debugging, starting to pull commands into another module (not done)

src/main_zeromq.rs

@@ -115,7 +115,7 @@ fn main() -> AnyhowResult<()> {
         packet_number += 1;
       },
       MessagingState::GrabPointCloud => {
-        println!("Grabbing another frame...");
+        //println!("Grabbing another frame...");
         color = get_time_based_color();
         points = get_point_cloud(&device, &xy_table, color)?;
 
@@ -142,7 +142,7 @@ fn get_point_cloud(device: &Device, xy_table: &Image, color: Color) -> AnyhowRes
   let mut points =
       calculate_point_cloud2(&depth_image, &xy_table, color)?;
 
-  println!("Points: {}", points.len());
+  //println!("Points: {}", points.len());
 
   Ok(points)
 }
@@ -162,10 +162,10 @@ fn encode_point_data(points: &mut Vec<Point>, is_beginning: bool) -> Vec<u8> {
   let mut buf = Vec::with_capacity(4 + point_bytes);
 
   if is_beginning {
-    println!("begin");
+    //println!("begin");
     buf.write_u32::<LittleEndian>(POINT_DATA_BEGIN_PAYLOAD_COMMAND); // COMMAND #
   } else {
-    println!("continue");
+    //println!("continue");
     buf.write_u32::<LittleEndian>(POINT_DATA_CONTINUE_PAYLOAD_COMMAND); // COMMAND #
   }
 

src/zeromq/message.rs

@@ -0,0 +1,67 @@
+use crate::zeromq::point::Point;
+use byteorder::{WriteBytesExt, LittleEndian};
+use std::io::Write;
+
+/*
+
+
+/// Denotes the command that sends the variable-length data
+const POINT_DATA_BEGIN_PAYLOAD_COMMAND : u32 = 2;
+
+/// Denotes the command that sends the variable-length data
+const POINT_DATA_CONTINUE_PAYLOAD_COMMAND : u32 = 3;
+
+/// The maximum number of points to send per ZeroMQ "packet".
+/// This is also defined in C++, so it needs to be adjusted in multiple places.
+const MAX_SEND_POINTS_PER_PACKET : usize = 3000;
+
+/// Streaming points
+struct StreamingPointsPacket {
+  is_first_point_packet: bool,
+  points: Vec<Point>,
+}
+
+impl StreamingPointsPacket {
+  fn from_all_points(points: Vec<Point>) -> Self {
+    Self {
+      is_first_point_packet: true,
+      points,
+    }
+  }
+
+  /// Over the wire, this looks like:
+  ///
+  ///   | command       | 4 bytes (u32)  |
+  ///   | point_count   | 4 bytes (u32)  |
+  ///   | points[] ...  | [16 bytes] ... |
+  ///
+  fn encode(&self) -> Vec<u8> {
+    let point_bytes = Point::size_bytes() * MAX_SEND_POINTS_PER_PACKET;
+
+    let mut buf = Vec::with_capacity(4 + point_bytes);
+
+    if self.is_first_point_packet {
+      buf.write_u32::<LittleEndian>(POINT_DATA_BEGIN_PAYLOAD_COMMAND); // COMMAND #
+    } else {
+      buf.write_u32::<LittleEndian>(POINT_DATA_CONTINUE_PAYLOAD_COMMAND); // COMMAND #
+    }
+
+    //let subset = if points.len() > MAX_SEND_POINTS_PER_PACKET {
+    //  points.drain(0..MAX_SEND_POINTS_PER_PACKET).collect::<Vec<Point>>()
+    //} else {
+    //  points.drain(0..points.len()).collect::<Vec<Point>>()
+    //};
+
+    buf.write_u32::<LittleEndian>(self.points.len() as u32); // LENGTH
+
+    for point in self.points.iter() {
+      let bytes = point.to_bytes();
+      buf.write_all(&bytes);
+    }
+
+    buf
+  }
+}
+
+
+*/

src/zeromq/mod.rs

@@ -1,5 +1,6 @@
 pub mod calculate_point_cloud;
 pub mod color;
 pub mod debug;
+pub mod message;
 pub mod point;
 pub mod xy_table;