From a6bb5753d67deb08014ae790a4f01a496bf26a52 Mon Sep 17 00:00:00 2001
From: Charlie Zhang <charlie.zhang@robotemi.com>
Date: Thu, 28 Aug 2025 09:21:29 +0800
Subject: [PATCH 01/15] Add resetMap parameter to support save home base after
 reset

---
 gradle.properties                                          | 2 +-
 .../src/main/java/com/robotemi/sdk/sample/MapActivity.kt   | 3 ++-
 sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl        | 2 +-
 sdk/src/main/java/com/robotemi/sdk/Robot.kt                | 7 ++++---
 4 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/gradle.properties b/gradle.properties
index 6eb556c4..ff5e9253 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -25,7 +25,7 @@ android.defaults.buildfeatures.buildconfig=true
 android.nonFinalResIds=false
 
 GROUP=com.robotemi
-VERSION_NAME=1.136.0
+VERSION_NAME=1.137.0.1-SNAPSHOT
 POM_URL=https://github.com/robotemi/sdk/
 POM_SCM_URL=https://github.com/robotemi/sdk/
 POM_SCM_CONNECTION=scm:git:git://github.com/robotemi/sdk.git
diff --git a/sample/src/main/java/com/robotemi/sdk/sample/MapActivity.kt b/sample/src/main/java/com/robotemi/sdk/sample/MapActivity.kt
index ce177170..df985ed9 100644
--- a/sample/src/main/java/com/robotemi/sdk/sample/MapActivity.kt
+++ b/sample/src/main/java/com/robotemi/sdk/sample/MapActivity.kt
@@ -178,7 +178,7 @@ class MapActivity : AppCompatActivity() {
         binding.btnResetMap.setOnClickListener {
             binding.progressBar.visibility = View.VISIBLE
             lifecycleScope.launch(Dispatchers.IO) {
-                val resp = robot.resetMap(false)
+                val resp = robot.resetMap(false, saveHomeBaseIfCharging = true)
                 withContext(Dispatchers.Main) {
                     printLog("Reset map result $resp")
                     binding.progressBar.visibility = View.GONE
@@ -186,6 +186,7 @@ class MapActivity : AppCompatActivity() {
                 }
             }
         }
+
         binding.btnFinishMapping.setOnClickListener {
             binding.progressBar.visibility = View.VISIBLE
             lifecycleScope.launch(Dispatchers.IO) {
diff --git a/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl b/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
index 9a6abb4d..0012f353 100644
--- a/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
+++ b/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
@@ -376,7 +376,7 @@ interface ISdkService {
 
     int setMicGainLevel(in String packageName, int level);
 
-    String resetMap(in String packageName, boolean allFloor);
+    String resetMap(in String packageName, boolean allFloor, boolean saveHomeBaseIfCharging);
 
     String finishMapping(in String packageName, in String mapName);
 
diff --git a/sdk/src/main/java/com/robotemi/sdk/Robot.kt b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
index 0cf2eedd..293ff3ef 100644
--- a/sdk/src/main/java/com/robotemi/sdk/Robot.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
@@ -3629,6 +3629,7 @@ class Robot private constructor(private val context: Context) {
      * Supported from 134 launcher.
      *
      * @param allFloor, true to reset maps of all floor, false to reset current map. Used in multi-floor.
+     * @param saveHomeBaseIfCharging, default as false. If true, when temi is on charging state, it will save home base after reset map. Added in 137 version
      * @return 0 if the operation is not supported by current launcher
      *         200 for reset map succeed
      *         400 for invalid action
@@ -3637,10 +3638,10 @@ class Robot private constructor(private val context: Context) {
      *
      */
     @WorkerThread
-    fun resetMap(allFloor: Boolean): Int {
+    fun resetMap(allFloor: Boolean, saveHomeBaseIfCharging: Boolean = false): Int {
         try {
-            val resp = sdkService?.resetMap(applicationInfo.packageName, allFloor)?.toIntOrNull() ?: 0
-            Log.d(TAG, "resetMap $allFloor, result $resp")
+            val resp = sdkService?.resetMap(applicationInfo.packageName, allFloor, saveHomeBaseIfCharging)?.toIntOrNull() ?: 0
+            Log.d(TAG, "resetMap $allFloor, saveHomeBaseIfCharging $saveHomeBaseIfCharging, result $resp")
             return resp
         } catch (e: RemoteException) {
             Log.e(TAG, "resetMap() error")

From 015bc6d88c89812c30149cc5cc3f172511ee322a Mon Sep 17 00:00:00 2001
From: Charlie Zhang <charlie.zhang@robotemi.com>
Date: Thu, 28 Aug 2025 16:20:53 +0800
Subject: [PATCH 02/15] Update gradle

---
 sample/build.gradle | 3 +++
 sdk/build.gradle    | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/sample/build.gradle b/sample/build.gradle
index 26ef3dea..71e1eef2 100644
--- a/sample/build.gradle
+++ b/sample/build.gradle
@@ -6,6 +6,9 @@ repositories {
     maven {
         url 'https://oss.sonatype.org/content/repositories/snapshots/'
     }
+    maven {
+        url 'https://central.sonatype.com/repository/maven-snapshots/'
+    }
 }
 
 android {
diff --git a/sdk/build.gradle b/sdk/build.gradle
index d3b46252..9fb0e065 100644
--- a/sdk/build.gradle
+++ b/sdk/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id 'com.android.library'
-    id "com.vanniktech.maven.publish" version "0.33.0" apply true
+    id "com.vanniktech.maven.publish" version "0.34.0" apply true
 }
 
 apply plugin: 'kotlin-android'

From 3ebc3fd77ba37e3153b0993ceb2c18dc6ac59aa4 Mon Sep 17 00:00:00 2001
From: Ray <Ray_cheng@robocore.ai>
Date: Tue, 16 Sep 2025 15:08:10 +0800
Subject: [PATCH 03/15] add rename_location

---
 gradle.properties                             |  2 +-
 sample/build.gradle                           |  1 +
 .../com/robotemi/sdk/sample/EditDialog.kt     | 74 +++++++++++++++++++
 .../com/robotemi/sdk/sample/MapActivity.kt    | 52 +++++++++++++
 sample/src/main/res/layout/activity_map.xml   |  4 +
 .../main/res/layout/dialog_edit_locations.xml | 31 ++++++++
 .../res/layout/item_editable_dialog_row.xml   | 11 +++
 sample/src/main/res/values/strings.xml        |  1 +
 .../aidl/com/robotemi/sdk/ISdkService.aidl    |  2 +
 sdk/src/main/java/com/robotemi/sdk/Robot.kt   | 32 ++++++++
 .../java/com/robotemi/sdk/map/MapDataModel.kt |  6 +-
 11 files changed, 214 insertions(+), 2 deletions(-)
 create mode 100644 sample/src/main/java/com/robotemi/sdk/sample/EditDialog.kt
 create mode 100644 sample/src/main/res/layout/dialog_edit_locations.xml
 create mode 100644 sample/src/main/res/layout/item_editable_dialog_row.xml

diff --git a/gradle.properties b/gradle.properties
index ff5e9253..d21dd111 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -25,7 +25,7 @@ android.defaults.buildfeatures.buildconfig=true
 android.nonFinalResIds=false
 
 GROUP=com.robotemi
-VERSION_NAME=1.137.0.1-SNAPSHOT
+VERSION_NAME=1.137.0.2-SNAPSHOT
 POM_URL=https://github.com/robotemi/sdk/
 POM_SCM_URL=https://github.com/robotemi/sdk/
 POM_SCM_CONNECTION=scm:git:git://github.com/robotemi/sdk.git
diff --git a/sample/build.gradle b/sample/build.gradle
index 71e1eef2..50d1e728 100644
--- a/sample/build.gradle
+++ b/sample/build.gradle
@@ -66,4 +66,5 @@ dependencies {
     implementation project(':sdk')
 //    implementation 'com.robotemi:sdk:1.134.1'
     implementation 'com.google.code.gson:gson:2.9.0'
+    implementation 'androidx.core:core-ktx:1.8.0'
 }
diff --git a/sample/src/main/java/com/robotemi/sdk/sample/EditDialog.kt b/sample/src/main/java/com/robotemi/sdk/sample/EditDialog.kt
new file mode 100644
index 00000000..017d5697
--- /dev/null
+++ b/sample/src/main/java/com/robotemi/sdk/sample/EditDialog.kt
@@ -0,0 +1,74 @@
+package com.robotemi.sdk.sample
+
+import android.app.Dialog
+import android.content.Context
+import android.os.Bundle
+import android.view.LayoutInflater
+import android.view.View
+import android.view.ViewGroup
+import android.view.inputmethod.InputMethodManager
+import android.widget.BaseAdapter
+import android.widget.Button
+import android.widget.EditText
+import android.widget.ListView
+import androidx.core.widget.doAfterTextChanged
+
+class EditDialog(
+    context: Context, private val locations: MutableList<String>,
+    private val editorActionListener: EditorActionListener
+) : Dialog(context) {
+    private lateinit var listView: ListView
+    private lateinit var confirmBtn: Button
+    override fun onCreate(savedInstanceState: Bundle?) {
+        super.onCreate(savedInstanceState)
+        setContentView(R.layout.dialog_edit_locations)
+        listView = findViewById(R.id.listView)
+        val adapter = EditableListAdapter(
+            context,
+            locations
+        )
+        listView.adapter = adapter
+        confirmBtn = findViewById(R.id.confirmBtn)
+        confirmBtn.setOnClickListener {
+            editorActionListener.editCompleted(this, adapter.oldText, adapter.newText)
+        }
+    }
+
+    override fun dismiss() {
+        val view = currentFocus
+        if (view is EditText) {
+            val imm = context.getSystemService(Context.INPUT_METHOD_SERVICE) as InputMethodManager
+            imm.hideSoftInputFromWindow(view.windowToken, 0)
+        }
+        super.dismiss()
+    }
+    class EditableListAdapter(
+        private val context: Context,
+        private val dataList: MutableList<String>
+    ) : BaseAdapter() {
+        var newText: String = ""
+        var oldText: String = ""
+
+        override fun getCount(): Int = dataList.size
+        override fun getItem(position: Int): Any = dataList[position]
+        override fun getItemId(position: Int): Long = position.toLong()
+
+        override fun getView(position: Int, convertView: View?, parent: ViewGroup): View {
+            val view = convertView ?: LayoutInflater.from(context)
+                .inflate(R.layout.item_editable_dialog_row, parent, false)
+
+            val editText = view.findViewById<EditText>(R.id.name)
+            editText.setText(dataList[position])
+
+            editText.doAfterTextChanged {
+                oldText = dataList[position]
+                newText = it.toString()
+            }
+            return view
+        }
+    }
+
+    interface EditorActionListener {
+        fun editCompleted(editDialog: EditDialog, oldName: String, newName: String)
+    }
+}
\ No newline at end of file
diff --git a/sample/src/main/java/com/robotemi/sdk/sample/MapActivity.kt b/sample/src/main/java/com/robotemi/sdk/sample/MapActivity.kt
index df985ed9..022c94d3 100644
--- a/sample/src/main/java/com/robotemi/sdk/sample/MapActivity.kt
+++ b/sample/src/main/java/com/robotemi/sdk/sample/MapActivity.kt
@@ -15,12 +15,15 @@ import androidx.appcompat.app.AppCompatActivity
 import androidx.core.content.FileProvider
 import androidx.lifecycle.lifecycleScope
 import com.robotemi.sdk.Robot
+import com.robotemi.sdk.TtsRequest.Companion.create
 import com.robotemi.sdk.map.GREEN_PATH
 import com.robotemi.sdk.map.LOCATION
 import com.robotemi.sdk.map.Layer
 import com.robotemi.sdk.map.LayerPose
 import com.robotemi.sdk.map.MapDataModel
 import com.robotemi.sdk.navigation.model.Position
+import com.robotemi.sdk.permission.Permission
+import com.robotemi.sdk.sample.EditDialog.EditorActionListener
 import com.robotemi.sdk.sample.databinding.ActivityMapBinding
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.launch
@@ -306,6 +309,55 @@ class MapActivity : AppCompatActivity() {
             }
         }
 
+        binding.btnRenameLocation.setOnClickListener {
+            val dialog = EditDialog(
+                this,
+                robot.locations.toMutableList(),
+                object : EditorActionListener {
+                    override fun editCompleted(
+                        editDialog: EditDialog,
+                        oldLocationName: String,
+                        newLocationName: String
+                    ) {
+                        if (oldLocationName == newLocationName) return
+                        binding.progressBar.visibility = View.VISIBLE
+                        lifecycleScope.launch(Dispatchers.IO) {
+                            val layer = Layer.upsertLayer(
+                                oldLocationName,
+                                LOCATION,
+                                listOf(LayerPose(1.5f, 1.5f, 1f)),
+                                10
+                            )
+                            if (layer == null) {
+                                // Invalid parameter
+                                withContext(Dispatchers.Main) {
+                                    binding.progressBar.visibility = View.GONE
+                                }
+                                return@launch
+                            }
+
+//                            val resp = robot.renameLocation(oldLocationName, newLocationName)
+                            val resp = robot.renameLocation(oldLocationName, newLocationName, layer)
+                            withContext(Dispatchers.Main) {
+                                binding.progressBar.visibility = View.GONE
+                                if (resp == 200) {
+                                    printLog("rename location success:${robot.getCurrentFloor()?.locations} ")
+                                } else {
+                                    robot.speak(
+                                        create(
+                                            "rename the $newLocationName location failed.",
+                                            true
+                                        )
+                                    )
+                                }
+                                editDialog.dismiss()
+                            }
+                        }
+                    }
+                })
+            dialog.show()
+        }
+
         binding.refreshMap()
     }
 
diff --git a/sample/src/main/res/layout/activity_map.xml b/sample/src/main/res/layout/activity_map.xml
index 5849850a..3b19bece 100644
--- a/sample/src/main/res/layout/activity_map.xml
+++ b/sample/src/main/res/layout/activity_map.xml
@@ -144,6 +144,10 @@
                 style="@style/ButtonCommon"
                 android:text="Add / Update Location"/>
 
