From 655f64c913257b9f0878d60880a47f71700b21f7 Mon Sep 17 00:00:00 2001
From: Ruben van de Ven <git@rubenvandeven.com>
Date: Tue, 8 Apr 2025 11:39:23 +0200
Subject: [PATCH] test some laser linedrawing

---
 .gitignore            |    1 +
 Cargo.lock            | 5694 +++++++++++++++++++++++++++++++++++++++++
 Cargo.toml            |   20 +
 src/main.rs           |  153 ++
 src/trap/mod.rs       |   10 +
 src/trap/shapes.rs    |    1 +
 src/trap/tracks.rs    |   92 +
 src/trap/zmqplugin.rs |   99 +
 8 files changed, 6070 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 Cargo.lock
 create mode 100644 Cargo.toml
 create mode 100644 src/main.rs
 create mode 100644 src/trap/mod.rs
 create mode 100644 src/trap/shapes.rs
 create mode 100644 src/trap/tracks.rs
 create mode 100644 src/trap/zmqplugin.rs

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ea8c4bf
--- /dev/null
+++ b/.gitignore
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diff --git a/Cargo.lock b/Cargo.lock
new file mode 100644
index 0000000..5c03a48
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+++ b/Cargo.lock
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+ "wayland-client",
+ "wayland-protocols",
+ "wayland-protocols-plasma",
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+ "libc",
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+]
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+[[package]]
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+ "proc-macro2",
+ "quote",
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+]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
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+dependencies = [
+ "bitflags 1.3.2",
+ "libc",
+ "zmq-sys",
+]
+
+[[package]]
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+version = "0.12.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
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+ "libc",
+ "system-deps",
+ "zeromq-src",
+]
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
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diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000..0adaef9
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,20 @@
+[package]
+name = "trap_rust"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+bevy = "0.15.3"
+bevy_nannou = { git = "https://github.com/nannou-org/nannou", branch = "bevy-refactor", version = "0.1.0", features = ["wayland"] }
+iyes_perf_ui = "0.4.0"
+nannou_laser = { git = "https://github.com/nannou-org/nannou", branch = "bevy-refactor", version = "0.19.0" }
+serde = "1.0.219"
+serde_json = "1.0.140"
+zmq = "0.10.0"
+
+
+
+# Enable max optimizations for dependencies, but not for our code:
+# (tip from bevy examples for fast compilation/performance trade-off)
+[profile.dev.package."*"]
+opt-level = 3
\ No newline at end of file
diff --git a/src/main.rs b/src/main.rs
new file mode 100644
index 0000000..de964a1
--- /dev/null
+++ b/src/main.rs
@@ -0,0 +1,153 @@
+use bevy::prelude::*;
+use bevy::render::view::RenderLayers;
+use bevy::window::WindowResolution;
+use bevy_nannou::prelude::*;
+use bevy_nannou::NannouPlugin;
+use iyes_perf_ui::prelude::*;
+use trap::zmqplugin::ZmqPlugin;
+// use iyes_perf_ui::PerfUiPlugin;
+
+use nannou_laser as laser;
+use std::fs;
+
+mod 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(Update, update)
+
+
+        .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()
+        })
+
+        
+        .run();
+}
+
+struct LaserModel{
+
+}
+
+#[derive(Component)]
+struct LaserApi{
+    _laser_api: laser::Api,
+    laser_stream: laser::FrameStream<LaserModel>,
+}
+
+
+fn setup(mut commands: Commands) {
+    // Spawn a camera for our main window
+    commands.spawn((render::NannouCamera, RenderLayers::none()));
+
+    let path = "your_future_points_test.json";
+    // let file = File::open(path)?;
+    let data = fs::read_to_string(path).expect("Unable to read file");
+    // let reader = BufReader::new(file);
+
+    
+    // let res: serde_json::Value = serde_json::from_str(&data).expect("Unable to parse");
+    let res: serde_json::Value = serde_json::from_str(&data).expect("Unable to parse");
+    // let max = res[0].iter().cloned().fold(0./0., f64::max);
+
+    println!("{}",res);
+    
+    // let u = serde_json::from_reader(reader)?;
+
+    
+    // Initialise the state that we want to live on the laser thread and spawn the stream.
+    let laser_model = LaserModel {
+        
+    };
+    let _laser_api = laser::Api::new();
+    // dacs = _laser_api.detect_dacs()
+    let laser_stream = _laser_api
+        .new_frame_stream(laser_model, laser_frame_producer)
+        .build()
+        .unwrap();
+
+    let api = LaserApi {
+        _laser_api,
+        laser_stream,
+    };
+    commands.spawn(api);
+    // create a simple Perf UI with default settings
+    // and all entries provided by the crate:
+    // commands.spawn(PerfUiDefaultEntries::default());
+
+}
+
+pub fn laser_frame_producer(_laser: &mut LaserModel, frame: &mut laser::Frame){
+    // Simple constructors for white or blank points.
