peppergamepad-1.0.4

Add start() and stop() methods Bug fixes Warnings removal Stop RemoteRobotController in onRobotFocusLost() Update README
softbankrobotics-labs · Sep 7, 2021 · 351634c · 351634c
1 parent 74b2b1b
commit 351634c
Show file tree

Hide file tree

Showing 9 changed files with 119 additions and 67 deletions.
diff --git a/README.md b/README.md
@@ -12,7 +12,6 @@ This video was filmed at SoftBank Robotics Europe, and shows the basic control s
 
 ## Getting Started
 
-
 ### Prerequisites
 
 A robotified project for Pepper with QiSDK. Read the [documentation](https://developer.softbankrobotics.com/pepper-qisdk) if needed
@@ -41,7 +40,6 @@ Full implementation details are available to see in the sample project.
 
 Make sure to replace 'Tag' by the number of the version of the library you want to use.
 
-
 ## Usage
 
 *This README assumes some standard setup can be done by the user, such as initialising variables or implementing code in the correct functions. Refer to the Sample Project for full usage code.*
@@ -50,8 +48,7 @@ Initialise the QISDK in the onCreate. If you are unsure how to do this, refer to
 
     QiSDK.register(this, this)
 
-In the `onRobotFocusGained`, disable BasicAwareness, and instantiate a `RemoteRobotController` object by passing it the QiContext. 
-
+In the `onRobotFocusGained`, disable BasicAwareness, and instantiate a `RemoteRobotController` object by passing it the QiContext. Then start it.
 
 ```
 override fun onRobotFocusGained(qiContext: QiContext) {  
@@ -68,17 +65,13 @@ override fun onRobotFocusGained(qiContext: QiContext) {
     }  
     
     remoteRobotController = RemoteRobotController(qiContext)   
+	remoteRobotController.start()
 }
 ```
-
-
-
-
 Get the position of the controller and call updateTarget method. It is important to call this function in a thread, as it is using references to the QISDK.
 ```
 remoteRobotController.updateTarget(leftJoystickX, leftJoystickY, rightJoystickX, rightJoystickY)
 ```
-
 - Left joystick makes Pepper translate
 - Right joystick makes Pepper rotate
 
