Merge pull request #505 from ThomasJClark/start-stop-nt

Start and stop headless GRIP using NetworkTables

Author: JLLeitschuh

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

@@ -10,11 +10,13 @@
 import com.google.inject.spi.TypeEncounter;
 import com.google.inject.spi.TypeListener;
 import edu.wpi.grip.core.events.UnexpectedThrowableEvent;
+import edu.wpi.grip.core.operations.networktables.NTManager;
 import edu.wpi.grip.core.serialization.Project;
 import edu.wpi.grip.core.sources.CameraSource;
 import edu.wpi.grip.core.sources.ImageFileSource;
 import edu.wpi.grip.core.sources.MultiImageFileSource;
 import edu.wpi.grip.core.util.ExceptionWitness;
+import edu.wpi.grip.core.util.GRIPMode;
 
 import javax.annotation.Nullable;
 import java.io.IOException;
@@ -87,6 +89,8 @@ public GRIPCoreModule() {
 
     @Override
     protected void configure() {
+        bind(GRIPMode.class).toInstance(GRIPMode.HEADLESS);
+
         // Register any injected object on the event bus
         bindListener(Matchers.any(), new TypeListener() {
             @Override
@@ -97,6 +101,8 @@ public <I> void hear(TypeLiteral<I> type, TypeEncounter<I> encounter) {
 
         bind(EventBus.class).toInstance(eventBus);
 
+        bind(NTManager.class).asEagerSingleton();
+
         install(new FactoryModuleBuilder().build(new TypeLiteral<Connection.Factory<Object>>() {
         }));
 

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

@@ -7,7 +7,6 @@
 import com.thoughtworks.xstream.annotations.XStreamAlias;
 import com.thoughtworks.xstream.annotations.XStreamOmitField;
 import edu.wpi.grip.core.events.*;
-import edu.wpi.grip.core.operations.networktables.NTManager;
 import edu.wpi.grip.core.settings.ProjectSettings;
 
 import javax.inject.Inject;
@@ -37,10 +36,6 @@ public class Pipeline {
     @XStreamOmitField
     private EventBus eventBus;
 
-    @Inject
-    @XStreamOmitField
-    private NTManager ntManager;
-
     /*
      * We have separate locks for sources and steps because we don't want to
      * block access to both resources when only one is in use.

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

@@ -5,9 +5,11 @@
 import edu.wpi.first.wpilibj.networktables.NetworkTable;
 import edu.wpi.first.wpilibj.networktables.NetworkTablesJNI;
 import edu.wpi.grip.core.Pipeline;
+import edu.wpi.grip.core.PipelineRunner;
 import edu.wpi.grip.core.events.ProjectSettingsChangedEvent;
 import edu.wpi.grip.core.events.StepRemovedEvent;
 import edu.wpi.grip.core.settings.ProjectSettings;
+import edu.wpi.grip.core.util.GRIPMode;
 
 import javax.inject.Inject;
 import java.io.File;
@@ -41,13 +43,16 @@ public class NTManager {
         put(6, Level.FINEST);
     }};
 
-    @Inject Pipeline pipeline;
+    @Inject private Pipeline pipeline;
+    @Inject private PipelineRunner pipelineRunner;
+    @Inject private GRIPMode gripMode;
 
     @Inject
     public NTManager(Logger logger) {
         checkNotNull(logger, "Logger cannot be null");
         // We may have another instance of this method lying around
         NetworkTable.shutdown();
+
         // Redirect NetworkTables log messages to our own log files.  This gets rid of console spam, and it also lets
         // us grep through NetworkTables messages just like any other messages.
         NetworkTablesJNI.setLogger((level, file, line, msg) -> {
@@ -56,6 +61,30 @@ public NTManager(Logger logger) {
         }, 0);
 
         NetworkTable.setClientMode();
+
+        // When in headless mode, start and stop the pipeline based on the "GRIP/run" key.  This allows robot programs
+        // to control GRIP without actually restarting the process.
+        NetworkTable.getTable("GRIP").addTableListener("run", (source, key, value, isNew) -> {
+            if (gripMode == GRIPMode.HEADLESS) {
+                if (!(value instanceof Boolean)) {
+                    logger.warning("NetworkTables value GRIP/run should be a boolean!");
+                    return;
+                }
+
+                if ((Boolean) value) {
+                    if (!pipelineRunner.isRunning()) {
+                        logger.info("Starting GRIP from NetworkTables");
+                        pipelineRunner.startAsync();
+                    }
+                } else if (pipelineRunner.isRunning()) {
+                    logger.info("Stopping GRIP from NetworkTables");
+                    pipelineRunner.stopAsync();
+
+                }
+            }
+        }, true);
+
+        NetworkTable.shutdown();
     }
 