+            <Button
+                android:id="@+id/btnRenameLocation"
+                style="@style/ButtonCommon"
+                android:text="Rename Location" />
         </LinearLayout>
     </ScrollView>
 
diff --git a/sample/src/main/res/layout/dialog_edit_locations.xml b/sample/src/main/res/layout/dialog_edit_locations.xml
new file mode 100644
index 00000000..9fbb447c
--- /dev/null
+++ b/sample/src/main/res/layout/dialog_edit_locations.xml
@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8"?>
+<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent"
+    android:orientation="vertical"
+    android:paddingTop="40dp"
+    android:paddingBottom="40dp">
+
+    <TextView
+        android:id="@+id/title"
+        android:layout_width="match_parent"
+        android:layout_height="40dp"
+        android:layout_marginTop="40dp"
+        android:gravity="center"
+        android:text="@string/enter_location"
+        android:textSize="20sp" />
+
+    <ListView
+        android:id="@+id/listView"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        android:layout_above="@+id/confirmBtn"
+        android:layout_below="@+id/title" />
+
+    <Button
+        android:id="@+id/confirmBtn"
+        style="@style/ButtonCommon"
+        android:layout_alignParentBottom="true"
+        android:layout_centerHorizontal="true"
+        android:text="@string/confirm" />
+</RelativeLayout>
\ No newline at end of file
diff --git a/sample/src/main/res/layout/item_editable_dialog_row.xml b/sample/src/main/res/layout/item_editable_dialog_row.xml
new file mode 100644
index 00000000..deb169a0
--- /dev/null
+++ b/sample/src/main/res/layout/item_editable_dialog_row.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="utf-8"?>
+<EditText xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/name"
+    android:layout_width="match_parent"
+    android:layout_height="wrap_content"
+    android:gravity="center"
+    android:padding="10dp"
+    android:textSize="25sp"
+    android:inputType="text"
+    android:focusable="true"
+    android:imeOptions="actionDone"/>
diff --git a/sample/src/main/res/values/strings.xml b/sample/src/main/res/values/strings.xml
index bc806081..247f49d7 100644
--- a/sample/src/main/res/values/strings.xml
+++ b/sample/src/main/res/values/strings.xml
@@ -18,4 +18,5 @@
     <string name="call_owner">Call Owner</string>
     <string name="stop_call">Stop Call</string>
     <string name="publish_to_activities">Publish To Activities</string>
+    <string name="confirm">confirm</string>
 </resources>
\ No newline at end of file
diff --git a/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl b/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
index 0012f353..7d6fb302 100644
--- a/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
+++ b/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
@@ -403,4 +403,6 @@ interface ISdkService {
     int getReposeStatus();
 
     int isReady();
+
+    String renameLocation(in String packageName, in String oldLocationName, in String newLocationName, in String layer);
 }
\ No newline at end of file
diff --git a/sdk/src/main/java/com/robotemi/sdk/Robot.kt b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
index 293ff3ef..bf8e36f2 100644
--- a/sdk/src/main/java/com/robotemi/sdk/Robot.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
@@ -3780,6 +3780,38 @@ class Robot private constructor(private val context: Context) {
         return 0
     }
 
+    /**
+     * rename map location, only support rename location
+     * If you rename an existing Location, the existing Location will be overwritten.
+     * because the SDK will delete the new and old Locations and add a new location with a new name.
+     * For example, if three Locations are A, B, and C, and you change C to B, only A and B will remain.
+     *
+     * @param layer, option param, The layerCategory of the layer should be the Location type
+     *
+     * @return 0 if the operation is not supported by current launcher
+     *         200 for success
+     *         400 invalid parameter
+     *         403 for [Permission.MAP] permission required
+     *         404 target map layer doesn't exist
+     *         409 home base cannot rename And cannot rename to home base
+     */
+    @WorkerThread
+    fun renameLocation(oldLocationName: String, newLocationName: String, layer: Layer? = null): Int {
+        try {
+            val resp = sdkService?.renameLocation(
+                applicationInfo.packageName,
+                oldLocationName,
+                newLocationName,
+                gson.toJson(layer?.roundByCategory())
+            )?.toIntOrNull() ?: 0
+            Log.d(TAG, "renameLocation, result $resp")
+            return resp
+        } catch (e: RemoteException) {
+            Log.e(TAG, "renameLocation() error")
+        }
+        return 0
+    }
+
     @UiThread
     fun addOnLoadMapStatusChangedListener(listener: OnLoadMapStatusChangedListener) {
         onLoadMapStatusChangedListeners.add(listener)
diff --git a/sdk/src/main/java/com/robotemi/sdk/map/MapDataModel.kt b/sdk/src/main/java/com/robotemi/sdk/map/MapDataModel.kt
index 420a3a02..9026364d 100644
--- a/sdk/src/main/java/com/robotemi/sdk/map/MapDataModel.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/map/MapDataModel.kt
@@ -3,6 +3,7 @@ package com.robotemi.sdk.map
 import android.os.Parcel
 import android.os.Parcelable
 import android.util.Base64
+import androidx.annotation.IntDef
 import androidx.annotation.IntRange
 import androidx.annotation.Keep
 import com.google.gson.annotations.SerializedName
@@ -236,7 +237,7 @@ data class Layer internal constructor(
          *                  in [LOCATION] theta will be rounded to 4 digits after decimal.
          */
         fun upsertLayer(layerId: String?,
-                        layerCategory: Int,
+                        @LayerCategory layerCategory: Int,
                         layerPoses: List<LayerPose>,
                         @IntRange(from = -30L, to = 50L) tiltAngle: Int? = null
         ): Layer? {
@@ -332,6 +333,9 @@ const val MAP_NAME = "map_name"
 const val MAP_IMAGE = "map_image"
 const val MAP_BASE64 = "map_base64"
 
+@Retention(AnnotationRetention.SOURCE)
+@IntDef(LOCATION, GREEN_PATH, VIRTUAL_WALL)
+annotation class LayerCategory
 
 @Keep
 data class LayerPose(

From dc8995ce20c3c95bbcd10baa92c71d0d70163882 Mon Sep 17 00:00:00 2001
From: Ray <362780316@qq.com>
Date: Mon, 29 Sep 2025 09:54:36 +0800
Subject: [PATCH 04/15] LCD screen display persistence (#509)

---
 gradle.properties                             |  2 +-
 .../com/robotemi/sdk/sample/SerialActivity.kt | 21 +++++++++++++++++++
 .../src/main/res/layout/activity_serial.xml   |  9 ++++++++
 .../java/com/robotemi/sdk/serial/Serial.kt    |  6 ++++++
 4 files changed, 37 insertions(+), 1 deletion(-)

diff --git a/gradle.properties b/gradle.properties
index d21dd111..a41669ed 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -25,7 +25,7 @@ android.defaults.buildfeatures.buildconfig=true
 android.nonFinalResIds=false
 
 GROUP=com.robotemi
-VERSION_NAME=1.137.0.2-SNAPSHOT
+VERSION_NAME=1.137.0.3-SNAPSHOT
 POM_URL=https://github.com/robotemi/sdk/
 POM_SCM_URL=https://github.com/robotemi/sdk/
 POM_SCM_CONNECTION=scm:git:git://github.com/robotemi/sdk.git
diff --git a/sample/src/main/java/com/robotemi/sdk/sample/SerialActivity.kt b/sample/src/main/java/com/robotemi/sdk/sample/SerialActivity.kt
index be35253e..af51cf10 100644
--- a/sample/src/main/java/com/robotemi/sdk/sample/SerialActivity.kt
+++ b/sample/src/main/java/com/robotemi/sdk/sample/SerialActivity.kt
@@ -15,6 +15,7 @@ import com.robotemi.sdk.serial.Serial.dataFrame
 import com.robotemi.sdk.serial.Serial.dataHex
 import com.robotemi.sdk.serial.Serial.getLcdBytes
 import com.robotemi.sdk.serial.Serial.getLcdColorBytes
+import com.robotemi.sdk.serial.Serial.getLcdPersistBytes
 import com.robotemi.sdk.serial.Serial.weight
 
 class SerialActivity : AppCompatActivity(), OnSerialRawDataListener {
@@ -167,6 +168,26 @@ class SerialActivity : AppCompatActivity(), OnSerialRawDataListener {
             )
         }
 
+        binding.btnLcdTextPersist.setOnClickListener {
+            val persist = if (it.tag == true) {
+                it.tag = false
+                false
+            } else {
+                it.tag = true
+                true
+            }
+            val lcdText = if (persist) "PERSIST" else "CLEARED"
+//            Robot.getInstance().sendSerialCommand(
+//                Serial.CMD_LCD_TEXT,
+//                getLcdBytes(lcdText) + getLcdPersistBytes(persist)
+//            )
+
+            //If you want to set the LCD text color and LCD background color, you can refer to the following code
+            val lcdTextColor = if (persist) byteArrayOf(0xFF.toByte(), 0x00, 0x00) else byteArrayOf(0xFF.toByte(), 0xFF.toByte(), 0x00)
+            val lcdBackgroundColor = if (persist) byteArrayOf(0x00, 0xFF.toByte(), 0x00) else byteArrayOf(0x00, 0xFF.toByte(), 0xFF.toByte())
+            Robot.getInstance().sendSerialCommand(Serial.CMD_LCD_TEXT, getLcdBytes(lcdText) + getLcdColorBytes(lcdTextColor, target = Serial.LCD.TEXT_0_COLOR) + getLcdColorBytes(lcdBackgroundColor, target = Serial.LCD.TEXT_0_BACKGROUND) + getLcdPersistBytes(persist))
+        }
+
         super.onResume()
     }
 
diff --git a/sample/src/main/res/layout/activity_serial.xml b/sample/src/main/res/layout/activity_serial.xml
index dee5291a..ea5efcb1 100644
--- a/sample/src/main/res/layout/activity_serial.xml
+++ b/sample/src/main/res/layout/activity_serial.xml
@@ -108,6 +108,15 @@
         app:layout_constraintStart_toEndOf="@id/btnLcdTextColor"
         app:layout_constraintTop_toTopOf="@id/btnVersion" />
 
+    <androidx.appcompat.widget.AppCompatButton
+        android:id="@+id/btnLcdTextPersist"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="Lcd Text Persist"
+        android:textAllCaps="false"
+        app:layout_constraintStart_toEndOf="@id/btnLcdBackgroundColor"
+        app:layout_constraintTop_toTopOf="@id/btnVersion" />
+
     <androidx.appcompat.widget.AppCompatTextView
         android:id="@+id/tvResp"
         android:layout_width="wrap_content"
diff --git a/sdk/src/main/java/com/robotemi/sdk/serial/Serial.kt b/sdk/src/main/java/com/robotemi/sdk/serial/Serial.kt
index 28c23517..8bad129e 100644
--- a/sdk/src/main/java/com/robotemi/sdk/serial/Serial.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/serial/Serial.kt
@@ -72,9 +72,15 @@ object Serial {
         return content.toByteArray(charset).plus(byteArrayOf(0xFF.toByte(), 0xFF.toByte(), 0xFF.toByte()))
     }
 
+    fun getLcdPersistBytes(persist: Boolean, target: String = "t0.persist", charset: Charset = Charsets.UTF_8): ByteArray {
+        val content = "$target=\"$persist\""
+        return content.toByteArray(charset).plus(byteArrayOf(0xFF.toByte(), 0xFF.toByte(), 0xFF.toByte()))
+    }
+
     object LCD {
         const val TEXT_0_COLOR = "t0.pco"
         const val TEXT_0_BACKGROUND = "t0.bco"
+        const val TEXT_0_PERSIST = "t0.persist"
     }
 
     /**

From 0066a62fb0dfc93a7cf2faf2047ab3dc03e9b3fa Mon Sep 17 00:00:00 2001
From: Nathan <546714086@qq.com>
Date: Thu, 30 Oct 2025 16:58:59 +0800
Subject: [PATCH 05/15] Dev sprint 137 modify floor interface 10 30 (#511)

* add modify floor interface

* add getFloorAndMapData

* modify getFloorAndMapData

* modify Floor

* modify Log

* Modify according to the git modification suggestions

* modify  upsertMapLayer()
add updateLocationOnFloor
add deleteLocationOnFloor

* add CreatePathOnFloor
add MovePathOnFloor
add UpsertLocationOnFloor

* add dev_sprint_137_modify_floor_interface_10_30

* Modify the details

* add annotations

* add floorId @IntRange(from = 1)
---
 gradle.properties                             |   2 +-
 .../com/robotemi/sdk/sample/MainActivity.kt   | 209 +++++++++++++--
 .../com/robotemi/sdk/sample/MapActivity.kt    |   1 +
 sample/src/main/res/layout/activity_map.xml   |   1 +
 .../main/res/layout/dialog_input_loading.xml  |  38 +++
 .../res/layout/group_map_and_movement.xml     |  20 ++
 .../aidl/com/robotemi/sdk/ISdkService.aidl    |   6 +
 sdk/src/main/java/com/robotemi/sdk/Robot.kt   | 251 +++++++++++++++---
 .../robotemi/sdk/constants/SdkConstants.kt    |   7 +
 .../main/java/com/robotemi/sdk/map/Floor.kt   |   8 +-
 10 files changed, 478 insertions(+), 65 deletions(-)
 create mode 100644 sample/src/main/res/layout/dialog_input_loading.xml

diff --git a/gradle.properties b/gradle.properties
index a41669ed..10fd0984 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -25,7 +25,7 @@ android.defaults.buildfeatures.buildconfig=true
 android.nonFinalResIds=false
 
 GROUP=com.robotemi
-VERSION_NAME=1.137.0.3-SNAPSHOT
+VERSION_NAME=1.137.0.4-SNAPSHOT
 POM_URL=https://github.com/robotemi/sdk/
 POM_SCM_URL=https://github.com/robotemi/sdk/
 POM_SCM_CONNECTION=scm:git:git://github.com/robotemi/sdk.git
diff --git a/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt b/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
index 14ba09fe..d826de48 100644
--- a/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
+++ b/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
@@ -29,6 +29,9 @@ import android.view.inputmethod.InputMethodManager
 import android.widget.AdapterView
 import android.widget.AdapterView.OnItemClickListener
 import android.widget.ArrayAdapter
+import android.widget.Button
+import android.widget.EditText
+import android.widget.ProgressBar
 import android.widget.SeekBar
 import android.widget.SeekBar.OnSeekBarChangeListener
 import android.widget.Toast
@@ -82,6 +85,11 @@ import java.io.IOException
 import java.util.*
 import java.util.concurrent.Executors
 import kotlin.concurrent.thread
+import androidx.core.view.isVisible
+import androidx.lifecycle.lifecycleScope
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.launch
+import kotlinx.coroutines.withContext
 
 
 class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
@@ -98,7 +106,8 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
     OnMovementVelocityChangedListener, OnMovementStatusChangedListener,
     OnContinuousFaceRecognizedListener, ITtsService, OnGreetModeStateChangedListener,
     TextToSpeech.OnInitListener, OnLoadFloorStatusChangedListener,
-    OnDistanceToDestinationChangedListener, OnSdkExceptionListener, OnRobotDragStateChangedListener, OnMapStatusChangedListener,
+    OnDistanceToDestinationChangedListener, OnSdkExceptionListener, OnRobotDragStateChangedListener,
+    OnMapStatusChangedListener,
     OnButtonStatusChangedListener {
 
     private lateinit var robot: Robot
@@ -158,7 +167,10 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
         debugReceiver = TemiBroadcastReceiver()
         registerReceiver(debugReceiver, IntentFilter(TemiBroadcastReceiver.ACTION_DEBUG))
 
-        registerReceiver(assistantReceiver, IntentFilter(AssistantChangeReceiver.ACTION_ASSISTANT_SELECTION))
+        registerReceiver(
+            assistantReceiver,
+            IntentFilter(AssistantChangeReceiver.ACTION_ASSISTANT_SELECTION)
+        )
     }
 
     /**
@@ -442,14 +454,14 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
             btnGetMapElements.setOnClickListener {
                 if (robot.checkSelfPermission(Permission.MAP) == Permission.GRANTED) {
                     printLog("map elements: ${robot.getMapElements()}")
-                }   else {
+                } else {
                     printLog("Map permission not granted")
                 }
             }
             btnGetMapImage.setOnClickListener {
                 if (robot.checkSelfPermission(Permission.MAP) == Permission.GRANTED) {
                     printLog("map image: ${robot.getMapImage()}")
-                }   else {
+                } else {
                     printLog("Map permission not granted")
                 }
 
