patrolRoute.isEmpty()) {
+            return
+        }
+        val matchIndex = patrolRoute.indexOfFirst { it.equals(location, ignoreCase = true) }
+        if (matchIndex == -1) {
+            return
+        }
+        if (matchIndex >= patrolIndex) {
+            patrolIndex = matchIndex + 1
+        }
+        if (patrolIndex >= patrolRoute.size) {
+            patrolLoopsRemaining -= 1
+            if (patrolLoopsRemaining <= 0) {
+                setCurrentTask("")
+                return
+            }
+            patrolIndex = 0
+        }
+        scheduleNextPatrolMove()
+    }
+
+    fun clearLeavingHomeBase() {
+        isLeavingHomeBase = false
+    }
+
+    fun handleNotificationArrival(location: String): Boolean {
+        if (currentTask != "notification") {
+            return false
+        }
+        if (!location.equals(notificationLocation, ignoreCase = true)) {
+            return false
+        }
+        if (notificationText.isNotEmpty()) {
+            speak(notificationText)
+        }
+        setCurrentTask("")
+        return true
+    }
+
+    private fun moveToCurrentPatrolTarget() {
+        if (currentTask != "patrol") {
+            return
+        }
+        val target = patrolRoute.getOrNull(patrolIndex) ?: return
+        if (getLastArrivalLocation()?.equals(target, ignoreCase = true) == true) {
+            patrolIndex += 1
+            if (patrolIndex >= patrolRoute.size) {
+                setCurrentTask("")
+                return
+            }
+            moveToCurrentPatrolTarget()
+            return
+        }
+        if (getLastArrivalLocation()?.equals("home base", ignoreCase = true) == true &&
+            !target.equals("home base", ignoreCase = true)
+        ) {
+            isLeavingHomeBase = true
+        }
+        navController.goTo(target, false)
+    }
+
+    private fun scheduleNextPatrolMove() {
+        patrolMoveJob?.cancel()
+        if (patrolNonStop || patrolWaitingSeconds <= 0) {
+            moveToCurrentPatrolTarget()
+            return
+        }
+        patrolMoveJob = scope.launch {
+            delay(patrolWaitingSeconds * 1000L)
+            moveToCurrentPatrolTarget()
+        }
+    }
+}

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

@@ -0,0 +1,144 @@
+package com.example.lzwcai_terminal_temi
+
+import com.robotemi.sdk.BatteryData
+import com.robotemi.sdk.navigation.model.Position
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.isActive
+import kotlinx.coroutines.launch
+import org.json.JSONObject
+
+class TelemetryManager(
+    private val scope: CoroutineScope,
+    private val taskProvider: () -> String,
+    private val locationProvider: () -> String?,
+    private val mqttConnectedProvider: () -> Boolean,
+    private val liveKitConnectedProvider: () -> Boolean,
+    private val publish: (String, String) -> Unit,
+    private val onLowBattery: (BatteryData) -> Unit
+) {
+    private var telemetryJob: Job? = null
+    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
+
+    fun start() {
+        stop()
+        telemetryJob = scope.launch {
+            while (isActive) {
+                publishStatusSnapshot("heartbeat", true)
+                delay(15000L)
+            }
+        }
+    }
+
+    
+    fun stop() {
+        telemetryJob?.cancel()
+        telemetryJob = null
+    }
+
+    fun onBatteryStatusChanged(batteryData: BatteryData) {
+        latestBatteryLevel = batteryData.level
+        latestBatteryCharging = batteryData.isCharging
+        latestBattery2Level = batteryData.battery2Level
+        val now = System.currentTimeMillis()
+        if (batteryData.level <= batteryLowThreshold && !batteryData.isCharging) {
+            if (now - lastBatteryLowWarningAt > 10 * 60 * 1000L) {
+                lastBatteryLowWarningAt = now
+                onLowBattery(batteryData)
+                publishEvent(
+                    "battery_low",
+                    JSONObject()
+                        .put("level", batteryData.level)
+                        .put("charging", batteryData.isCharging)
+                        .put("battery2Level", batteryData.battery2Level)
+                )
+            }
+        }
+        publishStatusSnapshot("battery")
+    }
+
+    fun onMovementStatusChanged(type: String, status: String) {
+        latestMovementType = type
+        latestMovementStatus = status
+        publishStatusSnapshot("movement")
+    }
+
+    fun onCurrentPositionChanged(position: Position) {
+        latestPosition = position
+        publishStatusSnapshot("position")
+    }
+
+    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", taskProvider())
+            .put("location", locationProvider() ?: JSONObject.NULL)
+            .put("mqttConnected", mqttConnectedProvider())
+            .put("liveKitConnected", liveKitConnectedProvider())
+
+        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)
+            )
+        }
+
+        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)
+        publish("robot/event", payload.toString())
+    }
+}

