aldebaran · bsivanantham · Dec 3, 2018 · Dec 5, 2018 · Dec 5, 2018 · Dec 11, 2018
diff --git a/app/build.gradle b/app/build.gradle
@@ -28,8 +28,8 @@ dependencies {
     implementation 'com.android.support:appcompat-v7:28.0.0'
     implementation 'com.android.support:support-v4:28.0.0'
     implementation 'com.android.support.constraint:constraint-layout:1.1.3'
-    implementation 'com.aldebaran:qisdk:1.4.1'
-    implementation 'com.aldebaran:qisdk-design:1.4.1'
+    implementation 'com.aldebaran:qisdk:1.4.3'
+    implementation 'com.aldebaran:qisdk-design:1.4.3'
     implementation 'com.jakewharton:butterknife:8.8.1'
     implementation 'com.snatik:storage:2.1.0'
     implementation 'io.reactivex.rxjava2:rxandroid:2.0.2'

diff --git a/app/src/main/AndroidManifest.xml b/app/src/main/AndroidManifest.xml
@@ -11,15 +11,21 @@
         android:supportsRtl="true"
         android:theme="@style/AppTheme">
         <activity android:name=".introduction.IntroductionActivity">
-            <intent-filter>
-                <action android:name="android.intent.action.MAIN" />
 
-                <category android:name="android.intent.category.LAUNCHER" />
-            </intent-filter>
         </activity>
-        <activity android:name=".menu.MenuActivity" />
+        <activity android:name=".menu.MenuActivity" >
+        <intent-filter>
+            <action android:name="android.intent.action.MAIN" />
+
+            <category android:name="android.intent.category.LAUNCHER" />
+        </intent-filter>
+        </activity>
         <activity android:name=".mapping.MappingActivity" />
         <activity android:name=".localization.LocalizationActivity" />
+        <activity android:name=".freeframes.GoToWorldTutorialActivity" />
+        <activity android:name=".GotoAB.GotoActivity" />
+        <activity android:name=".GotoAB.GotoPointActivity" />
+        <activity android:name=".GotoAB.GotoWorldActivity" />
     </application>
 
 </manifest>
diff --git a/app/src/main/assets/robot/robotsdk.xml b/app/src/main/assets/robot/robotsdk.xml
@@ -1,4 +1,4 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot>
-<users-robotsdk minSdkVersion='API 3' />
+<users-robotsdk minSdkVersion='API 4' />
 </robot>
diff --git a/app/src/main/java/com/softbankrobotics/sample/returntomapframe/GotoAB/GotoActivity.java b/app/src/main/java/com/softbankrobotics/sample/returntomapframe/GotoAB/GotoActivity.java
@@ -0,0 +1,156 @@
+/*
+ * Copyright (C) 2018 Softbank Robotics Europe
+ * See COPYING for the license
+ */
+
+package com.softbankrobotics.sample.returntomapframe.GotoAB;
+
+import android.os.Bundle;
+import android.util.Log;
+
+import com.aldebaran.qi.Future;
+import com.aldebaran.qi.sdk.QiContext;
+import com.aldebaran.qi.sdk.QiSDK;
+import com.aldebaran.qi.sdk.RobotLifecycleCallbacks;
+import com.aldebaran.qi.sdk.builder.GoToBuilder;
+import com.aldebaran.qi.sdk.builder.SayBuilder;
+import com.aldebaran.qi.sdk.builder.TransformBuilder;
+import com.aldebaran.qi.sdk.design.activity.RobotActivity;
+import com.aldebaran.qi.sdk.object.actuation.Actuation;
+import com.aldebaran.qi.sdk.object.actuation.Frame;
+import com.aldebaran.qi.sdk.object.actuation.FreeFrame;
+import com.aldebaran.qi.sdk.object.actuation.GoTo;
+import com.aldebaran.qi.sdk.object.actuation.Mapping;
+import com.aldebaran.qi.sdk.object.conversation.ConversationStatus;
+import com.aldebaran.qi.sdk.object.conversation.Say;
+import com.aldebaran.qi.sdk.object.geometry.Transform;
+
+/**
+ * The activity for the GoTo tutorial.
+ */
+public class GotoActivity extends RobotActivity implements RobotLifecycleCallbacks {
+
+    private static final String TAG = "GotoActivity";
+
+    // Store the GoTo action.
+    private GoTo goTo;
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        // Register the RobotLifecycleCallbacks to this Activity.
+        QiSDK.register(this, this);
+    }
+
+    @Override
+    protected void onDestroy() {
+        // Unregister the RobotLifecycleCallbacks for this Activity.
+        QiSDK.unregister(this, this);
+        super.onDestroy();
+    }
+
+    @Override
+    public void onRobotFocusGained(QiContext qiContext) {
+        // Bind the conversational events to the view.
+        ConversationStatus conversationStatus = qiContext.getConversation().status(qiContext.getRobotContext());
+
+        Say say = SayBuilder.with(qiContext)
+                .withText("I can move around: I will go 1 meter backward.")
