[V2] Add operation to save image snapshots to local disk. (#599)

AustinShalit · JLLeitschuh · commit 12ae9d604623 · 2016-07-07T20:21:47.000-04:00
* Add operation to save image snapshots to local disk. The period and path prefix and suffix can be set, and the operation enabled and disabled at will (this is particularly useful in combination with PR #572).
diff --git a/core/src/main/java/edu/wpi/grip/core/FileManager.java b/core/src/main/java/edu/wpi/grip/core/FileManager.java
@@ -0,0 +1,15 @@
+package edu.wpi.grip.core;
+
+/**
+ * A FileManager saves images to disk.
+ */
+public interface FileManager {
+
+  /**
+     * Saves an array of bytes to a file.
+     *
+     * @param image The image to save
+     * @param fileName The file name to save
+     */
+  void saveImage(byte[] image, String fileName);
+}
diff --git a/core/src/main/java/edu/wpi/grip/core/GripCoreModule.java b/core/src/main/java/edu/wpi/grip/core/GripCoreModule.java
@@ -56,7 +56,9 @@ public class GripCoreModule extends AbstractModule {
         globalLogger.removeHandler(handler);
       }
 
-      final Handler fileHandler = new FileHandler("%h/GRIP.log"); //Log to the file "GRIPlogger.log"
+      GripFileManager.GRIP_DIRECTORY.mkdirs();
+      final Handler fileHandler
+          = new FileHandler(GripFileManager.GRIP_DIRECTORY.getPath() + "/GRIP.log");
 
       //Set level to handler and logger
       fileHandler.setLevel(Level.FINE);
diff --git a/core/src/main/java/edu/wpi/grip/core/GripFileManager.java b/core/src/main/java/edu/wpi/grip/core/GripFileManager.java
@@ -0,0 +1,43 @@
+package edu.wpi.grip.core;
+
+import com.google.common.io.Files;
+import com.google.inject.Singleton;
+
+import java.io.File;
+import java.io.IOException;
+import java.util.logging.Level;
+import java.util.logging.Logger;
+
+import static com.google.common.base.Preconditions.checkNotNull;
+
+/**
+ * Implementation of {@code FileManager}.  Saves files into a directory named GRIP in the user's
+ * home folder.
+ */
+@Singleton
+public class GripFileManager implements FileManager {
+
+  private static final Logger logger = Logger.getLogger(GripFileManager.class.getName());
+
+  public static final File GRIP_DIRECTORY
+      = new File(System.getProperty("user.home") + File.separator + "GRIP");
+  public static final File IMAGE_DIRECTORY = new File(GRIP_DIRECTORY, "images");
+
+  @Override
+  public void saveImage(byte[] image, String fileName) {
+    checkNotNull(image, "An image was not provided to the FileManager");
+    checkNotNull(fileName, "A filename was not provided to the FileManager");
+
+    File file = new File(IMAGE_DIRECTORY, fileName);
+    Thread thread = new Thread(() -> {
+      try {
+        IMAGE_DIRECTORY.mkdirs(); // If the user deletes the directory
+        Files.write(image, file);
+      } catch (IOException ex) {
+        logger.log(Level.WARNING, ex.getMessage(), ex);
+      }
+    });
+    thread.setDaemon(true);
+    thread.start();
+  }
+}
diff --git a/core/src/main/java/edu/wpi/grip/core/GripFileModule.java b/core/src/main/java/edu/wpi/grip/core/GripFileModule.java
@@ -0,0 +1,12 @@
+package edu.wpi.grip.core;
+
+import com.google.inject.AbstractModule;
+
+public class GripFileModule extends AbstractModule {
+
+  @Override
+  protected void configure() {
+    bind(FileManager.class).to(GripFileManager.class);
+  }
+
+}
diff --git a/core/src/main/java/edu/wpi/grip/core/operations/Operations.java b/core/src/main/java/edu/wpi/grip/core/operations/Operations.java
@@ -1,5 +1,6 @@
 package edu.wpi.grip.core.operations;
 
