Dummy pull/push system

Author: ManifoldFR

src/candlewick/runtime/main.cpp

@@ -1,3 +1,32 @@
+#include <zmq.hpp>
+#include <zmq_addon.hpp>
 #include "candlewick/multibody/Multibody.h"
 
-int main() { return 0; }
+#include <pinocchio/serialization/model.hpp>
+#include <pinocchio/serialization/geometry.hpp>
+
+namespace pin = pinocchio;
+
+int main() {
+  zmq::context_t ctx;
+  zmq::socket_t sock{ctx, zmq::socket_type::pull};
+  sock.bind("tcp://127.0.0.1:12000");
+  const std::string endpoint = sock.get(zmq::sockopt::last_endpoint);
+  printf("ZMQ endpoint: %s\n", endpoint.c_str());
+
+  pin::Model model;
+  pin::GeometryModel geom_model;
+
+  std::vector<zmq::message_t> recv_models;
+
+  printf("Receiving Model and GeometryModel...");
+
+  const auto ret = zmq::recv_multipart(sock, std::back_inserter(recv_models));
+  assert(*ret == 2);
+
+  model.loadFromString(recv_models[0].to_string());
+  std::cout << model << std::endl;
+  geom_model.loadFromString(recv_models[1].to_string());
+
+  return 0;
+}

tests/test_client.py

@@ -0,0 +1,14 @@
+import pinocchio as pin
+import zmq
+
+
+PORT = 12000
+
+ctx = zmq.Context.instance()
+sock: zmq.Socket = ctx.socket(zmq.SocketType.PUSH)
+sock.connect(f"tcp://127.0.0.1:{PORT}")
+
+model = pin.buildSampleModelHumanoidRandom()
+geom_model = pin.buildSampleGeometryModelHumanoid(model)
+
+sock.send_multipart([model.saveToString().encode(), geom_model.saveToString().encode()])