added jevois module generation for python

core/src/main/java/edu/wpi/grip/core/settings/CodeGenerationSettings.java

@@ -13,13 +13,15 @@ public class CodeGenerationSettings {
   private final String language;
   private final String className;
   private final boolean implementWpilibPipeline;
+  private final boolean implementJevoisModule;
   private final String saveDir;
   private final String packageName;
   private final String moduleName;
 
   public static final String LANGUAGE = "language";
   public static final String CLASS_NAME = "className";
   public static final String IMPLEMENT_WPILIB_PIPELINE = "implementVisionPipeline";
+  public static final String IMPLEMENT_JEVOIS_MODULE = "implementJevoisModule";
   public static final String SAVE_DIR = "saveDir";
   public static final String PACKAGE_NAME = "packageName";
   public static final String MODULE_NAME = "moduleName";
@@ -32,6 +34,7 @@ public class CodeGenerationSettings {
    * <tr><td>Language</td><td>Java</td></tr>
    * <tr><td>Class name</td><td>GripPipeline</td></tr>
    * <tr><td>Implement WPILib API</td><td>false</td></tr>
+   * <tr><td>Implement Jevois Module</td><td>false</td></tr>
    * <tr><td>Save directory</td><td>User home</td></tr>
    * <tr><td>Java package</td><td>Default package</td></tr>
    * <tr><td>Python module</td><td>grip</td></tr>
@@ -46,6 +49,7 @@ public class CodeGenerationSettings {
    * <tr><td>Language</td><td>Java</td></tr>
    * <tr><td>Class name</td><td>GripPipeline</td></tr>
    * <tr><td>Implement WPILib API</td><td>false</td></tr>
+   * <tr><td>Implement Jevois Module</td><td>false</td></tr>
    * <tr><td>Save directory</td><td>User home</td></tr>
    * <tr><td>Java package</td><td>Default package</td></tr>
    * <tr><td>Python module</td><td>grip</td></tr>
@@ -55,6 +59,7 @@ public class CodeGenerationSettings {
     this("Java",
         "GripPipeline",
         false,
+        true,
         GripFileManager.GRIP_DIRECTORY.getAbsolutePath(),
         "",
         "grip");
@@ -67,19 +72,23 @@ public class CodeGenerationSettings {
    * @param className               the name of the class to generate
    * @param implementWpilibPipeline if the generated class should implement the
    *                                WPILib VisionPipeline interface
+   * @param implementJevoisModule   if we should generate a full Jevois Module
+   *                                for the GRIP pipeline
    * @param saveDir                 the directory to save the generated file to
    * @param packageName             the name of the Java package to place the file in
    * @param moduleName              the name of the Python module
    */
   private CodeGenerationSettings(String language,
                                  String className,
                                  boolean implementWpilibPipeline,
+                                 boolean implementJevoisModule,
                                  String saveDir,
                                  String packageName,
                                  String moduleName) {
     this.language = language;
     this.className = className;
     this.implementWpilibPipeline = implementWpilibPipeline;
+    this.implementJevoisModule = implementJevoisModule;
     this.saveDir = saveDir;
     this.packageName = packageName;
     this.moduleName = moduleName;
@@ -97,6 +106,10 @@ public boolean shouldImplementWpilibPipeline() {
     return implementWpilibPipeline;
   }
 
+  public boolean shouldImplementJevoisModule() {
+    return implementJevoisModule;
+  }
+
   public String getSaveDir() {
     return saveDir;
   }
@@ -124,6 +137,7 @@ public static Builder builder(CodeGenerationSettings defaultSettings) {
         .language(defaultSettings.getLanguage())
         .className(defaultSettings.getClassName())
         .implementVisionPipeline(defaultSettings.shouldImplementWpilibPipeline())
+        .implementJevoisModule(defaultSettings.shouldImplementJevoisModule())
         .saveDir(defaultSettings.getSaveDir())
         .packageName(defaultSettings.getPackageName())
         .moduleName(defaultSettings.getModuleName());
@@ -134,6 +148,7 @@ public static final class Builder {
     private String language;
     private String className;
     private Boolean implementVisionPipeline;
+    private Boolean implementJevoisModule;
     private String saveDir;
     private String packageName;
     private String moduleName;
@@ -174,6 +189,11 @@ public Builder implementVisionPipeline(boolean implementVisionPipeline) {
       return this;
     }
 