+import edu.wpi.grip.core.FileManager;
 import edu.wpi.grip.core.OperationMetaData;
 import edu.wpi.grip.core.events.OperationAddedEvent;
 import edu.wpi.grip.core.operations.composite.BlobsReport;
@@ -21,6 +22,7 @@
 import edu.wpi.grip.core.operations.composite.PublishVideoOperation;
 import edu.wpi.grip.core.operations.composite.RGBThresholdOperation;
 import edu.wpi.grip.core.operations.composite.ResizeOperation;
+import edu.wpi.grip.core.operations.composite.SaveImageOperation;
 import edu.wpi.grip.core.operations.composite.SwitchOperation;
 import edu.wpi.grip.core.operations.composite.ThresholdMoving;
 import edu.wpi.grip.core.operations.composite.ValveOperation;
@@ -65,12 +67,14 @@ public class Operations {
              @Named("ntManager") MapNetworkPublisherFactory ntPublisherFactory,
              @Named("httpManager") MapNetworkPublisherFactory httpPublishFactory,
              @Named("rosManager") ROSNetworkPublisherFactory rosPublishFactory,
+             FileManager fileManager,
              InputSocket.Factory isf,
              OutputSocket.Factory osf) {
     this.eventBus = checkNotNull(eventBus, "EventBus cannot be null");
     checkNotNull(ntPublisherFactory, "ntPublisherFactory cannot be null");
     checkNotNull(httpPublishFactory, "httpPublisherFactory cannot be null");
     checkNotNull(rosPublishFactory, "rosPublishFactory cannot be null");
+    checkNotNull(fileManager, "fileManager cannot be null");
     this.operations = ImmutableList.of(
         // Composite operations
         new OperationMetaData(BlurOperation.DESCRIPTION,
@@ -105,6 +109,8 @@ public class Operations {
             () -> new ResizeOperation(isf, osf)),
         new OperationMetaData(RGBThresholdOperation.DESCRIPTION,
             () -> new RGBThresholdOperation(isf, osf)),
+        new OperationMetaData(SaveImageOperation.DESCRIPTION,
+            () -> new SaveImageOperation(isf, osf, fileManager)),
         new OperationMetaData(SwitchOperation.DESCRIPTION,
             () -> new SwitchOperation(isf, osf)),
         new OperationMetaData(ValveOperation.DESCRIPTION,
diff --git a/core/src/main/java/edu/wpi/grip/core/operations/composite/SaveImageOperation.java b/core/src/main/java/edu/wpi/grip/core/operations/composite/SaveImageOperation.java
@@ -0,0 +1,135 @@
+package edu.wpi.grip.core.operations.composite;
+
+import edu.wpi.grip.core.FileManager;
+import edu.wpi.grip.core.Operation;
+import edu.wpi.grip.core.OperationDescription;
+import edu.wpi.grip.core.sockets.InputSocket;
+import edu.wpi.grip.core.sockets.OutputSocket;
+import edu.wpi.grip.core.sockets.SocketHint;
+import edu.wpi.grip.core.sockets.SocketHints;
+import edu.wpi.grip.core.util.Icon;
+
+import com.google.common.base.Stopwatch;
+import com.google.common.collect.ImmutableList;
+
+import org.bytedeco.javacpp.BytePointer;
+import org.bytedeco.javacpp.IntPointer;
+
+import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
+import java.util.List;
+import java.util.concurrent.TimeUnit;
+
+import static org.bytedeco.javacpp.opencv_core.Mat;
+import static org.bytedeco.javacpp.opencv_imgcodecs.CV_IMWRITE_JPEG_QUALITY;
+import static org.bytedeco.javacpp.opencv_imgcodecs.imencode;
+
+/**
+ * Save JPEG files periodically to the local disk.
+ */
+public class SaveImageOperation implements Operation {
+
+  public static final OperationDescription DESCRIPTION =
+      OperationDescription.builder()
+          .name("Save Images to Disk")
+          .summary("Save image periodically to local disk")
+          .category(OperationDescription.Category.MISCELLANEOUS)
+          .icon(Icon.iconStream("publish-video"))
+          .build();
+
+  private final SocketHint<Mat> inputHint
+      = SocketHints.Inputs.createMatSocketHint("Input", false);
+  private final SocketHint<FileTypes> fileTypeHint
+      = SocketHints.createEnumSocketHint("File type", FileTypes.JPEG);
+  private final SocketHint<Number> qualityHint
+      = SocketHints.Inputs.createNumberSliderSocketHint("Quality", 90, 0, 100);
+  private final SocketHint<Number> periodHint
+      = SocketHints.Inputs.createNumberSpinnerSocketHint("Period", 0.1);
+  private final SocketHint<Boolean> activeHint
+      = SocketHints.Inputs.createCheckboxSocketHint("Active", false);
+
