Control the distance calculator from the distance calculator view

build.gradle

@@ -24,7 +24,7 @@ repositories {
 }
 
 dependencies {
-    compile 'com.fasterxml.jackson.core:jackson-databind:2.5.3'
+    compile "com.fasterxml.jackson.module:jackson-module-kotlin:2.8.7"
     compile 'com.neuronrobotics:nrjavaserial:3.11.0'
     compile 'com.pi4j:pi4j-core:1.0'
     compile 'commons-cli:commons-cli:1.3.1'

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

@@ -2,6 +2,7 @@
 
 import com.easternedgerobotics.rov.config.CameraCalibrationConfig;
 import com.easternedgerobotics.rov.config.Config;
+import com.easternedgerobotics.rov.config.DistanceCalculatorConfig;
 import com.easternedgerobotics.rov.config.JoystickConfig;
 import com.easternedgerobotics.rov.config.LaunchConfig;
 import com.easternedgerobotics.rov.config.SliderConfig;
@@ -23,6 +24,7 @@
 import com.easternedgerobotics.rov.io.arduino.ArduinoPort;
 import com.easternedgerobotics.rov.io.joystick.JoystickController;
 import com.easternedgerobotics.rov.io.joystick.LogitechExtremeJoystickSource;
+import com.easternedgerobotics.rov.math.DistanceCalculator;
 import com.easternedgerobotics.rov.value.CameraCalibrationValue;
 import com.easternedgerobotics.rov.value.MotionPowerValue;
 import com.easternedgerobotics.rov.video.CameraCalibration;
@@ -115,23 +117,31 @@ public void init() throws SocketException, UnknownHostException {
             configSource.getConfig("videoDecoder",
                 VideoDecoderConfig.class));
 
+        final ValueStore<CameraCalibrationValue> cameraCalibrationStore = ValueStore.of(
+            CameraCalibrationValue.class, config.preferencesHome());
+
         cameraCalibration = new CameraCalibration(
             eventPublisher,
             configSource.getConfig("cameraCalibration", CameraCalibrationConfig.class),
-            ValueStore.of(CameraCalibrationValue.class, config.preferencesHome()),
+            cameraCalibrationStore,
             Schedulers.newThread());
 
         fileReceiver = new TcpFileReceiver(
             launchConfig.fileReceiverPort(),
             launchConfig.fileReceiverSocketBacklog());
 
+        final DistanceCalculator distanceCalculator = new DistanceCalculator(
+            configSource.getConfig("distanceCalculator", DistanceCalculatorConfig.class),
+            cameraCalibrationStore);
+
         viewLoader = new ViewLoader(MainView.class, "Control Software", new HashMap<Class<?>, Object>() {
             {
                 put(EventPublisher.class, eventPublisher);
                 put(Config.class, configSource);
                 put(EmergencyStopController.class, emergencyStopController);
                 put(VideoDecoder.class, videoDecoder);
                 put(CameraCalibration.class, cameraCalibration);
+                put(DistanceCalculator.class, distanceCalculator);
             }
         });
 

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

@@ -1,20 +1,28 @@
 package com.easternedgerobotics.rov.fx;
 
+import com.easternedgerobotics.rov.fx.distance.AxisNode;
+import com.easternedgerobotics.rov.fx.distance.TextNode;
+
 import javafx.geometry.Insets;
 import javafx.scene.Parent;
 import javafx.scene.control.Button;
+import javafx.scene.image.Image;
+import javafx.scene.image.ImageView;
 import javafx.scene.layout.Border;
 import javafx.scene.layout.BorderPane;
 import javafx.scene.layout.BorderStroke;
 import javafx.scene.layout.BorderStrokeStyle;
 import javafx.scene.layout.BorderWidths;
 import javafx.scene.layout.CornerRadii;
 import javafx.scene.layout.HBox;
+import javafx.scene.layout.StackPane;
 import javafx.scene.layout.VBox;
 import javafx.scene.paint.Color;
 
