RSDK-8813: Add frame_rate to python sdk (#740)

viamrobotics · Sep 25, 2024 · 77e6c21 · 77e6c21
1 parent f53775b
commit 77e6c21
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Showing 3 changed files with 4 additions and 7 deletions.
diff --git a/src/viam/components/camera/service.py b/src/viam/components/camera/service.py
@@ -84,13 +84,7 @@ async def GetProperties(self, stream: Stream[GetPropertiesRequest, GetProperties
         camera = self.get_resource(name)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
         properties = await camera.get_properties(timeout=timeout, metadata=stream.metadata)
-        response = GetPropertiesResponse(
-            supports_pcd=properties.supports_pcd,
-            intrinsic_parameters=properties.intrinsic_parameters,
-            distortion_parameters=properties.distortion_parameters,
-            mime_types=properties.mime_types,
-        )
-        await stream.send_message(response)
+        await stream.send_message(properties)
 
     async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -> None:
         request = await stream.recv_message()

diff --git a/tests/mocks/components.py b/tests/mocks/components.py
@@ -372,6 +372,7 @@ def __init__(self, name: str):
             intrinsic_parameters=IntrinsicParameters(width_px=1, height_px=2, focal_x_px=3, focal_y_px=4, center_x_px=5, center_y_px=6),
             distortion_parameters=DistortionParameters(model="no_distortion"),
             mime_types=[CameraMimeType.PNG, CameraMimeType.JPEG],
+            frame_rate=10.0,
         )
         self.timeout: Optional[float] = None
         ts = Timestamp()

diff --git a/tests/test_camera.py b/tests/test_camera.py
@@ -62,6 +62,7 @@ def properties() -> Camera.Properties:
         intrinsic_parameters=IntrinsicParameters(width_px=1, height_px=2, focal_x_px=3, focal_y_px=4, center_x_px=5, center_y_px=6),
         distortion_parameters=DistortionParameters(model="no_distortion"),
         mime_types=[CameraMimeType.PNG, CameraMimeType.JPEG],
+        frame_rate=10.0,
     )
 
 
@@ -202,6 +203,7 @@ async def test_get_properties(self, camera: MockCamera, service: CameraRPCServic
             assert response.supports_pcd == properties.supports_pcd
             assert response.intrinsic_parameters == properties.intrinsic_parameters
             assert response.mime_types == properties.mime_types
+            assert response.frame_rate == properties.frame_rate
             assert camera.timeout == loose_approx(5.43)
 
     @pytest.mark.asyncio