@@ -478,6 +490,18 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
             btnGetCurrentFloor.setOnClickListener {
                 getCurrentFloor()
             }
+            btnNewFloor.setOnClickListener {
+                showInputDialog("newFloor")
+            }
+            btnDeleteFloor.setOnClickListener {
+                showInputDialog("deleteFloor")
+            }
+            btnRenameFloor.setOnClickListener {
+                showInputDialog("renameFloor")
+            }
+            btnGetFloorData.setOnClickListener {
+                showInputDialog("getFloorData")
+            }
         }
         groupSettingsAndStatus.apply {
             btnBatteryInfo.setOnClickListener { getBatteryData() }
@@ -541,7 +565,11 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
                     return@setOnClickListener
                 }
                 if (robot.minimumObstacleDistance == -1) {
-                    Toast.makeText(this@MainActivity, "Minimum Obstacle Distance settings is not supported on your robot.", Toast.LENGTH_SHORT).show()
+                    Toast.makeText(
+                        this@MainActivity,
+                        "Minimum Obstacle Distance settings is not supported on your robot.",
+                        Toast.LENGTH_SHORT
+                    ).show()
                     return@setOnClickListener
                 }
 
@@ -551,7 +579,8 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
                 val distance = robot.minimumObstacleDistance
                 textMinimumObstacleDistance.text = "$distance"
                 seekbarMinimumObstacleDistance.progress = distance.coerceIn(0, 100)
-                seekbarMinimumObstacleDistance.setOnSeekBarChangeListener(object : OnSeekBarChangeListener {
+                seekbarMinimumObstacleDistance.setOnSeekBarChangeListener(object :
+                    OnSeekBarChangeListener {
                     override fun onProgressChanged(
                         seekBar: SeekBar?,
                         progress: Int,
@@ -585,7 +614,10 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
                 printLog("Emergency Stop button status $status")
             }
             val eStopListener = object : OnButtonStatusChangedListener {
-                override fun onButtonStatusChanged(hardButton: HardButton, status: HardButton.Status) {
+                override fun onButtonStatusChanged(
+                    hardButton: HardButton,
+                    status: HardButton.Status
+                ) {
                     if (hardButton == HardButton.EMERGENCY_STOP) {
                         printLog("Emergency Stop button status changed: $status")
                     }
@@ -710,10 +742,20 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
             }
             btnStartPage.setOnClickListener { startPage() }
             btnGetMembersStatus.setOnClickListener { getMembersStatus() }
-            btnSerial.setOnClickListener { startActivity(Intent(this@MainActivity, SerialActivity::class.java)) }
+            btnSerial.setOnClickListener {
+                startActivity(
+                    Intent(
+                        this@MainActivity,
+                        SerialActivity::class.java
+                    )
+                )
+            }
             btnWebpage.setOnClickListener {
                 val intent =
-                    Intent().setClassName("com.robotemi.browser", "com.robotemi.browser.MainActivity")
+                    Intent().setClassName(
+                        "com.robotemi.browser",
+                        "com.robotemi.browser.MainActivity"
+                    )
                 intent.putExtra("url", "https://github.com")
                 intent.putExtra("source", "intent")
                 intent.putExtra("navBar", "SHOW")
@@ -757,6 +799,22 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
         printLog(robot.getCurrentFloor()?.toString() ?: "Get current floor failed")
     }
 
+    private fun newFloor(name: String) {
+        printLog(robot.newFloor(name)?.toString() ?: "create new floor failed")
+    }
+
+    private fun deleteFloor(floorId: Int) {
+        printLog(robot.deleteFloor(floorId)?.toString() ?: "delete floor failed")
+    }
+
+    private fun renameFloor(floorId: Int, name: String) {
+        printLog(robot.renameFloor(floorId, name)?.toString() ?: "rename floor failed")
+    }
+
+    private fun getFloorData(floorId: Int) {
+        printLog(robot.getFloorAndMapData(floorId)?.toString() ?: "get floor data failed")
+    }
+
     private fun loadFloorAtElevator() {
         if (floorList.isEmpty()) {
             getAllFloors()
@@ -1048,11 +1106,11 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
     /**
      * Have the robot speak while displaying what is being said.
      */
-    private fun speak(askQuestion : Boolean = false) {
+    private fun speak(askQuestion: Boolean = false) {
         val text = binding.etSpeak.text.toString()
         val languages = ArrayList<TtsRequest.Language>()
-        TtsRequest.Language.values().forEach {
-            language ->  languages.add(language)
+        TtsRequest.Language.values().forEach { language ->
+            languages.add(language)
         }
         val adapter = ArrayAdapter(this, R.layout.item_dialog_row, R.id.name, languages)
         val dialog = AlertDialog.Builder(this)
@@ -1066,7 +1124,8 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
                 if (text == "queue") {
                     // A demonstration of using TTS queue
 
-                    val request = TtsRequest.create("白日依山尽\n", language = TtsRequest.Language.ZH_CN)
+                    val request =
+                        TtsRequest.create("白日依山尽\n", language = TtsRequest.Language.ZH_CN)
                     with(TtsRequest.Language.ZH_CN) {
                         val request1 = request.copy(speech = "黄河入海流\n")
                         val request2 = request.copy(speech = "欲穷千里目\n")
@@ -1078,7 +1137,10 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
                     }
 
                     with(TtsRequest.Language.JA_JP) {
-                        val request1 = request.copy(speech = "古池や\n", language = TtsRequest.Language.JA_JP.value)
+                        val request1 = request.copy(
+                            speech = "古池や\n",
+                            language = TtsRequest.Language.JA_JP.value
+                        )
                         val request2 = request1.copy(speech = "蛙飛び込む\n")
                         val request3 = request1.copy(speech = "水の音\n")
                         robot.speak(request1)
@@ -1087,10 +1149,14 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
                     }
 
                     with(TtsRequest.Language.EN_US) {
-                        val request1 = request.copy(speech = "It is just as I feared!\n", language = TtsRequest.Language.EN_US.value)
+                        val request1 = request.copy(
+                            speech = "It is just as I feared!\n",
+                            language = TtsRequest.Language.EN_US.value
+                        )
                         val request2 = request1.copy(speech = "Two Owls and a Hen\n")
                         val request3 = request1.copy(speech = "Four Larks and a Wren\n")
-                        val request4 = request1.copy(speech = "Have all built their nests in my beard.\n")
+                        val request4 =
+                            request1.copy(speech = "Have all built their nests in my beard.\n")
                         robot.speak(request1)
                         robot.speak(request2)
                         robot.speak(request3)
@@ -1302,7 +1368,7 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
     override fun onNlpCompleted(nlpResult: NlpResult) {
         //do something with nlp result. Base the action specified in the AndroidManifest.xml
         Toast.makeText(this@MainActivity, nlpResult.action, Toast.LENGTH_SHORT).show()
-        printLog("NlpCompleted: $nlpResult" )
+        printLog("NlpCompleted: $nlpResult")
         when (nlpResult.action) {
             ACTION_HOME_WELCOME -> robot.tiltAngle(23)
             ACTION_HOME_DANCE -> {
@@ -1312,6 +1378,7 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
                     robot.skidJoy(0f, 1f)
                 }
             }
+
             ACTION_HOME_SLEEP -> robot.goTo(HOME_BASE_LOCATION)
         }
     }
@@ -1436,7 +1503,8 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
         if (!robot.isSelectedKioskApp()) {
             return
         }
-        val ret = robot.setAsrLanguages(listOf(SttLanguage.SYSTEM, SttLanguage.ZH_HK, SttLanguage.KO_KR))
+        val ret =
+            robot.setAsrLanguages(listOf(SttLanguage.SYSTEM, SttLanguage.ZH_HK, SttLanguage.KO_KR))
         printLog("setAsrLanguages: $ret")
     }
 
@@ -1499,24 +1567,29 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
             asrResult.equals("Hello", ignoreCase = true) -> {
                 robot.askQuestion("Hello, I'm temi, what can I do for you?")
             }
+
             asrResult.equals("Play music", ignoreCase = true) -> {
                 robot.finishConversation()
                 robot.speak(create("Okay, please enjoy.", false))
                 playMusic()
             }
+
             asrResult.equals("Play movie", ignoreCase = true) -> {
                 robot.finishConversation()
                 robot.speak(create("Okay, please enjoy.", false))
                 playMovie()
             }
+
             asrResult.lowercase().contains("follow me") -> {
                 robot.finishConversation()
                 robot.beWithMe()
             }
+
             asrResult.lowercase().contains("go to home base") -> {
                 robot.finishConversation()
                 robot.goTo("home base")
             }
+
             else -> {
                 robot.askQuestion("Sorry I can't understand you, could you please ask something else?")
             }
@@ -1585,31 +1658,39 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
             } else if (requestCode == REQUEST_CODE_FACE_STOP) {
                 robot.stopFaceRecognition()
             }
+
             Permission.SEQUENCE -> when (requestCode) {
                 REQUEST_CODE_SEQUENCE_FETCH_ALL -> {
                     getAllSequences()
                 }
+
                 REQUEST_CODE_SEQUENCE_PLAY -> {
                     playFirstSequence(true)
                 }
+
                 REQUEST_CODE_SEQUENCE_PLAY_WITHOUT_PLAYER -> {
                     playFirstSequence(false)
                 }
             }
+
             Permission.MAP -> when (requestCode) {
                 REQUEST_CODE_MAP -> {
                     getMap()
                 }
+
                 REQUEST_CODE_GET_MAP_LIST -> {
                     getMapList()
                 }
+
                 REQUEST_CODE_GET_ALL_FLOORS -> {
                     getAllFloors()
                 }
             }
+
             Permission.SETTINGS -> if (requestCode == REQUEST_CODE_START_DETECTION_WITH_DISTANCE) {
                 startDetectionWithDistance()
             }
+
             else -> {
                 // no-op
             }
@@ -1827,7 +1908,11 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
         dialog.listView.onItemClickListener =
             OnItemClickListener { _: AdapterView<*>?, _: View?, position: Int, _: Long ->
                 val result = robot.setMicGainLevel(adapter.getItem(position)!!.toInt())
-                printLog("Set Microphone Gain Level to X${adapter.getItem(position)!!.toInt()} with result $result")
+                printLog(
+                    "Set Microphone Gain Level to X${
+                        adapter.getItem(position)!!.toInt()
+                    } with result $result"
+                )
                 dialog.dismiss()
             }
         dialog.show()
@@ -2044,6 +2129,7 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
                 0, 1 -> {
                     printLog("onFaceRecognized: ${contactModel.firstName} ${contactModel.lastName}")
                 }
+
                 2 -> {
                     Log.d(
                         "SAMPLE_DEBUG",
@@ -2051,6 +2137,7 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
                     )
                     printLog("onFaceRecognized: VISITOR ${contactModel.userId} ${contactModel.similarity}")
                 }
+
                 3 -> {
                     Log.d(
                         "SAMPLE_DEBUG",
@@ -2058,6 +2145,7 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
                     )
                     printLog("onFaceRecognized: SDK Face ${contactModel.userId}, ${contactModel.firstName}, similarity ${contactModel.similarity}, age ${contactModel.age}, gender ${contactModel.gender}, faceRect ${contactModel.faceRect}")
                 }
+
                 -1 -> {
                     printLog("onFaceRecognized: Unknown face, faceId ${contactModel.userId}, age ${contactModel.age}, gender ${contactModel.gender}, faceRect ${contactModel.faceRect}")
                 }
@@ -2090,6 +2178,7 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
                 0, 1 -> {
                     "$blinker ${contactModel.firstName} ${contactModel.lastName}\n"
                 }
+
                 2 -> {
                     Log.d(
                         "SAMPLE_DEBUG",
@@ -2097,6 +2186,7 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
                     )
                     "$blinker  VISITOR ${contactModel.userId} similarity ${contactModel.similarity}\n"
                 }
+
                 3 -> {
                     Log.d(
                         "SAMPLE_DEBUG",
@@ -2104,6 +2194,7 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
                     )
                     "$blinker  SDK Face ${contactModel.userId} -> ${contactModel.firstName}, similarity ${contactModel.similarity}\n"
                 }
+
                 else -> {
                     "$blinker Unknown face, faceId ${contactModel.userId}, age ${contactModel.age}, gender ${contactModel.gender}, faceRect ${contactModel.faceRect}\n"
                 }
@@ -2214,10 +2305,12 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
             printLog("target is null.")
             return
         }
-        val resp = robot.startMeeting(listOf(
-            Participant(target.userId, Platform.MOBILE),
-            Participant(target.userId, Platform.TEMI_CENTER),
-        ), firstParticipantJoinedAsHost = true)
+        val resp = robot.startMeeting(
+            listOf(
+                Participant(target.userId, Platform.MOBILE),
+                Participant(target.userId, Platform.TEMI_CENTER),
+            ), firstParticipantJoinedAsHost = true
+        )
         Log.d("MainActivity", "startMeeting result $resp")
     }
 
@@ -2629,7 +2722,8 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
 
     @SuppressLint("SetTextI18n")
     override fun onGreetModeStateChanged(state: Int) {
-        binding.tvGreetMode.text = "Greet Mode -> ${OnGreetModeStateChangedListener.State.fromValue(state)}"
+        binding.tvGreetMode.text =
+            "Greet Mode -> ${OnGreetModeStateChangedListener.State.fromValue(state)}"
     }
 
     override fun onLoadFloorStatusChanged(status: Int) {
@@ -2651,4 +2745,71 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
     override fun onButtonStatusChanged(hardButton: HardButton, status: HardButton.Status) {
         Log.d("onButtonStatusChanged", "hardButton: $hardButton, status: $status")
     }
+
+
+    private fun showInputDialog(type: String) {
+        val dialogView = layoutInflater.inflate(R.layout.dialog_input_loading, null)
+        val builder = AlertDialog.Builder(this)
+        builder.setView(dialogView)
+        val dialog = builder.create()
+        val editTextInput = dialogView.findViewById<EditText>(R.id.editTextInput)
+        val btnConfirm = dialogView.findViewById<Button>(R.id.btnConfirm)
+        val btnCancel = dialogView.findViewById<Button>(R.id.btnCancel)
+
+        when (type) {
+            "newFloor" -> {
+                editTextInput.hint = "Please enter the name"
+            }
+
+            "deleteFloor" -> {
+                editTextInput.hint = "Please enter a number"
+            }
+
+            "renameFloor" -> {
+                editTextInput.hint = "Please enter the numbers and names, and use  ,  to separate"
+            }
+
+            "getFloorData" -> {
+                editTextInput.hint = "Please enter a number"
+            }
+
+        }
+        btnConfirm.setOnClickListener {
+            val input = editTextInput.text.toString().trim()
+            if (input.isEmpty()) {
+                Toast.makeText(this, "Please enter the content", Toast.LENGTH_SHORT).show()
+                return@setOnClickListener
+            }
+            when (type) {
+                "newFloor" -> {
+                    newFloor(input)
+                }
+
+                "deleteFloor" -> {
+                    deleteFloor(input.toIntOrNull() ?: 0)
+                }
+
+                "renameFloor" -> {
+                    val parts = input.split(",", limit = 2).map { it.trim() }
+                    if (parts.size < 2) {
+                        return@setOnClickListener
+                    }
+                    renameFloor(parts[0].toIntOrNull() ?: 0, parts[1])
+                }
+
+                "getFloorData" -> {
+                    getFloorData(input.toIntOrNull() ?: 0)
+                }
+
+            }
+            dialog.dismiss()
+        }
+
+        btnCancel.setOnClickListener {
+            dialog.dismiss()
+        }
+        dialog.setOnDismissListener {
+        }
+        dialog.show()
+    }
 }
\ No newline at end of file
diff --git a/sample/src/main/java/com/robotemi/sdk/sample/MapActivity.kt b/sample/src/main/java/com/robotemi/sdk/sample/MapActivity.kt
index 022c94d3..786feda2 100644
--- a/sample/src/main/java/com/robotemi/sdk/sample/MapActivity.kt
+++ b/sample/src/main/java/com/robotemi/sdk/sample/MapActivity.kt
@@ -246,6 +246,7 @@ class MapActivity : AppCompatActivity() {
             }
         }
 