app/src/main/res/layout-land/activity_main.xml

@@ -30,6 +30,27 @@
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
+    <TextView
+        android:id="@+id/tvNetworkError"
+        android:layout_width="0dp"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="24dp"
+        android:layout_marginEnd="24dp"
+        android:layout_marginTop="16dp"
+        android:background="@android:color/holo_red_dark"
+        android:gravity="center"
+        android:paddingStart="12dp"
+        android:paddingTop="8dp"
+        android:paddingEnd="12dp"
+        android:paddingBottom="8dp"
+        android:text="网络异常"
+        android:textColor="@android:color/white"
+        android:textSize="18sp"
+        android:visibility="gone"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/statusIndicator" />
+
     <com.example.lzwcai_terminal_temi.AnimatedEmojiView
         android:id="@+id/animatedEmojiView"
         android:layout_width="0dp"

app/src/main/res/layout-land/activity_settings.xml

@@ -310,7 +310,7 @@
                             <TextView
                                 android:layout_width="wrap_content"
                                 android:layout_height="wrap_content"
-                                android:text="特殊任务模式"
+                                android:text="特殊状态"
                                 android:textColor="@color/text_primary"
                                 android:textSize="22sp"
                                 android:textStyle="bold" />
@@ -319,7 +319,7 @@
                                 android:layout_width="wrap_content"
                                 android:layout_height="wrap_content"
                                 android:layout_marginTop="8dp"
-                                android:text="启用特定场景下的任务逻辑"
+                                android:text="启用特定场景下的行为逻辑"
                                 android:textColor="@color/text_secondary"
                                 android:textSize="16sp" />
                         </LinearLayout>

app/src/main/res/layout/activity_main.xml

@@ -30,6 +30,27 @@
         app:layout_constraintStart_toStartOf="parent"
         app:layout_constraintTop_toTopOf="parent" />
 
+    <TextView
+        android:id="@+id/tvNetworkError"
+        android:layout_width="0dp"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="24dp"
+        android:layout_marginEnd="24dp"
+        android:layout_marginTop="16dp"
+        android:background="@android:color/holo_red_dark"
+        android:gravity="center"
+        android:paddingStart="12dp"
+        android:paddingTop="8dp"
+        android:paddingEnd="12dp"
+        android:paddingBottom="8dp"
+        android:text="网络异常"
+        android:textColor="@android:color/white"
+        android:textSize="18sp"
+        android:visibility="gone"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toBottomOf="@id/statusIndicator" />
+
     <com.example.lzwcai_terminal_temi.AnimatedEmojiView
         android:id="@+id/animatedEmojiView"
         android:layout_width="0dp"

app/src/main/res/layout/activity_settings.xml

@@ -293,7 +293,7 @@
                         <TextView
                             android:layout_width="wrap_content"
                             android:layout_height="wrap_content"
-                            android:text="特殊任务模式"
+                            android:text="特殊状态"
                             android:textColor="@color/text_primary"
                             android:textSize="22sp"
                             android:textStyle="bold" />
@@ -302,7 +302,7 @@
                             android:layout_width="wrap_content"
                             android:layout_height="wrap_content"
                             android:layout_marginTop="8dp"
-                            android:text="启用特定场景下的任务逻辑"
+                            android:text="启用特定场景下的行为逻辑"
                             android:textColor="@color/text_secondary"
                             android:textSize="16sp" />
                     </LinearLayout>

