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

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Changes image saving technique to use integers, not booleans
This commit is contained in:
Chris Gerth
2022-12-30 21:48:28 -06:00
committed by GitHub
parent 8028d1887c
commit d0bf64af6c
4 changed files with 46 additions and 50 deletions
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64
photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java
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@@ -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
}
}