Take 1080P screenshots, briefly pausing the 720P video feed.

playbooks/files/defaultConfig.yml

@@ -4,6 +4,8 @@ launch:
   serialPort: /dev/ttyACM0
   baudRate: 115200
   heartbeatRate: 1
+  fileReceiverPort: 12347
+  fileReceiverSocketBacklog: 100
 topsides:
   pilotPanelName: Pilot Panel
   pilotPanelPort: /dev/ttyACM0
@@ -92,8 +94,10 @@ cameraCalibration:
   cameraBImagesDirectory: /home/eedge/calibration-b/
   cameraAValidImagesDirectory: /home/eedge/valid-calibration-a/
   cameraBValidImagesDirectory: /home/eedge/valid-calibration-b/
-  chessboardWidth: 12
-  chessboardHeight: 13
+  cameraAPreUndistortedDirectory: /home/eedge/pre-undistorted-a/
+  cameraBPreUndistortedDirectory: /home/eedge/pre-undistorted-b/
+  chessboardWidth: 6
+  chessboardHeight: 9
 distanceCalculator:
   imageDirectory: /home/eedge/undistorted-images/
   dataDirectory: /home/eedge/undistorted-images-data/

playbooks/files/etc/systemd/system/eer-camera.service

@@ -3,4 +3,4 @@ Description=Eastern Edge Robotics Camera Feed Software
 
 [Service]
 EnvironmentFile=/run/eer/camera-environment
-ExecStart=/usr/bin/eer-camera-feed $host $port
+ExecStart=/usr/bin/eer-camera-feed $host $video_port $image_port

playbooks/files/usr/bin/eer-camera-feed

@@ -3,27 +3,53 @@ import picamera
 import signal
 import socket
 import sys
+import threading
+
+host = sys.argv[1]
+video_port = int(sys.argv[2])
+image_port = int(sys.argv[3])
+
+signal_lock = threading.Lock()
 
 with picamera.PiCamera() as camera:
     def flip_video(signum, stack):
-        camera.vflip = not camera.vflip
-        camera.hflip = not camera.hflip
+        with signal_lock:
+            camera.vflip = not camera.vflip
+            camera.hflip = not camera.hflip
     signal.signal(signal.SIGUSR1, flip_video)
-    camera.resolution = (1296, 720)
+
+    def take_image(signum, stack):
+        with signal_lock:
+            with open('/run/eer/camera-image-path', 'r') as image_path_file:
+                image_path = image_path_file.readlines()[0]
+                image_socket = socket.socket()
+                image_socket.connect((host, image_port))
+                image_socket.send(image_path + '\n')
+                image_file = image_socket.makefile('wb')
+                try:
+                    camera.capture(image_file, 'png')
+                finally:
+                    image_file.close()
+                    image_socket.close()
+
+    signal.signal(signal.SIGUSR2, take_image)
+
+    camera.resolution = (1920, 1088)
     camera.framerate = 24
 
-    nc = socket.socket()
-    nc.connect((sys.argv[1], int(sys.argv[2])))
-    fd = nc.makefile('wb')
+    video_socket = socket.socket()
+    video_socket.connect((host, video_port))
+    video_file = video_socket.makefile('wb', 1024)
     try:
         camera.start_recording(
-            fd,
+            video_file,
             format='h264',
             intra_period=0,
             quality=0,
-            bitrate=25000000)
+            bitrate=25000000,
+            resize=(1296, 720))
         while True:
             signal.pause()
     finally:
-        fd.close()
-        nc.close()
+        video_file.close()
+        video_socket.close()

src/main/java/com/easternedgerobotics/rov/PicameraA.java

@@ -4,6 +4,7 @@
 import com.easternedgerobotics.rov.config.LaunchConfig;
 import com.easternedgerobotics.rov.event.BroadcastEventPublisher;
 import com.easternedgerobotics.rov.event.EventPublisher;
+import com.easternedgerobotics.rov.value.CameraCaptureValueA;
 import com.easternedgerobotics.rov.value.PicameraAHeartbeatValue;
 import com.easternedgerobotics.rov.value.VideoFlipValueA;
 import com.easternedgerobotics.rov.value.VideoValueA;
@@ -33,14 +34,27 @@ private PicameraA() {
 
