Split track-receiving bin from the simpler line-receiving

src/bin/render_tracks.rs

@@ -0,0 +1,216 @@
+use bevy::prelude::*;
+
+use bevy_nannou::prelude::*;
+use bevy_nannou::NannouPlugin;
+use nannou_laser::point::Rgb;
+use trap_rust::trap::laser::apply_homography_matrix;
+use trap_rust::trap::laser::python_cv_h_into_mat3;
+use trap_rust::trap::laser::LaserApi;
+use trap_rust::trap::laser::LaserModel;
+use trap_rust::trap::laser::LaserTimer;
+use trap_rust::trap::laser::TMP_PYTHON_LASER_H;
+use trap_rust::trap::laser::TMP_PYTHON_LASER_H_FOR_NANNOU;
+use trap_rust::trap::shapes::PositionAndIntensity;
+use trap_rust::trap::tracks::LaserPoints;
+use trap_rust::trap::tracks::RenderableLines;
+use trap_rust::trap::tracks::SpawnedTime;
+use trap_rust::trap::tracks::Track;
+use trap_rust::trap::zmqplugin::ZmqPlugin;
+// use iyes_perf_ui::PerfUiPlugin;
+
+use nannou_laser as laser;
+use trap_rust::trap::zmqplugin::ZmqReceiveTarget;
+
+use std::time::Duration;
+
+
+// pub mod trap_rust::trap;
+
+fn main() {
+    let mut app = App::new();
+    // app.add_plugins((DefaultPlugins, NannouPlugin))
+    app.add_plugins((DefaultPlugins, NannouPlugin))
+        // .add_plugins(bevy::diagnostic::FrameTimeDiagnosticsPlugin)
+        // .add_plugins(bevy::diagnostic::EntityCountDiagnosticsPlugin)
+        // .add_plugins(bevy::diagnostic::SystemInformationDiagnosticsPlugin)
+        // .add_plugins(PerfUiPlugin)
+        .add_systems(Startup, setup)
+        .add_systems(Startup, setup_laser)
+        .add_systems(Update, update)
+        .add_systems(Update, exit_system)
+
+
+        .add_plugins(ZmqPlugin { 
+            // url: "tcp://localhost:5558".to_string(),
+            // url: "tcp://100.109.175.82:99173".to_string(),
+            url: "tcp://127.0.0.1:99173".to_string(),
+            filter: "".to_string(),
+            target: ZmqReceiveTarget::TRACKS
+        })
+
+        
+        .run();
+}
+
+
+// Because of world.insert_non_send_resource, this is an exclusive system
+// see: https://bevy-cheatbook.github.io/programming/exclusive.html
+fn setup_laser(mut commands: Commands) {
+
+    // laser works on non-exclusive system (like the normal setup()), _but_ world
+    // is needed in the laser callback
+    
+    // Initialise the state that we want to live on the laser thread and spawn the stream.
+    let laser_model = LaserModel::new();
+    let _laser_api = laser::Api::new();
+    // let detected_dacs = _laser_api.detect_dacs(DacVariant::DacVariantHelios);
+    
+    // while let Ok(res) = detected_dacs {
+    //     if let laser::DetectDacs::Helios { previous_dac } = res {
+    //         info!("DACS: {:?}", previous_dac);
+    //     }
+    // }
+
+    let laser_stream = _laser_api
+        .new_frame_stream(laser_model, laser_frame_producer)
+        // .detected_dac(dac)
+        .build()
+        .unwrap();
+
+
+    let api = LaserApi {
+        _laser_api,
+        laser_stream,
+        // current_points: Vec::new(),
+    };
+    commands.spawn((api, LaserTimer {
+        // create the non-repeating fuse timer
+        timer: Timer::new(Duration::from_millis(1000), TimerMode::Repeating),
+    }));
+}
+
+fn setup(mut commands: Commands) {
+    // Spawn a camera for our main window
+    // TODO: look into https://docs.rs/visioncortex/latest/visioncortex/struct.PerspectiveTransform.html
+
+    commands.spawn(render::NannouCamera);
+
+}
+
+
+fn text2points_with_color(position_and_intensity: PositionAndIntensity, color: Rgb) -> laser::Point{
+    let used_color = color.map(|v| v * position_and_intensity[2]);
