QiSDK.kt

 onRobot {
    // Get a single service
    val conversation: Conversation = getService()
    val osef = conversation.makeSay(robotContext, Phrase("Hello"))


    // Make a simple say
    val say: Say = say("Hello you !")

    // Wait for focus before start a action
    waitForFocus {
        say.run()

        subscriptions += focusOwner.onReleased {
            println("Dispose all")
            subscriptions.disposeAndClear()
        }
    }
}