+
         binding.btnMovePath.setOnClickListener {
             val path = mapDataModel?.greenPaths?.firstOrNull() ?: return@setOnClickListener
             binding.progressBar.visibility = View.VISIBLE
diff --git a/sample/src/main/res/layout/activity_map.xml b/sample/src/main/res/layout/activity_map.xml
index 3b19bece..2818c1d7 100644
--- a/sample/src/main/res/layout/activity_map.xml
+++ b/sample/src/main/res/layout/activity_map.xml
@@ -148,6 +148,7 @@
                 android:id="@+id/btnRenameLocation"
                 style="@style/ButtonCommon"
                 android:text="Rename Location" />
+
         </LinearLayout>
     </ScrollView>
 
diff --git a/sample/src/main/res/layout/dialog_input_loading.xml b/sample/src/main/res/layout/dialog_input_loading.xml
new file mode 100644
index 00000000..6ea95eca
--- /dev/null
+++ b/sample/src/main/res/layout/dialog_input_loading.xml
@@ -0,0 +1,38 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="300dp"
+    android:layout_height="wrap_content"
+    android:orientation="vertical"
+    android:padding="16dp">
+
+    <EditText
+        android:id="@+id/editTextInput"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:inputType="text"
+        android:maxLines="1" />
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:orientation="horizontal"
+        android:layout_marginTop="16dp">
+
+        <Button
+            android:id="@+id/btnCancel"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:text="Cancel"
+            android:layout_marginEnd="8dp" />
+
+        <Button
+            android:id="@+id/btnConfirm"
+            android:layout_width="0dp"
+            android:layout_height="wrap_content"
+            android:layout_weight="1"
+            android:text="Confirm"
+            android:layout_marginStart="8dp" />
+    </LinearLayout>
+
+</LinearLayout>
\ No newline at end of file
diff --git a/sample/src/main/res/layout/group_map_and_movement.xml b/sample/src/main/res/layout/group_map_and_movement.xml
index 381b329b..983175b6 100644
--- a/sample/src/main/res/layout/group_map_and_movement.xml
+++ b/sample/src/main/res/layout/group_map_and_movement.xml
@@ -142,4 +142,24 @@
         style="@style/ButtonCommon"
         android:text="getMapImage" />
 
+    <Button
+        android:id="@+id/btnNewFloor"
+        style="@style/ButtonCommon"
+        android:text="New Floor" />
+
+    <Button
+        android:id="@+id/btnDeleteFloor"
+        style="@style/ButtonCommon"
+        android:text="Delete Floor" />
+
+    <Button
+        android:id="@+id/btnRenameFloor"
+        style="@style/ButtonCommon"
+        android:text="Rename Floor" />
+
+    <Button
+        android:id="@+id/btnGetFloorData"
+        style="@style/ButtonCommon"
+        android:text="Get Floor Data" />
+
 </LinearLayout>
\ No newline at end of file
diff --git a/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl b/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
index 7d6fb302..3b594a9b 100644
--- a/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
+++ b/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
@@ -405,4 +405,10 @@ interface ISdkService {
     int isReady();
 
     String renameLocation(in String packageName, in String oldLocationName, in String newLocationName, in String layer);
+
+    int newFloor(in String packageName, String floorName);
+
+    int deleteFloor(in String packageName, int floorId);
+
+    int renameFloor(in String packageName, int floorId, String floorName);
 }
\ No newline at end of file
diff --git a/sdk/src/main/java/com/robotemi/sdk/Robot.kt b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
index bf8e36f2..5a6862cf 100644
--- a/sdk/src/main/java/com/robotemi/sdk/Robot.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
@@ -590,7 +590,10 @@ class Robot private constructor(private val context: Context) {
             if (onButtonStatusChangedListeners.isEmpty()) return false
             uiHandler.post {
                 onButtonStatusChangedListeners.forEach {
-                    it.onButtonStatusChanged(HardButton.valueToEnum(buttonType), HardButton.Status.valueToEnum(buttonStatus))
+                    it.onButtonStatusChanged(
+                        HardButton.valueToEnum(buttonType),
+                        HardButton.Status.valueToEnum(buttonStatus)
+                    )
                 }
             }
             return true
@@ -600,7 +603,10 @@ class Robot private constructor(private val context: Context) {
             if (onButtonModeChangedListeners.isEmpty()) return false
             uiHandler.post {
                 onButtonModeChangedListeners.forEach {
-                    it.onButtonModeChanged(HardButton.valueToEnum(buttonType), HardButton.Mode.valueToEnum(buttonMode))
+                    it.onButtonModeChanged(
+                        HardButton.valueToEnum(buttonType),
+                        HardButton.Mode.valueToEnum(buttonMode)
+                    )
                 }
             }
             return true
@@ -970,13 +976,15 @@ class Robot private constructor(private val context: Context) {
      */
     fun wakeup(languages: List<SttLanguage> = emptyList(), wakeupRequest: WakeupRequest? = null) {
         try {
-            sdkService?.wakeup(languages.map { it.value }.toIntArray(),
+            sdkService?.wakeup(
+                languages.map { it.value }.toIntArray(),
                 SttRequest(
                     languages = languages,
                     timeout = 0,
                     multipleConversation = false
                 ),
-                wakeupRequest)
+                wakeupRequest
+            )
         } catch (e: RemoteException) {
             Log.e(TAG, "wakeup() error")
         }
@@ -990,9 +998,11 @@ class Robot private constructor(private val context: Context) {
      */
     fun wakeup(sttRequest: SttRequest, wakeupRequest: WakeupRequest? = null) {
         try {
-            sdkService?.wakeup(sttRequest.languages.map { it.value }.toIntArray(),
+            sdkService?.wakeup(
+                sttRequest.languages.map { it.value }.toIntArray(),
                 sttRequest,
-                wakeupRequest)
+                wakeupRequest
+            )
         } catch (e: RemoteException) {
             Log.e(TAG, "wakeup() error")
         }
@@ -1063,8 +1073,11 @@ class Robot private constructor(private val context: Context) {
      */
     fun askQuestion(question: String) {
         try {
-            sdkService?.askQuestion(question,
-                TtsRequest.create(question).apply { packageName = applicationInfo.packageName }, null)
+            sdkService?.askQuestion(
+                question,
+                TtsRequest.create(question).apply { packageName = applicationInfo.packageName },
+                null
+            )
         } catch (e: RemoteException) {
             Log.e(TAG, "Ask question call failed")
         }
@@ -1078,8 +1091,10 @@ class Robot private constructor(private val context: Context) {
      */
     fun askQuestion(question: TtsRequest, sttRequest: SttRequest? = null) {
         try {
-            sdkService?.askQuestion(question.speech,
-                question.apply { packageName = applicationInfo.packageName }, sttRequest)
+            sdkService?.askQuestion(
+                question.speech,
+                question.apply { packageName = applicationInfo.packageName }, sttRequest
+            )
         } catch (e: RemoteException) {
             Log.e(TAG, "Ask question call failed")
         }
@@ -1377,9 +1392,12 @@ class Robot private constructor(private val context: Context) {
             val allowBackwardsInt =
                 if (backwards == null) NOT_SET else if (backwards) TRUE else FALSE
             val noBypassInt = if (noBypass == null) NOT_SET else if (noBypass) TRUE else FALSE
-            val highAccuracyArrivalInt = if (highAccuracyArrival == null) NOT_SET else if (highAccuracyArrival) TRUE else FALSE
-            val noRotationAtEndInt = if (noRotationAtEnd == null) NOT_SET else if (noRotationAtEnd) TRUE else FALSE
-            sdkService?.goTo(location,
+            val highAccuracyArrivalInt =
+                if (highAccuracyArrival == null) NOT_SET else if (highAccuracyArrival) TRUE else FALSE
+            val noRotationAtEndInt =
+                if (noRotationAtEnd == null) NOT_SET else if (noRotationAtEnd) TRUE else FALSE
+            sdkService?.goTo(
+                location,
                 allowBackwardsInt,
                 noBypassInt,
                 speedLevel?.value ?: "",
@@ -1416,7 +1434,8 @@ class Robot private constructor(private val context: Context) {
             val allowBackwardsInt =
                 if (backwards == null) NOT_SET else if (backwards) TRUE else FALSE
             val noBypassInt = if (noBypass == null) NOT_SET else if (noBypass) TRUE else FALSE
-            val highAccuracyArrivalInt = if (highAccuracyArrival == null) NOT_SET else if (highAccuracyArrival) TRUE else FALSE
+            val highAccuracyArrivalInt =
+                if (highAccuracyArrival == null) NOT_SET else if (highAccuracyArrival) TRUE else FALSE
             sdkService?.goToPosition(
                 position,
                 allowBackwardsInt,
@@ -1531,7 +1550,8 @@ class Robot private constructor(private val context: Context) {
      */
     fun setFollowSpeed(speedLevel: SpeedLevel): Int {
         try {
-            val resp = sdkService?.setFollowSpeed(applicationInfo.packageName, speedLevel.value)?.toIntOrNull() ?: 0
+            val resp = sdkService?.setFollowSpeed(applicationInfo.packageName, speedLevel.value)
+                ?.toIntOrNull() ?: 0
             Log.d(TAG, "setFollowSpeed() response: $resp")
             return resp
         } catch (e: RemoteException) {
@@ -1718,7 +1738,10 @@ class Robot private constructor(private val context: Context) {
      * @param speed Coefficient of maximum speed, between 0 to 1
      */
     @JvmOverloads
-    fun turnBy(@IntRange(from = -355, to = 355) degrees: Int, @FloatRange(from = 0.0, to = 1.0) speed: Float = 1f) {
+    fun turnBy(
+        @IntRange(from = -355, to = 355) degrees: Int,
+        @FloatRange(from = 0.0, to = 1.0) speed: Float = 1f
+    ) {
         try {
             sdkService?.turnBy(degrees, speed)
         } catch (e: RemoteException) {
@@ -1920,10 +1943,12 @@ class Robot private constructor(private val context: Context) {
         blockRobotInteraction: Boolean = false,
     ): String {
         try {
-            return sdkService?.startMeeting(applicationInfo.packageName,
+            return sdkService?.startMeeting(
+                applicationInfo.packageName,
                 participants,
                 firstParticipantJoinedAsHost,
-                blockRobotInteraction) ?: ""
+                blockRobotInteraction
+            ) ?: ""
         } catch (e: RemoteException) {
             Log.e(TAG, "startMeeting() error")
         }
@@ -2734,7 +2759,8 @@ class Robot private constructor(private val context: Context) {
         }
         set(value) {
             try {
-                val ret = sdkService?.configMinimumObstacleDistance(applicationInfo.packageName, value)
+                val ret =
+                    sdkService?.configMinimumObstacleDistance(applicationInfo.packageName, value)
                 Log.d(TAG, "set MinimumObstacleDistance ret $ret")
             } catch (e: RemoteException) {
                 Log.d(TAG, "set MinimumObstacleDistance error")
@@ -2952,7 +2978,7 @@ class Robot private constructor(private val context: Context) {
      *         or null if failed to get the mode
      */
     @CheckResult
-    fun getHomeScreenMode() : HomeScreenMode? {
+    fun getHomeScreenMode(): HomeScreenMode? {
         return try {
             val homeScreenMode = sdkService?.getHomeScreenMode(applicationInfo.packageName)
             return HomeScreenMode.getHomeScreenMode(homeScreenMode)
@@ -3210,9 +3236,20 @@ class Robot private constructor(private val context: Context) {
      * @param startFromStep The step number to start from, default is 1.
      */
     @JvmOverloads
-    fun playSequence(sequenceId: String, withPlayer: Boolean = false, repeat: Int = 0, startFromStep: Int = 1) {
+    fun playSequence(
+        sequenceId: String,
+        withPlayer: Boolean = false,
+        repeat: Int = 0,
+        startFromStep: Int = 1
+    ) {
         try {
-            sdkService?.playSequence(applicationInfo.packageName, sequenceId, withPlayer, repeat, startFromStep)
+            sdkService?.playSequence(
+                applicationInfo.packageName,
+                sequenceId,
+                withPlayer,
+                repeat,
+                startFromStep
+            )
         } catch (e: RemoteException) {
             Log.e(TAG, "playSequence() error")
         }
@@ -3367,6 +3404,62 @@ class Robot private constructor(private val context: Context) {
         return mapDataModel
     }
 
+    @WorkerThread
+    @Throws(IllegalArgumentException::class)
+    fun getFloorAndMapData(@IntRange(from = 1) floorId: Int): Pair<Floor, MapDataModel>? {
+        if (floorId <= 0) {
+            throw IllegalArgumentException("floorId must not be 0")
+        }
+
+
+        var cursor: Cursor? = null
+        try {
+            val uri: Uri = Uri.parse("content://${SdkConstants.PROVIDER_AUTHORITY}/${SdkConstants.PROVIDER_PARAMETER_FLOOR_MAP_DATA}")
+
+            val projection = arrayOf(
+                SdkConstants.PROVIDER_PARAMETER_FLOOR_DATA_JSON,
+                SdkConstants.PROVIDER_PARAMETER_MAP_DATA_JSON
+            )
+
+            val selection = "${SdkConstants.PROVIDER_PARAMETER_FLOOR_ID} = ?"
+            val selectionArgs = arrayOf(floorId.toString())
+
+            val cursor = context.contentResolver.query(
+                uri,
+                projection,
+                selection,
+                selectionArgs,
+                null
+            )
+
+            if (cursor == null || !cursor.moveToFirst()) {
+                Log.w(TAG, "No data found for floorId=$floorId")
+                return null
+            }
+
+            val floorJson =
+                cursor.getString(cursor.getColumnIndexOrThrow(SdkConstants.PROVIDER_PARAMETER_FLOOR_DATA_JSON))
+            val mapDataJson =
+                cursor.getString(cursor.getColumnIndexOrThrow(SdkConstants.PROVIDER_PARAMETER_MAP_DATA_JSON))
+
+            val floor = gson.fromJson<Floor>(floorJson, Floor::class.java)
+            val mapData = gson.fromJson<MapDataModel>(mapDataJson, MapDataModel::class.java)
+
+            if (floor == null || mapData == null) {
+                Log.e(TAG, "Failed to parse floor or mapData for floorId=$floorId")
+                return null
+            }
+
+            return Pair(floor, mapData)
+
+        } catch (e: Exception) {
+            Log.e(TAG, "Error querying floor and map data for floorId=$floorId", e)
+            return null
+        } finally {
+            cursor?.close()
+        }
+    }
+
     /**
      * Get map elements, such as locations, virtual walls, green paths, etc.
      *
@@ -3604,6 +3697,63 @@ class Robot private constructor(private val context: Context) {
         }
     }
 
