Vision tuner panel: add save button (#1404)

* Add save button to vision tuner

* Sort rc24_indoor/default.json for readable diffs when using the save button

crates/parameters/src/directory.rs

@@ -163,13 +163,27 @@ pub struct Scope {
 }
 
 impl Scope {
+    pub fn default_location() -> Self {
+        Self {
+            location: Location::All,
+            id: Id::All,
+        }
+    }
+
     pub fn default_head() -> Self {
         Self {
             location: Location::All,
             id: Id::Head,
         }
     }
 
+    pub fn current_location() -> Self {
+        Self {
+            location: Location::Current,
+            id: Id::All,
+        }
+    }
+
     pub fn current_head() -> Self {
         Self {
             location: Location::Current,

etc/parameters/rc24_indoor/default.json

@@ -1,29 +1,9 @@
 {
-  "image_segmenter": {
-    "vision_top": {
-      "vertical_edge_threshold": 10
-    },
-    "vision_bottom": {
-      "vertical_edge_threshold": 15,
-      "vertical_median_mode": "FivePixels"
-    }
-  },
-  "line_detection": {
-    "vision_top": {
-      "allowed_projected_segment_length": {
-        "start": 0.02
-      },
-      "gradient_alignment": -0.8
-    },
-    "vision_bottom": {
-      "gradient_alignment": -0.8
-    }
-  },
   "field_color_detection": {
     "vision_bottom": {
       "saturation": {
-        "start": 95,
-        "end": 255
+        "end": 255,
+        "start": 95
       }
     },
     "vision_top": {
@@ -36,5 +16,25 @@
         "start": 63
       }
     }
+  },
+  "image_segmenter": {
+    "vision_bottom": {
+      "vertical_edge_threshold": 15,
+      "vertical_median_mode": "FivePixels"
+    },
+    "vision_top": {
+      "vertical_edge_threshold": 10
+    }
+  },
+  "line_detection": {
+    "vision_bottom": {
+      "gradient_alignment": -0.8
+    },
+    "vision_top": {
+      "allowed_projected_segment_length": {
+        "start": 0.02
+      },
+      "gradient_alignment": -0.8
+    }
   }
 }

tools/twix/src/panels/vision_tuner.rs

@@ -1,18 +1,19 @@
 use std::{ops::RangeInclusive, sync::Arc};
 
-use color_eyre::Result;
+use color_eyre::{eyre::OptionExt, Result};
 use communication::messages::TextOrBinary;
 use eframe::{
     egui::{Grid, Response, Slider, Ui, Widget},
     emath::Numeric,
 };
 use log::error;
+use parameters::directory::Scope;
 use serde::Serialize;
 use serde_json::{to_value, Value};
 
 use types::{field_color::FieldColorParameters, image_segments::Direction};
 
-use crate::{nao::Nao, panel::Panel, value_buffer::BufferHandle};
+use crate::{log_error::LogError, nao::Nao, panel::Panel, value_buffer::BufferHandle};
 
 use super::image::cycler_selector::{VisionCycler, VisionCyclerSelector};
 
@@ -75,6 +76,58 @@ impl VisionTunerPanel {
         }
         ui.end_row();
     }
+
+    fn save_field_color_parameters(&self, scope: Scope) -> Result<()> {
+        let cycler = self.cycler.as_snake_case_path();
+
+        let parameters = self
+            .field_color_detection
+            .get_last_value()?
+            .ok_or_eyre("unable to retrieve parameters, nothing was saved.")?;
+
+        let value = to_value(parameters).unwrap();
+
+        self.nao
+            .store_parameters(&format!("field_color_detection.{cycler}"), value, scope)?;
+
+        Ok(())
+    }
+
+    fn save_image_segmenter_parameters(&self, scope: Scope) -> Result<()> {
+        let cycler = self.cycler.as_snake_case_path();
+
+        let horizontal_edge_threshold = self
+            .horizontal_edge_threshold
+            .get_last_value()?
+            .ok_or_eyre("unable to retrieve horizontal_edge_threshold, nothing was saved.")?;
+        let vertical_edge_threshold = self
+            .vertical_edge_threshold
+            .get_last_value()?
+            .ok_or_eyre("unable to retrieve vertical_edge_threshold, nothing was saved.")?;
+
+        let horizontal_edge_threshold_value = to_value(horizontal_edge_threshold).unwrap();
+        let vertical_edge_threshold_value = to_value(vertical_edge_threshold).unwrap();
+
+        self.nao.store_parameters(
+            &format!("image_segmenter.{cycler}.horizontal_edge_threshold"),
+            horizontal_edge_threshold_value,
+            scope,
+        )?;
+        self.nao.store_parameters(
+            &format!("image_segmenter.{cycler}.vertical_edge_threshold"),
+            vertical_edge_threshold_value,
+            scope,
+        )?;
+
+        Ok(())
+    }
+
+    fn save(&self, scope: Scope) -> Result<()> {
+        self.save_field_color_parameters(scope)?;
+        self.save_image_segmenter_parameters(scope)?;
+
+        Ok(())
+    }
 }
 
 impl Panel for VisionTunerPanel {
@@ -112,6 +165,9 @@ impl Widget for &mut VisionTunerPanel {
                 if cycler_selector.ui(ui).changed() {
                     self.resubscribe();
                 }
+                if ui.button("Save to current location").clicked() {
+                    self.save(Scope::current_location()).log_err();
+                }
             });
             ui.separator();
             let cycler = self.cycler.as_snake_case_path();