Locations

Navigation

There are two main use cases with regards to locations. The first is location management, and the second is location navigation. The SDK provides methods that allows developers to handle both. Location management allows you to control temi's locations by saving, deleting, fetching and monitoring their changes, while location navigation allows you to send temi to one of those locations and monitor its navigation status while it's in motion.

API Overview

Return	Method	Description
boolean	saveLocation(String location)	Save location
boolean	deleteLocation(String location)	Delete location
List<String>	getLocations()	Fetch all saved locations
void	goTo(String location)	Send temi to a specific location
void	goToPosition(Position position)	Send temi to a specific position(coordinate)
MapDataModel	getMapData()	Get the map data
void	repose()	Repositioning temi

Interface	Description
OnLocationsUpdatedListener	Locations updated listener
OnGoToLocationStatusChangedListener	Go to location(position) status changed listener
OnDistanceToLocationChangedListener	Distance to locations changed listener
OnCurrentPositionChangedListener	Current position changed listener
OnReposeStatusChangedListener	Listener for the status changed of repositioning

Model	Description
Position	Position(coordinate) in the map
MapDataModel	The map data
MapImage	The map image data

Methods

saveLocation()

Use this method to save a new location for temi. Locate temi at the location you wish to save and give it a name, the location coordinates are extracted and passed automatically in the request.

• Parameters

  Parameter	Type	Description
  location	String	Location name you wish to save

• Return

  Type	Description
  boolean	true if save successfully, false otherwise

• Prototype

  boolean saveLocation(String location);

• Required permissions

  None.

• Support from

  0.10.36

---

deleteLocation()

Use this method to delete a saved location.

• Parameters

  Parameter	Type	Description
  location	String	Location name you wish to delete

• Return

  Type	Description
  boolean	true if delete successfully, false otherwise

• Prototype

  boolean deleteLocation(String location);

• Required permissions

  None.

• Support from

  0.10.44

---

getLocations()

Use this method to fetch a list of saved locations.

• Return

  Type	Description
  List<String>	Locations list

• Prototype

  List<String> getLocations();

• Required permissions

  None.

• Support from

  0.10.36

---

goTo()

Use this method to send temi to one of your saved locations.

• Parameters

  Parameter	Type	Description
  location	String	Location name you wish the robot to navigate to

• Prototype

  void goTo(String location);

• Required permissions

  None.

• Support from

  0.10.36

---

getMapData()

Use this method to get the map data.

This method currently(0.10.70) only supports relatively small map, we will support large map in the next version.
(Fixed in version 0.10.71)

• Return

  Type	Description
  MapDataModel	The map data

• Prototype

  MapDataModel getMapData();

• Required permissions

  Map

• Support from

  0.10.70

• Note

  This method is a time-consuming operation and is recommended to be used in a non-main thread. For more details please refer to the Sampe code.

---

goToPosition()

Use this method to send temi to a specific position(coordinate).

• Parameters

  Parameter	Type	Description
  position	Position	Destination coordinate. Ignore its' attribute tiltAngle in this method.

• Prototype

  void goToPosition(Position position);

• Required permissions

  None.

• Support from

  0.10.70

repose()

Use this method to start repositioning if temi has lost his position(Caused by being lifted, dragged, etc.).

• Prototype

  void repose();

• Required permissions

  None.

• Support from

  0.10.72

Interfaces

OnLocationsUpdatedListener

Set your context to implement this listener and add the override method to get the list of saved locations every time it changes.

Prototype

package com.robotemi.sdk.listeners;

interface OnLocationsUpdatedListener {}

Abstract methods

• Parameters

  Parameter	Type	Description
  locations	List<String>	All saved locations list

• Prototype

  abstract void onLocationsUpdated(List<String> locations)

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnLocationsUpdatedListener	An instance of a class that implements this interface

• Prototype

  void addOnLocationsUpdatedListener(OnLocationsUpdatedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnLocationsUpdatedListener	An instance of a class that implements this interface

• Prototype

  void removeOnLocationsUpdatedListener(OnLocationsUpdatedListener listener);

• Support from

  0.10.36

---

OnGoToLocationStatusChangedListener

Set your context to implement this listener and add the override method to get navigation information regarding temi's go to location action.

