Merge branch 'release/alpha-20191122'

build.gradle.kts

@@ -6,7 +6,7 @@ plugins {
 
 ihmc {
    group = "us.ihmc"
-   version = "alpha-20191117"
+   version = "alpha-20191122"
    vcsUrl = "https://github.com/ihmcrobotics/simulation-construction-set-2"
    openSource = true
 

src/session-visualizer/java/us/ihmc/scs2/sessionVisualizer/session/log/JavaFXPictureConverter.java

@@ -0,0 +1,89 @@
+package us.ihmc.scs2.sessionVisualizer.session.log;
+
+import java.nio.ByteBuffer;
+
+import javafx.scene.image.PixelWriter;
+import javafx.scene.image.WritableImage;
+import us.ihmc.codecs.generated.RGBPicture;
+import us.ihmc.codecs.generated.YUVPicture;
+import us.ihmc.codecs.loader.NativeLibraryLoader;
+import us.ihmc.codecs.util.ByteBufferProvider;
+
+public class JavaFXPictureConverter
+{
+   static
+   {
+      NativeLibraryLoader.loadIHMCVideoCodecsLibrary();
+   }
+
+   private ByteBufferProvider byteBufferProvider = new ByteBufferProvider();
+
+   /**
+    * Convert YUVPicture to BufferedImage, minimizing object allocation
+    * 
+    * @param picture YUVPicture to convert
+    * @return new BufferedImage.
+    */
+   public WritableImage toFXImage(YUVPicture picture)
+   {
+      return toFXImage(picture, null);
+   }
+
+   /**
+    * Convert YUVPicture to BufferedImage, minimizing object allocation
+    * 
+    * @param picture     YUVPicture to convert
+    * @param imageToPack Image to output to. If picture.size() != imageToPack.size() then a new
+    *                    BufferedImage is allocated
+    * @return imageToPack if sizes match, new BufferedImage otherwise.
+    */
+   public WritableImage toFXImage(YUVPicture picture, WritableImage imageToPack)
+   {
+      RGBPicture rgb = picture.toRGB();
+      WritableImage img = toFXImage(rgb, imageToPack);
+      rgb.delete();
+      return img;
+   }
+
+   /**
+    * Convert RGBPicture to BufferedImage, minimizing object allocation
+    * 
+    * @param picture     RGBPicture to convert
+    * @param imageToPack Image to output to. If picture.size() != imageToPack.size() then a new
+    *                    BufferedImage is allocated
+    * @return imageToPack if sizes match, new BufferedImage otherwise.
+    */
+   public WritableImage toFXImage(RGBPicture picture, WritableImage imageToPack)
+   {
+      WritableImage target = imageToPack;
+      int w = picture.getWidth();
+      int h = picture.getHeight();
+      if (target == null || target.getWidth() != w || target.getHeight() != h)
+      {
+         target = new WritableImage(w, h);
+      }
+      PixelWriter pixelWriter = target.getPixelWriter();
+
+      ByteBuffer dstBuffer = byteBufferProvider.getOrCreateBuffer(w * h * 3);
+      picture.get(dstBuffer);
+
+      int x = 0;
+      int y = 0;
+
+      while (dstBuffer.position() < dstBuffer.limit())
+      {
+         int b = dstBuffer.get() & 0xff;
+         int g = dstBuffer.get() & 0xff;
+         int r = dstBuffer.get() & 0xff;
+         int argb = (0xff << 24) | (r << 16) | (g << 8) | b;
+         pixelWriter.setArgb(x, y, argb);
+         x++;
+         if (x >= w)
+         {
+            x = 0;
+            y++;
+         }
+      }
+      return target;
+   }
+}

src/session-visualizer/java/us/ihmc/scs2/sessionVisualizer/session/log/LogSessionManagerController.java

@@ -8,7 +8,6 @@
 import java.util.function.ToLongFunction;
 
 import com.jfoenix.controls.JFXButton;
-import com.jfoenix.controls.JFXSlider;
 import com.jfoenix.controls.JFXSpinner;
 import com.jfoenix.controls.JFXToggleButton;
 
