add zeromq code from another project

Cargo.toml

@@ -9,6 +9,10 @@ authors = [ "Brandon Thomas <bt@brand.io>",
 name = "cloudcam_visualizer"
 path = "src/main_opencv.rs"
 
+[[bin]]
+name = "cloudcam_points"
+path = "src/main_points.rs"
+
 [[bin]]
 name = "cloudcam"
 path = "src/main_zeromq.rs"

src/main_points.rs

@@ -0,0 +1,39 @@
+
+pub mod zeromq;
+pub use anyhow::Result as AnyhowResult;
+use anyhow::anyhow;
+use crate::zeromq::xy_table::create_xy_table;
+use k4a_sys_temp as k4a_sys;
+use kinect::{Device, DeviceConfiguration};
+use std::thread;
+use std::time::Duration;
+use crate::zeromq::calculate_point_cloud::calculate_point_cloud;
+
+fn main() -> AnyhowResult<()> {
+    let device = Device::open(0)?;
+
+    let mut config = DeviceConfiguration::init_disable_all();
+    config.0.depth_mode = k4a_sys::k4a_depth_mode_t_K4A_DEPTH_MODE_WFOV_2X2BINNED;
+    config.0.camera_fps = k4a_sys::k4a_fps_t_K4A_FRAMES_PER_SECOND_30;
+
+    let calibration = device.get_calibration(config.0.depth_mode, config.0.color_resolution)?;
+
+    let xy_table = create_xy_table(&calibration)?;
+
+    device.start_cameras(&config)?;
+
+    loop {
+        println!("Get capture");
+
+        let capture = device.get_capture(500)?;
+
+        let depth_image = capture.get_depth_image()
+            .ok_or(anyhow!("capture not present"))?;
+
+        let point_cloud = calculate_point_cloud(&depth_image, &xy_table)?;
+
+        println!("Number points: {}", point_cloud.point_count);
+    }
+
+    Ok(())
+}

src/main_zeromq.rs

@@ -1,39 +1,137 @@
+//! Generate random points to send over ZeroMQ to a consumer
+
+mod zeromq;
 
-pub mod zeromq;
-pub use anyhow::Result as AnyhowResult;
-use anyhow::anyhow;
-use crate::zeromq::xy_table::create_xy_table;
-use k4a_sys_temp as k4a_sys;
-use kinect::{Device, DeviceConfiguration};
 use std::thread;
-use std::time::Duration;
-use crate::zeromq::calculate_point_cloud::calculate_point_cloud;
+use std::time::{Duration, SystemTime, UNIX_EPOCH};
+use zeromq::color::Color;
+use zeromq::point::Point;
+use zmq::{Error, Socket, Context, DONTWAIT};
 
-fn main() -> AnyhowResult<()> {
-    let device = Device::open(0)?;
+use anyhow::Result as AnyhowResult;
 
-    let mut config = DeviceConfiguration::init_disable_all();
-    config.0.depth_mode = k4a_sys::k4a_depth_mode_t_K4A_DEPTH_MODE_WFOV_2X2BINNED;
-    config.0.camera_fps = k4a_sys::k4a_fps_t_K4A_FRAMES_PER_SECOND_30;
+const SOCKET_ADDRESS : &'static str = "tcp://127.0.0.1:8888";
 
-    let calibration = device.get_calibration(config.0.depth_mode, config.0.color_resolution)?;
+enum MessagingState {
+  Sending,
+  Receiving,
+}
 
-    let xy_table = create_xy_table(&calibration)?;
+fn main() {
+  let context = zmq::Context::new();
 
-    device.start_cameras(&config)?;
+  //let socket = ctx.socket(zmq::PUSH).unwrap();
+  let mut socket = context.socket(zmq::REQ).unwrap();
 
-    loop {
-        println!("Get capture");
+  //socket.connect("tcp://127.0.0.1:5555").unwrap();
+  //socket.bind("tcp://127.0.0.1:5555").unwrap();
+  socket.connect(SOCKET_ADDRESS).unwrap();
 
-        let capture = device.get_capture(500)?;
+  let mut reconnect =  false;
+  let mut fail_count = 0;
+  let mut messaging_state = MessagingState::Sending;
+  let mut color = Color::Blue;
 
-        let depth_image = capture.get_depth_image()
-            .ok_or(anyhow!("capture not present"))?;
+  loop {
+    let color = get_color();
+    let point = Point::at_random_range(-1000.0f32, 1000.0f32, color);
+    let bytes = point.to_bytes();
+    //println!("Point : {}", point.debug_string());
 
-        let point_cloud = calculate_point_cloud(&depth_image, &xy_table)?;
-
-        println!("Number points: {}", point_cloud.point_count);
+    if reconnect {
+      socket = reconnect_socket(&context, socket, SOCKET_ADDRESS);
+      reconnect = false;
+      messaging_state = MessagingState::Sending;
     }
 
-    Ok(())
+    match messaging_state {
+      MessagingState::Sending => {
+        //println!("Sending request...");
+        //let result = socket.send("hello world!", 0);
+        let result = socket.send(&bytes, 0);
+
+        match result {
+          Ok(_) => {
+            //println!("Sent!");
+            //thread::sleep(Duration::from_millis(250));
+            messaging_state = MessagingState::Receiving;
+          },
+          Err(e) => {
+            //eprintln!("Send Error ({}): {:?}", e.to_raw(), e);
+            //thread::sleep(Duration::from_millis(250));
+            fail_count += 1;
+          },
+        }
+
+      },
+      MessagingState::Receiving => {
+        //println!("Awaiting response...");
+        let result = socket.recv_bytes(DONTWAIT);
+
+        match result {
+          Ok(_) => {
+            //println!("Response received!");
+            messaging_state = MessagingState::Sending;
+          },
+          Err(e) => {
+            //eprintln!("Recv Error ({}): {:?}", e.to_raw(), e);
+            //thread::sleep(Duration::from_millis(250));
+            fail_count += 1;
+          },
+        }
+
+      },
+    }
+
+    if fail_count > 5 {
+      reconnect = true;
+      fail_count = 0;
+      //thread::sleep(Duration::from_millis(2000));
+    }
+  }
 }
+
+fn reconnect_socket(context: &Context, socket: Socket, address: &str) -> Socket {
+  //println!("[reconnect] Creating new socket...");
+
+  let mut socket = match context.socket(zmq::REQ) {
+    Ok(s) => {
+      //println!("New socket created.");
+      s
+    },
+    Err(e) => {
+      //println!("Error creating new socket: {:?}", e);
+      return socket;
+    },
+  };
+
+  //println!("Connecting new socket...");
+  match socket.connect(address) {
+    Ok(_) => {
+      //println!("New socket connected.");
+    },
+    Err(err) => {
+      //println!("Error connecting new socket: {:?}", err);
+    },
+  }
+
+  return socket;
+}
+
+fn get_color() -> Color {
+  let start = SystemTime::now();
+  let timestamp = start
+      .duration_since(UNIX_EPOCH)
+      .expect("Time should work.");
+
+  let seconds = timestamp.as_secs();
+
+  match seconds % 10 {
+    0 | 1 => Color::Black,
+    2 | 3 => Color::Blue,
+    4 | 5 => Color::Red,
+    6 | 7 => Color::Green,
+    8 | 9 => Color::White,
+    _ => Color::White,
+  }
+}