Added input and output frame file save routines (#134)

* Added input and output frame file save routines

* First pass at review items

* Revised logic to not crash on start and pass tests

* Updated build.gradle to force line endings. Spotless passes now.

* Reverted lineEndings to not force Unix.

Gerth needs to fix up his dev pc.

Co-authored-by: Banks T <btrout.dhrs@gmail.com>

photon-server/src/main/java/org/photonvision/common/configuration/ConfigManager.java

@@ -358,6 +358,12 @@ public class ConfigManager {
         return logFile.toPath();
     }
 
+    public Path getImageSavePath() {
+        var imgFilePath = Path.of(configDirectoryFile.toString(), "imgSaves").toFile();
+        if (!imgFilePath.exists()) imgFilePath.mkdirs();
+        return imgFilePath.toPath();
+    }
+
     public void requestSave() {
         logger.trace("Requesting save...");
         saveRequestTimestamp = System.currentTimeMillis();

photon-server/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java

@@ -0,0 +1,114 @@
+/*
+ * Copyright (C) 2020 Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.frame.consumer;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import java.io.File;
+import java.text.DateFormat;
+import java.text.SimpleDateFormat;
+import java.util.Date;
+import java.util.concurrent.locks.ReentrantLock;
+import org.opencv.imgcodecs.Imgcodecs;
+import org.photonvision.common.configuration.ConfigManager;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+import org.photonvision.common.util.TimedTaskManager;
+import org.photonvision.vision.frame.Frame;
+
+public class FileSaveFrameConsumer {
+
+    // Formatters to generate unique, timestamped file names
+    private static String FILE_PATH = ConfigManager.getInstance().getImageSavePath().toString();
+    private static String FILE_EXTENSION = ".jpg";
+    DateFormat df = new SimpleDateFormat("yyyy-MM-dd");
+    DateFormat tf = new SimpleDateFormat("hhmmssSS");
+    private final String NT_SUFFIX = "SaveImgCmd";
+    private final String ntEntryName;
+    private NetworkTable subTable;
+    private final NetworkTable rootTable;
+    private final Logger logger;
+    private boolean prevCommand = false;
+    private String camNickname;
+    private String fnamePrefix;
+    private final long CMD_RESET_TIME_MS = 500;
+    // Helps prevent race conditions between user set & auto-reset logic
+    private ReentrantLock lock;
+
+    public FileSaveFrameConsumer(String camNickname, String streamPrefix) {
+        this.lock = new ReentrantLock();
+        this.fnamePrefix = camNickname + "_" + streamPrefix;
+        this.ntEntryName = streamPrefix + NT_SUFFIX;
+        this.rootTable = NetworkTableInstance.getDefault().getTable("/photonvision");
+        updateCameraNickname(camNickname);
+        this.logger = new Logger(FileSaveFrameConsumer.class, this.camNickname, LogGroup.General);
+    }
+
+    public void accept(Frame frame) {
+        if (frame != null && !frame.image.getMat().empty()) {
+
+            if (lock.tryLock()) {
+                boolean curCommand = subTable.getEntry(ntEntryName).getBoolean(false);
+
+                if (curCommand == true && prevCommand == false) {
+                    Date now = new Date();
+                    String savefile =
+                            FILE_PATH
+                                    + File.separator
+                                    + fnamePrefix
+                                    + "_"
+                                    + df.format(now)
+                                    + "T"
+                                    + tf.format(now)
+                                    + FILE_EXTENSION;
+
+                    Imgcodecs.imwrite(savefile.toString(), frame.image.getMat());
+
+                    // Help the user a bit - set the NT entry back to false after 500ms
+                    TimedTaskManager.getInstance().addOneShotTask(() -> resetCommand(), CMD_RESET_TIME_MS);
+
+                    logger.info("Saved new image at " + savefile);
+                }
+
+                prevCommand = curCommand;
+                lock.unlock();
+            }
+        }
+    }
+
+    private void resetCommand() {
+        lock.lock();
+        this.subTable.getEntry(ntEntryName).setBoolean(false);
+        lock.unlock();
+    }
+
+    private void removeEntries() {
+        if (this.subTable != null) {
+            if (this.subTable.containsKey(ntEntryName)) {
+                this.subTable.delete(ntEntryName);
+            }
+        }
+    }
+
+    public void updateCameraNickname(String newCameraNickname) {
+        removeEntries();
+        this.camNickname = newCameraNickname;
+        this.subTable = rootTable.getSubTable(this.camNickname);
+        resetCommand();
+    }
+}

