From 065dcc437a119db15fdf5d46e83e2aa2ec3512c4 Mon Sep 17 00:00:00 2001
From: Piv <18462828+Piv200@users.noreply.github.com>
Date: Sat, 15 Feb 2020 20:43:22 +1030
Subject: [PATCH] Use pub socket with a key for the sub in the envelope.

---
 SlamController/slam_streamer.py | 26 ++++++++++++--------------
 1 file changed, 12 insertions(+), 14 deletions(-)

diff --git a/SlamController/slam_streamer.py b/SlamController/slam_streamer.py
index 568c4ac..0e9d539 100644
--- a/SlamController/slam_streamer.py
+++ b/SlamController/slam_streamer.py
@@ -9,11 +9,11 @@ from .SlamController_pb2 import SlamScan, SlamLocation
 # MAP_SIZE_PIXELS         = 500
 # MAP_SIZE_METERS         = 10
 # LIDAR_DEVICE            = '/dev/ttyUSB0'
-    
+
 class SlamStreamer:
     can_scan = False
 
-    def __init__(self, map_pixels = None, map_meters = None, lidar_connection = None, port = None):
+    def __init__(self, map_pixels=None, map_meters=None, lidar_connection=None, port=None):
         self._map_pixels = map_pixels
         self._map_meters = map_meters
         self._lidar_connection = lidar_connection
@@ -33,12 +33,10 @@ class SlamStreamer:
         '''
 
         print('Starting to stream')
-        self._socket = self._start_socket(self._create_socket(self._zmq_context), self._port)
-        
-        # Block until user opens zmq.
-        self._socket.recv()
+        self._socket = self._start_socket(
+            self._create_socket(self._zmq_context), self._port)
 
-        print('Received message from ZMQ')
+        print('Started and bound zmq socket.')
 
         # Adapted from BreezySLAM rpslam example.
         # Connect to Lidar unit
@@ -62,7 +60,7 @@ class SlamStreamer:
 
             # Extract distances and angles from triples
             distances = [item[2] for item in items]
-            angles    = [item[1] for item in items]
+            angles = [item[1] for item in items]
             print('Updating map')
             # Update SLAM with current Lidar scan and scan angles
             slam.update(distances, scan_angles_degrees=angles)
@@ -74,11 +72,11 @@ class SlamStreamer:
         Pushes a scan over zmq using protocol buffers.
         map should be the result of slam.getmap.
         location should be a tuple, the result of slam.getpos()
-        ''' 
-        protoScan = SlamScan(map = bytes(mapbytes), \
-            location = SlamLocation(x = location[0], y = location[1], theta = location[3]))
+        '''
+        protoScan = SlamScan(map=bytes(mapbytes),
+                             location=SlamLocation(x=location[0], y=location[1], theta=location[3]))
         print('Sending map')
-        self._socket.send(protoScan.SerializeToString())
+        self._socket.send_multipart(b'slam_map', protoScan.SerializeToString())
 
     def stop_scanning(self):
         self.can_scan = False
@@ -87,7 +85,7 @@ class SlamStreamer:
         return zmq.Context.instance()
 
     def _create_socket(self, context):
-        return context.socket(zmq.PAIR)
+        return context.socket(zmq.PUB)
 
     def _start_socket(self, socket, port):
         socket.bind('tcp://*:' + str(self._port))
@@ -124,4 +122,4 @@ class SlamStreamer:
 
     @port.setter
     def port(self, value):
-        self._port = value
\ No newline at end of file
+        self._port = value