Merge pull request #222 from ThomasJClark/nt

NetworkTables

Author: ThomasJClark

build.gradle

@@ -91,6 +91,9 @@ project(":core") {
     repositories {
         flatDir {
             dirs 'libs'
+            maven {
+                url = "http://first.wpi.edu/FRC/roborio/maven/development"
+            }
         }
     }
 
@@ -106,6 +109,7 @@ project(":core") {
         compile group: 'com.google.guava', name: 'guava', version: '18.0'
         compile group: 'com.google.inject', name: 'guice', version: '4.0'
         compile group: 'com.google.inject.extensions', name: 'guice-assistedinject', version: '4.0'
+        compile group: 'edu.wpi.first.wpilib.networktables.java', name: 'NetworkTables', version: '3.0.0-SNAPSHOT', classifier: 'desktop'
     }
 
     mainClassName = 'edu.wpi.grip.core.Main'

buildSrc/src/main/java/edu/wpi/gripgenerator/defaults/PrimitiveDefaultValue.java

@@ -45,28 +45,28 @@ public PrimitiveDefaultValue(PrimitiveType type) {
                 );
                 break;
             case Int:
-                this.viewValue = "SPINNER";
+                this.viewValue = "TEXT";
                 this.domainValue = createDomainValueExpression(
                         new IntegerLiteralExpr("Integer.MIN_VALUE"),
                         new IntegerLiteralExpr("Integer.MAX_VALUE")
                 );
                 break;
             case Float:
-                this.viewValue = "SPINNER";
+                this.viewValue = "TEXT";
                 this.domainValue = createDomainValueExpression(
                         new DoubleLiteralExpr("-Float.MAX_VALUE"),
                         new DoubleLiteralExpr("Float.MAX_VALUE")
                 );
                 break;
             case Double:
-                this.viewValue = "SPINNER";
+                this.viewValue = "TEXT";
                 this.domainValue = createDomainValueExpression(
                         new DoubleLiteralExpr("-Double.MAX_VALUE"),
                         new DoubleLiteralExpr("Double.MAX_VALUE")
                 );
                 break;
             case Char:
-                this.viewValue = "SPINNER";
+                this.viewValue = "TEXT";
                 this.domainValue = createDomainValueExpression(
                         new CharLiteralExpr(Character.toString(Character.MIN_VALUE)),
                         new CharLiteralExpr(Character.toString(Character.MAX_VALUE))

core/src/main/java/edu/wpi/grip/core/Operation.java

@@ -61,7 +61,6 @@ default void perform(InputSocket<?>[] inputs, OutputSocket<?>[] outputs, Optiona
         perform(inputs, outputs);
     }
 
-    @Deprecated
     default void perform(InputSocket<?>[] inputs, OutputSocket<?>[] outputs) {
         throw new UnsupportedOperationException("Perform was not overridden");
     }

core/src/main/java/edu/wpi/grip/core/Pipeline.java

@@ -32,14 +32,18 @@ public class Pipeline {
     private final List<Source> sources = new ArrayList<>();
     private final List<Step> steps = new ArrayList<>();
     private final Set<Connection> connections = new HashSet<>();
+    private ProjectSettings settings = new ProjectSettings();
 
     /**
      * Remove everything in the pipeline
      */
     public void clear() {
         // These streams are both collected into lists because streams cannot modify their source.  Sending a
         // StepRemovedEvent or SourceRemovedEvent modifies this.steps or this.sources.
-        this.steps.stream().collect(Collectors.toList()).forEach(this::removeStep);
+        this.steps.stream()
+                .map(StepRemovedEvent::new)
+                .collect(Collectors.toList())
+                .forEach(this.eventBus::post);
 
         this.sources.stream()
                 .map(SourceRemovedEvent::new)
@@ -69,6 +73,15 @@ public Set<Connection> getConnections() {
         return Collections.unmodifiableSet(this.connections);
     }
 
+    /*
+     * @return The current per-project settings.  This object may become out of date if the settings are edited
+     * by the user, so objects requiring a preference value should also subscribe to {@link ProjectSettingsChangedEvent}
+     * to get updates.
+     */
+    public ProjectSettings getProjectSettings() {
+        return settings;
+    }
+
     /**
      * @return true if a connection can be made from the given output socket to the given input socket
      */
@@ -183,4 +196,9 @@ public void onConnectionRemoved(ConnectionRemovedEvent event) {
         this.connections.remove(event.getConnection());
         this.eventBus.unregister(event.getConnection());
     }
+
+    @Subscribe
+    public void onProjectSettingsChanged(ProjectSettingsChangedEvent event) {
+        this.settings = event.getProjectSettings();
+    }
 }

