move live to examples

src/examples/live.rs

@@ -0,0 +1,74 @@
+use std::error::Error;
+use palette::{Mix, Srgb};
+use show_image::{create_window, event, run_context, ImageInfo, ImageView, WindowOptions};
+use tqdm::Iter;
+use crate::sl::lidar::Lidar;
+
+pub fn live_view(mut lidar: Lidar, points: Option<usize>) -> Result<(), Box<dyn Error>> {
+    // status information
+    let info = lidar.get_info();
+    let health = lidar.get_health();
+
+    println!("\nModel {} version {}.{} HW {}", info.model, info.firmware_version >> 8, info.firmware_version & 0xff, info.hardware_version);
+
+    if health.status > 0 {
+        eprintln!(" code: {}\nexiting!", health.error_code);
+        lidar.reset();
+        return Ok(());
+    }
+
+    /// number of samples
+    let n: usize = points.unwrap_or(5000);
+
+    const WIDTH: usize = 1920;
+    const HEIGHT: usize = 1080;
+    let mut pixel_data: Box<[u8]> = vec![0u8; WIDTH * HEIGHT * 3].into_boxed_slice();
+
+    let high: Srgb<f32> = Srgb::from(0xf3ff82).into();
+    let low: Srgb<f32> = Srgb::from(0x1e4160).into();
+
+    run_context(move || {
+        println!("Starting scan ({} sample{})...", n, if n == 1 { "" } else { "s" });
+        let rx = lidar.start_scan();
+        let window = create_window("scan", WindowOptions {
+            // size: Some([WIDTH as u32 * 4 / 5, HEIGHT as u32 * 4 / 5]),
+            fullscreen: true,
+            ..WindowOptions::default()
+        }).unwrap();
+
+        // generate pixel data from samples
+        println!("Scanning...");
+        for (i, sample) in rx.iter().take(n).enumerate().tqdm() {
+            let raw_x = (sample.angle as f64).to_radians().cos() * sample.distance as f64;
+            let raw_y = (sample.angle as f64).to_radians().sin() * sample.distance as f64;
+            let x = ((raw_x / 5f64) as isize + (WIDTH as isize / 2)) as usize;
+            let y = ((raw_y / 5f64) as isize + (HEIGHT as isize / 2)) as usize;
+
+            if x < WIDTH && y < HEIGHT {
+                let pos = (y * WIDTH + x) * 3;
+                let pixel: [f32; 3] = low.mix(high, (sample.intensity as f32) / 64.0).into();
+                pixel_data[pos] = (pixel[2] * 255f32) as u8;
+                pixel_data[pos + 1] = (pixel[1] * 255f32) as u8;
+                pixel_data[pos + 2] = (pixel[0] * 255f32) as u8;
+            }
+
+            if i % 360 == 0 {
+                // display
+                let image = ImageView::new(ImageInfo::bgr8(WIDTH as u32, HEIGHT as u32), pixel_data.as_ref());
+                window.set_image(format!("image-{}", i), image).unwrap();
+            }
+        }
+
+        println!("\nStopping scan...");
+        lidar.stop(false);
+        lidar.join();
+
+        for event in window.event_channel().unwrap() {
+            if let event::WindowEvent::KeyboardInput(event) = event {
+                if event.input.key_code == Some(event::VirtualKeyCode::Escape) && event.input.state.is_pressed() {
+                    break;
+                }
+            }
+        }
+    });
+}

src/examples/mod.rs

@@ -0,0 +1 @@
+pub mod live;

src/main.rs

@@ -2,15 +2,16 @@ extern crate core;
 
 mod sl;
 mod util;
+mod examples;
 
 use clap::Parser;
-use palette::{Mix, Srgb};
-use show_image::{create_window, event, run_context, ImageInfo, ImageView, WindowOptions};
+use palette::Mix;
 use sl::lidar::Lidar;
 use std::default::Default;
 use std::error::Error;
 use std::io::Write;
 use tqdm::Iter;
+use examples::live;
 
 #[derive(Parser)]
 #[command(version, about, long_about = None)]
@@ -23,72 +24,7 @@ fn main() -> Result<(), Box<dyn Error>> {
     let args = Args::parse();
 
     // initialize lidar
-    let mut lidar = Lidar::init(String::from("COM3"));
+    let lidar = Lidar::init(String::from("COM3"));
 
-    // status information
-    let info = lidar.get_info();
-    let health = lidar.get_health();
-
-    println!("\nModel {} version {}.{} HW {}", info.model, info.firmware_version >> 8, info.firmware_version & 0xff, info.hardware_version);
-
-    if health.status > 0 {
-        eprintln!(" code: {}\nexiting!", health.error_code);
-        lidar.reset();
-        return Ok(());
-    }
-
-    /// number of samples
-    let n: usize = args.points.unwrap_or(5000);
-
-    const WIDTH: usize = 1920;
-    const HEIGHT: usize = 1080;
-    let mut pixel_data: Box<[u8]> = vec![0u8; WIDTH * HEIGHT * 3].into_boxed_slice();
-
-    let high: Srgb<f32> = Srgb::from(0xf3ff82).into();
-    let low: Srgb<f32> = Srgb::from(0x1e4160).into();
-
-    run_context(move || {
-        println!("Starting scan ({} sample{})...", n, if n == 1 { "" } else { "s" });
-        let rx = lidar.start_scan();
-        let window = create_window("scan", WindowOptions {
-            // size: Some([WIDTH as u32 * 4 / 5, HEIGHT as u32 * 4 / 5]),
-            fullscreen: true,
-            ..WindowOptions::default()
-        }).unwrap();
-
-        // generate pixel data from samples
-        println!("Scanning...");
-        for (i, sample) in rx.iter().take(n).enumerate().tqdm() {
-            let raw_x = (sample.angle as f64).to_radians().cos() * sample.distance as f64;
-            let raw_y = (sample.angle as f64).to_radians().sin() * sample.distance as f64;
-            let x = ((raw_x / 5f64) as isize + (WIDTH as isize / 2)) as usize;
-            let y = ((raw_y / 5f64) as isize + (HEIGHT as isize / 2)) as usize;
-
-            if x < WIDTH && y < HEIGHT {
-                let pos = (y * WIDTH + x) * 3;
-                let pixel: [f32; 3] = low.mix(high, (sample.intensity as f32) / 64.0).into();
-                pixel_data[pos] = (pixel[2] * 255f32) as u8;
-                pixel_data[pos + 1] = (pixel[1] * 255f32) as u8;
-                pixel_data[pos + 2] = (pixel[0] * 255f32) as u8;
-            }
-
-            if i % 100 == 0 {
-                // display
-                let image = ImageView::new(ImageInfo::bgr8(WIDTH as u32, HEIGHT as u32), pixel_data.as_ref());
-                window.set_image(format!("image-{}", i), image).unwrap();
-            }
-        }
-
-        println!("\nStopping scan...");
-        lidar.stop(false);
-        lidar.join();
-
-        for event in window.event_channel().unwrap() {
-            if let event::WindowEvent::KeyboardInput(event) = event {
-                if event.input.key_code == Some(event::VirtualKeyCode::Escape) && event.input.state.is_pressed() {
-                    break;
-                }
-            }
-        }
-    });
+    live::live_view(lidar, args.points)
 }