@@ -35,10 +34,12 @@
 import javafx.scene.layout.HBox;
 import javafx.scene.layout.Pane;
 import javafx.stage.DirectoryChooser;
+import javafx.stage.FileChooser;
+import javafx.stage.FileChooser.ExtensionFilter;
 import javafx.stage.Stage;
 import javafx.stage.WindowEvent;
-import javafx.util.Callback;
 import us.ihmc.log.LogTools;
+import us.ihmc.robotDataLogger.LogProperties;
 import us.ihmc.robotDataLogger.logger.LogPropertiesReader;
 import us.ihmc.scs2.session.Session;
 import us.ihmc.scs2.sessionVisualizer.SessionVisualizerIOTools;
@@ -93,22 +94,13 @@ public void initialize(SessionVisualizerToolkit toolkit)
 
       backgroundExecutorManager = toolkit.getBackgroundExecutorManager();
 
-      mainPane.getStylesheets().add(SessionVisualizerIOTools.GENERAL_STYLESHEET.toExternalForm());
-
-      logPositionSlider.setValueFactory(new Callback<JFXSlider, StringBinding>()
+      logPositionSlider.setValueFactory(param -> new TimeStringBinding(param.valueProperty(), position ->
       {
-         @Override
-         public StringBinding call(JFXSlider param)
-         {
-            return new TimeStringBinding(param.valueProperty(), position ->
-            {
-               if (activeSessionProperty.get() == null)
-                  return 0;
-               LogDataReader logDataReader = activeSessionProperty.get().getLogDataReader();
-               return logDataReader.getRelativeTimestamp(position.intValue());
-            });
-         }
-      });
+         if (activeSessionProperty.get() == null)
+            return 0;
+         LogDataReader logDataReader = activeSessionProperty.get().getLogDataReader();
+         return logDataReader.getRelativeTimestamp(position.intValue());
+      }));
 
       ChangeListener<? super LogSession> activeSessionListener = (o, oldValue, newValue) ->
       {
@@ -137,7 +129,7 @@ public StringBinding call(JFXSlider param)
             LogPropertiesReader logProperties = newValue.getLogProperties();
 
             sessionNameLabel.setText(newValue.getSessionName());
-            dateLabel.setText(logProperties.getTimestampAsString());
+            dateLabel.setText(getDate(logProperties));
             logPathLabel.setText(logDirectory.getAbsolutePath());
             endSessionButton.setDisable(false);
             logPositionSlider.setDisable(false);
@@ -231,10 +223,11 @@ public StringBinding call(JFXSlider param)
       openSessionButton.disableProperty().bind(loadingSpinner.visibleProperty());
       openSessionButton.setOnAction(e ->
       {
-         DirectoryChooser directoryChooser = new DirectoryChooser();
-         directoryChooser.setInitialDirectory(SessionVisualizerIOTools.getDefaultFilePath(LOG_FILE_KEY));
-         directoryChooser.setTitle("Choose log directory");
-         File result = directoryChooser.showDialog(stage);
+         FileChooser fileChooser = new FileChooser();
+         fileChooser.setInitialDirectory(SessionVisualizerIOTools.getDefaultFilePath(LOG_FILE_KEY));
+         fileChooser.getExtensionFilters().add(new ExtensionFilter("Log property file", "*.log"));
+         fileChooser.setTitle("Choose log directory");
+         File result = fileChooser.showOpenDialog(stage);
          if (result == null)
             return;
 
@@ -247,7 +240,7 @@ public StringBinding call(JFXSlider param)
             try
             {
                LogTools.info("Creating log session.");
-               newSession = new LogSession(result, null); // TODO Need a progress window
+               newSession = new LogSession(result.getParentFile(), null); // TODO Need a progress window
                LogTools.info("Created log session.");
                Platform.runLater(() -> activeSessionProperty.set(newSession));
                SessionVisualizerIOTools.setDefaultFilePath(LOG_FILE_KEY, result);
@@ -378,4 +371,18 @@ protected String computeValue()
          return time;
       }
    }
+
+   private static String getDate(LogProperties logProperties)
+   {
+      String timestampAsString = logProperties.getTimestampAsString();
+
+      String year = timestampAsString.substring(0, 4);
+      String month = timestampAsString.substring(4, 6);
+      String day = timestampAsString.substring(6, 8);
+      String hour = timestampAsString.substring(9, 11);
+      String minute = timestampAsString.substring(11, 13);
+      String second = timestampAsString.substring(13, 15);
+
+      return year + "-" + month + "-" + day + " " + hour + ":" + minute + ":" + second;
+   }
 }

src/session-visualizer/java/us/ihmc/scs2/sessionVisualizer/session/log/VideoConverter.java

