Merge branch 'master' into feature/videoCapture

Author: dhruv2295

.github/workflows/python.yml

@@ -0,0 +1,35 @@
+# This workflow will check the python code using black
+
+name: Python style check
+
+on:
+  push:
+    branches: [ master ]
+    paths:
+    - 'controller/**'
+    - 'policy/**'
+    - '.github/workflows/python.yml'
+  pull_request:
+    branches: [ master ]
+    paths:
+    - 'controller/**'
+    - 'policy/**'
+    - '.github/workflows/python.yml'
+
+jobs:
+  style-check:
+    name: Python style check
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+      - name: Set up python
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.7
+      - name: Install dependencies
+        run: | 
+          python -m pip install 'black[jupyter]'
+      - name: Check style
+        run: |
+          black --check .

CONTRIBUTING.md

@@ -10,41 +10,74 @@
 1. Submit an issue describing the changes you want to implement. If it's only minor changes/bug-fixes, you can skip to step 3.
 2. After the scope was discussed in the issue, assign it to yourself. It should show up in the "To do" column in the OpenBot project.
 3. Fork the project and clone it locally:
-    
+
    `git clone https://github.com/<user_id>/OpenBot.git`
 
 4. Create a branch:
 
-   `git checkout -b <branch-name>` 
-   
+   `git checkout -b <branch-name>`
+
    where `<branch-name>` concisely describes the scope of the work.
-   
+
 5. Do the work, write good commit messages, push your branch to the forked repository:
-   
-   ```
+
+   ```bash
    git add <modified file>
    git commit -m <meaningful description>
    git push --set-upstream origin <branch-name>
    ```
-   
+
 6. Create a [pull request](https://github.com/intel-isl/OpenBot/pulls) in GitHub and link the issue to it. It should show up in the "In progress" column in the OpenBot project.
 7. Work on any code review feedback you may receive and push it to your fork. The pull request gets updated automatically.
 8. Get a cold drink of your choice to reward yourself for making the world a better place.
 
 ## Guidelines
 
-- Use same style and formatting as rest of code. 
-  - For the Android code you can run:
-    1. `./gradlew checkStyle` --> returns java files with incorrect style. 
-    2. `./gradlew applyStyle` --> applies neccessary style changes to all java files.
-  - For the Arduino and Python code, just try to blend in.
+- Use same style and formatting as rest of code.
+  - For the Java (Android) and Python code see [below](#Formatting).
+  - For any other code, just try to blend in.
 - Update documentation associated with code changes you made.
-- If you want to include 3rd party dependencies, please discuss this in the issue first. 
+- If you want to include 3rd party dependencies, please discuss this in the issue first.
 - Pull requests should implement single features with as few changes as possible.
 - Make sure you don't include temporary or binary files (the gitignores should mostly take care of this).
 - Rebase/merge master into your branch before you submit the pull request.
 - If possible, test your code on Windows, Linux and OSX.
 
+## Formatting
+
+### Java
+
+We use a gradle script for formatting java code. Make sure you are in the `android` directory.
+
+You can check your code with:
+
+```bash
+./gradlew checkStyle
+```
+
+You can apply the style to all files by running:
+
+```bash
+./gradlew applyStyle
+```
+
+### Python
+
+We use [black](https://pypi.org/project/black/) for formatting python code.
+
+You can check your code in the current directory with:
+
+```bash
+black --check .
+```
+
+You can apply the style to all files in the current directory by running:
+
+```bash
+black .
+```
+
+## Further resources
 
 If you are looking for more information about contributing to open-source projects, here are two good references:
 

README.md

@@ -32,7 +32,7 @@ OpenBot leverages smartphones as brains for low-cost robots. We have designed a
 - Build your own [Robot Body](body/README.md)
 - Flash the [Arduino Firmware](firmware/README.md)
 - Install the [Android Apps](android/README.md)
-- Control the robot via [Python](python/README.md)
+- Try the [Python Controller](controller/README.md)
 - Train your own [Driving Policy](policy/README.md)
 
