Merge pull request #406 from robotemi/sprint_131/minimum_obstacle_distance

Support minimum obstacle distance

Author: zjn0505

gradle.properties

@@ -21,7 +21,7 @@ android.enableJetifier=true
 kotlin.code.style=official
 
 GROUP=com.robotemi
-VERSION_NAME=1.131.3
+VERSION_NAME=1.131.4.0-SNAPSHOT
 POM_URL=https://github.com/robotemi/sdk/
 POM_SCM_URL=https://github.com/robotemi/sdk/
 POM_SCM_CONNECTION=scm:git:git://github.com/robotemi/sdk.git

sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt

@@ -28,6 +28,8 @@ import android.view.inputmethod.InputMethodManager
 import android.widget.AdapterView
 import android.widget.AdapterView.OnItemClickListener
 import android.widget.ArrayAdapter
+import android.widget.SeekBar
+import android.widget.SeekBar.OnSeekBarChangeListener
 import android.widget.Toast
 import androidx.annotation.CheckResult
 import androidx.appcompat.app.AppCompatActivity
@@ -472,6 +474,47 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
         btnIsFrontTOFEnabled.setOnClickListener { isFrontTOFEnabled() }
         btnToggleBackTOF.setOnClickListener { toggleBackTOF() }
         btnIsBackTOFEnabled.setOnClickListener { isBackTOFEnabled() }
+        btnMinimumObstacleDistance.setOnClickListener {
+            if (requestPermissionIfNeeded(Permission.SETTINGS, REQUEST_CODE_NORMAL)) {
+                return@setOnClickListener
+            }
+            if (robot.minimumObstacleDistance == -1) {
+                Toast.makeText(this, "Minimum Obstacle Distance settings is not supported on your robot.", Toast.LENGTH_SHORT).show()
+                return@setOnClickListener
+            }
+
+            if (groupMinimumObstacleDistance.visibility == View.GONE) {
+                 groupMinimumObstacleDistance.visibility = View.VISIBLE
+            }
+            val distance = robot.minimumObstacleDistance
+            textMinimumObstacleDistance.text = "$distance"
+            seekbarMinimumObstacleDistance.progress = distance.coerceIn(0, 100)
+            seekbarMinimumObstacleDistance.setOnSeekBarChangeListener(object : OnSeekBarChangeListener {
+                override fun onProgressChanged(
+                    seekBar: SeekBar?,
+                    progress: Int,
+                    fromUser: Boolean
+                ) {
+                    seekBar ?: return
+                    // Round to 5x
+                    val value = seekBar.progress / 5 * 5
+                    seekBar.progress = value
+                    textMinimumObstacleDistance.text = "$value"
+                }
+
+                override fun onStartTrackingTouch(seekBar: SeekBar?) {
+                    // nothing
+                }
+
+                override fun onStopTrackingTouch(seekBar: SeekBar?) {
+                    seekBar ?: return
+                    // Round to 5x
+                    val value = seekBar.progress / 5 * 5
+                    robot.minimumObstacleDistance = value
+                }
+
+            })
+        }
         btnGetAllFloors.setOnClickListener { getAllFloors() }
         btnLoadFloorAtElevator.setOnClickListener { loadFloorAtElevator() }
         btnGetCurrentFloor.setOnClickListener {

sample/src/main/res/layout/group_map_and_movement.xml

@@ -97,7 +97,6 @@
         style="@style/ButtonCommon"
         android:text="tiltBy" />
 
-
     <Button
         android:id="@+id/btnStopMovement"
         style="@style/ButtonCommon"

sample/src/main/res/layout/group_settings_and_status.xml

@@ -1,5 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
     android:layout_width="match_parent"
     android:layout_height="match_parent"
     android:gravity="center_horizontal"
@@ -60,6 +61,37 @@
         style="@style/ButtonCommon"
         android:text="Toggle Ground Depth Cliff Detection" />
 
+    <LinearLayout
+        android:id="@+id/groupMinimumObstacleDistance"
+        android:layout_width="325dp"
+        android:layout_height="wrap_content"
+        android:gravity="center"
+        android:visibility="gone"
+        tools:visibility="visible">
+
+        <TextView
+            android:id="@+id/textMinimumObstacleDistance"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:textColor="@color/temi_primary_green"
+            android:textSize="18sp"
+            tools:text="1" />
+
+        <SeekBar
+            android:id="@+id/seekbarMinimumObstacleDistance"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:max="100"
+            android:layout_weight="1"
+            android:paddingVertical="20dp" />
+
+    </LinearLayout>
+
+    <Button
+        android:id="@+id/btnMinimumObstacleDistance"
+        style="@style/ButtonCommon"
+        android:text="Minimum Obstacle Distance" />
+
     <Button
         android:id="@+id/btnGetSupportedKeyboard"
         style="@style/ButtonCommon"

sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl

@@ -359,4 +359,6 @@ interface ISdkService {
     int enableStandBy(in String packageName, boolean enabled, in String password);
 
     String startMeeting(in String packageName, in List<Participant> participants, boolean firstParticipantJoinedAsHost);
+
+    int configMinimumObstacleDistance(in String packageName, int value);
 }

sdk/src/main/java/com/robotemi/sdk/Robot.kt

@@ -2346,6 +2346,7 @@ class Robot private constructor(private val context: Context) {
 
     /**
      * Check or set if the back TOF is enabled.
+     * Require [Permission.SETTINGS] permission to change the value
      */
     @get:JvmName("isBackTOFEnabled")
     @get:CheckResult
@@ -2366,6 +2367,36 @@ class Robot private constructor(private val context: Context) {
             }
         }
 
+    /**
+     * Getter and setter of minimumObstacleDistance
+     *
+     * Range shall be 0 to 100, with step of 5.
+     *
+     *
+     * If it is not supported in your robot version yet, value will be 0.
+     *
+     * Require [Permission.SETTINGS] permission to change the value
+     */
+    @get:JvmName("minimumObstacleDistance")
+    @get:CheckResult
+    var minimumObstacleDistance: Int
+        get() {
+            return try {
+                sdkService?.configMinimumObstacleDistance(applicationInfo.packageName, -1) ?: 0
+            } catch (e: RemoteException) {
+                Log.d(TAG, "get MinimumObstacleDistance error")
+                0
+            }
+        }
+        set(value) {
+            try {
+                val ret = sdkService?.configMinimumObstacleDistance(applicationInfo.packageName, value)
+                Log.d(TAG, "set MinimumObstacleDistance ret $ret")
+            } catch (e: RemoteException) {
+                Log.d(TAG, "set MinimumObstacleDistance error")
+            }
+        }
+
     @Throws(RemoteException::class)
     fun showNormalNotification(notification: NormalNotification) {
         if (sdkService != null) {