merge

android/controller/src/main/java/org/openbot/controller/ConnectionSelector.kt

@@ -18,7 +18,7 @@ object ConnectionSelector {
     }
 
     fun getConnection(): ILocalConnection {
-        val connected = isConnectedViaWifi(context)
+        val connected = isConnectedViaWifi(context) || isWifiApEnabled(context)
         return if (connected) NetworkServiceConnection else NearbyConnection
     }
 
@@ -30,4 +30,14 @@ object ConnectionSelector {
 
         return networkId > 0
     }
+
+    private fun isWifiApEnabled(context: Context): Boolean {
+        val wifiManager = context.getSystemService(WIFI_SERVICE) as WifiManager
+        return try {
+            val method = wifiManager.javaClass.getDeclaredMethod("isWifiApEnabled")
+            method.invoke(wifiManager) as? Boolean == true
+        } catch (ignored: Throwable) {
+            false
+        }
+    }
 }

android/controller/src/main/java/org/openbot/controller/customComponents/VideoViewWebRTC.kt

@@ -136,8 +136,15 @@ class VideoViewWebRTC @JvmOverloads constructor(
         val initializationOptions = PeerConnectionFactory.InitializationOptions.builder(context)
             .createInitializationOptions()
         PeerConnectionFactory.initialize(initializationOptions)
+
+        val options = PeerConnectionFactory.Options().apply {
+            networkIgnoreMask = 16
+            disableEncryption = false
+            disableNetworkMonitor = true
+        }
         factory = PeerConnectionFactory.builder().setVideoEncoderFactory(encoderFactory)
-            .setVideoDecoderFactory(decoderFactory).createPeerConnectionFactory()
+            .setVideoDecoderFactory(decoderFactory)
+            .setOptions(options).createPeerConnectionFactory()
     }
 
     private fun initializePeerConnections() {

android/robot/src/main/java/org/openbot/common/ControlsFragment.java

@@ -242,6 +242,14 @@ private void handlePhoneControllerEvents() {
             commandType = event.getString("command");
           } else if (event.has("driveCmd")) {
             commandType = Constants.CMD_DRIVE;
+          } else if (event.has("server")) {
+            for (int i = 0; i < serverSpinner.getAdapter().getCount(); i++) {
+              if(event.getString("server").equals("noServerFound")){
+                serverSpinner.setSelection(0);
+              } else if(event.getString("server").equals(serverSpinner.getAdapter().getItem(i))){
+                serverSpinner.setSelection(i);
+              }
+            }
           }
 
           switch (commandType) {
@@ -287,7 +295,7 @@ private void handlePhoneControllerEvents() {
         error -> {
           Log.d(null, "Error occurred in ControllerToBotEventBus: " + error);
         },
-        event -> event.has("command") || event.has("driveCmd") // filter out everything else
+        event -> event.has("command") || event.has("driveCmd") || event.has("server") // filter out everything else
         );
   }
 

android/robot/src/main/java/org/openbot/env/ConnectionSelector.java

@@ -3,6 +3,9 @@
 import android.content.Context;
 import android.net.ConnectivityManager;
 import android.net.NetworkInfo;
+import android.net.wifi.WifiManager;
+
+import java.lang.reflect.Method;
 
 public class ConnectionSelector {
   private static final String TAG = "ConnectionManager";
@@ -37,7 +40,7 @@ ILocalConnection getConnection() {
       return connection;
     }
 