@@ -51,7 +51,8 @@ public static int crop(File source, File target, long startPTS, long endPTS, Pro
          }
       }
 
-      builder.close();
+      if (builder != null)
+         builder.close();
       demuxer.delete();
 
       return frameRate;

src/session-visualizer/java/us/ihmc/scs2/sessionVisualizer/session/log/VideoDataReader.java

@@ -1,19 +1,20 @@
 package us.ihmc.scs2.sessionVisualizer.session.log;
 
-import java.awt.image.BufferedImage;
 import java.io.BufferedReader;
 import java.io.File;
 import java.io.FileNotFoundException;
 import java.io.FileReader;
 import java.io.IOException;
 import java.io.PrintWriter;
 import java.util.Arrays;
-import java.util.concurrent.atomic.AtomicReference;
+
+import org.apache.commons.lang3.mutable.MutableObject;
 
 import gnu.trove.list.array.TLongArrayList;
+import javafx.scene.image.WritableImage;
 import us.ihmc.codecs.demuxer.MP4VideoDemuxer;
 import us.ihmc.codecs.generated.YUVPicture;
-import us.ihmc.codecs.yuv.YUVPictureConverter;
+import us.ihmc.concurrent.ConcurrentCopier;
 import us.ihmc.robotDataLogger.Camera;
 
 public class VideoDataReader
@@ -29,16 +30,15 @@ public class VideoDataReader
    private long bmdTimeBaseDen;
 
    private final MP4VideoDemuxer demuxer;
-
-   private final YUVPictureConverter converter = new YUVPictureConverter();
+   private final JavaFXPictureConverter converter = new JavaFXPictureConverter();
 
    private int currentlyShowingIndex = 0;
    private long currentlyShowingRobotTimestamp = 0;
    private long upcomingRobotTimestamp = 0;
 
    private final File videoFile;
    private final Camera camera;
-   private final AtomicReference<BufferedImage> currentFrame = new AtomicReference<>(null);
+   private final ConcurrentCopier<MutableObject<WritableImage>> imageBuffer = new ConcurrentCopier<>(MutableObject::new);
 
    public VideoDataReader(Camera camera, File dataDirectory, boolean hasTimeBase) throws IOException
    {
@@ -100,7 +100,10 @@ public void readVideoFrame(long timestamp)
       {
          demuxer.seekToPTS(videoTimestamp);
          YUVPicture nextFrame = demuxer.getNextFrame();
-         currentFrame.set(converter.toBufferedImage(nextFrame, null));
+         MutableObject<WritableImage> copyForWriting = imageBuffer.getCopyForWriting();
+         copyForWriting.setValue(converter.toFXImage(nextFrame, copyForWriting.getValue()));
+
+         imageBuffer.commit();
       }
       catch (IOException e)
       {
@@ -276,8 +279,8 @@ public Camera getCamera()
       return camera;
    }
 
-   public BufferedImage pollCurrentFrame()
+   public WritableImage pollCurrentFrame()
    {
-      return currentFrame.getAndSet(null);
+      return imageBuffer.getCopyForReading().getValue();
    }
 }

src/session-visualizer/java/us/ihmc/scs2/sessionVisualizer/session/log/VideoViewer.java

@@ -1,23 +1,21 @@
 package us.ihmc.scs2.sessionVisualizer.session.log;
 
-import java.awt.image.BufferedImage;
-
+import javafx.animation.Interpolator;
 import javafx.animation.KeyFrame;
 import javafx.animation.KeyValue;
 import javafx.animation.Timeline;
 import javafx.beans.property.BooleanProperty;
 import javafx.beans.property.ObjectProperty;
 import javafx.beans.property.SimpleBooleanProperty;
 import javafx.beans.property.SimpleObjectProperty;
-import javafx.embed.swing.SwingFXUtils;
 import javafx.geometry.Rectangle2D;
 import javafx.scene.Node;
 import javafx.scene.Scene;
 import javafx.scene.image.Image;
 import javafx.scene.image.ImageView;
-import javafx.scene.image.WritableImage;
 import javafx.scene.input.MouseEvent;
 import javafx.scene.layout.Pane;
+import javafx.scene.layout.StackPane;
 import javafx.stage.Screen;
 import javafx.stage.Stage;
 import javafx.stage.Window;
@@ -26,27 +24,33 @@
 
