Softbank Pepper Development - 在Android Studio中使用Java SDK - java-naoqi-sdk-<version><platfor

Question

我目前开始为Pepper Robot进行开发。Choreagrache/Python+标准Android SDK运行良好。

我现在看到有一个Java SDK可以访问Pepper API(ALMemory，ALSpeechToText…)：

http://doc.aldebaran.com/2-4/dev/java/index_java.html

到目前为止我做了什么：我下载了这个库，并在libs下将其添加到我的Android项目中。

我的代码只包含以下内容：

包com.example.falu.peppertest；

导入android.support.v7.app.AppCompatActivity；进口android.os.Bundle；

import com.aldebaran.qi.应用程序；导入com.aldebaran.qi.Session；

公共类MainActivity扩展了AppCompatActivity｛

@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
}
@Override
protected void onStart()
{
super.onStart();
String[] args = new String[]{"qi-url=tcp://falu-sp4.local:9559"};
//Using official SDK
try {
Application app = new Application(args);
}
catch(Exception ex) {
ex.printStackTrace();
}
} }

在使用列表中，它表示可以在ARM Android 4上使用。不幸的是，Adnroid SDK运行在Android 5(棒棒糖)上

有办法在那里使用这个图书馆吗？

如果我尝试，我总是得到消息：

10-23 07:11:57.253 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]jni在应用程序中检测到错误：GetMethodID收到空jclass 10-23 07:11:57.2533311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]在对GetMethodID 10-23的调用中07:11:57.253 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]来自java.lang.Objectcom.aldebaran.chi.DynamicObjectBuilder.object(long)10-23 07:11:57.2533311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]"main"prio=5 tid=1可运行10-2307:11:57.253 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]| group="main"sCount=0 dsCount=0obj=0x7490b000 self=0xb4025800 10-23 07:11:57.2543311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]| sysTid=3311 nice=0 cgrp=默认sched=0/0手柄=0xb7772ea0 10-23 07:11:57.2543311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]|状态=R schedstat=(0 0)utm=15stm=42芯=0 HZ=100 10-23 07:11:57.2543311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]|堆栈=0xbf099000-0xbf09b000stackSize=8MB 10-23 07:11:57.254 3311-3311/com.example.falu.peppertestA/art:art/runtime/check_jni.cc:65]|持有互斥="mutator锁"(共有)10-23 07:11:57.2543311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#00 pc 00005d03/system/lib/libbacktrace_libc++.so(UnwindCurrent:：Unwind(unsignedint，ucontext*)[phone]:11:57.2543311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#01 pc 00003051/system/lib/libbacktrace_libc++.so(回溯：：Unwind(unsigned int，ucontext*)[phone]:11:57.2543311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#02 pc 003c9e67/system/lib/libart.so(art:：DumpNativeStack(std:：__1:：basic_stream>&，int，char const*，艺术：：镜子：艺术方法*)[phone]:11:57.2543311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#03 pc 00393222/system/lib/libart.so(art:：Thread:：Dump(std:：__1:：basic_stream>&)const+306)10-23 07:11:57.2543311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#04 pc 001029bb/system/lib/libart.so(art:：JniAbort(char const*，char const*)[phone]:11:57.255 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#05 pc 0010359c/system/lib/libart.so(art:：JniAbortF(char const*，…)[phone]:11:57.255 3311-3311/com.example.falu.peppertestA/art:art/runtime/check_jni.cc:65]本机：#06 pc 0010613f/system/lib/libart.so(art：：ScopedCheck:：CheckInstance(art：ScopedCheck：：InstanceKind，_jobject*)[phone]:11:57.255 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#07 pc 0010792e/system/lib/libart.so(art:：ScopedCheck:：Check(bool，char const*，…)(.constprop.131)[phone]:11:57.2553311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#08 pc 00115b2d/system/lib/libart.so(art:：CheckJNI:：GetMethodID(_JNIEnv*，_jclass*，char const*，char const*)[phone]:11:57.2553311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#09 pc 00097952/data/app/com.example.falu.peppertest-2/lib/x86/libqimesagingjni.so(JNIObject:：build(qi:：Object)[phone]:11:57.2553311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#10 pc 00097dd5/data/app/com.example.falu.peppertest-2/lib/x86/libqimesagingjni.so(JNIObject:：JNIObject(qi:：Object)[phone]:11:57.2553311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#11 pc 0006d3e5/data/app/com.example.falu.peppertest-2/lib/x86/libqimesagingjni.so(Java_com_aldebaran_qi_DynamicObjectBuilder_object+325)10-2307:11:57.256 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#12 pc 000e6221/system/lib/libart.so(art_quick_generic_jni_蹦床+49)10-2307:11:57.256 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#13 pc 000e3bc8/system/lib/libart.so(art_quick_invoke_stub+72)10-23 07:11:57.2563311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#14 pc 