@@ -126,6 +119,14 @@ private fun getCenteredAxis(event: MotionEvent, device: InputDevice, axis: Int):
 }
 ```
 
+You can stop `RemoteRobotController` object whenever you want by calling the `stop()` method. This can be helpfull if you want to run animations for instance:
+
+```
+remoteRobotController.stop()
+myCustomAnimation.run()
+remoteRobotController.start()
+```
+
 ## License
 
 This project is licensed under the BSD 3-Clause "New" or "Revised" License- see the [COPYING](COPYING.md) file for details

diff --git a/pepper-gamepad-root/build.gradle b/pepper-gamepad-root/build.gradle
@@ -1,13 +1,13 @@
 // Top-level build file where you can add configuration options common to all sub-projects/modules.
 
 buildscript {
-    ext.kotlin_version = '1.3.41'
+    ext.kotlin_version = '1.3.61'
     repositories {
         google()
         jcenter()
     }
     dependencies {
-        classpath 'com.android.tools.build:gradle:3.4.2'
+        classpath 'com.android.tools.build:gradle:3.6.1'
         classpath "org.jetbrains.kotlin:kotlin-gradle-plugin:$kotlin_version"
 
         // NOTE: Do not place your application dependencies here; they belong

diff --git a/pepper-gamepad-root/gradle/wrapper/gradle-wrapper.properties b/pepper-gamepad-root/gradle/wrapper/gradle-wrapper.properties
@@ -3,4 +3,4 @@ distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-5.1.1-all.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-5.6.4-all.zip
diff --git a/pepper-gamepad-root/pepper-gamepad/build.gradle b/pepper-gamepad-root/pepper-gamepad/build.gradle
@@ -5,10 +5,10 @@ apply plugin: 'kotlin-android'
 android {
     archivesBaseName = "pepper-gamepad"
     version = "1.0.3"
-    compileSdkVersion 28
+    compileSdkVersion 29
     defaultConfig {
         minSdkVersion 23
-        targetSdkVersion 28
+        targetSdkVersion 29
         versionCode 4
         versionName "1.0.3"
         testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"

diff --git a/.../pepper-gamepad/src/main/java/com/softbankrobotics/peppergamepad/RemoteRobotController.kt b/.../pepper-gamepad/src/main/java/com/softbankrobotics/peppergamepad/RemoteRobotController.kt
@@ -16,33 +16,49 @@ import kotlin.math.cos
 import kotlin.math.roundToInt
 import kotlin.math.sin
 
-class RemoteRobotController(context: QiContext) {
+class RemoteRobotController(private val qiContext: QiContext) {
 
     private val TAG = "RemoteRobotController"
 
-    private val qiContext = context
-
+    var isRunning = false
+        private set
+    private var startAfterInitialization = false
     private var isMoving = false
 
     private var currentLeftJoystickX = 0
     private var currentLeftJoystickY = 0
     private var currentRightJoystickX = 0
     private var currentRightJoystickY = 0
 
-    private var lookAtFuture: Future<Void>
+    private lateinit var lookAtFuture: Future<Void>
     private lateinit var animateFuture: Future<Void>
 
-    private var defaultPosition: Transform
-    private var targetFrame: AttachedFrame
-    private var lookAt: LookAt
+    private lateinit var defaultPosition: Transform
+    private lateinit var targetFrame: AttachedFrame
+    private lateinit var lookAt: LookAt
+
     init {
-        val robotFrame = qiContext.actuation.robotFrame()
-        defaultPosition = TransformBuilder.create().fromXTranslation(100.0)
-        targetFrame = robotFrame.makeAttachedFrame(defaultPosition)
-        lookAt = LookAtBuilder.with(qiContext).withFrame(targetFrame.frame()).build()
-        lookAt.addOnStartedListener {
-            Log.i(TAG, "LookAt started")
+        qiContext.actuation.async().gazeFrame().andThenConsume { robotFrame ->
+            defaultPosition = TransformBuilder.create().fromXTranslation(100.0)
+            targetFrame = robotFrame.makeAttachedFrame(defaultPosition)
+            lookAt = LookAtBuilder.with(qiContext).withFrame(targetFrame.frame()).build()
+            lookAt.addOnStartedListener {
+                Log.i(TAG, "LookAt started")
+            }
+            if (startAfterInitialization) start()
+        }
+    }
+
+    fun start() {
+        Log.d(TAG, "start")
+
+        if (!::lookAt.isInitialized) {
+            startAfterInitialization = true
+            return
         }
+
+        if (isRunning) return
+
         lookAtFuture = lookAt.async().run()
         lookAtFuture.thenConsume {
             when {