+  private final SocketHint<Mat> outputHint = SocketHints.Outputs.createMatSocketHint("Output");
+
+  private final InputSocket<Mat> inputSocket;
+  private final InputSocket<FileTypes> fileTypesSocket;
+  private final InputSocket<Number> qualitySocket;
+  private final InputSocket<Number> periodSocket;
+  private final InputSocket<Boolean> activeSocket;
+
+  private final OutputSocket<Mat> outputSocket;
+
+  private final FileManager fileManager;
+  private final BytePointer imagePointer = new BytePointer();
+  private final Stopwatch stopwatch = Stopwatch.createStarted();
+  private final DateTimeFormatter formatter
+      = DateTimeFormatter.ofPattern("yyyy-MM-dd_HH-mm-ss-SSS");
+
+  private enum FileTypes {
+    JPEG, PNG;
+
+    @Override
+    public String toString() {
+      return super.toString().toLowerCase();
+    }
+  }
+
+  @SuppressWarnings("JavadocMethod")
+  public SaveImageOperation(InputSocket.Factory inputSocketFactory,
+                            OutputSocket.Factory outputSocketFactory,
+                            FileManager fileManager) {
+    this.fileManager = fileManager;
+
+    inputSocket = inputSocketFactory.create(inputHint);
+    fileTypesSocket = inputSocketFactory.create(fileTypeHint);
+    qualitySocket = inputSocketFactory.create(qualityHint);
+    periodSocket = inputSocketFactory.create(periodHint);
+    activeSocket = inputSocketFactory.create(activeHint);
+
+    outputSocket = outputSocketFactory.create(outputHint);
+  }
+
+  @Override
+  public List<InputSocket> getInputSockets() {
+    return ImmutableList.of(
+        inputSocket,
+        fileTypesSocket,
+        qualitySocket,
+        periodSocket,
+        activeSocket
+    );
+  }
+
+  @Override
+  public List<OutputSocket> getOutputSockets() {
+    return ImmutableList.of(
+        outputSocket
+    );
+  }
+
+  @Override
+  public void perform() {
+    if (!activeSocket.getValue().orElse(false)) {
+      return;
+    }
+
+    // don't save new image until period expires
+    if (stopwatch.elapsed(TimeUnit.MILLISECONDS)
+        < periodSocket.getValue().get().doubleValue() * 1000L) {
+      return;
+    }
+    stopwatch.reset();
+    stopwatch.start();
+
+    imencode("." + fileTypesSocket.getValue().get(), inputSocket.getValue().get(), imagePointer,
+        new IntPointer(CV_IMWRITE_JPEG_QUALITY, qualitySocket.getValue().get().intValue()));
+    byte[] buffer = new byte[128 * 1024];
+    int bufferSize = imagePointer.limit();
+    if (bufferSize > buffer.length) {
+      buffer = new byte[imagePointer.limit()];
+    }
+    imagePointer.get(buffer, 0, bufferSize);
+
+    fileManager.saveImage(buffer, LocalDateTime.now().format(formatter)
+        + "." + fileTypesSocket.getValue().get());
+  }
+}
diff --git a/core/src/test/java/edu/wpi/grip/core/composite/SaveImageOperationTest.java b/core/src/test/java/edu/wpi/grip/core/composite/SaveImageOperationTest.java
@@ -0,0 +1,35 @@
+package edu.wpi.grip.core.composite;
+
+
+import edu.wpi.grip.core.operations.composite.SaveImageOperation;
+import edu.wpi.grip.core.sockets.InputSocket;
+import edu.wpi.grip.core.sockets.MockInputSocketFactory;
+import edu.wpi.grip.core.sockets.MockOutputSocketFactory;
+import edu.wpi.grip.core.util.MockFileManager;
+
+import com.google.common.eventbus.EventBus;
+
+import org.junit.Before;
+import org.junit.Test;
+
+import static org.junit.Assert.assertFalse;
+
+public class SaveImageOperationTest {
+
+  private InputSocket<Boolean> activeSocket;
+
+  @Before
+  public void setUp() throws Exception {
+    EventBus eventBus = new EventBus();
+    SaveImageOperation operation = new SaveImageOperation(new MockInputSocketFactory(eventBus),
+        new MockOutputSocketFactory(eventBus), new MockFileManager());
+    activeSocket = operation.getInputSockets().stream().filter(
+        o -> o.getSocketHint().getIdentifier().equals("Active")
+            && o.getSocketHint().getType().equals(Boolean.class)).findFirst().get();
+  }
+
+  @Test
+  public void testActiveButtonDefaultsDisabled() {
+    assertFalse("The active socket was not false (disabled).", activeSocket.getValue().get());
+  }
+}
diff --git a/core/src/test/java/edu/wpi/grip/core/operations/OperationsFactory.java b/core/src/test/java/edu/wpi/grip/core/operations/OperationsFactory.java
@@ -1,6 +1,7 @@
 package edu.wpi.grip.core.operations;
 