core/src/main/java/edu/wpi/grip/core/ProjectSettings.java

@@ -0,0 +1,55 @@
+package edu.wpi.grip.core;
+
+import com.google.common.base.MoreObjects;
+
+/**
+ * This object holds settings that are saved in project files.  This includes things like team numbers, which need to
+ * be preserved when deploying the project.
+ */
+public class ProjectSettings implements Cloneable {
+
+    /**
+     * What protocol to use to publish values.  Only NetworkTables is supported right now, but in the future we may
+     * make the publish operations work with other protocols like ROS.
+     */
+    public enum NetworkProtocol {
+        NETWORK_TABLES,
+        NONE
+    }
+
+    private NetworkProtocol networkProtocol = NetworkProtocol.NETWORK_TABLES;
+    private int teamNumber = 0;
+
+    public void setNetworkProtocol(NetworkProtocol networkProtocol) {
+        this.networkProtocol = networkProtocol;
+    }
+
+    public NetworkProtocol getNetworkProtocol() {
+        return networkProtocol;
+    }
+
+    public void setTeamNumber(int teamNumber) {
+        this.teamNumber = teamNumber;
+    }
+
+    public int getTeamNumber() {
+        return teamNumber;
+    }
+
+    @Override
+    public String toString() {
+        return MoreObjects.toStringHelper(this)
+                .add("networkProtocol", networkProtocol)
+                .add("teamNumber", teamNumber)
+                .toString();
+    }
+
+    @Override
+    public ProjectSettings clone() {
+        try {
+            return (ProjectSettings) super.clone();
+        } catch (CloneNotSupportedException impossible) {
+            return null;
+        }
+    }
+}

core/src/main/java/edu/wpi/grip/core/SocketHint.java

@@ -15,7 +15,7 @@
  * interface to learn how to talk to <code>Algorithm</code>s.
  */
 public class SocketHint<T> {
-    public enum View {NONE, SPINNER, SLIDER, RANGE, SELECT, CHECKBOX}
+    public enum View {NONE, TEXT, SLIDER, RANGE, SELECT, CHECKBOX}
 
     private final String identifier;
     private final Class<T> type;

core/src/main/java/edu/wpi/grip/core/SocketHints.java

@@ -43,18 +43,26 @@ public static SocketHint<Number> createNumberSliderSocketHint(final String ident
 
         public static SocketHint<Number> createNumberSpinnerSocketHint(final String identifier, final Number number,
                                                                        final Number low, final Number high) {
-            return createNumberSocketHintBuilder(identifier, number, new Number[]{low, high}).view(SocketHint.View.SPINNER).build();
+            return createNumberSocketHintBuilder(identifier, number, new Number[]{low, high}).view(SocketHint.View.TEXT).build();
         }
 
         public static SocketHint<Number> createNumberSpinnerSocketHint(final String identifier, final Number number) {
-            return createNumberSocketHintBuilder(identifier, number).view(SocketHint.View.SPINNER).build();
+            return createNumberSocketHintBuilder(identifier, number).view(SocketHint.View.TEXT).build();
         }
 
         public static SocketHint<List> createNumberListRangeSocketHint(final String identifier, final Number low, final Number high) {
             return createNumberListSocketHintBuilder(identifier, new Number[]{low, high})
                     .view(SocketHint.View.RANGE)
                     .build();
         }
+
+        public static SocketHint<String> createTextSocketHint(final String identifier, final String str) {
+            return new SocketHint.Builder<>(String.class)
+                    .identifier(identifier)
+                    .initialValue(str)
+                    .view(SocketHint.View.TEXT)
+                    .build();
+        }
     }
 
     /**
@@ -84,7 +92,6 @@ public static SocketHint<Number> createNumberSocketHint(final String identifier,
         }
     }
 
-    @SuppressWarnings("unchecked")
     public static <T extends Enum<T>> SocketHint<T> createEnumSocketHint(final String identifier,
                                                                          final T defaultValue) {
         return new SocketHint.Builder(defaultValue.getClass())

core/src/main/java/edu/wpi/grip/core/events/ProjectSettingsChangedEvent.java

@@ -0,0 +1,21 @@
+package edu.wpi.grip.core.events;
+
+import edu.wpi.grip.core.ProjectSettings;
+
+import static com.google.common.base.Preconditions.checkNotNull;
+
+/**
+ * This event is posted after the {@link ProjectSettings} are changed so anything that relies on them can immediately
+ * update without restarting the application.
+ */
+public class ProjectSettingsChangedEvent {
+    private final ProjectSettings projectSettings;
+
+    public ProjectSettingsChangedEvent(ProjectSettings projectSettings) {
+        this.projectSettings = checkNotNull(projectSettings, "Project settings cannot be null");
+    }
+
+    public ProjectSettings getProjectSettings() {
+        return projectSettings;
+    }
+}

core/src/main/java/edu/wpi/grip/core/operations/Operations.java

@@ -1,8 +1,10 @@
 package edu.wpi.grip.core.operations;
 
 import com.google.common.eventbus.EventBus;
+import edu.wpi.grip.core.Operation;
 import edu.wpi.grip.core.events.OperationAddedEvent;
 import edu.wpi.grip.core.operations.composite.*;
+import edu.wpi.grip.core.operations.networktables.NTPublishOperation;
 import edu.wpi.grip.core.operations.opencv.MatFieldAccessor;
 import edu.wpi.grip.core.operations.opencv.MinMaxLoc;
 import edu.wpi.grip.core.operations.opencv.NewPointOperation;
@@ -30,5 +32,9 @@ public static void addOperations(EventBus eventBus) {
         eventBus.post(new OperationAddedEvent(new NewPointOperation()));
         eventBus.post(new OperationAddedEvent(new NewSizeOperation()));
         eventBus.post(new OperationAddedEvent(new MatFieldAccessor()));
+
+        Operation publishContours = new NTPublishOperation<>(ContoursReport.class);
+        eventBus.register(publishContours);
+        eventBus.post(new OperationAddedEvent(publishContours));
     }
 }

core/src/main/java/edu/wpi/grip/core/operations/composite/ContoursReport.java

@@ -1,18 +1,33 @@
 package edu.wpi.grip.core.operations.composite;
 
