Code Generation (#597)

Add support for generating Java, C++, and Python code from a pipeline.

Exported code uses the official OpenCV API for that language (so no JavaCV). The generated code is set up so that a user supplies an image, runs the pipeline, and gets the data outputs manually. There is no integration with image sources, such as webcams, to make the generated code as portable as possible


Notable changes and additions:

* Made file chooser default to Pipeline as name and made exporter name the class properly

* Created an icon for code generation

* Adds new switches for gradle:
-Pgeneration to compile/run generation and non generation tests
-Pgenonly to compile all tests but only run generation tests
if neither is specified then generation tests will not be compiled
and thus OpenCV is not required to compile tests other than generation

* Always display the correct language if tests fail.

* Added shortcut for code generation

* Updated to use a new thread for export

* Made code generation work from within an executable.

Also changed the template to the code generation folder.
This made it easier for templates to be found.

* Don't try generating code for publishing operations

* Make variable and method names fit standard language conventions.

Variables and methods no longer have numbers if there's only one of that operation, or if an operation only has one output.
Operations with multiple outputs have the outputs named the same as on the socket (instead of just 'output0', 'output1', ...)
Rename `MutableOf` to `Ref` because it's really just holding a reference and it's used similarly to output parameters in C/C++

* Add alert when trying to generate code for a pipeline with non-exportable operations

* Fixed Java and Python tests on Travis. C++ test are disabled.

* Use OpenCV artifacts on FRC maven for code gen testing. Enable code gen tests on Travis' OSX platform

Author: PatrickPenguinTurtle

.gitignore

@@ -88,6 +88,8 @@ bower_components
 **/generated
 */generated_tests
 /bin/
+ui/PipelineTest.java
+ui/CameraTest.java
 
 ### NetworkTables
 networktables.ini

.travis-scripts/linux-opencv-install.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+
+#pip3 install --upgrade pip
+#pip3 install numpy
+#pip3 install opencv-python
+#mkdir -p $HOME/opencv/jni
+#sudo apt-get install libdc1394-22-dev
+#sudo ln /dev/null /dev/raw1394

.travis-scripts/osx-opencv-install.sh

@@ -0,0 +1,14 @@
+#!/bin/bash
+
+brew update
+brew install gcc
+brew upgrade gcc
+brew install cmake
+brew upgrade cmake
+brew install ant
+brew upgrade ant
+brew install python3
+brew linkapps python3
+pip3 install numpy
+pip3 install opencv-python
+mkdir -p $HOME/opencv/jni

.travis.yml

@@ -21,16 +21,26 @@ addons:
       - gcc-4.8
       - g++-4.8
       - oracle-java8-installer
-
+      - python3
 before_install:
   - .travis-scripts/install.sh
-
+  - |
+    if [[ "$TRAVIS_OS_NAME" == "osx" ]];
+    then .travis-scripts/osx-opencv-install.sh;
+    else .travis-scripts/linux-opencv-install.sh;
+    fi
 # Only do an assemble when we aren't building a pull request
 install:
   - '[ "${TRAVIS_PULL_REQUEST}" = "false" ] && ./gradlew jfxNative --no-daemon --stacktrace || ./gradlew --stacktrace '
 
 script:
-  - ./gradlew check jacocoTestReport jacocoRootReport --stacktrace -Pheadless=true -PlogTests
+  # Only run code generation tests on OSX -- linux requires sudo to install OpenCV dependencies, and that environment
+  # will not be able to run MainWindowTest.testDragOperationFromPaletteToPipeline
+  - |
+    if [[ "$TRAVIS_OS_NAME" == "osx" ]];
+    then ./gradlew check jacocoTestReport jacocoRootReport --stacktrace -Pheadless=true -PlogTests -Pgeneration -PjniLocation=$HOME/opencv/jni;
+    else ./gradlew check jacocoTestReport jacocoRootReport --stacktrace -Pheadless=true -PlogTests;
+    fi
 
 after_success:
   - if [[ "$TRAVIS_OS_NAME" != "osx" ]]; then codecov         ; fi

build.gradle

@@ -6,14 +6,22 @@ buildscript {
         maven {
             url "https://plugins.gradle.org/m2/"
         }
+        maven {
+            url 'https://github.com/WPIRoboticsProjects/opencv-maven/raw/mvn-repo'
+        }
     }
 