0030bb55/system/lib/libart.so(艺术：：镜像：艺术方法：调用(艺术：线程*，unsigned int*，unsigned int，art:：JValue*，char const*)[phone]:11:57.256 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#15 pc 00407f73/system/lib/libart.so(artInterpreterToCompiledCodeBridge+115)10-2307:11:57.256 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#16 pc 0024a61b/system/lib/libart.so(bool-art:：interpreter:：DoCall(art:：mirror:：ArtMethod*，art:：Thread*，art：：ShadowFrame&，art:：指令常量*，无符号短字符，art:：JValue*)[phone]:11:57.256 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#17 pc 0043fbaa/system/lib/libart.so(布尔art:：解释器：：DoInvoke<(art:：InvokeType)0，false，false>(art:：Thread*，art:：ShadowFrame&，art:；Instruction const*，无符号短音符，art:：JValue*)[phone]:11:57.2563311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#18 pc 000c3bb5/system/lib/libart.so(艺术：：JValueart:：解释器：ExecuteGotoImpl(art:：Thread*，art:：MethodHelper&，art:：DexFile:：CodeItem const*，art:：ShadowFrame&，艺术：：价值)[phone]:11:57.2563311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#19 pc 002342a4/system/lib/libart.so(artInterpreterToInterpreterBridge+244)10-2307:11:57.257 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#20 pc 0024b037/system/lib/libart.so(bool-art:：interpreter:：DoCall(art:：mirror:：ArtMethod*，art:：Thread*，art：：ShadowFrame&，art:：指令常量*，无符号短字符，art:：JValue*)[phone]:11:57.257 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#21 pc 0043ee2e/system/lib/libart.so(布尔art:：解释器：：DoInvoke<(art:：InvokeType)2，true，false>(art:：Thread*，art:：ShadowFrame&，art:；Instruction const*，无符号短音符，art:：JValue*)[phone]:11:57.2573311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#22 pc 000bb65d/system/lib/libart.so(艺术：：JValueart:：解释器：ExecuteGotoImpl(art:：Thread*，art:：MethodHelper&，art:：DexFile:：CodeItem const*，art:：ShadowFrame&，艺术：：价值)[phone]:11:57.2573311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#23 pc 002342a4/system/lib/libart.so(artInterpreterToInterpreterBridge+244)10-2307:11:57.257 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#24 pc 0024a61b/system/lib/libart.so(bool-art:：interpreter:：DoCall(art:：mirror:：ArtMethod*，art:：Thread*，art：：ShadowFrame&，art:：指令常量*，无符号短字符，art:：JValue*)[phone]:11:57.257 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#25 pc 0043f6dc/system/lib/libart.so(布尔art:：解释器：：DoInvoke<(art:：InvokeType)1，false，false>(art:：Thread*，art:：ShadowFrame&，art:；Instruction const*，无符号短音符，art:：V值*)[phone]:11:57.2573311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#26 pc 000bb888/system/lib/libart.so(艺术：：JValueart:：解释器：ExecuteGotoImpl(art:：Thread*，art:：MethodHelper&，art:：DexFile:：CodeItem const*，art:：ShadowFrame&，艺术：：价值)[phone]:11:57.2573311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#27 pc 002342a4/system/lib/libart.so(artInterpreterToInterpreterBridge+244)10-2307:11:57.257 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#28 pc 0024a61b/system/lib/libart.so(bool-art:：interpreter:：DoCall(art:：mirror:：ArtMethod*，art:：Thread*，art：：ShadowFrame&，art:：指令常量*，无符号短字符，art:：JValue*)[phone]:11:57.258 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#29 pc 0043eb2e/system/lib/libart.so(布尔art:：解释器：：DoInvoke<(art:：InvokeType)2，false，false>(art:：Thread*，art:：ShadowFrame&，art:；Instruction const*，无符号短音符，art:：JValue*)[phone]:11:57.2583311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#30 pc 000c1a4d/system/lib/libart.so(艺术：：JValueart:：解释器：ExecuteGotoImpl(art:：Thread*，art:：MethodHelper&，art:：DexFile:：CodeItem const*，art:：ShadowFrame&，艺术：：价值)[phone]:11:57.2583311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#31 pc 002339a3/system/lib/libart.so(艺术：：解释器：：EnterInterpreterFromStub(艺术：线程*，art:：MethodHelper&，art:：DexFile:：CodeItem const*，art:：ShadowFrame&)[phone]:11:57.2583311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#32 pc 00434a88/system/lib/libart.so(artQuickToInterpreterBridge+872)10-2307:11:57.258 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#33 pc 000e62b2/system/lib/libart.so(art_quick_to_interpreter_bridge+34)10-2307:11:57.258 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#34 pc 000e3bc8/system/lib/libart.so(art_quick_invoke_stub+72)10-23 07:11:57.2583311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#35 pc 0030bb55/system/lib/libart.so(艺术：：镜像：艺术方法：调用(艺术：线程*，unsigned int*，unsigned int，art:：JValue*，char const*)[phone]:11:57.259 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#36 pc 