[V2] Add operation to save image snapshots to local disk.

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);
+}

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);

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();
+  }
+}

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);
+  }
+
+}

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,

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

@@ -0,0 +1,130 @@
+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
+  }
+
+  @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());
+  }
+}

core/src/test/java/edu/wpi/grip/core/composite/SaveImageOperationTest.java

@@ -0,0 +1,57 @@
+package edu.wpi.grip.core.composite;
+
+
+import edu.wpi.grip.core.FileManager;
+import edu.wpi.grip.core.operations.composite.SaveImageOperation;
+import edu.wpi.grip.core.sockets.InputSocket;
+import edu.wpi.grip.core.sockets.OutputSocket;
+import edu.wpi.grip.util.GripCoreTestModule;
+
+import com.google.inject.Guice;
+import com.google.inject.Inject;
+import com.google.inject.Injector;
+
+import org.junit.After;
+import org.junit.Before;
+import org.junit.Test;
+
+import static org.junit.Assert.assertFalse;
+
+public class SaveImageOperationTest {
+
+  private GripCoreTestModule testModule;
+
+  private InputSocket<Boolean> activeSocket;
+
+  @Inject
+  private InputSocket.Factory isf;
+
+  @Inject
+  private OutputSocket.Factory osf;
+
+  @Inject
+  private FileManager fileManager;
+
+  @Before
+  public void setUp() throws Exception {
+    testModule = new GripCoreTestModule();
+    testModule.setUp();
+
+    final Injector injector = Guice.createInjector(testModule);
+    injector.injectMembers(this);
+    SaveImageOperation operation = new SaveImageOperation(isf, osf, fileManager);
+    activeSocket = operation.getInputSockets().stream().filter(
+        o -> o.getSocketHint().getIdentifier().equals("Active")
+            && o.getSocketHint().getType().equals(Boolean.class)).findFirst().get();
+  }
+
+  @After
+  public void tearDown() {
+    testModule.tearDown();
+  }
+
+  @Test
+  public void testActiveButtonDefaultsDisabled() {
+    assertFalse("The active socket was not false (disabled).", activeSocket.getValue().get());
+  }
+}

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) {

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.
+  }
+
+}

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);