Examples with Model org.openbot.tflite.Model used on opensource projects

Example 1 with Model

use of org.openbot.tflite.Model in project OpenBot by isl-org.

the class ModelManagementFragment method processModelFromStorage.

private void processModelFromStorage(List<Uri> files, String fileName) {
    Model item = new Model(masterList.size() + 1, Model.CLASS.AUTOPILOT_F, Model.TYPE.AUTOPILOT, fileName, Model.PATH_TYPE.FILE, requireActivity().getFilesDir() + File.separator + fileName, "256x96");
    EditModelDialogFragment edMbS = new EditModelDialogFragment(item, item1 -> {
        try {
            InputStream inputStream = requireActivity().getContentResolver().openInputStream(files.get(0));
            FileUtils.copyFile(inputStream, fileName, requireActivity().getFilesDir().getAbsolutePath());
        } catch (IOException e) {
            e.printStackTrace();
        }
        masterList.add(item1);
        showModels(loadModelList(binding.modelSpinner.getSelectedItem().toString()));
        FileUtils.updateModelConfig(requireActivity(), masterList);
        Toast.makeText(requireContext().getApplicationContext(), "Model added: " + fileName, Toast.LENGTH_SHORT).show();
    });
    edMbS.show(getChildFragmentManager(), edMbS.getTag());
}

Example 2 with Model

use of org.openbot.tflite.Model in project OpenBot by isl-org.

the class ModelManagementFragment method onModelDownloaded.

@Override
public void onModelDownloaded(boolean status, Model mItem) {
    if (status && isAdded()) {
        isDownloading = false;
        for (Model model : masterList) {
            if (model.id.equals(mItem.id)) {
                model.setPath(requireActivity().getFilesDir() + File.separator + model.name);
                model.setPathType(Model.PATH_TYPE.FILE);
                // adapter.notifyDataSetChanged();
                FileUtils.updateModelConfig(requireActivity(), masterList);
                break;
            }
        }
    }
}

Example 3 with Model

use of org.openbot.tflite.Model in project OpenBot by isl-org.

the class CameraActivity method onCreate.

@Override
protected void onCreate(final Bundle savedInstanceState) {
    LOGGER.d("onCreate " + this);
    super.onCreate(null);
    context = getApplicationContext();
    getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
    vehicle = OpenBotApplication.vehicle;
    phoneController = PhoneController.getInstance(this);
    setContentView(R.layout.activity_camera);
    Toolbar toolbar = findViewById(R.id.toolbar);
    setSupportActionBar(toolbar);
    getSupportActionBar().setDisplayShowTitleEnabled(false);
    if (PermissionUtils.hasCameraPermission(this)) {
        setFragment();
    } else {
        PermissionUtils.requestCameraPermission(this);
    }
    preferencesManager = new SharedPreferencesManager(this);
    connectionSwitchCompat = findViewById(R.id.connection_switch);
    threadsTextView = findViewById(R.id.threads);
    plusImageView = findViewById(R.id.plus);
    minusImageView = findViewById(R.id.minus);
    networkSwitchCompat = findViewById(R.id.network_switch);
    bottomSheetLayout = findViewById(R.id.bottom_sheet_layout);
    gestureLayout = findViewById(R.id.gesture_layout);
    sheetBehavior = BottomSheetBehavior.from(bottomSheetLayout);
    bottomSheetArrowImageView = findViewById(R.id.bottom_sheet_arrow);
    logSwitchCompat = findViewById(R.id.logger_switch);
    cameraSwitchCompat = findViewById(R.id.camera_toggle_switch);
    baudRateSpinner = findViewById(R.id.baud_rate_spinner);
    ArrayAdapter<CharSequence> baudRateAdapter = ArrayAdapter.createFromResource(this, R.array.baud_rates, R.layout.spinner_item);
    baudRateAdapter.setDropDownViewResource(android.R.layout.simple_list_item_checked);
    baudRateSpinner.setAdapter(baudRateAdapter);
    modelSpinner = findViewById(R.id.model_spinner);
    masterList = FileUtils.loadConfigJSONFromAsset(this);
    List<String> models = masterList.stream().filter(f -> f.pathType != Model.PATH_TYPE.URL).map(f -> FileUtils.nameWithoutExtension(f.name)).collect(Collectors.toList());
    masterList.stream().filter(f -> f.name.contains(preferencesManager.getDefaultModel())).findFirst().ifPresent(f -> model = f);
    modelAdapter = new ArrayAdapter<>(this, R.layout.spinner_item, new ArrayList<>(models));
    modelAdapter.setDropDownViewResource(android.R.layout.simple_list_item_checked);
    modelSpinner.setAdapter(modelAdapter);
    deviceSpinner = findViewById(R.id.device_spinner);
    ArrayAdapter<CharSequence> deviceAdapter = ArrayAdapter.createFromResource(this, R.array.devices, R.layout.spinner_item);
    deviceAdapter.setDropDownViewResource(android.R.layout.simple_list_item_checked);
    deviceSpinner.setAdapter(deviceAdapter);
    logSpinner = findViewById(R.id.log_spinner);
    ArrayAdapter<CharSequence> logAdapter = ArrayAdapter.createFromResource(this, R.array.log_settings, R.layout.spinner_item);
    logAdapter.setDropDownViewResource(android.R.layout.simple_list_item_checked);
    logSpinner.setAdapter(logAdapter);
    controlModeSpinner = findViewById(R.id.control_mode_spinner);
    ArrayAdapter<CharSequence> controlModeAdapter = ArrayAdapter.createFromResource(this, R.array.control_modes, R.layout.spinner_item);
    controlModeAdapter.setDropDownViewResource(android.R.layout.simple_list_item_checked);
    controlModeSpinner.setAdapter(controlModeAdapter);
    driveModeSpinner = findViewById(R.id.drive_mode_spinner);
    ArrayAdapter<CharSequence> driveModeAdapter = ArrayAdapter.createFromResource(this, R.array.drive_modes, R.layout.spinner_item);
    driveModeAdapter.setDropDownViewResource(android.R.layout.simple_list_item_checked);
    driveModeSpinner.setAdapter(driveModeAdapter);
    speedModeSpinner = findViewById(R.id.speed_mode_spinner);
    ArrayAdapter<CharSequence> controlAdapter = ArrayAdapter.createFromResource(this, R.array.speed_modes, R.layout.spinner_item);
    controlAdapter.setDropDownViewResource(android.R.layout.simple_list_item_checked);
    speedModeSpinner.setAdapter(controlAdapter);
    ViewTreeObserver vto = gestureLayout.getViewTreeObserver();
    vto.addOnGlobalLayoutListener(new ViewTreeObserver.OnGlobalLayoutListener() {