+    let lit_p = |position| laser::Point::new(position, [1.0; 3]);
+
+    let positions = trap::shapes::YOU;
+
+    // let tl = [-1.0, 1.0];
+    // let tr = [1.0, 1.0];
+    // let br = [1.0, -1.0];
+    // let bl = [-1.0, -1.0];
+    // let positions = [tl, tr, br, bl, tl];
+    let points = positions.iter().cloned().map(lit_p);
+    frame.add_lines(points);
+}
+
+#[derive(Component)]
+pub struct WindowColor(Color);
+
+// fn receive_tracks(mut commands: Commands){
+    
+// }
+
+fn update(
+    mut commands: Commands,
+    keys: Res<ButtonInput<KeyCode>>,
+    draws: Query<(&Draw, Option<&WindowColor>)>,
+    mut count: Local<usize>,
+) {
+    if keys.just_pressed(KeyCode::Space) {
+        // Increment the count to track the number of windows
+        *count += 1;
+        // We need a render layer to make sure we only render the camera for this window
+        let layer = RenderLayers::layer(*count);
+        // Spawn a new window with a unique title, resolution, and background color
+        let entity = commands
+            .spawn((
+                Window {
+                    title: "Nannou".to_string(),
+                    resolution: WindowResolution::new(400.0, 400.0),
+                    ..Default::default()
+                },
+                layer.clone(),
+                WindowColor(match *count {
+                    1 => RED.into(),
+                    2 => GREEN.into(),
+                    3 => BLUE.into(),
+                    _ => PURPLE.into(),
+                }),
+            ))
+            .id();
+        // Spawn a camera for our new window with the matching render layer
+        commands.spawn((render::NannouCamera::for_window(entity), layer.clone()));
+    }
+
+    for (draw, window_color) in draws.iter() {
+        if let Some(window_color) = window_color {
+            draw.background().color(window_color.0);
+        } else {
+            draw.background().color(DIM_GRAY);
+        }
+
+        draw.ellipse().color(LIGHT_GRAY).w_h(100.0, 100.0);
+    }
+}
\ No newline at end of file
diff --git a/src/trap/mod.rs b/src/trap/mod.rs
new file mode 100644
index 0000000..a080a54
--- /dev/null
+++ b/src/trap/mod.rs
@@ -0,0 +1,10 @@
+pub mod zmqplugin;
+// pub use zmqplugin::ZmqPlugin;
+
+// mod grid;
+// pub use grid::GridPlugin;
+pub mod tracks;
+// pub use tracks::Frame;
+// pub use grid::GridPlugin;
+
+pub mod shapes;
\ No newline at end of file
diff --git a/src/trap/shapes.rs b/src/trap/shapes.rs
new file mode 100644
index 0000000..0b460d2
--- /dev/null
+++ b/src/trap/shapes.rs
@@ -0,0 +1 @@
+pub static YOU: [[f32; 2]; 107] = [[0.33800762191421707, 0.5879238779522781], [0.3268223414326286, 0.613215363578254], [0.3226602260682412, 0.6362631583205897], [0.3246304342549215, 0.656942657636883], [0.33184212442653593, 0.6751284478643268], [0.3434052641373563, 0.6906975427013294], [0.3584298209416543, 0.7035253376054891], [0.37602576239370183, 0.7134856097935934], [0.3953022469273653, 0.7204553729640508], [0.41536843297651127, 0.7243100225744593], [0.4353350972158167, 0.7249249540824171], [0.45431139807914817, 0.7221747538251168], [0.4714073031207774, 0.715936435500967], [0.485731970774571, 0.7060837763267552], [0.4963953685948006, 0.6924937900008901], [0.5025074641357381, 0.6750410628605643], [0.5031782249516551, 0.6536017994837813], [0.4979367429667209, 0.6156370609510401], [0.495441415637061, 0.6098526591742117], [0.49274380820609914, 0.6109951371863647], [0.48588165804953437, 0.6284511008083113], [0.47563576635839183, 0.6567800244354363], [0.4483724543049251, 0.7310726509211836], [0.4321592996253773, 0.7735563269170086], [0.41319918117015, 0.8153910883478571], [0.39072262543389086, 0.8534197473926095], [0.3639585406704372, 0.8844899709525775], [0.34872846728321644, 0.8964325881334402], [0.3321382624948419, 0.9054461894474517], [0.3140916409770938, 0.9111504883041646], [0.2944915082813474, 0.913132833296923], [0.2750572452686684, 0.9099529901044575], [0.2660768178912704, 0.9053814598150352], [0.25953427029476256, 0.8983016562694696], [0.2557823789758154, 0.8880420095314384], [0.25624276848637845, 