     }
 
-    private static void initCameraA(final EventPublisher eventPublisher, final int heartbeatRate) {
+    private static void initCameraA(
+        final EventPublisher eventPublisher,
+        final int heartbeatRate,
+        final int fileReceiverPort
+    ) {
         eventPublisher.valuesOfType(VideoFlipValueA.class)
+            .observeOn(Schedulers.io())
             .subscribe(f -> PicameraVideo.flip());
+
+        eventPublisher.valuesOfType(CameraCaptureValueA.class)
+            .observeOn(Schedulers.io())
+            .subscribe(capture -> PicameraVideo.takeImage(capture.getPath()));
+
         eventPublisher.valuesOfType(VideoValueA.class)
-            .throttleLast(1, TimeUnit.SECONDS)
-            .subscribe(value -> PicameraVideo.start(value.getHost(), value.getPort()));
+            .throttleLast(1, TimeUnit.SECONDS, Schedulers.io())
+            .observeOn(Schedulers.io())
+            .subscribe(value -> PicameraVideo.start(value.getHost(), value.getPort(), fileReceiverPort));
+
         Observable.interval(heartbeatRate, TimeUnit.SECONDS, Schedulers.io())
             .map(t -> new PicameraAHeartbeatValue(true))
+            .observeOn(Schedulers.io())
             .subscribe(eventPublisher::emit);
     }
 
@@ -81,7 +95,7 @@ public static void main(final String[] args) throws InterruptedException, Socket
             final EventPublisher eventPublisher = new BroadcastEventPublisher(new UdpBroadcast<>(
                 socket, broadcastAddress, broadcastPort, new BasicOrder<>()));
             PicameraVideo.addShutdownHook();
-            initCameraA(eventPublisher, launchConfig.heartbeatRate());
+            initCameraA(eventPublisher, launchConfig.heartbeatRate(), launchConfig.fileReceiverPort());
             Logger.info("Started");
             eventPublisher.await();
         } catch (final ParseException e) {

src/main/java/com/easternedgerobotics/rov/PicameraB.java

@@ -4,6 +4,7 @@
 import com.easternedgerobotics.rov.config.LaunchConfig;
 import com.easternedgerobotics.rov.event.BroadcastEventPublisher;
 import com.easternedgerobotics.rov.event.EventPublisher;
+import com.easternedgerobotics.rov.value.CameraCaptureValueB;
 import com.easternedgerobotics.rov.value.PicameraBHeartbeatValue;
 import com.easternedgerobotics.rov.value.VideoFlipValueB;
 import com.easternedgerobotics.rov.value.VideoValueB;
@@ -33,14 +34,27 @@ private PicameraB() {
 
     }
 
-    private static void initCameraB(final EventPublisher eventPublisher, final int heartbeatRate) {
+    private static void initCameraB(
+        final EventPublisher eventPublisher,
+        final int heartbeatRate,
+        final int fileReceiverPort
+    ) {
         eventPublisher.valuesOfType(VideoFlipValueB.class)
+            .observeOn(Schedulers.io())
             .subscribe(f -> PicameraVideo.flip());
+
+        eventPublisher.valuesOfType(CameraCaptureValueB.class)
+            .observeOn(Schedulers.io())
+            .subscribe(capture -> PicameraVideo.takeImage(capture.getPath()));
+
         eventPublisher.valuesOfType(VideoValueB.class)
-            .throttleLast(1, TimeUnit.SECONDS)
-            .subscribe(value -> PicameraVideo.start(value.getHost(), value.getPort()));
+            .throttleLast(1, TimeUnit.SECONDS, Schedulers.io())
+            .observeOn(Schedulers.io())
+            .subscribe(value -> PicameraVideo.start(value.getHost(), value.getPort(), fileReceiverPort));
+
         Observable.interval(heartbeatRate, TimeUnit.SECONDS, Schedulers.io())
             .map(t -> new PicameraBHeartbeatValue(true))
+            .observeOn(Schedulers.io())
             .subscribe(eventPublisher::emit);
     }
 
