File picker

android/app/build.gradle

@@ -139,4 +139,5 @@ dependencies {
     // When using the BoM, you don't specify versions in Firebase library dependencies
     implementation 'com.google.firebase:firebase-crashlytics'
     implementation 'com.google.firebase:firebase-analytics'
+    implementation 'com.nononsenseapps:filepicker:4.1.0'
 }

android/app/src/main/AndroidManifest.xml

@@ -65,12 +65,33 @@
 
         </activity>
 
+        <activity
+            android:name=".ai.BackHandlingFilePickerActivity"
+            android:label="@string/app_name"
+            android:theme="@style/FilePickerTheme">
+            <intent-filter>
+                <action android:name="android.intent.action.GET_CONTENT" />
+                <category android:name="android.intent.category.DEFAULT" />
+            </intent-filter>
+        </activity>
+
         <service
             android:name=".logging.SensorService"
             android:enabled="true"
             android:launchMode="singleTask" />
 
         <service android:name="net.majorkernelpanic.streaming.rtsp.RtspServer"/>
+
+        <provider
+            android:name="androidx.core.content.FileProvider"
+            android:authorities="${applicationId}.provider"
+            android:exported="false"
+            android:grantUriPermissions="true" >
+            <meta-data
+                android:name="android.support.FILE_PROVIDER_PATHS"
+                android:resource="@xml/provider_paths" />
+        </provider>
+
     </application>
 
 </manifest>

android/app/src/main/java/org/openbot/ai/AIFragment.java

@@ -1,13 +1,17 @@
 package org.openbot.ai;
 
+import android.app.Activity;
+import android.content.Intent;
 import android.graphics.Bitmap;
 import android.graphics.Canvas;
 import android.graphics.Color;
 import android.graphics.Matrix;
 import android.graphics.Paint;
 import android.graphics.RectF;
 import android.graphics.Typeface;
+import android.net.Uri;
 import android.os.Bundle;
+import android.os.Environment;
 import android.os.Handler;
 import android.os.HandlerThread;
 import android.os.SystemClock;
@@ -18,12 +22,18 @@
 import android.widget.AdapterView;
 import android.widget.ArrayAdapter;
 import android.widget.Toast;
+import androidx.activity.result.ActivityResultLauncher;
+import androidx.activity.result.contract.ActivityResultContracts;
 import androidx.annotation.NonNull;
 import androidx.annotation.Nullable;
+import androidx.appcompat.app.AlertDialog;
 import androidx.camera.core.ImageProxy;
 import androidx.navigation.Navigation;
 import com.google.android.material.bottomsheet.BottomSheetBehavior;
+import com.nononsenseapps.filepicker.Utils;
+import java.io.File;
 import java.io.IOException;
+import java.io.InputStream;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.LinkedList;
@@ -78,6 +88,68 @@ public class AIFragment extends CameraFragment implements ServerListener {
   private int numThreads = -1;
 
   private ArrayAdapter<CharSequence> modelAdapter;
+  private ActivityResultLauncher<Intent> mStartForResult;
+  private int selectedModelIndex = 0;
+
+  @Override
+  public void onCreate(@Nullable Bundle savedInstanceState) {
+    super.onCreate(savedInstanceState);
+    mStartForResult =
+        registerForActivityResult(
+            new ActivityResultContracts.StartActivityForResult(),
+            result -> {
+              if (result.getResultCode() == Activity.RESULT_OK) {
+
+                Intent intent = result.getData();
+                // Handle the Intent
+                List<Uri> files = Utils.getSelectedFilesFromResult(intent);
+
+                String fileName = new File(files.get(0).getPath()).getName();
+                if (org.openbot.utils.Utils.checkFileExistence(requireActivity(), fileName)) {
+                  AlertDialog.Builder builder = new AlertDialog.Builder(requireActivity());
+                  builder.setTitle(R.string.file_available_title);
+                  builder.setMessage(R.string.file_available_body);
+                  builder.setPositiveButton(
+                      "Yes",
+                      (dialog, id) -> {
+                        processModelFromStorage(files, fileName);
+                      });
+                  builder.setNegativeButton(
+                      "Cancel",
+                      (dialog, id) -> {
+                        // User cancelled the dialog
+                      });
+                  AlertDialog dialog = builder.create();
+                  dialog.show();
+                } else {
+                  processModelFromStorage(files, fileName);
+                }
+              }
+            });
+  }
+
+  private void processModelFromStorage(List<Uri> files, String fileName) {
+    try {
+      InputStream inputStream =
+          requireActivity().getContentResolver().openInputStream(files.get(0));
+      org.openbot.utils.Utils.copyFile(
+          inputStream, fileName, requireActivity().getFilesDir().getAbsolutePath());
+    } catch (IOException e) {
+      e.printStackTrace();
+    }
+
+    modelAdapter.clear();
+    modelAdapter.addAll(Arrays.asList(getResources().getTextArray(R.array.models)));
+    modelAdapter.addAll(getModelFiles());
+    modelAdapter.add("Choose From Device");
+    modelAdapter.notifyDataSetChanged();
+    binding.modelSpinner.setSelection(modelAdapter.getPosition(fileName));
+    setModel(new Model(fileName));
+
+    Toast.makeText(
+            requireContext().getApplicationContext(), "Model added: " + model, Toast.LENGTH_SHORT)
+        .show();
+  }
 
