From 9878aaf6a4474b9b5633ca87e7dde2cdc87baf7a Mon Sep 17 00:00:00 2001
From: Piv <18462828+Piv200@users.noreply.github.com>
Date: Thu, 27 Feb 2020 20:45:15 +1030
Subject: [PATCH] Use message factory for slam streamer

---
 Messaging/message_factory.py    | 38 +++++++++++++--------------------
 Messaging/messages.py           |  4 ++--
 SlamController/slam_streamer.py | 25 +++++++---------------
 3 files changed, 25 insertions(+), 42 deletions(-)

diff --git a/Messaging/message_factory.py b/Messaging/message_factory.py
index ff88d1f..8705c7d 100644
--- a/Messaging/message_factory.py
+++ b/Messaging/message_factory.py
@@ -1,25 +1,7 @@
 import zmq
 
 
-class MessageFactory():
-
-    def getZmqPubSubStreamer(self, topic):
-        '''
-        Not thread-safe. Always get this inside the thread/process where you intend
-        to use it. 
-        '''
-        return ZmqPubSubStreamer(topic)
-
-
-class Streamer():
-    def send_message(self, message_bytes):
-        raise NotImplementedError
-
-    def send_message_topic(self, topic, message_bytes):
-        raise NotImplementedError
-
-
-class ZmqPubSubStreamer(Streamer):
+class ZmqPubSubStreamer:
     '''
     Not thread-safe. Always get this inside the thread/process where you intend
     to use it. 
@@ -29,7 +11,9 @@ class ZmqPubSubStreamer(Streamer):
         # Should create the socket here always, since zmq is not thread safe.
         # Hopefully whoever uses this is not stupid enough to create it then
         # pass it into a thread.
-        pass
+        self._socket = zmq.Context.instance().socket(zmq.PUB)
+        print('Starting socket with address: ' + 'tcp://*:' + str(port))
+        self._socket.bind("tcp://*:" + str(port))
 
     def send_message(self, message):
         '''
@@ -37,15 +21,23 @@ class ZmqPubSubStreamer(Streamer):
         ----
         message: A message type that has the serialise() method.
         '''
-        pass
+        self.send_message_topic("", message)
 
     def send_message_topic(self, topic, message):
-        pass
+        self._socket.send_multipart([bytes(topic), message.serialise()])
 
 
-class BluetoothStreamer(Streamer):
+class BluetoothStreamer:
     def __init__(self):
         pass
 
     def send_message(self, message_bytes):
         pass
+
+
+def getZmqPubSubStreamer(port):
+    '''
+    Not thread-safe. Always get this inside the thread/process where you intend
+    to use it. 
+    '''
+    return ZmqPubSubStreamer(port)
diff --git a/Messaging/messages.py b/Messaging/messages.py
index b98a717..d38c9c7 100644
--- a/Messaging/messages.py
+++ b/Messaging/messages.py
@@ -23,8 +23,8 @@ class PackMessage(Message):
 
 class ProtoMessage(Message):
 
-    def __init__(self, proto_type, message=None):
-        Message(message)
+    def __init__(self, proto_type=None, message=None):
+        super().__init__(message)
         self._type = proto_type
 
     def serialise(self):
diff --git a/SlamController/slam_streamer.py b/SlamController/slam_streamer.py
index 6687233..937de8b 100644
--- a/SlamController/slam_streamer.py
+++ b/SlamController/slam_streamer.py
@@ -3,6 +3,8 @@ from breezyslam.algorithms import RMHC_SLAM
 from breezyslam.sensors import RPLidarA1 as LaserModel
 from rplidar import RPLidar as Lidar
 from .SlamController_pb2 import SlamScan, SlamLocation
+import Messaging.message_factory as mf
+import Messaging.messages as messages
 
 
 # Left here as was used in the example, configure as necessary.
@@ -33,8 +35,7 @@ class SlamStreamer:
         '''
         self.can_scan = True
         print('Starting to stream')
-        self._socket = self._start_socket(
-            self._create_socket(self._zmq_context), self._port)
+        self._mFactory = mf.getZmqPubSubStreamer(self._port)
 
         print('Started and bound zmq socket.')
 
@@ -52,7 +53,7 @@ class SlamStreamer:
 
         # Initialize empty map
         mapbytes = bytearray(self.map_pixels * self.map_pixels)
-        
+
         print('Initialised byte []')
 
         # Create an iterator to collect scan data from the RPLidar
@@ -80,25 +81,15 @@ class SlamStreamer:
         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[2]))
+        protoScan = messages.ProtoMessage(message=SlamScan(map=bytes(mapbytes),
+                                                           location=SlamLocation(x=location[0], y=location[1], theta=location[2])))
         print('Sending map')
-        self._socket.send_multipart([b'slam_map', protoScan.SerializeToString()])
+        self._mFactory.send_message_topic(
+            'slam_map', protoScan)
 
     def stop_scanning(self):
         self.can_scan = False
 
-    def _create_context(self):
-        return zmq.Context.instance()
-
-    def _create_socket(self, context):
-        return context.socket(zmq.PUB)
-
-    def _start_socket(self, socket, port):
-        print('Starting socket at with address: ' + 'tcp://*:' + str(self._port))
-        socket.bind('tcp://*:' + str(self._port))
-        return socket
-
     # Properties
     @property
     def map_pixels(self):