Fix snapshot methods not working (#1815)

photon-client/src/components/app/photon-camera-stream.vue

@@ -1,6 +1,7 @@
 <script setup lang="ts">
 import { computed, inject, ref, onBeforeUnmount } from "vue";
 import { useStateStore } from "@/stores/StateStore";
+import { useCameraSettingsStore } from "@/stores/settings/CameraSettingsStore";
 import loadingImage from "@/assets/images/loading-transparent.svg";
 import type { StyleValue } from "vue/types/jsx";
 import PvIcon from "@/components/common/pv-icon.vue";
@@ -58,9 +59,9 @@ const overlayStyle = computed<StyleValue>(() => {
 
 const handleCaptureClick = () => {
   if (props.streamType === "Raw") {
-    props.cameraSettings.pipelineSettings[props.cameraSettings.currentPipelineIndex].saveInputSnapshot();
+    useCameraSettingsStore().saveInputSnapshot();
   } else {
-    props.cameraSettings.pipelineSettings[props.cameraSettings.currentPipelineIndex].saveOutputSnapshot();
+    useCameraSettingsStore().saveOutputSnapshot();
   }
 };
 const handlePopoutClick = () => {

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

@@ -17,11 +17,11 @@
 
 package org.photonvision.vision.frame.consumer;
 
-import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.networktables.IntegerEntry;
 import edu.wpi.first.networktables.IntegerSubscriber;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.StringSubscriber;
+import edu.wpi.first.wpilibj.DriverStation.MatchType;
 import java.io.File;
 import java.text.DateFormat;
 import java.text.SimpleDateFormat;
@@ -38,21 +38,18 @@ import org.photonvision.vision.opencv.CVMat;
 public class FileSaveFrameConsumer implements Consumer<CVMat> {
     private final Logger logger = new Logger(FileSaveFrameConsumer.class, LogGroup.General);
 
-    // match type's values from the FMS.
-    private static final String[] matchTypes = {"N/A", "P", "Q", "E", "EV"};
-
     // Formatters to generate unique, timestamped file names
     private static final String FILE_PATH = ConfigManager.getInstance().getImageSavePath().toString();
-    private static final String FILE_EXTENSION = ".jpg";
+    static final String FILE_EXTENSION = ".jpg";
     private static final String NT_SUFFIX = "SaveImgCmd";
 
-    DateFormat df = new SimpleDateFormat("yyyy-MM-dd");
+    static final DateFormat df = new SimpleDateFormat("yyyy-MM-dd");
-    DateFormat tf = new SimpleDateFormat("hhmmssSS");
+    static final DateFormat tf = new SimpleDateFormat("hhmmssSS");
 
     private final NetworkTable rootTable;
     private NetworkTable subTable;
     private final String ntEntryName;
-    private IntegerEntry saveFrameEntry;
+    IntegerEntry saveFrameEntry;
 
     private StringSubscriber ntEventName;
     private IntegerSubscriber ntMatchNum;
@@ -74,21 +71,27 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
 
         NetworkTable fmsTable = NetworkTablesManager.getInstance().getNTInst().getTable("FMSInfo");
         this.ntEventName = fmsTable.getStringTopic("EventName").subscribe("UNKNOWN");
-        this.ntMatchNum = fmsTable.getIntegerTopic("MatchNumber").subscribe(-1);
+        this.ntMatchNum = fmsTable.getIntegerTopic("MatchNumber").subscribe(0);
         this.ntMatchType = fmsTable.getIntegerTopic("MatchType").subscribe(0);
 
         updateCameraNickname(camNickname);
     }
 
     public void accept(CVMat image) {
+        accept(image, new Date());
+    }
+
+    public void accept(CVMat image, Date now) {
         long currentCount = saveFrameEntry.get();
 
+        System.out.println("currentCount: " + currentCount + " savedImagesCount: " + savedImagesCount);
+
         // Await save request
         if (currentCount == -1) return;
 
         // The requested count is greater than the actual count
         if (savedImagesCount < currentCount) {
-            Date now = new Date();
+            String matchData = getMatchData();
 
             String fileName =
                     cameraNickname
@@ -99,7 +102,7 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
                             + "T"
                             + tf.format(now)
                             + "_"
-                            + getMatchData();
+                            + matchData;
 
             // Check if the Unique Camera directory exists and create it if it doesn't
             String cameraPath = FILE_PATH + File.separator + this.cameraUniqueName;
@@ -110,6 +113,7 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
 
             String saveFilePath = cameraPath + File.separator + fileName + FILE_EXTENSION;
 
+            logger.info("Saving image to: " + saveFilePath);
             if (image == null || image.getMat() == null || image.getMat().empty()) {
                 Imgcodecs.imwrite(saveFilePath, StaticFrames.LOST_MAT);
             } else {
@@ -146,18 +150,18 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
 
     /**
      * Returns the match Data collected from the NT. eg : Q58 for qualification match 58. If not in
-     * event, returns N/A-0-EVENTNAME
+     * event, returns None-0-Unknown
      */
     private String getMatchData() {
         var matchType = ntMatchType.getAtomic();
         if (matchType.timestamp == 0) {
             // no NT info yet
-            logger.warn("Did not receive match type, defaulting to 0");
+            logger.warn("Did not receive match type, defaulting to None");
         }
 
         var matchNum = ntMatchNum.getAtomic();
         if (matchNum.timestamp == 0) {
-            logger.warn("Did not receive match num, defaulting to -1");
+            logger.warn("Did not receive match num, defaulting to 0");
         }
 
         var eventName = ntEventName.getAtomic();
@@ -165,9 +169,14 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
             logger.warn("Did not receive event name, defaulting to 'UNKNOWN'");
         }
 
