Examples with Vehicle org.openbot.vehicle.Vehicle used on opensource projects

Example 1 with Vehicle

use of org.openbot.vehicle.Vehicle in project OpenBot by isl-org.

the class OpenBotApplication method onCreate.

@Override
public void onCreate() {
    super.onCreate();
    context = getApplicationContext();
    SharedPreferences sharedPreferences = PreferenceManager.getDefaultSharedPreferences(this);
    int baudRate = Integer.parseInt(sharedPreferences.getString("baud_rate", "115200"));
    vehicle = new Vehicle(this, baudRate);
    vehicle.connectUsb();
    if (BuildConfig.DEBUG) {
        Timber.plant(new Timber.DebugTree() {

            @NonNull
            @Override
            protected String createStackElementTag(@NotNull StackTraceElement element) {
                return super.createStackElementTag(element) + ":" + element.getLineNumber();
            }
        });
    }
}

Example 2 with Vehicle

use of org.openbot.vehicle.Vehicle in project OpenBot by isl-org.

the class SettingsFragment method onCreatePreferences.

@Override
public void onCreatePreferences(Bundle savedInstanceState, String rootKey) {
    setPreferencesFromResource(R.xml.root_preferences, rootKey);
    mViewModel = new ViewModelProvider(requireActivity()).get(MainViewModel.class);
    vehicle = mViewModel.getVehicle().getValue();
    connection = findPreference("connection");
    if (connection != null) {
        connection.setTitle("No Device");
        if (vehicle != null && vehicle.isUsbConnected()) {
            connection.setChecked(true);
            connection.setTitle(vehicle.getUsbConnection().getProductName());
        } else {
            connection.setTitle("No Device");
            connection.setChecked(false);
        }
        connection.setOnPreferenceClickListener(preference -> {
            Timber.d(String.valueOf(connection.isChecked()));
            if (vehicle != null) {
                if (connection.isChecked()) {
                    vehicle.connectUsb();
                    if (vehicle.isUsbConnected())
                        connection.setTitle(vehicle.getUsbConnection().getProductName());
                    else {
                        connection.setTitle("No Device");
                        connection.setChecked(false);
                        Toast.makeText(requireContext().getApplicationContext(), "Please check the USB connection.", Toast.LENGTH_SHORT).show();
                    }
                } else {
                    vehicle.disconnectUsb();
                    connection.setTitle("No Device");
                }
                mViewModel.setUsbStatus(vehicle.isUsbConnected());
            }
            return true;
        });
    }
    camera = findPreference("camera");
    if (camera != null) {
        camera.setChecked(PermissionUtils.hasCameraPermission(requireActivity()));
        camera.setOnPreferenceChangeListener((preference, newValue) -> {
            if (camera.isChecked())
                startInstalledAppDetailsActivity(requireActivity());
            else {
                if (!PermissionUtils.shouldShowRational(requireActivity(), Constants.PERMISSION_CAMERA)) {
                    startInstalledAppDetailsActivity(requireActivity());
                } else {
                    requestPermissionLauncher.launch(new String[] { Constants.PERMISSION_CAMERA });
                }
            }
            return false;
        });
    }
    storage = findPreference("storage");
    if (storage != null) {
        storage.setChecked(PermissionUtils.hasStoragePermission(requireActivity()));
        storage.setOnPreferenceChangeListener((preference, newValue) -> {
            if (storage.isChecked())
                startInstalledAppDetailsActivity(requireActivity());
            else {
                if (!PermissionUtils.shouldShowRational(requireActivity(), Constants.PERMISSION_STORAGE)) {
                    startInstalledAppDetailsActivity(requireActivity());
                } else
                    requestPermissionLauncher.launch(new String[] { Constants.PERMISSION_STORAGE });
            }
            return false;
        });
    }
    location = findPreference("location");
    if (location != null) {
        location.setChecked(PermissionUtils.hasLocationPermission(requireActivity()));
        location.setOnPreferenceChangeListener((preference, newValue) -> {
            if (location.isChecked())
                startInstalledAppDetailsActivity(requireActivity());
            else {
                if (!PermissionUtils.shouldShowRational(requireActivity(), PERMISSION_LOCATION)) {
                    startInstalledAppDetailsActivity(requireActivity());
                } else
                    requestPermissionLauncher.launch(new String[] { PERMISSION_LOCATION });
            }
            return false;
        });
    }
    mic = findPreference("mic");
    if (mic != null) {
        mic.setChecked(PermissionUtils.hasAudioPermission(requireActivity()));
        mic.setOnPreferenceChangeListener((preference, newValue) -> {
            if (mic.isChecked())
                startInstalledAppDetailsActivity(requireActivity());
            else {
                if (!PermissionUtils.shouldShowRational(requireActivity(), Constants.PERMISSION_AUDIO)) {
                    startInstalledAppDetailsActivity(requireActivity());
                } else
                    requestPermissionLauncher.launch(new String[] { Constants.PERMISSION_AUDIO });
            }
            return false;
        });
    }
    ListPreference streamMode = findPreference("video_server");
    if (streamMode != null)
        streamMode.setOnPreferenceChangeListener((preference, newValue) -> {
            AlertDialog.Builder builder = new AlertDialog.Builder(requireActivity());
            builder.setTitle(R.string.confirm_title);
            builder.setMessage(R.string.stream_change_body);
            builder.setPositiveButton("Yes", (dialog, id) -> {
                streamMode.setValue(newValue.toString());
                restartApp();
            });
            builder.setNegativeButton("Cancel", (dialog, id) -> streamMode.setValue(streamMode.getEntry().toString()));
            AlertDialog dialog = builder.create();
            dialog.show();
            return false;
        });
}

Example 3 with Vehicle

use of org.openbot.vehicle.Vehicle 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();
}