+    let p  = [position_and_intensity[0], -position_and_intensity[1]];
+    laser::Point::new(p, color)
+}
+
+fn text2points(position_and_intensity: PositionAndIntensity) -> laser::Point{
+    let color = match position_and_intensity[2] {
+        1.0 => [1.0; 3],
+        0.0 => [0.0; 3],
+        _ => [1.0; 3] // TODO add provided color
+    };
+    let p  = [position_and_intensity[0], -position_and_intensity[1]];
+    laser::Point::new(p, color)
+}
+
+// impl Into<Mat3> for [[f32;3]; 3] {
+//     fn from(m) -> Self{
+
+//     }
+// }
+
+const LASER_H: Mat3 = python_cv_h_into_mat3(TMP_PYTHON_LASER_H);
+// const LASER_H: Mat3 = python_cv_h_into_mat3(TMP_PYTHON_LASER_H_FOR_NANNOU);
+
+fn laser_frame_producer(model: &mut LaserModel, frame: &mut laser::Frame){
+    
+    // let dt = model.t.elapsed().as_millis();
+    // let use_second = (dt % 1000) > 500;
+
+    // let positions = match use_second {
+    //     true => trap::shapes::YOUR_FUTURE,
+    //     false => trap::shapes::ARE_YOU_SURE,
+    // };
+    
+    let points = model.current_points.clone();
+
+    let mut new_points = Vec::new();
+    for point in points.into_iter() {
+        let p = point.position;
+        let new_position = apply_homography_matrix(LASER_H, &p);
+        // let s = 1.;  // when using TMP_PYTHON_LASER_H_FOR_NANNOU -- doesn't work?
+        let s = 0xFFF as f32; // when using TMP_PYTHON_LASER_H
+
+        let new_point = laser::Point {
+            position: [new_position[0]/s, new_position[1]/s],
+            .. point
+        };
+        new_points.push(new_point);
+    }
+
+    info!("Points {}", new_points.len());
+    // println!("{:?}", new_points);
+    frame.add_lines(new_points);
+}
+
+
+fn get_laser_lines(use_second: bool) -> Vec<nannou_laser::Point>{
+    let positions = match use_second {
+        true => trap_rust::trap::shapes::YOUR_FUTURE,
+        false => trap_rust::trap::shapes::ARE_YOU_SURE,
+    };
+    let points = positions.iter().cloned().map(text2points).collect();
+    return points
+
+}
+
+
+
+
+
+fn exit_system(keys: Res<ButtonInput<KeyCode>>, mut exit: EventWriter<AppExit>) {
+    if keys.just_pressed(KeyCode::KeyQ) {
+        info!("Sending exit command");
+        exit.send(AppExit::Success);
+    }
+}
+
+fn update(
+    // mut commands: Commands,
+    // keys: Res<ButtonInput<KeyCode>>,
+    draws: Query<&Draw>,
+    mut lasers: Query<(&mut LaserApi, &mut LaserTimer)>,
+    tracks: Query<(&Track, &SpawnedTime)>,
+    time: Res<Time>,
+) {
+    let mut lines = RenderableLines::new();
+    for (track, created_at) in tracks.iter() {
+        // println!("{} {}, history: {}", track.track_id.to_string(), created_at.instant.elapsed().as_millis(), track.history.len());
+        let rl = RenderableLines::from(track);
+        lines.lines.extend(rl.lines);
+    }
+   
+    for (laser_api, mut laser_timer) in lasers.iter_mut() {
+        
+        laser_timer.timer.tick(time.delta());
+        
+        let version = laser_timer.timer.elapsed().as_millis() > 500;
+        debug!("{} {}", version, laser_timer.timer.elapsed().as_millis());
+        // let lines = get_laser_lines(version);
+        let points: LaserPoints = (&lines).into();
+        laser_api.laser_stream.send(|laser|  {
+            let laserpoints: LaserPoints = points;
+            // TODO: homography
+            laser.current_points = laserpoints; 
+        }).unwrap();
+    }
+
+    for draw in draws.iter() {
+        draw.background().color(DIM_GRAY);
+
+        draw.ellipse().color(LIGHT_GRAY).w_h(100.0, 100.0);
+
+    }
+
+}

