From a35cb27810ecad6ef409880e1d5199103d9d8df9 Mon Sep 17 00:00:00 2001 From: Julie Krasnick Date: Wed, 18 Sep 2024 17:27:42 -0400 Subject: [PATCH 1/4] some cpp changes --- src/viam/sdk/components/camera.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/viam/sdk/components/camera.cpp b/src/viam/sdk/components/camera.cpp index 0858b8bab..8933ff7a5 100644 --- 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()}, + from_proto(proto.frame_rate())}; } viam::component::camera::v1::IntrinsicParameters Camera::to_proto( @@ -254,7 +255,7 @@ viam::component::camera::v1::DistortionParameters Camera::to_proto( return proto; } -Camera::Camera(std::string name) : Component(std::move(name)){}; +Camera::Camera(std::string name) : Component(std::move(name)) {}; bool operator==(const Camera::point_cloud& lhs, const Camera::point_cloud& rhs) { return lhs.mime_type == rhs.mime_type && lhs.pc == rhs.pc; @@ -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 From 8b26ea5b7b8168e9270f063b244a159707ac5061 Mon Sep 17 00:00:00 2001 From: Julie Krasnick Date: Wed, 18 Sep 2024 17:30:16 -0400 Subject: [PATCH 2/4] more cpp changes --- src/viam/sdk/components/private/camera_server.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/viam/sdk/components/private/camera_server.cpp b/src/viam/sdk/components/private/camera_server.cpp index 885a9992c..8b098e5ec 100644 --- a/src/viam/sdk/components/private/camera_server.cpp +++ b/src/viam/sdk/components/private/camera_server.cpp @@ -15,7 +15,7 @@ namespace sdk { namespace impl { CameraServer::CameraServer(std::shared_ptr manager) - : ResourceServer(std::move(manager)){}; + : ResourceServer(std::move(manager)) {}; ::grpc::Status CameraServer::DoCommand(::grpc::ServerContext*, const ::viam::common::v1::DoCommandRequest* request, @@ -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); }); } From 0aaff1fbbd6b19e8f18c5c524f2f40630e518839 Mon Sep 17 00:00:00 2001 From: Julie Krasnick Date: Thu, 19 Sep 2024 16:22:34 -0400 Subject: [PATCH 3/4] cpp changes working --- src/viam/sdk/components/camera.cpp | 2 +- src/viam/sdk/components/camera.hpp | 3 +++ src/viam/sdk/tests/mocks/camera_mocks.cpp | 1 + 3 files changed, 5 insertions(+), 1 deletion(-) diff --git a/src/viam/sdk/components/camera.cpp b/src/viam/sdk/components/camera.cpp index 8933ff7a5..27bdab6a8 100644 --- a/src/viam/sdk/components/camera.cpp +++ b/src/viam/sdk/components/camera.cpp @@ -232,7 +232,7 @@ Camera::properties Camera::from_proto( from_proto(proto.intrinsic_parameters()), from_proto(proto.distortion_parameters()), {proto.mime_types().begin(), proto.mime_types().end()}, - from_proto(proto.frame_rate())}; + (proto.frame_rate())}; } viam::component::camera::v1::IntrinsicParameters Camera::to_proto( diff --git a/src/viam/sdk/components/camera.hpp b/src/viam/sdk/components/camera.hpp index 5670ba6f4..3e5a4e0fa 100644 --- 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/tests/mocks/camera_mocks.cpp b/src/viam/sdk/tests/mocks/camera_mocks.cpp index 857936721..028cf6ad0 100644 --- 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; } From 75091c373474927910a41077282d985ae51bfd31 Mon Sep 17 00:00:00 2001 From: Julie Krasnick Date: Fri, 20 Sep 2024 10:39:43 -0400 Subject: [PATCH 4/4] clang format changes --- src/viam/sdk/components/camera.cpp | 2 +- src/viam/sdk/components/private/camera_server.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/viam/sdk/components/camera.cpp b/src/viam/sdk/components/camera.cpp index 27bdab6a8..e97ae00b3 100644 --- a/src/viam/sdk/components/camera.cpp +++ b/src/viam/sdk/components/camera.cpp @@ -255,7 +255,7 @@ viam::component::camera::v1::DistortionParameters Camera::to_proto( return proto; } -Camera::Camera(std::string name) : Component(std::move(name)) {}; +Camera::Camera(std::string name) : Component(std::move(name)){}; bool operator==(const Camera::point_cloud& lhs, const Camera::point_cloud& rhs) { return lhs.mime_type == rhs.mime_type && lhs.pc == rhs.pc; diff --git a/src/viam/sdk/components/private/camera_server.cpp b/src/viam/sdk/components/private/camera_server.cpp index 8b098e5ec..19fd286f8 100644 --- a/src/viam/sdk/components/private/camera_server.cpp +++ b/src/viam/sdk/components/private/camera_server.cpp @@ -15,7 +15,7 @@ namespace sdk { namespace impl { CameraServer::CameraServer(std::shared_ptr manager) - : ResourceServer(std::move(manager)) {}; + : ResourceServer(std::move(manager)){}; ::grpc::Status CameraServer::DoCommand(::grpc::ServerContext*, const ::viam::common::v1::DoCommandRequest* request,