-    if (isConnectedViaWifi()) {
+    if (isConnectedViaWifi() || isWifiApEnabled()) {
       connection = networkConnection;
     } else {
       connection = nearbyConnection;
@@ -52,4 +55,17 @@ private boolean isConnectedViaWifi() {
     NetworkInfo mWifi = connectivityManager.getNetworkInfo(ConnectivityManager.TYPE_WIFI);
     return mWifi.isConnected();
   }
+
+  private boolean isWifiApEnabled() {
+    WifiManager wifiManager =
+            (WifiManager) _context.getSystemService(Context.WIFI_SERVICE);
+    try {
+      final Method method =
+              wifiManager.getClass().getDeclaredMethod("isWifiApEnabled");
+      Boolean result = (Boolean) method.invoke(wifiManager);
+      return Boolean.TRUE.equals(result);
+    } catch (final Throwable ignored) {}
+
+    return false;
+  }
 }

android/robot/src/main/java/org/openbot/env/NetworkServiceConnection.java

@@ -136,6 +136,7 @@ public void onServiceFound(NsdServiceInfo service) {
         try {
           if (service.getServiceType().equals(SERVICE_TYPE)
               && service.getServiceName().equals(SERVICE_NAME_CONTROLLER)) {
+            Timber.e("found service");
             mNsdManager.resolveService(service, mResolveListener);
           } else if (service.getServiceName().equals(MY_SERVICE_NAME)) {
             Log.d(TAG, "Same machine: " + MY_SERVICE_NAME);
@@ -289,7 +290,6 @@ void runReceiver(Scanner reader) {
       try {
         while (true) {
           String msg = reader.nextLine().trim();
-
           if (!stopped) {
             ((Activity) context).runOnUiThread(() -> dataReceivedCallback.dataReceived(msg));
           }

android/robot/src/main/java/org/openbot/env/WebRtcServer.java

@@ -407,10 +407,16 @@ private void initializePeerConnectionFactory() {
         PeerConnectionFactory.InitializationOptions.builder(context).createInitializationOptions();
     PeerConnectionFactory.initialize(initializationOptions);
 
+    PeerConnectionFactory.Options options = new PeerConnectionFactory.Options();
+    options.networkIgnoreMask = 16;
+    options.disableEncryption = false;
+    options.disableNetworkMonitor = true;
+
     factory =
         PeerConnectionFactory.builder()
             .setVideoEncoderFactory(encoderFactory)
             .setVideoDecoderFactory(decoderFactory)
+            .setOptions(options)
             .createPeerConnectionFactory();
   }
 

android/robot/src/main/java/org/openbot/objectNav/ObjectNavFragment.java

@@ -58,6 +58,7 @@ public class ObjectNavFragment extends CameraFragment {
 
   private Detector detector;
 
+  private boolean mirrorControl;
   private Matrix frameToCropTransform;
   private Bitmap croppedBitmap;
   private int sensorOrientation;
@@ -146,6 +147,8 @@ public void onNothingSelected(AdapterView<?> parent) {}
 
     binding.cameraToggle.setOnClickListener(v -> toggleCamera());
 
+    binding.mirrorControl.setOnClickListener(v -> mirrorControl());
+
     List<String> models =
         getModelNames(f -> f.type.equals(Model.TYPE.DETECTOR) && f.pathType != Model.PATH_TYPE.URL);
     initModelSpinner(binding.modelSpinner, models, preferencesManager.getObjectNavModel());
@@ -228,6 +231,10 @@ public void onNothingSelected(AdapterView<?> parent) {}
         });
   }
 
+  private void mirrorControl() {
+    mirrorControl = !mirrorControl;
+  }
+
   private void updateCropImageInfo() {
     //    Timber.i("%s x %s",getPreviewSize().getWidth(), getPreviewSize().getHeight());
     //    Timber.i("%s x %s",getMaxAnalyseImageSize().getWidth(),
@@ -477,7 +484,12 @@ protected void processFrame(Bitmap bitmap, ImageProxy image) {
               }
 
               tracker.trackResults(mappedRecognitions, frameNum);
-              handleDriveCommand(tracker.updateTarget());
+              Control target = tracker.updateTarget();
+              if (mirrorControl) {
+                handleDriveCommand(target.mirror());
+              } else {
+                handleDriveCommand(target);
+              }
               binding.trackingOverlay.postInvalidate();
             }
 

android/robot/src/main/java/org/openbot/server/ServerCommunication.java

@@ -39,6 +39,7 @@ public void onResolveFailed(NsdServiceInfo serviceInfo, int errorCode) {
 