+                .build();
+
+        say.run();
+
+        // Get the Actuation service from the QiContext.
+        Actuation actuation = qiContext.getActuation();
+
+        // Get the robot frame.
+        Frame robotFrame = actuation.robotFrame();
+
+        // Create a transform corresponding to a 1 meter forward translation.
+        Transform transform = TransformBuilder.create().fromXTranslation(2.5);
+
+        // Get the Mapping service from the QiContext.
+        Mapping mapping = qiContext.getMapping();
+
+        // Create a FreeFrame with the Mapping service.
+        FreeFrame targetFrame = mapping.makeFreeFrame();
+
+        // Update the target location relatively to Pepper's current location.
+        targetFrame.update(robotFrame, transform, 0L);
+
+        // Create a GoTo action.
+        goTo = GoToBuilder.with(qiContext) // Create the builder with the QiContext.
+                .withFrame(targetFrame.frame()) // Set the target frame.
+                .build(); // Build the GoTo action.
+
+        // Add an on started listener on the GoTo action.
+        goTo.addOnStartedListener(() -> {
+            String message = "GoTo action started.";
+            Log.i(TAG, message);
+        });
+
+        // Execute the GoTo action asynchronously.
+        Future<Void> goToFuture = goTo.async().run();
+
+        // Add a lambda to the action execution.
+        goToFuture.thenConsume(future -> {
+            if (future.isSuccess()) {
+                String message = "GoTo action finished with success.";
+                Actuation actuation1 = qiContext.getActuation();
+
+                Frame robotFrame1 = actuation1.robotFrame();
+
+                Transform transform1 = TransformBuilder.create().fromXTranslation(0.4);
+
+                // Get the Mapping service from the QiContext.
+                Mapping mapping1 = qiContext.getMapping();
+
+                // Create a FreeFrame with the Mapping service.
+                FreeFrame targetFrame1 = mapping1.makeFreeFrame();
+
+                // Update the target location relatively to Pepper's current location.
+                targetFrame1.update(robotFrame1, transform1, 0L);
+
+                // Create a GoTo action.
+                goTo = GoToBuilder.with(qiContext) // Create the builder with the QiContext.
+                        .withFrame(targetFrame1.frame()) // Set the target frame.
+                        .build(); // Build the GoTo action.
+                Future<Void> goToFuture1 =goTo.async().run();
+
+                goToFuture1.thenConsume(future1 -> {
+                    if (future1.isSuccess()) {
+                        String message1 = "GoTo action finished with success.";
+                        Log.i(TAG, message1);
+                    } else if (future.hasError()) {
+                        String message1 = "GoTo action finished with error.";
+                        Log.e(TAG, message1, future.getError());
+                    }
+                });
+
+                Log.i(TAG, message);
+            } else if (future.hasError()) {
+                String message = "GoTo action finished with error.";
+                Say say1 = SayBuilder.with(qiContext)
+                        .withText("GoTo action finished with error. Try again")
+                        .build();
+
+                say1.run();
+
+                Log.e(TAG, message, future.getError());
+            }
+        });
+    }
+
+    @Override
+    public void onRobotFocusLost() {
+        // Remove on started listeners from the GoTo action.
+        if (goTo != null) {
+            goTo.removeAllOnStartedListeners();
+        }
+    }
+
+    @Override
+    public void onRobotFocusRefused(String reason) {
+        // Nothing here.
+    }
+}
diff --git a/app/src/main/java/com/softbankrobotics/sample/returntomapframe/GotoAB/GotoPointActivity.java b/app/src/main/java/com/softbankrobotics/sample/returntomapframe/GotoAB/GotoPointActivity.java
@@ -0,0 +1,177 @@
+package com.softbankrobotics.sample.returntomapframe.GotoAB;
+
+import android.os.Bundle;
+import android.util.Log;
+import android.widget.Button;
+import android.widget.EditText;
+
+import com.aldebaran.qi.Future;
+import com.aldebaran.qi.sdk.QiContext;
+import com.aldebaran.qi.sdk.QiSDK;
+import com.aldebaran.qi.sdk.RobotLifecycleCallbacks;
+import com.aldebaran.qi.sdk.builder.GoToBuilder;
+import com.aldebaran.qi.sdk.builder.TransformBuilder;
+import com.aldebaran.qi.sdk.design.activity.RobotActivity;
+import com.aldebaran.qi.sdk.object.actuation.Actuation;
+import com.aldebaran.qi.sdk.object.actuation.Frame;
+import com.aldebaran.qi.sdk.object.actuation.FreeFrame;
+import com.aldebaran.qi.sdk.object.actuation.GoTo;
+import com.aldebaran.qi.sdk.object.actuation.Mapping;
+import com.aldebaran.qi.sdk.object.geometry.Transform;
+import com.softbankrobotics.sample.returntomapframe.R;
+
+public class GotoPointActivity extends RobotActivity implements RobotLifecycleCallbacks {
+    private static final String TAG = "GotoPointActivity";
+    private Button gotoButton;
+    private Button saveButton;
+    private EditText xCoordinate;
+    private EditText yCoordinate;
+    private EditText thetaInRad;
+
+    private Double xValue;
+    private Double yValue;
+    private Double rotValue;
+    private GoTo goTo;
+    private QiContext qiContext;
+    private Actuation actuation;
+    // Store the Mapping service.