 public class VideoViewer
 {
+   private static final double THUMBNAIL_HIGHLIGHT_SCALE = 1.05;
+
    private final ImageView thumbnail = new ImageView();
+   private final StackPane thumbnailContainer = new StackPane(thumbnail);
    private final ImageView videoView = new ImageView();
 
    private final BooleanProperty updateVideoView = new SimpleBooleanProperty(this, "updateVideoView", false);
    private final ObjectProperty<Stage> videoWindowProperty = new SimpleObjectProperty<>(this, "videoWindow", null);
    private final VideoDataReader reader;
+   private final double defaultThumbnailSize;
 
    public VideoViewer(Window owner, VideoDataReader reader, double defaultThumbnailSize)
    {
       this.reader = reader;
+      this.defaultThumbnailSize = defaultThumbnailSize;
       thumbnail.setPreserveRatio(true);
       videoView.setPreserveRatio(true);
       thumbnail.setFitWidth(defaultThumbnailSize);
       thumbnail.setOnMouseEntered(e ->
       {
-         Timeline timeline = new Timeline(new KeyFrame(Duration.seconds(0.1), new KeyValue(thumbnail.fitWidthProperty(), 1.05 * defaultThumbnailSize)));
+         Timeline timeline = new Timeline(new KeyFrame(Duration.seconds(0.1),
+                                                       new KeyValue(thumbnail.fitWidthProperty(), THUMBNAIL_HIGHLIGHT_SCALE * defaultThumbnailSize, Interpolator.EASE_BOTH)));
          timeline.playFromStart();
       });
       thumbnail.setOnMouseExited(e ->
       {
-         Timeline timeline = new Timeline(new KeyFrame(Duration.seconds(0.1), new KeyValue(thumbnail.fitWidthProperty(), defaultThumbnailSize)));
+         Timeline timeline = new Timeline(new KeyFrame(Duration.seconds(0.1), new KeyValue(thumbnail.fitWidthProperty(), defaultThumbnailSize, Interpolator.EASE_BOTH)));
          timeline.playFromStart();
       });
 
@@ -117,15 +121,18 @@ protected void layoutChildren()
 
    public void update()
    {
-      BufferedImage currentFrame = reader.pollCurrentFrame();
+      Image currentFrame = reader.pollCurrentFrame();
 
       if (currentFrame == null)
          return;
 
-      WritableImage newFrame = SwingFXUtils.toFXImage(currentFrame, null);
-      thumbnail.setImage(newFrame);
+      thumbnailContainer.setPrefWidth(THUMBNAIL_HIGHLIGHT_SCALE * defaultThumbnailSize);
+      thumbnailContainer.setPrefHeight(THUMBNAIL_HIGHLIGHT_SCALE * defaultThumbnailSize * currentFrame.getHeight() / currentFrame.getWidth());
+
+      thumbnail.setImage(currentFrame);
+
       if (updateVideoView.get())
-         videoView.setImage(newFrame);
+         videoView.setImage(currentFrame);
    }
 
    public void stop()
@@ -139,6 +146,6 @@ public void stop()
 
    public Node getThumbnail()
    {
-      return thumbnail;
+      return thumbnailContainer;
    }
 }

src/session-visualizer/java/us/ihmc/scs2/sessionVisualizer/session/log/YoVariableLogCropper.java

@@ -40,20 +40,20 @@ public void crop(File destination, int from, int to, ProgressConsumer progressCo
             if (!destination.isDirectory())
             {
                progressConsumer.error("Destination " + destination.getAbsolutePath() + " already exists.");
-               progressConsumer.progress(0.0);
+               progressConsumer.done();
                return;
             }
             else if (destination.list().length > 0)
             {
                progressConsumer.error("Destination " + destination.getAbsolutePath() + " is not empty.");
-               progressConsumer.progress(0.0);
+               progressConsumer.done();
                return;
             }
          }
          else if (!destination.mkdir())
          {
             progressConsumer.error("Cannot make directory " + destination.getAbsolutePath());
-            progressConsumer.progress(0.0);
+            progressConsumer.done();
             return;
          }