        @Override
        public void onGlobalLayout() {
            gestureLayout.getViewTreeObserver().removeOnGlobalLayoutListener(this);
            // int width = bottomSheetLayout.getMeasuredWidth();
            int height = gestureLayout.getMeasuredHeight();
            sheetBehavior.setPeekHeight(height);
        }
    });
    sheetBehavior.setHideable(false);
    sheetBehavior.setBottomSheetCallback(new BottomSheetBehavior.BottomSheetCallback() {

        @Override
        public void onStateChanged(@NonNull View bottomSheet, int newState) {
            switch(newState) {
                case BottomSheetBehavior.STATE_HIDDEN:
                    break;
                case BottomSheetBehavior.STATE_EXPANDED:
                    bottomSheetArrowImageView.setImageResource(R.drawable.icn_chevron_down);
                    preferencesManager.setSheetExpanded(true);
                    break;
                case BottomSheetBehavior.STATE_COLLAPSED:
                    bottomSheetArrowImageView.setImageResource(R.drawable.icn_chevron_up);
                    preferencesManager.setSheetExpanded(false);
                    break;
                case BottomSheetBehavior.STATE_DRAGGING:
                    break;
                case BottomSheetBehavior.STATE_SETTLING:
                    bottomSheetArrowImageView.setImageResource(R.drawable.icn_chevron_up);
                    break;
            }
        }

        @Override
        public void onSlide(@NonNull View bottomSheet, float slideOffset) {
        }
    });
    voltageTextView = findViewById(R.id.voltage_info);
    speedTextView = findViewById(R.id.speed_info);
    sonarTextView = findViewById(R.id.sonar_info);
    frameValueTextView = findViewById(R.id.frame_info);
    cropValueTextView = findViewById(R.id.crop_info);
    inferenceTimeTextView = findViewById(R.id.inference_info);
    controlValueTextView = findViewById(R.id.control_info);
    connectionSwitchCompat.setOnCheckedChangeListener(this);
    networkSwitchCompat.setOnCheckedChangeListener(this);
    logSwitchCompat.setOnCheckedChangeListener(this);
    cameraSwitchCompat.setOnCheckedChangeListener(this);
    plusImageView.setOnClickListener(this);
    minusImageView.setOnClickListener(this);
    baudRateSpinner.setOnItemSelectedListener(this);
    modelSpinner.setOnItemSelectedListener(this);
    deviceSpinner.setOnItemSelectedListener(this);
    logSpinner.setOnItemSelectedListener(this);
    controlModeSpinner.setOnItemSelectedListener(this);
    driveModeSpinner.setOnItemSelectedListener(this);
    speedModeSpinner.setOnItemSelectedListener(this);
    // Intent for sensor service
    intentSensorService = new Intent(this, SensorService.class);
    setInitialValues();
    // Try to connect to serial device
    toggleConnection(true);
    localBroadcastReceiver = new BroadcastReceiver() {