         @Override
         public void onServiceResolved(NsdServiceInfo serviceInfo) {
+          Timber.e("serviceInfo %s", serviceInfo.getServiceName());
           servers.put(serviceInfo.getServiceName(), serviceInfo);
           try {
             serverListener.onServerListChange(servers.keySet());

android/robot/src/main/java/org/openbot/vehicle/Control.java

@@ -16,4 +16,8 @@ public float getLeft() {
   public float getRight() {
     return right;
   }
+
+  public Control mirror() {
+    return new Control(this.right, this.left);
+  }
 }

android/robot/src/main/res/drawable/ic_mirror_control.xml

@@ -0,0 +1,19 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="24dp"
+    android:height="24dp"
+    android:viewportWidth="24"
+    android:viewportHeight="24"
+    android:tint="@color/openBotBlue">
+  <group
+      android:scaleX="-1"
+      android:translateX="12"
+      android:translateY="12">
+    <group
+        android:translateX="-12"
+        android:translateY="-12">
+      <path
+          android:pathData="M15 21h2v-2h-2v2zM19 9h2L21 7h-2v2zM3 5v14c0 1.1 0.9 2 2 2h4v-2L5 19L5 5h4L9 3L5 3c-1.1 0 -2 0.9 -2 2zM19 3v2h2c0 -1.1 -0.9 -2 -2 -2zM11 23h2L13 1h-2v22zM19 17h2v-2h-2v2zM15 5h2L17 3h-2v2zM19 13h2v-2h-2v2zM19 21c1.1 0 2 -0.9 2 -2h-2v2z"
+          android:fillColor="#FF000000" />
+    </group>
+  </group>
+</vector>

android/robot/src/main/res/drawable/ic_mirror_control_off.xml

@@ -0,0 +1,10 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="24dp"
+    android:height="24dp"
+    android:viewportWidth="24"
+    android:viewportHeight="24"
+    android:tint="?attr/colorControlNormal">
+  <path
+      android:pathData="M15,21h2v-2h-2v2zM19,9h2L21,7h-2v2zM3,5v14c0,1.1 0.9,2 2,2h4v-2L5,19L5,5h4L9,3L5,3c-1.1,0 -2,0.9 -2,2zM19,3v2h2c0,-1.1 -0.9,-2 -2,-2zM11,23h2L13,1h-2v22zM19,17h2v-2h-2v2zM15,5h2L17,3h-2v2zM19,13h2v-2h-2v2zM19,21c1.1,0 2,-0.9 2,-2h-2v2z"
+      android:fillColor="#FF000000"/>
+</vector>

android/robot/src/main/res/drawable/mirror_control.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<selector xmlns:android="http://schemas.android.com/apk/res/android" xmlns:app="http://schemas.android.com/apk/res-auto">
+    <item android:drawable="@drawable/ic_mirror_control_off" android:state_checked="false" />
+    <item android:drawable="@drawable/ic_mirror_control" android:state_checked="true" />
+    <item android:drawable="@drawable/ic_mirror_control_off" />
+</selector>