+    /**
+    newFloor
+    -400 package names are abnormal
+    Map permission in package -403 is abnormal
+    -405 Cannot call this method when current floor/map is not locked.
+    id（id!=0） Success
+    -408 Failure
+
+    There is no limit to floors with duplicate names, which depends on the application to control
+     **/
+    @WorkerThread
+    fun newFloor(floorName: String): Int? {
+        return try {
+            sdkService?.newFloor(applicationInfo.packageName, floorName)
+        } catch (e: RemoteException) {
+            Log.e(TAG, "newFloor() error")
+            null
+        }
+    }
+
+    /**
+    deleteFloor
+    -400 package names are abnormal
+    Map permission in package -403 is abnormal
+    -409 The current map cannot be deleted
+    200 Success
+    -408 Failure
+     **/
+    @WorkerThread
+    fun deleteFloor(@IntRange(from = 1) floorId: Int): Int? {
+        return try {
+            sdkService?.deleteFloor(applicationInfo.packageName, floorId)
+        } catch (e: RemoteException) {
+            Log.e(TAG, "deleteFloor() error")
+            null
+        }
+    }
+
+    /**
+    renameFloor
+    -400 package names are abnormal
+    Map permission in package -403 is abnormal
+    200 Success
+    -408 Failure
+
+    There is no limit to floors with duplicate names, which depends on the application to control
+     **/
+    @WorkerThread
+    fun renameFloor(@IntRange(from = 1) floorId: Int, floorName: String): Int? {
+        return try {
+            sdkService?.renameFloor(applicationInfo.packageName, floorId, floorName)
+        } catch (e: RemoteException) {
+            Log.e(TAG, "renameFloor() error")
+            null
+        }
+    }
+
     fun getAllFloors(): List<Floor> {
         return try {
             sdkService?.getAllFloors(applicationInfo.packageName) ?: emptyList()
@@ -3640,8 +3790,13 @@ class Robot private constructor(private val context: Context) {
     @WorkerThread
     fun resetMap(allFloor: Boolean, saveHomeBaseIfCharging: Boolean = false): Int {
         try {
-            val resp = sdkService?.resetMap(applicationInfo.packageName, allFloor, saveHomeBaseIfCharging)?.toIntOrNull() ?: 0
-            Log.d(TAG, "resetMap $allFloor, saveHomeBaseIfCharging $saveHomeBaseIfCharging, result $resp")
+            val resp =
+                sdkService?.resetMap(applicationInfo.packageName, allFloor, saveHomeBaseIfCharging)
+                    ?.toIntOrNull() ?: 0
+            Log.d(
+                TAG,
+                "resetMap $allFloor, saveHomeBaseIfCharging $saveHomeBaseIfCharging, result $resp"
+            )
             return resp
         } catch (e: RemoteException) {
             Log.e(TAG, "resetMap() error")
@@ -3668,7 +3823,8 @@ class Robot private constructor(private val context: Context) {
     @JvmOverloads
     fun finishMapping(mapName: String? = null): Int {
         try {
-            val resp = sdkService?.finishMapping(applicationInfo.packageName, mapName)?.toIntOrNull() ?: 0
+            val resp =
+                sdkService?.finishMapping(applicationInfo.packageName, mapName)?.toIntOrNull() ?: 0
             Log.d(TAG, "finishMapping $mapName, result $resp")
             return resp
         } catch (e: RemoteException) {
@@ -3691,7 +3847,8 @@ class Robot private constructor(private val context: Context) {
      */
     fun updateMapName(mapName: String): Int {
         try {
-            val resp = sdkService?.updateMapName(applicationInfo.packageName, mapName)?.toIntOrNull() ?: 0
+            val resp =
+                sdkService?.updateMapName(applicationInfo.packageName, mapName)?.toIntOrNull() ?: 0
             Log.d(TAG, "updateMapName $mapName, result $resp")
             return resp
         } catch (e: RemoteException) {
@@ -3771,7 +3928,9 @@ class Robot private constructor(private val context: Context) {
     @WorkerThread
     fun deleteMapLayer(layerId: String, layerCategory: Int): Int {
         try {
-            val resp = sdkService?.deleteMapLayer(applicationInfo.packageName, layerId, layerCategory)?.toIntOrNull() ?: 0
+            val resp =
+                sdkService?.deleteMapLayer(applicationInfo.packageName, layerId, layerCategory)
+                    ?.toIntOrNull() ?: 0
             Log.d(TAG, "deleteMapLayer, result $resp")
             return resp
         } catch (e: RemoteException) {
@@ -3796,7 +3955,11 @@ class Robot private constructor(private val context: Context) {
      *         409 home base cannot rename And cannot rename to home base
      */
     @WorkerThread
-    fun renameLocation(oldLocationName: String, newLocationName: String, layer: Layer? = null): Int {
+    fun renameLocation(
+        oldLocationName: String,
+        newLocationName: String,
+        layer: Layer? = null
+    ): Int {
         try {
             val resp = sdkService?.renameLocation(
                 applicationInfo.packageName,
@@ -3976,7 +4139,10 @@ class Robot private constructor(private val context: Context) {
 
     @Nullable
     @WorkerThread
-    private fun getInputStreamPipe(contentType: ContentType, mediaKey: Boolean): ParcelFileDescriptor? {
+    private fun getInputStreamPipe(
+        contentType: ContentType,
+        mediaKey: Boolean
+    ): ParcelFileDescriptor? {
         val uriStr = StringBuffer("content://")
             .append(SdkConstants.PROVIDER_AUTHORITY)
             .append("/").append(contentType.path)
@@ -3984,7 +4150,8 @@ class Robot private constructor(private val context: Context) {
             .append("=").append(mediaKey)
             .toString()
 
-        val descriptor = context.contentResolver.openFileDescriptor(Uri.parse(uriStr), "r") ?: return null
+        val descriptor =
+            context.contentResolver.openFileDescriptor(Uri.parse(uriStr), "r") ?: return null
 
         Log.d("Map-SDK", "Got descriptor, $descriptor")
         return descriptor
@@ -4002,7 +4169,8 @@ class Robot private constructor(private val context: Context) {
         uri: Uri,
         reposeRequired: Boolean = false,
         position: Position? = null,
-        withoutUI: Boolean = false) {
+        withoutUI: Boolean = false
+    ) {
 
         val contentValues = ContentValues()
         contentValues.put("reposeRequired", reposeRequired)
@@ -4024,10 +4192,17 @@ class Robot private constructor(private val context: Context) {
             "com.roboteam.teamy.china"
         }
 
-        TemiSdkContentProvider.sdkContext?.grantUriPermission(packageName, uri, Intent.FLAG_GRANT_READ_URI_PERMISSION)
+        TemiSdkContentProvider.sdkContext?.grantUriPermission(
+            packageName,
+            uri,
+            Intent.FLAG_GRANT_READ_URI_PERMISSION
+        )
 
         try {
-            TemiSdkContentProvider.sdkContext?.contentResolver?.insert(Uri.parse("content://${SdkConstants.PROVIDER_AUTHORITY}/map"), contentValues)
+            TemiSdkContentProvider.sdkContext?.contentResolver?.insert(
+                Uri.parse("content://${SdkConstants.PROVIDER_AUTHORITY}/map"),
+                contentValues
+            )
         } catch (e: IllegalArgumentException) {
             Log.e("Robot", "Insert Exception when loadMapWithBackupFile", e)
         }
@@ -4099,7 +4274,11 @@ class Robot private constructor(private val context: Context) {
     /*****************************************/
 
     interface WakeupWordListener {
-        fun onWakeupWord(wakeupWord: String, direction: Int, origin: WakeupOrigin = WakeupOrigin.UNKNOWN)
+        fun onWakeupWord(
+            wakeupWord: String,
+            direction: Int,
+            origin: WakeupOrigin = WakeupOrigin.UNKNOWN
+        )
     }
 
     interface TtsListener {
@@ -4193,7 +4372,7 @@ class Robot private constructor(private val context: Context) {
         }
     }
 
-    private inline fun <reified T: Any> decodeBase64UngzipJsonArray(json: String): List<T> {
+    private inline fun <reified T : Any> decodeBase64UngzipJsonArray(json: String): List<T> {
         return try {
             val compressedData = Base64.decode(json, Base64.NO_WRAP)
 
@@ -4217,7 +4396,7 @@ class Robot private constructor(private val context: Context) {
         }
     }
 
-    private inline fun <reified T: Any> decodeBase64UngzipJson(json: String): T? {
+    private inline fun <reified T : Any> decodeBase64UngzipJson(json: String): T? {
         return try {
             val compressedData = Base64.decode(json, Base64.NO_WRAP)
 
diff --git a/sdk/src/main/java/com/robotemi/sdk/constants/SdkConstants.kt b/sdk/src/main/java/com/robotemi/sdk/constants/SdkConstants.kt
index 85b49b2c..5b83fde5 100644
--- a/sdk/src/main/java/com/robotemi/sdk/constants/SdkConstants.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/constants/SdkConstants.kt
@@ -82,6 +82,11 @@ object SdkConstants {
     const val PROVIDER_AUTHORITY = "com.robotemi.sdk.provider"
     const val PROVIDER_PARAMETER_MEDIA_KEY = "mediaKey"
     const val PROVIDER_PARAMETER_MAP_DATA = "mapData"
+    const val PROVIDER_PARAMETER_FLOOR_MAP_DATA = "floorMapData"
+    const val PROVIDER_PARAMETER_FLOOR_DATA_JSON = "floor_data_json"
+    const val PROVIDER_PARAMETER_MAP_DATA_JSON = "map_data_json"
+    const val PROVIDER_PARAMETER_FLOOR_ID = "floor_id"
+
 
     const val LOCATION_HOME_BASE = "home base"
 
@@ -184,6 +189,7 @@ enum class HardButton(val value: Int) {
         RELEASED(2),
         CLICKED(3),
         ;
+
         companion object {
             fun valueToEnum(value: Int? = 0) = when (value) {
                 0 -> UNKNOWN
@@ -265,6 +271,7 @@ enum class HomeScreenMode {
     APPLICATION,
 
     ;
+
     companion object {
         fun getHomeScreenMode(homeScreenMode: String?): HomeScreenMode? {
             return when (homeScreenMode) {
diff --git a/sdk/src/main/java/com/robotemi/sdk/map/Floor.kt b/sdk/src/main/java/com/robotemi/sdk/map/Floor.kt
index 537ab476..25891725 100644
--- a/sdk/src/main/java/com/robotemi/sdk/map/Floor.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/map/Floor.kt
@@ -20,9 +20,9 @@ data class Floor(
     @Suppress("MemberVisibilityCanBePrivate")
     val locations: List<Location>
         get() {
-            val locations = JSONObject(data).getString("locations")
-            return Gson().fromJson<List<Location>>(
-                locations,
+            val locationsJson = JSONObject(data).getString("locations")
+            return Gson().fromJson(
+                locationsJson,
                 object : TypeToken<List<Location>>() {}.type
             )
         }
@@ -99,4 +99,4 @@ data class Location(
         }
     }
 
-}
\ No newline at end of file
+}

From b11d8128a261282b409bb5e1e844d1057a16db72 Mon Sep 17 00:00:00 2001
From: Nathan <546714086@qq.com>
Date: Wed, 5 Nov 2025 16:47:51 +0800
Subject: [PATCH 06/15] Dev sprint 137 modify floor interface merge (#513)

* add modify floor interface

* add getFloorAndMapData

* modify getFloorAndMapData

* modify Floor

* modify Log

* Modify according to the git modification suggestions

* modify  upsertMapLayer()
add updateLocationOnFloor
add deleteLocationOnFloor

* add CreatePathOnFloor
add MovePathOnFloor
add UpsertLocationOnFloor

* add btnGetFloorData

* add  deleteMapLayer floorId

* rmove  updatePathOnFloor

* Modify the display position

* Modify the display position

* Modify updateLocationOnFloor

* Modify updateLocationOnFloor

* Modify renameLocationOnFloor

* Modify renameLocationOnFloor

* Modify renameLocationOnFloor
---
 gradle.properties                             |   2 +-
 .../com/robotemi/sdk/sample/MainActivity.kt   |  39 +++++
 .../com/robotemi/sdk/sample/MapActivity.kt    | 152 ++++++++++++++++++
 sample/src/main/res/layout/activity_map.xml   |  20 +++
 .../res/layout/group_map_and_movement.xml     |  10 ++
 .../aidl/com/robotemi/sdk/ISdkService.aidl    |   8 +-
 sdk/src/main/java/com/robotemi/sdk/Robot.kt   | 150 +++++++++++++----
 7 files changed, 349 insertions(+), 32 deletions(-)

diff --git a/gradle.properties b/gradle.properties
index 10fd0984..cd1cd4b8 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -25,7 +25,7 @@ android.defaults.buildfeatures.buildconfig=true
 android.nonFinalResIds=false
 
 GROUP=com.robotemi
-VERSION_NAME=1.137.0.4-SNAPSHOT
+VERSION_NAME=1.137.0.5-SNAPSHOT
 POM_URL=https://github.com/robotemi/sdk/
 POM_SCM_URL=https://github.com/robotemi/sdk/
 POM_SCM_CONNECTION=scm:git:git://github.com/robotemi/sdk.git
diff --git a/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt b/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
index d826de48..7d4d2619 100644
--- a/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
+++ b/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
@@ -87,6 +87,7 @@ import java.util.concurrent.Executors
 import kotlin.concurrent.thread
 import androidx.core.view.isVisible
 import androidx.lifecycle.lifecycleScope
+import com.robotemi.sdk.map.Layer
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.launch
 import kotlinx.coroutines.withContext
@@ -502,6 +503,12 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
             btnGetFloorData.setOnClickListener {
                 showInputDialog("getFloorData")
             }
+            btnUpdateLocationOnFloor.setOnClickListener {
+                showInputDialog("updateLocationOnFloor")
+            }
+            btnDeleteLocationOnFloor.setOnClickListener {
+                showInputDialog("deleteLocationOnFloor")
+            }
         }
         groupSettingsAndStatus.apply {
             btnBatteryInfo.setOnClickListener { getBatteryData() }
@@ -815,6 +822,14 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
         printLog(robot.getFloorAndMapData(floorId)?.toString() ?: "get floor data failed")
     }
 
+    private fun updateLocationOnFloor(floorId: Int, oldLocationName: String, newLocationName: String, layer: Layer?) {
+        printLog(robot.renameLocationOnFloor(floorId, oldLocationName, newLocationName, layer)?.toString() ?: "updateLocationOnFloor floor failed")
+    }
+
+    private fun deleteLocationOnFloor(floorId: Int, locationName: String) {
+        printLog(robot.deleteLocationOnFloor(floorId, locationName)?.toString() ?: "deleteLocationOnFloor floor failed")
+    }
+
     private fun loadFloorAtElevator() {
         if (floorList.isEmpty()) {
             getAllFloors()
@@ -2773,6 +2788,14 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
                 editTextInput.hint = "Please enter a number"
             }
 