+    public Builder implementJevoisModule(boolean implementJevoisModule) {
+      this.implementJevoisModule = implementJevoisModule;
+      return this;
+    }
+
     /**
      * Sets the package of the generated Java class.
      */
@@ -199,6 +219,7 @@ public CodeGenerationSettings build() {
           checkNotNull(language, LANGUAGE),
           checkNotNull(className, CLASS_NAME),
           checkNotNull(implementVisionPipeline, IMPLEMENT_WPILIB_PIPELINE),
+          checkNotNull(implementJevoisModule, IMPLEMENT_JEVOIS_MODULE),
           checkNotNull(saveDir, SAVE_DIR),
           checkNotNull(packageName, PACKAGE_NAME),
           checkNotNull(moduleName, MODULE_NAME)

ui/src/main/java/edu/wpi/grip/ui/codegeneration/CodeGenerationOptionsController.java

@@ -52,6 +52,8 @@ public class CodeGenerationOptionsController {
   @FXML
   private CheckBox implementVisionPipeline;
   @FXML
+  private CheckBox implementJevoisModule;
+  @FXML
   private TextField classNameField;
   @FXML
   private Label saveLocationLabel;
@@ -69,6 +71,8 @@ public class CodeGenerationOptionsController {
   private TextField moduleNameField;
 
   private Language language;
+  private boolean canImplementPipeline;
+  private boolean canImplementJevoisModule;
 
   private static final String CLASS_NAME_REGEX = "^|([A-Z][a-z]*)+$";
   private static final String PACKAGE_REGEX = "^|([a-z]+[a-z0-9]*\\.?)+$";
@@ -96,6 +100,7 @@ private void loadSettings(CodeGenerationSettings settings) {
     packageNameField.setText(settings.getPackageName());
     moduleNameField.setText(settings.getModuleName());
     implementVisionPipeline.setSelected(settings.shouldImplementWpilibPipeline());
+    implementJevoisModule.setSelected(settings.shouldImplementJevoisModule());
     Language language = Language.get(settings.getLanguage());
     if (language != null) {
       languageSelector.getSelectionModel().select(language);
@@ -114,11 +119,16 @@ private static void setTextFilter(TextField f, String regex) {
   private void updateImplementButton() {
     // Use runLater because pipeline change events are fired before the pipeline actually updates
     Platform.runLater(() -> {
-      boolean canImplementPipeline = canImplementVisionPipeline();
+      canImplementPipeline = canImplementVisionPipeline();
       implementVisionPipeline.setDisable(!canImplementPipeline);
+      canImplementJevoisModule = language == Language.PYTHON;
+      implementJevoisModule.setDisable(!canImplementJevoisModule);
       if (!canImplementPipeline) {
         implementVisionPipeline.setSelected(false);
       }
+      if (!canImplementJevoisModule) {
+        implementJevoisModule.setSelected(false);
+      }
     });
   }
 
@@ -140,6 +150,30 @@ private boolean canImplementVisionPipeline() {
     return supportedLanguage && onlyOneImageInput && noConnectedNonImageInputs;
   }
 
+  @FXML
+  private void setImplementVisionPipeline() {
+    if (implementVisionPipeline.isSelected()) {
+      implementJevoisModule.setSelected(false);
+      implementJevoisModule.setDisable(true);
+    } else {
+      if (canImplementJevoisModule) {
+        implementJevoisModule.setDisable(false);
+      }
+    }
+  }
+
+  @FXML
+  private void setImplementJevoisModule() {
+    if (implementJevoisModule.isSelected()) {
+      implementVisionPipeline.setSelected(false);
+      implementVisionPipeline.setDisable(true);
+    } else {
+      if (canImplementPipeline) {
+        implementVisionPipeline.setDisable(false);
+      }
+    }
+  }
+
   @FXML
   private void setLanguage() {
     this.language = languageSelector.getSelectionModel().getSelectedItem();
@@ -214,6 +248,7 @@ public CodeGenerationSettings getOptions() {
         .language(language.name)
         .className(classNameField.getText())
         .implementVisionPipeline(implementVisionPipeline.isSelected())
+        .implementJevoisModule(implementJevoisModule.isSelected())
         .saveDir(saveLocationLabel.getText())
         .packageName(packageNameField.getText())
         .moduleName(moduleNameField.getText())

