Merge pull request #371 from ThomasJClark/nt

Add publish operations for number, point, and size

Author: JLLeitschuh

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

@@ -3,12 +3,16 @@
 import com.google.common.eventbus.EventBus;
 import edu.wpi.grip.core.events.OperationAddedEvent;
 import edu.wpi.grip.core.operations.composite.*;
+import edu.wpi.grip.core.operations.networktables.NTNumber;
 import edu.wpi.grip.core.operations.networktables.NTPublishOperation;
+import edu.wpi.grip.core.operations.networktables.NTVector2D;
 import edu.wpi.grip.core.operations.opencv.MatFieldAccessor;
 import edu.wpi.grip.core.operations.opencv.MinMaxLoc;
 import edu.wpi.grip.core.operations.opencv.NewPointOperation;
 import edu.wpi.grip.core.operations.opencv.NewSizeOperation;
 
+import static org.bytedeco.javacpp.opencv_core.*;
+
 public final class Operations {
 
     private Operations() { /* no op */}
@@ -31,6 +35,9 @@ public static void addOperations(EventBus eventBus) {
         eventBus.post(new OperationAddedEvent(new NewPointOperation()));
         eventBus.post(new OperationAddedEvent(new NewSizeOperation()));
         eventBus.post(new OperationAddedEvent(new MatFieldAccessor()));
+        eventBus.post(new OperationAddedEvent(new NTPublishOperation<>(Number.class, NTNumber.class, NTNumber::new)));
+        eventBus.post(new OperationAddedEvent(new NTPublishOperation<>(Point.class, NTVector2D.class, NTVector2D::new)));
+        eventBus.post(new OperationAddedEvent(new NTPublishOperation<>(Size.class, NTVector2D.class, NTVector2D::new)));
         eventBus.post(new OperationAddedEvent(new NTPublishOperation<>(ContoursReport.class)));
         eventBus.post(new OperationAddedEvent(new NTPublishOperation<>(BlobsReport.class)));
         eventBus.post(new OperationAddedEvent(new NTPublishOperation<>(LinesReport.class)));

core/src/main/java/edu/wpi/grip/core/operations/networktables/NTNumber.java

@@ -0,0 +1,22 @@
+package edu.wpi.grip.core.operations.networktables;
+
+import java.util.function.Function;
+
+/**
+ * An adapter to allow numbers to be published from GRIP sockets into NetworkTables
+ *
+ * @see NTPublishOperation#NTPublishOperation(Class, Class, Function)
+ */
+public class NTNumber implements NTPublishable {
+
+    private final double number;
+
+    public NTNumber(Number number) {
+        this.number = number.doubleValue();
+    }
+
+    @NTValue
+    public double getValue() {
+        return number;
+    }
+}

core/src/main/java/edu/wpi/grip/core/operations/networktables/NTPublishOperation.java

@@ -12,6 +12,7 @@
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Optional;
+import java.util.function.Function;
 
 import static com.google.common.base.Preconditions.checkNotNull;
 
@@ -21,16 +22,35 @@
  * To be publishable, a type should have one or more accessor methods annotated with {@link NTValue}.  This is done
  * with annotations instead of methods
  */
-public class NTPublishOperation<T extends NTPublishable> implements Operation {
+public class NTPublishOperation<S, T extends NTPublishable> implements Operation {
 
-    private final Class<T> type;
+    private final Class<S> type;
+    private final Function<S, T> converter;
     private final List<Method> ntValueMethods = new ArrayList<>();
 
+    /**
+     * Create a new publish operation for a socket type that implements {@link NTPublishable} directly
+     */
+    @SuppressWarnings("unchecked")
     public NTPublishOperation(Class<T> type) {
-        this.type = checkNotNull(type, "Type was null");
+        this((Class<S>) type, type, value -> (T) value);
+    }
+
+    /**
+     * Create a new publish operation where the socket type and NTPublishable type are different.  This is useful for
+     * classes that we don't create, such as JavaCV's {@link org.bytedeco.javacpp.opencv_core.Size} class, since we
+     * can't make them implement additional interfaces.
+     *
+     * @param socketType The type of socket that can be connected to this step
+     * @param reportType A class implementing {@link NTPublishable} that determines what data is sent to NetworkTables
+     * @param converter  A function to convert socket values into publishable values
+     */
+    public NTPublishOperation(Class<S> socketType, Class<T> reportType, Function<S, T> converter) {
+        this.type = checkNotNull(socketType, "Type was null");
+        this.converter = checkNotNull(converter, "Converter was null");
 
         // Any accessor method with an @NTValue annotation can be published to NetworkTables.
-        for (Method method : type.getDeclaredMethods()) {
+        for (Method method : reportType.getDeclaredMethods()) {
             if (method.getAnnotation(NTValue.class) != null) {
                 if (method.getParameters().length > 0) {
                     throw new IllegalArgumentException("@NTValue method must have 0 parameters: " + method);
@@ -88,7 +108,7 @@ public OutputSocket<?>[] createOutputSockets(EventBus eventBus) {
     public void perform(InputSocket<?>[] inputs, OutputSocket<?>[] outputs) {
         int i = 0;
 
-        final NTPublishable value = (NTPublishable) inputs[i++].getValue().get();
+        final NTPublishable value = converter.apply((S) inputs[i++].getValue().get());
         final String subtableName = (String) inputs[i++].getValue().get();
 
         if (subtableName.isEmpty()) {

core/src/main/java/edu/wpi/grip/core/operations/networktables/NTValue.java

@@ -21,5 +21,5 @@
 @Retention(RetentionPolicy.RUNTIME)
 @Target(ElementType.METHOD)
 public @interface NTValue {
-    String key();
+    String key() default "";
 }

core/src/main/java/edu/wpi/grip/core/operations/networktables/NTVector2D.java

@@ -0,0 +1,36 @@
+package edu.wpi.grip.core.operations.networktables;
+
+import java.util.function.Function;
+
+import static org.bytedeco.javacpp.opencv_core.*;
+
+/**
+ * A type publishable to NetworkTables that consists of two numbers.  JavaCV {@link Point}s and {@link Size}s are
+ * converted into this.
+ *
+ * @see NTPublishOperation#NTPublishOperation(Class, Class, Function)
+ */
+public class NTVector2D implements NTPublishable {
+
+    private final double x, y;
+
+    public NTVector2D(Point point) {
+        this.x = point.x();
+        this.y = point.y();
+    }
+
+    public NTVector2D(Size size) {
+        this.x = size.width();
+        this.y = size.height();
+    }
+
+    @NTValue(key = "x")
+    public double getX() {
+        return x;
+    }
+
+    @NTValue(key = "y")
+    public double getY() {
+        return y;
+    }
+}