Merge pull request #527 from JLLeitschuh/feat/rosNetworkPublishing

GRIP publish as a ROS Node

Author: JLLeitschuh

.gitignore

@@ -85,5 +85,6 @@ node_modules
 bower_components
 
 #Generated files should be ignored as the are regenerated as a build step
-*/src/generated
+**/generated
+*/generated_tests
 /bin/

build.gradle

@@ -21,6 +21,21 @@ def getGitCommit = { ->
     return COMMIT_HASH
 }
 
+idea.project {
+    ipr.withXml { provider ->
+        def node = provider.asNode()
+        def compilerConfig = node.component.find { it.'@name' == 'CompilerConfiguration'}
+        compilerConfig.annotationProcessing[0].'@enabled' = 'true'
+//        def ccfg = node.component.find { it.@name == 'CompilerConfiguration' }
+//        ccfg.remove(ccfg.annotationProcessing)
+//        ccfg.append(new NodeBuilder().annotationProcessing() {
+//            profile(default: true, name: 'Default', enabled: true) {
+//                processorPath(useClasspath: true)
+//            }
+//        })
+    }
+}
+
 /*
  * Gets the version name from the latest Git tag
  * http://ryanharter.com/blog/2013/07/30/automatic-versioning-with-git-and-gradle/
@@ -145,6 +160,9 @@ project(":core") {
             maven {
                 url = "http://first.wpi.edu/FRC/roborio/maven/development"
             }
+            maven {
+                url = "https://github.com/WPIRoboticsProjects/rosjava_mvn_repo/raw/master"
+            }
         }
     }
 
@@ -159,11 +177,16 @@ project(":core") {
         compile group: 'com.thoughtworks.xstream', name: 'xstream', version: '1.4.8'
         compile group: 'org.apache.commons', name: 'commons-lang3', version: '3.4'
         compile group: 'com.google.guava', name: 'guava', version: '19.0'
+        compile group: 'com.google.auto.value', name: 'auto-value', version: '1.1'
         // We use the no_aop version of Guice because the aop isn't avaiable in arm java
         // http://stackoverflow.com/a/15235190/3708426
         // https://github.com/google/guice/wiki/OptionalAOP
         compile group: 'com.google.inject', name: 'guice', version: '4.0', classifier: 'no_aop'
         compile group: 'com.google.inject.extensions', name: 'guice-assistedinject', version: '4.0'
+
+        // Network publishing dependencies
+        compile group: 'org.ros.rosjava_core', name: 'rosjava', version: '[0.2,0.3)'
+        compile group: 'org.ros.rosjava_messages', name: 'grip_msgs', version: '0.0.1'
         compile group: 'edu.wpi.first.wpilib.networktables.java', name: 'NetworkTables', version: '3.0.0-SNAPSHOT', classifier: 'desktop'
         compile group: 'edu.wpi.first.wpilib.networktables.java', name: 'NetworkTables', version: '3.0.0-SNAPSHOT', classifier: 'arm'
     }
@@ -232,8 +255,8 @@ project(":core") {
 
     idea.module {
         sourceDirs += sourceSets.generated.java.srcDirs
+        sourceDirs += file('generated')
     }
-    // End IDE setup
 }
 
 project(":ui") {

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

@@ -10,7 +10,6 @@
 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;
@@ -101,8 +100,6 @@ 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/Main.java

@@ -7,6 +7,7 @@
 import edu.wpi.grip.core.events.ExceptionClearedEvent;
 import edu.wpi.grip.core.events.ExceptionEvent;
 import edu.wpi.grip.core.operations.Operations;
+import edu.wpi.grip.core.operations.network.GRIPNetworkModule;
 import edu.wpi.grip.core.serialization.Project;
 import edu.wpi.grip.generated.CVOperations;
 
@@ -24,11 +25,12 @@ public class Main {
     @Inject private Project project;
     @Inject private PipelineRunner pipelineRunner;
     @Inject private EventBus eventBus;
+    @Inject private Operations operations;
     @Inject private Logger logger;
 
     @SuppressWarnings("PMD.SystemPrintln")
     public static void main(String[] args) throws IOException, InterruptedException {
-        final Injector injector = Guice.createInjector(new GRIPCoreModule());
+        final Injector injector = Guice.createInjector(new GRIPCoreModule(), new GRIPNetworkModule());
         injector.getInstance(Main.class).start(args);
     }
 
