cabot-app

• CaBot app is a bluetooth peripheral app of CaBot.
• The user need to specify a team name in the setting view
  • The app will advertise BLE service as CaBot-<team name> when it is in foreground
• CaBot's ros1 system needs to be launched with -e <team name> option
  • CaBot scans the name and tries to connect when found
• There are multiple IN/OUT characteristics (subject to be changed)
• The map screen incorporates a Java script file, which is copied by a script at build time.
  • The java script file is the 3D Visualization Library for use with the ROS JavaScript Libraries
  • The map screen receives data using web sockets.
  • For more information on ros3djs, check here.

BLE spec

• Service UUID: 35CE0000-5E89-4C0D-A3F6-8A6A507C1BF1
• characteristics

type	ID	IN/OUT	data	description
version	0x00	IN	text	protocol version
manage	0x01	OUT	text	send command to control system (reboot, restart, etc)
device status	0x02	IN	text	device status JSON
system status	0x03	IN	text	system status JSON
battery status	0x04	IN	text	battery status JSON
log	0x05	OUT	text	send log text
summons	0x010	OUT	text	set the destination of the robot (summon mode), specify a node id
destination	0x11	OUT	text	set the destination of the robot (normal mode), specify a node id or __cancel__ for cancel
speech	0x30	IN	text	speak input text
navi	0x40	IN	text	navigation status, next or arrived, sound, content, subtour
heart_beat	0x9999	OUT	text	send heart beat every second

How to build

$ open CaBot.xcworkspace and build

Model data structure

Main Bundle
 | - Resource
     | - Resource_DIR
         | - _metadata.yaml
         | - ...
     | - <any subdir>
         | - Resource_DIR
             | - _metadata.yaml
             | - ...

Metadata format

name: I18NText                       # this should be unique among Resource_DIRs
language: LanguageCode?              # optional, if specified, use the language instead of the system setting
conversation: Source<Conversation>?  # optional, conversation source
destinations: Source<Destinations>?  # optional, destinations source
tours: Source<Tours>?                # optional, tours source
location:
  ibeacon-uuid: [String]             # for beacon scanning
  lat: Float                         # to determine location automatically
  lng: Float                         #
  radius: Int                        # in meters

I18NText format

<key> can be any property string such as name and title.

<key>: text           # text for the system language
<key>-ja: text        # text for the language specified by the 2-characters lang code (ja in this case)
<key>-ja-pron: text   # reading text for the language specified by the 2-characters lang code (ja in this case)

Source format

type: String (local / remote)
src: String (relative path / URL)

Conversation format

• JavaScript to handle conversation
• it needs to implement function getResponse(request)

custom global objects
Bundle.loadYaml       : returns a list of destination from a specified yaml file
Console.log           : print log
Bluetooth.scanBeacons : scan beacons
Device.type           : device type like iPhone13,3
Device.id             : device vendor uuid
HTTPS.postJSON        : post JSON to a host (not implemented yet)
View.showModalWaitingWithMessage : show modal wait and a message
View.hideModalWaiting            : hide the modal wait
View.alert                       : show an alert with title and message

Destinations format

[Destination | DestinationRef | DestinationSource]

Destination format

title: I18NText
value: String
startMessage: Source?
arriveMessages: [Source]?
content: Source?
waitingDestination: DestinationRef
subtour: <file name>/<id of a tour>

DestinationRef

ref: <file name>/<value of a destination>
if other keys of the Destination format are specified, it will override the reference destination

DestinationSource format

title: I18NText
file:  Source?

Tours format

[Tour]

Tour format

id: String
title: I18NText
introduction: I18NText          # brief description of the tour
destinations: Destinations