Finish merge of CvPipeline variables in code that had not yet been mi…

…grated.

CHANGES.md

@@ -3,6 +3,28 @@ a complete change list, only those that may directly interest or affect users.
 
 # 2017-06-28
 
+* CvPipeline Properties (Breaking Change)
+
+	In an effort to make it easier for developers to integrate custom functionality in CvPipelines,
+	the pipeline now has a map of properties that can be set be callers. This allows callers of
+	a pipeline to feed values in for the pipeline to use. This can be things like cameras, feeders,
+	parts, nozzles, etc. 
+
+	This functionality replaces the previously added setFeeder and setNozzle calls. These calls
+	were too specific to certain pipelines and did not represent a good development direction
+	for the pipeline as it would eventually become cluttered with variables that did not
+	make sense for the pipeline as a whole.
+
+	Breaking Change: All existing stages have been migrated to the property system. If you have
+	custom stages that used getNozzle or getFeeder you will need to make minor updates to switch
+	these to use properties instead.
+
+	* getNozzle() becomes (Nozzle) getProperty("nozzle")
+	* getFeeder() becomes (Feeder) getProperty("feeder")
+
+	Finally, this change is the first step into supporting variables in CvPipeline. Eventually
+	you will be able to reference proeprties and other objects when setting parameters in stages.
+	 
 * AdvancedLoosePartFeeder
 
 	ReferenceLoosePartFeeder has received a big upgrade thanks to @dzach. The

src/main/java/org/openpnp/machine/reference/feeder/AdvancedLoosePartFeeder.java

@@ -71,9 +71,9 @@ public void feed(Nozzle nozzle) throws Exception {
 
     private Location getPickLocation(Camera camera, Nozzle nozzle) throws Exception {
         // Process the pipeline to extract RotatedRect results
-        pipeline.setCamera(camera);
-        pipeline.setNozzle(nozzle);
-        pipeline.setFeeder(this);
+        pipeline.setProperty("camera", camera);
+        pipeline.setProperty("nozzle", nozzle);
+        pipeline.setProperty("feeder", this);
         pipeline.process();
         // Grab the results
         List<RotatedRect> results = (List<RotatedRect>) pipeline.getResult("results").model;

src/main/java/org/openpnp/machine/reference/feeder/wizards/AdvancedLoosePartFeederConfigurationWizard.java

@@ -105,8 +105,8 @@ public AdvancedLoosePartFeederConfigurationWizard(AdvancedLoosePartFeeder feeder
 
     private void editPipeline() throws Exception {
         CvPipeline pipeline = feeder.getPipeline();
-        pipeline.setCamera(Configuration.get().getMachine().getDefaultHead().getDefaultCamera());
-        pipeline.setFeeder(feeder);
+        pipeline.setProperty("camera", Configuration.get().getMachine().getDefaultHead().getDefaultCamera());
+        pipeline.setProperty("feeder", feeder);
         CvPipelineEditor editor = new CvPipelineEditor(pipeline);
         JDialog dialog = new JDialog(MainFrame.get(), feeder.getPart().getId() + " Pipeline");
         dialog.getContentPane().setLayout(new BorderLayout());
@@ -121,8 +121,8 @@ private void resetPipeline() {
 
     private void editTrainingPipeline() throws Exception {
         CvPipeline pipeline = feeder.getTrainingPipeline();
-        pipeline.setCamera(Configuration.get().getMachine().getDefaultHead().getDefaultCamera());
-        pipeline.setFeeder(feeder);
+        pipeline.setProperty("camera", Configuration.get().getMachine().getDefaultHead().getDefaultCamera());
+        pipeline.setProperty("feeder", feeder);
         CvPipelineEditor editor = new CvPipelineEditor(pipeline);
         JDialog dialog = new JDialog(MainFrame.get(), feeder.getPart().getId() + " Training Pipeline");
         dialog.getContentPane().setLayout(new BorderLayout());