@@ -41,7 +43,7 @@ public void start(String[] args) throws IOException, InterruptedException {
             logger.log(Level.INFO, "Loading file " + args[0]);
         }
 
-        Operations.addOperations(eventBus);
+        operations.addOperations();
         CVOperations.addOperations(eventBus);
 
         final String projectPath = args[0];

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

@@ -1,5 +1,6 @@
 package edu.wpi.grip.core;
 
+import com.google.common.collect.ImmutableSet;
 import com.google.common.eventbus.EventBus;
 
 import java.io.InputStream;
@@ -24,6 +25,14 @@ enum Category {
      */
     String getName();
 
+    /**
+     * @return Any old unique user-facing names of the operation. This is used to preserve compatibility with
+     * old versions of GRIP if the operation name changes.
+     */
+    default ImmutableSet<String> getAliases() {
+        return ImmutableSet.of();
+    }
+
 
     /**
      * @return A description of the operation.

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

@@ -11,6 +11,7 @@
 import java.util.Map;
 import java.util.Optional;
 
+import static com.google.common.base.Preconditions.checkArgument;
 import static com.google.common.base.Preconditions.checkNotNull;
 
 /**
@@ -31,7 +32,21 @@ public class Palette {
     @Subscribe
     public void onOperationAdded(OperationAddedEvent event) {
         final Operation operation = event.getOperation();
-        this.operations.put(operation.getName(), operation);
+        map(operation.getName(), operation);
+        for(String alias : operation.getAliases()) {
+            map(alias, operation);
+        }
+    }
+
+    /**
+     * Maps the key to the given operation
+     * @param key The key the operation should be mapped to
+     * @param operation The operation to map the key to
+     * @throws IllegalArgumentException if the key is already in the {@link #operations} map.
+     */
+    private void map(String key, Operation operation) {
+        checkArgument(!operations.containsKey(key), "Operation name or alias already exists: " + key);
+        operations.put(key, operation);
     }
 
     /**

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

@@ -13,14 +13,14 @@
 import edu.wpi.grip.core.events.RenderEvent;
 import edu.wpi.grip.core.events.RunPipelineEvent;
 import edu.wpi.grip.core.events.StopPipelineEvent;
+import edu.wpi.grip.core.util.SinglePermitSemaphore;
 import edu.wpi.grip.core.util.service.AutoRestartingService;
 import edu.wpi.grip.core.util.service.LoggingListener;
 import edu.wpi.grip.core.util.service.RestartableService;
 
 import javax.annotation.Nullable;
 import javax.inject.Inject;
 import java.util.concurrent.Executor;
-import java.util.concurrent.Semaphore;
 import java.util.concurrent.TimeUnit;
 import java.util.concurrent.TimeoutException;
 import java.util.function.Supplier;
@@ -37,7 +37,7 @@ public class PipelineRunner implements RestartableService {
     /**
      * This is used to flag that the pipeline needs to run because of an update
      */
-    private final Semaphore pipelineFlag = new Semaphore(0);
+    private final SinglePermitSemaphore pipelineFlag = new SinglePermitSemaphore();
     private final Supplier<ImmutableList<Source>> sourceSupplier;
     private final Supplier<ImmutableList<Step>> stepSupplier;
     private final AutoRestartingService pipelineService;
@@ -62,13 +62,7 @@ public class PipelineRunner implements RestartableService {
                     protected void runOneIteration() throws InterruptedException {
                         if (!super.isRunning()) return;
 
-                        // Acquire the first this one should permit if there is at least one permit
                         pipelineFlag.acquire();
-                        // Acquire the rest of the permits from the flag
-                        // Every time release is called another permit is added.
-                        // We need to clean up any old permits that we may have been given.
-                        pipelineFlag.acquire(
-                                Math.max(0, pipelineFlag.availablePermits()));
 
                         if (!super.isRunning()) return;
                         runPipeline(super::isRunning);

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

@@ -1,50 +1,99 @@
 package edu.wpi.grip.core.operations;
 