0.8783568382811047], [0.26040892945279187, 0.8692380513144162], [0.26777516162180093, 0.8606856486313729], [0.2900842294341821, 0.8452880873202742], [0.31912275165667403, 0.8321479719397045], [0.3811944235421673, 0.812583440541787], [0.42160998778228187, 0.8019070967950742], [0.49081243779886885, 0.7746211293702616], [0.5572031944073599, 0.7415256774360592], [0.6047414455745159, 0.7169089982280263], [0.6265949785987653, 0.7023529221383434], [0.6461862109700545, 0.6832625352978777], [0.6747886172941396, 0.6504235745321262], [0.6790462088663415, 0.6442863962586273], [0.6805236627262503, 0.6418986819428599], [0.6800851194666279, 0.6419496565283881], [0.6619365487778236, 0.6567581781844957], [0.6446132809023312, 0.6681611120550849], [0.6283426786740135, 0.6820836468674905], [0.6133472502043029, 0.704449353108236], [0.6046807615441253, 0.7304221181153968], [0.6058523678908658, 0.7516235000930489], [0.6150544942592907, 0.7681109465899622], [0.6304771383029509, 0.7799386686732853], [0.650313534157018, 0.7871633047713831], [0.6727552977158532, 0.7898414933126199], [0.6959940448738178, 0.7880282544845498], [0.7182205824048677, 0.7817794175951324], [0.7281687177868938, 0.7736663672921168], [0.736318987628549, 0.7592688788018546], [0.7423380343228877, 0.7406186534618217], [0.7458933093833694, 0.719746583489089], [0.746652264323454, 0.6986835611007274], [0.7442799232953856, 0.6794612876342129], [0.7384453560534343, 0.664109846186211], [0.7288135867498442, 0.6546609380941979], [0.7050189738735022, 0.6490747708166453], [0.6933522667508152, 0.6453706176016053], [0.6853816216391161, 0.6377122929663164], [0.6858387746680583, 0.6366288807437436], [0.6884870257543025, 0.6371839373417159], [0.6949154873736761, 0.6398305701871495], [0.724901489590666, 0.6511493555355974], [0.7563560453431076, 0.6588983016562695], [0.8062269906384769, 0.6641600116513339], [0.8559361118528048, 0.6620765266079246], [0.8748695293346603, 0.6517707600067966], [0.8919500610885905, 0.6430087951388046], [0.8884870257543025, 0.6461789288864077], [0.8834785704460681, 0.6483052973112929], [0.8578132711928863, 0.6987588092984117], [0.8479743670655632, 0.7289422368942723], [0.8479500934534069, 0.7415418598441635], [0.8527562686603394, 0.7510595431706193], [0.8640677719251402, 0.7602398232881035], [0.875913294657378, 0.7659926693691288], [0.8881067391638551, 0.7686069373983543], [0.9004862813635298, 0.7683706742400337], [0.9250997240899419, 0.7605044056606064], [0.9483538445356053, 0.7447006659060936], [0.9688650468076154, 0.7232703028537677], [0.9852335526049633, 0.6985209278992808], [0.9960757660347437, 0.6727633889199052], [1.0, 0.6483052973112929], [0.9940691474298291, 0.6771059381346539], [0.9864795980289828, 0.7059518897007064], [0.9756373845992022, 0.7351692275327492], [0.969253424602115, 0.7562063580681442], [0.9650459984950361, 0.7754237768122275], [0.9650459984950361, 0.7754237768122275], [0.9650459984950361, 0.7754237768122275], [0.9650459984950361, 0.7754237768122275]];
diff --git a/src/trap/tracks.rs b/src/trap/tracks.rs
new file mode 100644
index 0000000..87d790a
--- /dev/null
+++ b/src/trap/tracks.rs
@@ -0,0 +1,92 @@
+use bevy::prelude::*;
+use serde::{Serialize,Deserialize};
+
+#[derive(Serialize,Deserialize)]
+pub struct Frame {
+    pub tracks: std::collections::HashMap<String, Track>
+}
+
+#[derive(Serialize, Deserialize, Component, Debug)]
+pub struct Detection{
+    track_id: u64,
+    l: f32,
+    t: f32,
+    w: f32,
+    h: f32,
+    conf: f32,
+    state: u8,
+    frame_nr: u64,
+    det_class: u8,
+}
+
+impl Detection {
+    fn to_point(&self) -> Vec2 {
+        let x = self.l + self.w/2.;
+        let y = self.t + self.h;
+        Vec2::new(x, y)
+    }
+}
+
+#[derive(Serialize, Deserialize, Component, Debug)]
+pub struct Track {
+    pub track_id: u64,
+    // nr: u32,
+    pub history: Vec<Vec2>, // projected foot coordintes //Vec<Detection>, // history
+    pub predictor_history: Option<Vec<Vec2>>, // history
+    pub predictions: Option<Vec<Vec<Vec2>>>,
+}
+
+
+
+// check: https://www.reddit.com/r/bevy/comments/y1km8n/how_to_link_components_in_bevy_or_am_i_too_oop/
