Use imgbuf bytes directly for a robot client test rather than encode …

…from img; Fix prev test bug
viamrobotics · Nov 15, 2024 · 7e710a4 · 7e710a4
1 parent 9a9612f
commit 7e710a4
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Showing 8 changed files with 18 additions and 19 deletions.
diff --git a/components/camera/camera.go b/components/camera/camera.go
@@ -96,7 +96,7 @@ type Camera interface {
 // Or try to directly decode into an image.Image:
 //
 //	myCamera, err := camera.FromRobot(machine, "my_camera")
-//	img, err = camera.ImageFromVideoSource(context.Background(), utils.MimeTypeJPEG, nil, myCamera)
+//	img, err = camera.DecodeImageFromCamera(context.Background(), utils.MimeTypeJPEG, nil, myCamera)
 //
 // Images example:
 //
@@ -159,8 +159,8 @@ func ReadImage(ctx context.Context, src gostream.VideoSource) (image.Image, func
 	return gostream.ReadImage(ctx, src)
 }
 
-// GoImageFromCamera retrieves image bytes from a camera resource and serializes it as an image.Image.
-func GoImageFromCamera(ctx context.Context, mimeType string, extra map[string]interface{}, cam Camera) (image.Image, error) {
+// DecodeImageFromCamera retrieves image bytes from a camera resource and serializes it as an image.Image.
+func DecodeImageFromCamera(ctx context.Context, mimeType string, extra map[string]interface{}, cam Camera) (image.Image, error) {
 	resBytes, resMetadata, err := cam.Image(ctx, mimeType, extra)
 	if err != nil {
 		return nil, fmt.Errorf("could not get image bytes from camera: %w", err)

diff --git a/components/camera/camera_test.go b/components/camera/camera_test.go
@@ -185,7 +185,7 @@ func TestCameraWithNoProjector(t *testing.T) {
 	_, got := pc.At(0, 0, 0)
 	test.That(t, got, test.ShouldBeTrue)
 
-	img, err := camera.GoImageFromCamera(context.Background(), rutils.WithLazyMIMEType(rutils.MimeTypePNG), nil, noProj2)
+	img, err := camera.DecodeImageFromCamera(context.Background(), rutils.WithLazyMIMEType(rutils.MimeTypePNG), nil, noProj2)
 	test.That(t, err, test.ShouldBeNil)
 
 	test.That(t, img.Bounds().Dx(), test.ShouldEqual, 1280)
@@ -234,7 +234,7 @@ func TestCameraWithProjector(t *testing.T) {
 	_, got := pc.At(0, 0, 0)
 	test.That(t, got, test.ShouldBeTrue)
 
-	img, err := camera.GoImageFromCamera(context.Background(), rutils.MimeTypePNG, nil, cam2)
+	img, err := camera.DecodeImageFromCamera(context.Background(), rutils.MimeTypePNG, nil, cam2)
 	test.That(t, err, test.ShouldBeNil)
 
 	test.That(t, err, test.ShouldBeNil)

diff --git a/components/camera/client.go b/components/camera/client.go
@@ -146,7 +146,7 @@ func (c *client) Stream(
 				return
 			}
 
-			img, err := GoImageFromCamera(streamCtx, mimeTypeFromCtx, nil, c)
+			img, err := DecodeImageFromCamera(streamCtx, mimeTypeFromCtx, nil, c)
 			if err != nil {
 				for _, handler := range errHandlers {
 					handler(streamCtx, err)

diff --git a/components/camera/client_test.go b/components/camera/client_test.go
@@ -178,12 +178,12 @@ func TestClient(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 		camera1Client, err := camera.NewClientFromConn(context.Background(), conn, "", camera.Named(testCameraName), logger)
 		test.That(t, err, test.ShouldBeNil)
-		frame, err := camera.GoImageFromCamera(context.Background(), rutils.MimeTypeRawRGBA, nil, camera1Client)
+		frame, err := camera.DecodeImageFromCamera(context.Background(), rutils.MimeTypeRawRGBA, nil, camera1Client)
 		test.That(t, err, test.ShouldBeNil)
 		compVal, _, err := rimage.CompareImages(img, frame)
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, compVal, test.ShouldEqual, 0) // exact copy, no color conversion
-		_, err = camera.GoImageFromCamera(context.Background(), rutils.MimeTypeRawRGBA, map[string]interface{}{"empty": true}, camera1Client)
+		_, err = camera.DecodeImageFromCamera(context.Background(), rutils.MimeTypeRawRGBA, map[string]interface{}{"empty": true}, camera1Client)
 		test.That(t, err, test.ShouldNotBeNil)
 		test.That(t, err.Error(), test.ShouldContainSubstring, "received empty bytes from Image method")
 
@@ -228,7 +228,7 @@ func TestClient(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 
 		ctx := context.Background()
-		frame, err := camera.GoImageFromCamera(ctx, rutils.WithLazyMIMEType(rutils.MimeTypePNG), nil, client)
+		frame, err := camera.DecodeImageFromCamera(ctx, rutils.WithLazyMIMEType(rutils.MimeTypePNG), nil, client)
 		test.That(t, err, test.ShouldBeNil)
 		dm, err := rimage.ConvertImageToDepthMap(context.Background(), frame)
 		test.That(t, err, test.ShouldBeNil)
@@ -469,15 +469,15 @@ func TestClientLazyImage(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 
 	ctx := context.Background()
-	frame, err := camera.GoImageFromCamera(ctx, rutils.MimeTypePNG, nil, camera1Client)
+	frame, err := camera.DecodeImageFromCamera(ctx, rutils.MimeTypePNG, nil, camera1Client)
 	test.That(t, err, test.ShouldBeNil)
 	// Should always lazily decode
 	test.That(t, frame, test.ShouldHaveSameTypeAs, &rimage.LazyEncodedImage{})
 	frameLazy := frame.(*rimage.LazyEncodedImage)
 	test.That(t, frameLazy.RawData(), test.ShouldResemble, imgBuf.Bytes())
 