+import com.google.common.collect.ImmutableList;
 import com.google.common.eventbus.EventBus;
+import com.google.inject.Inject;
+import com.google.inject.Singleton;
+import com.google.inject.name.Named;
+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.NTNumber;
-import edu.wpi.grip.core.operations.networktables.NTPublishOperation;
-import edu.wpi.grip.core.operations.networktables.NTVector2D;
+import edu.wpi.grip.core.operations.network.BooleanPublishable;
+import edu.wpi.grip.core.operations.network.MapNetworkPublisherFactory;
+import edu.wpi.grip.core.operations.network.NumberPublishable;
+import edu.wpi.grip.core.operations.network.Vector2D;
+import edu.wpi.grip.core.operations.network.networktables.NTPublishAnnotatedOperation;
+import edu.wpi.grip.core.operations.network.ros.JavaToMessageConverter;
+import edu.wpi.grip.core.operations.network.ros.ROSNetworkPublisherFactory;
+import edu.wpi.grip.core.operations.network.ros.ROSPublishOperation;
 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.*;
+import java.util.function.Supplier;
 
-public final class Operations {
+import static com.google.common.base.Preconditions.checkNotNull;
+import static org.bytedeco.javacpp.opencv_core.Point;
+import static org.bytedeco.javacpp.opencv_core.Size;
 
-    private Operations() { /* no op */}
+@Singleton
+public class Operations {
+    private final EventBus eventBus;
+    private final ImmutableList<Supplier<Operation>> operations;
 
-    public static void addOperations(EventBus eventBus) {
-        // Add the default built-in operations to the palette
-        eventBus.post(new OperationAddedEvent(new ResizeOperation()));
-        eventBus.post(new OperationAddedEvent(new BlurOperation()));
-        eventBus.post(new OperationAddedEvent(new DesaturateOperation()));
-        eventBus.post(new OperationAddedEvent(new RGBThresholdOperation()));
-        eventBus.post(new OperationAddedEvent(new HSVThresholdOperation()));
-        eventBus.post(new OperationAddedEvent(new HSLThresholdOperation()));
-        eventBus.post(new OperationAddedEvent(new FindContoursOperation()));
-        eventBus.post(new OperationAddedEvent(new FilterContoursOperation()));
-        eventBus.post(new OperationAddedEvent(new ConvexHullsOperation()));
-        eventBus.post(new OperationAddedEvent(new FindBlobsOperation()));
-        eventBus.post(new OperationAddedEvent(new FindLinesOperation()));
-        eventBus.post(new OperationAddedEvent(new FilterLinesOperation()));
-        eventBus.post(new OperationAddedEvent(new MaskOperation()));
-        eventBus.post(new OperationAddedEvent(new MinMaxLoc()));
-        eventBus.post(new OperationAddedEvent(new MatFieldAccessor()));
-        eventBus.post(new OperationAddedEvent(new NewPointOperation()));
-        eventBus.post(new OperationAddedEvent(new NewSizeOperation()));
-        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)));
-        eventBus.post(new OperationAddedEvent(new PublishVideoOperation()));
-        eventBus.post(new OperationAddedEvent(new DistanceTransformOperation()));
-        eventBus.post(new OperationAddedEvent(new NormalizeOperation()));
-        eventBus.post(new OperationAddedEvent(new WatershedOperation()));
+    @Inject
+    Operations(EventBus eventBus, @Named("ntManager") MapNetworkPublisherFactory ntPublisherFactory, @Named("rosManager") ROSNetworkPublisherFactory rosPublishFactory) {
+        this.eventBus = checkNotNull(eventBus, "EventBus cannot be null");
+        checkNotNull(ntPublisherFactory, "ntPublisherFactory cannot be null");
+        checkNotNull(rosPublishFactory, "rosPublishFactory cannot be null");
+        this.operations = ImmutableList.of(
+                ResizeOperation::new,
+                BlurOperation::new,
+                DesaturateOperation::new,
+                RGBThresholdOperation::new,
+                HSVThresholdOperation::new,
+                HSLThresholdOperation::new,
+                FindContoursOperation::new,
+                FilterContoursOperation::new,
+                ConvexHullsOperation::new,
+                FindBlobsOperation::new,
+                FindLinesOperation::new,
+                FilterLinesOperation::new,
+                MaskOperation::new,
+                MinMaxLoc::new,
+                MatFieldAccessor::new,
+                NewPointOperation::new,
+                NewSizeOperation::new,
+                () -> new NTPublishAnnotatedOperation<Number, NumberPublishable, Double>(ntPublisherFactory, NumberPublishable::new) {
+                },
+                () -> new NTPublishAnnotatedOperation<Boolean, BooleanPublishable, Boolean>(ntPublisherFactory, BooleanPublishable::new) {
+                },
+                () -> new NTPublishAnnotatedOperation<Point, Vector2D, Double>(ntPublisherFactory, Vector2D::new) {
+                },
+                () -> new NTPublishAnnotatedOperation<Size, Vector2D, Double>(ntPublisherFactory, Vector2D::new) {
+                },
+                () -> new NTPublishAnnotatedOperation<ContoursReport, ContoursReport, double[]>(ntPublisherFactory) {
+                },
+                () -> new NTPublishAnnotatedOperation<BlobsReport, BlobsReport, double[]>(ntPublisherFactory) {
+                },
+                () -> new NTPublishAnnotatedOperation<LinesReport, LinesReport, double[]>(ntPublisherFactory) {
+                },
+                () -> new ROSPublishOperation<Number>(rosPublishFactory, JavaToMessageConverter.FLOAT) {
+                },
+                () -> new ROSPublishOperation<Boolean>(rosPublishFactory, JavaToMessageConverter.BOOL) {
+                },
+//                () -> new ROSPublishOperation<Point, Vector2D, Double>(rosManager, Vector2D::new) {
+//                },
+//                () -> new ROSPublishOperation<Size, Vector2D, Double>(rosManager, Vector2D::new) {
+//                },
+                () -> new ROSPublishOperation<ContoursReport>(rosPublishFactory, JavaToMessageConverter.CONTOURS) {
+                },
+                () -> new ROSPublishOperation<BlobsReport>(rosPublishFactory, JavaToMessageConverter.BLOBS) {
+                },
+                () -> new ROSPublishOperation<LinesReport>(rosPublishFactory, JavaToMessageConverter.LINES) {
+                },
+                PublishVideoOperation::new,
+                DistanceTransformOperation::new,
+                NormalizeOperation::new,
+                WatershedOperation::new
+        );
+    }
+
+    public void addOperations() {
+        operations.stream()
+                .map(s -> s.get())
+                .map(OperationAddedEvent::new)
+                .forEach(eventBus::post);
     }
 }

