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Sync RuntimeHost bridge for handle state contract

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This commit is contained in:
Zhifei Ge
2026-06-12 19:07:52 +08:00
parent 7040752c3f
commit 80452a7a7d
2 changed files with 73 additions and 6 deletions
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app/libs/unity-bridge.aar
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app/src/main/java/com/kiwii/controlpanel/data/BridgeRepository.kt
+73 -6
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@@ -36,31 +36,63 @@ class BridgeRepository {
fun getLatestPoseFrameJson(): String = KiwiiRuntimeClientBridge.getLatestPoseFrameJson()
fun getLatestBodyPoseFrameJson(): String = KiwiiRuntimeClientBridge.getLatestBodyPoseFrameJson()
fun getLeftHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLatestLeftHandleIMU()
fun getLeftHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLeftHandleIMULatest()
fun getLeftHandleIMUQueue(): Array<FloatArray> {
val latest = KiwiiRuntimeClientBridge.getLatestLeftHandleIMU()
val queue = readHandleImuQueueCompat("getLeftHandleIMUQueue")
if (queue.isNotEmpty()) return queue
val latest = getLeftHandleIMULatest()
return if (latest.isEmpty()) emptyArray() else arrayOf(latest)
}
fun submitLeftStaticEffect(effectId: Int): String = KiwiiRuntimeClientBridge.submitLeftStaticEffect(effectId)
fun submitLeftHeStream(streamId: Int, payload: String): String =
KiwiiRuntimeClientBridge.submitLeftHeStream(buildHeStreamPatternJson(streamId, payload))
KiwiiRuntimeClientBridge.submitLeftHeStream(streamId, buildHeStreamPatternJson(streamId, payload))
fun getRightHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getRightHandleIMULatest()
fun getRightHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLatestRightHandleIMU()
fun getRightHandleIMUQueue(): Array<FloatArray> {
val latest = KiwiiRuntimeClientBridge.getLatestRightHandleIMU()
val queue = readHandleImuQueueCompat("getRightHandleIMUQueue")
if (queue.isNotEmpty()) return queue
val latest = getRightHandleIMULatest()
return if (latest.isEmpty()) emptyArray() else arrayOf(latest)
}
fun submitRightStaticEffect(effectId: Int): String = KiwiiRuntimeClientBridge.submitRightStaticEffect(effectId)
fun submitRightHeStream(streamId: Int, payload: String): String =
KiwiiRuntimeClientBridge.submitRightHeStream(buildHeStreamPatternJson(streamId, payload))
KiwiiRuntimeClientBridge.submitRightHeStream(streamId, buildHeStreamPatternJson(streamId, payload))
fun getHandleStateJson(): String = KiwiiRuntimeClientBridge.getHandleStateJson()
fun setMotorWeightKg(weight: Float): com.kiwii.bridge.MotorCommandResult = KiwiiRuntimeClientBridge.setMotorWeightKg(weight)
fun setMotorTrainingMode(mode: Int, param: Float): String = KiwiiRuntimeClientBridge.setMotorTrainingMode(mode, param)
fun setMotorForceControlParamsJson(paramsJson: String): String {
return try {
val method = KiwiiRuntimeClientBridge::class.java.getMethod("setMotorForceControlParamsJson", String::class.java)
method.invoke(null, paramsJson) as? String ?: "{\"error\":\"setMotorForceControlParamsJson returned null\"}"
} catch (t: Throwable) {
"{\"error\":\"setMotorForceControlParamsJson unavailable: ${t.message}\"}"
}
}
fun queryMotorTrainingMode(axis: Int): String = KiwiiRuntimeClientBridge.queryMotorTrainingMode(axis)
fun getLatestMotorStateJson(): String = KiwiiRuntimeClientBridge.getLatestMotorStateJson()
fun getMotorControlStateJson(): String = KiwiiRuntimeClientBridge.getMotorControlStateJson()
fun getMotorDisconnectDiagnosisJson(): String {
return try {
val method = KiwiiRuntimeClientBridge::class.java.getMethod("getMotorDisconnectDiagnosisJson")
method.invoke(null) as? String ?: "{\"error\":\"getMotorDisconnectDiagnosisJson returned null\"}"
} catch (t: Throwable) {
"{\"error\":\"getMotorDisconnectDiagnosisJson unavailable: ${t.message}\"}"
}
}
fun sendMotorHeartbeat(): String {
return try {
val method = KiwiiRuntimeClientBridge::class.java.getMethod("sendMotorHeartbeat")
method.invoke(null) as? String ?: "{\"error\":\"sendMotorHeartbeat returned null\"}"
} catch (t: Throwable) {
"{\"error\":\"sendMotorHeartbeat unavailable: ${t.message}\"}"
}
}
fun getTelemetryStateJson(): String = KiwiiRuntimeClientBridge.getTelemetryStateJson()
fun getSafetyStateJson(): String = KiwiiRuntimeClientBridge.getSafetyStateJson()
@@ -68,6 +100,41 @@ class BridgeRepository {
fun submitDeviceCommandDryRun(command: String): String = KiwiiRuntimeClientBridge.submitDeviceCommandDryRun(command)
fun getDeviceCommandStateJson(): String = KiwiiRuntimeClientBridge.getDeviceCommandStateJson()
private fun readHandleImuQueueCompat(methodName: String): Array<FloatArray> {
return try {
val method = KiwiiRuntimeClientBridge::class.java.getMethod(methodName)
when (val value = method.invoke(null)) {
is Array<*> -> {
@Suppress("UNCHECKED_CAST")
value.filterIsInstance<FloatArray>().toTypedArray()
}
is FloatArray -> splitFlatImuQueue(value)
else -> emptyArray()
}
} catch (_: Throwable) {
emptyArray()
}
}
private fun splitFlatImuQueue(flat: FloatArray): Array<FloatArray> {
if (flat.isEmpty()) return emptyArray()
val sampleSize = when {
flat.size % 10 == 0 -> 10
flat.size % 9 == 0 -> 9
flat.size % 7 == 0 -> 7
else -> flat.size
}
if (sampleSize <= 0) return emptyArray()
val out = ArrayList<FloatArray>()
var offset = 0
while (offset < flat.size) {
val end = minOf(offset + sampleSize, flat.size)
out.add(flat.copyOfRange(offset, end))
offset = end
}
return out.toTypedArray()
}
private fun buildHeStreamPatternJson(streamId: Int, payload: String): String {
val trimmed = payload.trim()
if (trimmed.startsWith("{")) return trimmed