   @Override
   public View onCreateView(
@@ -102,7 +174,8 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
     modelAdapter =
         new ArrayAdapter<>(requireContext(), R.layout.spinner_item, new ArrayList<>(models));
     modelAdapter.addAll(getModelFiles());
-    modelAdapter.setDropDownViewResource(android.R.layout.simple_list_item_checked);
+    modelAdapter.add("Choose From Device");
+    modelAdapter.setDropDownViewResource(android.R.layout.simple_dropdown_item_1line);
     binding.modelSpinner.setAdapter(modelAdapter);
 
     setAnalyserResolution(Enums.Preview.HD.getValue());
@@ -111,7 +184,16 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
           @Override
           public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
             String selected = parent.getItemAtPosition(position).toString();
-            setModel(Model.fromId(selected.toUpperCase()));
+            if (selected.equals("Choose From Device")) {
+              binding.modelSpinner.setSelection(selectedModelIndex);
+              openPicker();
+            } else
+              try {
+                setModel(Model.fromId(selected.toUpperCase()));
+              } catch (IllegalArgumentException e) {
+                setModel(new Model(selected));
+              }
+            selectedModelIndex = position;
           }
 
           @Override
@@ -182,6 +264,28 @@ public void onNothingSelected(AdapterView<?> parent) {}
     binding.autoSwitch.setOnClickListener(v -> setNetworkEnabled(binding.autoSwitch.isChecked()));
   }
 
+  private void openPicker() {
+
+    Intent i = new Intent(requireActivity(), BackHandlingFilePickerActivity.class);
+    // This works if you defined the intent filter
+    // Intent i = new Intent(Intent.ACTION_GET_CONTENT);
+
+    // Set these depending on your use case. These are the defaults.
+    i.putExtra(BackHandlingFilePickerActivity.EXTRA_ALLOW_MULTIPLE, false);
+    i.putExtra(BackHandlingFilePickerActivity.EXTRA_ALLOW_CREATE_DIR, false);
+    i.putExtra(BackHandlingFilePickerActivity.EXTRA_MODE, BackHandlingFilePickerActivity.MODE_FILE);
+
+    // Configure initial directory by specifying a String.
+    // You could specify a String like "/storage/emulated/0/", but that can
+    // dangerous. Always use Android's API calls to get paths to the SD-card or
+    // internal memory.
+    i.putExtra(
+        BackHandlingFilePickerActivity.EXTRA_START_PATH,
+        Environment.getExternalStorageDirectory().getPath());
+
+    mStartForResult.launch(i);
+  }
+
   private void updateCropImageInfo() {
     //    Timber.i("%s x %s",getPreviewSize().getWidth(), getPreviewSize().getHeight());
     //    Timber.i("%s x %s",getMaxAnalyseImageSize().getWidth(),
@@ -283,7 +387,14 @@ private void recreateNetwork(Model model, Network.Device device, int numThreads)
     } catch (IllegalArgumentException | IOException e) {
       String msg = "Failed to create network.";
       Timber.e(e, msg);
-      Toast.makeText(requireContext().getApplicationContext(), msg, Toast.LENGTH_SHORT).show();
+      requireActivity()
+          .runOnUiThread(
+              () ->
+                  Toast.makeText(
+                          requireContext().getApplicationContext(),
+                          e.getMessage(),
+                          Toast.LENGTH_LONG)
+                      .show());
     }
   }
 