android/robot/src/main/res/layout/fragment_object_nav.xml

@@ -65,7 +65,7 @@
             android:id="@+id/usbToggle"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:layout_marginEnd="16dp"
+            android:layout_marginEnd="8dp"
             android:button="@drawable/usb_toggle"
             app:layout_constraintBottom_toBottomOf="@+id/camera_toggle"
             app:layout_constraintEnd_toStartOf="@+id/camera_toggle"
@@ -75,7 +75,7 @@
             android:id="@+id/bleToggle"
             android:layout_width="wrap_content"
             android:layout_height="wrap_content"
-            android:layout_marginEnd="16dp"
+            android:layout_marginEnd="8dp"
             android:button="@drawable/ble_toggle"
             app:layout_constraintBottom_toBottomOf="@+id/camera_toggle"
             app:layout_constraintEnd_toStartOf="@+id/camera_toggle"
@@ -85,15 +85,25 @@
             android:id="@+id/camera_toggle"
             android:layout_width="40dp"
             android:layout_height="40dp"
-            android:layout_marginRight="16dp"
+            android:layout_marginEnd="8dp"
             android:background="@android:color/transparent"
             android:scaleType="center"
             android:src="@drawable/ic_cameraswitch"
             android:text="@string/camera_facing_back"
             app:layout_constraintTop_toTopOf="@+id/autoLinearLayout"
-            app:layout_constraintEnd_toEndOf="parent"
+            app:layout_constraintEnd_toStartOf="@+id/mirrorControl"
             app:tint="@color/openBotBlue" />
 
+        <CheckBox
+            android:id="@+id/mirrorControl"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_marginEnd="8dp"
+            android:button="@drawable/mirror_control"
+            android:layout_marginTop="8dp"
+            app:layout_constraintTop_toTopOf="@+id/autoLinearLayout"
+            app:layout_constraintEnd_toEndOf="parent" />
+
         <LinearLayout
             android:id="@+id/linearLayout"
             android:layout_width="match_parent"

controller/.gitignore

@@ -1 +1,2 @@
 __pycache__
+.run

controller/flutter/.gitignore

@@ -0,0 +1,44 @@
+# Miscellaneous
+*.class
+*.log
+*.pyc
+*.swp
+.DS_Store
+.atom/
+.buildlog/
+.history
+.svn/
+migrate_working_dir/
+
+# IntelliJ related
+*.iml
+*.ipr
+*.iws
+.idea/
+
+# The .vscode folder contains launch configuration and tasks you configure in
+# VS Code which you may wish to be included in version control, so this line
+# is commented out by default.
+#.vscode/
+
+# Flutter/Dart/Pub related
+**/doc/api/
+**/ios/Flutter/.last_build_id
+.dart_tool/
+.flutter-plugins
+.flutter-plugins-dependencies
+.packages
+.pub-cache/
+.pub/
+/build/
+
+# Symbolication related
+app.*.symbols
+
+# Obfuscation related
+app.*.map.json
+
+# Android Studio will place build artifacts here
+/android/app/debug
+/android/app/profile
+/android/app/release

controller/flutter/.metadata

@@ -0,0 +1,33 @@
+# This file tracks properties of this Flutter project.
+# Used by Flutter tool to assess capabilities and perform upgrades etc.
+#
+# This file should be version controlled.
+
+version:
+  revision: b8f7f1f9869bb2d116aa6a70dbeac61000b52849
+  channel: stable
+
+project_type: app
+
+# Tracks metadata for the flutter migrate command
+migration:
+  platforms:
+    - platform: root
+      create_revision: b8f7f1f9869bb2d116aa6a70dbeac61000b52849
+      base_revision: b8f7f1f9869bb2d116aa6a70dbeac61000b52849
+    - platform: android
+      create_revision: b8f7f1f9869bb2d116aa6a70dbeac61000b52849
+      base_revision: b8f7f1f9869bb2d116aa6a70dbeac61000b52849
+    - platform: ios
+      create_revision: b8f7f1f9869bb2d116aa6a70dbeac61000b52849
+      base_revision: b8f7f1f9869bb2d116aa6a70dbeac61000b52849
+
+  # User provided section
+
+  # List of Local paths (relative to this file) that should be
+  # ignored by the migrate tool.
+  #
+  # Files that are not part of the templates will be ignored by default.
+  unmanaged_files:
+    - 'lib/main.dart'
+    - 'ios/Runner.xcodeproj/project.pbxproj'