src/main.rs

@@ -1,18 +1,16 @@
-use bevy::ecs::system::SystemState;
 use bevy::prelude::*;
-use bevy::render::view::RenderLayers;
-use bevy::window::WindowResolution;
-use bevy_nannou::prelude::properties::spatial::position;
+
 use bevy_nannou::prelude::*;
 use bevy_nannou::NannouPlugin;
-use iyes_perf_ui::prelude::*;
+
 use nannou_laser::point::Rgb;
-use nannou_laser::DacVariant;
-use nannou_laser::DetectedDacError;
+
 use trap::laser::apply_homography_matrix;
 use trap::laser::python_cv_h_into_mat3;
+use trap::laser::LaserApi;
+use trap::laser::LaserModel;
+use trap::laser::LaserTimer;
 use trap::laser::TMP_PYTHON_LASER_H;
-use trap::laser::TMP_PYTHON_LASER_H_FOR_NANNOU;
 use trap::shapes::PositionAndIntensity;
 use trap::tracks::LaserPoints;
 use trap::tracks::RenderableLines;
@@ -22,9 +20,8 @@ use trap::zmqplugin::ZmqPlugin;
 // use iyes_perf_ui::PerfUiPlugin;
 
 use nannou_laser as laser;
-use std::fs;
+use trap::zmqplugin::ZmqReceiveTarget;
 
-use std::time::Instant;
 use std::time::Duration;
 
 
@@ -40,7 +37,7 @@ fn main() {
         // .add_plugins(PerfUiPlugin)
         .add_systems(Startup, setup)
         .add_systems(Startup, setup_laser)
-        .add_systems(Update, update)
+        // .add_systems(Update, update)
         .add_systems(Update, exit_system)
 
 
@@ -48,34 +45,14 @@ fn main() {
             // url: "tcp://localhost:5558".to_string(),
             // url: "tcp://100.109.175.82:99173".to_string(),
             url: "tcp://127.0.0.1:99173".to_string(),
-            filter: "".to_string()
+            filter: "".to_string(),
+            target: ZmqReceiveTarget::LINES
         })
 
         
         .run();
 }
 
-#[derive(Resource)]
-struct LaserModel{
-    t: Instant, // register start time, so that animations can be moving
-    current_points: LaserPoints
-}
-
-impl LaserModel{
-    pub fn new() -> Self{
-        Self{
-            t: Instant::now(),
-            current_points: Vec::new()
-        }
-    }
-}
-
-#[derive(Component)]
-struct LaserApi{
-    _laser_api: laser::Api,
-    laser_stream: laser::FrameStream<LaserModel>,
-    
-}
 
 // Because of world.insert_non_send_resource, this is an exclusive system
 // see: https://bevy-cheatbook.github.io/programming/exclusive.html
@@ -190,10 +167,6 @@ fn get_laser_lines(use_second: bool) -> Vec<nannou_laser::Point>{
 }
 
 
-#[derive(Component)]
-struct LaserTimer {
-    timer: Timer,
-}
 
 
 

src/trap/laser.rs

@@ -1,4 +1,8 @@
 use bevy::prelude::*;
+use nannou_laser as laser;
+use std::time::Instant;
+
+use super::tracks::LaserPoints;
 
 pub const TMP_PYTHON_LASER_H: [[f32;3];3] = [[ 2.47442963e+02, -7.01714050e+01, -9.71749119e+01],
 [ 1.02328119e+01,  1.47185254e+02,  1.96295638e+02],
@@ -23,3 +27,32 @@ pub fn apply_homography_matrix(h: Mat3, p: &[f32; 2]) -> [f32; 2]{
     let v_out = h.mul_vec3(v_in);
     [v_out[0] / v_out[2], v_out[1] / v_out[2]]
 }
+
+
+#[derive(Resource)]
+pub struct LaserModel{
+    pub t: Instant, // register start time, so that animations can be moving
+    pub current_points: LaserPoints
+}
+
+impl LaserModel{
+    pub fn new() -> Self{
+        Self{
+            t: Instant::now(),
+            current_points: Vec::new()
+        }
+    }
+}
+
+#[derive(Component)]
+pub struct LaserApi{
+    pub _laser_api: laser::Api,
+    pub laser_stream: laser::FrameStream<LaserModel>,
+    
+}
+
+
+#[derive(Component)]
+pub struct LaserTimer {
+    pub timer: Timer,
+}

src/trap/tracks.rs

@@ -40,18 +40,18 @@ pub struct Track {
 }
 
 // coordinates in world space. To be converted to laser::Point or a drawable point
-#[derive(Clone)]
+#[derive(Clone, Serialize, Deserialize)]
 pub struct RenderablePoint{
     pub position: Vec2,
     pub color: Color
 }
 
