Start and stop GRIP using NetworkTables

This lets robot programs start and stop GRIP to save CPU without having
to wait for the process to start up again.

For example,

    NetworkTable table = NetworkTable.getTable("GRIP");

    // Stop GRIP without killing the process
    table.putBoolean("run", false);

    doSomeStuffThatDoesntNeedVision();

    // Start GRIP again
    table.putBoolean("run", true);

Author: ThomasJClark

core/src/main/java/edu/wpi/grip/core/GRIPCoreModule.java

@@ -10,11 +10,13 @@
 import com.google.inject.spi.TypeEncounter;
 import com.google.inject.spi.TypeListener;
 import edu.wpi.grip.core.events.UnexpectedThrowableEvent;
+import edu.wpi.grip.core.operations.networktables.NTManager;
 import edu.wpi.grip.core.serialization.Project;
 import edu.wpi.grip.core.sources.CameraSource;
 import edu.wpi.grip.core.sources.ImageFileSource;
 import edu.wpi.grip.core.sources.MultiImageFileSource;
 import edu.wpi.grip.core.util.ExceptionWitness;
+import edu.wpi.grip.core.util.GRIPMode;
 
 import javax.annotation.Nullable;
 import java.io.IOException;
@@ -87,6 +89,8 @@ public GRIPCoreModule() {
 
     @Override
     protected void configure() {
+        bind(GRIPMode.class).toInstance(GRIPMode.HEADLESS);
+
         // Register any injected object on the event bus
         bindListener(Matchers.any(), new TypeListener() {
             @Override
@@ -97,6 +101,8 @@ public <I> void hear(TypeLiteral<I> type, TypeEncounter<I> encounter) {
 
         bind(EventBus.class).toInstance(eventBus);
 
+        bind(NTManager.class).asEagerSingleton();
+
         install(new FactoryModuleBuilder().build(new TypeLiteral<Connection.Factory<Object>>() {
         }));
 

core/src/main/java/edu/wpi/grip/core/Pipeline.java

@@ -7,7 +7,6 @@
 import com.thoughtworks.xstream.annotations.XStreamAlias;
 import com.thoughtworks.xstream.annotations.XStreamOmitField;
 import edu.wpi.grip.core.events.*;
-import edu.wpi.grip.core.operations.networktables.NTManager;
 import edu.wpi.grip.core.settings.ProjectSettings;
 
 import javax.inject.Inject;
@@ -37,10 +36,6 @@ public class Pipeline {
     @XStreamOmitField
     private EventBus eventBus;
 
-    @Inject
-    @XStreamOmitField
-    private NTManager ntManager;
-
     /*
      * We have separate locks for sources and steps because we don't want to
      * block access to both resources when only one is in use.

core/src/main/java/edu/wpi/grip/core/operations/networktables/NTManager.java

@@ -5,9 +5,11 @@
 import edu.wpi.first.wpilibj.networktables.NetworkTable;
 import edu.wpi.first.wpilibj.networktables.NetworkTablesJNI;
 import edu.wpi.grip.core.Pipeline;
+import edu.wpi.grip.core.PipelineRunner;
 import edu.wpi.grip.core.events.ProjectSettingsChangedEvent;
 import edu.wpi.grip.core.events.StepRemovedEvent;
 import edu.wpi.grip.core.settings.ProjectSettings;
+import edu.wpi.grip.core.util.GRIPMode;
 
 import javax.inject.Inject;
 import java.io.File;
@@ -41,13 +43,16 @@ public class NTManager {
         put(6, Level.FINEST);
     }};
 
-    @Inject Pipeline pipeline;
+    @Inject private Pipeline pipeline;
+    @Inject private PipelineRunner pipelineRunner;
+    @Inject private GRIPMode gripMode;
 
     @Inject
     public NTManager(Logger logger) {
         checkNotNull(logger, "Logger cannot be null");
         // We may have another instance of this method lying around
         NetworkTable.shutdown();
+
         // Redirect NetworkTables log messages to our own log files.  This gets rid of console spam, and it also lets
         // us grep through NetworkTables messages just like any other messages.
         NetworkTablesJNI.setLogger((level, file, line, msg) -> {
@@ -56,6 +61,30 @@ public NTManager(Logger logger) {
         }, 0);
 
         NetworkTable.setClientMode();
+
+        // When in headless mode, start and stop the pipeline based on the "GRIP/run" key.  This allows robot programs
+        // to control GRIP without actually restarting the process.
+        NetworkTable.getTable("GRIP").addTableListener("run", (source, key, value, isNew) -> {
+            if (gripMode == GRIPMode.HEADLESS) {
+                if (!(value instanceof Boolean)) {
+                    logger.warning("NetworkTables value GRIP/run should be a boolean!");
+                    return;
+                }
+
+                if ((Boolean) value) {
+                    if (!pipelineRunner.isRunning()) {
+                        logger.info("Starting GRIP from NetworkTables");
+                        pipelineRunner.startAsync();
+                    }
+                } else if (pipelineRunner.isRunning()) {
+                    logger.info("Stopping GRIP from NetworkTables");
+                    pipelineRunner.stopAsync();
+
+                }
+            }
+        }, true);
+
+        NetworkTable.shutdown();
     }
 
