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server.go
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server.go
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package camera
import (
"bytes"
"context"
"github.com/edaniels/golog"
"github.com/viamrobotics/gostream"
"go.opencensus.io/trace"
commonpb "go.viam.com/api/common/v1"
pb "go.viam.com/api/component/camera/v1"
"google.golang.org/genproto/googleapis/api/httpbody"
"go.viam.com/rdk/pointcloud"
"go.viam.com/rdk/protoutils"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/rimage"
"go.viam.com/rdk/utils"
)
// serviceServer implements the CameraService from camera.proto.
type serviceServer struct {
pb.UnimplementedCameraServiceServer
coll resource.APIResourceCollection[Camera]
imgTypes map[string]ImageType
logger golog.Logger
}
// NewRPCServiceServer constructs an camera gRPC service server.
// It is intentionally untyped to prevent use outside of tests.
func NewRPCServiceServer(coll resource.APIResourceCollection[Camera]) interface{} {
logger := golog.NewLogger("camserver")
imgTypes := make(map[string]ImageType)
return &serviceServer{coll: coll, logger: logger, imgTypes: imgTypes}
}
// GetImage returns an image from a camera of the underlying robot. If a specific MIME type
// is requested and is not available, an error is returned.
func (s *serviceServer) GetImage(
ctx context.Context,
req *pb.GetImageRequest,
) (*pb.GetImageResponse, error) {
ctx, span := trace.StartSpan(ctx, "camera::server::GetImage")
defer span.End()
cam, err := s.coll.Resource(req.Name)
if err != nil {
return nil, err
}
// Determine the mimeType we should try to use based on camera properties
if req.MimeType == "" {
if _, ok := s.imgTypes[req.Name]; !ok {
props, err := cam.Properties(ctx)
if err != nil {
s.logger.Warnf("camera properties not found for %s, assuming color images: %v", req.Name, err)
s.imgTypes[req.Name] = ColorStream
} else {
s.imgTypes[req.Name] = props.ImageType
}
}
switch s.imgTypes[req.Name] {
case ColorStream, UnspecifiedStream:
req.MimeType = utils.MimeTypeJPEG
case DepthStream:
req.MimeType = utils.MimeTypeRawDepth
default:
req.MimeType = utils.MimeTypeJPEG
}
}
req.MimeType = utils.WithLazyMIMEType(req.MimeType)
img, release, err := ReadImage(gostream.WithMIMETypeHint(ctx, req.MimeType), cam)
if err != nil {
return nil, err
}
defer func() {
if release != nil {
release()
}
}()
actualMIME, _ := utils.CheckLazyMIMEType(req.MimeType)
resp := pb.GetImageResponse{
MimeType: actualMIME,
}
outBytes, err := rimage.EncodeImage(ctx, img, req.MimeType)
if err != nil {
return nil, err
}
resp.Image = outBytes
return &resp, nil
}
// RenderFrame renders a frame from a camera of the underlying robot to an HTTP response. A specific MIME type
// can be requested but may not necessarily be the same one returned.
func (s *serviceServer) RenderFrame(
ctx context.Context,
req *pb.RenderFrameRequest,
) (*httpbody.HttpBody, error) {
ctx, span := trace.StartSpan(ctx, "camera::server::RenderFrame")
defer span.End()
if req.MimeType == "" {
req.MimeType = utils.MimeTypeJPEG // default rendering
}
resp, err := s.GetImage(ctx, (*pb.GetImageRequest)(req))
if err != nil {
return nil, err
}
return &httpbody.HttpBody{
ContentType: resp.MimeType,
Data: resp.Image,
}, nil
}
// GetPointCloud returns a frame from a camera of the underlying robot. A specific MIME type
// can be requested but may not necessarily be the same one returned.
func (s *serviceServer) GetPointCloud(
ctx context.Context,
req *pb.GetPointCloudRequest,
) (*pb.GetPointCloudResponse, error) {
ctx, span := trace.StartSpan(ctx, "camera::server::GetPointCloud")
defer span.End()
camera, err := s.coll.Resource(req.Name)
if err != nil {
return nil, err
}
pc, err := camera.NextPointCloud(ctx)
if err != nil {
return nil, err
}
var buf bytes.Buffer
buf.Grow(200 + (pc.Size() * 4 * 4)) // 4 numbers per point, each 4 bytes
_, pcdSpan := trace.StartSpan(ctx, "camera::server::NextPointCloud::ToPCD")
err = pointcloud.ToPCD(pc, &buf, pointcloud.PCDBinary)
pcdSpan.End()
if err != nil {
return nil, err
}
return &pb.GetPointCloudResponse{
MimeType: utils.MimeTypePCD,
PointCloud: buf.Bytes(),
}, nil
}
func (s *serviceServer) GetProperties(
ctx context.Context,
req *pb.GetPropertiesRequest,
) (*pb.GetPropertiesResponse, error) {
result := &pb.GetPropertiesResponse{}
camera, err := s.coll.Resource(req.Name)
if err != nil {
return nil, err
}
props, err := camera.Properties(ctx)
if err != nil {
return nil, err
}
intrinsics := props.IntrinsicParams
if intrinsics != nil {
result.IntrinsicParameters = &pb.IntrinsicParameters{
WidthPx: uint32(intrinsics.Width),
HeightPx: uint32(intrinsics.Height),
FocalXPx: intrinsics.Fx,
FocalYPx: intrinsics.Fy,
CenterXPx: intrinsics.Ppx,
CenterYPx: intrinsics.Ppy,
}
}
result.SupportsPcd = props.SupportsPCD
if props.DistortionParams != nil {
result.DistortionParameters = &pb.DistortionParameters{
Model: string(props.DistortionParams.ModelType()),
Parameters: props.DistortionParams.Parameters(),
}
}
return result, nil
}
// DoCommand receives arbitrary commands.
func (s *serviceServer) DoCommand(ctx context.Context,
req *commonpb.DoCommandRequest,
) (*commonpb.DoCommandResponse, error) {
camera, err := s.coll.Resource(req.GetName())
if err != nil {
return nil, err
}
return protoutils.DoFromResourceServer(ctx, camera, req)
}