Convert input/output image save to integers (#664)

Changes image saving technique to use integers, not booleans

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

@@ -17,20 +17,18 @@
 
 package org.photonvision.vision.frame.consumer;
 
-import edu.wpi.first.networktables.BooleanEntry;
+import edu.wpi.first.networktables.IntegerEntry;
 import edu.wpi.first.networktables.NetworkTable;
 import java.io.File;
 import java.text.DateFormat;
 import java.text.SimpleDateFormat;
 import java.util.Date;
-import java.util.concurrent.locks.ReentrantLock;
 import java.util.function.Consumer;
 import org.opencv.imgcodecs.Imgcodecs;
 import org.photonvision.common.configuration.ConfigManager;
 import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
-import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.vision.opencv.CVMat;
 
 public class FileSaveFrameConsumer implements Consumer<CVMat> {
@@ -44,29 +42,27 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
     private NetworkTable subTable;
     private final NetworkTable rootTable;
     private final Logger logger;
-    private boolean prevCommand = false;
+    private long imgSaveCountInternal = 0;
     private String camNickname;
     private String fnamePrefix;
-    private final long CMD_RESET_TIME_MS = 500;
-    private final BooleanEntry entry;
-    // Helps prevent race conditions between user set & auto-reset logic
-    private ReentrantLock lock;
+    private IntegerEntry entry;
 
     public FileSaveFrameConsumer(String camNickname, String streamPrefix) {
-        this.lock = new ReentrantLock();
         this.fnamePrefix = camNickname + "_" + streamPrefix;
         this.ntEntryName = streamPrefix + NT_SUFFIX;
         this.rootTable = NetworkTablesManager.getInstance().kRootTable;
         updateCameraNickname(camNickname);
-        entry = subTable.getBooleanTopic(ntEntryName).getEntry(false);
         this.logger = new Logger(FileSaveFrameConsumer.class, this.camNickname, LogGroup.General);
     }
 
     public void accept(CVMat image) {
         if (image != null && image.getMat() != null && !image.getMat().empty()) {
-            if (lock.tryLock()) {
-                boolean curCommand = entry.get(false);
-                if (curCommand && !prevCommand) {
+            var curCommand = entry.get(); // default to just our current count
+            if (curCommand >= 0) {
+                // Only do something if we got a valid current command
+                if (imgSaveCountInternal < curCommand) {
+                    // Save one frame.
+                    // Create the filename
                     Date now = new Date();
                     String savefile =
                             FILE_PATH
@@ -78,42 +74,32 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
                                     + tf.format(now)
                                     + FILE_EXTENSION;
 
+                    // write to file
                     Imgcodecs.imwrite(savefile, image.getMat());
 
-                    // Help the user a bit - set the NT entry back to false after 500ms
-                    TimedTaskManager.getInstance().addOneShotTask(this::resetCommand, CMD_RESET_TIME_MS);
-
+                    // Count one more image saved
+                    imgSaveCountInternal++;
                     logger.info("Saved new image at " + savefile);
-                } else if (!curCommand) {
-                    // If the entry is currently false, set it again. This will make sure it shows up on the
-                    // dashboard.
-                    entry.set(false);
+
+                } else if (imgSaveCountInternal > curCommand) {
+                    imgSaveCountInternal = curCommand;
                 }
-
-                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.getEntry(ntEntryName).close();
             }
         }
     }
 
     public void updateCameraNickname(String newCameraNickname) {
-        removeEntries();
+        // Remove existing entries
+        if (this.subTable != null) {
+            if (this.subTable.containsKey(ntEntryName)) {
+                this.subTable.getEntry(ntEntryName).close();
+            }
+        }
+
+        // Recreate and re-init network tables structure
         this.camNickname = newCameraNickname;
         this.subTable = rootTable.getSubTable(this.camNickname);
-        resetCommand();
+        this.subTable.getEntry(ntEntryName).setInteger(imgSaveCountInternal);
+        this.entry = subTable.getIntegerTopic(ntEntryName).getEntry(-1); // Default negative
     }
 }

photon-lib/src/main/java/org/photonvision/PhotonCamera.java

@@ -56,7 +56,7 @@ public class PhotonCamera {
     DoubleArrayPublisher targetPoseEntry;
     DoublePublisher targetSkewEntry;
     StringSubscriber versionEntry;
-    BooleanPublisher inputSaveImgEntry, outputSaveImgEntry;
+    IntegerEntry inputSaveImgEntry, outputSaveImgEntry;
     IntegerEntry pipelineIndexEntry, ledModeEntry;
     IntegerSubscriber heartbeatEntry;
 