00149db0/system/lib/libart.so(art：：ClassLinker:：InitializeClass(art：句柄，bool，bool)[phone]:11:57.2593311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#37 pc 0014ac4c/system/lib/libart.so(art：：ClassLinker:：EnsureInitialized(art：句柄，bool，bool)[phone]:11:57.2593311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#38 pc 000c6d15/system/lib/libart.so(艺术：：JValueart:：解释器：ExecuteGotoImpl(art:：Thread*，art:：MethodHelper&，art:：DexFile:：CodeItem const*，art:：ShadowFrame&，艺术：：价值)[phone]:11:57.2593311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#39 pc 002339a3/system/lib/libart.so(艺术：：解释器：：EnterInterpreterFromStub(艺术：线程*，art:：MethodHelper&，art:：DexFile:：CodeItem const*，art:：ShadowFrame&)[phone]:11:57.2593311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#40 pc 00434a88/system/lib/libart.so(artQuickToInterpreterBridge+872)10-2307:11:57.259 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#41 pc 000e62b2/system/lib/libart.so(art_quick_to_interpreter_bridge+34)10-2307:11:57.259 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#42 pc 00852ca5/数据/dalvik缓存/x86/system@[e-mail](？？？)10-2307:11:57.259 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#43 pc 98fe3802？？？10-2307:11:57.259 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#44 pc 54984e1f？？？10-2307:11:57.260 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]本机：#45 pc 9f0097a1？？？10-2307:11:57.260 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]com.aldebaran.ki.DynamicObjectBuilder.object(本机方法)10-2307:11:57.260 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]com.aldebaran.qi.DynamicObjectBuilder.object(DynamicObjectBuilder.java:118)10-23 07:11:57.260 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]com.aldebaran.qi.EmbeddedTools.initTypeSystem(嵌入式工具.java:46)10-23 07:11:57.260 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]com.aldebaran.qi.EmbeddedTools.loadEmbeddedLibraries(EmbeddedTools.java:148)10-23 07:11:57.260 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]com.aldebaran.chi.Session。(Session。java:16)10-23 07:11:57.2603311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]com.example.falu.peppertest.MainActivity.onStart(MainActivity.java:22)10-23 07:11:57.260 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]android.app.Instrumentation.callActivityOnStart(Instrumentation.java:1236)10-23 07:11:57.260 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]android.app.Activity.performStart(Activity.java:6026)10-2307:11:57.260 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]android.app.ActivityThread.performLaunchActivity(ActivityThreads.java:2296)10-23 07:11:57.261 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]android.app.ActivityThread.handleLaunchActivity(ActivityThreads.java:2395)10-23 07:11:57.261 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]android.app.ActivityThread.access$800(ActivityThreads.java:151)10-2307:11:57.261 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]android.app.ActivityThread$H.handleMessage(ActivityThreads.java：1311)10-23 07:11:57.261 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]android.os.Handler.dispatchMessage(Handler.java:102)10-2307:11:57.261 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]android.os.Looper.loop(Looper.java:135)10-23 07:11:57.2613311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]android.app.ActivityThread.main(ActivityThreads.java:5398)10-2307:11:57.261 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]java.lang.reflect.Method.invoke！(土法)10-23 07:11:57.2613311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]java.lang.reflect.Method.ioke(Method.java:372)10-23 07:11:57.2613311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]com.android.internal.os.ZygoteInit$MethodAndArgsCaller.run(ZygoteInit.java:903)10-23 07:11:57.262 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]com.android.internal.os.ZygoteInit.main(ZygoteNit.java:698)10-2307:11:57.262 3311-3311/com.example.falu.peppertest A/art：art/runtime/check_jni.cc:65]10-23 07:11:57.3653311-3311/com.example.falu.peppertest A/art：art/runtime/runtime.cc:289]运行时中止。。。

谢谢！

Answer 1

Pepper Java SDK使用编译的本地二进制文件(在Linux/Android上是.so，在Windows上是.dll)，这意味着jar文件不像大多数文件那样可移植。

在这个SDK的早期版本中，它只有目标平台的二进制文件(例如Pepper的Linux)，所以除非替换.so文件，否则它在平板电脑上无法工作。最新版本似乎确实检测到了Android，并切换到了不同的二进制文件，但我仍然无法让它工作，值得注意的是，它并没有被认为适合平板电脑。

有一个Android SDK

http://android.aldebaran.com/sdk/doc/pepper-sdk/introduction.html

这是否与你的Naoqi版本兼容是另一回事，我能够让它与模拟器和虚拟机器人一起工作，但与我可以访问的Pepper相比，插件中的Naoqi似乎有不同的服务。