android/app/src/main/java/org/openbot/ai/BackHandlingFilePickerActivity.java

@@ -0,0 +1,45 @@
+package org.openbot.ai;
+
+import android.os.Environment;
+import com.nononsenseapps.filepicker.AbstractFilePickerFragment;
+import com.nononsenseapps.filepicker.FilePickerActivity;
+import java.io.File;
+
+public class BackHandlingFilePickerActivity extends FilePickerActivity {
+
+  /** Need access to the fragment */
+  BackHandlingFilePickerFragment currentFragment;
+
+  /** Return a copy of the new fragment and set the variable above. */
+  @Override
+  protected AbstractFilePickerFragment<File> getFragment(
+      final String startPath,
+      final int mode,
+      final boolean allowMultiple,
+      final boolean allowDirCreate,
+      final boolean allowExistingFile,
+      final boolean singleClick) {
+
+    // startPath is allowed to be null.
+    // In that case, default folder should be SD-card and not "/"
+    String path =
+        (startPath != null ? startPath : Environment.getExternalStorageDirectory().getPath());
+
+    currentFragment = new BackHandlingFilePickerFragment();
+    currentFragment.setArgs(
+        path, mode, allowMultiple, allowDirCreate, allowExistingFile, singleClick);
+    return currentFragment;
+  }
+
+  /** Override the back-button. */
+  @Override
+  public void onBackPressed() {
+    // If at top most level, normal behaviour
+    if (currentFragment.isBackTop()) {
+      super.onBackPressed();
+    } else {
+      // Else go up
+      currentFragment.goUp();
+    }
+  }
+}

android/app/src/main/java/org/openbot/ai/BackHandlingFilePickerFragment.java

@@ -0,0 +1,57 @@
+package org.openbot.ai;
+
+import androidx.annotation.NonNull;
+import com.nononsenseapps.filepicker.FilePickerFragment;
+import java.io.File;
+
+public class BackHandlingFilePickerFragment extends FilePickerFragment {
+
+  /**
+   * For consistency, the top level the back button checks against should be the start path. But it
+   * will fall back on /.
+   */
+  public File getBackTop() {
+    return getPath(getArguments().getString(KEY_START_PATH, "/"));
+  }
+
+  /** @return true if the current path is the startpath or / */
+  public boolean isBackTop() {
+    return 0 == compareFiles(mCurrentPath, getBackTop())
+        || 0 == compareFiles(mCurrentPath, new File("/"));
+  }
+
+  /** Go up on level, same as pressing on "..". */
+  public void goUp() {
+    mCurrentPath = getParent(mCurrentPath);
+    mCheckedItems.clear();
+    mCheckedVisibleViewHolders.clear();
+    refresh(mCurrentPath);
+  }
+
+  // File extension to filter on
+  private static final String EXTENSION = ".tflite";
+
+  /**
+   * @param file
+   * @return The file extension. If file has no extension, it returns null.
+   */
+  private String getExtension(@NonNull File file) {
+    String path = file.getPath();
+    int i = path.lastIndexOf(".");
+    if (i < 0) {
+      return null;
+    } else {
+      return path.substring(i);
+    }
+  }
+
+  @Override
+  protected boolean isItemVisible(final File file) {
+    boolean ret = super.isItemVisible(file);
+    if (ret && !isDir(file) && (mode == MODE_FILE || mode == MODE_FILE_AND_DIR)) {
+      String ext = getExtension(file);
+      return EXTENSION.equalsIgnoreCase(ext);
+    }
+    return ret;
+  }
+}

android/app/src/main/java/org/openbot/tflite/Autopilot.java

@@ -9,6 +9,7 @@
 import java.io.IOException;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
+import java.util.Arrays;
 import org.openbot.env.Control;
 
 public abstract class Autopilot extends Network {
@@ -27,14 +28,20 @@ public abstract class Autopilot extends Network {
   protected ByteBuffer indicatorBuffer = null;
 
   public static Autopilot create(Activity activity, Model model, Device device, int numThreads)
-      throws IOException {
+      throws IOException, IllegalArgumentException {
     return new AutopilotFloat(activity, model, device, numThreads);
   }
 
   /** Initializes a {@code Autopilot}. */
   protected Autopilot(Activity activity, Model model, Device device, int numThreads)
-      throws IOException {
+      throws IOException, IllegalArgumentException {
     super(activity, model, device, numThreads);
+    tflite.getInputIndex("cmd_input");
+    if (!Arrays.equals(
+        tflite.getInputTensor(tflite.getInputIndex("img_input")).shape(),
+        new int[] {1, getImageSizeY(), getImageSizeX(), 3}))
+      throw new IllegalArgumentException("Invalid tensor dimensions");
+
     indicatorBuffer = ByteBuffer.allocateDirect(4);
     indicatorBuffer.order(ByteOrder.nativeOrder());
     LOGGER.d("Created a Tensorflow Lite Autopilot.");