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On stopping auto mode in autopilot, the drive mode gets enable for phone controller i.e dual drive #436

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hardikgarg02 wants to merge 9 commits into from
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On stopping auto mode in autopilot, the drive mode gets enable for phone controller i.e dual drive #436

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30e7a28
fixed bug in vehicle control on starting auto mode
Jun 18, 2024
f56fa0b
Merge branch 'master' of https://github.com/3dwesupport/OpenBot into …
isha382 Oct 16, 2024
78c720c
fixed automode bug in web controller
isha382 Oct 17, 2024
bb8d9d2
Merge pull request #42 from 3dwesupport/master
isha382 Nov 11, 2024
b3e729f
added android plugin
isha382 Nov 11, 2024
f7e6306
Merge pull request #50 from ob-f/master
sparsh3dwe Feb 25, 2026
d87924d
Merge branch 'ob-f:master' into android-vehicle-control
harishthakur52 Apr 17, 2026
6f0be77
Merge pull request #60 from 3dwesupport/master
harishthakur52 Apr 17, 2026
a6e5fcc
Remove duplicate plugin declaration
harishthakur52 Apr 17, 2026
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2 changes: 1 addition & 1 deletion android/robot/build.gradle
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
plugins {
id 'com.android.application'
id 'io.github.reactivecircus.app-versioning' version "1.1.2"
id 'com.google.gms.google-services'
id 'com.android.application'
}

appVersioning {
Expand Down
30 changes: 16 additions & 14 deletions android/robot/src/main/java/org/openbot/autopilot/AutopilotFragment.java
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@
import org.openbot.utils.Enums;
import org.openbot.utils.PermissionUtils;
import org.openbot.vehicle.Control;

import timber.log.Timber;

public class AutopilotFragment extends CameraFragment {
Expand Down Expand Up @@ -75,6 +76,7 @@ public View onCreateView(
@NotNull LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
// Inflate the layout for this fragment
binding = FragmentAutopilotBinding.inflate(inflater, container, false);

return inflateFragment(binding, inflater, container);
}

Expand All @@ -99,6 +101,7 @@ public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceStat
getModelNames(f -> f.type.equals(Model.TYPE.CMDNAV) && f.pathType != Model.PATH_TYPE.URL);
initModelSpinner(binding.modelSpinner, models, preferencesManager.getAutopilotModel());
initServerSpinner(binding.serverSpinner);

setAnalyserResolution(Enums.Preview.HD.getValue());
binding.deviceSpinner.setOnItemSelectedListener(
new AdapterView.OnItemSelectedListener() {
Expand Down Expand Up @@ -144,11 +147,6 @@ public void onNothingSelected(AdapterView<?> parent) {
Navigation.findNavController(requireView()).navigate(R.id.open_usb_fragment);
});

binding.bleToggle.setOnClickListener(
v -> {
binding.bleToggle.setChecked(vehicle.bleConnected());
Navigation.findNavController(requireView()).navigate(R.id.open_bluetooth_fragment);
});
binding.bleToggle.setOnClickListener(
v -> {
binding.bleToggle.setChecked(vehicle.bleConnected());
Expand Down Expand Up @@ -179,9 +177,9 @@ public void onNothingSelected(AdapterView<?> parent) {
}

private void updateCropImageInfo() {
// Timber.i("%s x %s",getPreviewSize().getWidth(), getPreviewSize().getHeight());
// Timber.i("%s x %s",getMaxAnalyseImageSize().getWidth(),
// getMaxAnalyseImageSize().getHeight());
// Timber.i("%s x %s",getPreviewSize().getWidth(), getPreviewSize().getHeight());
// Timber.i("%s x %s",getMaxAnalyseImageSize().getWidth(),
// getMaxAnalyseImageSize().getHeight());
frameToCropTransform = null;

sensorOrientation = 90 - ImageUtils.getScreenOrientation(requireActivity());
Expand Down Expand Up @@ -384,11 +382,20 @@ private void setNetworkEnabled(boolean b) {
binding.controllerContainer.controlMode.setEnabled(!b);
binding.controllerContainer.driveMode.setEnabled(!b);
binding.controllerContainer.speedMode.setEnabled(!b);

binding.controllerContainer.controlMode.setAlpha(b ? 0.5f : 1f);
binding.controllerContainer.driveMode.setAlpha(b ? 0.5f : 1f);
binding.controllerContainer.speedMode.setAlpha(b ? 0.5f : 1f);

if (Enums.DriveMode.getByID(preferencesManager.getDriveMode()) != null) {
if (Enums.DriveMode.getByID(preferencesManager.getDriveMode()) == Enums.DriveMode.DUAL && Enums.ControlMode.getByID(preferencesManager.getControlMode()) == Enums.ControlMode.PHONE) {
binding.controllerContainer.driveMode.setAlpha(0.5f);
binding.controllerContainer.driveMode.setEnabled(false);
} else if (Enums.DriveMode.getByID(preferencesManager.getDriveMode()) == Enums.DriveMode.GAME && Enums.ControlMode.getByID(preferencesManager.getControlMode()) == Enums.ControlMode.WEBSERVER) {
binding.controllerContainer.driveMode.setAlpha(0.5f);
binding.controllerContainer.driveMode.setEnabled(false);
}
}

if (!b) {
setSpeedMode(Enums.SpeedMode.getByID(preferencesManager.getSpeedMode()));
handler.postDelayed(() -> vehicle.setControl(0, 0), 500);
Expand Down Expand Up @@ -459,12 +466,10 @@ protected Model getModel() {

private void connectWebController() {
phoneController.connectWebServer();
Enums.DriveMode oldDriveMode = currentDriveMode;

@thias15 thias15 Oct 25, 2024

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I really don't like this code. But removing it means it won't remember the drive mode when we go back to game controller mode.