+#[derive(Serialize, Deserialize, Component)]
+pub struct PredictedTrajectory{
+    person: Entity,
+    points: Vec<Vec2>,
+}
+
+// #[derive(Bundle)]
+// pub struct TrackBundle {
+//     track: Track,
+//     // label: TextBundle,
+// }
+
+// impl From<Track> for TrackBundle{
+//     fn from(track: Track) -> Self {
+//         let name = track.track_id.to_string();
+//         TrackBundle{
+//             track: track,
+//             // label: TextBundle{
+//             //     text: Text::from_section(name, TextStyle::default()),
+//             //     transform: Transform::from_translation(250. * Vec3::Y),
+//             //     ..default()
+//             // }
+//         }
+//     }
+// }
+
+// #[derive(Bundle)]
+// pub struct TrackBundle {
+//     pub history: TrajectoryBundle,
+//     pub time: Time,
+
+// }
+
+// #[derive(Bundle)]
+// pub struct TrajectoryBundle {
+//     pub line: PolylineBundle
+//     // pub trajectory: Trajectory,
+// }
+
+#[derive(Component)]
+pub struct Trajectory {
+    pub points: Vec<Vec3>,
+}
+
+fn spawn_track() {
+
+}
+
+fn draw_tracks() {
+    // evyr ææææááá
+}
\ No newline at end of file
diff --git a/src/trap/zmqplugin.rs b/src/trap/zmqplugin.rs
new file mode 100644
index 0000000..236b545
--- /dev/null
+++ b/src/trap/zmqplugin.rs
@@ -0,0 +1,99 @@
+
+use zmq::Socket;
+use serde_json::Result;
+use bevy::{ecs::system::SystemState, prelude::*};
+
+use super::tracks::{Frame, Track};
+
+
+// use trap::{Frame, Track, TrackBundle};
+// use tracks::Frame;
+
+// Because of world.insert_non_send_resource, this is an exclusive system
+// see: https://bevy-cheatbook.github.io/programming/exclusive.html
+fn setup_zmq(world: &mut World, params: &mut SystemState<Res<ZmqSettings>>) {
+    let settings = params.get(world);
+    let url = &settings.url;
+    let context = zmq::Context::new();
+    let subscriber = context.socket(zmq::SUB).unwrap();
+    assert!(subscriber.connect(url).is_ok());
+
+    // let filter =  "10001";
+    let filter = &settings.filter; //"msgs";
+    assert!(subscriber.set_subscribe(filter.as_bytes()).is_ok());
+    world.insert_non_send_resource(subscriber);
+}
+
+fn receive_zmq_messsages(mut commands: Commands, subscriber: NonSend<Socket>, mut tracks_q: Query<&mut Track>) {
+    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<Frame> = serde_json::from_str(&json);
+
+        let msg = match res {
+            Ok(msg) => msg, // 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 (_track_id, new_track) in msg.tracks.into_iter() {
+            let mut done = false;
+            for mut track in tracks_q.iter_mut() {
+                if track.track_id == new_track.track_id {
+                    // track.nr += 1;
+                    track.history = new_track.history.clone();
+                    track.predictor_history = new_track.predictor_history.clone();
+                    track.predictions = new_track.predictions.clone();
+                    // TODO match lenghts of points and drawn_points
+                    done = true;
+                    // dbg!(&track);
+                    break
+                }
+            }
+
+            if !done {
+                // CREATE
+                // let track = Track{
+                //     id: json.clone(),
+                //     nr: 0,
+                //     points: Vec::new()
+                // };
+                dbg!(&new_track.predictor_history);
+                // commands.spawn(TrackBundle::from(new_track));
+                commands.spawn(new_track);
+            }
+        }
+    }
+}
+
+#[derive(Resource)]
+struct ZmqSettings {
+    url: String,
+    filter: String
+}
+
+pub struct ZmqPlugin {
+    pub url: String,
+    pub filter: String
+}
+
+impl Plugin for ZmqPlugin {
+    fn build(&self, app: &mut App) {
+        let settings = ZmqSettings{
+            url: self.url.clone(),
+            filter: self.filter.clone()
+        };
+        app
+            .insert_resource(settings)
+            .add_systems(Startup, setup_zmq)
+            .add_systems(Update, receive_zmq_messsages);
+    }
+}