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add camera GetProperties #18

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add camera GetProperties #18

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14 changes: 13 additions & 1 deletion core/sdk/src/main/java/com/viam/sdk/core/component/camera/Camera.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,12 +2,16 @@

import com.google.protobuf.Struct;
import com.viam.common.v1.Common;
import com.viam.common.v1.Common.ResponseMetadata;
import com.viam.component.camera.v1.Camera.Format;
import com.viam.component.camera.v1.Camera.GetPropertiesResponse;
import com.viam.component.camera.v1.Camera.Image;
import com.viam.sdk.core.component.Component;
import com.viam.sdk.core.resource.Resource;
import com.viam.sdk.core.resource.Subtype;
import com.viam.sdk.core.robot.RobotClient;
import java.util.AbstractMap.SimpleEntry;
import java.util.Collections;
import java.util.List;
import java.util.Map.Entry;
import java.util.Optional;
Expand Down Expand Up @@ -50,7 +54,15 @@ public static Camera fromRobot(final RobotClient robot, final String name) {
public abstract Image getImage(final Format format,
final Optional<Struct> extra);

public abstract Entry<List<Image>, Common.ResponseMetadata> getImages();
public Entry<List<Image>, Common.ResponseMetadata> getImages() {
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[q] why provide a default implementation here?

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it was requested

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lol k

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Just want to point out that this could be a subtle point of bugs for anyone expecting getImages to work, but a camera implementer didn't provide it. This doesn't provide the user with any feedback (like an unimplemented error)

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eh yeah. ill change it back.

return new SimpleEntry<>(
Collections.singletonList(getImage(Format.FORMAT_UNSPECIFIED, Optional.empty())),
ResponseMetadata.newBuilder().build());
}

protected GetPropertiesResponse getProperties() {
return GetPropertiesResponse.newBuilder().build();
}

static Format mimeToFormat(final String mimeType) {
switch (mimeType) {
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9 changes: 9 additions & 0 deletions core/sdk/src/main/java/com/viam/sdk/core/component/camera/CameraRPCClient.java
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,8 @@
import com.viam.component.camera.v1.Camera.GetImageResponse;
import com.viam.component.camera.v1.Camera.GetImagesRequest;
import com.viam.component.camera.v1.Camera.GetImagesResponse;
import com.viam.component.camera.v1.Camera.GetPropertiesRequest;
import com.viam.component.camera.v1.Camera.GetPropertiesResponse;
import com.viam.component.camera.v1.Camera.Image;
import com.viam.component.camera.v1.CameraServiceGrpc;
import com.viam.sdk.core.rpc.Channel;
Expand Down Expand Up @@ -53,6 +55,13 @@ public List<Common.Geometry> getGeometries(final Optional<Struct> extra) {
return client.getGeometries(builder.build()).getGeometriesList();
}

@Override
protected GetPropertiesResponse getProperties() {
final GetPropertiesRequest.Builder builder = GetPropertiesRequest.newBuilder().
setName(getName().getName());
return client.getProperties(builder.build());
}

@Override
public Image getImage(final Format format,
Optional<Struct> extra) {
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12 changes: 12 additions & 0 deletions core/sdk/src/main/java/com/viam/sdk/core/component/camera/CameraRPCService.java
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,8 @@
import com.viam.component.camera.v1.Camera.GetImageResponse;
import com.viam.component.camera.v1.Camera.GetImagesRequest;
import com.viam.component.camera.v1.Camera.GetImagesResponse;
import com.viam.component.camera.v1.Camera.GetPropertiesRequest;
import com.viam.component.camera.v1.Camera.GetPropertiesResponse;
import com.viam.component.camera.v1.Camera.Image;
import com.viam.component.camera.v1.CameraServiceGrpc;
import com.viam.sdk.core.resource.ResourceManager;
Expand Down Expand Up @@ -51,6 +53,16 @@ public void getGeometries(Common.GetGeometriesRequest request,
responseObserver.onCompleted();
}

@Override
public void getProperties(GetPropertiesRequest request,
StreamObserver<GetPropertiesResponse> responseObserver) {
final Camera camera = getResource(
Camera.named(request.getName()));
final GetPropertiesResponse result = camera.getProperties();
responseObserver.onNext(result);
responseObserver.onCompleted();
}

@Override
public void getImage(GetImageRequest request,
StreamObserver<GetImageResponse> responseObserver) {
Expand Down