 
+import edu.wpi.grip.core.FileManager;
 import edu.wpi.grip.core.operations.network.MapNetworkPublisherFactory;
 import edu.wpi.grip.core.operations.network.MockMapNetworkPublisher;
 import edu.wpi.grip.core.operations.network.ros.JavaToMessageConverter;
@@ -10,6 +11,7 @@
 import edu.wpi.grip.core.sockets.MockInputSocketFactory;
 import edu.wpi.grip.core.sockets.MockOutputSocketFactory;
 import edu.wpi.grip.core.sockets.OutputSocket;
+import edu.wpi.grip.core.util.MockFileManager;
 
 import com.google.common.eventbus.EventBus;
 
@@ -22,6 +24,7 @@ public static Operations create(EventBus eventBus) {
         MockMapNetworkPublisher::new,
         MockMapNetworkPublisher::new,
         MockROSMessagePublisher::new,
+        new MockFileManager(),
         new MockInputSocketFactory(eventBus),
         new MockOutputSocketFactory(eventBus));
   }
@@ -30,9 +33,10 @@ public static Operations create(EventBus eventBus,
                                   MapNetworkPublisherFactory mapFactory,
                                   MapNetworkPublisherFactory httpFactory,
                                   ROSNetworkPublisherFactory rosFactory,
+                                  FileManager fileManager,
                                   InputSocket.Factory isf,
                                   OutputSocket.Factory osf) {
-    return new Operations(eventBus, mapFactory, httpFactory, rosFactory, isf, osf);
+    return new Operations(eventBus, mapFactory, httpFactory, rosFactory, fileManager, isf, osf);
   }
 
   public static CVOperations createCV(EventBus eventBus) {
diff --git a/core/src/test/java/edu/wpi/grip/core/util/MockFileManager.java b/core/src/test/java/edu/wpi/grip/core/util/MockFileManager.java
@@ -0,0 +1,12 @@
+package edu.wpi.grip.core.util;
+
+import edu.wpi.grip.core.FileManager;
+
+public class MockFileManager implements FileManager {
+
+  @Override
+  public void saveImage(byte[] image, String fileName) {
+    // No body here because this is for testing only.
+  }
+
+}
diff --git a/core/src/test/java/edu/wpi/grip/util/GripCoreTestModule.java b/core/src/test/java/edu/wpi/grip/util/GripCoreTestModule.java
@@ -1,11 +1,13 @@
 package edu.wpi.grip.util;
 
