更新

src/AndroidApp/.idea/workspace.xml

@@ -3,8 +3,6 @@
   <component name="ChangeListManager">
     <list default="true" id="dfd94b2a-6d7a-49b9-9f27-735b64fff405" name="Default" comment="">
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/Tbot/.idea/caches/build_file_checksums.ser" beforeDir="false" afterPath="$PROJECT_DIR$/Tbot/.idea/caches/build_file_checksums.ser" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/../Robot/emotion_detector/src/emotion.py" beforeDir="false" afterPath="$PROJECT_DIR$/../Robot/emotion_detector/src/emotion.py" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -27,7 +25,7 @@
   <component name="PropertiesComponent">
     <property name="RunOnceActivity.ShowReadmeOnStart" value="true" />
     <property name="android.sdk.path" value="D:/ANDROID/sdk" />
-    <property name="last_opened_file_path" value="$PROJECT_DIR$/android_remocons" />
+    <property name="last_opened_file_path" value="$PROJECT_DIR$" />
     <property name="settings.editor.selected.configurable" value="preferences.lookFeel" />
     <property name="settings.editor.splitter.proportion" value="0.25526074" />
   </component>

src/AndroidApp/android_remocons/rocon_remocon/src/main/java/com/github/rosjava/android_remocons/rocon_remocon/stranger_detect/StrangerDialog.java

@@ -0,0 +1,32 @@
+package com.github.rosjava.android_remocons.rocon_remocon.stranger_detect;
+
+/**
+ * Created by lcp on 2021/4/2.
+ */
+
+import android.content.DialogInterface;
+import android.content.Intent;
+import android.support.v7.app.AlertDialog;
+import android.support.v7.app.AppCompatActivity;
+import android.os.Bundle;
+import android.view.View;
+
+import com.github.rosjava.android_remocons.rocon_remocon.R;
+import com.github.rosjava.android_remocons.rocon_remocon.Remocon;
+import com.github.rosjava.android_remocons.rocon_remocon.WelcomActivity;
+
+public class StrangerDialog extends AppCompatActivity {
+    /*本类实现检测到陌生人后弹出提示对话框的功能*/
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        //生成一个对话框
+        AlertDialog.Builder alertdialogbuilder = new AlertDialog.Builder(this);
+        alertdialogbuilder.setMessage("有陌生人进入");
+        //alertdialogbuilder.setPositiveButton("我知道了", click1);
+        //alertdialogbuilder.setNegativeButton("继续监视", click2);
+        AlertDialog alertdialog1 = alertdialogbuilder.create();
+        alertdialog1.show();
+        //setContentView(R.layout.fall_alert);
+    }
+}

src/AndroidApp/android_remocons/rocon_remocon/src/main/java/com/github/rosjava/android_remocons/rocon_remocon/stranger_detect/subscriber.java

@@ -0,0 +1,71 @@
+package com.github.rosjava.android_remocons.rocon_remocon.stranger_detect;
+
+import android.content.Context;
+import android.os.Handler;
+import android.os.Looper;
+import android.os.Message;
+import android.util.Log;
+import android.widget.TextView;
+
+import org.ros.concurrent.CancellableLoop;
+import org.ros.message.MessageListener;
+import org.ros.namespace.GraphName;
+import org.ros.node.AbstractNodeMain;
+import org.ros.node.ConnectedNode;
+import org.ros.node.topic.Subscriber;
+
+public class subscriber extends AbstractNodeMain {
+    /*本类实现了订阅陌生人检测信息的功能*/
+    private static String TAG = "subscriber";
+
+    public  String text = null;
+
+    public subscriber() {
+        //判断该类是否执行
+        Log.i(TAG, " is running!");
+
+    }
+    //将提示的文本调出
+    public String getAlertText(){
+        return this.text;
+    }
+
+    @Override
+    public GraphName getDefaultNodeName() {
+        return GraphName.of("rosjava_tutorial_pubsub/listener");
+    }
+
+    @Override
+    public void onStart(final ConnectedNode connectedNode) {
+        //create subscriber
+        final Subscriber<std_msgs.String> subscriber =
+                connectedNode.newSubscriber("chatter", std_msgs.String._TYPE);
+        subscriber.addMessageListener(new MessageListener<std_msgs.String>() {
+            @Override
+            public void onNewMessage(std_msgs.String message) {
+                text = message.getData();
+                Log.i(TAG, "I heard : \"" + text + "\"");
+            }
+        });
+
+        //循环监听节点的信息
+        connectedNode.executeCancellableLoop(new CancellableLoop() {
+            @Override
+            protected void setup() {
+                /*Looper.prepare();
+                Looper.loop();*/
+            };
+
+            @Override
+            protected void loop() throws InterruptedException {
+                long time = System.currentTimeMillis();
+                if (time % 1000 == 0) {
+                    //用于测试该节点运行了多长时间
+                    Log.i(TAG, "ros_node run again after 1s");
+                }
+                Log.i(TAG, "I heard msg from ubuntu : \"" + text+ "\"");
+            }
+        });
+
+    }
+}