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

@@ -2,8 +2,8 @@
 
 import com.google.common.base.MoreObjects;
 import edu.wpi.grip.core.NoSocketTypeLabel;
-import edu.wpi.grip.core.operations.networktables.NTPublishable;
-import edu.wpi.grip.core.operations.networktables.NTValue;
+import edu.wpi.grip.core.operations.network.PublishValue;
+import edu.wpi.grip.core.operations.network.Publishable;
 
 import java.util.Collections;
 import java.util.List;
@@ -14,7 +14,7 @@
  * This class is used as the output of operations that detect blobs in an image
  */
 @NoSocketTypeLabel
-public class BlobsReport implements NTPublishable {
+public class BlobsReport implements Publishable {
     private final Mat input;
     private final List<Blob> blobs;
 
@@ -60,7 +60,7 @@ public Mat getInput() {
         return this.input;
     }
 
-    @NTValue(key = "x", weight = 0)
+    @PublishValue(key = "x", weight = 0)
     public double[] getX() {
         final double[] x = new double[blobs.size()];
         for (int i = 0; i < blobs.size(); i++) {
@@ -69,7 +69,7 @@ public double[] getX() {
         return x;
     }
 
-    @NTValue(key = "y", weight = 1)
+    @PublishValue(key = "y", weight = 1)
     public double[] getY() {
         final double[] y = new double[blobs.size()];
         for (int i = 0; i < blobs.size(); i++) {
@@ -78,7 +78,7 @@ public double[] getY() {
         return y;
     }
 
-    @NTValue(key = "size", weight = 2)
+    @PublishValue(key = "size", weight = 2)
     public double[] getSize() {
         final double[] sizes = new double[blobs.size()];
         for (int i = 0; i < blobs.size(); i++) {