+import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
+import java.util.concurrent.atomic.AtomicReference;
 import javax.inject.Inject;
 
 public final class DistanceCalculatorView implements View {
@@ -24,18 +32,34 @@ public final class DistanceCalculatorView implements View {
 
     static final double RADIUS = 3;
 
+    static final int SELECTION_WIDTH = 300;
+
     final BorderPane galleryBorderPane = new BorderPane();
 
+    final BorderPane calculatorBorderPane = new BorderPane();
+
+    final HBox mainPanel = new HBox();
+
     final HBox buttonPanel = new HBox();
 
-    final VBox mainPanel = new VBox();
+    final VBox imageSelectionPanel = new VBox();
 
     final BorderPane borderPane = new BorderPane();
 
     final Button captureA = new Button("Capture A");
 
     final Button captureB = new Button("Capture B");
 
+    final Button calculateButton = new Button("Calculate");
+
+    final ImageView imageView = new ImageView();
+
+    final StackPane imageStack = new StackPane();
+
+    final AtomicReference<AxisNode> axisNode = new AtomicReference<>(new AxisNode());
+
+    final List<TextNode> imagePoints = new ArrayList<>();
+
     @Inject
     public DistanceCalculatorView() {
         final List<Button> buttons = Arrays.asList(captureA, captureB);
@@ -44,19 +68,43 @@ public DistanceCalculatorView() {
             button.prefWidthProperty().bind(buttonPanel.widthProperty().divide(buttons.size()));
         }
         buttonPanel.getChildren().addAll(buttons);
+        calculateButton.setPrefHeight(BUTTON_HEIGHT);
+        calculateButton.prefWidthProperty().bind(buttonPanel.widthProperty());
 
         galleryBorderPane.setBorder(new Border(new BorderStroke(Color.GRAY,
             BorderStrokeStyle.SOLID, new CornerRadii(RADIUS), BorderWidths.DEFAULT)));
 
-        galleryBorderPane.prefHeightProperty().bind(mainPanel.heightProperty().subtract(BUTTON_HEIGHT));
+        galleryBorderPane.prefHeightProperty().bind(imageSelectionPanel.heightProperty().subtract(BUTTON_HEIGHT * 2));
+
+        imageSelectionPanel.setPadding(new Insets(PADDING, PADDING, PADDING, PADDING));
+        imageSelectionPanel.setSpacing(PADDING);
+        imageSelectionPanel.getChildren().addAll(buttonPanel, calculateButton, galleryBorderPane);
+        imageSelectionPanel.setMaxWidth(SELECTION_WIDTH);
+        imageSelectionPanel.setMinWidth(SELECTION_WIDTH);
 
-        mainPanel.setPadding(new Insets(PADDING, PADDING, PADDING, PADDING));
-        mainPanel.setSpacing(PADDING);
-        mainPanel.getChildren().addAll(buttonPanel, galleryBorderPane);
+        imageView.setStyle("-fx-background-color: BLACK");
+        imageView.setPreserveRatio(true);
+        imageView.setSmooth(true);
+        imageView.setCache(true);
+
+        calculatorBorderPane.setCenter(imageStack);
+        calculatorBorderPane.setStyle("-fx-background-color: BLACK");
+        calculatorBorderPane.setBorder(new Border(new BorderStroke(Color.GRAY,
+            BorderStrokeStyle.SOLID, new CornerRadii(RADIUS), BorderWidths.DEFAULT)));
+        calculatorBorderPane.prefWidthProperty().bind(mainPanel.widthProperty().subtract(SELECTION_WIDTH));
+        calculatorBorderPane.prefHeightProperty().bind(mainPanel.heightProperty());
+
+        mainPanel.getChildren().addAll(calculatorBorderPane, imageSelectionPanel);
 
         borderPane.setCenter(mainPanel);
     }
 
+    public void setImage(final Image image) {
+        imageView.setFitWidth(borderPane.getWidth() - SELECTION_WIDTH);
+        imageView.setFitHeight(borderPane.getHeight());
+        imageView.setImage(image);
+    }
+
     @Override
     public Parent getParent() {
         return borderPane;