+    private Mapping mapping;
+    private Frame robotFrame;
+    private FreeFrame targetFrame;
+
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.activity_go_to_world_tutorial);
+
+        this.gotoButton = findViewById(R.id.goto_button);
+        this.saveButton = findViewById(R.id.save_button);
+        this.xCoordinate = findViewById(R.id.editText2);
+        this.yCoordinate = findViewById(R.id.editText);
+        this.thetaInRad = findViewById(R.id.editText3);
+
+        this.gotoButton.setOnClickListener(v -> handleGotoClick());
+        this.saveButton.setOnClickListener(v -> handleSaveClick());
+
+        QiSDK.register(this, this);
+    }
+
+    private void handleSaveClick() {
+        setxValue(Double.valueOf(this.xCoordinate.getText().toString()));
+        setyValue(Double.valueOf(this.yCoordinate.getText().toString()));
+        setRotValue(Double.valueOf(this.thetaInRad.getText().toString()));
+        Log.i(TAG, "X Coordinate: " + getxValue() + "Y Coordinate: " + getyValue() + "Rotation in rad: " + getRotValue());
+    }
+
+    private void handleGotoClick() {
+
+        setxValue(Double.valueOf(this.xCoordinate.getText().toString()));
+        setyValue(Double.valueOf(this.yCoordinate.getText().toString()));
+        setRotValue(Double.valueOf(this.thetaInRad.getText().toString()));
+        // Get the Actuation service from the QiContext.
+
+        // Get the robot frame.
+        Thread thread = new Thread(() -> {
+            try {
+                robotFrame = actuation.robotFrame();
+                targetFrame = mapping.makeFreeFrame();
+                // Create a transform corresponding to a 1 meter forward translation.
+                Log.i(TAG, "goto X Coordinate: " + getxValue() + " Y Coordinate: " + getyValue() + " Rotation in rad: " + getRotValue());
+
+                Transform transform = TransformBuilder.create().from2DTransform(getxValue(), getyValue(), getRotValue());
+
+                targetFrame.update(robotFrame, transform, 0L);
+
+                // Create a GoTo action.
+                goTo = GoToBuilder.with(qiContext) // Create the builder with the QiContext.
+                        .withFrame(targetFrame.frame())// Set the target frame.
+                        .build(); // Build the GoTo action.
+
+                // Add an on started listener on the GoTo action.
+                goTo.addOnStartedListener(() -> {
+                    String message = "GoTo action started.";
+
+                    Log.i(TAG, message);
+                });
+
+                Future<Void> goToFuture = goTo.async().run();
+                goToFuture.thenConsume(future -> {
+                    if (future.isSuccess()) {
+                        String message = "GoTo action finished with success.";
+                        Log.i(TAG, message);
+                    } else if (future.hasError()) {
+                        String message = "GoTo action finished with error.";
+                        Log.e(TAG, message, future.getError());
+                    }
+                });
+            } catch (Exception e) {
+                e.printStackTrace();
+            }
+        });
+        thread.start();
+    }
+
+
+    @Override
+    public void onRobotFocusGained(QiContext qiContext) {
+        Log.i(TAG, "Focus gained.");
+        // Store the provided QiContext and services.
+        this.qiContext = qiContext;
+
+        actuation = qiContext.getActuation();
+        mapping = qiContext.getMapping();
+
+
+
+    }
+
+    @Override
+    public void onRobotFocusLost() {
+        Log.i(TAG, "Focus lost.");
+        // Remove the QiContext.
+        qiContext = null;
+
+        if (goTo != null) {
+            goTo.removeAllOnStartedListeners();
+        }
+    }
+
+    @Override
+    public void onRobotFocusRefused(String reason) {
+        // Nothing here.
+    }
+
+    public Double getxValue() {
+        if (xValue == null)
+            return 0.0;
+        else
+            return xValue;
+    }
+
+    public void setxValue(Double xValue) {
+        this.xValue = xValue;
+    }
+
+    public Double getyValue() {
+        if (yValue == null)
+            return 0.0;
+        else
+            return yValue;
+    }
+
+    public void setyValue(Double yValue) {
+        this.yValue = yValue;
+    }
+
+    public Double getRotValue() {
+        if (rotValue == null)
+            return 0.0;
+        else
+            return (rotValue * ((22/7)/180));
+    }
+
+    public void setRotValue(Double rotValue) {
+        this.rotValue = rotValue;
+    }
+}