Map and Position

Introduction

Maps and positioning are the prerequisites for robot navigation. Creating a new map is equivalent to telling the robot’s walking range, and positioning is equivalent to telling the robot’s current location. The robot comes with a “map tool” that can complete all map and point operations, of course, you can also use the api to complete the function yourself.

Set point:inform robot the name of the current point, and then you can use the interface to navigate to this point

Mapping and positioning

Mapping and positioning can be operated with the integrated map tool on the robot.

Positioning (set the initial coordinate point of the robot)

Method name: setPoseEstimate

Calling method:

try {    
    JSONObject params = new JSONObject();    
    //x coordinate    
    params.put(Definition.JSON_NAVI_POSITION_X, x);    
    //y coordinate    
    params.put(Definition.JSON_NAVI_POSITION_Y, y);    
    //z coordinate    
    params.put(Definition.JSON_NAVI_POSITION_THETA, theta);        
    RobotApi.getInstance().setPoseEstimate(reqId, params.toString(), new CommandListener() {            
    @Override 
    public void onResult(int result, String message) {            
            if ("succeed".equals(message)) {                
                //Successful positioning            
            }        
        }    
    });
} catch (JSONException e) {    
    e.printStackTrace();
}

Applicable Platform:

GreetBot	Mini	Lucki	DeliverBot	BigScreenBot
Yes	Yes	Yes	Yes	No

Determine whether it is currently located

Method name: isRobotEstimate

Calling method:

RobotApi.getInstance().isRobotEstimate(reqId, new CommandListener() {    
    @Override 
    public void onResult(int result, String message) {        
        if (!"true".equals(message)) {            
            //currently not located        
        } else {            
            //currently located        
        }    
    }
});

Applicable Platform:

GreetBot	Mini	Lucki	DeliverBot	BigScreenBot
Yes	Yes	Yes	Yes	No

Set current location name

Method name: setLocation

Calling method:

RobotApi.getInstance().setLocation(reqId, placeName, new CommandListener() {    
    @Override 
    public void onResult(int result, String message) {        
        if ("succeed".equals(message)) {            
            //save the location point successfully        
        } else {            
            //failed to save location point        
        }    
    }
});

Parameter Description:

• placeName : location name

Note: Before calling this interface, you need to make sure that it has been located

Applicable Platform:

GreetBot	Mini	Lucki	DeliverBot	BigScreenBot
Yes	Yes	Yes	Yes	No

Get coordinate points based on location name

Method name: getLocation

Calling method:

RobotApi.getInstance().getLocation(reqId, placeName, new CommandListener() {    
    @Override 
    public void onResult(int result, String message) {        
        try {            
            JSONObject json = new JSONObject(message);            
            //whether the location exist            
            boolean isExist = json.getBoolean(Definition.JSON_NAVI_SITE_EXIST);            
            if (isExist) {                
                //x coordinate                
                double x = json.getDouble(Definition.JSON_NAVI_POSITION_X);                
                //y coordinate                
                double y = json.getDouble(Definition.JSON_NAVI_POSITION_Y);                
                //z coordinate                
                double z = json.getDouble(Definition.JSON_NAVI_POSITION_THETA);            
            }        
        } catch (JSONException | NullPointerException e) {            
            e.printStackTrace();        
        }    
    }
});

Parameter Description:

• placeName : location name

Note: The location saved by setLocation will be associated with the map, and the same map should be maintained when getting via getLocation, otherwise getLocation fails to get

Applicable Platform:

GreetBot	Mini	Lucki	DeliverBot	BigScreenBot
Yes	Yes	Yes	Yes	No

Remove location point

Method name: removeLocation

Calling method:

RobotApi.getInstance().removeLocation(reqId, placeName, new CommandListener() {    
    @Override 
    public void onResult(int result, String message) {        
        if ("succeed".equals(message)) {            
            //removeLocation successful        
        } else {            
            //removeLocation failed        
        }    
    }
});

Parameter Description:

• placeName: place name

Applicable Platform:

GreetBot	Mini	Lucki	DeliverBot	BigScreenBot
Yes	Yes	Yes	Yes	No

Get all location points on the current map

Method name: getPlaceList

Calling method:

RobotApi.getInstance().getPlaceList(reqId, new CommandListener() {    
    @Override 
    public void onResult(int result, String message) {        
        try {            
            JSONArray jsonArray = new JSONArray(message);            
            int length = jsonArray.length();            
            for (int i = 0; i < length; i++) {                
                JSONObject json = jsonArray.getJSONObject(i);                
                json.getDouble("x"); 
                //x coordinate                
                json.getDouble("y"); 
                //y coordinate                
                json.getDouble("theta"); 
                //z coordinate                
                json.getString("name"); 
                //position name            
            }        
        } catch (JSONException | NullPointerException e) {            
            e.printStackTrace();        
        }    
    }
});

Applicable Platform:

GreetBot	Mini	Lucki	DeliverBot	BigScreenBot
Yes	Yes	Yes	Yes	No

Get the current coordinate point of the robot

Method name: getPosition

Calling method:

