Fix various issues with generated C++ (#798)

* Fix various issues with generated C++

Closes #797

* frc namespace, add override keyword

* Capital 'P' in 'Process'

* Fix integer division in filterContours

Closes #810

* Remove include for contrib module

* Clean up generated doc comments

* Capitalize C++ getter methods

All public C++ functions should be PascalCase now

Author: SamCarlberg

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

@@ -5,6 +5,8 @@
 
 import com.google.common.base.CaseFormat;
 
+import org.apache.commons.lang3.text.WordUtils;
+
 public class CppTMethods extends TemplateMethods {
   public CppTMethods() {
     super();
@@ -17,7 +19,7 @@ public String name(String name) {
 
   @Override
   public String getterName(String name) {
-    return "get" + name(name);
+    return "Get" + WordUtils.capitalize(name(name));
   }
 
   @Override

ui/src/main/resources/edu/wpi/grip/ui/codegeneration/cpp/Pipeline.h.vm

@@ -5,13 +5,12 @@
 \#include <String>
 #end
 #if($implementVisionPipeline)
-\#include "VisionPipeline.h"
+\#include "vision/VisionPipeline.h"
 
 #end
 \#include <opencv2/objdetect/objdetect.hpp>
 \#include <opencv2/highgui/highgui.hpp>
 \#include <opencv2/imgproc/imgproc.hpp>
-\#include <opencv2/contrib/contrib.hpp>
 \#include <opencv2/core/core.hpp>
 \#include <opencv2/features2d.hpp>
 \#include <iostream>
@@ -35,7 +34,7 @@ namespace grip {
 * 
 * An OpenCV pipeline generated by GRIP.
 */
-class $className #if($testing or $implementVisionPipeline):#if($testing) public AbsPipeline #else public VisionPipeline #end#end{
+class $className #if($testing or $implementVisionPipeline):#if($testing) public AbsPipeline #else public frc::VisionPipeline #end#end{
 	private:
 #foreach($step in $pipeline.getSteps())
 #if($step.name() == "Switch" || $step.name() == "Valve")
@@ -63,7 +62,7 @@ class $className #if($testing or $implementVisionPipeline):#if($testing) public
 
 	public:
 		$className();
-		void process(#foreach($source in $pipeline.getSources())#cType($source.type()) $source.value()#if($pipeline.getSources().indexOf($source) lt $pipeline.getSources().size() - 1), #end#end);
+		void Process(#foreach($source in $pipeline.getSources())#cType($source.type())& $source.value()#if($pipeline.getSources().indexOf($source) lt $pipeline.getSources().size() - 1), #end#end)#if($implementVisionPipeline) override#end;
 #foreach($step in $pipeline.getSteps())
 #if($step.name() == "Switch" || $step.name() == "Valve")
 #set($boolInp = $step.getInput(0))

ui/src/main/resources/edu/wpi/grip/ui/codegeneration/cpp/Pipeline.vm

@@ -1,14 +1,8 @@
 \#include "${className}.h"
-/**
-* Initializes a ${className}.
-*/
 
 namespace grip {
 
 $className::$className() {
-#foreach($source in $pipeline.getSources())
-##	this->$source.value() = new #cType($source.type())();
-#end
 #foreach($step in $pipeline.getSteps())
 #if($step.name() == "Switch" || $step.name() == "Valve")
 #set($boolInp = $step.getInput(0))
@@ -53,32 +47,16 @@ $className::$className() {
 #end
 }
 /**
-* Runs an iteration of the Pipeline and updates outputs.
-*
-* Sources need to be set before calling this method. 
-*
+* Runs an iteration of the pipeline and updates outputs.
 */
-void $className::process(#foreach($source in $pipeline.getSources())#cType($source.type()) $source.value()#if($pipeline.getSources().indexOf($source) lt $pipeline.getSources().size() - 1), #end#end){
+void $className::Process(#foreach($source in $pipeline.getSources())#cType($source.type())& $source.value()#if($pipeline.getSources().indexOf($source) lt $pipeline.getSources().size() - 1), #end#end){
 #foreach($step in $pipeline.getSteps())
 	//Step $step.name()$step.num():
 #parse("$vmLoc/Step.vm")
 
 #end
 }
 
-#foreach($source in $pipeline.getSources())
-/**
- * This method is a generated setter for $source.value().
- * @param source the $source.type() to set
- */
-void $className::set${source.value()}(#cType(${source.type()}) #funPassType($source.type())${source.value()}){
-#if($source.type().equals("Mat"))
-	${source.value()}.copyTo(this->${source.value()});
-#else
-	this->$source.value() = ${source.value()};
-#end
-}
-#end
 #foreach($step in $pipeline.getSteps())
 #if($step.name() == "Switch" || $step.name() == "Valve")
 #set($boolInp = $step.getInput(0))

ui/src/main/resources/edu/wpi/grip/ui/codegeneration/cpp/operations/Filter_Contours.vm

@@ -31,7 +31,7 @@ This creates the C++ OpenCV Filter Contours function
 			double solid = 100 * area / cv::contourArea(hull);
 			if (solid < solidity[0] || solid > solidity[1]) continue;
 			if (contour.size() < minVertexCount || contour.size() > maxVertexCount)	continue;
-			double ratio = bb.width / bb.height;
+			double ratio = (double) bb.width / (double) bb.height;
 			if (ratio < minRatio || ratio > maxRatio) continue;
 			output.push_back(contour);
 		}

ui/src/main/resources/edu/wpi/grip/ui/codegeneration/cpp/operations/Find_Blobs.vm

@@ -23,6 +23,6 @@
 		params.maxCircularity = circularity[1];
 		params.filterByConvexity = false;
 		params.filterByInertia = false;
-		cv::Ptr<cv::SimpleBlobDetector> detector = SimpleBlobDetector::create(params);
+		cv::Ptr<cv::SimpleBlobDetector> detector = cv::SimpleBlobDetector::create(params);
 		detector->detect(input, blobList);
 	}