     /**

core/src/main/java/edu/wpi/grip/core/util/GRIPMode.java

@@ -0,0 +1,10 @@
+package edu.wpi.grip.core.util;
+
+/**
+ * An enum that indicates if GRIP is running in GUI mode with JavaFX or as a headless command line application.
+ * <p>
+ * To the get the mode, this can be injected into a class (ie: @Inject private GRIPMode mode;)
+ */
+public enum GRIPMode {
+    GUI, HEADLESS
+}

ui/src/main/java/edu/wpi/grip/ui/GRIPUIModule.java

@@ -8,6 +8,7 @@
 import com.google.inject.spi.TypeEncounter;
 import com.google.inject.spi.TypeListener;
 import edu.wpi.grip.core.Source;
+import edu.wpi.grip.core.util.GRIPMode;
 import edu.wpi.grip.ui.annotations.ParametrizedController;
 import edu.wpi.grip.ui.components.ExceptionWitnessResponderButton;
 import edu.wpi.grip.ui.components.StartStoppableButton;
@@ -28,6 +29,7 @@
 public class GRIPUIModule extends AbstractModule {
     @Override
     protected void configure() {
+        bind(GRIPMode.class).toInstance(GRIPMode.GUI);
 
         bindListener(Matchers.any(), new TypeListener() {
             @Override

ui/src/main/java/edu/wpi/grip/ui/Main.java

@@ -5,6 +5,7 @@
 import com.google.common.eventbus.Subscribe;
 import com.google.inject.Guice;
 import com.google.inject.Injector;
+import com.google.inject.util.Modules;
 import com.sun.javafx.application.PlatformImpl;
 import edu.wpi.grip.core.GRIPCoreModule;
 import edu.wpi.grip.core.PipelineRunner;
@@ -37,8 +38,12 @@ public class Main extends Application {
     @Inject private Project project;
     @Inject private Logger logger;
 
+    /**
+     * JavaFX insists on creating the main application with its own reflection code, so we can't create with the
+     * Guice and do automatic field injection. However, we can inject it after the fact.
+     */
     @VisibleForTesting
-    protected final Injector injector = Guice.createInjector(new GRIPCoreModule(), new GRIPUIModule());
+    protected Injector injector;
 
     private final Object dialogLock = new Object();
     private Parent root;
@@ -47,23 +52,22 @@ public static void main(String[] args) {
         launch(args);
     }
 
-    /**
-     * JavaFX insists on creating the main application with its own reflection code, so we can't create with the
-     * Guice and do automatic field injection. However, we can inject it after the fact.
-     */
-    public Main() {
-        injector.injectMembers(this);
-    }
-
     @Override
     @SuppressWarnings("PMD.SignatureDeclareThrowsException")
     public void start(Stage stage) throws Exception {
-        // If --headless was specified on the command line, run in headless mode
         List<String> parameters = new ArrayList<>(getParameters().getRaw());
 
         if (parameters.contains("--headless")) {
+            // If --headless was specified on the command line, run in headless mode (only use the core module)
+            injector = Guice.createInjector(new GRIPCoreModule());
+            injector.injectMembers(this);
+
             parameters.remove("--headless");
         } else {
+            // Otherwise, run with both the core and UI modules, and show the JavaFX stage
+            injector = Guice.createInjector(Modules.override(new GRIPCoreModule()).with(new GRIPUIModule()));
+            injector.injectMembers(this);
+
             root = FXMLLoader.load(Main.class.getResource("MainWindow.fxml"), null, null, injector::getInstance);
             root.setStyle("-fx-font-size: " + DPIUtility.FONT_SIZE + "px");
 

ui/src/test/java/edu/wpi/grip/ui/pipeline/PipelineUITest.java

@@ -4,6 +4,7 @@
 import com.google.common.eventbus.EventBus;
 import com.google.inject.Guice;
 import com.google.inject.Injector;
+import com.google.inject.util.Modules;
 import edu.wpi.grip.core.*;
 import edu.wpi.grip.core.util.MockExceptionWitness;
 import edu.wpi.grip.ui.GRIPUIModule;
@@ -44,7 +45,7 @@ public class PipelineUITest extends ApplicationTest {
     public void start(Stage stage) {
         testModule = new GRIPCoreTestModule();
         testModule.setUp();
-        final Injector injector = Guice.createInjector(testModule, new GRIPUIModule());
+        final Injector injector = Guice.createInjector(Modules.override(testModule).with(new GRIPUIModule()));
         eventBus = injector.getInstance(EventBus.class);
         pipeline = injector.getInstance(Pipeline.class);
         additionOperation = new AdditionOperation();

ui/src/test/java/edu/wpi/grip/ui/pipeline/input/InputSocketControllerFactoryTest.java

@@ -3,6 +3,7 @@
 import com.google.common.eventbus.EventBus;
 import com.google.inject.Guice;
 import com.google.inject.Injector;
+import com.google.inject.util.Modules;
 import edu.wpi.grip.core.InputSocket;
 import edu.wpi.grip.core.Operation;
 import edu.wpi.grip.core.Palette;
@@ -77,7 +78,7 @@ public InputSocketControllerFactoryTest(Operation operation, String name) {
     public void start(Stage stage) {
         testModule = new GRIPCoreTestModule();
         testModule.setUp();
-        Injector injector = Guice.createInjector(testModule, new GRIPUIModule());
+        Injector injector = Guice.createInjector(Modules.override(testModule).with(new GRIPUIModule()));
         inputSocketControllerFactory = injector.getInstance(InputSocketControllerFactory.class);
         stepFactory = injector.getInstance(Step.Factory.class);
         gridPane = new GridPane();