RobotApi.getInstance().getPosition(reqId, new CommandListener() {    
    @Override 
    public void onResult(int result, String message) {        
        try {            
            JSONObject json = new JSONObject(message);            
            //x coordinate            
            double x = json.getDouble(Definition.JSON_NAVI_POSITION_X);            
            //y coordinate            
            double y = json.getDouble(Definition.JSON_NAVI_POSITION_Y);            
            //z coordinate            
            double z = json.getDouble(Definition.JSON_NAVI_POSITION_THETA);        
        } catch (JSONException | NullPointerException e) {            
            e.printStackTrace();        
        }    
    }
});

Note: Before calling this interface, you need to make sure that it has been located

Applicable Platform:

GreetBot	Mini	Lucki	DeliverBot	BigScreenBot
Yes	Yes	Yes	Yes	No

Determine whether the robot is at the position

Method name: isRobotInLocations

Calling method:

try {    
    JSONObject params = new JSONObject();    
    params.put(Definition.JSON_NAVI_TARGET_PLACE_NAME, placeName); //position name        
    params.put(Definition.JSON_NAVI_COORDINATE_DEVIATION, range); //position range        
    RobotApi.getInstance().isRobotInlocations(reqId, params.toString(), new CommandListener() {                    
    @Override 
    public void onResult(int result, String message) {                    
            try {                        
                JSONObject json = new JSONObject(message);                        
                //whether or not at the target point  
                json.getBoolean(Definition.JSON_NAVI_IS_IN_LOCATION);                    
            } catch (JSONException e) {  
                e.printStackTrace();                    
            }                        
        }            
    });
} catch (JSONException e) {    
    e.printStackTrace();
}

Parameter Description:

• placeName : location name
• range : position range, unit m

Applicable Platform:

GreetBot	Mini	Lucki	DeliverBot	BigScreenBot
Yes	Yes	Yes	Yes	No

Get the current map name

Method name: getMapName

Calling method:

RobotApi.getInstance().getMapName(reqId, new CommandListener() {    
    @Override 
    public void onResult(int result, String message) {        
        if (!TextUtils.isEmpty(message)) {            
            //"message" means map name            
            String mapName = message;        
        }    
    }
});

Applicable Platform:

GreetBot	Mini	Lucki	DeliverBot	BigScreenBot
Yes	Yes	Yes	Yes	No

Pose listener

This is a listener about post event, when post change or pose status change, it will trigger this listener.

public class Pose {    
    public float px, py, theta;    
    public final long time;    
    public String name;    
    /**     
     * SAFE = 0;      // normal area     
     * NOT_SAFE = 1;  // dangerous area     
     * OBSTACLE = 2;  // forbidden area     
     * OUTSIDE = 3;   // out of the map     
     */    
    public int status;    
    public float distance;
}
RobotApi.getInstance().registerStatusListener(Definition.STATUS_POSE,    new StatusListener(){            
    @Override 
    public void onStatusUpdate(String type, String value) {            
        Pose pose = GsonUtil.fromJson(value, Pose.class);        
    }    
});

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Yes	Yes	Yes	Yes	No

Switch map

Method name: switchMap

Calling method:

RobotApi.getInstance().switchMap(reqId, mapName, new CommandListener(){    
    @Override 
    public void onResult(int result, String message) {        
        if ("succeed".equals(message)) {            
            //switch map succeed        
        }    
    }
});

Parameter Description:

• mapName : the name of the map

Note: You need to relocate after switching the map

Applicable Platform:

GreetBot	Mini	Lucki	DeliverBot	BigScreenBot
Yes	Yes	Yes	Yes	No

Note: Relocation is required after switching maps

Read the PGM file of the map and display it (including point coordinate conversion)

Reading maps and coordinate conversion are supported by a complete set of map tools, all of which are located in the following locations in the sample code.

    /*
     * getMap
     * Get the current map
     * The map has current robot position information, direction coordinates and clickable navigation positions
     * Get map.pgm file in shared memory
     * */
    private void getMap(final String name) {
        Log.d(TAG, "getMapPgmPFD: mapName=" + name);
        //Get map.pgm file descriptor
        ParcelFileDescriptor mapPgmPFD = ShareMemoryApi.getInstance().getMapPgmPFD(name);
        FileDescriptor fd = mapPgmPFD.getFileDescriptor();
        FileInputStream fileInputStream = new FileInputStream(fd);
        //Read the data stream from the file descriptor and parse it into a RoverMap (this logic is the same as before)
        mRoverMap = MapppUtils.loadPFD2RoverMap(fileInputStream);
        
        //TODO Custom Actions
        
        //Release service layer resources
        ShareMemoryApi.getInstance().releaseGetMapPgmPFD();
    }

    /**
     * Modify the map.pgm file in shared memory and test the code
     */
    private void setMapPgmPFD(String mapName，RoverMap roverMap) {
        byte[] bytes = MapUtils.saveRoverMapToPFDData(roverMap);
        boolean result = ShareMemoryApi.getInstance().setMapPgmPFD(mapName, bytesT);
        Log.d(TAG, "setMapPgmPFD: result=" + result);
    }

If there are any related requirements, please copy or refer to the NavFragment section of the example code. Finally, the map and point information in the robot can be read out and displayed in the following form. Download Code

GreetBot	Mini	Lucki	DeliverBot	BigScreenBot
Yes	Yes	Yes	Yes	No