 ## Get the source code

android/app/src/main/java/org/openbot/autopilot/AutopilotFragment.java

@@ -440,8 +440,11 @@ protected void handleDriveCommand(Control control) {
     vehicle.setControl(control);
     float left = vehicle.getLeftSpeed();
     float right = vehicle.getRightSpeed();
-    binding.controllerContainer.controlInfo.setText(
-        String.format(Locale.US, "%.0f,%.0f", left, right));
+    requireActivity()
+        .runOnUiThread(
+            () ->
+                binding.controllerContainer.controlInfo.setText(
+                    String.format(Locale.US, "%.0f,%.0f", left, right)));
   }
 
   @Override

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

@@ -168,6 +168,7 @@ private void handlePhoneControllerEvents() {
           switch (commandType) {
             case Constants.CMD_DRIVE:
               JSONObject driveValue = event.getJSONObject("driveCmd");
+
               vehicle.setControl(
                   new Control(
                       Float.parseFloat(driveValue.getString("l")),

android/app/src/main/java/org/openbot/env/ControllerConfig.java

@@ -0,0 +1,124 @@
+package org.openbot.env;
+
+import android.content.Context;
+import android.content.SharedPreferences;
+import android.util.Log;
+import androidx.preference.PreferenceManager;
+import org.openbot.utils.ConnectionUtils;
+
+public class ControllerConfig {
+  private static ControllerConfig _controllerConfig;
+  SharedPreferences preferences;
+
+  enum VIDEO_SERVER_TYPE {
+    WEBRTC,
+    RTSP
+  }
+
+  private final boolean isMirrored = true;
+  private final boolean mute = true;
+
+  private String currentServerType;
+
+  public static ControllerConfig getInstance() {
+    if (_controllerConfig == null) {
+      synchronized (PhoneController.class) {
+        if (_controllerConfig == null) _controllerConfig = new ControllerConfig();
+      }
+    }
+
+    return _controllerConfig;
+  }
+
+  void init(Context context) {
+    preferences = PreferenceManager.getDefaultSharedPreferences(context);
+    currentServerType = get("video_server", "WEBRTC");
+    monitorSettingUpdates();
+  }
+
+  private void set(String name, String value) {
+    SharedPreferences.Editor editor = preferences.edit();
+    editor.putString(name, value);
+    editor.apply();
+  }
+
+  private String get(String name, String defaultValue) {
+    try {
+      return preferences.getString(name, defaultValue);
+    } catch (ClassCastException e) {
+      return defaultValue;
+    }
+  }
+
+  private Boolean getBoolean(String name, Boolean defaultValue) {
+    try {
+      return preferences.getBoolean(name, defaultValue);
+    } catch (ClassCastException e) {
+      return defaultValue;
+    }
+  }
+
+  private void setBoolean(String name, boolean value) {
+    SharedPreferences.Editor editor = preferences.edit();
+    editor.putBoolean(name, value);
+    editor.apply();
+  }
+
+  // specific settings
+  public boolean isMirrored() {
+    return getBoolean("MIRRORED", true);
+  }
+
+  public void setMirrored(boolean mirrored) {
+    setBoolean("MIRRORED", mirrored);
+  }
+
+  public boolean isMute() {
+    return getBoolean("MUTE", true);
+  }
+
+  public void setMute(boolean mute) {
+    setBoolean("MUTE", mute);
+  }
+
+  public String getVideoServerType() {
+    return get("video_server", "WEBRTC");
+  }
+
+  public void setVideoServerType(String type) {
+    set("video_server", type);
+  }
+
+  private void monitorSettingUpdates() {
+    ControllerToBotEventBus.subscribe(
+        this.getClass().getSimpleName(),
+        event -> {
+          String commandType = event.getString("command");
+
+          switch (commandType) {
+            case "TOGGLE_MIRROR":
+              setMirrored(!isMirrored());
+
+              // inform the controller of current state
+              BotToControllerEventBus.emitEvent(
+                  ConnectionUtils.createStatus("TOGGLE_MIRROR", isMirrored()));
+              break;
+
+            case "TOGGLE_SOUND":
+              setMute(!isMute());
+
+              // inform the controller of current state
+              BotToControllerEventBus.emitEvent(
+                  ConnectionUtils.createStatus("TOGGLE_SOUND", isMute()));
+              break;
+          }
+        },
+        error -> {
+          Log.d(null, "Error occurred in monitorConnection: " + error);
+        },
+        event ->
+            event.has("command")
+                && (event.getString("command").contains("TOGGLE_MIRROR")
+                    || event.getString("command").contains("TOGGLE_SOUND")));
+  }
+}

