Basic Sence

Introduction

The basic scenario is a functional component provided by RobotOS. It refers to a scenario function that includes a series of functional strategies. The use of scenario Api can quickly realize basic capabilities such as leading and registration. The function status during operation is notified to the calling side through a callback function, and the developer can follow Business needs participate in decision-making.

Cruise

Scene introduction:

Cruise is a code encapsulation of navigation, it let the robot navigate from point A to point B … and other point. It allow user to set starting point and stopping point, and continuously reports the cruise status.

Currently, the cruise only supports single cruise, and does not support continuous cruise. If necessary, the developer can directly start the next cruise after the single cruise is completed.

Applicable Platform:

GreetBot	Mini	Lucki	DeliverBot	BigScreenBot
Yes	Yes	Yes	Yes	No

Start cruising

Method name: startCruise

Result callback:

ActionListener cruiseListener = new ActionListener() {    
    @Override 
    public void onResult(int status, String responseString) throws RemoteException {                
        Log.i(TAG, "startCruise onResult : " + status + " || " + responseString);        
        switch (status) {            
            case Definition.RESULT_OK:                
                //cruise completed                
                break;            
            case Definition.ACTION_RESPONSE_STOP_SUCCESS:                
                //During the cruise, use stopCruise and stop the cruise successfully                
                break;        
        }    
    }    
    @Override    
    public void onStatusUpdate(int status, String data) throws RemoteException {        
        Log.i(TAG, "startCruise onStatusUpdate : " + status + " || " + data);        
        switch (status) {            
            case Definition.STATUS_NAVI_OUT_MAP:                
                //The target point cannot be reached, the cruise point is outside the map, please reset the cruise route                
                break;            
            case Definition.STATUS_START_CRUISE:                
                //Start cruising                
                break;            
            case Definition.STATUS_CRUISE_REACH_POINT:                
                int index = Integer.parseInt(data);                
                //the number of cruise points has reached                
                break;            
            case Definition.STATUS_NAVI_AVOID:                
                //The current cruise route has been blocked by obstacles                
                break;            
            case Definition.STATUS_NAVI_AVOID_END:                
                //obstacles removed                
                break;        
        }    
    }    
    @Override    
    public void onError(int errorCode, String errorString) throws RemoteException {        
        Log.i(TAG, "startCruise onError : " + errorCode + " || " + errorString);        
        switch (errorCode) {            
            case Definition.ACTION_RESPONSE_ALREADY_RUN:                
                //Cruise is already in progress                
                break;            
            case Definition.ERROR_NOT_ESTIMATE:                
                //Not currently located                
                break;            
            case Definition.ERROR_NAVIGATION_FAILED:                
                //Cruise point navigation failed                
                break;            
            case Definition.ACTION_RESPONSE_REQUEST_RES_ERROR:                
                //There are already interface calls that need to control the chassis (for example: leading, navigation, etc.), please stop first, then continue to call                
                break;        
        }    
    }
};

Calling method:

• Default speed

RobotApi.getInstance().startCruise(reqId, route, startPoint, dockingPoints, cruiseListener);

• Custom speed

RobotApi.getInstance().startCruise(reqId, route, startPoint, dockingPoints, linearSpeed, angularSpeed, cruiseListener);

parameter

• route: cruise route, collection of coordinate points
• startPoint: subscript of the starting point of the cruise, starting from the first point
• dockingPoints: The subscript of the docking point. By default, it will directly start to navigate to the next cruise point within 0.5m of reaching the cruise point. The docking point must be in the coordinate and direction before it is considered to be reached, and then continue to the next target point
• linearSpeed: navigation linear speed, range: 0.1 ~ 0.85 m/s default value: 0.7 m/s
• angularSpeed：Navigation angular speed, range: 0.4 ~ 1.4 m/s Default value: 1.2 m/s The final navigation speed is obtained by combining linear speed and angular speed. Different linear speeds and angular speeds have an impact on the navigation movement mode. It is recommended that the linear speed and Angular speed keeps a certain law: angularSpeed ​​= 0.4 + (linearSpeed-0.1) / 3 * 4

Stop cruising

Method name: stopCruise

Calling method:

RobotApi.getInstance().stopCruise(reqId);

Wake-up

Scene introduction:

The wake-up scene means that the robot controls the robot to rotate to the user’s angle according to the sound source direction of the wake-up word.

Greetbot strategy:

Mini strategy:

Applicable Platform:

GreetBot	Mini	Lucki	DeliverBot	BigScreenBot
Yes	Yes	Yes	Yes	No

Start to wake up

Method name: wakeUp

Calling method:

RobotApi.getInstance().wakeUp(reqId, angle, new ActionListener() {    
    @Override 
    public void onResult(int status, String responseString) throws RemoteException {        
        switch (status) {            
            case Definition.RESULT_OK:                
                //Wake up completed                
                break;            
            case Definition.ACTION_RESPONSE_STOP_SUCCESS:                
                //During the wake-up process, call stopWakeUp actively to stop waking up                        
                break;        
            }    
        }    
    @Override    
    public void onError(int errorCode, String errorString) throws RemoteException {        
        switch (errorCode) {            
            case Definition.ERROR_MOVE_HEAD_FAILED:                
                //Head gimbal movement failed                
                break;            
            case Definition.ACTION_RESPONSE_ALREADY_RUN:                
                //Currently waking up, you need to stop the last waking up                
                break;            
            case Definition.ACTION_RESPONSE_REQUEST_RES_ERROR:                
                //There is already an interface call that needs to control the chassis (for example: leading, navigation, etc.), please stop first before continuing to call                
                break;        
        }    
    }
});

Parameter Description:

• angle: The sound source positioning angle, which is obtained through the onSendRequest callback of ModuleCallback. When the voice is awakened, reqType is Definition.REQ_SPEECH_WAKEUP, and reqParams is the sound source positioning angle

Stop waking up

Method name: stopWakeUp

Calling method:

RobotApi.getInstance().stopWakeUp(reqId);