photon-server/src/main/java/org/photonvision/vision/processes/VisionModule.java

@@ -37,6 +37,7 @@ import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.camera.CameraQuirk;
 import org.photonvision.vision.camera.QuirkyCamera;
 import org.photonvision.vision.camera.USBCameraSource;
+import org.photonvision.vision.frame.consumer.FileSaveFrameConsumer;
 import org.photonvision.vision.frame.consumer.MJPGFrameConsumer;
 import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
 import org.photonvision.vision.pipeline.UICalibrationData;
@@ -71,6 +72,9 @@ public class VisionModule {
     MJPGFrameConsumer dashboardInputStreamer;
     MJPGFrameConsumer dashboardOutputStreamer;
 
+    FileSaveFrameConsumer inputFrameSaver;
+    FileSaveFrameConsumer outputFrameSaver;
+
     public VisionModule(PipelineManager pipelineManager, VisionSource visionSource, int index) {
         logger =
                 new Logger(
@@ -98,6 +102,8 @@ public class VisionModule {
         createStreams();
         fpsLimitedResultConsumers.add(result -> dashboardInputStreamer.accept(result.inputFrame));
         fpsLimitedResultConsumers.add(result -> dashboardOutputStreamer.accept(result.outputFrame));
+        fpsLimitedResultConsumers.add(result -> inputFrameSaver.accept(result.inputFrame));
+        fpsLimitedResultConsumers.add(result -> outputFrameSaver.accept(result.outputFrame));
 
         ntConsumer =
                 new NTDataPublisher(
@@ -151,7 +157,13 @@ public class VisionModule {
                         visionSource.getSettables().getConfiguration().nickname + "-output", outputStreamPort);
         dashboardInputStreamer =
                 new MJPGFrameConsumer(
-                        visionSource.getSettables().getConfiguration().nickname + "-input", inputStreamPort);
+                        visionSource.getSettables().getConfiguration().uniqueName + "-input", inputStreamPort);
+
+        inputFrameSaver =
+                new FileSaveFrameConsumer(visionSource.getSettables().getConfiguration().nickname, "input");
+        outputFrameSaver =
+                new FileSaveFrameConsumer(
+                        visionSource.getSettables().getConfiguration().nickname, "output");
     }
 
     void setDriverMode(boolean isDriverMode) {
@@ -287,6 +299,8 @@ public class VisionModule {
     public void setCameraNickname(String newName) {
         visionSource.getSettables().getConfiguration().nickname = newName;
         ntConsumer.updateCameraNickname(newName);
+        inputFrameSaver.updateCameraNickname(newName);
+        outputFrameSaver.updateCameraNickname(newName);
 
         // rename streams
         fpsLimitedResultConsumers.clear();
@@ -297,6 +311,8 @@ public class VisionModule {
 
         fpsLimitedResultConsumers.add(result -> dashboardInputStreamer.accept(result.inputFrame));
         fpsLimitedResultConsumers.add(result -> dashboardOutputStreamer.accept(result.outputFrame));
+        fpsLimitedResultConsumers.add(result -> inputFrameSaver.accept(result.inputFrame));
+        fpsLimitedResultConsumers.add(result -> outputFrameSaver.accept(result.outputFrame));
 
         // Push new data to the UI
         saveAndBroadcastAll();