        @Override
        public void onReceive(Context context, Intent intent) {
            String action = intent.getAction();
            if (action != null) {
                switch(action) {
                    case Constants.USB_ACTION_DATA_RECEIVED:
                        long timestamp = SystemClock.elapsedRealtimeNanos();
                        String data = intent.getStringExtra("data");
                        char header = data.charAt(0);
                        String body = data.substring(1);
                        int type = -1;
                        switch(header) {
                            case 'f':
                                vehicle.processVehicleConfig(body);
                                break;
                            case 'v':
                                if (FormatUtils.isNumeric(body)) {
                                    type = SensorService.MSG_VOLTAGE;
                                    vehicle.setBatteryVoltage(Float.parseFloat(body));
                                    runOnUiThread(() -> {
                                        voltageTextView.setText(String.format(Locale.US, "%2.1f V", vehicle.getBatteryVoltage()));
                                    });
                                } else {
                                    String[] msgParts = body.split(":");
                                    switch(msgParts[0]) {
                                        case "min":
                                            vehicle.setMinMotorVoltage(Float.parseFloat(msgParts[1]));
                                            break;
                                        case "low":
                                            vehicle.setLowBatteryVoltage(Float.parseFloat(msgParts[1]));
                                            break;
                                        case "max":
                                            vehicle.setMaxBatteryVoltage(Float.parseFloat(msgParts[1]));
                                            break;
                                        default:
                                            Toast.makeText(getApplicationContext(), "Invalid voltage message received!", Toast.LENGTH_SHORT).show();
                                            break;
                                    }
                                }
                                break;
                            case 's':
                                if (FormatUtils.isNumeric(body)) {
                                    type = SensorService.MSG_SONAR;
                                    vehicle.setSonarReading(Float.parseFloat(body));
                                    runOnUiThread(() -> {
                                        sonarTextView.setText(String.format(Locale.US, "%3.0f cm", vehicle.getSonarReading()));
                                    });
                                }
                                break;
                            case 'w':
                                String[] itemList = body.split(",");
                                if (itemList.length == 2 && FormatUtils.isNumeric(itemList[0]) && FormatUtils.isNumeric(itemList[1])) {
                                    type = SensorService.MSG_WHEELS;
                                    vehicle.setLeftWheelRpm(Float.parseFloat(itemList[0]));
                                    vehicle.setRightWheelRpm(Float.parseFloat(itemList[1]));
                                    runOnUiThread(() -> {
                                        speedTextView.setText(String.format(Locale.US, "%3.0f,%3.0f rpm", vehicle.getLeftWheelRpm(), vehicle.getRightWheelRpm()));
                                    });
                                }
                                break;
                            case 'b':
                                type = SensorService.MSG_BUMPER;
                                break;
                        }
                        if (type > 0)
                            sendVehicleDataToSensorService(timestamp, data, type);
                        break;
                }
            }
        }
    };
    IntentFilter localIntentFilter = new IntentFilter();
    localIntentFilter.addAction(Constants.USB_ACTION_DATA_RECEIVED);
    localBroadcastManager = LocalBroadcastManager.getInstance(this);
    localBroadcastManager.registerReceiver(localBroadcastReceiver, localIntentFilter);
    vehicle.requestVehicleConfig();
}

Example 4 with Model

use of org.openbot.tflite.Model in project OpenBot by isl-org.

the class ObjectNavFragment method onInferenceConfigurationChanged.

protected void onInferenceConfigurationChanged() {
    computingNetwork = false;
    if (croppedBitmap == null) {
        // Defer creation until we're getting camera frames.
        return;
    }
    final Network.Device device = getDevice();
    final Model model = getModel();
    final int numThreads = getNumThreads();
    runInBackground(() -> recreateNetwork(model, device, numThreads));
}

Example 5 with Model

use of org.openbot.tflite.Model in project OpenBot by isl-org.

the class FileUtils method getOriginalModelFromConfig.

public static Model getOriginalModelFromConfig(Activity activity, Model model) {
    String configFile = "config.json";
    Gson gson = new GsonBuilder().registerTypeAdapterFactory(new PostProcessingEnabler()).create();
    JsonElement jsonElement = null;
    try {
        jsonElement = gson.fromJson(new InputStreamReader(activity.getAssets().open(configFile)), JsonElement.class).getAsJsonArray();
    } catch (IOException e) {
        e.printStackTrace();
    }
    Type listType = new TypeToken<List<Model>>() {
    }.getType();
    List<Model> modelList = gson.fromJson(jsonElement, listType);
    if (modelList != null)
        for (Model modelInfo : modelList) if (Objects.equals(model.id, modelInfo.id)) {
            return modelInfo;
        }
    return null;
}