ui/src/main/java/edu/wpi/grip/ui/codegeneration/Exporter.java

@@ -31,6 +31,7 @@
 public class Exporter implements Runnable {
   private static final Logger logger = Logger.getLogger(Exporter.class.getName());
   private static final String PIPELINE_TEMPLATE = "Pipeline.vm";
+  private static final String PIPELINE_JEVOIS_TEMPLATE = "PipelineJevoisRunner.vm";
   private static final String PIPELINE_HTEMPLATE = "Pipeline.h.vm";
   private final ImmutableList<Step> steps;
   private final CodeGenerationSettings settings;
@@ -87,6 +88,8 @@ public void run() {
     context.put(CodeGenerationSettings.SAVE_DIR, settings.getSaveDir());
     context.put(CodeGenerationSettings.IMPLEMENT_WPILIB_PIPELINE,
         settings.shouldImplementWpilibPipeline());
+    context.put(CodeGenerationSettings.IMPLEMENT_JEVOIS_MODULE,
+        settings.shouldImplementJevoisModule());
     context.put(CodeGenerationSettings.PACKAGE_NAME, settings.getPackageName());
     context.put(CodeGenerationSettings.MODULE_NAME, settings.getModuleName());
     context.put("pipeline", new TPipeline(steps));
@@ -167,6 +170,20 @@ private void generateCode(VelocityEngine ve,
     } catch (UnsupportedEncodingException | FileNotFoundException e) {
       logger.log(Level.SEVERE, "Unable to write to file", e);
     }
+    if (settings.shouldImplementJevoisModule()) {
+      File jevoisRunner = new File(new File(settings.getSaveDir()),
+              "GRIPRunner." + lang.extension );
+      logger.info("Generating " + lang.name + " Jevois module code to "
+              + jevoisRunner.getAbsolutePath());
+      Template runner = ve.getTemplate(templateDir + "/" + PIPELINE_JEVOIS_TEMPLATE);
+      StringWriter swRunner = new StringWriter();
+      runner.merge(context, swRunner);
+      try (PrintWriter pwRunner = new PrintWriter(jevoisRunner.getAbsolutePath(), "UTF-8")) {
+        pwRunner.println(swRunner);
+      } catch (UnsupportedEncodingException | FileNotFoundException e) {
+        logger.log(Level.SEVERE, "Unable to create Jevois module", e);
+      }
+    }
   }
 
   /**

ui/src/main/resources/edu/wpi/grip/ui/codegeneration/CodegenDialog.fxml

@@ -14,7 +14,7 @@
 <?import javafx.scene.layout.StackPane?>
 <?import javafx.scene.layout.VBox?>
 