android/app/src/main/java/org/openbot/env/ControllerToBotEventBus.java

@@ -7,6 +7,7 @@
 import io.reactivex.rxjava3.subjects.PublishSubject;
 import java.util.HashMap;
 import java.util.Map;
+import org.json.JSONException;
 import org.json.JSONObject;
 
 public final class ControllerToBotEventBus {
@@ -17,7 +18,15 @@ private ControllerToBotEventBus() {}
 
   private static final PublishSubject<JSONObject> subject = PublishSubject.create();
 
-  public static void emitEvent(JSONObject event) {
+  public static void emitEvent(String event) {
+    try {
+      emitEvent(new JSONObject(event));
+    } catch (JSONException e) {
+      e.printStackTrace();
+    }
+  }
+
+  private static void emitEvent(JSONObject event) {
     subject.onNext(event);
   }
 

android/app/src/main/java/org/openbot/env/ImageUtils.java

@@ -21,6 +21,7 @@
 import android.graphics.Bitmap;
 import android.graphics.Matrix;
 import android.graphics.RectF;
+import android.os.Build;
 import android.view.Surface;
 import java.io.File;
 import java.io.FileOutputStream;
@@ -227,7 +228,11 @@ public static Matrix getTransformationMatrix(
   }
 
   public static int getScreenOrientation(Activity activity) {
-    switch (activity.getDisplay().getRotation()) {
+    int rotation =
+        Build.VERSION.SDK_INT >= Build.VERSION_CODES.R
+            ? activity.getDisplay().getRotation()
+            : activity.getWindowManager().getDefaultDisplay().getRotation();
+    switch (rotation) {
       case Surface.ROTATION_270:
         return 270;
       case Surface.ROTATION_180:

android/app/src/main/java/org/openbot/env/NearbyConnection.java

@@ -37,8 +37,6 @@
 import java.util.Timer;
 import java.util.TimerTask;
 import org.jetbrains.annotations.NotNull;
-import org.json.JSONException;
-import org.json.JSONObject;
 import org.openbot.OpenBotApplication;
 import org.openbot.utils.ConnectionUtils;
 import timber.log.Timber;
@@ -156,11 +154,7 @@ public void onConnectionResult(@NonNull String endpointId, ConnectionResolution
 
             pairedDeviceEndpointId = endpointId;
             isConnected = true;
-            try {
-              ControllerToBotEventBus.emitEvent(new JSONObject("{command: \"CONNECTED\"}"));
-            } catch (JSONException e) {
-              e.printStackTrace();
-            }
+            ControllerToBotEventBus.emitEvent("{command: \"CONNECTED\"}");
           } else {
             Timber.i("onConnectionResult: connection failed");
             isConnected = false;
@@ -181,11 +175,7 @@ public void onDisconnected(@NonNull String endpointId) {
                   Toast.LENGTH_LONG)
               .show();
           Timber.i("onDisconnected: disconnected from the opponent");
-          try {
-            ControllerToBotEventBus.emitEvent(new JSONObject("{command: \"DISCONNECTED\"}"));
-          } catch (JSONException e) {
-            e.printStackTrace();
-          }
+          ControllerToBotEventBus.emitEvent("{command: \"DISCONNECTED\"}");
         }
       };