src/main/java/org/openpnp/vision/pipeline/stages/ReadPartTemplateImage.java

@@ -30,6 +30,7 @@
 import org.opencv.highgui.Highgui;
 import org.openpnp.model.Configuration;
 import org.openpnp.spi.Camera;
+import org.openpnp.spi.Feeder;
 import org.openpnp.vision.pipeline.CvPipeline;
 import org.openpnp.vision.pipeline.CvStage;
 import org.openpnp.vision.pipeline.Property;
@@ -119,9 +120,9 @@ public Result process(CvPipeline pipeline) throws Exception {
             }
         }
         else {
+            Feeder feeder = (Feeder) pipeline.getProperty("feeder");
             // path is assumed to be a directory containing template images
-            if (pipeline.getFeeder() == null || pipeline.getFeeder()
-                                                        .getPart() == null) {
+            if (feeder == null || feeder.getPart() == null) {
                 if (log) {
                     Logger.info(
                             "No feeder, part, or useable templateFile found. Cannot figure out part name.");
@@ -131,17 +132,15 @@ public Result process(CvPipeline pipeline) throws Exception {
             if (!filepath.endsWith(File.separator)) {
                 filepath += File.separator;
             }
-            filename = filepath + pipeline.getFeeder()
-                                          .getPart()
-                                          .getId()
+            filename = filepath + feeder.getPart()
+                                        .getId()
                     + extension;
             file = new File(filename);
             if (!file.exists()) {
                 // try the package id
-                filename = filepath + pipeline.getFeeder()
-                                              .getPart()
-                                              .getPackage()
-                                              .getId()
+                filename = filepath + feeder.getPart()
+                                            .getPackage()
+                                            .getId()
                         + extension;
                 file = new File(filename);
                 if (!file.exists()) {
@@ -150,20 +149,17 @@ public Result process(CvPipeline pipeline) throws Exception {
                     // TODO: it would be best if we could define a package outline, e.g. as a
                     // polygon
                     // and use that to draw the part and match templates
-                    if (pipeline.getFeeder()
-                                .getPart()
-                                .getPackage()
-                                .getFootprint() != null) {
-                        width = pipeline.getFeeder()
-                                        .getPart()
-                                        .getPackage()
-                                        .getFootprint()
-                                        .getBodyWidth();
-                        height = pipeline.getFeeder()
-                                         .getPart()
-                                         .getPackage()
-                                         .getFootprint()
-                                         .getBodyHeight();
+                    if (feeder.getPart()
+                              .getPackage()
+                              .getFootprint() != null) {
+                        width = feeder.getPart()
+                                      .getPackage()
+                                      .getFootprint()
+                                      .getBodyWidth();
+                        height = feeder.getPart()
+                                       .getPackage()
+                                       .getFootprint()
+                                       .getBodyHeight();
                         if (width == 0 || height == 0) {
                             if (log) {
                                 Logger.info("Package body dimensions are not set.");
@@ -178,7 +174,7 @@ public Result process(CvPipeline pipeline) throws Exception {
                             height = tmp;
                         }
                         // get length conversion value from camera
-                        Camera camera = pipeline.getCamera();
+                        Camera camera = (Camera) pipeline.getProperty("camera");
                         width /= camera.getUnitsPerPixel()
                                        .getX();
                         height /= camera.getUnitsPerPixel()

src/main/java/org/openpnp/vision/pipeline/stages/WritePartTemplateImage.java

@@ -23,6 +23,7 @@
 
 import org.opencv.highgui.Highgui;
 import org.openpnp.model.Configuration;
+import org.openpnp.spi.Feeder;
 import org.openpnp.vision.pipeline.CvPipeline;
 import org.openpnp.vision.pipeline.CvStage;
 import org.openpnp.vision.pipeline.Property;
@@ -111,9 +112,8 @@ public Result process(CvPipeline pipeline) throws Exception {
 
             // path is assumed to be a directory containing template images
             // check if a part ID can be found from the feeder this pipeline may belong to
-
-            if (pipeline.getFeeder() == null || pipeline.getFeeder()
-                                                        .getPart() == null) {
+            Feeder feeder = (Feeder) pipeline.getProperty("feeder");
+            if (feeder == null || feeder.getPart() == null) {
 
                 throw new Exception(
                         "No part in feeder. Please provide create template image file path.");
@@ -126,16 +126,14 @@ public Result process(CvPipeline pipeline) throws Exception {
                 filepath += File.separator;
             }
             if (asPackage) {
-                filepath += pipeline.getFeeder()
-                                    .getPart()
-                                    .getPackage()
-                                    .getId()
+                filepath += feeder.getPart()
+                                  .getPackage()
+                                  .getId()
                         + extension;
             }
             else {
-                filepath += pipeline.getFeeder()
-                                    .getPart()
-                                    .getId()
+                filepath += feeder.getPart()
+                                  .getId()
                         + extension;
             }
             file = new File(filepath);