Prototype

package com.robotemi.sdk.listeners;

interface OnGoToLocationStatusChangedListener {}

Static constants

Constant	Type	Value	Description
START	String	"start"	Navigation to the location has started
CALCULATING	String	"calculating"	Calculating the route to the location
GOING	String	"going"	Calculated the route and is on its' way
COMPLETE	String	"complete"	Arrived at the desired location
ABORT	String	"abort"	Navigation aborted

Abstract methods

• Parameters

  Parameter	Type	Description
  location	String	The name of the location temi is navigating to
  status	String	Navigation status
  descriptionId	int	Numerical code that reflects the description of the status
  description	String	Verbose more informative description of the navigation status (Such as obstacle info)

• Prototype

  void onGoToLocationStatusChanged(String location, String status, int descriptionId, String description);

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnGoToLocationStatusChangedListener	An instance of a class that implements this interface

• Prototype

  void addOnGoToLocationStatusChangedListener(OnGoToLocationStatusChangedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnGoToLocationStatusChangedListener	An instance of a class that implements this interface

• Prototype

  void removeOnGoToLocationStatusChangedListener(OnGoToLocationStatusChangedListener listener);

• Support from

  0.10.36

---

OnDistanceToLocationChangedListener

Set your context to implement this listener and add the override method to get the distances to saved locations.

Prototype

package com.robotemi.sdk.navigation.listener;

interface OnDistanceToLocationChangedListener {}

Abstract methods

• Parameters

  Parameter	Type	Description
  distances	Map<String, Float>	A key-value pair collection with String type key(location name) and Float type value(distance)

• Prototype

  void onDistanceToLocationChanged(Map<String, Float> distances);

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnDistanceToLocationChangedListener	An instance of a class that implements this interface

• Prototype

  void addOnDistanceToLocationChangedListener(OnDistanceToLocationChangedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnDistanceToLocationChangedListener	An instance of a class that implements this interface

• Prototype

  void removeOnDistanceToLocationChangedListener(OnDistanceToLocationChangedListener listener);

• Support from

  0.10.70

---

OnCurrentPositionChangedListener

Set your context to implement this listener and add the override method to get current position information.

Prototype

package com.robotemi.sdk.navigation.listener;

interface OnCurrentPositionChangedListener {}

Abstract methods

• Parameters

  Parameter	Type	Description
  position	Position	Current position

• Prototype

  void onCurrentPositionChanged(Position position);

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnCurrentPositionChangedListener	An instance of a class that implements this interface

• Prototype

  void addOnCurrentPositionChangedListener(OnCurrentPositionChangedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnCurrentPositionChangedListener	An instance of a class that implements this interface

• Prototype

  void removeOnCurrentPositionChangedListener(OnCurrentPositionChangedListener listener);

• Support from

  0.10.70

---

OnReposeStatusChangedListener

Set your context to implement this listener and add the override method to listen to the status changes of repositioning.

Prototype

interface OnReposeStatusChangedListener {}

Static constant

All constants here are only for the status of repositioning.

Constant	Type	Value	Description
IDLE	int	0	Idle
REPOSE_REQUIRED	int	1	Ready to reposition
REPOSING_START	int	2	Reposition started
REPOSING_GOING	int	3	Repositioning
REPOSING_COMPLETE	int	4	Reposition completed
REPOSING_OBSTACLE_DETECTED	int	5	Obstacle detected during repositioning
REPOSING_ABORT	int	6	Reposition abort

Abstract methods

• Parameters

  Parameter	Type	Description
  status	int	Status of reposition
  description	int	Description of status

• Prototype

  void onReposeStatusChanged(int status, String description);

Method for adding listener

• Parameters

  Parameter	Type	Description
  listener	OnReposeStatusChangedListener	An instance of a class that implements this interface

• Prototype

  void addOnReposeStatusChangedListener(OnReposeStatusChangedListener listener);

Method for removing listener

• Parameters

  Parameter	Type	Description
  listener	OnReposeStatusChangedListener	An instance of a class that implements this interface

• Prototype

  void removeOnReposeStatusChangedListener(OnReposeStatusChangedListener listener);

• Support from

  0.10.72

Models

Position

Used for holding the position information.

Prototype

package com.robotemi.sdk.navigation.model;

class Position {}

Attributes

Attribute	Type	Description
x	float	Position coordinate x
y	float	Position coordinate y
yaw	float	-
tiltAngle	Int	Head tilt angle

---

MapDataModel

Used for holding the map data.

Prototype

package com.robotemi.sdk.map;

class MapDataModel {}

Attributes

Attribute	Type	Description
mapImage	MapImage	The map image data

MapImage

Used for holding the map image data.

Prototype

package com.robotemi.sdk.map;

class MapImage {}

Attributes

Attribute	Type	Description
typeId	String	-
rows	int	The size of the rows of the map data matrix
cols	int	The size of the columns of the map data matrix
dt	String	-
data	List<Integer>	The one-dimensional array converted from map data matrix