     dependencies {
         classpath group: 'de.dynamicfiles.projects.gradle.plugins', name: 'javafx-gradle-plugin', version: '8.5.2'
         classpath 'com.netflix.nebula:gradle-aggregate-javadocs-plugin:2.2.+'
         classpath 'net.ltgt.gradle:gradle-errorprone-plugin:0.0.8'
+        classpath group: 'edu.wpi.first.wpilib.opencv', name: 'opencv-installer', version: '2.0.0'
     }
 }
+
+import edu.wpi.first.wpilib.opencv.installer.Installer
+import edu.wpi.first.wpilib.opencv.installer.platform.Platform
+
 plugins {
     id 'java'
     id 'idea'
@@ -26,9 +34,12 @@ plugins {
 apply plugin: 'nebula-aggregate-javadocs'
 
 def getGitCommit = { ->
-    String HEAD_REF = new File(rootDir, '.git/HEAD').text.replace("ref: ", "").replace("\n", "")
-    String COMMIT_HASH = new File(rootDir, ".git/${HEAD_REF}").text.substring(0, 7)
-    return COMMIT_HASH
+    def stdout = new ByteArrayOutputStream()
+    exec {
+        commandLine 'git', 'rev-parse', '--short', 'HEAD'
+        standardOutput = stdout
+    }
+    return stdout.toString().trim()
 }
 
 idea.project {
@@ -374,21 +385,38 @@ project(":ui") {
     apply plugin: 'application'
     apply plugin: 'javafx-gradle-plugin'
 
+    repositories {
+        maven {
+            url = "http://first.wpi.edu/FRC/roborio/maven/development"
+        }
+    }
+
     configurations {
         ideProvider
     }
-
+	if(!(project.hasProperty('generation') || project.hasProperty('genonly'))){
+	    sourceSets {
+            test {
+                java {
+                    exclude "**/ui/codegeneration"
+                    exclude "**/ui/codegeneration/**"
+                }
+            }
+	    }
+	}
     dependencies {
         compile project(path: ':core', configuration: 'shadow')
         compile project(path: ':ui:preloader')
         ideProvider project(path: ':core', configuration: 'compile')
         compile group: 'org.controlsfx', name: 'controlsfx', version: '8.40.11'
         compile group: 'com.hierynomus', name: 'sshj', version: '0.16.0'
+        compile group: 'org.apache.velocity', name: 'velocity', version: '1.7'
         testCompile files(project(':core').sourceSets.test.output.classesDir)
         testCompile files(project(':core').sourceSets.test.output.resourcesDir)
         testCompile group: 'org.testfx', name: 'testfx-core', version: '4.0.+'
         testCompile group: 'org.testfx', name: 'testfx-junit', version: '4.0.+'
         testRuntime group: 'org.testfx', name: 'openjfx-monocle', version: '1.8.0_20'
+        testCompile group: 'org.opencv', name: 'opencv-java', version: '3.1.0'
     }
 
     evaluationDependsOn(':core')
@@ -412,6 +440,91 @@ project(":ui") {
         }
     }
 