@@ -81,7 +95,7 @@ public static void main(final String[] args) throws InterruptedException, Socket
             final EventPublisher eventPublisher = new BroadcastEventPublisher(new UdpBroadcast<>(
                 socket, broadcastAddress, broadcastPort, new BasicOrder<>()));
             PicameraVideo.addShutdownHook();
-            initCameraB(eventPublisher, launchConfig.heartbeatRate());
+            initCameraB(eventPublisher, launchConfig.heartbeatRate(), launchConfig.fileReceiverPort());
             Logger.info("Started");
             eventPublisher.await();
         } catch (final ParseException e) {

src/main/java/com/easternedgerobotics/rov/Topside.java

@@ -18,6 +18,7 @@
 import com.easternedgerobotics.rov.io.MotionPowerProfile;
 import com.easternedgerobotics.rov.io.ProfileController;
 import com.easternedgerobotics.rov.io.SliderController;
+import com.easternedgerobotics.rov.io.TcpFileReceiver;
 import com.easternedgerobotics.rov.io.arduino.Arduino;
 import com.easternedgerobotics.rov.io.arduino.ArduinoPort;
 import com.easternedgerobotics.rov.io.joystick.JoystickController;
@@ -60,6 +61,8 @@ public final class Topside extends Application {
 
     private JoystickController joystickController;
 
+    private TcpFileReceiver fileReceiver;
+
     @Override
     public void init() throws SocketException, UnknownHostException {
         final Config configSource = new Config(
@@ -104,10 +107,12 @@ public void init() throws SocketException, UnknownHostException {
             eventPublisher, configSource.getConfig("videoDecoder", VideoDecoderConfig.class));
 
         cameraCalibration = new CameraCalibration(
-            videoDecoder,
+            eventPublisher,
             configSource.getConfig("cameraCalibration", CameraCalibrationConfig.class),
             Schedulers.newThread());
 
+        fileReceiver = new TcpFileReceiver(launchConfig.fileReceiverPort(), launchConfig.fileReceiverSocketBacklog());
+
         viewLoader = new ViewLoader(MainView.class, "Control Software", new HashMap<Class<?>, Object>() {
             {
                 put(EventPublisher.class, eventPublisher);
@@ -134,6 +139,7 @@ public void start(final Stage stage) {
         arduino.start(config.pilotPanelHeartbeatInterval(), config.pilotPanelHeartbeatTimeout(), TimeUnit.MILLISECONDS);
         joystickController.start(LogitechExtremeJoystickSource.create(
             config.joystickRecoveryInterval(), TimeUnit.MILLISECONDS, Schedulers.io()));
+        fileReceiver.start();
         Logger.info("Started");
     }
 
@@ -146,6 +152,7 @@ public void stop() {
         profileController.stop();
         videoDecoder.stop();
         joystickController.stop();
+        fileReceiver.stop();
         Logger.info("Stopped");
     }
 

src/main/java/com/easternedgerobotics/rov/config/CameraCalibrationConfig.java

@@ -9,6 +9,10 @@ public interface CameraCalibrationConfig {
 
     String cameraBValidImagesDirectory();
 
+    String cameraAPreUndistortedDirectory();
+
+    String cameraBPreUndistortedDirectory();
+
     int chessboardWidth();
 
     int chessboardHeight();

src/main/java/com/easternedgerobotics/rov/config/LaunchConfig.java

@@ -10,4 +10,8 @@ public interface LaunchConfig {
     int baudRate();
 
     int heartbeatRate();
+
+    int fileReceiverPort();
+
+    int fileReceiverSocketBacklog();
 }

src/main/java/com/easternedgerobotics/rov/fx/GalleryViewController.java

@@ -61,7 +61,6 @@ private void updateDirectory(final ObservableValue<? extends String> value, fina
         subscriptions.clear();
         subscriptions.add(DirectoryUtil.observe(Paths.get(curr))
             .subscribeOn(Schedulers.newThread())
-            .delay(1, TimeUnit.SECONDS)
             .subscribe(this::onImagePathChanged));
     }
 