@@ -111,8 +111,8 @@ public class PhotonCamera {
         path = rootTable.getPath();
         rawBytesEntry = rootTable.getRawTopic("rawBytes").subscribe("rawBytes", new byte[] {});
         driverModeEntry = rootTable.getBooleanTopic("driverMode").getEntry(false);
-        inputSaveImgEntry = rootTable.getBooleanTopic("inputSaveImgCmd").getEntry(false);
-        outputSaveImgEntry = rootTable.getBooleanTopic("outputSaveImgCmd").getEntry(false);
+        inputSaveImgEntry = rootTable.getIntegerTopic("inputSaveImgCmd").getEntry(0);
+        outputSaveImgEntry = rootTable.getIntegerTopic("outputSaveImgCmd").getEntry(0);
         pipelineIndexEntry = rootTable.getIntegerTopic("pipelineIndex").getEntry(0);
         heartbeatEntry = rootTable.getIntegerTopic("heartbeat").subscribe(-1);
         ledModeEntry = mainTable.getIntegerTopic("ledMode").getEntry(-1);
@@ -181,7 +181,7 @@ public class PhotonCamera {
      * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
      */
     public void takeInputSnapshot() {
-        inputSaveImgEntry.set(true);
+        inputSaveImgEntry.set(inputSaveImgEntry.get() + 1);
     }
 
     /**
@@ -191,7 +191,7 @@ public class PhotonCamera {
      * /opt/photonvision/photonvision_config/imgSaves frequently to prevent issues.
      */
     public void takeOutputSnapshot() {
-        outputSaveImgEntry.set(true);
+        outputSaveImgEntry.set(outputSaveImgEntry.get() + 1);
     }
 
     /**

photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp

@@ -41,9 +41,13 @@ PhotonCamera::PhotonCamera(std::shared_ptr<nt::NetworkTableInstance> instance,
       rawBytesEntry(rootTable->GetRawTopic("rawBytes").Subscribe("raw", {})),
       driverModeEntry(rootTable->GetBooleanTopic("driverMode").Publish()),
       inputSaveImgEntry(
-          rootTable->GetBooleanTopic("inputSaveImgCmd").Publish()),
+          rootTable->GetIntegerTopic("inputSaveImgCmd").Publish()),
+      inputSaveImgSubscriber(
+          rootTable->GetIntegerTopic("inputSaveImgCmd").Subscribe(0)),
       outputSaveImgEntry(
-          rootTable->GetBooleanTopic("outputSaveImgCmd").Publish()),
+          rootTable->GetIntegerTopic("outputSaveImgCmd").Publish()),
+      outputSaveImgSubscriber(
+          rootTable->GetIntegerTopic("outputSaveImgCmd").Subscribe(0)),
       pipelineIndexEntry(rootTable->GetIntegerTopic("pipelineIndex").Publish()),
       ledModeEntry(mainTable->GetIntegerTopic("ledMode").Publish()),
       versionEntry(mainTable->GetStringTopic("version").Subscribe("")),
@@ -89,9 +93,13 @@ void PhotonCamera::SetDriverMode(bool driverMode) {
   driverModeEntry.Set(driverMode);
 }
 
-void PhotonCamera::TakeInputSnapshot() { inputSaveImgEntry.Set(true); }
+void PhotonCamera::TakeInputSnapshot() {
+  inputSaveImgEntry.Set(inputSaveImgSubscriber.Get() + 1);
+}
 
-void PhotonCamera::TakeOutputSnapshot() { outputSaveImgEntry.Set(true); }
+void PhotonCamera::TakeOutputSnapshot() {
+  outputSaveImgEntry.Set(outputSaveImgSubscriber.Get() + 1);
+}
 
 bool PhotonCamera::GetDriverMode() const { return driverModeSubscriber.Get(); }
 

photon-lib/src/main/native/include/photonlib/PhotonCamera.h

@@ -166,8 +166,10 @@ class PhotonCamera {
   std::shared_ptr<nt::NetworkTable> rootTable;
   nt::RawSubscriber rawBytesEntry;
   nt::BooleanPublisher driverModeEntry;
-  nt::BooleanPublisher inputSaveImgEntry;
-  nt::BooleanPublisher outputSaveImgEntry;
+  nt::IntegerPublisher inputSaveImgEntry;
+  nt::IntegerSubscriber inputSaveImgSubscriber;
+  nt::IntegerPublisher outputSaveImgEntry;
+  nt::IntegerSubscriber outputSaveImgSubscriber;
   nt::IntegerPublisher pipelineIndexEntry;
   nt::IntegerPublisher ledModeEntry;
   nt::StringSubscriber versionEntry;