camera_client.hpp

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#pragma once
 
#include <viam/api/common/v1/common.pb.h>
#include <viam/api/component/camera/v1/camera.grpc.pb.h>
 
#include <viam/sdk/components/camera.hpp>
#include <viam/sdk/components/private/camera_server.hpp>
#include <viam/sdk/config/resource.hpp>
#include <viam/sdk/robot/client.hpp>
#include <viam/sdk/rpc/dial.hpp>
 
namespace viam {
namespace sdk {
namespace impl {
 
class CameraClient : public Camera {
   public:
    using interface_type = Camera;
 
    CameraClient(std::string name, const ViamChannel& channel);
 
    const ViamChannel& channel() const {
        return *channel_;
    }
 
    ProtoStruct do_command(const ProtoStruct& command) override;
 
    image_collection get_images(std::vector<std::string> filter_source_names,
                                const ProtoStruct& extra) override;
 
    point_cloud get_point_cloud(std::string mime_type, const ProtoStruct& extra) override;
 
    properties get_properties() override;
 
    std::vector<GeometryConfig> get_geometries(const ProtoStruct& extra) override;
 
    // the `extra` param is frequently unnecessary but needs to be supported. Ideally, we'd
    // like to live in a world where implementers of derived classes don't need to go out of
    // their way to support two versions of a method (an `extra` version and a non-`extra`
    // version), and users don't need to pass an unnecessary parameters to all method calls.
    //
    // To do this, we define in the parent resource class a non-virtual version of the methods
    // that calls the virtual method and passes a `nullptr` by default in place of the `extra`
    // param. In order to access these versions of the methods within the client code, however,
    // we need to include these `using` lines.
    using Camera::get_geometries;
    using Camera::get_images;
    using Camera::get_point_cloud;
 
   protected:
    // This constructor leaves the `channel_` as a nullptr. This is useful for testing
    // purposes, but renders it unusable for production use. Care should be taken to
    // avoid use of this constructor outside of tests.
    CameraClient(std::string name,
                 std::unique_ptr<viam::component::camera::v1::CameraService::StubInterface> stub)
        : Camera(std::move(name)), stub_(std::move(stub)) {}
 
   private:
    using StubType = viam::component::camera::v1::CameraService::StubInterface;
    std::unique_ptr<StubType> stub_;
    const ViamChannel* channel_;
};
 
}  // namespace impl
}  // namespace sdk
}  // namespace viam