+            "updateLocationOnFloor" -> {
+                editTextInput.hint = "Please enter the numbers and oldName and newName, and use  ,  to separate"
+            }
+
+            "deleteLocationOnFloor" -> {
+                editTextInput.hint = "Please enter the numbers and locationName, and use  ,  to separate"
+            }
+
         }
         btnConfirm.setOnClickListener {
             val input = editTextInput.text.toString().trim()
@@ -2801,6 +2824,22 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
                     getFloorData(input.toIntOrNull() ?: 0)
                 }
 
+                "updateLocationOnFloor" -> {
+                    val parts = input.split(",", limit = 3).map { it.trim() }
+                    if (parts.size < 3) {
+                        return@setOnClickListener
+                    }
+                    updateLocationOnFloor(parts[0].toIntOrNull() ?: 0, parts[1],parts[2],null)
+                }
+
+                "deleteLocationOnFloor" -> {
+                    val parts = input.split(",", limit = 2).map { it.trim() }
+                    if (parts.size < 2) {
+                        return@setOnClickListener
+                    }
+                    deleteLocationOnFloor(parts[0].toIntOrNull() ?: 0, parts[1])
+                }
+
             }
             dialog.dismiss()
         }
diff --git a/sample/src/main/java/com/robotemi/sdk/sample/MapActivity.kt b/sample/src/main/java/com/robotemi/sdk/sample/MapActivity.kt
index 786feda2..69e218e9 100644
--- a/sample/src/main/java/com/robotemi/sdk/sample/MapActivity.kt
+++ b/sample/src/main/java/com/robotemi/sdk/sample/MapActivity.kt
@@ -9,6 +9,8 @@ import android.os.ParcelFileDescriptor
 import android.text.method.ScrollingMovementMethod
 import android.util.Log
 import android.view.View
+import android.widget.Button
+import android.widget.EditText
 import android.widget.Toast
 import androidx.appcompat.app.AlertDialog
 import androidx.appcompat.app.AppCompatActivity
@@ -359,6 +361,23 @@ class MapActivity : AppCompatActivity() {
             dialog.show()
         }
 
+
+        binding.btnCreatePathOnFloor.setOnClickListener {
+            showInputDialog("CreatePathOnFloor")
+        }
+
+        binding.btnMovePathOnFloor.setOnClickListener {
+            showInputDialog("MovePathOnFloor")
+        }
+
+        binding.btnUpsertLocationOnFloor.setOnClickListener {
+            showInputDialog("UpsertLocationOnFloor")
+        }
+
+        binding.btnDeletePathOnFloor.setOnClickListener {
+            showInputDialog("DeletePathOnFloor")
+        }
+
         binding.refreshMap()
     }
 
@@ -443,4 +462,137 @@ class MapActivity : AppCompatActivity() {
             position = position
         )
     }
+
+    private fun showInputDialog(type: String) {
+        var factor = 1f
+        val dialogView = layoutInflater.inflate(R.layout.dialog_input_loading, null)
+        val builder = android.app.AlertDialog.Builder(this)
+        builder.setView(dialogView)
+        val dialog = builder.create()
+        val editTextInput = dialogView.findViewById<EditText>(R.id.editTextInput)
+        val btnConfirm = dialogView.findViewById<Button>(R.id.btnConfirm)
+        val btnCancel = dialogView.findViewById<Button>(R.id.btnCancel)
+
+        when (type) {
+            "CreatePathOnFloor" -> {
+                editTextInput.hint = "Please enter a number"
+            }
+
+            "MovePathOnFloor" -> {
+                editTextInput.hint = "Please enter a number"
+            }
+
+            "UpsertLocationOnFloor" -> {
+                editTextInput.hint = "Please enter a number"
+            }
+
+            "DeletePathOnFloor" -> {
+                editTextInput.hint = "Please enter a number"
+            }
+
+
+
+        }
+        btnConfirm.setOnClickListener {
+            val input = editTextInput.text.toString().trim()
+            if (input.isEmpty()) {
+                Toast.makeText(this, "Please enter the content", Toast.LENGTH_SHORT).show()
+                return@setOnClickListener
+            }
+            when (type) {
+                "CreatePathOnFloor" -> {
+                    binding.progressBar.visibility = View.VISIBLE
+                    lifecycleScope.launch(Dispatchers.IO) {
+                        val layer = Layer.upsertLayer(null, GREEN_PATH, listOf(
+                            LayerPose(0.5f, 0.5f, 0f),
+                            LayerPose(0.5f, 1f * factor, 0f),
+                            LayerPose(1.5f, 1.5f * factor, 0f),
+                            LayerPose(1.5f * factor, 0.5f, 0f),
+                            LayerPose(0.5f, 0.5f, 0f)
+                        ))
+                        factor *= 2
+                        if (layer == null) {
+                            // Invalid parameter
+                            withContext(Dispatchers.Main) {
+                                binding.progressBar.visibility = View.GONE
+                            }
+                            return@launch
+                        }
+                        val resp = robot.upsertMapLayer(layer,input.toIntOrNull())
+                        withContext(Dispatchers.Main) {
+                            printLog("Create path result $resp")
+                            binding.progressBar.visibility = View.GONE
+                        }
+                    }
+                }
+
+                "MovePathOnFloor" -> {
+                    val path = mapDataModel?.greenPaths?.firstOrNull() ?: return@setOnClickListener
+                    binding.progressBar.visibility = View.VISIBLE
+                    lifecycleScope.launch(Dispatchers.IO) {
+                        val layer = Layer.upsertLayer(path.layerId, GREEN_PATH, listOf(
+                            LayerPose(2.5f, 2.5f, 0f),
+                            LayerPose(2.5f, 3.5f, 0f),
+                            LayerPose(3.5f, 3.5f, 0f),
+                            LayerPose(3.5f, 2.5f, 0f),
+                            LayerPose(2.5f, 2.5f, 0f)
+                        ))
+                        if (layer == null) {
+                            // Invalid parameter
+                            withContext(Dispatchers.Main) {
+                                binding.progressBar.visibility = View.GONE
+                            }
+                            return@launch
+                        }
+                        val resp = robot.upsertMapLayer(layer,input.toIntOrNull())
+                        withContext(Dispatchers.Main) {
+                            printLog("Update path result $resp")
+                            binding.progressBar.visibility = View.GONE
+                        }
+                    }
+                }
+
+                "UpsertLocationOnFloor" -> {
+                    binding.progressBar.visibility = View.VISIBLE
+                    lifecycleScope.launch(Dispatchers.IO) {
+                        val layer = Layer.upsertLayer(
+                            "office entrance",
+                            LOCATION,
+                            listOf(LayerPose(1.5f, 1.5f, 1f)),
+                            tiltAngle = 10)
+                        if (layer == null) {
+                            // Invalid parameter
+                            withContext(Dispatchers.Main) {
+                                binding.progressBar.visibility = View.GONE
+                            }
+                            return@launch
+                        }
+                        val resp = robot.upsertMapLayer(layer,input.toIntOrNull())
+                        withContext(Dispatchers.Main) {
+                            printLog("Add / Update location result $resp")
+                            binding.progressBar.visibility = View.GONE
+                        }
+                    }
+                }
+                "DeletePathOnFloor" -> {
+                    binding.progressBar.visibility = View.VISIBLE
+                    lifecycleScope.launch(Dispatchers.IO) {
+                        val resp = robot.deleteMapLayer("office entrance",GREEN_PATH,input.toIntOrNull())
+                        withContext(Dispatchers.Main) {
+                            printLog("Add / Update location result $resp")
+                            binding.progressBar.visibility = View.GONE
+                        }
+                    }
+                }
+            }
+            dialog.dismiss()
+        }
+
+        btnCancel.setOnClickListener {
+            dialog.dismiss()
+        }
+        dialog.setOnDismissListener {
+        }
+        dialog.show()
+    }
 }
\ No newline at end of file
diff --git a/sample/src/main/res/layout/activity_map.xml b/sample/src/main/res/layout/activity_map.xml
index 2818c1d7..bd982c6a 100644
--- a/sample/src/main/res/layout/activity_map.xml
+++ b/sample/src/main/res/layout/activity_map.xml
@@ -149,6 +149,26 @@
                 style="@style/ButtonCommon"
                 android:text="Rename Location" />
 
+            <Button
+                android:id="@+id/btnCreatePathOnFloor"
+                style="@style/ButtonCommon"
+                android:text="Create Path On Floor"/>
+
+            <Button
+                android:id="@+id/btnMovePathOnFloor"
+                style="@style/ButtonCommon"
+                android:text="Update Path On Floor"/>
+
+            <Button
+                android:id="@+id/btnUpsertLocationOnFloor"
+                style="@style/ButtonCommon"
+                android:text="Add / Update Location On Floor"/>
+
+            <Button
+                android:id="@+id/btnDeletePathOnFloor"
+                style="@style/ButtonCommon"
+                android:text="Delete Path On Floor"/>
+
         </LinearLayout>
     </ScrollView>
 
diff --git a/sample/src/main/res/layout/group_map_and_movement.xml b/sample/src/main/res/layout/group_map_and_movement.xml
index 983175b6..ace52e51 100644
--- a/sample/src/main/res/layout/group_map_and_movement.xml
+++ b/sample/src/main/res/layout/group_map_and_movement.xml
@@ -162,4 +162,14 @@
         style="@style/ButtonCommon"
         android:text="Get Floor Data" />
 
+    <Button
+        android:id="@+id/btnUpdateLocationOnFloor"
+        style="@style/ButtonCommon"
+        android:text="Update Location On Floor" />
+
+    <Button
+        android:id="@+id/btnDeleteLocationOnFloor"
+        style="@style/ButtonCommon"
+        android:text="Delete Location On Floor" />
+
 </LinearLayout>
\ No newline at end of file
diff --git a/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl b/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
index 3b594a9b..67d31117 100644
--- a/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
+++ b/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
@@ -384,9 +384,9 @@ interface ISdkService {
 
     String continueMapping(in String packageName);
 
-    String upsertMapLayer(in String packageName, in String layer);
+    String upsertMapLayer(in String packageName, in String layer, int floorId);
 
-    String deleteMapLayer(in String packageName, in String layerId, int layerCategory);
+    String deleteMapLayer(in String packageName, in String layerId, int layerCategory, int floorId);
 
     String getHardButtonStatus(in String packageName, int type);
 
@@ -411,4 +411,8 @@ interface ISdkService {
     int deleteFloor(in String packageName, int floorId);
 
     int renameFloor(in String packageName, int floorId, String floorName);
+
+    int renameLocationOnFloor(in String packageName, int floorId, String oldLocationName, String newLocationName, String layer);
+
+    int deleteLocationOnFloor(in String packageName, int floorId, String locationName);
 }
\ No newline at end of file
diff --git a/sdk/src/main/java/com/robotemi/sdk/Robot.kt b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
index 5a6862cf..35144c3e 100644
--- a/sdk/src/main/java/com/robotemi/sdk/Robot.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
@@ -3414,7 +3414,8 @@ class Robot private constructor(private val context: Context) {
 
         var cursor: Cursor? = null
         try {
-            val uri: Uri = Uri.parse("content://${SdkConstants.PROVIDER_AUTHORITY}/${SdkConstants.PROVIDER_PARAMETER_FLOOR_MAP_DATA}")
+            val uri: Uri =
+                Uri.parse("content://${SdkConstants.PROVIDER_AUTHORITY}/${SdkConstants.PROVIDER_PARAMETER_FLOOR_MAP_DATA}")
 
             val projection = arrayOf(
                 SdkConstants.PROVIDER_PARAMETER_FLOOR_DATA_JSON,
@@ -3697,15 +3698,19 @@ class Robot private constructor(private val context: Context) {
         }
     }
 
-    /**
-    newFloor
-    -400 package names are abnormal
-    Map permission in package -403 is abnormal
-    -405 Cannot call this method when current floor/map is not locked.
-    id（id!=0） Success
-    -408 Failure
 
-    There is no limit to floors with duplicate names, which depends on the application to control
+    /**
+     * There is no limit to floors with duplicate names, which depends on the application to control
+     *
+     * @param floorName, Floor names must not be empty
+     *
+     *
+     * @return
+     *      -400 package names are abnormal
+     *      Map permission in package -403 is abnormal
+     *      -405 Cannot call this method when current floor/map is not locked.
+     *      id（id!=0） Success
+     *      -408 Failure
      **/
     @WorkerThread
     fun newFloor(floorName: String): Int? {
@@ -3718,12 +3723,16 @@ class Robot private constructor(private val context: Context) {
     }
 
     /**
-    deleteFloor
-    -400 package names are abnormal
-    Map permission in package -403 is abnormal
-    -409 The current map cannot be deleted
-    200 Success
-    -408 Failure
+     * There is no limit to floors with duplicate names, which depends on the application to control
+     *
+     * @param floorId, The floor id must be greater than 0
+     *
+     * @return
+     *      -400 package names are abnormal
+     *      Map permission in package -403 is abnormal
+     *      -409 The current floor cannot be modified
+     *      200 Success
+     *      -408 Failure
      **/
     @WorkerThread
     fun deleteFloor(@IntRange(from = 1) floorId: Int): Int? {
@@ -3735,14 +3744,19 @@ class Robot private constructor(private val context: Context) {
         }
     }
 
-    /**
-    renameFloor
-    -400 package names are abnormal
-    Map permission in package -403 is abnormal
-    200 Success
-    -408 Failure
 
-    There is no limit to floors with duplicate names, which depends on the application to control
+    /**
+     * There is no limit to floors with duplicate names, which depends on the application to control
+     *
+     * @param floorId, The floor id must be greater than 0
+     *
+     * @param floorName, Floor names must not be empty
+     *
+     * @return
+     *      -400 package names are abnormal
+     *      Map permission in package -403 is abnormal
+     *      200 Success
+     *      -408 Failure
      **/
     @WorkerThread
     fun renameFloor(@IntRange(from = 1) floorId: Int, floorName: String): Int? {
@@ -3754,6 +3768,66 @@ class Robot private constructor(private val context: Context) {
         }
     }
 