technique.md

@@ -106,6 +106,15 @@
 - 若为巡逻任务则推进巡逻索引
 - 特殊任务模式下可跳过“已到达”播报
 
+### 5.4 人体检测与录音逻辑
+- 人体检测事件先做稳定判定（去抖）
+  - DETECTED：延迟确认（默认 0.8s），仍为 DETECTED 才进入“稳定检测”状态
+  - IDLE：延迟确认（默认 5s），仍为 IDLE 才退出“稳定检测”状态
+- 录音（LiveKit）仅在稳定状态切换时开启/关闭
+  - 稳定 DETECTED：开启录音
+  - 稳定 IDLE：关闭录音
+- 特殊任务模式仅跳过门禁与问候，不影响录音逻辑
+
 ## 6. 表情与语音联动
 
 - **TTS STARTED**：表情变为 TALKING
@@ -137,6 +146,7 @@
 - 跳过 Home Base 的开门/关门语音逻辑
 - 跳过检测到人时的问候语
 - 到达地点时不播报“已到达”（无任务状态下）
+- 录音仍按稳定检测状态开启/关闭
 
 ## 9. LiveKit 连接
 
@@ -158,3 +168,66 @@
 - MQTT 用户名/密码在代码内配置
 - LiveKit 默认 key/secret 也在代码内生成 token
 - 建议正式环境将敏感信息迁移至安全配置源
+
+## 13. 时序图与逻辑图
+
+### 13.1 人体检测去抖与录音时序
+```mermaid
+sequenceDiagram
+    autonumber
+    participant Temi as Temi SDK
+    participant Main as MainActivity
+    participant LK as LiveKitManager
+    Temi->>Main: onDetectionStateChanged(DETECTED)
+    Main->>Main: 启动 DETECTED 确认延迟
+    Main->>Main: 状态稳定为 DETECTED
+    Main->>LK: setDetectionActive(true)
+    Temi->>Main: onDetectionStateChanged(IDLE)
+    Main->>Main: 启动 IDLE 确认延迟
+    Main->>Main: 状态稳定为 IDLE
+    Main->>LK: setDetectionActive(false)
+```
+
+### 13.2 稳定状态逻辑图（门禁/问候/录音）
+```mermaid
+flowchart TD
+    A[稳定状态变化] --> B{state == DETECTED?}
+    B -- 是 --> C[录音开启]
+    B -- 否 --> D[录音关闭]
+    C --> E{空任务?}
+    D --> E
+    E -- 否 --> H[结束]
+    E -- 是 --> F{在 Home Base?}
+    F -- 是 --> G{特殊任务模式?}
+    G -- 否 --> I[执行开门/关门逻辑]
+    G -- 是 --> H
+    F -- 否 --> J{特殊任务模式?}
+    J -- 否 --> K[执行问候语]
+    J -- 是 --> H
+```
+
+### 13.3 接待与巡逻任务流程图
+```mermaid
+flowchart TD
+    A[MQTT 指令进入] --> B{action}
+    B -- reception --> C[进入接待任务]
+    C --> D[导航到接待点]
+    D --> E{到达?}
+    E -- 否 --> D
+    E -- 是 --> F[检测到人提示确认]
+    F --> G{用户确认?}
+    G -- 否 --> F
+    G -- 是 --> H[播报确认语]
+    H --> I[导航到目的地]
+    I --> J[结束接待任务]
+
+    B -- patrol --> K[进入巡逻任务]
+    K --> L{随机/指定路线}
+    L --> M[导航到下一个点]
+    M --> N{到达?}
+    N -- 否 --> M
+    N -- 是 --> O[更新索引/剩余圈数]
+    O --> P{是否完成}
+    P -- 否 --> M
+    P -- 是 --> Q[结束巡逻任务]
+```