@@ -51,13 +67,33 @@ class RemoteRobotController(context: QiContext) {
                 lookAtFuture.isCancelled -> Log.e(TAG, "LookAt cancelled")
             }
         }
+
+        isRunning = true
     }
 
-    fun updateTarget(newLeftJoystickX: Float, newLeftJoystickY: Float, newRightJoystickX: Float, newRightJoystickY: Float) {
-        Log.d(TAG, "updateTarget newLeftJoystickX=$newLeftJoystickX " +
-                "newLeftJoystickY=$newLeftJoystickY " +
-                "newRightJoystickX=$newRightJoystickX " +
-                "newRightJoystickY=$newRightJoystickY")
+    fun stop() {
+        Log.d(TAG, "stop")
+
+        if (!isRunning) return
+
+        lookAtFuture.requestCancellation()
+        animateFuture.requestCancellation()
+
+        isRunning = false
+    }
+
+    fun updateTarget(
+        newLeftJoystickX: Float,
+        newLeftJoystickY: Float,
+        newRightJoystickX: Float,
+        newRightJoystickY: Float
+    ) {
+        Log.d(
+            TAG, "updateTarget newLeftJoystickX=$newLeftJoystickX " +
+                    "newLeftJoystickY=$newLeftJoystickY " +
+                    "newRightJoystickX=$newRightJoystickX " +
+                    "newRightJoystickY=$newRightJoystickY"
+        )
 
         // Round values
         var roundedNewLeftJoystickX = 0
@@ -91,46 +127,59 @@ class RemoteRobotController(context: QiContext) {
     }
 
     private fun makeTranslation() {
-        Log.d(TAG, "makeTranslation currentLeftJoystickX=$currentLeftJoystickX currentLeftJoystickY=$currentLeftJoystickY")
+        Log.d(
+            TAG,
+            "makeTranslation currentLeftJoystickX=$currentLeftJoystickX currentLeftJoystickY=$currentLeftJoystickY"
+        )
+
+        if (!isRunning) return
 
         if (::animateFuture.isInitialized && !animateFuture.isDone) {
             animateFuture.requestCancellation()
         } else if (!(currentLeftJoystickX == 0 && currentLeftJoystickY == 0) && !isMoving) {
             isMoving = true
-            lookAt.policy = LookAtMovementPolicy.HEAD_ONLY
-
-            val targetX = -currentLeftJoystickY.toDouble()
-            val targetY = -currentLeftJoystickX.toDouble()
-
-            val animationString = "[\"Holonomic\", [\"Line\", [$targetX, $targetY]], 0.0, 40.0]"
-            val animation = AnimationBuilder.with(qiContext).withTexts(animationString).build()
-            val animate = AnimateBuilder.with(qiContext).withAnimation(animation).build()
-            animate.addOnStartedListener {
-                Log.i(TAG, "Animate started")
-
-                if (!(targetX == -currentLeftJoystickY.toDouble() && targetY == -currentLeftJoystickX.toDouble())) {
-                    animateFuture.requestCancellation()
+            lookAt.async().setPolicy(LookAtMovementPolicy.HEAD_ONLY).andThenConsume {
+                val targetX = -currentLeftJoystickY.toDouble()
+                val targetY = -currentLeftJoystickX.toDouble()
+
+                val animationString = "[\"Holonomic\", [\"Line\", [$targetX, $targetY]], 0.0, 40.0]"
+                val animation = AnimationBuilder.with(qiContext).withTexts(animationString).build()
+                val animate = AnimateBuilder.with(qiContext).withAnimation(animation).build()
+                animate.addOnStartedListener {
+                    Log.i(TAG, "Animate started")
+
+                    if (!(targetX == -currentLeftJoystickY.toDouble() && targetY == -currentLeftJoystickX.toDouble())) {
+                        animateFuture.requestCancellation()
+                    }
                 }
-            }
 
-            animateFuture = animate.async().run()
-            animateFuture.thenConsume {
-                when {
-                    animateFuture.isSuccess -> Log.i(TAG, "Animate finished with success")
-                    animateFuture.hasError() -> Log.e(TAG, "Animate error: ${animateFuture.errorMessage}")
-                    animateFuture.isCancelled -> Log.i(TAG, "Animate cancelled")
+                animateFuture = animate.async().run()
+                animateFuture.thenConsume {
+                    when {
+                        animateFuture.isSuccess -> Log.i(TAG, "Animate finished with success")
+                        animateFuture.hasError() -> Log.e(
+                            TAG,
+                            "Animate error: ${animateFuture.errorMessage}"
+                        )
