package nbtool.gui.utilitypanes;
import java.awt.Dimension;
import java.awt.Font;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
import java.util.LinkedList;
import java.util.List;
import javax.swing.JFrame;
import javax.swing.SwingUtilities;
import nbtool.data.SExpr;
import nbtool.data.group.AllGroups;
import nbtool.data.group.Group;
import nbtool.data.json.JsonArray;
import nbtool.data.log.Block;
import nbtool.data.log.Log;
import nbtool.data.log.LogReference;
import nbtool.gui.ToolMessage;
import nbtool.gui.logviews.images.BallTestView;
import nbtool.io.CommonIO.IOFirstResponder;
import nbtool.io.CommonIO.IOInstance;
import nbtool.nio.CrossServer;
import nbtool.nio.CrossServer.CrossInstance;
import nbtool.util.Debug;
import nbtool.util.Events;
import nbtool.util.SharedConstants;
public class BallTestUtility extends UtilityParent {
private static Display display = null;
@Override
public JFrame supplyDisplay() {
if (display != null) {
return display;
} else {
return (display = new Display());
}
}
@Override
public String purpose() {
return "run all ball ground truth logs and detect errors";
}
@Override
public char preferredMemnonic() {
return 't';
}
private static Group topFalsePos = null;
private static Group requestTopFalsePos() {
return (topFalsePos == null) ? (topFalsePos = Group.groupNamed("TOP False Positives:")) : topFalsePos;
}
private static Group topFalseNeg = null;
private static Group requestTopFalseNeg() {
return (topFalseNeg == null) ? (topFalseNeg = Group.groupNamed("TOP False Negatives:")) : topFalseNeg;
}
private static Group botFalsePos = null;
private static Group requestBotFalsePos() {
return (botFalsePos == null) ? (botFalsePos = Group.groupNamed("BOT False Positives:")) : botFalsePos;
}
private static Group botFalseNeg = null;
private static Group requestBotFalseNeg() {
return (botFalseNeg == null) ? (botFalseNeg = Group.groupNamed("TOP False Negatives:")) : botFalseNeg;
}
private static int outstanding = 0;
private static class ImageBall {
int x, y;
ImageBall(int _x, int _y) {this.x = _x; this.y = _y;}
}
private static void analyze(LogReference from, boolean top, Log out) {
assert(out.logClass.equals("VisionReturn"));
assert(out.blocks.size() > 3);
Block found_block = null;
for (Block block : out.blocks ) {
if (block.type.equals(SharedConstants.SexprType_DEFAULT()) &&
block.whereFrom.equals("nbcross-Vision-ball")) {
found_block = block; break;
}
}
if (found_block == null) {
Debug.error("could not find ball block in VisionReturn!");
return;
}
JsonArray actual = out.topLevelDictionary.get(BallTestView.BALLS_KEY).asArray();
List<ImageBall> found = new LinkedList<>();
SExpr found_s = found_block.parseAsSExpr();
for (int i = 0; found_s.find("ball" + i).exists(); ++i) {
SExpr thisBall = found_s.find("ball" + i);
found.add(new ImageBall(0,0));
}
if (actual.size() > found.size()) {
Debug.warn("false NEGATIVE in %s! r%d found %d when annotations say %d", top ? "top" : "bot",
from.thisID, found.size(), actual.size());
if (top) {
requestTopFalseNeg().logs.add(from);
} else {
requestBotFalseNeg().logs.add(from);
}
}
if (actual.size() < found.size()) {
Debug.warn("false POSITIVE in %s! r%d found %d when annotations say %d", top ? "top" : "bot",
from.thisID, found.size(), actual.size());
if (top) {
requestTopFalsePos().logs.add(from);
} else {
requestTopFalsePos().logs.add(from);
}
}
if (actual.size() == found.size()) {
//...
}
}
private static String textFrom(Group g) {
return String.format("%s: %d", g.getGroupInfo(), g.logs.size());
}
private static void finished() {
SwingUtilities.invokeLater(new Runnable(){
@Override
public void run() {
if (display == null) {
Debug.error("test finished but no display!");
return;
}
if (topFalsePos != null) {
display.panel.topFalsePosLabel.setText(textFrom(topFalsePos));
Events.GGroupAdded.generate(display, topFalsePos);
}
if (topFalseNeg != null) {
display.panel.topFalseNegLabel.setText(textFrom(topFalseNeg));
Events.GGroupAdded.generate(display, topFalseNeg);
}
if (botFalsePos != null) {
display.panel.botFalsePosLabel.setText(textFrom(botFalsePos));
Events.GGroupAdded.generate(display, botFalsePos);
}
if (botFalseNeg != null) {
display.panel.botFalseNegLabel.setText(textFrom(botFalseNeg));
Events.GGroupAdded.generate(display, botFalseNeg);
}
}
});
}
private static class TestResponder implements IOFirstResponder {
boolean top; LogReference from;
TestResponder(boolean t, LogReference from) {
this.top = t; this.from = from;
}
@Override
public void ioFinished(IOInstance instance) {}
@Override
public void ioReceived(IOInstance inst, int ret, Log... out) {
--outstanding;
analyze(from, top, out[0]);
if (outstanding == 0) finished();
}
@Override
public boolean ioMayRespondOnCenterThread(IOInstance inst) {
return false;
}
static TestResponder get(boolean top, LogReference from) { return new TestResponder(top, from); }
}
private static void runTest(LogReference ref, boolean top) {
CrossInstance ci = CrossServer.instanceByIndex(0);
if (ci == null) {
Debug.error("nbcross crashed during ball test!");
return;
}
++outstanding;
ci.tryAddCall(TestResponder.get(top, ref), "Vision", ref.get());
}
private static void runTests() {
List<LogReference> found_top = new LinkedList<>();
List<LogReference> found_bot = new LinkedList<>();
int tp_top = 0, tp_bot = 0;
for (Group group : AllGroups.allGroups) {
for (LogReference ref : group.logs) {
if (ref.logClass.equals(
SharedConstants.LogClass_Tripoint()) ) {
boolean top = ref.description.contains("camera_TOP");
if (top) {
++tp_top;
} else {
++tp_bot;
}
if (ref.description.contains(BallTestView.BALLS_KEY))
{
if (top) {
found_top.add(ref);
} else {
found_bot.add(ref);
}
}
}
}
}
Debug.info("found %d testable top logs.", found_top.size());
Debug.info("found %d testable bot logs.", found_bot.size());
CrossInstance ci = CrossServer.instanceByIndex(0);
if (display != null)
display.panel.usedLabel.setText(
String.format("used %d of %d top, %d of %d bot logs of %d total tripoint",
found_top.size(), tp_top, found_bot.size(), tp_bot, tp_top + tp_bot)
);
if (ci == null) {
ToolMessage.displayError("cannot test ball detection without nbcross.");
return;
}
assert(outstanding == 0);
for (LogReference ref : found_top) runTest(ref, true);
for (LogReference ref : found_bot) runTest(ref, false);
}
private static class Display extends JFrame {
final BallTestPanel panel = new BallTestPanel();
Display() {
super("ball tester");
this.setContentPane(panel);
this.setMinimumSize(new Dimension(600,300));
this.panel.goButton.addActionListener(new ActionListener(){
@Override
public void actionPerformed(ActionEvent e) {
runTests();
}
});
panel.usedLabel.setFont(panel.usedLabel.getFont().deriveFont(Font.BOLD));
}
}
}