SDK batching/revamp 2.1: clock example for Rust (#2000)

* version crossbeam at the workspace level

* more DataRow size helpers

* DataTableBatcher

* lints

* lints

* self review

* don't expose shutdown to make errors impossible

* doc

* backport

* backport

* introduce RecordingStream

* clean up old stuff from the before time

* self-review

* ordered data columns in data tables

* tests

* even more tests

* rogue todo

* batching is now a reality

* some extra peace of mind

* added Rust clock example

* revert

* lock shenanigans

* lock shenanigans

* merge shenanigans

* address PR comments

* fix python example

* lock shenanigans

* self-review

examples/python/clock/main.py

@@ -18,8 +18,8 @@
 LENGTH_H: Final = 4.0
 
 WIDTH_S: Final = 0.25
-WIDTH_M: Final = 0.5
-WIDTH_H: Final = 0.7
+WIDTH_M: Final = 0.4
+WIDTH_H: Final = 0.6
 
 
 def log_clock(steps: int) -> None:
@@ -61,7 +61,7 @@ def rotate(angle: float, len: float) -> Tuple[float, float, float]:
         point_h = np.array(rotate(math.tau * scaled_h, LENGTH_H))
         color_h = (int(255 - (scaled_h * 255)), int(scaled_h * 255), 255, 255)
         rr.log_point("world/hours_pt", position=point_h, color=color_h)
-        rr.log_arrow("world/hours_hand", origin=[0.0, 0.0, 0.0], vector=point_h, color=color_h, width_scale=WIDTH_M)
+        rr.log_arrow("world/hours_hand", origin=[0.0, 0.0, 0.0], vector=point_h, color=color_h, width_scale=WIDTH_H)
 
 
 if __name__ == "__main__":

examples/rust/clock/Cargo.toml

@@ -0,0 +1,14 @@
+[package]
+name = "clock"
+version.workspace = true
+edition.workspace = true
+rust-version.workspace = true
+license.workspace = true
+publish = false
+
+[dependencies]
+rerun = { path = "../../../crates/rerun", features = ["web_viewer"] }
+
+anyhow = "1.0"
+clap = { version = "4.0", features = ["derive"] }
+glam = "0.22"

examples/rust/clock/src/main.rs

@@ -0,0 +1,117 @@
+//! Builds an analog clock using Rerun's `Arrow3D` primitive.
+//!
+//! This is a great benchmark for many small events.
+//!
+//! Usage:
+//! ```
+//! cargo run -p clock -- --help
+//! ```
+
+use std::f32::consts::TAU;
+
+use rerun::components::{Arrow3D, Box3D, ColorRGBA, Radius, Vec3D, ViewCoordinates};
+use rerun::coordinates::SignedAxis3;
+use rerun::time::{Time, TimePoint, TimeType, Timeline};
+use rerun::{external::re_log, MsgSender, RecordingStream};
+
+#[derive(Debug, clap::Parser)]
+#[clap(author, version, about)]
+struct Args {
+    #[command(flatten)]
+    rerun: rerun::clap::RerunArgs,
+
+    #[clap(long, default_value = "10000")]
+    steps: usize,
+}
+
+fn run(rec_stream: &RecordingStream, args: &Args) -> anyhow::Result<()> {
+    const LENGTH_S: f32 = 20.0;
+    const LENGTH_M: f32 = 10.0;
+    const LENGTH_H: f32 = 4.0;
+    const WIDTH_S: f32 = 0.25;
+    const WIDTH_M: f32 = 0.4;
+    const WIDTH_H: f32 = 0.6;
+
+    let view_coords = ViewCoordinates::from_up_and_handedness(
+        SignedAxis3::POSITIVE_Y,
+        rerun::coordinates::Handedness::Right,
+    );
+    MsgSender::new("world")
+        .with_timeless(true)
+        .with_component(&[view_coords])?
+        .send(rec_stream)?;
+
+    MsgSender::new("world/frame")
+        .with_timeless(true)
+        .with_component(&[Box3D::new(LENGTH_S, LENGTH_S, 1.0)])?
+        .send(rec_stream)?;
+
+    fn sim_time(at: f64) -> TimePoint {
+        let timeline_sim_time = Timeline::new("sim_time", TimeType::Time);
+        let time = Time::from_seconds_since_epoch(at);
+        [(timeline_sim_time, time.into())].into()
+    }
+
+    fn pos(angle: f32, length: f32) -> Vec3D {
+        Vec3D::new(length * angle.sin(), length * angle.cos(), 0.0)
+    }
+
+    fn color(angle: f32, blue: u8) -> ColorRGBA {
+        let c = (angle * 255.0) as u8;
+        ColorRGBA::from_unmultiplied_rgba(255 - c, c, blue, u8::max(128, blue))
+    }
+
+    fn log_hand(
+        rec_stream: &RecordingStream,
+        name: &str,
+        step: usize,
+        angle: f32,
+        length: f32,
+        width: f32,
+        blue: u8,
+    ) -> anyhow::Result<()> {
+        let point = pos(angle * TAU, length);
+        let color = color(angle, blue);
+        MsgSender::new(format!("world/{name}_pt"))
+            .with_timepoint(sim_time(step as _))
+            .with_component(&[point])?
+            .with_component(&[color])?
+            .send(rec_stream)?;
+        MsgSender::new(format!("world/{name}_hand"))
+            .with_timepoint(sim_time(step as _))
+            .with_component(&[Arrow3D {
+                origin: glam::Vec3::ZERO.into(),
+                vector: point,
+            }])?
+            .with_component(&[color])?
+            .with_component(&[Radius(width * 0.5)])?
+            .send(rec_stream)?;
+
+        Ok(())
+    }
+
+    for step in 0..args.steps {
+        #[rustfmt::skip]
+        log_hand(rec_stream, "seconds", step, (step % 60) as f32 / 60.0, LENGTH_S, WIDTH_S, 0)?;
+        #[rustfmt::skip]
+        log_hand(rec_stream, "minutes", step, (step % 3600) as f32 / 3600.0, LENGTH_M, WIDTH_M, 128)?;
+        #[rustfmt::skip]
+        log_hand(rec_stream, "hours", step, (step % 43200) as f32 / 43200.0, LENGTH_H, WIDTH_H, 255)?;
+    }
+
+    Ok(())
+}
+
+fn main() -> anyhow::Result<()> {
+    re_log::setup_native_logging();
+
+    use clap::Parser as _;
+    let args = Args::parse();
+
+    let default_enabled = true;
+    args.rerun
+        .clone()
+        .run("clock", default_enabled, move |rec_stream| {
+            run(&rec_stream, &args).unwrap();
+        })
+}