-<VBox fx:id="root" xmlns="http://javafx.com/javafx/8.0.65" xmlns:fx="http://javafx.com/fxml/1" fx:controller="edu.wpi.grip.ui.codegeneration.CodeGenerationOptionsController">
+<VBox fx:id="root" xmlns="http://javafx.com/javafx/8.0.111" xmlns:fx="http://javafx.com/fxml/1" fx:controller="edu.wpi.grip.ui.codegeneration.CodeGenerationOptionsController">
     <children>
         <GridPane fx:id="optionsGrid" alignment="CENTER_LEFT">
             <columnConstraints>
@@ -24,23 +24,26 @@
             <rowConstraints>
                 <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="NEVER" />
                 <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="NEVER" />
+            <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="NEVER" />
                 <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="NEVER" />
                 <RowConstraints minHeight="10.0" prefHeight="30.0" vgrow="NEVER" />
             </rowConstraints>
             <children>
                 <Label text="Language" />
                 <ComboBox fx:id="languageSelector" maxWidth="1.7976931348623157E308" onAction="#setLanguage" GridPane.columnIndex="1" />
-                <Label text="Pipeline class name" GridPane.rowIndex="2" />
-                <TextField fx:id="classNameField" text="Pipeline" GridPane.columnIndex="1" GridPane.hgrow="NEVER" GridPane.rowIndex="2" />
-                <Label text="Save location" GridPane.rowIndex="3" />
-                <HBox nodeOrientation="LEFT_TO_RIGHT" GridPane.columnIndex="1" GridPane.rowIndex="3" GridPane.vgrow="NEVER">
+                <Label text="Pipeline class name" GridPane.rowIndex="3" />
+                <TextField fx:id="classNameField" text="Pipeline" GridPane.columnIndex="1" GridPane.hgrow="NEVER" GridPane.rowIndex="3" />
+                <Label text="Save location" GridPane.rowIndex="4" />
+                <HBox nodeOrientation="LEFT_TO_RIGHT" GridPane.columnIndex="1" GridPane.rowIndex="4" GridPane.vgrow="NEVER">
                     <children>
                         <Label fx:id="saveLocationLabel" disable="true" maxHeight="-Infinity" minHeight="26.0" prefHeight="30.0" prefWidth="105.0" HBox.hgrow="ALWAYS" />
                         <Button fx:id="browseButton" alignment="CENTER" disable="true" mnemonicParsing="false" onAction="#browseForSave" prefHeight="26.0" prefWidth="82.0" text="Browse" />
                     </children>
                 </HBox>
                 <Label text="Implement WPILib VisionPipeline" GridPane.rowIndex="1" />
-                <CheckBox fx:id="implementVisionPipeline" mnemonicParsing="false" GridPane.columnIndex="1" GridPane.rowIndex="1" />
+                <CheckBox fx:id="implementVisionPipeline" mnemonicParsing="false" onAction="#setImplementVisionPipeline" GridPane.columnIndex="1" GridPane.rowIndex="1" />
+            <CheckBox fx:id="implementJevoisModule" mnemonicParsing="false" onAction="#setImplementJevoisModule" GridPane.columnIndex="1" GridPane.rowIndex="2" />
+            <Label text="Implement Jevois Module" GridPane.rowIndex="2" />
             </children>
             <padding>
                 <Insets left="5.0" right="5.0" top="5.0" />

ui/src/main/resources/edu/wpi/grip/ui/codegeneration/python/PipelineJevoisRunner.vm

@@ -0,0 +1,29 @@
+#set($enums = [])
+#set($lines = false)
+import libjevois as jevois
+import cv2
+import numpy as np
+import $moduleName
+
+class GRIPRunner:
+
+    def __init__(self):
+        self.pipeline = $moduleName.$className()
+
+    def process(self, inframe, outframe = None):
+        # Execute the pipeline
+        img = inframe.getCvBGR()
+        self.pipeline.process(img)
+
+        # stream to USB output if current mapping is setup for that
+        if outframe is not None:
+#foreach($step in $pipeline.getSteps())#if($foreach.last)#foreach($output in $step.getOutputs())
+#set($oName = $tMeth.pyName($output.name()))
+#if($oName.contains("contour") || $oName.contains("hull"))
+            cv2.drawContours(img,self.pipeline.$tMeth.pyName($output.name()), -1, (0,255,0),2)
+#end#end#end#end
+            outframe.sendCvBGR(img)
+
+# TODO:  send contour report over USB
+# TODO:  add parameter(s) to enable/disable individual values of the report over USB
+

ui/src/test/java/edu/wpi/grip/ui/codegeneration/tools/PipelineGenerator.java

@@ -67,6 +67,7 @@ public void export(String fileName) {
             .className(fileName)
             .saveDir(codeDir.getAbsolutePath())
             .implementVisionPipeline(false)
+            .implementJevoisModule(false)
             .packageName("")
             .moduleName("")
             .build(),
@@ -77,6 +78,7 @@ public void export(String fileName) {
             .className(fileName)
             .saveDir(codeDir.getAbsolutePath())
             .implementVisionPipeline(false)
+            .implementJevoisModule(false)
             .packageName("")
             .moduleName(fileName)
             .build(),
@@ -87,6 +89,7 @@ public void export(String fileName) {
             .className(fileName)
             .saveDir(codeDir.getAbsolutePath())
             .implementVisionPipeline(false)
+            .implementJevoisModule(false)
             .packageName("")
             .moduleName("")
             .build(),