+    /**
+     * When modifying the map location name of other floors, the floor Id, location new name, and location old name must be uploaded.
+     * When modifying the map location and location name, the layer must also be uploaded.
+     * In case of a conflict between the location name in the layer and the old name, the old name shall prevail
+     *
+     * @param layer, option param, The layerCategory of the layer should be the Location type
+     *
+     * @param floorId, The floor id must be greater than 0
+     *
+     * @return
+     *      0 if the operation is not supported by current launcher
+     *     400 package names are abnormal
+     *     Map permission in package -403 is abnormal
+     *     404 target map layer doesn't exist
+     *     409 The current floor cannot be modified
+     *     413 Location data is out of bounds
+     *     200 Success
+     *     408 Failure
+     */
+    fun renameLocationOnFloor(
+        @IntRange(from = 1) floorId: Int,
+        oldLocationName: String,
+        newLocationName: String,
+        layer: Layer? = null
+    ): Int {
+        return try {
+            sdkService?.renameLocationOnFloor(
+                applicationInfo.packageName,
+                floorId,
+                oldLocationName,
+                newLocationName,
+                gson.toJson(layer?.roundByCategory())
+            ) ?: 0
+        } catch (e: RemoteException) {
+            Log.e(TAG, "renameLocationOnFloor() error", e)
+            0
+        }
+    }
+
+    /**
+     * @param floorId, The floor id must be greater than 0
+     *
+     * @param locationName, Floor names must not be empty
+     *
+     * @return
+     *      -400 package names are abnormal
+     *      Map permission in package -403 is abnormal
+     *      -409 The current floor cannot be modified
+     *      200 Success
+     *      -408 Failure
+     **/
+    fun deleteLocationOnFloor(@IntRange(from = 1) floorId: Int, locationName: String): Int? {
+        return try {
+            sdkService?.deleteLocationOnFloor(applicationInfo.packageName, floorId, locationName)
+        } catch (e: RemoteException) {
+            Log.e(TAG, "deleteLocationOnFloor() error")
+            null
+        }
+    }
+
     fun getAllFloors(): List<Floor> {
         return try {
             sdkService?.getAllFloors(applicationInfo.packageName) ?: emptyList()
@@ -3892,6 +3966,8 @@ class Robot private constructor(private val context: Context) {
      *
      * @param layer, layer data to be updated or inserted. Use [Layer.upsertLayer] to create the layer
      *
+     * @param floorId, Only applicable to multiple floors. Enter the id of the non-current floor that needs to be modified - it must be version 1.137.0.5 or above
+     *
      * @return 0 if the operation is not supported by current launcher
      *         200 for success
      *         400 invalid parameter
@@ -3900,18 +3976,22 @@ class Robot private constructor(private val context: Context) {
      *
      */
     @WorkerThread
-    fun upsertMapLayer(layer: Layer): Int {
+    fun upsertMapLayer(layer: Layer, @IntRange(from = 1) floorId: Int? = null): Int {
         try {
+            val targetFloorId = if (floorId != null && floorId != 0) floorId else 0
+
             val resp = sdkService?.upsertMapLayer(
                 applicationInfo.packageName,
-                gson.toJson(layer.roundByCategory())
+                gson.toJson(layer.roundByCategory()),
+                targetFloorId
             )?.toIntOrNull() ?: 0
-            Log.d(TAG, "upsertLayer, result $resp")
+
+            Log.d(TAG, "upsertLayer, result $resp, floorId used: $targetFloorId")
             return resp
         } catch (e: RemoteException) {
-            Log.e(TAG, "upsertLayer() error")
+            Log.e(TAG, "upsertLayer() error", e)
+            return 0
         }
-        return 0
     }
 
     /**
@@ -3919,6 +3999,8 @@ class Robot private constructor(private val context: Context) {
      *
      * @param layerCategory, can only take [GREEN_PATH] and [VIRTUAL_WALL]
      *
+     * @param floorId, Only applicable to multiple floors. Enter the id of the non-current floor that needs to be modified - it must be version 1.137.0.5 or above
+     *
      * @return 0 if the operation is not supported by current launcher
      *         200 for success
      *         400 invalid parameter
@@ -3926,10 +4008,20 @@ class Robot private constructor(private val context: Context) {
      *         404 target map layer doesn't exist
      */
     @WorkerThread
-    fun deleteMapLayer(layerId: String, layerCategory: Int): Int {
+    fun deleteMapLayer(
+        layerId: String,
+        layerCategory: Int,
+        @IntRange(from = 1) floorId: Int? = null
+    ): Int {
         try {
+            val targetFloorId = if (floorId != null && floorId != 0) floorId else 0
             val resp =
-                sdkService?.deleteMapLayer(applicationInfo.packageName, layerId, layerCategory)
+                sdkService?.deleteMapLayer(
+                    applicationInfo.packageName,
+                    layerId,
+                    layerCategory,
+                    targetFloorId
+                )
                     ?.toIntOrNull() ?: 0
             Log.d(TAG, "deleteMapLayer, result $resp")
             return resp

From ebea6ed8522984df4dd39c9e7da4041a265a6cd9 Mon Sep 17 00:00:00 2001
From: johntyty912 <johntyty912@gmail.com>
Date: Thu, 6 Nov 2025 10:00:57 +0800
Subject: [PATCH 07/15] Enhance follow speed handling in Robot class and update
 SpeedLevel enum. Adjusted setFollowSpeed method to log warnings for
 unsupported speed levels and default to HIGH or LOW. Added VERY_HIGH and
 VERY_SLOW options to SpeedLevel enum with corresponding float values.

---
 sdk/src/main/java/com/robotemi/sdk/Robot.kt         | 13 ++++++++++++-
 .../com/robotemi/sdk/navigation/model/SpeedLevel.kt |  9 +++++++--
 2 files changed, 19 insertions(+), 3 deletions(-)

diff --git a/sdk/src/main/java/com/robotemi/sdk/Robot.kt b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
index 35144c3e..743f3681 100644
--- a/sdk/src/main/java/com/robotemi/sdk/Robot.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
@@ -1550,7 +1550,18 @@ class Robot private constructor(private val context: Context) {
      */
     fun setFollowSpeed(speedLevel: SpeedLevel): Int {
         try {
-            val resp = sdkService?.setFollowSpeed(applicationInfo.packageName, speedLevel.value)
+            val level = when (speedLevel) {
+                SpeedLevel.VERY_HIGH -> {
+                    Log.w(TAG, "VERY_HIGH is not supported for follow speed, set to HIGH instead")
+                    SpeedLevel.HIGH
+                }
+                SpeedLevel.VERY_SLOW -> {
+                    Log.w(TAG, "VERY_LOW is not supported for follow speed, set to LOW instead")
+                    SpeedLevel.SLOW
+                }
+                else -> speedLevel
+            }
+            val resp = sdkService?.setFollowSpeed(applicationInfo.packageName, level.value)
                 ?.toIntOrNull() ?: 0
             Log.d(TAG, "setFollowSpeed() response: $resp")
             return resp
diff --git a/sdk/src/main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt b/sdk/src/main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt
index 91bf4c86..11856466 100644
--- a/sdk/src/main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt
@@ -7,10 +7,11 @@ enum class SpeedLevel(
     val value: String,
     private var floatValue: Float? = null
 ) {
-
+    VERY_HIGH("veryHigh"), // 1.2 m/s
     HIGH("high"),       // 0.9 m/s
     MEDIUM("medium"),   // 0.7 m/s
-    SLOW("slow");       // 0.5 m/s
+    SLOW("slow"),       // 0.5 m/s
+    VERY_SLOW("verySlow"); // 0.3 m/s
 
     internal val floatSpeedLevel: Float
         get() = floatValue ?: 0.0f
@@ -23,9 +24,11 @@ enum class SpeedLevel(
         @JvmStatic
         fun valueToEnum(value: String): SpeedLevel {
             return when (value) {
+                VERY_SLOW.value -> VERY_SLOW
                 SLOW.value -> SLOW
                 MEDIUM.value -> MEDIUM
                 HIGH.value -> HIGH
+                VERY_HIGH.value -> VERY_HIGH
                 else -> DEFAULT
             }
         }
@@ -42,7 +45,9 @@ enum class SpeedLevel(
          */
         fun customSpeed(@FloatRange(from = 0.1, to = 1.5) floatValue: Float): SpeedLevel {
             return when {
+                floatValue < 0.5f - EPSILON -> VERY_SLOW
                 floatValue < 0.7f - EPSILON -> SLOW
+                floatValue > 1.1f - EPSILON -> VERY_HIGH
                 floatValue > 0.9f - EPSILON -> HIGH
                 else -> MEDIUM
             }.apply { this.floatValue = floatValue.coerceAtLeast(0.1f) }

From 3f69b29fb233b558680afbce0fcb93535de1a96b Mon Sep 17 00:00:00 2001
From: johntyty912 <johntyty912@gmail.com>
Date: Thu, 6 Nov 2025 10:04:05 +0800
Subject: [PATCH 08/15] Update version name to 1.137.0.6-SNAPSHOT in
 gradle.properties

---
 gradle.properties | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gradle.properties b/gradle.properties
index cd1cd4b8..b86a224f 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -25,7 +25,7 @@ android.defaults.buildfeatures.buildconfig=true
 android.nonFinalResIds=false
 
 GROUP=com.robotemi
-VERSION_NAME=1.137.0.5-SNAPSHOT
+VERSION_NAME=1.137.0.6-SNAPSHOT
 POM_URL=https://github.com/robotemi/sdk/
 POM_SCM_URL=https://github.com/robotemi/sdk/
 POM_SCM_CONNECTION=scm:git:git://github.com/robotemi/sdk.git

From 066cd4f3a31de41d5afcf4eb6723d0357ae8a3d1 Mon Sep 17 00:00:00 2001
From: johntyty912 <johntyty912@gmail.com>
Date: Thu, 6 Nov 2025 10:40:43 +0800
Subject: [PATCH 09/15] Add VERY_HIGH and VERY_SLOW options to SpeedLevel enum
 and update MainActivity for speed selection

---
 sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt  | 2 ++
 .../main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt | 4 ++--
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt b/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
index 7d4d2619..000086b4 100644
--- a/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
+++ b/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
@@ -1795,9 +1795,11 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
         }
         printLog("Current go to speed ${robot.goToSpeed}")
         val speedLevels: MutableList<String> = ArrayList()
+        speedLevels.add(SpeedLevel.VERY_HIGH.value)
         speedLevels.add(SpeedLevel.HIGH.value)
         speedLevels.add(SpeedLevel.MEDIUM.value)
         speedLevels.add(SpeedLevel.SLOW.value)
+        speedLevels.add(SpeedLevel.VERY_SLOW.value)
         val adapter = ArrayAdapter(this, R.layout.item_dialog_row, R.id.name, speedLevels)
         val dialog = AlertDialog.Builder(this)
             .setTitle("Select Go To Speed Level")
diff --git a/sdk/src/main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt b/sdk/src/main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt
index 11856466..bcc37b99 100644
--- a/sdk/src/main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt
@@ -7,11 +7,11 @@ enum class SpeedLevel(
     val value: String,
     private var floatValue: Float? = null
 ) {
-    VERY_HIGH("veryHigh"), // 1.2 m/s
+    VERY_HIGH("VeryHigh"), // 1.2 m/s
     HIGH("high"),       // 0.9 m/s
     MEDIUM("medium"),   // 0.7 m/s
     SLOW("slow"),       // 0.5 m/s
-    VERY_SLOW("verySlow"); // 0.3 m/s
+    VERY_SLOW("VerySlow"); // 0.3 m/s
 
     internal val floatSpeedLevel: Float
         get() = floatValue ?: 0.0f

From 05dc613882588bf047d3363cd34dda6b91f27cd5 Mon Sep 17 00:00:00 2001
From: johntyty912 <johntyty912@gmail.com>
Date: Thu, 6 Nov 2025 15:30:36 +0800
Subject: [PATCH 10/15] remove the VERY_HIGH and VERY_SLOW in customSpeed
 fallback, which not exists in 135 or before

---
 .../main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt   | 2 --
 1 file changed, 2 deletions(-)

diff --git a/sdk/src/main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt b/sdk/src/main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt
index bcc37b99..43765a36 100644
--- a/sdk/src/main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt
@@ -45,9 +45,7 @@ enum class SpeedLevel(
          */
         fun customSpeed(@FloatRange(from = 0.1, to = 1.5) floatValue: Float): SpeedLevel {
             return when {
-                floatValue < 0.5f - EPSILON -> VERY_SLOW
                 floatValue < 0.7f - EPSILON -> SLOW
-                floatValue > 1.1f - EPSILON -> VERY_HIGH
                 floatValue > 0.9f - EPSILON -> HIGH
                 else -> MEDIUM
             }.apply { this.floatValue = floatValue.coerceAtLeast(0.1f) }

From e0e148c48358fe559ff171707f44e2591a67d781 Mon Sep 17 00:00:00 2001
From: johntyty912 <johntyty912@gmail.com>
Date: Thu, 6 Nov 2025 15:39:34 +0800
Subject: [PATCH 11/15] Add documentation for VERY_HIGH and VERY_SLOW options
 in SpeedLevel enum

---
 .../java/com/robotemi/sdk/navigation/model/SpeedLevel.kt     | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/sdk/src/main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt b/sdk/src/main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt
index 43765a36..fa2b837d 100644
--- a/sdk/src/main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/navigation/model/SpeedLevel.kt
@@ -7,6 +7,11 @@ enum class SpeedLevel(
     val value: String,
     private var floatValue: Float? = null
 ) {
+    /**
+     * VERY_HIGH and VERY_SLOW are only supported in 137+ version robot.
+     * And They are only supported in Go To Speed settings,
+     * not supported in Follow Speed settings yet.
+     */
     VERY_HIGH("VeryHigh"), // 1.2 m/s
     HIGH("high"),       // 0.9 m/s
     MEDIUM("medium"),   // 0.7 m/s

From 4f6aa4e14b94f103686aa0d2938f986704497891 Mon Sep 17 00:00:00 2001
From: Nathan <546714086@qq.com>
Date: Tue, 11 Nov 2025 10:05:07 +0800
Subject: [PATCH 12/15] Modify newFloor (#517)

---
 gradle.properties                                            | 2 +-
 sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt | 2 +-
 sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl          | 2 +-
 sdk/src/main/java/com/robotemi/sdk/Robot.kt                  | 4 ++--
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/gradle.properties b/gradle.properties
index b86a224f..13465e1c 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -25,7 +25,7 @@ android.defaults.buildfeatures.buildconfig=true
 android.nonFinalResIds=false
 
 GROUP=com.robotemi
-VERSION_NAME=1.137.0.6-SNAPSHOT
+VERSION_NAME=1.137.0.7-SNAPSHOT
 POM_URL=https://github.com/robotemi/sdk/
 POM_SCM_URL=https://github.com/robotemi/sdk/
 POM_SCM_CONNECTION=scm:git:git://github.com/robotemi/sdk.git
diff --git a/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt b/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
index 000086b4..4c47e1ba 100644
--- a/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
+++ b/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
@@ -807,7 +807,7 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
     }
 
     private fun newFloor(name: String) {
-        printLog(robot.newFloor(name)?.toString() ?: "create new floor failed")
+        printLog(robot.newFloor(name, true)?.toString() ?: "create new floor failed")
     }
 
     private fun deleteFloor(floorId: Int) {
diff --git a/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl b/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
index 67d31117..bd3799ad 100644
--- a/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
+++ b/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
@@ -406,7 +406,7 @@ interface ISdkService {
 
     String renameLocation(in String packageName, in String oldLocationName, in String newLocationName, in String layer);
 
-    int newFloor(in String packageName, String floorName);
+    int newFloor(in String packageName, String floorName, boolean saveHomeBaseIfCharging);
 
     int deleteFloor(in String packageName, int floorId);
 
diff --git a/sdk/src/main/java/com/robotemi/sdk/Robot.kt b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
index 743f3681..cc3d5243 100644
--- a/sdk/src/main/java/com/robotemi/sdk/Robot.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
@@ -3724,9 +3724,9 @@ class Robot private constructor(private val context: Context) {
      *      -408 Failure
      **/
     @WorkerThread
-    fun newFloor(floorName: String): Int? {
+    fun newFloor(floorName: String, saveHomeBaseIfCharging: Boolean = false): Int? {
         return try {
-            sdkService?.newFloor(applicationInfo.packageName, floorName)
+            sdkService?.newFloor(applicationInfo.packageName, floorName, saveHomeBaseIfCharging)
         } catch (e: RemoteException) {
             Log.e(TAG, "newFloor() error")
             null

