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RSDK-9890 - support extra in camera apis #460

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merged 2 commits into from
Feb 3, 2025
Merged

RSDK-9890 - support extra in camera apis #460

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8f2a8b6
support extra in camera apis
stuqdog Feb 3, 2025
5832513
linter fixes
stuqdog Feb 3, 2025
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7 changes: 4 additions & 3 deletions src/components/camera/camera.ts
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
import type { Struct } from '@bufbuild/protobuf';
import type {
DistortionParameters,
IntrinsicParameters,
Expand Down Expand Up @@ -31,18 +32,18 @@ export interface Camera extends Resource {
* @param mimeType - A specific MIME type to request. This is not necessarily
* the same type that will be returned.
*/
getImage: (mimeType?: MimeType) => Promise<Uint8Array>;
getImage: (mimeType?: MimeType, extra?: Struct) => Promise<Uint8Array>;

/**
* Render a frame from a camera to an HTTP response.
*
* @param mimeType - A specific MIME type to request. This is not necessarily
* the same type that will be returned.
*/
renderFrame: (mimeType?: MimeType) => Promise<Blob>;
renderFrame: (mimeType?: MimeType, extra?: Struct) => Promise<Blob>;

/** Return a point cloud from a camera. */
getPointCloud: () => Promise<Uint8Array>;
getPointCloud: (extra?: Struct) => Promise<Uint8Array>;

/** Return the camera properties. */
getProperties: () => Promise<Properties>;
Expand Down
19 changes: 15 additions & 4 deletions src/components/camera/client.ts
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
import type { JsonValue, Struct } from '@bufbuild/protobuf';
import { type JsonValue, Struct } from '@bufbuild/protobuf';
import type { CallOptions, PromiseClient } from '@connectrpc/connect';
import { GetPropertiesRequest } from '../../gen/component/base/v1/base_pb';
import { CameraService } from '../../gen/component/camera/v1/camera_connect';
Expand Down Expand Up @@ -31,10 +31,15 @@ export class CameraClient implements Camera {
this.options = options;
}

async getImage(mimeType: MimeType = '', callOptions = this.callOptions) {
async getImage(
mimeType: MimeType = '',
extra = {},
callOptions = this.callOptions
) {
const request = new GetImageRequest({
name: this.name,
mimeType,
extra: Struct.fromJson(extra),
});

this.options.requestLogger?.(request);
Expand All @@ -43,10 +48,15 @@ export class CameraClient implements Camera {
return resp.image;
}

async renderFrame(mimeType: MimeType = '', callOptions = this.callOptions) {
async renderFrame(
mimeType: MimeType = '',
extra = {},
callOptions = this.callOptions
) {
const request = new RenderFrameRequest({
name: this.name,
mimeType,
extra: Struct.fromJson(extra),
});

this.options.requestLogger?.(request);
Expand All @@ -55,10 +65,11 @@ export class CameraClient implements Camera {
return new Blob([resp.data], { type: mimeType });
}

async getPointCloud(callOptions = this.callOptions) {
async getPointCloud(extra = {}, callOptions = this.callOptions) {
const request = new GetPointCloudRequest({
name: this.name,
mimeType: PointCloudPCD,
extra: Struct.fromJson(extra),
});

this.options.requestLogger?.(request);
Expand Down