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cleanup and debugging (not capping "packets" occasionally segfaults C++)

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Brandon Thomas committed 2021-02-02 04:25:30 -05:00
1 parent 193fd8d3d6
commit a352e9450f
2 files changed
+73 -70
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src/main_zeromq.rs
+13 -70
View File
@@ -12,7 +12,6 @@ use std::thread;
use std::time::{Duration, SystemTime, UNIX_EPOCH};
use zeromq::calculate_point_cloud::PointCloudResult;
use zeromq::calculate_point_cloud::calculate_point_cloud2;
use zeromq::calculate_point_cloud::calculate_point_cloud;
use zeromq::color::Color;
use zeromq::color::get_time_based_color;
use zeromq::point::Point;
@@ -25,6 +24,10 @@ const DATA_LENGTH_COMMAND : u32 = 1; // Denotes the command that sends the 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; // Denotes the command that sends the variable-length data
/// 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;
enum MessagingState {
Sending_DataLength,
//Receiving_DataLengthAck,
@@ -57,8 +60,6 @@ fn main() -> AnyhowResult<()> {
//socket.bind(SOCKET_ADDRESS).unwrap();
socket.connect(SOCKET_ADDRESS).unwrap();
let mut reconnect = false;
let mut fail_count = 0;
let mut messaging_state = MessagingState::Sending_DataLength;
let mut color = get_time_based_color();
@@ -94,8 +95,8 @@ fn main() -> AnyhowResult<()> {
},
MessagingState::Sending_PointDataContinue => {
// NB: Unfortunately the C++ program has difficulty with all points.
if packet_number > 20 {
//println!("Packet elapsed");
if packet_number > 2000000 {
println!("Packet elapsed");
packet_number = 0;
messaging_state = MessagingState::GrabPointCloud;
continue;
@@ -141,6 +142,8 @@ 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());
Ok(points)
}
@@ -154,19 +157,20 @@ fn encode_data_length(points: &Vec<Point>) -> Vec<u8> {
/// Returns a variable length point data payload.
fn encode_point_data(points: &mut Vec<Point>, is_beginning: bool) -> Vec<u8> {
let SEND_POINTS = 3000;
let point_bytes = Point::size_bytes() * SEND_POINTS;
let point_bytes = Point::size_bytes() * MAX_SEND_POINTS_PER_PACKET;
let mut buf = Vec::with_capacity(4 + point_bytes);
if is_beginning {
println!("begin");
buf.write_u32::<LittleEndian>(POINT_DATA_BEGIN_PAYLOAD_COMMAND); // COMMAND #
} else {
println!("continue");
buf.write_u32::<LittleEndian>(POINT_DATA_CONTINUE_PAYLOAD_COMMAND); // COMMAND #
}
let subset = if points.len() > SEND_POINTS {
points.drain(0..SEND_POINTS).collect::<Vec<Point>>()
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>>()
};
@@ -193,66 +197,6 @@ fn receive_ack(socket: &Socket) -> AnyhowResult<()> {
Ok(())
}
/*
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());
if reconnect {
socket = reconnect_socket(&context, socket, SOCKET_ADDRESS);
reconnect = false;
messaging_state = MessagingState::Sending;
}
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...");
@@ -279,4 +223,3 @@ fn reconnect_socket(context: &Context, socket: Socket, address: &str) -> Socket
return socket;
}
temp/old_protocol.txt
+60
View File
@@ -0,0 +1,60 @@
let mut reconnect = false;
let mut fail_count = 0;
/*
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());
if reconnect {
socket = reconnect_socket(&context, socket, SOCKET_ADDRESS);
reconnect = false;
messaging_state = MessagingState::Sending;
}
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));
}
*/