From 54e2ffbf0a242d0865efc12d7d34ac6121560585 Mon Sep 17 00:00:00 2001
From: Nathan <546714086@qq.com>
Date: Thu, 13 Nov 2025 10:16:22 +0800
Subject: [PATCH 13/15] Dev sprint 137 add sequence step (#519)

* add onSequenceStepChanged

* Modify onSequenceStepChanged

* Add some docs

* Add copilot instruction for aidl interface files

* Modify onSequenceStepChanged

---------

Co-authored-by: Charlie Zhang <charlie.zhang@robotemi.com>
---
 .github/copilot-instructions.md               | 70 +++++++++++++++++++
 gradle.properties                             |  2 +-
 .../com/robotemi/sdk/sample/MainActivity.kt   |  8 +++
 .../com/robotemi/sdk/ISdkServiceCallback.aidl |  2 +
 sdk/src/main/java/com/robotemi/sdk/Robot.kt   | 10 +++
 .../OnSequencePlayStatusChangedListener.kt    | 21 ++++++
 6 files changed, 112 insertions(+), 1 deletion(-)
 create mode 100644 .github/copilot-instructions.md

diff --git a/.github/copilot-instructions.md b/.github/copilot-instructions.md
new file mode 100644
index 00000000..b38bbf8f
--- /dev/null
+++ b/.github/copilot-instructions.md
@@ -0,0 +1,70 @@
+---
+applyTo: "sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl,sdk/src/main/aidl/com/robotemi/sdk/ISdkServiceCallback.aidl"
+---
+
+# AIDL Interface Compatibility Rules
+
+### For `sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl` and `sdk/src/main/aidl/com/robotemi/sdk/ISdkServiceCallback.aidl`
+
+**CRITICAL COMPATIBILITY REQUIREMENTS:**
+
+1. **Adding New Interface Methods:**
+   - ⚠️ **ALWAYS add new methods at the END of the interface**
+   - ❌ **NEVER insert methods in the middle of existing methods**
+   - This maintains binary compatibility with existing implementations
+
+2. **Extending Existing Method Parameters:**
+   - ⚠️ **ALWAYS add new parameters at the END of the method signature**
+   - ❌ **NEVER insert parameters in the middle of existing parameters**
+   - This ensures backward compatibility with existing callers
+
+3. **Default Values for New Parameters:**
+   - `int` parameters: default value is `0`
+   - `String` parameters: default value is `null`
+   - `boolean` parameters: default value is `false`
+   - Always consider the impact of these defaults on existing functionality
+
+### Examples:
+
+✅ **CORRECT - Adding new method at the end:**
+```aidl
+interface ISdkService {
+    // ... existing methods ...
+    
+    // NEW METHOD - added at the end
+    void newMethod(in String parameter);
+}
+```
+
+❌ **INCORRECT - Adding method in the middle:**
+```aidl
+interface ISdkService {
+    void existingMethod1();
+    void newMethod(in String parameter); // ❌ BREAKS COMPATIBILITY
+    void existingMethod2();
+}
+```
+
+✅ **CORRECT - Extending method parameters at the end:**
+```aidl
+// Before
+void goTo(in String location, int backwards, int noBypass);
+
+// After - new parameter added at the end
+void goTo(in String location, int backwards, int noBypass, in String newParameter);
+```
+
+❌ **INCORRECT - Adding parameter in the middle:**
+```aidl
+// ❌ BREAKS COMPATIBILITY
+void goTo(in String location, in String newParameter, int backwards, int noBypass);
+```
+
+### When Making Changes:
+
+1. Always review the current method order before adding new methods
+2. Consider the impact of default values on existing implementations
+3. Test compatibility with existing applications
+4. Document any breaking changes in release notes
+
+These rules are essential for maintaining backward compatibility with existing Temi robot applications.
diff --git a/gradle.properties b/gradle.properties
index 13465e1c..0c992da2 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -25,7 +25,7 @@ android.defaults.buildfeatures.buildconfig=true
 android.nonFinalResIds=false
 
 GROUP=com.robotemi
-VERSION_NAME=1.137.0.7-SNAPSHOT
+VERSION_NAME=1.137.0.8-SNAPSHOT
 POM_URL=https://github.com/robotemi/sdk/
 POM_SCM_URL=https://github.com/robotemi/sdk/
 POM_SCM_CONNECTION=scm:git:git://github.com/robotemi/sdk.git
diff --git a/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt b/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
index 4c47e1ba..4d40a509 100644
--- a/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
+++ b/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
@@ -1987,6 +1987,14 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
         }
     }
 
+    override fun onSequenceStepChanged(
+        sequenceId: String,
+        stepIndex: Int,
+        totalSteps: Int
+    ) {
+        printLog("onSequenceStepChanged sequenceId: $sequenceId, stepIndex: $stepIndex, totalSteps: $totalSteps")
+    }
+
     override fun onRobotLifted(isLifted: Boolean, reason: String) {
         printLog("onRobotLifted: isLifted: $isLifted, reason: $reason")
     }
diff --git a/sdk/src/main/aidl/com/robotemi/sdk/ISdkServiceCallback.aidl b/sdk/src/main/aidl/com/robotemi/sdk/ISdkServiceCallback.aidl
index e915ac95..96a0ba93 100644
--- a/sdk/src/main/aidl/com/robotemi/sdk/ISdkServiceCallback.aidl
+++ b/sdk/src/main/aidl/com/robotemi/sdk/ISdkServiceCallback.aidl
@@ -128,4 +128,6 @@ interface ISdkServiceCallback {
     boolean onMapNameChanged(in String mapName);
 
     boolean onRobotReady(boolean isReady);
+
+    boolean onSequenceStepChanged(String sequenceId, int stepIndex, int totalSteps);
 }
diff --git a/sdk/src/main/java/com/robotemi/sdk/Robot.kt b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
index cc3d5243..53aa7343 100644
--- a/sdk/src/main/java/com/robotemi/sdk/Robot.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
@@ -728,6 +728,16 @@ class Robot private constructor(private val context: Context) {
             return true
         }
 
+        override fun onSequenceStepChanged(sequenceId: String, stepIndex: Int, totalSteps: Int): Boolean {
+            if (onSequencePlayStatusChangedListeners.isEmpty()) return false
+            uiHandler.post {
+                for (listener in onSequencePlayStatusChangedListeners) {
+                    listener.onSequenceStepChanged(sequenceId, stepIndex, totalSteps)
+                }
+            }
+            return true
+        }
+
         /*****************************************/
         /*            Face Recognition           */
         /*****************************************/
diff --git a/sdk/src/main/java/com/robotemi/sdk/sequence/OnSequencePlayStatusChangedListener.kt b/sdk/src/main/java/com/robotemi/sdk/sequence/OnSequencePlayStatusChangedListener.kt
index 3d56dcf6..bc4c8a78 100644
--- a/sdk/src/main/java/com/robotemi/sdk/sequence/OnSequencePlayStatusChangedListener.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/sequence/OnSequencePlayStatusChangedListener.kt
@@ -4,8 +4,29 @@ import androidx.annotation.IntDef
 
 interface OnSequencePlayStatusChangedListener {
 
+    /**
+     * Callback when the playback status of the sequence changes.
+     *
+     * @param status Playback status.
+     *
+     * @param sequenceId The sequence id that has undergone a state change.
+     *
+     */
     fun onSequencePlayStatusChanged(@Status status: Int, sequenceId: String?)
 
+
+    /**
+     * Callback when the current execution step of the sequence changes.
+     *
+     * @param sequenceId The id of the sequence being executed.
+     *
+     * @param stepIndex The index of the currently executing step (starting from 1).
+     *
+     * @param totalSteps The total number of steps in this sequence.
+     *
+     */
+    fun onSequenceStepChanged(sequenceId: String, stepIndex: Int, totalSteps: Int)
+
     @IntDef(IDLE, PREPARING, PLAYING, ERROR)
     @Retention(AnnotationRetention.SOURCE)
     annotation class Status

From c53e1a1d426d22b35ec26d44063cda7c15c4401d Mon Sep 17 00:00:00 2001
From: Nathan <546714086@qq.com>
Date: Fri, 14 Nov 2025 11:45:45 +0800
Subject: [PATCH 14/15] add volume drawer (#521)

---
 gradle.properties                             |  2 +-
 .../com/robotemi/sdk/sample/MainActivity.kt   |  5 ++++
 .../aidl/com/robotemi/sdk/ISdkService.aidl    |  2 +-
 sdk/src/main/java/com/robotemi/sdk/Robot.kt   | 27 ++++++++++++++++++-
 4 files changed, 33 insertions(+), 3 deletions(-)

diff --git a/gradle.properties b/gradle.properties
index 0c992da2..1243430b 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -25,7 +25,7 @@ android.defaults.buildfeatures.buildconfig=true
 android.nonFinalResIds=false
 
 GROUP=com.robotemi
-VERSION_NAME=1.137.0.8-SNAPSHOT
+VERSION_NAME=1.137.0.9-SNAPSHOT
 POM_URL=https://github.com/robotemi/sdk/
 POM_SCM_URL=https://github.com/robotemi/sdk/
 POM_SCM_CONNECTION=scm:git:git://github.com/robotemi/sdk.git
diff --git a/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt b/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
index 4d40a509..004f750e 100644
--- a/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
+++ b/sample/src/main/java/com/robotemi/sdk/sample/MainActivity.kt
@@ -1905,6 +1905,11 @@ class MainActivity : AppCompatActivity(), NlpListener, OnRobotReadyListener,
         dialog.listView.onItemClickListener =
             OnItemClickListener { _: AdapterView<*>?, _: View?, position: Int, _: Long ->
                 robot.volume = adapter.getItem(position)!!.toInt()
+
+//                robot.setVolume(adapter.getItem(position)!!.toInt())
+
+//                robot.setVolume(adapter.getItem(position)!!.toInt(),true)
+
                 printLog("Set volume to ${adapter.getItem(position)}")
                 dialog.dismiss()
             }
diff --git a/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl b/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
index bd3799ad..cb8c37b1 100644
--- a/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
+++ b/sdk/src/main/aidl/com/robotemi/sdk/ISdkService.aidl
@@ -229,7 +229,7 @@ interface ISdkService {
 
     boolean isAutoReturnOn();
 
-    void setVolume(in String packageName, int volume);
+    void setVolume(in String packageName, int volume, boolean showDrawer);
 
     int getVolume();
 
diff --git a/sdk/src/main/java/com/robotemi/sdk/Robot.kt b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
index 53aa7343..e98b2c6d 100644
--- a/sdk/src/main/java/com/robotemi/sdk/Robot.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
@@ -2329,6 +2329,7 @@ class Robot private constructor(private val context: Context) {
             }
         }
 
+
     /**
      * Volume of Launcher OS.
      */
@@ -2353,12 +2354,36 @@ class Robot private constructor(private val context: Context) {
                     volume > 10 -> 10
                     else -> volume
                 }
-                sdkService?.setVolume(applicationInfo.packageName, validVolume)
+                setVolume(validVolume, showDrawer = false)
             } catch (e: RemoteException) {
                 Log.e(TAG, "setVolume() error")
             }
         }
 
+    /**
+     * Sets the volume value, with optional control over whether to show the drawer
+     *
+     * @param volume The volume value to be set (automatically clamped between 0-10)
+     * @param showDrawer Whether to display the drawer, default is false
+     *
+     * Examples:
+     * - Set volume only (drawer hidden by default): setVolume(5)
+     * - Set volume and show drawer: setVolume(5, showDrawer = true)
+     *
+     */
+    fun setVolume(volume: Int, showDrawer: Boolean = false) {
+        try {
+            val validVolume = when {
+                volume < 0 -> 0
+                volume > 10 -> 10
+                else -> volume
+            }
+            sdkService?.setVolume(applicationInfo.packageName, validVolume, showDrawer)
+        } catch (e: RemoteException) {
+            Log.e(TAG, "setVolume() error")
+        }
+    }
+
     /**
      * Set microphone gain level to X1(default)-X4. Added in 133 version
      *

From 1ffc9ccfa05d7766153a272510fb8d0307c78324 Mon Sep 17 00:00:00 2001
From: Nathan <546714086@qq.com>
Date: Wed, 21 Jan 2026 16:02:43 +0800
Subject: [PATCH 15/15] fix renameLocationOnFloor fix renameLocation

---
 gradle.properties                           |  2 +-
 sdk/src/main/java/com/robotemi/sdk/Robot.kt | 12 +++++++++---
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/gradle.properties b/gradle.properties
index 1243430b..24cc2a77 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -25,7 +25,7 @@ android.defaults.buildfeatures.buildconfig=true
 android.nonFinalResIds=false
 
 GROUP=com.robotemi
-VERSION_NAME=1.137.0.9-SNAPSHOT
+VERSION_NAME=1.137.0.10-SNAPSHOT
 POM_URL=https://github.com/robotemi/sdk/
 POM_SCM_URL=https://github.com/robotemi/sdk/
 POM_SCM_CONNECTION=scm:git:git://github.com/robotemi/sdk.git
diff --git a/sdk/src/main/java/com/robotemi/sdk/Robot.kt b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
index e98b2c6d..8b0d0030 100644
--- a/sdk/src/main/java/com/robotemi/sdk/Robot.kt
+++ b/sdk/src/main/java/com/robotemi/sdk/Robot.kt
@@ -728,7 +728,11 @@ class Robot private constructor(private val context: Context) {
             return true
         }
 
-        override fun onSequenceStepChanged(sequenceId: String, stepIndex: Int, totalSteps: Int): Boolean {
+        override fun onSequenceStepChanged(
+            sequenceId: String,
+            stepIndex: Int,
+            totalSteps: Int
+        ): Boolean {
             if (onSequencePlayStatusChangedListeners.isEmpty()) return false
             uiHandler.post {
                 for (listener in onSequencePlayStatusChangedListeners) {
@@ -1565,10 +1569,12 @@ class Robot private constructor(private val context: Context) {
                     Log.w(TAG, "VERY_HIGH is not supported for follow speed, set to HIGH instead")
                     SpeedLevel.HIGH
                 }
+
                 SpeedLevel.VERY_SLOW -> {
                     Log.w(TAG, "VERY_LOW is not supported for follow speed, set to LOW instead")
                     SpeedLevel.SLOW
                 }
+
                 else -> speedLevel
             }
             val resp = sdkService?.setFollowSpeed(applicationInfo.packageName, level.value)
@@ -3845,7 +3851,7 @@ class Robot private constructor(private val context: Context) {
                 floorId,
                 oldLocationName,
                 newLocationName,
-                gson.toJson(layer?.roundByCategory())
+                layer?.let { gson.toJson(it.roundByCategory()) } ?: ""
             ) ?: 0
         } catch (e: RemoteException) {
             Log.e(TAG, "renameLocationOnFloor() error", e)
@@ -4103,7 +4109,7 @@ class Robot private constructor(private val context: Context) {
                 applicationInfo.packageName,
                 oldLocationName,
                 newLocationName,
-                gson.toJson(layer?.roundByCategory())
+                layer?.let { gson.toJson(it.roundByCategory()) } ?: ""
             )?.toIntOrNull() ?: 0
             Log.d(TAG, "renameLocation, result $resp")
             return resp