-#[derive(Clone)]
+#[derive(Clone, Serialize, Deserialize)]
 pub struct RenderableLine{
     points: Vec<RenderablePoint>
 }
 
-#[derive(Clone)]
+#[derive(Clone, Serialize, Deserialize)]
 pub struct RenderableLines{
     pub lines: Vec<RenderableLine>
 }

src/trap/zmqplugin.rs

@@ -1,9 +1,8 @@
-
 use zmq::Socket;
 use serde_json::Result;
-use bevy::{ecs::system::SystemState, prelude::*};
+use bevy::{ecs::system::SystemState, prelude::*, render::Render};
 
-use super::tracks::{Frame, Track, TrackBundle};
+use super::{laser::{LaserApi, LaserTimer}, tracks::{Frame, LaserPoints, RenderableLines, Track, TrackBundle}};
 
 
 // use trap::{Frame, Track, TrackBundle};
@@ -25,7 +24,63 @@ fn setup_zmq(world: &mut World, params: &mut SystemState<Res<ZmqSettings>>) {
     // world.query::<>()
 }
 
-fn receive_zmq_messsages(mut commands: Commands, subscriber: NonSend<Socket>, mut tracks_q: Query<&mut Track>) {
+// fn receive_msg<T>(subscriber: Socket) -> Result<T> {
+//     let mut items = [
+//         subscriber.as_poll_item(zmq::POLLIN)
+//     ];
+//     let _nr = zmq::poll(&mut items, 0).unwrap();
+    
+//     if items[0].is_readable() {
+//         let json = subscriber.recv_string(0).unwrap().unwrap();
+//         // dbg!(&json[4..]);
+
+//         // let msg: Frame = serde_json::from_str(&json[4..]).expect("No valid json?");
+//         let res: Result<T> = serde_json::from_str(&json);
+//         res
+//     } else {
+//         Err()
+//     }
+
+// }
+
+fn receive_zmq_lines(
+    subscriber: NonSend<Socket>,
+    mut lasers: Query<(&mut LaserApi, &mut LaserTimer)>,
+    time: Res<Time>
+    ) {
+    let mut items = [
+        subscriber.as_poll_item(zmq::POLLIN)
+    ];
+    let _nr = zmq::poll(&mut items, 0).unwrap();
+    
+    if items[0].is_readable() {
+        let json = subscriber.recv_string(0).unwrap().unwrap();
+        // dbg!(&json[4..]);
+
+        // let msg: Frame = serde_json::from_str(&json[4..]).expect("No valid json?");
+        let res: Result<RenderableLines> = serde_json::from_str(&json);
+
+        let lines: RenderableLines = match res {
+            Ok(lines) => lines, // if Ok(255), set x to 255
+            Err(_e) => {
+                println!("No valid json? {json}");
+                return
+            }, // if Err("some message"), panic with error message "some message"
+        };
+        
+        for (laser_api, mut laser_timer) in lasers.iter_mut() {
+            laser_timer.timer.tick(time.delta());
+            // let lines = get_laser_lines(version);
+            let points: LaserPoints = (&lines).into();
+            laser_api.laser_stream.send(|laser|  {
+                let laser_points: LaserPoints = points;
+                laser.current_points = laser_points; 
+            }).unwrap();
+        }
+    }
+}
+
+fn receive_zmq_tracks(mut commands: Commands, subscriber: NonSend<Socket>, mut tracks_q: Query<&mut Track>) {
     let mut items = [
         subscriber.as_poll_item(zmq::POLLIN)
     ];
@@ -82,9 +137,15 @@ struct ZmqSettings {
     filter: String
 }
 
+pub enum ZmqReceiveTarget {
+    LINES,
+    TRACKS,
+}
+
 pub struct ZmqPlugin {
     pub url: String,
-    pub filter: String
+    pub filter: String,
+    pub target: ZmqReceiveTarget
 }
 
 impl Plugin for ZmqPlugin {
@@ -93,9 +154,15 @@ impl Plugin for ZmqPlugin {
             url: self.url.clone(),
             filter: self.filter.clone()
         };
+        
         app
             .insert_resource(settings)
             .add_systems(Startup, setup_zmq)
-            .add_systems(Update, receive_zmq_messsages);
+            ;
+        match self.target {
+            ZmqReceiveTarget::TRACKS => app.add_systems(Update, receive_zmq_tracks),
+            ZmqReceiveTarget::LINES => app.add_systems(Update, receive_zmq_lines),
+        };
+        
     }
 }