-        String matchTypeStr =
+        MatchType wpiMatchType = MatchType.None; // Default is to be unknown
-                matchTypes[MathUtil.clamp((int) matchType.value, 0, matchTypes.length - 1)];
+        if (matchType.value < 0 || matchType.value >= MatchType.values().length) {
-        return matchTypeStr + "-" + matchNum.value + "-" + eventName.value;
+            logger.error("Invalid match type from FMS: " + matchType.value);
+        } else {
+            wpiMatchType = MatchType.values()[(int) matchType.value];
+        }
+
+        return wpiMatchType.name() + "-" + matchNum.value + "-" + eventName.value;
     }
 
     public void close() {

photon-core/src/test/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumerTest.java

@@ -0,0 +1,138 @@
+/*
+ * Copyright (C) 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 static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNull;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.junit.jupiter.api.Assertions.fail;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.MatchType;
+import edu.wpi.first.wpilibj.simulation.DriverStationSim;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import java.io.File;
+import java.io.IOException;
+import java.util.Date;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeAll;
+import org.junit.jupiter.api.BeforeEach;
+import org.junitpioneer.jupiter.cartesian.CartesianTest;
+import org.junitpioneer.jupiter.cartesian.CartesianTest.Enum;
+import org.junitpioneer.jupiter.cartesian.CartesianTest.Values;
+import org.photonvision.common.configuration.ConfigManager;
+import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
+import org.photonvision.common.util.TestUtils;
+import org.photonvision.jni.PhotonTargetingJniLoader;
+import org.photonvision.jni.WpilibLoader;
+import org.photonvision.vision.frame.provider.FileFrameProvider;
+
+public class FileSaveFrameConsumerTest {
+    NetworkTableInstance inst = null;
+
+    @BeforeAll
+    public static void init() throws UnsatisfiedLinkError, IOException {
+        if (!WpilibLoader.loadLibraries()) {
+            fail();
+        }
+
+        try {
+            if (!PhotonTargetingJniLoader.load()) fail();
+        } catch (UnsatisfiedLinkError | IOException e) {
+            e.printStackTrace();
+            fail(e);
+        }
+    }
+
+    @BeforeEach
+    public void setup() {
+        assertNull(inst);
+
+        HAL.initialize(500, 0);
+
+        inst = NetworkTablesManager.getInstance().getNTInst();
+        inst.stopClient();
+        inst.stopServer();
+        inst.startLocal();
+        SmartDashboard.setNetworkTableInstance(inst);
+
+        // DriverStation uses the default instance internally
+        assertEquals(NetworkTableInstance.getDefault(), inst);
+    }
+
+    @AfterEach
+    public void teardown() {
+        SimHooks.resumeTiming();
+
+        HAL.shutdown();
+    }
+
+    @CartesianTest
+    public void testNoMatch(
+            @Enum(MatchType.class) MatchType matchType, @Values(ints = {0, 1, 0xffff}) int matchNumber) {
+        String camNickname = "foobar";
+        String cameraUniqueName = "some_unique";
+        String streamPrefix = "input";
+
+        // GIVEN an input consumer
+        FileSaveFrameConsumer consumer =
+                new FileSaveFrameConsumer(camNickname, cameraUniqueName, streamPrefix);
+
+        // AND a frameProvider giving a random test mode image
+        var frameProvider =
+                new FileFrameProvider(
+                        TestUtils.getWPIImagePath(TestUtils.WPI2019Image.kCargoSideStraightDark72in, false),
+                        TestUtils.WPI2019Image.FOV);
+
+        // AND fake FMS data
+        String eventName = "CASJ";
+        DriverStationSim.setMatchType(matchType);
+        DriverStationSim.setMatchNumber(matchNumber);
+        DriverStationSim.setEventName(eventName);
+        DriverStation.refreshData();
+
+        // WHEN we save the image
+        var currentTime = new Date();
+        var counterPublisher = consumer.saveFrameEntry.getTopic().publish();
+        counterPublisher.accept(1);
+        consumer.accept(frameProvider.get().colorImage, currentTime);
+
+        // THEN an image will be created on disk
+        File expectedSnapshot =
+                ConfigManager.getInstance()
+                        .getImageSavePath()
+                        .resolve(cameraUniqueName)
+                        .resolve(
+                                camNickname
+                                        + "_"
+                                        + streamPrefix
+                                        + "_"
+                                        + FileSaveFrameConsumer.df.format(currentTime)
+                                        + "T"
+                                        + FileSaveFrameConsumer.tf.format(currentTime)
+                                        + "_"
+                                        + (matchType.name() + "-" + matchNumber + "-" + eventName)
+                                        + FileSaveFrameConsumer.FILE_EXTENSION)
+                        .toFile();
+        System.out.println("Checking that file exists: " + expectedSnapshot.getAbsolutePath());
+        assertTrue(expectedSnapshot.exists());
+    }
+}