@@ -84,6 +83,10 @@ private void onImagePathChanged(final Path path) {
             });
             return;
         }
+        // in the event that the file was not completed.
+        if (file.length() == 0) {
+            Schedulers.io().createWorker().schedule(() -> onImagePathChanged(path), 1, TimeUnit.SECONDS);
+        }
         try {
             final GalleryImageView iv = new GalleryImageView(path, view.actions);
             Platform.runLater(() -> {

src/main/java/com/easternedgerobotics/rov/fx/MainViewController.java

@@ -1,21 +1,22 @@
 package com.easternedgerobotics.rov.fx;
 
 import com.easternedgerobotics.rov.config.Configurable;
-import com.easternedgerobotics.rov.control.SourceController;
 import com.easternedgerobotics.rov.event.EventPublisher;
 import com.easternedgerobotics.rov.io.EmergencyStopController;
+import com.easternedgerobotics.rov.value.HeartbeatValue;
 import com.easternedgerobotics.rov.value.PicameraAHeartbeatValue;
 import com.easternedgerobotics.rov.value.PicameraBHeartbeatValue;
 import com.easternedgerobotics.rov.value.RasprimeHeartbeatValue;
 import com.easternedgerobotics.rov.value.TopsideHeartbeatValue;
 import com.easternedgerobotics.rov.video.VideoDecoder;
 
+import javafx.scene.control.ToggleButton;
 import rx.Observable;
+import rx.Subscription;
 import rx.observables.JavaFxObservable;
 import rx.schedulers.Schedulers;
 import rx.subscriptions.CompositeSubscription;
 
-import java.util.Arrays;
 import java.util.concurrent.TimeUnit;
 import javax.inject.Inject;
 
@@ -73,19 +74,17 @@ public final void onCreate() {
         final Observable<Long> heartbeatLostInterval = Observable.interval(
             maxHeartbeatGap, TimeUnit.SECONDS, JAVA_FX_SCHEDULER);
 
-        Observable.zip(
-            Observable.from(Arrays.asList(
-                RasprimeHeartbeatValue.class,
-                PicameraAHeartbeatValue.class,
-                PicameraBHeartbeatValue.class)),
-            Observable.from(Arrays.asList(
-                view.rasprimeIndicator,
-                view.picameraAIndicator,
-                view.picameraBIndicator)),
-            (clazz, indicator) -> SourceController.manageMultiViewModel(
-                eventPublisher.valuesOfType(clazz), h -> indicator.setBackground(MainView.FOUND_BG), JAVA_FX_SCHEDULER,
-                heartbeatLostInterval, t -> indicator.setBackground(MainView.LOST_BG), JAVA_FX_SCHEDULER)
-        ).subscribe(subscriptions::add);
+        final Observable<HeartbeatValue> rasprimeHeartbeats = eventPublisher
+            .valuesOfType(RasprimeHeartbeatValue.class).cast(HeartbeatValue.class);
+        final Observable<HeartbeatValue> picameraAHeartbeats = eventPublisher
+            .valuesOfType(PicameraAHeartbeatValue.class).cast(HeartbeatValue.class);
+        final Observable<HeartbeatValue> picameraBHeartbeats = eventPublisher
+            .valuesOfType(PicameraBHeartbeatValue.class).cast(HeartbeatValue.class);
+
+        subscriptions.addAll(
+            setIndicator(rasprimeHeartbeats, view.rasprimeIndicator),
+            setIndicator(picameraAHeartbeats, view.picameraAIndicator),
+            setIndicator(picameraBHeartbeats, view.picameraBIndicator));
 
         JavaFxObservable.valuesOf(view.thrusterButton.pressedProperty()).filter(x -> !x)
             .subscribe(v -> viewLoader.load(ThrusterPowerSlidersView.class, "Thruster Power"));
@@ -107,6 +106,15 @@ public final void onDestroy() {
         eventPublisher.emit(new TopsideHeartbeatValue(false));
     }
 
+    private Subscription setIndicator(final Observable<HeartbeatValue> heartbeats, final ToggleButton indicator) {
+        final Observable<Boolean> timeout = Observable.just(false)
+            .delay(maxHeartbeatGap, TimeUnit.SECONDS, JAVA_FX_SCHEDULER)
+            .concatWith(Observable.never());
+        return new CompositeSubscription(
+            timeout.takeUntil(heartbeats).repeat().subscribe(h -> indicator.setBackground(MainView.LOST_BG)),
+            heartbeats.subscribe(h -> indicator.setBackground(MainView.FOUND_BG)));
+    }
+
     private void onSelected(final boolean selected) {
         if (selected) {
             view.startButton.setText("Stop");