 
+import edu.wpi.grip.core.FileManager;
 import edu.wpi.grip.core.GripCoreModule;
 import edu.wpi.grip.core.http.GripServer;
 import edu.wpi.grip.core.http.GripServerTest;
 import edu.wpi.grip.core.sources.CameraSource;
 import edu.wpi.grip.core.sources.MockFrameGrabberFactory;
+import edu.wpi.grip.core.util.MockFileManager;
 
 import com.google.common.eventbus.SubscriberExceptionContext;
 
@@ -75,6 +77,7 @@ protected void configure() {
     assert setUp : "The GripCoreTestModule handler was not set up. Call 'setUp' before passing "
         + "the injector";
     bind(CameraSource.FrameGrabberFactory.class).to(MockFrameGrabberFactory.class);
+    bind(FileManager.class).to(MockFileManager.class);
     super.configure();
     // HTTP server injection bindings
     bind(GripServer.JettyServerFactory.class).to(GripServerTest.TestServerFactory.class);
diff --git a/ui/src/main/java/edu/wpi/grip/ui/Main.java b/ui/src/main/java/edu/wpi/grip/ui/Main.java
@@ -1,6 +1,7 @@
 package edu.wpi.grip.ui;
 
 import edu.wpi.grip.core.GripCoreModule;
+import edu.wpi.grip.core.GripFileModule;
 import edu.wpi.grip.core.PipelineRunner;
 import edu.wpi.grip.core.events.UnexpectedThrowableEvent;
 import edu.wpi.grip.core.http.GripServer;
@@ -71,15 +72,16 @@ public void start(Stage stage) throws Exception {
     if (parameters.contains("--headless")) {
       // If --headless was specified on the command line, run in headless mode (only use the core
       // module)
-      injector = Guice.createInjector(Modules.override(new GripCoreModule(),
+      injector = Guice.createInjector(Modules.override(new GripCoreModule(), new GripFileModule(),
           new GripSourcesHardwareModule()).with(new GripNetworkModule()));
       injector.injectMembers(this);
 
       parameters.remove("--headless");
     } else {
       // Otherwise, run with both the core and UI modules, and show the JavaFX stage
-      injector = Guice.createInjector(Modules.override(new GripCoreModule(),
+      injector = Guice.createInjector(Modules.override(new GripCoreModule(), new GripFileModule(),
           new GripSourcesHardwareModule()).with(new GripNetworkModule(), new GripUiModule()));
+
       injector.injectMembers(this);
 
       System.setProperty("prism.lcdtext", "false");

Original file line number	Diff line number	Diff line change
`@@ -56,7 +56,9 @@ public class GripCoreModule extends AbstractModule {`
`56`	`56`	`globalLogger.removeHandler(handler);`
`57`	`57`	`}`
`58`	`58`
`59`		`- final Handler fileHandler = new FileHandler("%h/GRIP.log"); //Log to the file "GRIPlogger.log"`
	`59`	`+ GripFileManager.GRIP_DIRECTORY.mkdirs();`
	`60`	`+ final Handler fileHandler`
	`61`	`+ = new FileHandler(GripFileManager.GRIP_DIRECTORY.getPath() + "/GRIP.log");`
`60`	`62`
`61`	`63`	`//Set level to handler and logger`
`62`	`64`	`fileHandler.setLevel(Level.FINE);`