RSDK-8829: Add frame_rate to cpp sdk (#294)

viamrobotics · Sep 24, 2024 · c428bb5 · c428bb5
1 parent cb4630f
commit c428bb5
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Showing 4 changed files with 9 additions and 2 deletions.
diff --git a/src/viam/sdk/components/camera.cpp b/src/viam/sdk/components/camera.cpp
@@ -231,7 +231,8 @@ Camera::properties Camera::from_proto(
     return {proto.supports_pcd(),
             from_proto(proto.intrinsic_parameters()),
             from_proto(proto.distortion_parameters()),
-            {proto.mime_types().begin(), proto.mime_types().end()}};
+            {proto.mime_types().begin(), proto.mime_types().end()},
+            (proto.frame_rate())};
 }
 
 viam::component::camera::v1::IntrinsicParameters Camera::to_proto(
@@ -282,7 +283,8 @@ bool operator==(const Camera::distortion_parameters& lhs,
 bool operator==(const Camera::properties& lhs, const Camera::properties& rhs) {
     return lhs.supports_pcd == rhs.supports_pcd &&
            lhs.intrinsic_parameters == rhs.intrinsic_parameters &&
-           lhs.distortion_parameters == rhs.distortion_parameters;
+           lhs.distortion_parameters == rhs.distortion_parameters &&
+           lhs.frame_rate == rhs.frame_rate;
 }
 
 }  // namespace sdk

diff --git a/src/viam/sdk/components/camera.hpp b/src/viam/sdk/components/camera.hpp
@@ -65,6 +65,9 @@ class Camera : public Component {
 
         /// @brief Contains the mime types the camera supports.
         Camera::mime_types mime_types;
+
+        /// @brief Contains the camera's frame rate.
+        float frame_rate;
     };
 
     /// @struct point_cloud

diff --git a/src/viam/sdk/components/private/camera_server.cpp b/src/viam/sdk/components/private/camera_server.cpp
@@ -114,6 +114,7 @@ ::grpc::Status CameraServer::GetProperties(
         *response->mutable_intrinsic_parameters() =
             Camera::to_proto(properties.intrinsic_parameters);
         response->set_supports_pcd(properties.supports_pcd);
+        response->set_frame_rate(properties.frame_rate);
     });
 }
 

diff --git a/src/viam/sdk/tests/mocks/camera_mocks.cpp b/src/viam/sdk/tests/mocks/camera_mocks.cpp
@@ -96,6 +96,7 @@ Camera::properties fake_properties() {
     properties.intrinsic_parameters = fake_intrinsic_parameters();
     properties.distortion_parameters = fake_distortion_parameters();
     properties.mime_types = fake_mime_types();
+    properties.frame_rate = 10.0;
     return properties;
 }