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

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

@@ -0,0 +1,5 @@
+package edu.wpi.grip.core;
+
+public interface FileManager {
+    void saveImage(byte[] image, String fileName);
+}

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

@@ -48,7 +48,7 @@ public class GRIPCoreModule extends AbstractModule {
                 globalLogger.removeHandler(handler);
             }
 
-            final Handler fileHandler = new FileHandler("%h/GRIP.log");//Log to the file "GRIPlogger.log"
+            final Handler fileHandler = new FileHandler("%t/GRIP.log");//Log to the file "GRIPlogger.log"
 
             //Set level to handler and logger
             fileHandler.setLevel(Level.FINE);

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

@@ -0,0 +1,42 @@
+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;
+
+@Singleton
+public class GripFileManager implements FileManager {
+
+    private static final Logger logger = Logger.getLogger(GripFileManager.class.getName());
+
+    private static final File gripDirectory = new File(System.getProperty("user.home") + File.separator + "GRIP");
+    private static final File imageDirectory = new File(gripDirectory, "images");
+
+    public GripFileManager() {
+        gripDirectory.mkdirs();
+        imageDirectory.mkdirs();
+    }
+
+    @Override
+    public void saveImage(byte[] image, String fileName) {
+        checkNotNull(image);
+        checkNotNull(fileName);
+
+        File file = new File(imageDirectory, fileName);
+        Runnable runnable = () -> {
+            try {
+                imageDirectory.mkdirs(); // If the user deletes the directory
+                Files.write(image, file);
+            } catch (IOException ex) {
+                logger.log(Level.WARNING, ex.getMessage(), ex);
+            }
+        };
+        new Thread(runnable).start();
+    }
+}

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

@@ -0,0 +1,10 @@
+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

@@ -6,6 +6,7 @@
 import com.google.inject.Inject;
 import com.google.inject.Singleton;
 import com.google.inject.name.Named;
+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.*;
@@ -39,11 +40,13 @@ public class Operations {
     Operations(EventBus eventBus,
                @Named("ntManager") MapNetworkPublisherFactory ntPublisherFactory,
                @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(rosPublishFactory, "rosPublishFactory cannot be null");
+        checkNotNull(fileManager,"fileManager cannot be null");
         this.operations = ImmutableList.of(
                 // Composite operations
                 new OperationMetaData(BlurOperation.DESCRIPTION, () -> new BlurOperation(isf, osf)),
@@ -62,6 +65,7 @@ public class Operations {
                 new OperationMetaData(PublishVideoOperation.DESCRIPTION, () -> new PublishVideoOperation(isf)),
                 new OperationMetaData(ResizeOperation.DESCRIPTION, () -> 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, () -> new ValveOperation(isf, osf)),
                 new OperationMetaData(WatershedOperation.DESCRIPTION, () -> new WatershedOperation(isf, osf)),

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

@@ -0,0 +1,109 @@
+package edu.wpi.grip.core.operations.composite;
+
+import com.google.common.base.Stopwatch;
+import com.google.common.collect.ImmutableList;
+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 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<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<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("yyyyMMddHHmmssSSS");
+
+    public SaveImageOperation(InputSocket.Factory inputSocketFactory, OutputSocket.Factory outputSocketFactory, FileManager fileManager) {
+        this.fileManager = fileManager;
+
+        inputSocket = inputSocketFactory.create(inputHint);
+        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,
+                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.NANOSECONDS) < periodSocket.getValue().get().doubleValue()*1000000000L) {
+            return;
+        }
+        stopwatch.reset();
+        stopwatch.start();
+
+        imencode(".jpeg", 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) + ".jpeg");
+    }
+}

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

@@ -2,6 +2,7 @@
 
 
 import com.google.common.eventbus.EventBus;
+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;
@@ -11,6 +12,7 @@
 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 java.util.Optional;
 
@@ -38,17 +40,16 @@ public void close() {
     }
 
     public static Operations create(EventBus eventBus) {
-
-        return create(eventBus, MockMapNetworkPublisher::new, MockROSMessagePublisher::new,
-                new MockInputSocketFactory(eventBus), new MockOutputSocketFactory(eventBus));
+        return create(eventBus, MockMapNetworkPublisher::new, MockROSMessagePublisher::new, new MockFileManager(), new MockInputSocketFactory(eventBus), new MockOutputSocketFactory(eventBus));
     }
 
     public static Operations create(EventBus eventBus,
                                     MapNetworkPublisherFactory mapFactory,
                                     ROSNetworkPublisherFactory rosFactory,
+                                    FileManager fileManager,
                                     InputSocket.Factory isf,
                                     OutputSocket.Factory osf) {
-        return new Operations(eventBus, mapFactory, rosFactory, isf, osf);
+        return new Operations(eventBus, mapFactory, rosFactory, fileManager, isf, osf);
     }
 
     public static CVOperations createCV(EventBus eventBus) {

core/src/test/java/edu/wpi/grip/core/util/MockFileManager.java

@@ -0,0 +1,10 @@
+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

@@ -2,9 +2,11 @@
 
 
 import com.google.common.eventbus.SubscriberExceptionContext;
+import edu.wpi.grip.core.FileManager;
 import edu.wpi.grip.core.GRIPCoreModule;
 import edu.wpi.grip.core.sources.CameraSource;
 import edu.wpi.grip.core.sources.MockFrameGrabberFactory;
+import edu.wpi.grip.core.util.MockFileManager;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -71,6 +73,7 @@ public void tearDown() {
     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();
     }
 

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

@@ -15,6 +15,7 @@
 import edu.wpi.grip.core.operations.network.GRIPNetworkModule;
 import edu.wpi.grip.core.serialization.Project;
 import edu.wpi.grip.core.sources.GRIPSourcesHardwareModule;
+import edu.wpi.grip.core.GripFileModule;
 import edu.wpi.grip.core.util.SafeShutdown;
 import edu.wpi.grip.ui.util.DPIUtility;
 import javafx.application.Application;
@@ -64,13 +65,13 @@ public void start(Stage stage) throws Exception {
 
         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(), new GRIPNetworkModule(), new GRIPSourcesHardwareModule());
+            injector = Guice.createInjector(new GRIPCoreModule(), new GripFileModule(), new GRIPNetworkModule(), new GRIPSourcesHardwareModule());
             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(), new GRIPNetworkModule(), new GRIPSourcesHardwareModule()).with(new GRIPUIModule()));
+            injector = Guice.createInjector(Modules.override(new GRIPCoreModule(), new GripFileModule(), new GRIPNetworkModule(), new GRIPSourcesHardwareModule()).with(new GRIPUIModule()));
             injector.injectMembers(this);
 
             System.setProperty("prism.lcdtext", "false");