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viamrobotics · Nov 11, 2024 · 90109b1 · 90109b1
1 parent 3641547
commit 90109b1
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Showing 4 changed files with 12 additions and 19 deletions.
diff --git a/data/capture_buffer.go b/data/capture_buffer.go
@@ -6,8 +6,6 @@ import (
 	v1 "go.viam.com/api/app/datasync/v1"
 )
 
-const captureAllFromCamera = "CaptureAllFromCamera"
-
 // CaptureBufferedWriter is a buffered, persistent queue of SensorData.
 type CaptureBufferedWriter interface {
 	WriteBinary(items []*v1.SensorData) error

diff --git a/data/collector.go b/data/collector.go
@@ -15,7 +15,6 @@ import (
 	"go.opencensus.io/trace"
 	dataPB "go.viam.com/api/app/data/v1"
 	datasyncPB "go.viam.com/api/app/datasync/v1"
-	v1 "go.viam.com/api/app/datasync/v1"
 	camerapb "go.viam.com/api/component/camera/v1"
 	"go.viam.com/utils"
 	"go.viam.com/utils/protoutils"
@@ -562,8 +561,9 @@ func (c *collector) writeCaptureResults() {
 	}
 }
 
-// TabularData is a denormalized sensor reading.
-type TabularData struct {
+// TabularDataBson is a denormalized sensor reading that can be
+// encoded into BSON.
+type TabularDataBson struct {
 	TimeRequested time.Time `bson:"time_requested"`
 	TimeReceived  time.Time `bson:"time_received"`
 	ComponentName string    `bson:"component_name"`
@@ -575,21 +575,16 @@ type TabularData struct {
 // maybeWriteToMongo will write to the mongoCollection
 // if it is non-nil and the msg is tabular data
 // logs errors on failure.
-func (c *collector) maybeWriteToMongo(msg *v1.SensorData) {
+func (c *collector) maybeWriteToMongo(msg CaptureResult) {
 	if c.mongoCollection == nil {
 		return
 	}
 
-	// DATA-3338:
-	// currently vision.CaptureAllFromCamera and camera.GetImages are stored in .capture files as VERY LARGE
-	// tabular sensor data
-	// That is a mistake which we are rectifying but in the meantime we don't want data captured from those methods to be synced
-	// to mongo
-	if getDataType(c.methodName) == v1.DataType_DATA_TYPE_BINARY_SENSOR || c.methodName == captureAllFromCamera {
+	if msg.Type != CaptureTypeTabular {
 		return
 	}
 
-	s := msg.GetStruct()
+	s := msg.TabularData.Payload
 	if s == nil {
 		return
 	}
@@ -600,9 +595,9 @@ func (c *collector) maybeWriteToMongo(msg *v1.SensorData) {
 		return
 	}
 
-	td := TabularData{
-		TimeRequested: msg.Metadata.TimeRequested.AsTime(),
-		TimeReceived:  msg.Metadata.TimeReceived.AsTime(),
+	td := TabularDataBson{
+		TimeRequested: msg.TimeRequested,
+		TimeReceived:  msg.TimeReceived,
 		ComponentName: c.componentName,
 		ComponentType: c.componentType,
 		MethodName:    c.methodName,

diff --git a/go.mod b/go.mod
@@ -82,7 +82,7 @@ require (
 	go.uber.org/atomic v1.11.0
 	go.uber.org/multierr v1.11.0
 	go.uber.org/zap v1.27.0
-	go.viam.com/api v0.1.357
+	go.viam.com/api v0.1.360
 	go.viam.com/test v1.2.3
 	go.viam.com/utils v0.1.112
 	goji.io v2.0.2+incompatible
@@ -450,5 +450,3 @@ require (
 	github.com/ziutek/mymysql v1.5.4 // indirect
 	golang.org/x/exp v0.0.0-20240904232852-e7e105dedf7e
 )
-
-replace go.viam.com/api => /Users/nicksanford/code/api
diff --git a/go.sum b/go.sum
@@ -1555,6 +1555,8 @@ go.uber.org/zap v1.18.1/go.mod h1:xg/QME4nWcxGxrpdeYfq7UvYrLh66cuVKdrbD1XF/NI=
 go.uber.org/zap v1.23.0/go.mod h1:D+nX8jyLsMHMYrln8A0rJjFt/T/9/bGgIhAqxv5URuY=
 go.uber.org/zap v1.27.0 h1:aJMhYGrd5QSmlpLMr2MftRKl7t8J8PTZPA732ud/XR8=
 go.uber.org/zap v1.27.0/go.mod h1:GB2qFLM7cTU87MWRP2mPIjqfIDnGu+VIO4V/SdhGo2E=
+go.viam.com/api v0.1.360 h1:jpcm7mxUy2RvmZGAjUpx6RP+/8341XdlRLSX/3mll0g=
+go.viam.com/api v0.1.360/go.mod h1:g5eipXHNm0rQmW7DWya6avKcmzoypLmxnMlAaIsE5Ls=
 go.viam.com/test v1.2.3 h1:tT2QqthC2BL2tiloUC2T1AIwuLILyMRx8mmxunN+cT4=
 go.viam.com/test v1.2.3/go.mod h1:5pXMnEyvTygilOCaFtonnKNMqsCCBbe2ZXU8ZsJ2zjY=
 go.viam.com/utils v0.1.112 h1:yuVkNITUijdP/CMI3BaDozUMZwP4Ari57BvRQfORFK0=