+    task testSharedLib() {
+        description 'Compiles the shared library used by c++ generation testing.'
+        doLast {
+        def syst = osdetector.os
+        if(syst == "windows") {
+            exec {
+                ignoreExitValue true//if clean hasn't been called, directory already exists and mkdir fails.
+                workingDir 'build/classes/test'
+                commandLine 'cmd', '/c', 'mkdir', 'pipelib'
+            }
+            exec {
+                workingDir 'build/classes/test/pipelib'
+                commandLine '"C:\\Program Files (x86)\\Microsoft Visual Studio 14.0\\VC\\vcvarsall.bat"', 'amd64', '&', 'cmake', '-G', 'Visual Studio 14 2015 Win64', '..\\..\\..\\..\\src\\test\\resources\\edu\\wpi\\grip\\ui\\codegeneration\\tools\\'
+           }
+            exec {
+                workingDir 'build/classes/test/pipelib'
+                commandLine '"C:\\Program Files (x86)\\Microsoft Visual Studio 14.0\\VC\\vcvarsall.bat"', 'amd64', '&', 'cmake', '--build', '.', '--target', 'ALL_BUILD', '--config', 'Release'
+            }
+            exec {
+                workingDir 'build/classes/test'
+                commandLine 'cmd', '/C', 'copy /Y pipelib\\Release\\* .'
+            }
+            exec {
+                workingDir 'build/classes/test'
+                commandLine 'cmd', '/C', 'copy /Y pipelib\\pipe\\Release\\* .'
+            }
+            exec {
+                workingDir 'build/classes/test/pipelib'
+                commandLine 'cmd', '/C', 'copy /Y ..\\..\\..\\..\\src\\test\\resources\\edu\\wpi\\grip\\ui\\codegeneration\\tools\\pipe\\AbsPipeline.h pipe\\'
+            }
+            exec {
+                workingDir 'build/classes/test'
+                commandLine 'cmd', '/C', 'copy /Y ..\\..\\..\\src\\test\\resources\\edu\\wpi\\grip\\ui\\codegeneration\\tools\\realpipe\\CMakeLists.txt .'
+            }
+        } else {
+            exec {
+                ignoreExitValue true//if clean hasn't been called, directory already exists and mkdir fails.
+                workingDir 'build/classes/test'
+                commandLine 'mkdir', 'pipelib'
+            }
+            exec {
+                workingDir 'build/classes/test/pipelib'
+                commandLine 'cmake' , '../../../../src/test/resources/edu/wpi/grip/ui/codegeneration/tools/'
+           }
+            exec {
+                workingDir 'build/classes/test/pipelib'
+                commandLine 'make'
+            }
+            exec {
+                workingDir 'build/classes/test'
+                if(syst == "osx"){
+                    commandLine 'cp', 'pipelib/libgenJNI.dylib', '.'
+                }
+                if(syst == "linux"){
+                    commandLine 'cp' , 'pipelib/libgenJNI.so', '.'
+                }
+            }
+            exec {
+                workingDir 'build/classes/test/pipelib'
+                commandLine 'cp' , '../../../../src/test/resources/edu/wpi/grip/ui/codegeneration/tools/pipe/AbsPipeline.h', 'pipe/'
+            }
+            exec {
+                workingDir 'build/classes/test'
+                commandLine 'cp', '../../../src/test/resources/edu/wpi/grip/ui/codegeneration/tools/realpipe/CMakeLists.txt', '.'
+            }
+            }
+        }
+    }
+
+    if(project.hasProperty('generation') || project.hasProperty('genonly')){
+        def syst = osdetector.os
+        test {
+            Platform platform = Installer.getPlatform()
+            Installer.setOpenCvVersion('3.1.0')
+            def jniLocation = project.getProperties().getOrDefault('jniLocation', platform.defaultJniLocation())
+            Installer.installJni("${jniLocation}")
+            def defaultLibPath = System.getProperty('java.library.path');
+            jvmArgs = ["-Djava.library.path=${defaultLibPath}${System.getProperty('path.separator')}${jniLocation}"]
+            if(project.hasProperty('genonly')){
+                useJUnit {
+                    includeCategories 'edu.wpi.grip.ui.codegeneration.GenerationTesting'
+                }
+            }
+        }
+    }
 
     jfx {
         mainClass = "edu.wpi.grip.ui.Main"

core/src/test/java/edu/wpi/grip/core/operations/OperationsUtil.java

@@ -0,0 +1,33 @@
+package edu.wpi.grip.core.operations;
+
+import edu.wpi.grip.core.OperationMetaData;
+
+import com.google.common.collect.ImmutableList;
+
+import java.util.Locale;
+
+import javax.inject.Inject;
+
+import static org.junit.Assert.fail;
+
+public class OperationsUtil {
+  @Inject
+  private CVOperations cvOperations;
+
+  public ImmutableList<OperationMetaData> operations() {
+    return cvOperations.operations();
+  }
+
+  public OperationMetaData getMetaData(String opName) {
+    Locale locOpName = new Locale(opName);
+    String newOpName = locOpName.toString().toLowerCase().replaceAll("[^a-zA-Z]", "");
+    for (OperationMetaData data : operations()) {
+      String dataName = data.getDescription().name().toLowerCase().replaceAll("[^a-zA-Z]", "");
+      if (dataName.equals(newOpName)) {
+        return data;
+      }
+    }
+    fail("Given operation name " + newOpName + " does not match any CV operation");
+    return null; //Never going to happen since line above throws error
+  }
+}