     /**

core/src/main/java/edu/wpi/grip/core/util/GRIPMode.java

@@ -0,0 +1,10 @@
+package edu.wpi.grip.core.util;
+
+/**
+ * An enum that indicates if GRIP is running in GUI mode with JavaFX or as a headless command line application.
+ * <p>
+ * To the get the mode, this can be injected into a class (ie: @Inject private GRIPMode mode;)
+ */
+public enum GRIPMode {
+    GUI, HEADLESS
+}

ui/src/main/java/edu/wpi/grip/ui/GRIPUIModule.java

@@ -8,6 +8,7 @@
 import com.google.inject.spi.TypeEncounter;
 import com.google.inject.spi.TypeListener;
 import edu.wpi.grip.core.Source;
+import edu.wpi.grip.core.util.GRIPMode;
 import edu.wpi.grip.ui.annotations.ParametrizedController;
 import edu.wpi.grip.ui.components.ExceptionWitnessResponderButton;
 import edu.wpi.grip.ui.components.StartStoppableButton;
@@ -28,6 +29,7 @@
 public class GRIPUIModule extends AbstractModule {
     @Override
     protected void configure() {
+        bind(GRIPMode.class).toInstance(GRIPMode.GUI);
 
         bindListener(Matchers.any(), new TypeListener() {
             @Override

ui/src/main/java/edu/wpi/grip/ui/Main.java

@@ -5,6 +5,7 @@
 import com.google.common.eventbus.Subscribe;
 import com.google.inject.Guice;
 import com.google.inject.Injector;
+import com.google.inject.util.Modules;
 import com.sun.javafx.application.PlatformImpl;
 import edu.wpi.grip.core.GRIPCoreModule;
 import edu.wpi.grip.core.PipelineRunner;
@@ -37,8 +38,12 @@ public class Main extends Application {
     @Inject private Project project;
     @Inject private Logger logger;
 
+    /**
+     * JavaFX insists on creating the main application with its own reflection code, so we can't create with the
+     * Guice and do automatic field injection. However, we can inject it after the fact.
+     */
     @VisibleForTesting
-    protected final Injector injector = Guice.createInjector(new GRIPCoreModule(), new GRIPUIModule());
+    protected Injector injector;
 
     private final Object dialogLock = new Object();
     private Parent root;
@@ -47,23 +52,22 @@ public static void main(String[] args) {
         launch(args);
     }
 
-    /**
-     * JavaFX insists on creating the main application with its own reflection code, so we can't create with the
-     * Guice and do automatic field injection. However, we can inject it after the fact.
-     */
-    public Main() {
-        injector.injectMembers(this);
-    }
-
     @Override
     @SuppressWarnings("PMD.SignatureDeclareThrowsException")
     public void start(Stage stage) throws Exception {
-        // If --headless was specified on the command line, run in headless mode
         List<String> parameters = new ArrayList<>(getParameters().getRaw());
 
         if (parameters.contains("--headless")) {
+            // If --headless was specified on the command line, run in headless mode (only use the core module)
+            injector = Guice.createInjector(new GRIPCoreModule());
+            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()).with(new GRIPUIModule()));
+            injector.injectMembers(this);
+
             root = FXMLLoader.load(Main.class.getResource("MainWindow.fxml"), null, null, injector::getInstance);
             root.setStyle("-fx-font-size: " + DPIUtility.FONT_SIZE + "px");
 

ui/src/test/java/edu/wpi/grip/ui/pipeline/PipelineUITest.java

@@ -4,6 +4,7 @@
 import com.google.common.eventbus.EventBus;
 import com.google.inject.Guice;
 import com.google.inject.Injector;
+import com.google.inject.util.Modules;
 import edu.wpi.grip.core.*;
 import edu.wpi.grip.core.util.MockExceptionWitness;
 import edu.wpi.grip.ui.GRIPUIModule;
@@ -44,7 +45,7 @@ public class PipelineUITest extends ApplicationTest {
     public void start(Stage stage) {
         testModule = new GRIPCoreTestModule();
         testModule.setUp();
-        final Injector injector = Guice.createInjector(testModule, new GRIPUIModule());
+        final Injector injector = Guice.createInjector(Modules.override(testModule).with(new GRIPUIModule()));
         eventBus = injector.getInstance(EventBus.class);
         pipeline = injector.getInstance(Pipeline.class);
         additionOperation = new AdditionOperation();

ui/src/test/java/edu/wpi/grip/ui/pipeline/input/InputSocketControllerFactoryTest.java

@@ -3,6 +3,7 @@
 import com.google.common.eventbus.EventBus;
 import com.google.inject.Guice;
 import com.google.inject.Injector;
+import com.google.inject.util.Modules;
 import edu.wpi.grip.core.InputSocket;
 import edu.wpi.grip.core.Operation;
 import edu.wpi.grip.core.Palette;
@@ -77,7 +78,7 @@ public InputSocketControllerFactoryTest(Operation operation, String name) {
     public void start(Stage stage) {
         testModule = new GRIPCoreTestModule();
         testModule.setUp();
-        Injector injector = Guice.createInjector(testModule, new GRIPUIModule());
+        Injector injector = Guice.createInjector(Modules.override(testModule).with(new GRIPUIModule()));
         inputSocketControllerFactory = injector.getInstance(InputSocketControllerFactory.class);
         stepFactory = injector.getInstance(Step.Factory.class);
         gridPane = new GridPane();