[RSDK-10991] Create Go helpers for implementing GetImage if you have GetImages and vice versa #5055
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viambot
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Warning your change may break code samples. If your change modifies any of the following functions please contact @viamrobotics/fleet-management. Thanks!
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hexbabe
commented
Jun 16, 2025
viambot
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… test. not just non-zero in tests
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hexbabe
commented
Jun 17, 2025
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| resBytes, resMetadata, err := cam.Image(ctx, mimeType, nil) | ||
| if err != nil { | ||
| return nil, resource.ResponseMetadata{}, fmt.Errorf("could not get image bytes from camera: %w", err) | ||
| } | ||
| if len(resBytes) == 0 { | ||
| return nil, resource.ResponseMetadata{}, errors.New("received empty bytes from camera") | ||
| } | ||
| if resMetadata.MimeType != mimeType { | ||
| logger.Warnf("requested mime type %s, but received %s", mimeType, resMetadata.MimeType) | ||
| } |
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essentially the same as DecodeImageFromCamera but added the log
viambot
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This approach will force us to do decodes and encodes. I agree we need this behavior as a fallback but I'm wondering: If the method we call returns an image.Image that happens to be a LazyImage can we save ourselves some decodes and encodes? |
nicksanford
requested changes
Jun 18, 2025
| if len(resBytes) == 0 { | ||
| return nil, resource.ResponseMetadata{}, errors.New("received empty bytes from camera") | ||
| } | ||
| if resMetadata.MimeType != mimeType { |
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should we strip lazy suffix when doing this comparison?
| testImg1 := image.NewRGBA(image.Rect(0, 0, 100, 100)) | ||
| testImg2 := image.NewRGBA(image.Rect(0, 0, 200, 200)) | ||
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| testCam := inject.NewCamera("test_cam") |
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Suggested change
| testCam := inject.NewCamera("test_cam") | |
| rgbaCam := inject.NewCamera("rgba_cam") |
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| t.Run("request empty mime type", func(t *testing.T) { | ||
| _, _, err := camera.GetImageFromGetImages(context.Background(), nil, "", testCam) | ||
| test.That(t, err, test.ShouldBeError, errors.New("could not encode image: do not know how to encode \"\"")) | ||
| }) |
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this should default to jpeg
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RSDK-10991
Create Go helpers for implementing GetImage if you have GetImages and vice versa