-import static org.bytedeco.javacpp.opencv_core.*;
+import edu.wpi.grip.core.operations.networktables.NTPublishable;
+import edu.wpi.grip.core.operations.networktables.NTValue;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Optional;
+
+import static org.bytedeco.javacpp.opencv_core.MatVector;
+import static org.bytedeco.javacpp.opencv_core.Rect;
+import static org.bytedeco.javacpp.opencv_imgproc.boundingRect;
+import static org.bytedeco.javacpp.opencv_imgproc.contourArea;
 
 /**
  * The output of {@link FindContoursOperation}.  This stores a list of contours (which is basically a list of points) in
  * OpenCV objects, as well as the width and height of the image that the contours are from, to give context to the
  * points.
  */
-public final class ContoursReport {
-    private int rows, cols;
-    private MatVector contours = new MatVector();
+public final class ContoursReport implements NTPublishable {
+    private final int rows, cols;
+    private final MatVector contours;
+    private Optional<List<Rect>> boundingBoxes = Optional.empty();
 
+    /**
+     * Construct an empty report.  This is used as a default value for {@link edu.wpi.grip.core.Socket}s containing
+     * ContoursReports.
+     */
     public ContoursReport() {
-        this(new MatVector(), -1, -1);
+        this(new MatVector(), 0, 0);
     }
 
     public ContoursReport(MatVector contours, int rows, int cols) {
@@ -21,27 +36,81 @@ public ContoursReport(MatVector contours, int rows, int cols) {
         this.cols = cols;
     }
 
-    public void setContours(MatVector contours) {
-        this.contours = contours;
+    public int getRows() {
+        return this.rows;
+    }
+
+    public int getCols() {
+        return this.cols;
     }
 
     public MatVector getContours() {
         return this.contours;
     }
 
-    public void setRows(int rows) {
-        this.rows = rows;
+    /**
+     * Compute the bounding boxes of all contours (if they haven't already been computed).  Bounding boxes are used
+     * to compute several different properties, so it's probably not a good idea to compute them over and over again.
+     */
+    private synchronized List<Rect> computeBoundingBoxes() {
+        if (!boundingBoxes.isPresent()) {
+            List<Rect> bb = new ArrayList<>();
+            for (int i = 0; i < contours.size(); i++) {
+                bb.add(boundingRect(contours.get(i)));
+            }
+
+            boundingBoxes = Optional.of(bb);
+        }
+
+        return boundingBoxes.get();
     }
 
-    public void setCols(int cols) {
-        this.cols = cols;
+    @NTValue(key = "area")
+    public double[] getArea() {
+        final double[] areas = new double[(int) contours.size()];
+        for (int i = 0; i < contours.size(); i++) {
+            areas[i] = contourArea(contours.get(i));
+        }
+        return areas;
     }
 
-    public int getRows() {
-        return this.rows;
+    @NTValue(key = "centerX")
+    public double[] getCenterX() {
+        final double[] centers = new double[(int) contours.size()];
+        final List<Rect> boundingBoxes = computeBoundingBoxes();
+        for (int i = 0; i < contours.size(); i++) {
+            centers[i] = boundingBoxes.get(i).x() + boundingBoxes.get(i).width() / 2;
+        }
+        return centers;
     }
 
-    public int getCols() {
-        return this.cols;
+    @NTValue(key = "centerY")
+    public double[] getCenterY() {
+        final double[] centers = new double[(int) contours.size()];
+        final List<Rect> boundingBoxes = computeBoundingBoxes();
+        for (int i = 0; i < contours.size(); i++) {
+            centers[i] = boundingBoxes.get(i).y() + boundingBoxes.get(i).height() / 2;
+        }
+        return centers;
+    }
+
+    @NTValue(key = "width")
+    public synchronized double[] getWidth() {
+        final double[] widths = new double[(int) contours.size()];
+        final List<Rect> boundingBoxes = computeBoundingBoxes();
+        for (int i = 0; i < contours.size(); i++) {
+            widths[i] = boundingBoxes.get(i).width();
+        }
+        return widths;
+    }
+
+    @NTValue(key = "height")
+    public synchronized double[] getHeights() {
+        final double[] heights = new double[(int) contours.size()];
+        final List<Rect> boundingBoxes = computeBoundingBoxes();
+        for (int i = 0; i < contours.size(); i++) {
+            heights[i] = boundingBoxes.get(i).height();
+        }
+        return heights;
     }
 }