core/src/test/java/edu/wpi/grip/core/sources/MockNumberSource.java

@@ -0,0 +1,64 @@
+package edu.wpi.grip.core.sources;
+
+import edu.wpi.grip.core.Source;
+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.ExceptionWitness.Factory;
+
+import com.google.common.collect.ImmutableList;
+
+import edu.umd.cs.findbugs.annotations.SuppressFBWarnings;
+
+import java.io.IOException;
+import java.util.List;
+import java.util.Properties;
+
+public class MockNumberSource extends Source {
+  
+  private static int numberOf = 0;
+  private final int id;
+  private final OutputSocket<Number> outputSocket;
+  private final SocketHint<Number> outputSocketHint = 
+      SocketHints.Outputs.createNumberSocketHint("Num", Math.PI);
+
+  @SuppressFBWarnings(value = "ST_WRITE_TO_STATIC_FROM_INSTANCE_METHOD",
+      justification = "Do not need to synchronize inside of a constructor")
+  public MockNumberSource(Factory exceptionWitnessFactory, double value, OutputSocket.Factory osf) {
+    super(exceptionWitnessFactory);
+    id = numberOf++;
+    outputSocket = osf.create(outputSocketHint);
+    outputSocket.setValue(new Double(value));
+  }
+
+  @Override
+  public String getName() {
+    return "NumberSource" + id;
+  }
+
+  @Override
+  protected List<OutputSocket> createOutputSockets() {
+    return ImmutableList.of(
+      outputSocket
+    );
+  }
+
+  @Override
+  protected boolean updateOutputSockets() {
+    return false;
+  }
+
+  @Override
+  public Properties getProperties() {
+    final Properties properties = new Properties();
+    properties.setProperty("number", createOutputSockets().get(0)
+        .getValue().orElseGet(() -> Math.PI).toString());
+    return properties;
+  }
+
+  @Override
+  public void initialize() throws IOException {
+    //Initialize doesn't need to do anything for a number source.
+  }
+
+}

grip.xml

@@ -9,6 +9,8 @@
 import edu.wpi.grip.core.settings.SettingsProvider;
 import edu.wpi.grip.core.util.SafeShutdown;
 import edu.wpi.grip.core.util.service.SingleActionListener;
+import edu.wpi.grip.ui.codegeneration.Exporter;
+import edu.wpi.grip.ui.codegeneration.Language;
 import edu.wpi.grip.ui.components.StartStoppableButton;
 import edu.wpi.grip.ui.util.DPIUtility;
 
@@ -21,13 +23,16 @@
 import java.io.File;
 import java.io.IOException;
 import java.util.Optional;
+import java.util.Set;
 import java.util.logging.Level;
 import java.util.logging.Logger;
 
 import javafx.application.Platform;
+import javafx.event.ActionEvent;
 import javafx.fxml.FXML;
 import javafx.scene.Parent;
 import javafx.scene.Scene;
+import javafx.scene.control.Alert;
 import javafx.scene.control.ButtonType;
 import javafx.scene.control.Dialog;
 import javafx.scene.control.SplitPane;
@@ -240,6 +245,38 @@ protected void quit() {
       SafeShutdown.exit(0);
     }
   }
+  
+  /**
+   * Controls the export button in the main menu. Opens a filechooser with language selection.
+   * The user can select the language to export to, save location and file name.
+   * @param actionEvent Unused event passed by the controller.
+   */
+  public void generate(ActionEvent actionEvent) {
+    final FileChooser fileChooser = new FileChooser();
+    fileChooser.setTitle("Export to");
+    fileChooser.getExtensionFilters().add(new ExtensionFilter(Language.JAVA.name, "*.java"));
+    fileChooser.getExtensionFilters().add(new ExtensionFilter(Language.CPP.name, "*.cpp"));
+    fileChooser.getExtensionFilters().add(new ExtensionFilter(Language.PYTHON.name, "*.py"));
+    fileChooser.setInitialFileName("Pipeline.java");
+    final File file = fileChooser.showSaveDialog(root.getScene().getWindow());
+    if (file == null) {
+      return;
+    }
+    Language lang = Language.get(fileChooser.getSelectedExtensionFilter().getDescription());
+    Exporter exporter = new Exporter(pipeline.getSteps(), lang, file);
+    final Set<String> nonExportableSteps = exporter.getNonExportableSteps();
+    if (!nonExportableSteps.isEmpty()) {
+      StringBuilder b = new StringBuilder("The following steps cannot be exported:\n");
+      nonExportableSteps.forEach(n -> b.append("  ").append(n).append('\n'));
+      Alert alert = new Alert(Alert.AlertType.WARNING);
+      alert.setContentText(b.toString());
+      alert.showAndWait();
+      return;
+    }
+    Thread exportRunner = new Thread(exporter);
+    exportRunner.setDaemon(true);
+    exportRunner.start();
+  }
 
   @FXML
   protected void deploy() {