+                        animateFuture.isCancelled -> Log.i(TAG, "Animate cancelled")
+                    }
+
+                    lookAt.policy = LookAtMovementPolicy.HEAD_AND_BASE
+                    isMoving = false
+
+                    makeTranslation()
                 }
-
-                lookAt.policy = LookAtMovementPolicy.HEAD_AND_BASE
-                isMoving = false
-
-                makeTranslation()
             }
         }
     }
 
     private fun makeRotation() {
-        Log.d(TAG, "makeRotation currentRightJoystickX=$currentRightJoystickX currentRightJoystickY=$currentRightJoystickY")
+        Log.d(
+            TAG,
+            "makeRotation currentRightJoystickX=$currentRightJoystickX currentRightJoystickY=$currentRightJoystickY"
+        )
+
+        if (!isRunning) return
 
         if (currentRightJoystickX == 0 && currentRightJoystickY == 0) {
             targetFrame.update(defaultPosition)

diff --git a/pepper-gamepad-root/sample-app/build.gradle b/pepper-gamepad-root/sample-app/build.gradle
@@ -5,11 +5,11 @@ apply plugin: 'kotlin-android'
 apply plugin: 'kotlin-android-extensions'
 
 android {
-    compileSdkVersion 28
+    compileSdkVersion 29
     defaultConfig {
         applicationId "com.softbankrobotics.peppergamepadsample"
         minSdkVersion 23
-        targetSdkVersion 28
+        targetSdkVersion 29
         versionCode 2
         versionName "1.1.0"
         testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"

diff --git a/...ad-root/sample-app/src/main/java/com/softbankrobotics/peppergamepadsample/MainActivity.kt b/...ad-root/sample-app/src/main/java/com/softbankrobotics/peppergamepadsample/MainActivity.kt
@@ -149,7 +149,7 @@ class MainActivity : Activity(), RobotLifecycleCallbacks, InputDeviceListener {
             }
         }
         remoteRobotController = RemoteRobotController(qiContext)
-        Log.i(TAG, "after RemoteRobotController instantiation")
+        remoteRobotController.start()
     }
 
     override fun onGenericMotionEvent(event: MotionEvent): Boolean {
@@ -168,7 +168,12 @@ class MainActivity : Activity(), RobotLifecycleCallbacks, InputDeviceListener {
 
         if (::remoteRobotController.isInitialized) {
             thread {
-                remoteRobotController.updateTarget(leftJoystickX, leftJoystickY, rightJoystickX, rightJoystickY)
+                remoteRobotController.updateTarget(
+                    leftJoystickX,
+                    leftJoystickY,
+                    rightJoystickX,
+                    rightJoystickY
+                )
             }
         } else {
             Log.d(TAG, "@@@@@@@@@ not initialized")
@@ -202,6 +207,7 @@ class MainActivity : Activity(), RobotLifecycleCallbacks, InputDeviceListener {
     override fun onRobotFocusLost() {
         Log.i(TAG, "onRobotFocusLost")
         qiContext = null
+        remoteRobotController.stop()
     }
 
     override fun onRobotFocusRefused(reason: String?) {

diff --git a/pepper-gamepad-root/sample-app/src/main/res/values-fr/strings.xml b/pepper-gamepad-root/sample-app/src/main/res/values-fr/strings.xml
@@ -1,8 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <resources>
     <string name="app_name">Pepper Gamepad Sample</string>
-    <string name="no_controller_detected_message">Connectez une manette pour utiliser l\'application.</string>
-    <string name="no_controller_detected_title">Aucune manette détectée</string>
     <string-array name="welcome">
         <item>Génial, on part en balade! Prends ta manette, jette un oeil aux contrôles et on y va!</item>
         <item>Super, j\'avais hâte de me dégourdir les roues! J\'espère que tu as ta manette, je t\'affiche un petit rappel des contrôles avant d\'y aller.</item>

diff --git a/pepper-gamepad-root/sample-app/src/main/res/values/strings.xml b/pepper-gamepad-root/sample-app/src/main/res/values/strings.xml
@@ -1,7 +1,5 @@
 <resources>
     <string name="app_name">Pepper Gamepad Sample</string>
-    <string name="no_controller_detected_title">No controller detected</string>
-    <string name="no_controller_detected_message">Please connect a controller to use the app.</string>
     <string-array name="welcome">
         <item>Great, let\'s have fun together! Take the game pad, look at the controls and we\'re good to go!</item>
         <item>Time to put these wheels to good use! I hope you have a game pad ready, take a look at the controls and let\'s go!</item>