// Currently only dual drive mode supported
setDriveMode(Enums.DriveMode.GAME);
binding.controllerContainer.driveMode.setAlpha(0.5f);
binding.controllerContainer.driveMode.setEnabled(false);
preferencesManager.setDriveMode(oldDriveMode.getValue());
}

protected void setModel(Model model) {
Expand Down Expand Up @@ -575,12 +580,10 @@ protected void setDriveMode(Enums.DriveMode driveMode) {

private void connectPhoneController() {
phoneController.connect(requireContext());
Enums.DriveMode oldDriveMode = currentDriveMode;
// Currently only dual drive mode supported
setDriveMode(Enums.DriveMode.DUAL);
binding.controllerContainer.driveMode.setAlpha(0.5f);
binding.controllerContainer.driveMode.setEnabled(false);
preferencesManager.setDriveMode(oldDriveMode.getValue());
}

private void disconnectPhoneController() {
Expand All @@ -590,4 +593,3 @@ private void disconnectPhoneController() {
binding.controllerContainer.driveMode.setAlpha(1.0f);
}
}

2 changes: 0 additions & 2 deletions android/robot/src/main/java/org/openbot/logging/LoggerFragment.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -585,12 +585,10 @@ protected void setDriveMode(Enums.DriveMode driveMode) {

private void connectPhoneController() {
phoneController.connect(requireContext());
Enums.DriveMode oldDriveMode = currentDriveMode;
// Currently only dual drive mode supported
setDriveMode(Enums.DriveMode.DUAL);
binding.controllerContainer.driveMode.setAlpha(0.5f);
binding.controllerContainer.driveMode.setEnabled(false);
preferencesManager.setDriveMode(oldDriveMode.getValue());
}

private void connectWebController() {
Expand Down
15 changes: 11 additions & 4 deletions android/robot/src/main/java/org/openbot/objectNav/ObjectNavFragment.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -425,6 +425,17 @@ private void setNetworkEnabled(boolean b) {
binding.controllerContainer.driveMode.setAlpha(b ? 0.5f : 1f);
binding.controllerContainer.speedMode.setAlpha(b ? 0.5f : 1f);

if (Enums.DriveMode.getByID(preferencesManager.getDriveMode()) != null) {
if (Enums.DriveMode.getByID(preferencesManager.getDriveMode()) == Enums.DriveMode.DUAL && Enums.ControlMode.getByID(preferencesManager.getControlMode()) == Enums.ControlMode.PHONE) {
binding.controllerContainer.driveMode.setAlpha(0.5f);
binding.controllerContainer.driveMode.setEnabled(false);
}
else if (Enums.DriveMode.getByID(preferencesManager.getDriveMode()) == Enums.DriveMode.GAME && Enums.ControlMode.getByID(preferencesManager.getControlMode()) == Enums.ControlMode.WEBSERVER) {
binding.controllerContainer.driveMode.setAlpha(0.5f);
binding.controllerContainer.driveMode.setEnabled(false);
}
}

resetFpsUi();
if (!b) handler.postDelayed(() -> vehicle.setControl(0, 0), Math.max(lastProcessingTimeMs, 50));
}
Expand Down Expand Up @@ -654,22 +665,18 @@ protected void setDriveMode(Enums.DriveMode driveMode) {

private void connectPhoneController() {
phoneController.connect(requireContext());
Enums.DriveMode oldDriveMode = currentDriveMode;
// Currently only dual drive mode supported
setDriveMode(Enums.DriveMode.DUAL);
binding.controllerContainer.driveMode.setAlpha(0.5f);
binding.controllerContainer.driveMode.setEnabled(false);
preferencesManager.setDriveMode(oldDriveMode.getValue());
}

private void connectWebController() {
phoneController.connectWebServer();
Enums.DriveMode oldDriveMode = currentDriveMode;
// Currently only dual drive mode supported
setDriveMode(Enums.DriveMode.GAME);
binding.controllerContainer.driveMode.setAlpha(0.5f);
binding.controllerContainer.driveMode.setEnabled(false);
preferencesManager.setDriveMode(oldDriveMode.getValue());
}

private void disconnectPhoneController() {
Expand Down
1 change: 0 additions & 1 deletion android/robot/src/main/java/org/openbot/original/CameraActivity.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -940,7 +940,6 @@ private void connectPhoneController() {
// Currently only dual drive mode supported
setDriveMode(DriveMode.DUAL);
driveModeSpinner.setAlpha(0.5f);
preferencesManager.setDriveMode(oldDriveMode.getValue());
}

private void connectWebController() {
Expand Down
4 changes: 0 additions & 4 deletions android/robot/src/main/java/org/openbot/robot/FreeRoamFragment.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -262,22 +262,18 @@ protected void setDriveMode(DriveMode driveMode) {

private void connectPhoneController() {
phoneController.connect(requireContext());
DriveMode oldDriveMode = currentDriveMode;
// Currently only dual drive mode supported
setDriveMode(DriveMode.DUAL);
binding.controllerContainer.driveMode.setAlpha(0.5f);
binding.controllerContainer.driveMode.setEnabled(false);
preferencesManager.setDriveMode(oldDriveMode.getValue());
}

private void connectWebController() {
phoneController.connectWebServer();
Enums.DriveMode oldDriveMode = currentDriveMode;
// Currently only dual drive mode supported
setDriveMode(Enums.DriveMode.GAME);
binding.controllerContainer.driveMode.setAlpha(0.5f);
binding.controllerContainer.driveMode.setEnabled(false);
preferencesManager.setDriveMode(oldDriveMode.getValue());
}

private void disconnectPhoneController() {
Expand Down
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