 	ctx = context.Background()
-	frame, err = camera.GoImageFromCamera(ctx, rutils.WithLazyMIMEType(rutils.MimeTypePNG), nil, camera1Client)
+	frame, err = camera.DecodeImageFromCamera(ctx, rutils.WithLazyMIMEType(rutils.MimeTypePNG), nil, camera1Client)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, frame, test.ShouldHaveSameTypeAs, &rimage.LazyEncodedImage{})
 	frameLazy = frame.(*rimage.LazyEncodedImage)

diff --git a/components/camera/fake/camera_test.go b/components/camera/fake/camera_test.go
@@ -94,7 +94,7 @@ func TestRTPPassthrough(t *testing.T) {
 		cam, err := NewCamera(context.Background(), nil, cfg, logger)
 		test.That(t, err, test.ShouldBeNil)
 
-		img, err := camera.GoImageFromCamera(context.Background(), utils.MimeTypeRawRGBA, nil, cam)
+		img, err := camera.DecodeImageFromCamera(context.Background(), utils.MimeTypeRawRGBA, nil, cam)
 		test.That(t, err, test.ShouldBeNil)
 		// GetImage returns the world jpeg
 		test.That(t, img.Bounds(), test.ShouldResemble, image.Rectangle{Max: image.Point{X: 480, Y: 270}})

diff --git a/components/camera/fake/image_file_test.go b/components/camera/fake/image_file_test.go
@@ -102,7 +102,7 @@ func TestColorOddResolution(t *testing.T) {
 	cam, err := newCamera(ctx, resource.Name{API: camera.API}, cfg, logger)
 	test.That(t, err, test.ShouldBeNil)
 
-	strmImg, err := camera.GoImageFromCamera(ctx, utils.MimeTypeRawRGBA, nil, cam)
+	strmImg, err := camera.DecodeImageFromCamera(ctx, utils.MimeTypeRawRGBA, nil, cam)
 	test.That(t, err, test.ShouldBeNil)
 
 	expectedBounds := image.Rect(0, 0, img.Bounds().Dx()-1, img.Bounds().Dy()-1)

diff --git a/robot/client/client_test.go b/robot/client/client_test.go
@@ -332,9 +332,7 @@ func TestStatusClient(t *testing.T) {
 	test.That(t, png.Encode(&imgBuf, img), test.ShouldBeNil)
 
 	injectCamera.ImageFunc = func(ctx context.Context, mimeType string, extra map[string]interface{}) ([]byte, camera.ImageMetadata, error) {
-		resBytes, err := rimage.EncodeImage(ctx, img, mimeType)
-		test.That(t, err, test.ShouldBeNil)
-		return resBytes, camera.ImageMetadata{MimeType: mimeType}, nil
+		return imgBuf.Bytes(), camera.ImageMetadata{MimeType: rutils.MimeTypePNG}, nil
 	}
 
 	injectInputDev := &inject.InputController{}
@@ -510,7 +508,7 @@ func TestStatusClient(t *testing.T) {
 	test.That(t, err, test.ShouldNotBeNil)
 	test.That(t, err.Error(), test.ShouldContainSubstring, "not found")
 	test.That(t, imgBytes, test.ShouldBeNil)
-	test.That(t, metadata, test.ShouldEqual, camera.ImageMetadata{})
+	test.That(t, metadata, test.ShouldResemble, camera.ImageMetadata{})
 
 	gripper1, err := gripper.FromRobot(client, "gripper1")
 	test.That(t, err, test.ShouldBeNil)
@@ -586,7 +584,7 @@ func TestStatusClient(t *testing.T) {
 
 	camera1, err = camera.FromRobot(client, "camera1")
 	test.That(t, err, test.ShouldBeNil)
-	frame, err := camera.GoImageFromCamera(context.Background(), rutils.MimeTypeRawRGBA, nil, camera1)
+	frame, err := camera.DecodeImageFromCamera(context.Background(), rutils.MimeTypeRawRGBA, nil, camera1)
 	test.That(t, err, test.ShouldBeNil)
 	compVal, _, err := rimage.CompareImages(img, frame)
 	test.That(t, err, test.ShouldBeNil)

diff --git a/robot/impl/local_robot_test.go b/robot/impl/local_robot_test.go
@@ -20,6 +20,7 @@ import (
 	"github.com/golang/geo/r3"
 	"go.mongodb.org/mongo-driver/bson/primitive"
 	"go.uber.org/zap"
+
 	// registers all components.
 	commonpb "go.viam.com/api/common/v1"
 	armpb "go.viam.com/api/component/arm/v1"
@@ -93,7 +94,7 @@ func TestConfig1(t *testing.T) {
 	c1, err := camera.FromRobot(r, "c1")
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, c1.Name(), test.ShouldResemble, camera.Named("c1"))
-	pic, err := camera.GoImageFromCamera(context.Background(), rutils.MimeTypeJPEG, nil, c1)
+	pic, err := camera.DecodeImageFromCamera(context.Background(), rutils.MimeTypeJPEG, nil, c1)
 	test.That(t, err, test.ShouldBeNil)
 
 	bounds := pic.Bounds()